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A platform for research: civil engineering, architecture and urbanism
Self-adaptive welt cleaning system based on tactile perception
The invention discloses a self-adaptive welt cleaning system based on touch perception, which belongs to the technical field of cleaning and comprises a rack, a swing arm, a cleaning disc and an edge touch perception device. The near end of the swing arm is pivotally connected to the rack around a Z axis, and a swing driving mechanism is connected between the rack and the swing arm; the sweeping disc is arranged at the far end of the swing arm, and a sweeping executing mechanism is further fixedly installed at the far end of the swing arm. The edge touch sensing device comprises a connecting frame, an edge touch roller and an angle detection device; the near end of the connecting frame is pivotally connected to the far end of the swing arm around the Z axis, the edge contact roller is rotatably connected to the connecting frame around the Z axis, and the angle detection device is used for detecting the rotating angle of the connecting frame around the Z axis; a stop structure and an elastic reset piece are arranged between the connecting frame and the swing arm, and the elastic reset piece is used for providing elastic force enabling the connecting frame to be stopped at the stop structure. Under the condition that no sweeping dead angle exists, the situation that the sweeping disc is additionally abraded due to the fact that the welt invasion amount is too large can be avoided.
本发明公开了一种基于触觉感知的自适应贴边清扫系统，属于清扫技术领域，包括机架、摆臂、清扫盘和触边感知装置；摆臂的近端绕Z轴枢转连接在机架上，机架与摆臂之间连接有摇摆驱动机构；清扫盘布置在摆臂的远端，摆臂的远端还固定安装有清扫执行机构；触边感知装置包括连接架、触边滚轮和角度检测装置；连接架的近端绕Z轴枢转连接在摆臂的远端，触边滚轮绕Z轴可转动连接在连接架上，角度检测装置用于检测连接架绕Z轴转过的角度；连接架与摆臂之间设置有止动结构和弹性复位件，弹性复位件用于提供使连接架止动于止动结构处的弹性力。本发明能够再确保不存在清扫死角的情况下，避免清扫盘因贴边侵入量过大而导致额外磨损的情况出现。
Self-adaptive welt cleaning system based on tactile perception
The invention discloses a self-adaptive welt cleaning system based on touch perception, which belongs to the technical field of cleaning and comprises a rack, a swing arm, a cleaning disc and an edge touch perception device. The near end of the swing arm is pivotally connected to the rack around a Z axis, and a swing driving mechanism is connected between the rack and the swing arm; the sweeping disc is arranged at the far end of the swing arm, and a sweeping executing mechanism is further fixedly installed at the far end of the swing arm. The edge touch sensing device comprises a connecting frame, an edge touch roller and an angle detection device; the near end of the connecting frame is pivotally connected to the far end of the swing arm around the Z axis, the edge contact roller is rotatably connected to the connecting frame around the Z axis, and the angle detection device is used for detecting the rotating angle of the connecting frame around the Z axis; a stop structure and an elastic reset piece are arranged between the connecting frame and the swing arm, and the elastic reset piece is used for providing elastic force enabling the connecting frame to be stopped at the stop structure. Under the condition that no sweeping dead angle exists, the situation that the sweeping disc is additionally abraded due to the fact that the welt invasion amount is too large can be avoided.
本发明公开了一种基于触觉感知的自适应贴边清扫系统，属于清扫技术领域，包括机架、摆臂、清扫盘和触边感知装置；摆臂的近端绕Z轴枢转连接在机架上，机架与摆臂之间连接有摇摆驱动机构；清扫盘布置在摆臂的远端，摆臂的远端还固定安装有清扫执行机构；触边感知装置包括连接架、触边滚轮和角度检测装置；连接架的近端绕Z轴枢转连接在摆臂的远端，触边滚轮绕Z轴可转动连接在连接架上，角度检测装置用于检测连接架绕Z轴转过的角度；连接架与摆臂之间设置有止动结构和弹性复位件，弹性复位件用于提供使连接架止动于止动结构处的弹性力。本发明能够再确保不存在清扫死角的情况下，避免清扫盘因贴边侵入量过大而导致额外磨损的情况出现。
Self-adaptive welt cleaning system based on tactile perception
一种基于触觉感知的自适应贴边清扫系统
WANG JIAN (author) / PAN HONGHUI (author) / ZHANG HAN (author)
2024-11-19
Patent
Electronic Resource
Chinese
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