Design & Development Of Semi-Automatic High Story Glass Cleaning Mechanism

CHAPTER NO. 1

Introduction

There exists increasing demand for the development of various service equipment’s to
relieve human beings from hazardous jobs and inspection of high pipes and walls. Window
washing and cleaning makes the building’s architectural glass free from dust and dirt. The
traditional way of cleaning office windows cannot be applied to high rise windows with huge
sections of glass. The reason is because windows are extremely inaccessible. Cleaning the
windows from outside requires special tools in going up and it’s really unsafe. This paper is
based on a climbing system aimed to clean glasses of high-rise buildings, using suction cups for
adhering to the glass. The idea is to build a small window climbing robot with suction cups
which is able to move autonomously along the outside surface of window with a relatively
sufficient area and meantime clean and wash it. Traditionally cleaning of building/house
windows is commonly done manually by cleaners or specialized personnel. Although the
window cleaning is easy from inside the room it is not that easy from the outside. Cleaning of
wide windows on tall and multi-story buildings is even more tedious and very dangerous
procedure. It needs either hoisting machines for manual cleaning or large, heavy and very
expensive automatic cleaning machines. As a result windows normally remain dirty or dusty
form outside which might obstruct the room occupant's view. Instead our cleaning machine can
be attached to the outside surface of a room window. The machine will execute and accomplish
the task of window cleaning automatically.

Suspended platform or cradle

An extreme window cleaning scenario with intense height and a very deep sloping
overhang.
Devices designed for ascent and/or descent via wire rope by mechanical or manual means.
 Boatswain's chair (bosun's chair):
A boatswain's chair is a single-person seat designed for controlled descent of rope. Often
referred to as "rope descent systems" (RDS), these are typically anchored to a roof
structure, counterweight configuration, or connecting points designed for the purpose.

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Note: These are always temporarily installed for the purpose of access. However, their
anchor points can be either temporary or permanent.
 Suspended platform:
An access platform for one or more workers with manual or motor driven devices for
raising and lowering via rope. Platforms may be fitted to high rise buildings or skyscrapers,
or assembled from components to suit architecture and nature of work being performed.
Note: These can be either temporary or permanent. Both having their own unique
governing codes and regulations. Permanent suspended platforms are often known as
building maintenance units (BMU) and their platforms are also known as gondolas in
Europe.

1.1. Relevance:

In this modern world, machines play a crucial role in different applications in domestic as
well as in industry. They have replaced the need for labor work. With the tremendous
development in technology dependence on manual work is decreased significantly. Some of the
leading manufacturers of material handling equipment, industrial machinery from India are
recognized for their high quality products. Due to the development of construction technology,
there is a considerable increase in the number of skyscrapers in the world. Accordingly, there are
rapid growing requests about maintenance systems such as cleaning, painting, and monitoring
the processes of facade in high-rise buildings. So by taking this as a field of innovation we have
taken task to Design and development of high story glass cleaning mechanism.

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Fig No.1.1.1:- Current working methods for glass cleaning.

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 Design & Development Of Semi-Automatic High Story Glass Cleaning Mechanism

CHAPTER NO. 2

Literature Review
[1]
Nasiri et al had discovered the idea of having a compact and autonomous office or house
window cleaning robot is quite simple and very attractive. This small window climbing robot
with pneumatic suction cups should be able to move autonomously along an outside surface of
high-rise building office window with a relatively large area and meantime clean and wash it.
Being manually attached to the outside surface of the room window the robot will execute and
accomplish the task of window cleaning automatically in a predefined pattern. The sensory
system will help to navigate the robot. It is noted that window cleaning robots are commercially
available but pricey (in the range of USD 5000 or more). The designed robot is lightweight,
small size and cheap because it is driven only by one rotary actuator and system of properly
arranged conventional belts and pulleys. It uses the suction cups to stick to the window pane and
set of optical sensors to detect the window frame. The microcontroller is programmed to move
the robot in a specific pattern depending on the sensory data. There are no similar reasonably
priced rival products available in the market yet.

