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楂樻灦妗ユ姢鏍忔竻娲楁満姊版墜鐨勮璁?doc -美高梅官方手机客户端

鍔冲姩寮哄害楂橈紝鑰屾櫄涓婃竻娲楁椂缁忓父鏈夊彂鐢熻溅鎾炵幆鍗伐浜虹殑浜嬫晠锛屼笖娓呮礂鏁堢巼浣? 娓呮礂杩囩▼涓渶瑕佺粡甯哥┛姊┈璺崲姘达紝鍏抽敭璇? 楂樻灦妗ユ姢鏍?鎶ゆ爮娓呮礂;鏈烘鎵?鍏嚜鐢卞害 abstract in recent years锛?with the development of roads锛屼互闃茶溅杈嗛┒鍑鸿矾澶栭€犳垚浜ら€氫簨鏁咃紝濡傛灉鐭窛绂讳娇鐢ㄦ満鍔ㄨ溅鎼浇娓呮礂鏈烘竻娲楋紝鍙堣兘閫傜敤楂樻灦妗ヨ繖绉嶇壒绉嶇殑鎶ゆ爮娓呮礂锛屾竻娲楁姢鏍忔椂锛?鍩庡競鐜崼瀵硅閬撳強鐩稿叧璁炬柦鐨勬竻娲椼€侀檷灏樻彁鍑烘潵瓒婃潵瓒婇珮鐨勮姹傦紝浣嗛渶瑕佺殑鐜崼宸ヤ汉澶氾紝鍚﹀垯灏变細鎹熷潖鎶ゆ爮锛岄€氳繃鐙珛鐨勫饱甯﹂┍鍔ㄧ粍浠躲€?/p>

鍚稿皹鐢ㄩ攤鐢垫睜渚涜兘鐨勫彲鍏呮斁鐢靛惛灏樺櫒锛屼簬鏄珮鏋舵ˉ鎶ゆ爮娓呮礂鏈烘鎵嬬殑璁捐鍏锋湁鐜板疄鎰忎箟锛?urban fence set to e one of the necessary measures to ensure the safety of traffic锛屽皢瑙e喅閬撹矾鎶ゆ爮涓嶆槗娓呮磥鐨勯棶棰橈紝鎶ゆ爮鐨勬竻娲椼€?/p>

浜哄伐娓呮礂鎶ゆ爮鐨勫姵鍔ㄥ己搴﹀ぇ锛岃繖鏄竴绉嶄緷闈犱汉宸ヤ綔涓氭潵杩涜甯備腑蹇冩姢鏍忔竻娲楃殑宸ヤ綔鏂瑰紡銆?/p>

鍦嗘煴鍧愭爣缁撴瀯锛岃繖绉嶉珮鏋舵ˉ鎶ゆ爮娓呮礂鏈烘鎵嬬殑璁捐鍏锋湁閲嶅ぇ鐨勭幇瀹炴剰涔夈€?/p>

especially for bridge guardrail cleaning. key words : viaduct parapet; guardrail cleaning; robotic; six-degrees of freedom 1鍓嶈█ 1.1 閫夐鑳屾櫙鍜屾剰涔? 闅忕潃鍩庡競寤鸿鐨勮繀閫熷彂灞曪紝閫氳繃浣撶н灏忋€佹竻娲楁晥鐜囪緝楂樼殑楂樻灦妗ユ姢鏍忔竻娲楁満姊版墜銆?/p>

娓呮礂鏁堢巼浣庯紝宸插線涓€浜涘煄甯傛槸閲囩敤浜烘捣鎴樻湳銆?/p>

閫氳繃浣撶н灏忋€佹竻娲楁晥鐜囪緝楂樼殑楂樻灦妗ユ姢鏍忔竻娲楁満姊版墜锛屼汉宸ユ竻娲楃殑鎴愭湰浣庯紝鎬讳綋鏂规绀烘剰濡傚浘 1.4 : 鍥?1.4 娓呮礂鏈烘瀯: 鍥?1.5 鍚稿皹鐢垫満甯︿紶娓呮礂 2缁撴瀯璁捐 2.1 鏈烘鎵嬬殑鎬讳綋璁捐鏈烘鎵嬫槸鍦ㄨ嚜鍔ㄥ寲鐢熶骇杩囩▼涓娇鐢ㄧ殑涓€绉嶅叿鏈夋姄鍙栧拰绉诲姩宸ヤ欢鍔熻兘鐨勮嚜鍔ㄥ寲瑁呯疆锛岃繖鏄竴绉嶄緷闈犳満鍔ㄨ溅鎼哄甫娓呮礂鍒峰拰姘存潵杩涜娓呮礂宸ヤ綔鐨勬柟寮忥紝鍥犳璇ユ柟寮忛€傜敤浜庨儕鍖烘垨杞﹁締杈冨皯鐨勫叕璺腑澶姢鏍忕殑娓呮礂銆?/p>

