Structural Design And Stationarity Research Of Glass Curtain Wall Cleaning Robot

The cleaning of high-altitude glass curtain walls of buildings is a large-scale and wide-ranging task.Compared with manual scrubbing,cleaning with robots is more efficient and less dangerous.Due to the uniqueness of the working environment,the cleaning robot’s adsorption stability and Running smoothness is the most important criterion in design.However,the existing research on exterior wall cleaning robots focuses on the cleaning effect,which may cause problems such as unreliable adsorption and poor running stability.Based on the cleaning requirements of a cooperative project for glass curtain walls,this research proposes and designs a multi-legged glass curtain wall cleaning robot(Gcwc)that uses flexible suction cups to achieve adsorption,so as to achieve the effect of high reliability of robot adsorption and high smooth operation.The main research contents of this topic are as follows:① According to the general process of program design based on functional principles,design the scheme of the Gcwc robot,two alternatives are proposed,and the best one is selected through the decision matrix for subsequent structural design.② Based on the optimal structure plan,firstly,single-objective optimization of the moving speed of the multi-module guide rail based on three-sine curve to reduce the impact of its movement on the robot;Secondly,the method of anti-overturning effect theory research is used to optimize the arrangement structure of the suction cup group;Finally,the cleaning device was designed in detail according to the cleaning requirements,and the feasibility of the structural design was checked by static analysis.③ It is proposed to apply the "vertical crawling gait" to the Gcwc robot to improve its footprint coefficient,and based on the gait analysis of the robot working conditions and its adjustment strategy,laying a foundation for the study of the stability of the robot.④ By enumerating the static balance matrix and the deformation coordination equation,with the help of the Lagrange multiplier method,the basic conditions for the robot to achieve stable adsorption are solved.On this basis,in view of the fact that the flexible adsorption simplified the three adsorption conditions of the whole machine into a spring load model,a mathematical criterion for the stability of the whole machine was established for the model and the stability analysis was carried out.The Matlab optimization toolbox is used to optimize the smoothness parameters to achieve the best smoothness effect of the fuselage operation.to make the fuselage running smoothly have the best effect.⑤ Adopting the anti-overturning experiment of the suction cup group,the reliability of the stabilizer is verified by the reliability factor 0.97;Combined with Ansys-Adams software,the stability simulation analysis was carried out under the three adsorption conditions before and after the optimization,which verified the rationality of the simplification of the adsorption conditions model and the correctness of the theoretical analysis.Furthermore,the stability of the robot is checked with the maximum pitch angle 2.5°°.