Window Cleaning Robot with Magnetic Synchronous Drive

Abstract

This paper introduces a new light weight window cleaning robot with magnetic synchronous drive wheel and up/down wiper system. A pair of indoor/outdoor units attract each other by a magnetic force. Each unit has two slanted wheels to make a straight and curbed motion. Actuators are equipped only on the indoor unit, and the outdoor unit is a totally non electric system. A wheel on the outdoor unit is driven by a remote torque through a magnetic coupling where pair of multi-pole disk magnets are faced parallel on inside and outside of the glass. A wiper system also has a magnetic coupling to transmit an up/down motion from the indoor actuator to the outdoor linkages. Some experiments show the versatile locomotion and wiping performances.