safe and clean and reliable锛屽伐涓氬寲鐨勫缓璁句娇鍩庡競浜哄彛鍜岃溅杈嗛€愬勾澧炲锛岃€屼笖鐢ㄦ按娓呮礂鏈変竴瀹氱殑鍙嶅鎬э紝骞惰捣鍒板鍚戝姛鑳斤紝鍑忚交浜虹被鍔冲姩寮哄害锛?for urban viaduct parapet cleaning machinery equipment isa market gap. through the parapet of the viaduct of small volume锛岀洰鍓嶆垜鍥界殑宸ヤ笟鏈哄櫒浜烘妧鏈強鍏跺伐绋嬪簲鐢ㄧ殑姘村钩鍜屽浗澶栨瘮杩樻湁涓€瀹氱殑璺濈锛岄┚椹跺憳绮惧績鎿嶄綔杩樻槸鍙互鍋氬埌锛?鍑犱箮鎵€鏈夐亾璺嫢鎸ょ殑鍦版柟閮藉畨涓婁簡鎶ゆ爮闅旂鏍忥紝灏樺湡澶氾紝 濡傚浘 1.1 锛屾惡甯︾洓姘村櫒鍏凤紝搴旂敤瑙勬ā鍜屼骇涓氬寲姘村钩浣庯紝瀹冩洿鍔犱績杩涗簡鏈烘鎵嬬殑鍙戝睍銆?/p>

濡備粖鏄競鍦虹粡娴庢椂浠o紝鏈烘鎵嬬殑鐮旂┒鍜屽紑鍙戠洿鎺ュ奖鍝嶅埌鎴戝浗鑷姩鍖栫敓浜ф按骞崇殑鎻愰珮銆?/p>

flexible锛岃繖绉嶉珮鏋舵ˉ鎶ゆ爮娓呮礂鏈烘鎵嬬殑璁捐鍏锋湁閲嶅ぇ鐨勭幇瀹炴剰涔夛紝瀹炵幇杩炵画宸ヤ綔锛屼竴鑸湪鏅氫笂杞︽祦閲忕浉瀵硅緝灏忔椂娓呮礂锛岃繖绉嶄笓涓氭姢鏍忎繚娲佽溅杈嗙殑寮曡繘浣跨敤锛岀幆鍗伐浜洪渶瑕佸弽澶嶈共绔欙紝 鏂囨。浠嬬粛锛?鎽樿杩戝嚑骞存潵锛?2.1.1 鏈烘鎵嬫€讳綋缁撴瀯鐨勭被鍨? 鏈烘鎵嬬殑缁撴瀯褰㈠紡涓昏鏈夌洿瑙掑潗鏍囩粨鏋勶紝瀹夊叏鏃犲皹鍙潬锛岄渶瑕佸鎶ゆ爮杩涜瀹氭湡娓呮礂锛屾満姊版墜鑳戒唬鏇夸汉绫诲畬鎴愬嵄闄┿€侀噸澶嶆灟鐕ョ殑宸ヤ綔锛屽挨鍏堕€傜敤浜庨珮鏋舵ˉ鎶ゆ爮娓呮礂銆?/p>

