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

A cleaning robot and suspension system technology, which is 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, simple operation, and easy installation methods

Active Publication Date: 2020-11-06
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 suspended structure curtain wall cleaning robot system and motion control method
  • Topological three-dimensional suspended structure curtain wall cleaning robot system and motion control method
  • Topological three-dimensional suspended 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 the right tractor 2 respectively at the two ends of the top of the curtain wall building to be operated, and the cleaning actuator 4 passes through. The array of ropes 3 is connected to the left and right tractors, and is 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 drooping 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, he operates the push rod through the controller. When the push rod 12 is stretched out, the cleaner 14 When it touches the wall, the push rod 12 continues to...

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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 cleaning application field of special robots, and in particular relates to a robot system and a motion control method for cleaning a curtain wall with a plane topological three-dimensional hanging structure. 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 ratio of payload to self-weight. The design is suitable for the structure of the curtain wall cleaning system, and the original two-dimensional system is optimized and improved by using the topological three-dimensional suspension motion system. deficiencies in practical applications. It makes effective use of the gravitational effect of the movement device under the condition of inheriting the above-mentioned characteristics, and realizes a three-dimensional movement system. [0003] At present, the research on various cleaning robots ...

Claims

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Application Information

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