Modelling and simulation of semi-automatic glass window cleaning machine

摘要

Abstract The proposed design of the glass cleaning robot has two columns, each of whose ends are connected to four vacuum suction cups. Vacuum ducts connect the suction cups to the vacuum pump. Solenoid valves are used for controlling the suction in the suction cups so that the effective movement of the legs can be achieved. The vacuum supply to the two suction cups at the end of one column is cut off for moving the robot. Now, the pneumatic piston is used to move that column while keeping the other column fixed. This helps in the vertical motion of the robot. Similarly, another set of columns connected to a pneumatic piston is fixed perpendicular to the vertical column, which enables the robot to move in a horizontal direction. A cleaning unit is attached to the robot for the desired cleaning purpose. It consists of a microfiber brush, which continually cleans the surface as the robot moves with the help of a DC motor. A CAD model was designed and a static stress analysis while the robot is fixed on the surface was done using Autodesk® Fusion™ 360. The movement of the robot on vertical as well as on inclined surface is simulated. The results of the analysis show that the robot can successfully hold on to the wall with four suction cups and is able to climb vertical surfaces with more ease than inclined surfaces.