[2]
Tocut et al says that the aim of research and implementation in services fields of washing-
cleaning or periodical inspection of operational robots systems, used at exterior frontage of
buildings that are realized from modular glass panels. The climbing constructive variant of
robot is designated at service fields of robots, which are more used in cleaning-washing services
of frontage buildings with glass walls. The system is composed from mechanical system with
light structure, power system formed by pneumatic-vacuum system, and command- moving in
conformity with predictable software.

Vinod et al [3] He said that of the increasing number of high-rise buildings and large glass
facades and the resulting problem of safe and effective cleaning, a lot of effort has taken
place in the last few years to develop automated cleaning systems. The majority of systems
conceived and developed thus far are in Japan and Europe (Schraft et al., 2000) (Gambao
& Balaguer, 2002). The first automated cleaning systems for high-rise building were used in

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Japan in the middle of the 80’s. These systems were mainly designed for use on specific
buildings. For safety purposes or in order to guide the robot’s movement on the
facade, they often required additional construction such as guidance rails to the
facade.

[4]
Miyake et al There have been many demands for automatic cleaning system on outside
surface of buildings such as window glass by increasing of modern architectures. Some
customized window cleaning machines have already been installed into the practical use in the
field of building maintenance. However, almost of them are mounted on the building from the
beginning and they needs very expensive costs. Therefore, requirements for small, lightweight
and portable window cleaning robot are also growing in the field of building maintenance.
As the results of surveying the requirements for the window cleaning robot, the following
points are necessary for providing the window cleaning robot for practical use.

[5]
Gambao, et al said that, nowadays the number of buildings with large glass or flat façades is
increasing all over the World. These façades must be periodically cleaned with manual
procedures that supposed high cost and risk for the workers that have to develop their work
under heavy conditions. Although the cleaning cost depends a lot on several factors as the façade
characteristics, the cleaning periodicity or the total surface to be cleaned, the average cost is € 8-
9 per square meter. A typical building of 12.000 m2 supposes a total façade cleaning cost of €
100.000 and this task is usually done every year. The use of an automatic or semi-automatic
cleaning system can lead to around 60% savings over existing practice (Gambao & Hernando,
2006).

[6]
Vitala et al according to him there are vast number of tall structures with glass dividers in
urban communities. Outside dividers of structures gives an alluring outer surface appearance, as
well as builds their solidness. These dividers oblige consistent cleaning which constantly risky,
costly and arduous work noticeable is all around. Cleaning is standard in our life. It includes
numerous exercises in our everyday life. It is a diligent work occupation and a considerable
measure of time is expended. Glass cleaning is additionally one part of support action. The clean
glass will certainly give an agreeable domain to the workplace occupants. The two primary
focuses that are focused in this undertaking are to conquer the risk of human inclusion in
cleaning outer glass action and diminish high cost by the customary technique for cleaning

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outside glass. It gets to be important to conquer the confinement. The task plans to
supplant or minimize human association in cleaning the glass window by supplanting it
with a little cleaning robot for frameworks with a few abilities. The capacities are; compact,
little size, lightweight, programmed operation and can clean all the corner of the outer glass
windows.

[7]
Surykant et al said that the objective of this analysis is to develop the small-size and
lightweight window cleanup robot. The model of window cleanup robot has been developed.
The size of a prototype robot is roughly 700mm x 500mm x 100mm and its weight is roughly 6
kilogram. The prototyped robot consists of 4 severally suction cups. The system which has
traveling direction controller using an accelerometer and traveling distance controller using
Arduino and edge sensors were put in for autonomous operation. This paper includes
background and objectives of this analysis, prototyped mechanical systems, moving system,
experimental results of basic traveling management and window rolling brush by examination to
with or while not of motioned system, some discussions in every experiment and a conclusion.

Ahmed, et al [8] Now a days it’s been a trendy way to have high level of buildings and
skyscraper’s with glasses as front elevations. It is really acceptable that buildings with
glasses provide good natural light and it also improves the outlook of the skyscrapers.
But when it comes to the cleaning of all those glasses till to a particular height is fine
manually, when we keep on going to high level the danger of the humans who are cleaning it
keeps on increases and it’s really a risking duty for the maintenance department. Now we
took this problem and started working to find a suitable solution which is easy to operate
and economical. So here we are proposing a design that can be used to clean the glasses
attach to the building. In this paper we are presenting the design of a system that can be
used in cleaning of glasses, covering a limited area and then the same system can be used to
complete the work by simply repositioning the entire system which has a movable base
along the glass wall. In this manner we can clean the entire glass attached to the
Skyscraper’s and buildings with in short time.

