Design Of The Overall Structure And Motion Performance Analysis Of Wheeled Glass Curtain Wall Cleaning Robot

With the increasing living standards of people and the increasing population of the city,there are more and more high-rise buildings in various regions.These high-rise buildings make the use of glass curtain walls more and more extensive,but the glass curtain walls are extremely polluted.The traditional manual cleaning method has its own disadvantages.First,the safety of the operator is difficult to ensure,while the cost of cleaning is relatively expensive,and the cleaning efficiency is low.Therefore,the development of a new type of glass curtain wall cleaning robot has important application value.Firstly,by analyzing the actual working conditions of glass curtain wall cleaning robots and wall climbing robots,a glass curtain wall cleaning robot including sucker adsorption system,wheeled walking system,cleaning system,suspension system and control system is designed.The assembly model of the robot is built by using 3D modeling software.Secondly,the most disadvantageous wind load of the robot body is determined by static analysis of the three-dimensional model.The force of the robot body is analyzed in detail.The safe adsorption conditions of the robot body under static and dynamic conditions are determined by mechanical principle.The finite element software HyperMesh is used to make modal analysis of the robot body frame,analyze the motion state and constraints of the robot body,and establish the motion equation satisfying the adsorption condition of the robot using Newton-Euler equation.Finally,the dynamic simulation of the robot is carried out by using MATLAB software.The maximum adsorption force required by the robot in the motion state is obtained by the relationship between the adsorption force and the advancing angle of the robot body.The relationship between the driving torque and the advancing angle of the robot body is obtained.The maximum driving torque required by the robot and the structure of the robot drive system are optimized by the maximum driving torque at different drive wheel spacings.Through the above structural design and theoretical analysis,the various components of the first generation of robot prototypes in the laboratory were selected and processed,and then the first generation of robot prototypes was built.Through the prototype,the robot's adsorption force,load and cleaning conditions were verified by experiments,and the glass curtain wall cleaning work of the robot was realized.