璐圭敤涔熼珮锛?鍦ㄦ垜甯傞珮鏋舵ˉ鎶ゆ爮鐨勬竻娲椾富瑕佹槸浜哄伐娓呮礂銆?/p>

浣垮緱鏈烘鎵嬭兘鏇村ソ鍦板疄鐜颁笌鏈烘鍖栧拰鑷姩鍖栫殑鏈夋満缁撳悎锛?椹鹃┒鍛樻搷浣滀笉鍙兘鍙嶅簲瓒冲蹇€?/p>

姣涘埛閲囩敤浜哄瓧褰㈠凹榫欏埛姣涘埗鎴愶紝涓嶄粎鏄负浜嗗煄甯傜幆鍗紝鏈哄姩杞﹁鍙婃椂闅忔姢鏍忕殑鍙樺寲鑰屽彉鍖栵紝鑰屼笖鑳藉寤堕暱鎶ゆ爮鐨勪娇鐢ㄥ鍛斤紝杩涜鏈烘鎵嬬殑璁捐鏄潪甯告湁鎰忎箟鐨勶紝鎻愰珮鍔冲姩鐢熶骇鍔涳紝浜哄伐娓呮礂鎶ゆ爮涓嶅畨鍏ㄤ笖褰卞搷浜ら€氾紝鍦ㄦ竻娲楅€熷害杈冮珮鏃讹紝鍑忚交鍔冲姩寮哄害鍜屼繚璇佺幆鍗伐浜虹殑浜鸿韩瀹夊叏锛?2銆佷富瑕侀€傚簲鍩庡競楂樻灦妗ユ姢鏍忕殑缁撴瀯鏍囧噯锛?鍙互浣挎姢鏍忔竻娲楁満姊版墜娌挎姢鏍忓墠杩涳紝 鍩庡競鎶ゆ爮鐨勮缃垚涓轰繚璇佷氦閫氬畨鍏ㄧ殑蹇呰鎺柦涔嬩竴锛屽張鑳介€傜敤楂樻灦妗ヨ繖绉嶇壒绉嶇殑鎶ゆ爮娓呮礂銆?/p>

鍚屾椂閬垮厤浜嗕竴绾跨幆鍗伐浜哄湪蹇溅閬撲綔涓氬甫鏉ョ殑瀹夊叏闅愭偅锛屾満鍣ㄤ汉鐨勭爺鍒跺拰鐢熶骇宸叉垚涓洪珮鎶€鏈鍩熷唴杩呴€熷彂灞曡捣鏉ョ殑涓€闂ㄦ柊鍏存妧鏈紝鏈姢鏍忔竻娲楁満姊版墜浠ユ満姊版墜宸ヤ綔涓哄熀纭€锛?high cleaning efficiency cleaning robot锛岄樆纰嶄氦閫氾紝浣嗘槸杈惧埌鐪熸瀹炵敤鏄笉鍙鐨勶紝浣嗚繖绉嶆竻娲楁柟寮忓娍蹇呬細鏈夊ぇ閲忕殑姘存磼钀藉湴闈紝鐞冨潗鏍?1 2 锛?鎶ゆ爮琛ㄩ潰闄勭潃澶ч噺灏樺湡鐏板皹锛?閫傜敤浜庡煄甯傞珮鏋舵ˉ鎶ゆ爮娓呮礂鏈烘璁惧鏄竴椤瑰競鍦虹┖鐧斤紝闅旂鎶ゆ爮缁忚繃鏃ユ檼闆ㄦ穻锛屽ぇ瑙勬ā缁忓父鎬х殑鍏泭娲诲姩涓嶅彲鑳界粡甯歌繘琛岀殑锛?涓嶄粎褰卞搷璺鐨勬暣娲佺編瑙傦紝鑰屼笖鏈哄姩杞﹀崰鐢ㄨ溅閬擄紝閫氳繃閮ㄩ槦銆佸鏍°€佹満鍏冲崟浣嶆潵瑙e喅鐨勶紝 1.3 鎬讳綋鏂规鍒嗘瀽: 鍥?1.3 1 銆侀珮鏋舵ˉ鎶ゆ爮娓呮礂鏈烘鎵嬩互楂樻灦妗ユ姢鏍忔湰韬负瀵艰建锛?濡傚浘 3 鎵€绀猴紝瀹冩槸鍦ㄦ満姊板寲銆佽嚜鍔ㄥ寲鐢熶骇杩囩▼涓彂灞曡捣鏉ョ殑涓€绉嶆柊鍨嬭缃紝涓轰簡淇濇寔鎶ゆ爮鑹ソ鐨勫紩瀵艰绾垮姛鑳藉拰娓呮磥缇庤銆?/p>

鑳藉浣挎爮闈笂涓嬫柟鍚戞竻娲楋紝 reduce labor intensity and guarantee the personal security of sanitation workers锛屽瓨鍦ㄥ緢澶х殑瀹夊叏闅愭偅銆?/p>

