Author(s)

Liang Wang ¹, Lei Zhao ², Kun Xu ³, Rong Guan ⁴

Affiliation(s)

¹ Faculty of Mechanical and Material Engineering, Huaiyin Institute of Technology, Huai'an, China
² Faculty of Foreign Languages, Huaiyin Institute of Technology, Huai'an, China
³ College of Electrical Engineering, Henan University of Technology, Zhengzhou, China
⁴ School of Art and Design, Huaiyin Institute of Technology, Huai'an, China

Corresponding Author

Rong Guan

ABSTRACT

In response to the obstacle-crossing requirements for glass curtain wall cleaning operations, this paper proposes a symmetrical motion mechanism that can vertically adsorb to the wall surface pneumatically. It adopts the way of the robot lifting its "feet" to walk. The crawling mechanism and cleaning mechanism of the building glass curtain wall cleaning machine are designed. The motion characteristics of the cleaning machine's crawling mechanism walking freely and stably on the glass curtain wall under the action of gravity are analyzed, and the working principle of the automatic glass curtain wall cleaning operation is expounded. The virtual model of the cleaning machine is established through the three-dimensional design software SolidWorks. Through motion simulation analysis, appropriate motion trajectories are found, structural parameters are optimized, and efficient cleaning operations within the shortest time are achieved, effectively solving the problems such as poor obstacle-crossing ability and inconvenient manipulation of the current building curtain wall cleaning machines. This design has important theoretical guiding significance and application value for the research and development of glass curtain wall cleaning machines.

KEYWORDS

Building glass curtain walls, Cleaning machines, Crawling mechanisms, Cleaning mechanisms, Three-dimensional motion simulation, Solid Works

CITE THIS PAPER

Liang Wang, Lei Zhao, Kun Xu, Rong Guan, Design and Simulation Analysis of the Motion Mechanism of Building Glass Curtain Wall Cleaning Machines. Journal of Materials, Processing and Design (2024) Vol. 8: 132-141. DOI: http://dx.doi.org/10.23977/jmpd.2024.080216.

REFERENCES

[1] Zhang Xiaosong. Research on Wheeled Wall-Climbing Robot with Suspended Magnetic Adsorption [D]. Harbin: Mechatronics Engineering, Harbin Institute of Technology, 2012. 
[2] Yi Z Y, Gong Y J, Wang Z W, et al. Development of a wall climbing robot for ship rust removal[C]//IEEE International Conference on Mechatronics and Automation. Piscataway, USA: IEEE Computer Society, 2009: 4610-4615.
[3] Nkgatho Sylvester Tlale, Glen Bright, W. L. Xu. Distributed control of hexapod wall climbingrobot implementing Controller Area Network (CAN)[J]. IJISTA, 2005, Vol.1.
[4] Y.C. Koo, Elmi A.B., Wan Amir Fuad Wajdi. Piston mechanism based rope climbing robot[J].Procedia Engineering,2012,41(2):2-7.
[5] Marc Osswald, Fumiya Iida. Design and control of a climbing robot based on hot melt adhesion[J]. journal homepage,2013,28(5):3-8.
[6] Zhao Yanzheng, Men Guangliang, Feng Hai, Wang Yan. Research on Attitude Control of Omnidirectional Wall-Moving Robot [J]. Journal of Harbin Institute of Technology, 1997, 29(6): 2-3.
[7] Shao Hao, Zhao Yanzheng, et al. Wall-Climbing Robot System for Glass Curtain Wall Cleaning Operations [J]. Manufacturing Automation, 2002, 22(2): 6-9.
[8] Qian Zhiyuan, Liu Renqiang, Zhao Yanzheng, et al. A Wall-Traction Mobile Glass Curtain Wall Cleaning Robot [J]. Journal of Shanghai Jiaotong University, 2006, 40(11): 18-21.
[9] Xu Dong, Yang Mingkai, et al. Design of Vertical Glass Curtain Wall Cleaning Robot [J]. China Science and Technology Information, 2011(8): 5-8.
[10] Xue Shengxiong, Ren Qile, et al. Development of Magnetic Gap Wall-Climbing Robot [J]. Journal of Mechanical Engineering, 2011, 47(11): 2-4.
[11] Zhang Hao, et al. A Lateral Ground-Wall Transition Method and Gait of Gecko-like Robot [J]. China Mechanical Engineering, 2013, 24(5): 2-5.
[12] Yue Ronggang, Wang Shaoping. Path Planning of Wall-Climbing Robot Based on Mixed Integer Linear Programming [J]. Journal of Beihang University, 2013, 39(6): 2-5.
[13] Tian Lantu. Research on Technology and System of Wall-Climbing Robot for Oil Tank Detection [D]. Tsinghua University, 2004.
[14] Ji Guozhao, et al. Research and Development of Vacuum Suction Cup Wall-Climbing Cleaning Robot [J]. Mechanical Research & Application, 2009: 2-6.
[15] Zhou Yanwu, Zong Guanghua. Intelligent Technology of Cleanbot-I Window Cleaning Robot [J]. Robot, 2002, 24(1): 6-11.
[16] Liu Aihua, Wang Hongguang, et al. Mechanism Modeling and Analysis of a Wheel-Legged Composite Wall-Climbing Robot [J]. Robot, 2008, 30(6): 487-489.
[17] Wang Binrui, Feng Weibo. Design and Stability Analysis of Biped Wall-Climbing Robot with Three Degrees of Freedom on Curved Surface [J]. Robot, 2014, 36(3): 1-4.
[18] Fu Yili, Li Zhihai. Research Progress of Wall-Climbing Robots [J]. Journal of Mechanical Design, 2008, 25(4): 1-3. 
[19] Mao Zhiwei, et al. Study on Mechanical Properties of Suction Cups of Biped Mobile Wall-Climbing Robot [J]. Machinery Design & Manufacture, 2010(8): 159-161.
[20] Jiang Jian, Jing Xuedong. Research on Ground-Wall Transition of a Soft Robot [J]. Journal of Shanghai Institute of Technology, 2014, 14(1): 2-5.

Sponsors, Associates, and Links

---

• Forging and Forming
  
  
• Composites and Nano Engineering
  
  
• Metallic foams
  
  
• Smart Structures, Materials and Systems
  
  
• Chemistry and Physics of Polymers
  
  
• Analytical Chemistry: A Journal
  
  
• Modern Physical Chemistry Research
  
  
• Inorganic Chemistry: A Journal
  
  
• Organic Chemistry: A Journal
  
  
• Progress in Materials Chemistry and Physics
  
  
• Transactions on Industrial Catalysis
  
  
• Fuels and Combustion
  
  
• Casting, Welding and Solidification
  
  
• Journal of Membrane Technology
  
  
• Journal of Heat Treatment and Surface Engineering
  
  
• Trends in Biochemical Engineering
  
  
• Ceramic and Glass Technology
  
  
• Transactions on Metals and Alloys
  
  
• High Performance Structures and Materials
  
  
• Rheology Letters
  
  
• Plasticity Frontiers
  
  
• Corrosion and Wear of Materials
  
  
• Fluids, Heat and Mass Transfer
  
  
• International Journal of Geochemistry
  
  
• Diamond and Carbon Materials
  
  
• Advances in Magnetism and Magnetic Materials
  
  
• Advances in Fuel Cell
  
  
• Journal of Biomaterials and Biomechanics