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2.1. Concluding Remarks:

Following outcomes can be drawn from the above literature review of design and
development of semi-automatic high story glass cleaning mechanism:

1. In preparation of fabrication it was necessary to have best possible product design and avoid
complications in cleaning mechanism.

2. The quality of glass cleaning machine is a function of metallic frame on which slider is
attached with nylon rollers and process conditions.

3. We have fabricated such type of machine having advantage of moderate size light in weight
and inexpensive glass cleaning machine as compared to available glass cleaning robots. It can be
operated in semi- automated work. It will provide a safe cleaning of office or homes especially
for high rise building.

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CHAPTER N0. 3

Proposed Work

3.1. Problem Statement:

However, it is extremely dangerous working the walls of high-rise buildings, and crashes
from buildings have accounted for large proportion of constructional accidents. An alternative
solution must be developed with the commercialization of automatic robot systems. Currently there
is no development of automated robot system for cleaning the exterior walls of high-rise buildings
and the related research is also insignificant in India. Among the cleaning methods carried out for
exterior walls of high-rises in India is to clean by a worker in a cage of a gondola that is connected
to the top of a building. However, use of gondola is quite often impossible due to the esthetic
structure of the tops of the buildings as well as the irregular shapes of recently-built buildings that
are constructed with design element.

3.2. Objectives:

1. Study of literature survey.

2. To study concept of fabrication.

3. To calculate various design parameters.

4. To prepare drawing to visualize actual project setup.

5. To design and development of Glass Cleaning Mechanism.

3.3. Scope of work :

At present there are large number of high rise buildings in modern cities. The glass
windows in these modern architectures require constant cleaning which is presently carried out
using a gondola system, hanging from the building wall. Glass cleaning of high rise buildings is
becoming one of the most demanding field for automation because of high level of difficulty
faced by the workers and presence of their safety risk.

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The development of project offers a novel alternative solution to the above mentioned
problem by providing and developing an cleaning system which can be used on high rise
buildings.

The "Glass Cleaning Machine" is an unmanned semi-automatic machine used for

cleaning the entire exterior surface of the building's glass walls or windows, with the use of a
squeegee supported with a water sprayer. Using the combination of water and mechanical action
of the squeegee, the dirt is loosened from the surface and allowed to air dry naturally leaving a
spot free glass surface. This system embodied a pair of rods capable of translatory motion, driven
by a motor. The horizontal and vertical movement of sponge is based on lead screw mechanism.
A sprayer filled with soap water is attached to the system. In this mechanism we have added
mechatronic circuit in which we will control the motion of cleaning brush trolley. As per our
requirement we can set the vertical distance and the mechanism will work accordingly.

3.4. Methodologies:

This project will undergo through following six phases.

Step I : Literature Survey
A detailed literature survey will be carried out in the related area. Majorly the selected project is
come under industrial field influence, So In this phase we will do small scale industrial visits,
Feedbacks and problems faced by vendors.
Step II : Concept Generation
In this phase, we are going to do schematic arrangement design and drawing of major component
swhich we can use for completion of our project. In this phase we will generate the schematic
drawing on the basis of problem statement and feedback and suggestion received from end
customer and vendors.
Step III : Design calculations
In this phase we are going to do the design calculations by referring the standards, catalogue and
reference books. In this work we will finalise the design and components dimensions. We are
also select the material according to parts and components fuction and loading conditions. In this
phase we will decide the size and shape of components and its position in the assembly. Also we
will decide the limit and tolerance between components and alos machining methods required to
select to manufacture the components.

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 Design & Development Of Semi-Automatic High Story Glass Cleaning Mechanism

Step IV : Preparation of Drawings

In this phase we are going to prepare the design. The suitable component and assembly drawings
will be prepared which will help visualize the actual project set up. In this phase we will prepare
the drawing as per industrial format.
Step V : Fabrication
(01) Manufacturing of various components and subassemblies will be carried out by using
suitable manufacturing processes.
(02) The components will be assembled per the drawing.
(03) Working trials of the project will be conducted to confirm and testing parameters (Time and
speed) we will decide for to get best quality of product.
Step VI : Experimental Investigations (Actual Field Trial)
The fabricated mechanism will be tested for the suitability to the intended application. This
experimental testing will include the testing of machine at actual site.

