Mechanism Design and Mechanical Analysis of Multi-Suction Sliding Cleaning Robot Used in Glass Curtain Wall

2019 ◽  
Vol 34 (4) ◽  
pp. 201-206
Author(s):  
Jianxun Deng ◽  
Jing Chen ◽  
Dingcheng Wang
Keyword(s):  
Mechanism Design ◽  
Mechanical Analysis ◽  
Curtain Wall ◽  
Cleaning Robot ◽  
Glass Curtain Wall

Implementation of glass-curtain-wall cleaning robot driven by double flexible rope

2014 ◽  
Vol 41 (5) ◽  
pp. 429-438 ◽  
Author(s):  
Jiang Jin-gang ◽  
Zhang Yong-de ◽  
Zhang Shu
Keyword(s):  
Production Efficiency ◽  
Control Valve ◽  
Working Environment ◽  
Water Tank ◽  
Curtain Wall ◽  
Content Type ◽  
Model Driven ◽  
Cleaning Robot ◽  
Aesthetic Appearance ◽  
Glass Curtain Wall

Purpose – The purpose of this paper is to implement a glass-curtain-wall cleaning robot driven by a double flexible rope, so as to replace manual cleaning. The glass-curtain-wall, because of its excellent daylighting performance, damp-proofing characteristics, heat insulation properties and aesthetics, is widely used in modern city buildings. For glass-curtain-wall buildings, regular cleaning of the glass-curtain-wall is necessary to ensure that the surface of the building appears clean and tidy, which in turn contributes toward preserving the overall aesthetic appearance of the city. Currently, the primary method of cleaning glass curtain walls is manual cleaning by workers on a suspended platform. Design/methodology/approach – The mechanical structure of the proposed glass-curtain-wall cleaning robot driven by a double flexible rope is inspired by the way a spider moves by pulling its silk draglines in the air. For self-locking protection and increased rope friction, the robot’s moving section includes a worm reducer and multislot master–slave roller. The cleaning section comprises a water tank, control valve, shower nozzle and brush. The wall adsorbing section is realized by a double rotor. The workspace of the robot is analyzed. Flexible rope winding and unreeling control of the cleaning robot is deduced. The force of the cleaning robot when the double rotor is working is analyzed and calculated. The prototype of the glass-curtain-wall cleaning robot model driven by a double flexible rope is established, and experiments wherein the robot moves along a preset track, as well as cleaning experiments, are performed. Findings – The prototype of the glass-curtain-wall cleaning robot model driven by a double flexible rope can move along the preset track, satisfy the design functions and clean effectively. The experimental results verify the validity and practicality of the robot. Research limitations/implications – The implication of this research is that a glass-curtain-wall cleaning robot model driven by a double flexible rope fulfills the movement strategy and drive-type requirements for cleaning glass curtain walls. The limitation of this research is that it is difficult to implement rapid cleaning. Originality/value – The traditional method of manual cleaning by workers on a suspended platform will be changed after the glass-curtain-wall cleaning robot is manufactured, and the advent of this cleaning robot for the low- and mid-rise buildings will reduce the cost of cleaning buildings, improve the working environment and enhance production efficiency.

Design of Structure and Drive System for Pneumatic Glass Curtain Wall Cleaning Robot

2013 ◽  
Vol 336-338 ◽  
pp. 1068-1071
Author(s):  
De Dong Tang ◽  
Ming Yang Cui ◽  
Jia Liang Zhang ◽  
Jing Feng Chu ◽  
Bin Li
Keyword(s):  
Body Movement ◽  
Drive System ◽  
Pneumatic System ◽  
Adsorption System ◽  
Mobile System ◽  
Cleaning Efficiency ◽  
Curtain Wall ◽  
Cleaning Robot ◽  
Cleaning System ◽  
Glass Curtain Wall

In order to improve the cleaning efficiency of curtain wall, a pneumatic robot is designed. The robot is consists of mobile system, adsorption system and cleaning system. The mobile system is a cross-shaped framework that is driven by the pneumatic system and moves mutually. Vacuum sucker scheme is adopted in the adsorption system. Cleaning brush is driven directly backward and forward by the cylinder. The adsorption and detachment of robot feet sucker, body movement and sequence control of the robot cleaning task are controlled by the PLC. The function that robot can clean glass curtain wall efficiently by the harmony operation is achieved.

The Vision Orientation System Based on OpenCV of the Glass Curtain Wall Cleaning Robot

2013 ◽  
Vol 336-338 ◽  
pp. 1063-1067 ◽  
Author(s):  
Dong Ping Zhang ◽  
Yuan Liang Huang ◽  
Jia Hao Chen ◽  
Xiang Hua Luo
Keyword(s):  
Edge Detection ◽  
Hough Transform ◽  
Path Selection ◽  
Target Image ◽  
Curtain Wall ◽  
Cleaning Robot ◽  
Template Image ◽  
Orientation System ◽  
Glass Curtain Wall ◽  
Cleaning Robots

This paper proposes a vision orientation system based on OpenCV to solve the orientation problem that glass curtain wall cleaning robots meet with at work. The system applies edge detection and the Hough transform to the images captured by the monocular camera, then judges whether the robot has reached glass edges according to the results of histogram comparison between the target image and the template image. Finally the system sends corresponding orders to the robot for path selection and orientation.

A new type design of glass curtain wall cleaning robot

2021 ◽  
Author(s):  
Fenggang Liu ◽  
Li Luo ◽  
Buzhi Wang
Keyword(s):  
Curtain Wall ◽  
Cleaning Robot ◽  
Type Design ◽  
New Type ◽  
Glass Curtain Wall

Motion Control and Implementation of Glass-Curtain Cleaning Robot

2013 ◽  
Vol 432 ◽  
pp. 458-463
Author(s):  
Sheng Cheng ◽  
Jing Li Lu ◽  
Lu Dan Wang ◽  
Jiang Wei Zhang
Keyword(s):  
Urban Development ◽  
Motion Control ◽  
Atmospheric Pollution ◽  
Vertical Direction ◽  
Curtain Wall ◽  
Cleaning Robot ◽  
Glass Curtain Wall ◽  
Cleaning Robots ◽  
Wall Decoration

Glass-curtain cleaning robots are newcomers to the cleaning field and were invented for the cleaning of glass curtain buildings. They not only need to clean the glass, but also to move on the glass curtain wall in the horizontal and vertical direction. With progressive urban development, more and more buildings use glass curtains as wall decoration. As atmospheric pollution is growing more and more serious, the buildings glass curtain walls get soiled more and more easily and are increasingly difficult to clean. Therefore glass-curtain cleaning robots have been receiving increasing interest in the cleaning field and have become a research hotspot in the application and research of robotics..

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