Design of a cross-frame barrier-crossing and wall-climbing cleaning robot

The photovoltaic curtain wall is a combination of an outer photovoltaic module plate and inner vacuum glass, which forms a narrow cavity with obstacles such as beams and junction boxes inside. After the cavity of the photovoltaic curtain wall is contaminated, it is impossible to enter manually. For the problem of cavity cleaning, a cross-frame barrier-crossing and wall-climbing cleaning robot is developed. The robot body mechanism is designed as a cross-frame motion mechanism to achieve flexible movement in narrow cavities; its adsorption device is designed as a liftable 3*5 vacuum suction cup set to achieve stable adsorption on the vacuum glass surface and the function of crossing obstacles; its cleaning structure is designed as a foldable brush cleaning structure to achieve the cleaning function on the photovoltaic module surface. Based on the kinematic model, the robot motion simulation analysis was completed; the robot prototype was developed, and the adsorption and movement experiments of the robot were carried out. The experimental results show that the robot can achieve stable adsorption and autonomous movement on the vertical wall surface.