基于注射器吸附的玻璃幕墙清洗机器人设计

为解决玻璃幕墙人工清洗工作量大,危险性高的问题,设计了这一玻璃幕墙清洗机器人。系统以STC12C5A60S2单片机为主控制器，通过控制42HS4817A4型号步进电机带动微型直线滑台，实现机器人玻璃面上下机械运动,最大运行速度约60mm/s,采用12V减速直流电机,5V马达,20ml量程注射器,PJYS40-15-N型号真空吸盘的组合,实现机器人脚吸附和脱离玻璃面，多次试验，稳定吸附结果高达95%以上。采用PT2262和PT2272无线发射接收器，实现无线遥控操作。试验结果表明，该系统制作成本低, 轻量化设计灵活性好，具有一定的实用价值。

Design of Glass Curtain Wall Cleaning Robot Based on the Adsorption Mode of Syringe

A glass curtain wall cleaning robot is designed for the reason of large workload and high risk of glass curtain wall cleaning. The system is based on the STC12C5A60S2 MCU controller, which achieves up and down movement of glass surface by controlling the 42HS4817A4 type stepper motor driven miniature linear slide. The maximum operating speed of it is 60mm/s . And using 12V reduction DC motor, medical syringe, PJYS40-15-N vacuum suction cup of effective cooperation to realize the goal that the robot feet adsorption and detachment of the glass surface. Multiple tests, the results of stable adsorption up to 95%. Using PT2262 and PT2272 wireless transmitter receiver to realize the wireless remote control operation. The experimental results show that the system has the advantages of low cost, light weight and good flexibility. Thus it has certain practical value.