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论文摘要：本文在系统地介绍了国内外智能玻璃幕墙清洗机研究现状和未来发展趋势的基础上，设计了一种智能玻璃幕墙清洗机，提出了一种框架式移动、气压驱动、真空吸附、冲洗和刷洗及刮洗联合作用的清洗机结构。23570
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该设计主要包括清洗系统、移动及吸附系统两大部分。机器人本体上装有清洗装置,按规划的工作路径进行清洗。高层建筑玻璃幕墙的污渍主要是大气尘垢,考虑机器人的作业环境、清洗效率和环保的要求,整个清洗系统包括盘刷系统、喷水系统、水循环回收系统、和洁面系统,因此采用冲洗、刷洗、刮洗联合作用的清洗方式[1]。喷水系统用于冲洗，盘刷用于刷洗，刮板用于洁面,清洗过后的污水通过污水管进入污水箱。水循环系统通过吸水泵将污水吸入楼顶的污水处理器，将污水净化后，喷水泵将水送入喷水管，达到水的循环作用，保护了环境，提高了水的利用率。
机器人移动及吸附系统由移动系统和吸附系统组成。移动系统主要由十字框架结构和X,Y向气缸组成,使机器人能够灵活移动,且跨越障碍能力强。吸附系统由Z向气缸和真空吸盘等真空组件组成。
清洗机箱体结构和各零部件采用铝合金等强度较高的轻型材料，满足清洗机小型化和轻量化的要求。
毕业论文关键词： 智能玻璃幕墙清洗机；十字框架结构；气压驱动；冲洗和刷洗及刮洗联合作用；真空吸附。
Structural Design of an Intelligent Glass Curtain Wall Cleaning Machine
Abstract: This paper introduces the design of an intelligent high-rise glass curtain wall cleaning machine based on the system self-cleaning device for domestic and international status of the wall. The mobile cleaning machine structure has a gas drive, vacuum and flexible framework.
The device includes cleaning system, climbing wall and the control system of three parts. Robot itself is equipped with cleaning devices work by planning the path for cleaning. Wall high-rise buildings are mainly of atmospheric dust and dirt, considering the robot's operating environment, cleaning efficiency and environmental protection requirements, the entire operating system including the rolling brush cleaning system, sprinkler system, water cycle recovery system, and cleansing the system, with washing, brushing, scraping the joint effect of washing cleaning practices. Scraper can recovery left in the wall of the droplets, through the sewage pipe into the sewage tank. Wastewater recycling and reuse of the robot to achieve self-sufficiency in water supply, help increase the efficiency of cleaning robots, and cleaning can reduce the load on the weight of the robot.
Wall climbing robot system consists of mobile systems and the composition of the adsorption system. Mobile adsorption system designed cross frame and vacuum package and flexible mobile robot, obstacle avoidance capability. In order to improve the cleaning efficiency of the robot, path planning requirements for the whole process moves at least, the largest cleaning unit to ensure that the main movement direction of robot path planning in the same direction. As the robot can carry out the obstacle crossing of window frames, so it can simplify the path planning.
The body and chassis parts of the device have the aluminum and other light materials, small size, simple structure, large effective area cleaning, no repeat cleaning, and uneasy to produce secondary pollution. Generally speaking, the device has the great improvement in the cleaning efficiency and the simplification of the equipment.
Keywords: Wall-climbing cleaning robot；Gas driven；Vacuum adsorption；Frame structure.
目 录
1 绪论 1
1.1 课题开展的依据 1
1.2 智能玻璃幕墙清洗机国内外的发展概况 1
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