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Topological three-dimensional suspension structure curtain wall cleaning robot system and motion control method

A technology for cleaning robots and suspension systems, applied in the field of special robot cleaning applications, can solve problems such as limited use scenarios, and achieve the effects of strong system scalability, high safety factor, and simple operation

Active Publication Date: 2018-10-12
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

During the working process, the robot needs to be close to the surface of the curtain wall. It can only clean the plane curtain wall and cannot cross the structural obstacles on the surface of the curtain wall. The usage scenarios are limited.

Method used

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  • Topological three-dimensional suspension structure curtain wall cleaning robot system and motion control method
  • Topological three-dimensional suspension structure curtain wall cleaning robot system and motion control method
  • Topological three-dimensional suspension structure curtain wall cleaning robot system and motion control method

Examples

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Embodiment

[0066] For medium and high-rise buildings below 100 meters, it is a non-planar exposed frame glass curtain wall. When working, place the left tractor 1 and right tractor 2 on the top ends of the side of the curtain wall to be operated, and the cleaning actuator 4 passes The array of ropes 3 are connected to the left and right tractors and suspended on the building surface of the curtain wall to be operated. When the push rod 12 is not extended, the cleaner 14 does not touch the wall, and the main body of the cleaning actuator, the cleaner, and the rope are in a natural sag state , The cleaning actuator can move freely across the structural obstacles on the surface of the exposed frame curtain wall. After the operator sets the cleaning task through the man-machine central controller, the controller operates the push rod. When the push rod 12 extends, the cleaner 14 When touching the wall, the push rod 12 continues to extend and stops after the appropriate pressure is measured by ...

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Abstract

The invention discloses a topological three-dimensional suspension structure curtain wall cleaning robot system and motion control method. Left and right tractors are used for driving a cleaning actuator to move on a wall surface, at the same time, the horizontal axial direction belonging to the clean actuator pushes a clean part to be in contact with the wall surface, and the clean part cleans aglass curtain wall; and the automatic wide-range curtain wall cleaning operation which is different from the traditional situation mode is realized, and the topological three-dimensional suspension structure curtain wall cleaning robot system is especially suitable for the cleaning of high-rise glass curtain walls and has high safety for working personnel and building curtain walls.

Description

Technical field [0001] The invention belongs to the field of special robot cleaning applications, and specifically relates to a plane topology three-dimensional suspension structure curtain wall cleaning robot system and a motion control method. Background technique [0002] The rope-driven parallel arm robot has the characteristics of large working space, small inertia, simple structure, easy disassembly and assembly, and high effective load to dead weight ratio. The structure is suitable for curtain wall cleaning system, and the topological three-dimensional suspension motion system is used to optimize and improve the original two-dimensional system The shortcomings in practical applications. Under the condition of inheriting the above characteristics, it can effectively use the gravity effect of the exerciser to realize a three-dimensional motion system. [0003] At present, the research of various cleaning robots is applied to low-rise household glass cleaning robots. There ar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E04G23/00
CPCE04G23/002
Inventor 游彬程林舒全回黄发良陈道名
Owner HANGZHOU DIANZI UNIV
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