Development and Practice of a Modular Intelligent Cleaning Robot for High-Altitude Operations

Автор: 邵宏彬 Shao

Организация: School of Astronautics Harbin Institute of Technology, Harbin

This project designs a bionic spider robot named "Spider Spirit" to address the inefficiency and high risks of high-rise building cleaning. The robot innovatively integrates negative pressure adsorption technology with a quadruped bionic structure. Its main body employs lightweight 3D-printed photosensitive resin. The mechanical system features four legs (each with three servo motors) enabling stable climbing via a tripod gait, while foot-mounted negative pressure chambers and vacuum motors ensure reliable wall adhesion. The electronic system uses an Arduino Nano controller to drive 12 MG90s servos, powered by a 3S 2200mAh LiPo battery. A modular cleaning device includes interchangeable rotating/vibrating brushes and a cleaning fluid spray mechanism for diverse stains. 

Current progress includes mechanical modeling, 3D-printed assembly, control circuit integration, and basic motion programming (C-based servo coordination). Key challenges such as joint stability, heat dissipation, and weight reduction have been resolved. Future work involves integrating negative pressure adsorption and cleaning modules while refining gait algorithms. The project aims to achieve autonomous movement and cleaning on high-rise surfaces, offering a safer and more efficient solution for facade maintenance.