A three-degree-of-freedom intelligent window-cleaning manipulator based on parallel mechanism

Abstract

The invention relates to a three-degree-of-freedom intelligent window-wiping manipulator based on a parallel mechanism. The three-degree-of-freedom intelligent window-wiping manipulator based on the parallel mechanism comprises a parallel support mechanism, wherein a window-wiping manipulator is installed at the middle part of the upper end surface of the parallel support mechanism; the parallel support mechanism comprises a fixed platform, three parallel branched chains are uniformly installed on the upper end surface of the fixed platform along an axis direction, and the top ends of the three parallel branched chains are all installed on a movable platform; each parallel branched chain comprises a lug seat welded on the upper end surface of the fixed platform, a first hydraulic cylinder is installed on each lug seat through a pin shaft and capable of rotating on the lug seat, a connection barrel is installed at the top end of each first hydraulic cylinder through a thread, a thread column is installed on each connection barrel through a thread, the tail end of each thread column is welded on a moving circular barrel, each moving circular barrel is arranged on a moving shaft in a sleeving manner and capable of rotating or moving on the moving shaft, and the two ends of each moving shaft are fixed on two fixing lugs respectively. The three-degree-of-freedom intelligent window-wiping manipulator based on the parallel mechanism, which is disclosed by the invention, is capable of realizing a fully-automatic wiping function for high-altitude glass; and a new way of fully-automatic wiping for high-altitude glass is provided.

Description

technical field [0001] The invention relates to the field of smart home, in particular to a three-degree-of-freedom intelligent window-cleaning manipulator based on a parallel mechanism. Background technique [0002] With the continuous development of my country's economy, high-rise buildings such as office buildings and office buildings have sprung up everywhere. Usually, in order to increase the openness of the office buildings and office buildings and reduce costs, a large amount of glass will be installed. Although this greatly increases the aesthetics of high-rise buildings, But at the same time, it also increases the difficulty of cleaning the glass of high-rise buildings. Although there are a large number of window cleaning robots on the market, these window cleaning robots have the following disadvantages: 1. These window cleaning robots are basically adsorbed on the glass surface for cleaning. It needs to be placed manually to work, and it needs to be removed manually...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above problems, the present invention provides a three-degree-of-freedom intelligent window-cleaning robot arm based on a parallel mechanism, which can solve the existing window-cleaning robots that need to be manually picked and placed, cumbersome to operate, shake during the wiping process, and have low stability. , Need to change the wiping cloth manually, slow wiping speed and low work efficiency, etc., can realize the automatic wiping function of high-altitude glass, eliminate the vibration existing in the wiping process, good stability, easy to operate, no need to take it manually It provides a new way of fully automatic wiping of high-altitude glass.

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