Design And Realization Of A Glass-Curtain Wall-Cleaning Robot

With the extensive application of glass curtain wall in the city's high-rise buildings, the cleaning task becomes more and more heavy. This paper designed a glass curtain wall cleaning robot. The robot itself does not have walking mechanism, but it can move on smooth glass surfaces depending on the lifting fore of the trolley crane on the building roof while adhering to the glass curtain using the thrust of the propellers, calculate the wall inclination range that the robot can adapt according to the size of the propeller thrust. In cleaning process, it can take different actions to cross the obstacles, such as horizontal window frames, according to different height of them. And Adams simulation analysis is carried out for the process of crossing the higher obstacle. Wireless remote control is used in this robot control system.