小型攀爬式窗户清洗机器人-毕业论文外文文献翻译.doc

SMALL-SIZE WINDOW CLEANING ROBOT BY WALL CLIMBING MECHANISM 1. INTRODUCTION Recently, there have been many demands for automatic cleaning system on outside surface of buildings such as window glass by increasing of modern architectures. Some customized window cleaning machines have already been installed into the practical use in the field of building maintenance. However, almost of them are mounted on the building from the beginning and they needs very expensive costs. Therefore, requirements for small, lightweight and portable window cleaning robot are also growing in the field of building maintenance. As the results of surveying the requirements for the window cleaning robot, the following points are necessary for providing the window cleaning robot for practical use: 1) It should be small size and lightweight for portability. 2) Clean the corner of window because fouling is left there often. 3) Sweep the windowpane continuously to prevent from making striped pattern on a windowpane 4) Automatic operation during moving on the window. The locomotion mechanism must be chosen to satisfy these demands, especially later two subjects. Here locomotion mechanism means the combination of adhering mechanism, traveling mechanism and a mechanism for changing a traveling direction. First requirement brought the following specifications for designing the window cleaning robot. ★Weight: less than 5kg, including the weight of battery and washing water, ★Size: 300mm x 300mm x 100mm. These were also defined by the results of surveying the demands from the cleaning companies. In previous researches, we have proposed outline of mechanical system for window cleaning robot for filling above mentioned demands. And we confirmed basic properties and its possibility by the experiments. That mechanical system consists of two-wheel centered differential drive specialized in making a right-angled turn at the corner of window and a suction cup with vacuum pomp as adhering method. By this me