A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Two-foot wall surface cleaning robot body
The invention relates to a two-foot wall surface cleaning robot body, and belongs to the field of service type robots. The robot body comprises a connecting rod component with a rotary pair with rotary parameters and working assemblies connected to two ends of the connecting rod component through joint supports respectively, the rotary pair being between connecting rods. After the two connecting rods and the two side vertical rotary arms are hinged through three vertical rotary pairs, the two ends of the two connecting rods and the two side vertical rotary arms are hinged to joint supports through two horizontal rotary pairs correspondingly, and a connecting rod component is jointly formed. Each rotary pair adopts a steering engine with controllable rotation speed and rotation angle. Eachworking assembly comprises a cleaning part, an adsorption part and a vacuum generator. A spherical joint structure is arranged between a plurality of suction cups in the adsorption component and the joint support. The two-foot five-joint six-connecting-rod body structure can enable a two-foot wall surface cleaning robot to have a flexible obstacle crossing function and be safely and stably adsorbed on a complex wall surface so as to adapt to cleaning work with the wall surface being a complex curved surface.
本发明涉及一种两足壁面清洁机器人本体，属于服务型机器人领域,适用于复杂玻璃帷幕的自动化清洁工作；包括带有回转参数可控的连杆间回转副的连杆部件和分别通过关节支架连接在连杆部件两端的工作组件。两个连杆、两个旁垂直回转臂，通过3个垂直回转副铰接后，在其两端再通过两个水平回转副分别铰接连接一个关节支架，共同构成连杆部件；其中，各回转副采用可控转速和回转角度的舵机。每个工作组件包括清洁部件、吸附部件、真空发生器。吸附部件中的数个吸盘与关节支架之间有球形关节结构。这种两足五关节六连杆的本体结构，可以使两足壁面清洁机器人具有灵活的越障功能，并安全稳定地吸附在复杂壁面上，以适应壁面为复杂曲面的清洁工作。
Two-foot wall surface cleaning robot body
The invention relates to a two-foot wall surface cleaning robot body, and belongs to the field of service type robots. The robot body comprises a connecting rod component with a rotary pair with rotary parameters and working assemblies connected to two ends of the connecting rod component through joint supports respectively, the rotary pair being between connecting rods. After the two connecting rods and the two side vertical rotary arms are hinged through three vertical rotary pairs, the two ends of the two connecting rods and the two side vertical rotary arms are hinged to joint supports through two horizontal rotary pairs correspondingly, and a connecting rod component is jointly formed. Each rotary pair adopts a steering engine with controllable rotation speed and rotation angle. Eachworking assembly comprises a cleaning part, an adsorption part and a vacuum generator. A spherical joint structure is arranged between a plurality of suction cups in the adsorption component and the joint support. The two-foot five-joint six-connecting-rod body structure can enable a two-foot wall surface cleaning robot to have a flexible obstacle crossing function and be safely and stably adsorbed on a complex wall surface so as to adapt to cleaning work with the wall surface being a complex curved surface.
本发明涉及一种两足壁面清洁机器人本体，属于服务型机器人领域,适用于复杂玻璃帷幕的自动化清洁工作；包括带有回转参数可控的连杆间回转副的连杆部件和分别通过关节支架连接在连杆部件两端的工作组件。两个连杆、两个旁垂直回转臂，通过3个垂直回转副铰接后，在其两端再通过两个水平回转副分别铰接连接一个关节支架，共同构成连杆部件；其中，各回转副采用可控转速和回转角度的舵机。每个工作组件包括清洁部件、吸附部件、真空发生器。吸附部件中的数个吸盘与关节支架之间有球形关节结构。这种两足五关节六连杆的本体结构，可以使两足壁面清洁机器人具有灵活的越障功能，并安全稳定地吸附在复杂壁面上，以适应壁面为复杂曲面的清洁工作。
Two-foot wall surface cleaning robot body
一种两足壁面清洁机器人本体
MA GUOYU (author) / LIU LI (author) / REN SITONG (author) / ZHOU YINUO (author) / HUANG SHIXUAN (author) / AIKERANMU ABUDUREHEMAN (author) / ZHAO XINGYU (author)
2020-04-28
Patent
Electronic Resource
Chinese
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