Research On The Mechanical Structure Of Self-Scramble Robot For Wall Cleaning

Although the wall-climbing robot has been carrying out in the field of robotic system for many years, but the research is focused on the design of the mechanism and control system. In this dissertation, firstly, based on the existing achievement of studying on the wall-climbing robot in the world, integrating the characteristics of high glass-curtain cleaning, further studies the common problem of wall cleaning robot, such as the technology of adhering and cleaning. Then based on the half-ellipsoid out-wall of National Grand Theater of China, proposes a new roboticized structure named self-scrambled structure, and further investigates some key issues about self-scrambled robot, such as the designing of structure and figure, the basic design principle and the analysis of the reliability, meantime, explores the design theory of self-scrambled robot in terms of methodology. Finally, on these basis, a new self-scrambled robot, which suitable for cleaning the spherical surface of National Grand Theatre, is designed. Firstly, the technology about adhering to the wall of wall-cleaning robot is further investigated. On the basis of summarizing and analyzing the adhering technology of wall cleaning robot in the past, sets up a adhering mechanics of wall-cleaning robot, thus makes the adhering analysis of wall-cleaning robot more ocular and more clear, moreover, based on this model, the stability of wall-climbing robot's adhering state is analysed, and a concept about the critical angle of overturning and the characteristic of anti-overturning, which having guidance function to the design of wall-cleaning robot is proposed. Secondly, the technological problems about cleaning of wall-cleaning robot is deep studied. At the beginning, the specification requirement of wall-cleaning and the suitable technology to wall-cleaning is integrated, as well as how to set up wall-cleaning robot's cleaning system, moreover, analyses the specialty of different mechanical cleaning ways. Meantime, a concept about cleaning intensity of cleaning devices is put forward, and the influence factor of cleaning intensity as well as...