Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
High-rise curtain wall cleaning robot
The invention belongs to the technical field of automatic control, and discloses a high-rise curtain wall cleaning robot which comprises a control system, a cable winding and unwinding unit, a robot body and a collecting unit, the cable winding and unwinding unit, the robot body and the collecting unit are connected with the control system, and the robot body comprises a frame. One or more cleaning mechanisms are arranged on the two opposite side faces, parallel to the curtain wall, of the wind power mechanism, the multiple sets of wind power mechanisms are arranged in a spatial cross shape and used for providing pressure and lifting force perpendicular to the curtain wall direction and acting force parallel to the curtain wall direction respectively, and the cleaning mechanisms are used for cleaning the curtain wall. The control unit is used for controlling the robot body to perform rolling operation and obstacle leap operation in front, back, left and right directions between two opposite side surfaces parallel to a curtain wall according to attitude information and environment information acquired by the acquisition unit in combination with the cable take-up and pay-off unit through cooperative work of the multiple sets of wind power mechanisms; therefore, the robot body can clean the angular curtain wall.
本发明属于自动控制的技术领域，公开了一种高楼幕墙清洗机器人，包括控制系统以及与控制系统相连的缆绳收放单元、机器人本体、采集单元，该机器人本体包括框架，在框架的周边设置有多套风力机构，其平行于幕墙的两个相对的侧面上各设置一个或者多个清洗机构，多套风力机构呈空间十字设置，分别用于提供垂直于幕墙方向的压力和提升力、以及平行于幕墙方向的作用力，该清洗机构用于对幕墙进行清洗，该控制单元根据采集单元采集的姿态信息和环境信息，结合缆绳收放单元，通过多套风力机构之间的配合工作，控制机器人本体在平行于幕墙的两个相对的侧面之间进行翻滚操作和前后左右方向的飞跃障碍操作，从而实现机器人本体对折角状幕墙的清洗工作。
High-rise curtain wall cleaning robot
The invention belongs to the technical field of automatic control, and discloses a high-rise curtain wall cleaning robot which comprises a control system, a cable winding and unwinding unit, a robot body and a collecting unit, the cable winding and unwinding unit, the robot body and the collecting unit are connected with the control system, and the robot body comprises a frame. One or more cleaning mechanisms are arranged on the two opposite side faces, parallel to the curtain wall, of the wind power mechanism, the multiple sets of wind power mechanisms are arranged in a spatial cross shape and used for providing pressure and lifting force perpendicular to the curtain wall direction and acting force parallel to the curtain wall direction respectively, and the cleaning mechanisms are used for cleaning the curtain wall. The control unit is used for controlling the robot body to perform rolling operation and obstacle leap operation in front, back, left and right directions between two opposite side surfaces parallel to a curtain wall according to attitude information and environment information acquired by the acquisition unit in combination with the cable take-up and pay-off unit through cooperative work of the multiple sets of wind power mechanisms; therefore, the robot body can clean the angular curtain wall.
本发明属于自动控制的技术领域，公开了一种高楼幕墙清洗机器人，包括控制系统以及与控制系统相连的缆绳收放单元、机器人本体、采集单元，该机器人本体包括框架，在框架的周边设置有多套风力机构，其平行于幕墙的两个相对的侧面上各设置一个或者多个清洗机构，多套风力机构呈空间十字设置，分别用于提供垂直于幕墙方向的压力和提升力、以及平行于幕墙方向的作用力，该清洗机构用于对幕墙进行清洗，该控制单元根据采集单元采集的姿态信息和环境信息，结合缆绳收放单元，通过多套风力机构之间的配合工作，控制机器人本体在平行于幕墙的两个相对的侧面之间进行翻滚操作和前后左右方向的飞跃障碍操作，从而实现机器人本体对折角状幕墙的清洗工作。
High-rise curtain wall cleaning robot
一种高楼幕墙清洗机器人
WU MINGHUI (Autor:in) / YAN PENG (Autor:in) / GAO BO (Autor:in)
15.03.2022
Patent
Elektronische Ressource
Chinesisch
Control system for high-rise curtain wall cleaning robot
| Europäisches Patentamt | 2022