Double-flexible-cable-driven glass curtain wall cleaning robot

Abstract

The invention relates to a double-flexible-cable-driven glass curtain wall cleaning robot used for cleaning glass curtain walls of low-rise and mid-rise buildings. A double-cable driving mechanism in a double-cable driving mode realizes cable winding and unwinding by depending on friction between cables and rollers, then driving rollers are driven to rotate through roller driving motors, and the cleaning robot moves in a cleaning plane by depending on coordinated winding and unwinding of the double cables. A deflection angle detecting mechanism is used for detecting an included angle between each cable and a guide sliding rod and then feeding the included angles back to a single chip microcomputer, and needed running speed and revolution number of the roller driving motors are worked out through program calculation, so that the two roller driving motors can move in a coordinated manner, the cleaning robot is enabled to reach the target position along a straight track more accurately, movement distance is shortened, and rapidness and accuracy are improved. By the combination of the double-cable driving mechanism and the deflection angle detecting mechanism, the cleaning robot can move at optional positions in the cleaning plane and can be adjusted rapidly, and thereby cleaning efficiency is improved.

Description

technical field [0001] The invention relates to a mobile robot for cleaning the surface of a glass curtain wall, which is driven by two flexible cables and is suitable for cleaning glass curtain walls of middle and low-rise buildings. Background technique [0002] At present, the cleaning of glass curtain walls of buildings is mainly done by cleaning workers in hanging baskets or waist-tied ropes. This method is completely dependent on manual labor, which is not only labor-intensive, but also low-efficiency. It is also very dangerous and belongs to extreme operations. The glass curtain wall cleaning robot driven by double cables can free people from the dangerous high-altitude working environment. It can not only avoid accidents, improve cleaning efficiency, but also beautify the urban environment, and has a very broad application prospect. [0003] A wall cleaning robot (patent number: ZL01202018.4) developed by Beijing Bluestar Harbin Institute of Technology Robot Technolo...

AI Technical Summary

Problems solved by technology

[0003] A wall cleaning robot (patent number: ZL01202018.4) developed by Beijing Bluestar Harbin Institute of Technology Robot Technology Co., Ltd. in China is characterized by the use of a single suction cup adsorption wheel type mobile mechanism, which has high working efficiency and good cleaning effect, but cannot Overcoming barriers such as wall and window frames

[0004] A window cleaning robot (Patent No.: ZL00201085.2) developed by Beihang University. Its technical feature is that it adopts a frame-type multi-leg multi-suction cup adsorption movement mechanism, which has a certain ability to adapt to the unevenness of the wall surface, but the moving speed is low and the work is difficult. low efficiency

[0005] Chinese invention patent "Moving Mechanism of High-Rise Building Wall Cleaning Robot" (Application (Patent) No.: 201010140679.6) Aiming at the wall of high-rise buildings, a moving mechanism of wall cleaning robot using horizontal flexible cable track and winch system to realize left and right, up and down movement is proposed , horizontal and vertical movement decoupling control, the control algorithm is easy to implement, but it is easy to shake left and right when moving horizontally, making the movement unstable

[0006] The researchers of the present invention have found that the glass curtain wall cleaning robot mentioned above and in the prior art has problems such as being unable to cross obstacles such as wall window frames or having poor adaptability to wall surface concavity and convexity, and has the problems of low moving speed, low cleaning efficiency, and poor mobility. Disadvantages such as instability and structurally limited range of motion

Images