Cleaning robot design for cone high-rise glass-curtain wall

To fulfill the demand for the lightness, high reliability and safety, three structure design principles were proposed for a cone high-rise glass-curtain wall cleaning robot. The whole cleaning robot structure was designed based on the principles which were described as the motion driver dispersed configuration, the main and secondary motion integrative drive and the soft drive structure for the main motion. The methods adopted by the robot to go through, attach and clean the glass-curtain wall were detailed consequently. The architecture dimension error’s infection to the robot was analyzed to testify the feasibility of the soft drive structure and the adaptability of the robot to the error. The cleaning robot for an airport control tower was developed according to the principles discussed. The practicability and reliability of the robot were testified by the fieldwork. The cleaning robot system proposed is now used for the airport control tower’s daily cleaning service.