小型攀爬式窗户清洗机器人-毕业论文外文文献翻译

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1、SMALL-SIZEWINDOWCLEANINGROBOTBYWALLCLIMBINGMECHANISM1.INTRODUCTIONRecently,therehavebeenmanydemandsforautomaticcleaningsystemonoutsidesurfaceofbuildingssuchaswindowglassbyincreasingofmodernarchitectures.Somecustomizedwindowcleaningmachineshavealreadybeeninstalledintothepracticaluseinth

2、efieldofbuildingmaintenance.However,almostofthemaremountedonthebuildingfromthebeginningandtheyneedsveryexpensivecosts.Therefore,requirementsforsmall,lightweightandportablewindowcleaningrobotarealsogrowinginthefieldofbuildingmaintenance.Astheresultsofsurveyingtherequirementsforthewindow

3、cleaningrobot,thefollowingpointsarenecessaryforprovidingthewindowcleaningrobotforpracticaluse:1)Itshouldbesmallsizeandlightweightforportability.2)Cleanthecornerofwindowbecausefoulingisleftthereoften.3)Sweepthewindowpanecontinuouslytopreventfrommakingstripedpatternonawindowpane4)Automat

4、icoperationduringmovingonthewindow.Thelocomotionmechanismmustbechosentosatisfythesedemands,especiallylatertwosubjects.Herelocomotionmechanismmeansthecombinationofadheringmechanism,travelingmechanismandamechanismforchangingatravelingdirection.Firstrequirementbroughtthefollowingspecifica

5、tionsfordesigningthewindowcleaningrobot.★Weight:lessthan5kg,includingtheweightofbatteryandwashingwater,★Size:300mmx300mmx100mm.Thesewerealsodefinedbytheresultsofsurveyingthedemandsfromthecleaningcompanies.Inpreviousresearches,wehaveproposedoutlineofmechanicalsystemforwindowcleaningrobo

6、tforfillingabovementioneddemands.Andweconfirmedbasicpropertiesanditspossibilitybytheexperiments.Thatmechanicalsystemconsistsoftwo-wheelcentereddifferentialdrivespecializedinmakingaright-angledturnatthecornerofwindowandasuctioncupwithvacuumpompasadheringmethod.Bythismechanicalsystem,win

7、dowcleaningrobotcanmoveonverticalwindowwithadheringsmoothly.Fig.1istherenderingatasceneofpracticaluseofproposedwindowcleaningrobot.Thisrobotadheresonawindowpanewithcleaningasmovingonlargewindows.Thispaperdealswithtravelingcontrolsysteminorderthatabovementioned-17-mechanicalsystemofwi