一种能跨越水平窗框障碍的玻璃幕墙清洗机器人的设计

介绍了一种壁面适应性较强,能跨越水平窗框障碍的多吸盘吸附式玻璃壁面清洗机器人系统,并对其控制系统进行了研究.机器人在楼顶卷扬机的牵引作用下依靠自身重力沿壁面下滑完成清洗作业,通过多负压吸盘的交替吸附达到跨越水平窗框障碍的目的,并提出了理想密封系统的模型.

A Glass-curtain Wall-cleaning Robot with the Ability of Crossing Horizontal Windows Frames

A glass-curtain wall-cleaning robot with the ability of crossing the horizontal windows frames has been developed. And the control system has been studied. When the robots adhere to the wall surface, it can slide down along the surface by a windlass on the roof depending on its own gravity force while cleaning. With the motion of four suction cups by turns, the robot can cross the frames successfully. And the ideal model of the sealing system has also been proposed in this paper.