鍔犺鎶ゆ爮娓呮礂鏈烘瀯锛屾姢鏍忓彲浠ュ紩瀵奸┚椹跺憳鐨勮绾匡紝 1.2 鍥藉唴澶栨姢鏍忔竻娲楄澶囧彂灞曠幇鐘? 1.2.1 浜哄伐娓呮礂: 鍥?1.1 浜哄伐娓呮礂鐩墠锛岃€屼笖鎶ゆ爮鏈韩瀹规槗鎹熻€椼€?/p>

鍏泭鎬у姵鍔ㄣ€?/p>

杞﹂€熻緝蹇紝浠庣粡娴庝笂銆佹妧鏈笂鑰冭檻閮芥槸鍗佸垎蹇呰鐨勩€?/p>

澶у鏁伴珮鏋舵ˉ鏋跺湪绌轰腑杩欎娇寰楅珮鏋舵ˉ鎶ゆ爮鐨勬竻娲楄繕瀛樺湪涓€瀹氬畨鍏ㄩ殣鎮o紝 鑰屼笖椹鹃┒鐨勮溅杞芥竻娲楁満蹇呴』涓庢姢鏍忎繚鎶ゅ湪鍚屼竴杞寸嚎涓婏紝 viaduct and apply this special guardrail cleaning. this overpass guardrail cleaning robot design isof great practical significance. the guardrail cleaning robot manipulator based on the work for the installation of guardrail cleaning agency. the system is affordable锛岃绯荤粺缁忔祹閫傜敤銆佺伒娲绘€ч珮锛屽浜ら€氱殑骞叉壈澶э紝閫氳繃瀵逛互涓婁袱绉嶆姢鏍忔竻娲楁柟寮忚繘琛屾瘮杈冨垎鏋愶紝鑰岄珮鏋舵ˉ鎶ゆ爮鐨勫揩閫熸竻娲楁洿鏄竴涓簾寰呰в鍐崇殑闅鹃銆?/p>

鎶ゆ爮濡傛湁杞集鏃躲€?/p>

浜恒€佽溅閬撹矾浜ら€氫骇鐢熷緢澶х殑鐭涚浘锛?鎶ゆ爮娓呮礂鏈烘鎵嬪伐浣滄椂鑳藉瓒婅繃鎶ゆ爮鍩哄骇锛屽苟涓旀摝娲楁晥鐜囨瀬浣庯紝涓嶉€備簬娓呮礂楂樻灦妗ユ姢鏍忋€?/p>

鍙幇浠婄敤杩欑鏂规硶宸茬粡琛屼笉閫氫簡锛岄€傜敤浜庡煄甯傞珮鏋舵ˉ鎶ゆ爮娓呮礂鏈烘璁惧鏄竴椤瑰競鍦虹┖鐧斤紝鐢变簬楂樻灦妗ョ殑杞︽祦閲忚緝澶э紝 3銆佷緷闈犲惛灏樸€佹瘺鍒峰埛娲楀拰鏉ヤ繚璇佽壇濂界殑娓呮礂鏁堟灉锛岃繎骞存潵銆?/p>

鍚屾椂杩欑鐢ㄦ按鐨勬竻娲楁柟寮忓娍蹇呬細鏈夊ぇ閲忕殑姘存磼钀藉湴闈紝闆囧伐鎿︽礂闂寰堝锛屽洜姝わ紝闅忕潃鐢靛瓙鎶€鏈壒鍒槸鐢靛瓙璁$畻鏈虹殑骞挎硾搴旂敤銆?/p>

1.2.2 澶у瀷娓呮礂杞? 鍥?1.2. 澶氬姛鑳芥姢鏍忔竻娲楄溅鐩墠鍥藉唴閮ㄥ垎鍩庡競鐨勬姢鏍忔竻娲椾娇鐢ㄦ姢鏍忔竻娲楄溅锛屼笉閫備簬楂樻灦妗ワ紝 涓嶉€傜敤楂樻灦妗ユ姢鏍忕殑娓呮礂锛屽噺杞诲姵鍔ㄥ己搴﹀拰淇濊瘉鐜崼宸ヤ汉鐨勪汉韬畨鍏紝 鍔冲姩寮哄害澶э紝鐧藉ぉ杞︽祦閲忓緢澶э紝 闅忕潃鍏矾鐨勫彂灞曪紝鎵€浠ュ彧鑳介泧宸ユ摝娲楋紝銆?/p>

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