3.5. Specification:

Specification of proposed semi-automatic high story glass cleaning mechanism

1. Function : Clean the glass of high story building.
2. Specification :
i. Type of machine: semi-automatic motor powered.
ii. Range of dia:- with brush size 2 feet long .
iii. Man power requirement:- one operator
iv. Overall dimensions(Tentative): 1250 x 1250 x 835 mm
v. Wire brush : Nylon material.
vi. Capacity : 100 sq feet within 5 min..
vii:- Selected size of glass:- 5 feet x 4feet.

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3.6. CAD Model :

Fig. No. 3.6.1:- CAD Modelling Of Project

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Fig. No.3.6.2:- 3D Modeling Of Project

3.7. Working Principle :

A glass cleaning machine is designed to clean the surface of glass wall of high rise
buildings. It consists of a metallic frame on which the slider is attached with nylon rollers. A
Cleaning drum along with brushes is fixed to the slider. It is fixed in such a way that half the
diameter of the drum protrudes outside the frame. Such an arrangement of the drum does not
allow the frame to touch the glass wall preventing from any damage occurring to the glass. The
nylon rollers assist the vertical movement of the slider over the frame. The shaft is coupled to an
AC motor which rotates the shaft using a Lovejoy coupling. The cleaning drum is covered using
a sheet metal casing which is fastened to the slider. The supply of pure water can be done by
pumping it from an external source and the supply of soap water is done by using a pump which
is attached to a separate tank fastened at the bottom of the frame. Cleaning of the surface is done

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 Design & Development Of Semi-Automatic High Story Glass Cleaning Mechanism

in two passes. In this mechanism we have added mechatronic circuit in which we will control the
motion of cleaning brush trolley. As per our requirement we can set the vertical distance and the
mechanism will work accordingly

3.8. Facilities Available:

1) Manufacturing and testing facility in order to carry out dissertation work are available at
Autocreators Engineering Workshop.

2) The adequate library, laboratory and computer facilities are available at P.V.P.I.T. Budhgaon

3.9. Expected Date of Completion : March 2019

3.10. Approximate Expenditure : Rs.20, 000/-

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CHAPTER NO. 4

References

1. Nazim Mir –Nasiri “Portable Autonomous Window Cleaning Robot’’ engineering and
new high product development- MECHITECH’11, vol 3, pp.258-267, 2011.
2. Danut Pavel TOCUT “Design Of Cleaning Robot System To External Wall Of
Buildings” Mechatronics,vol 2, pp, 1 july 2013.
3. Prem Kumar Naik, “Design And Fabrication Of Glass Curtain Machine” , International
Journal Of Scientific And Technology Research, Volume 3, pp,333-345, September
2014.
4. Toharu MIYAKE proposal of locomotive mechanism clening even at the corner, Proc. of
7th Int’1 Conf. on Climbing and Walking Robot (CLAWAR), 2004.
5. Gambao E. and Balagaur C. (2002), ISSN 1070-9932 Robotics Automation Magzine.
Volume. 9 No.1 pp March 2002, ISSN 1070-9932.
6. Vitala. H. R. “International Journal Of Innovative Research In Science, Engineering And
Technology, Volume. 6, ISSUE 6, pp june 2017.
7. Surykant Rathod, Ankur Raj, Chandankumar & Rajkumar “Skyscrapers Wall Climboing
And Glass Cleaning Automated Robot” pp31 May 2017.
8. Md. Ishaakh Ahamed, S. Ramesh Kumar, Keshav Singhal, Akash Shrivatsav & P. Joseph
“Design Of Cartesian Type Automated Glass Cleaning System For Skyscrapers”.
International Journal Of Mechanical Engineering And Technology,Vol 8(2), 2017, pp.
107-112.
9. Current working condition of glass cleaning of high story building available at-
http/nickwindowcleaning.ca/2017/why-hire-a-pro-to-clean-high-rie-window/

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