Manufacture Of New Climbing Robot

An increasing high-rise buildings,ceramic tiles and glasses are used as the surfaces by most of them, become new new landscape in modern cities nowadays.It needs to cleaned every couple of days and it would be finished by manual work all the time.However,the manual work spends more time, less efficiency and makes an accident often.Therefore,it is becoming people's urgent requirement to designing a kind of cleaning machine which can do the cleaning work instead of people.The surface cleaning robot is a kind of climbing robot which has the main function of cleaning high-rise buildings.The appearance of it will cast the reduction and promote the development of cleaning industry.This paper is mainly aiming at the structure designing and the analysis of the surface cleaning robot.Firstly, on the basis of an intensive and comprehensive investigation and study on the available climbing robot,this paper provides a new scheme with technology of vac-sorb,foot-obstacle overstepping and parallel- frame.A new kind of climbing robot with the function of parallel- frame moving and foot-obstacle overstepping is developed.The function of foot-obstacle overstepping is achieved by the pneumatic muscle and parallelogram mechanism.The experiment had proved that new designed movement mechanism and absorbing mechanism improve the ability of overstepping and loading acceptance very much, and it makes the foundation of the widely use of them.Then, the modeling and analysis of statics and dynamics for the robot and the simulation is made.The condition to make it sure that the robot is adsorbed steadily is analyzed by building the statics surface absorbing model.Two typical dynamics modeling is established by the eulerian-lagrangian method.The rationality and reliability of the mechanism is proved by the simulation finally.The thesis propose a new kind of parallel- frame moving climbing robot.It has the advantages of flexible moving and easy controlling and it has the characteristics of good overstepping.The ability of robot-overstepping and movenent performance is improved at the same time.The kind of design can also be used in other kind of robot to rich the designing of other moving robots.