Mechanism Design and Mechanical Analysis of Multi-Suction Sliding Cleaning Robot Used in Glass Curtain Wall |
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Authors: | Jianxun Deng Jing Chen Dingcheng Wang |
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Affiliation: | 1,2 School of Architecture and Civil Engineering, Xiamen University, Xiamen 361005, China3 Hua Wei Internet of Things Technology Company in Xiamen |
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Abstract: | In order to meet the needs of high-altitude glass curtain wall cleaning, a multi-suction sliding cleaning robot was designed. The sliding robot sucker, cleaning
system, obstacle avoidance and rotation ability, walking circuit and mobile working principle of the cleaning robot were designed. This involved the analysis
of the robot’s anti-rollover mechanics during adsorption, of robotic winds when working at height, and of anti-sliding mechanics during robot movement,
in order to explore feasible ways to improve the robot’s adsorption performance. The relationship between the effective diameter D of the suction cup, the
vacuum degree △ P, and the gravity G should be determined by the anti-slipping analysis. In order to ensure the safe and reliable adsorption force and the
flexibility of this robot when moving on a wall, the aforementioned analyses were conducted to improve the motion performance of wall-climbing robots,
which provides a good theoretical basis for design optimization and motion control of cleaning robots. The curtain wall cleaning robot has stable walking
ability and can clean the wall surface effectively; therefore, it has a certain practical value. |
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Keywords: | Curtain wall cleaning robot Multi-suction cup sliding type Mechanical analysis Institutional design |
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