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
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[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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