毕业设计翻译--小型攀爬式窗户清洗机器人

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1、SMALL-SIZEWINDOWCLEANINGROBOTBYWALLCLIMBINGMECHANISM1.INTRODUCTIONRecently,therehavebeenmanydemandsforautomaticcleaningsystemonoutsidesurfaceofbuildingssuchaswindowglassbyincreasingofmodernarchitectures.Somecustomizedwindowcleaningmachineshavealreadybeeninstalledintothepracticaluseinthefie

2、ldofbuildingmaintenance.However,almostofthemaremountedonthebuildingfromthebeginningandtheyneedsveryexpensivecosts.Therefore,requirementsforsmall,lightweightandportablewindowcleaningrobotarealsogrowinginthefieldofbuildingmaintenance.Astheresultsofsurveyingtherequirementsforthewindowcleaning

3、robot,thefollowingpointsarenecessaryforprovidingthewindowcleaningrobotforpracticaluse:1)Itshouldbesmallsizeandlightweightforportability.2)Cleanthecornerofwindowbecausefoulingisleftthereoften.3)Sweepthewindowpanecontinuouslytopreventfrommakingstripedpatternonawindowpane4)Automaticoperationd

4、uringmovingonthewindow.Thelocomotionmechanismmustbechosentosatisfythesedemands,especiallylatertwosubjects.Herelocomotionmechanismmeansthecombinationofadheringmechanism,travelingmechanismandamechanismforchangingatravelingdirection.Firstrequirementbroughtthefollowingspecificationsfordesignin

5、gthewindowcleaningrobot.★Weight:lessthan5kg,includingtheweightofbatteryandwashingwater,★Size:300mmx300mmx100mm.Thesewerealsodefinedbytheresultsofsurveyingthedemandsfromthecleaningcompanies.Inpreviousresearches,wehaveproposedoutlineofmechanicalsystemforwindowcleaningrobotforfillingabovement

6、ioneddemands.Andweconfirmedbasicpropertiesanditspossibilitybytheexperiments.Thatmechanicalsystemconsistsoftwo-wheelcentereddifferentialdrivespecializedinmakingaright-angledturnatthecornerofwindowandasuctioncupwithvacuumpompasadheringmethod.Bythismechanicalsystem,windowcleaningrobotcanmoveo

7、nverticalwindowwithadheringsmoothly.Fig.1istherenderingatasceneofpracticaluseofproposedwindowcleaningrobot.Thisrobotadheresonawindowpanewithcleaningasmovingonlargewindows.Thispaperdealswithtravelingcontrolsysteminorderthatabovementioned-12-mechanicalsystemofwi