Design And Research Of The Cleaning Robot For High-rise Glass Curtain Wall

The high-rise glass curtain walls used in modern urban buildings need to be cleaned regularly to ensure the light transmittance and aesthetics.At present,the cleaning of urban high-altitude glass curtain walls still use manual cleaning with low efficiency and high risk.The purpose of this article is to design a high-altitude glass curtain wall cleaning robot that can safely and efficiently replace the manual cleaning of the glass curtain wall.The main research contents are as follows:Firstly,according to the actual working conditions,the key technical indicators required for the design of the wall-climbing robot are determined.Summarized the reserch status of the wall-climbing robot at home and abroad.Induced the movement mode,the adsorption mode and the cleaning mode,analyzed the advantages and disadvantages and the application scenarios of these methods.The overall design scheme based on vacuum adsorption mode,frame-leg combined movement mode and rolling brush cleaning mode was proposed on the basis of the above analysis and established the overall model of the wall-climbing robot based on Solidworks.Secondly,designed the vaccum system reasonably of the wall-climbing robot.Derived the critical adsorption force formula of the wall-climbing robot by carried out the force analysis of the limit condition of the wall-climbing robot,and used Matlab to carry out the adsorption force simulation analysis and got the result of the adsorption force,calculated for selecting the key components of the vacuum and driving system of the wall-climbing robot.Thirdly,using Ansys Workbench to analyze the statics and dynamics of the wallclimbing robot under the limit cndition,and got the first six modes of the wall-climbing robot and the harmonic response curve.The rationality of the structure design of the wallclimbing robot is verified.Finally,Assembled the parts of the wall-climbing robot and finished the prototype.Set up the load experiment and the experiment of the ability to adape the diferent wall materials and the experiment of the movment ability and tested these indicators,verified the rationality of the robot.