Abstract: It designed a window cleaning robot (WCR) in this paper. In the bottom of the WCR, it designed two vacuum suckers and connected with a vacuum pump by hoses which exhausts the air in the sucker and creates vacuum in it. Then, negative pressure makes by atmosphere, which can make the WCR adhere to window glass. Two crawler wheels are designed to increase the contact area between the WCR and glass, which can improve the driving force of the WCR when it moves on glass. Also, it designed a negative pressure sensor and connected with the vacuum suckers by hoses, which can realize real-time monitoring the negative pressure of the WCR, and make the control system automatically adjust the PWM control parameters on the vacuum pump motor to change the negative pressure in the vacuum suckers of the WCR and make it adapt different glass with different friction coefficient and move freely. According to the designed structure parameters of the WCR, it set up the simple mechanical model, and then analyzed the negative pressure model, driving model of the WCR. At last, it made the WCR sample and tested the adherence ability and the moving ability of it. The experimental results prove the load capacity of the WCR is over 10kg when it adheres to smooth glass window, and can move freely on different glass with different friction coefficient.

Key words: Negative pressure, vacuum pump, window cleaning robot, friction coefficient

摘要： 设计了一种擦窗机器人结构，在机器人底部设计真空吸盘，通过真空泵抽取吸盘内空气形成负压，使机器人贴合在窗户玻璃上；机器人采用双电机履带轮驱动方式，以提升机器人与玻璃的接触面积，增强驱动力；同时，设计了负压传感器并通过管路与真空吸盘连通，实现对负压值的实时检测，以便控制系统自动调整真空泵电机的PWM控制参数，确保机器人在不同摩擦系数的玻璃表面正常运动。根据机器人的结构设计参数，建立了机器人的受力简化模型，并基于该模型，对机器人的负压模型、驱动模型进行了理论分析； 最后完成了机器人样机开发，并对该机器人进行了吸附测试及行走测试；试验测试结果证明该机器人在光滑玻璃表面吸附负载能力可达10 kg以上，且能在多种不同摩擦系数的玻璃表面行走。

关键词: 负压, 真空泵, 擦窗机器人, 摩擦系数