A new type design of glass curtain wall cleaning robot

According to the principle of vacuum negative pressure adsorption, a cleaning robot for high building glass curtain wall is designed. The robot is mainly composed of three modules and control system: adsorption, movement and cleaning. And the control system. The adsorption module adopts the mode of Multi-suction cup vacuum adsorption, which has strong adaptability. The moving module adopts the structure design of vacuum sucker crawler wheel, which has good trafficability and stability. The cleaning module adopts a sewage filtering and circulating device, which can reduce the load of the robot body. The control system is composed of the user's upper computer and the lower unit of STM32 chip through the remote communication of 4G network. According to the static state of the robot, the mathematical model of force is established to analyze the robot's anti-overturning moment and adhesion moment. The results show that when anti-overturning characteristic Angle is smaller than the wall inclination angle, robot will not overturn. The robot has strong autonomous cleaning ability, which can replace the traditional manual operation, and provides a reference for the practical application of the robot in glass curtain wall cleaning.