Design and Fabrication of Glass Wall Cleaning Robot

Project Title

Design and Fabrication of Glass Wall Cleaning Robot

Project Area of Specialization Mechatronics EngineeringProject Summary

In this project, a glass wall cleaning robot climbs on the vertical glass wall surface. To achieve this purpose efficient attachment, centrifugal impellers have been used. Centrifugal impeller generates the low-pressure space for correct adhesion on the vertical wall surfaces. This type of robot can take place of humans to carry out risky work such as cleaning glass.  Portability to different locations is one of the main concerns of this project that does not require the support of additional structures.

Project Objectives

1. To design a wall-climbing robot for cleaning glass wall

 In the initiation process, a literature review had been done about various projects related to wall climbing Robots. Those wall climbing robots were focused whose main purpose was cleaning. Block diagrams and flow charts for the project have been made to identify the inputs and outputs. We have also studied the background of the project. Objectives based study of mechatronics and mechanical properties of Robots have been done.

1. To fabricate a wall-climbing robot

After the literature Review and Design, the fabrication of the project is being done.

1. To test the performance of a wall-climbing robot.

After fabrication, the performance of the project will be examined and results will be compared with other wall cleaning robotic systems

Project Implementation Method

Many climbing mechanisms with diverse features have been developed, since the ability of
climbing is one of the crucial aspects of wall cleaning robots. This project is based on propeller-thrust-based adhesion mechanisms that have greater flexibility in controlling the amount of adhesion.  A Centrifugal impeller is employed that generates the low-pressure space for correct adhesion on the vertical wall surfaces. It requires a vacuum impeller to create a vacuum and suction motor which rotates the impeller at a very high speed and creates a vacuum for the adhesion system of the wall-climbing robot. The suction motor will be powerful and it will be two, not one.  In centrifugal impeller, air enters from the eye of the impeller and exits radially. The inlet area where the air enters creates negative pressure and this is the required adhesion pressure, which is quite helpful for a proper adhesion system. An impeller may be a rotating part of a centrifugal pump, typically fabricated from iron, steel, bronze, brass, metallic element or plastic. The suction pressure can be easily generated by an impeller with backward curved vanes.

Benefits of the Project

1. The application of small-size and lightweight wall-climbing robots for window cleaning.
2. This robot has a function to move in a defined area by the user.
3. This robot has a function to change a traveling direction at a right angle at the corner of the window.
4. This robot moved on the window smoothly by adhering to a centrifugal impeller.
5. It is used to climb the wall safely and overcome its gravity, should avoid human injuries.
6. To reduce the human effort.
7. Time consumption for dust cleaning purposes in a household building.
8. It is portable.

Technical Details of Final Deliverable

Fabrication:

First of all, for fabrication purposes glass wall cleaning robot, we use PP(Polypropylene). Because PP is lightweight, durable, and impact resistant.

Adhesion Mechanism:

1. A Brushless dc motor is used for attaching to the glass wall surface.
2. The impeller which is attached to the brushless dc motor is also light in weight.
3. Movement Control:
4. The microcontroller is implemented for controlling the movement of the robot.
5. Two dc motors are used for the locomotion of the robot which is attached to each side.
6. For controlling dc motors, we use motor driver IC L293D.
7. In order to have a more friendly graphical environment, we use 16*2 LCD and hex keypad to enter the minimum and maximum distance.
8. The ultrasonic sensor is used to calculate the distance. the ultrasonic sensor measures the height achieved by the robot based on that height our robot will turn left or right and move up (in case of minimum height) or down (in case of maximum height).

Power:

1. Lipo batteries are used for reducing the weight and better power.

Cleaning Mechanism:

1. The cleaning mechanism takes place by two sponges one flat and the other one round.
2. The flat sponge is attached to the front of the robot.
3. The round sponge is placed at the end of which is connected with the dc motor which rotates it.
4. For better cleaning, we use the robot to employ a small cleaning fluid storage tank and fluid flow is through the pipe straight to the back sponge.
5. The overflow of water is controlled by a proper knob.

Final Deliverable of the Project HW/SW integrated systemCore Industry OthersOther IndustriesCore Technology Clean TechOther Technologies 3D/4D Printing, RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	49400
DC Geared Motor	Equipment	3	4650	13950
Brushless DC Motor	Equipment	2	3700	7400
Robot Chasis	Equipment	1	8000	8000
PIC microcontroller	Equipment	1	1600	1600
16x2 LCD	Equipment	1	750	750
1293D Motor Driver IC	Equipment	1	1600	1600
Ultrasonic Sensor	Equipment	1	1200	1200
Hex keypad	Equipment	1	1500	1500
PCB	Equipment	1	1600	1600
Fluid tank Sprinkler	Equipment	1	800	800
connecting wires	Equipment	100	10	1000
Centrifugal Impeller	Equipment	1	10000	10000