CN102941204B - Intelligent six feet crawling robot applied to clean central air conditioning pipelines - Google Patents
Intelligent six feet crawling robot applied to clean central air conditioning pipelines Download PDFInfo
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- CN102941204B CN102941204B CN201210475446.0A CN201210475446A CN102941204B CN 102941204 B CN102941204 B CN 102941204B CN 201210475446 A CN201210475446 A CN 201210475446A CN 102941204 B CN102941204 B CN 102941204B
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- 238000004378 air conditioning Methods 0.000 title claims abstract description 38
- 230000009193 crawling Effects 0.000 title claims abstract description 29
- 238000004140 cleaning Methods 0.000 claims abstract description 64
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 241000883990 Flabellum Species 0.000 claims description 52
- 230000009194 climbing Effects 0.000 claims description 18
- 238000012544 monitoring process Methods 0.000 claims description 15
- 238000004659 sterilization and disinfection Methods 0.000 claims description 15
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- 230000005389 magnetism Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 11
- 239000007787 solid Substances 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 abstract description 9
- 230000000249 desinfective effect Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000001954 sterilising effect Effects 0.000 description 3
- 238000007514 turning Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003763 carbonization Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002070 germicidal effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
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Abstract
The invention discloses an intelligent six feet crawling robot applied to clean central air conditioning pipelines. The intelligent robot can achieve automatic control, cleans pipelines automatically according to acquired environment data, functions of crawling up and down and crossing pot holes are achieved through a six feet device, a comprehensive cleaning capability of central air conditioning pipelines is achieved, acquired environment data are sent to a user through a wireless transmission device in real time simultaneously, the user can monitor the cleaning condition of the robot in real time, the user can control the robot remotely simultaneously, and the robot cleans the central air conditioning pipelines according to user orders after control commands are received. The intelligent six feet crawling robot can be applied to most of the current used clean central air conditioning pipelines to perform dust removing and disinfecting, the operation is simple, and the adaptability is high.
Description
Technical field
The invention belongs to field in intelligent robotics, particularly relate to a kind of intelligent robot being applied to central air-conditioning pipe cleaning.
Background technology
Along with the develop rapidly of science and technology and the continuous progress of society, central air-conditioning has been widely used in heavy construction in order to regulate environment temperature, central air-conditioning can realize regulating a large number of users temperature carrying out integrated system control, and can realize low carbonization energy-saving.But the pollution problem of central air-conditioning is on the rise, directly sweep owing to manually can not enter, make pipeline dust pile up, bacterium gather.Therefore the cleaning problem solving ventilating system for central air-conditioner has been a problem demanding prompt solution.
Day by day strong along with demand, had the invention of some cleaning central air-conditioning pipes and design to arise at the historic moment, it mainly relies on the robot of similar intelligent vehicle, uses electric rotating machine band electric brush to clean pipeline, also have by rapping, the modes such as dust suction are carried out simultaneously.But the distribution of central air-conditioning pipe is day by day complicated, the robot that market today works out can only realize the cleaning of flat tube, the up-to-date robot developed can only realize at most the climbing cleaning at maximum 40 ° of angles, thoroughly can not meet the demand to central air-conditioning pipe cleaning.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, a kind of four-wheel six pin formula intelligent robot being applied to central air-conditioning pipe cleaning is provided.The present invention uses the mode of four-wheel drive to advance in flat tube, advanced in similar mode of creeping on duct wall by six pin simultaneously, robot can be realized cross over hole, hole and creep up and down, control hairbrush by globular motor simultaneously and pipeline is cleaned.
The object of the invention is to be achieved through the following technical solutions: a kind of intelligence six pin climbing robot being applied to central air-conditioning pipe cleaning, it comprises hairbrush control module, cleaning bar controls globular motor, ultraviolet-sterilization module, expansion link, central control module, power supply module, monitoring camera-shooting module, wireless communication transmission module, motor drive module, crawling machinery pin control module, stepper motor, wheel, crawling machinery pin, machinery foot control globular motor, auxiliary support bar, electromagnetic valve device, support bar draw-in groove flabellum, the solid hole of flabellum, the hollow hole of flabellum, flabellum connecting hole, sleeve, intelligent robot, permanent magnetism iron core, robot chassis, chuck control module, remote monitoring PC, electromagnetic valve device is made up of electromagnetic valve device part A and electromagnetic valve device part B, central control module, power supply module, wireless communication transmission module, motor drive module, crawling machinery pin control module, stepper motor and mechanical foot control globular motor are all fixed on robot chassis, crawling machinery pin is connected with mechanical foot control globular motor, wheel is connected on stepper motor, and stepper motor is connected on robot chassis, described auxiliary support bar, electromagnetic valve device part A, electromagnetic valve device part B, support bar draw-in groove flabellum, chuck control module equal embedding machine people inside chassis, wherein, described electromagnetic valve device part A, electromagnetic valve device part B are respectively at the right and left on robot chassis, auxiliary support bar is through robot inside chassis, two ends distribution connected electromagnetic valve device part A, electromagnetic valve device part B, the end that support bar draw-in groove flabellum is positioned at electromagnetic valve device part A is connected with chuck control module, the center of support bar draw-in groove flabellum has flabellum connecting hole, circumferentially be uniformly distributed two solid holes of flabellum and two hollow holes of flabellum, support bar draw-in groove flabellum is fixed on robot inside chassis by flabellum connecting hole, and central control module controls support bar draw-in groove flabellum by chuck control module and rotates.
Further, described auxiliary support bar skin is sleeve, and inside is a permanent magnetism iron core, permanent magnetism iron core two ends are respectively permanent magnet S level and permanent magnet N level, support bar is placed in electromagnetic valve device, moves in electromagnetic valve device part A and electromagnetic valve device part B, realizes automatically controlled flexible function
The invention has the beneficial effects as follows, the present invention is applied to the four-wheel six pin formula intelligent robot of central air-conditioning pipe cleaning according to the environmental data collected, carry out the automatic cleaning of pipeline, and by six pin crawling devices, realize the function that robot creeps up and down and crosses over hole, hole, realize the comprehensive cleansing power to central air-conditioning pipe, send the environmental data gathered simultaneously in real time and send it back user by radio transmitting device, user can monitor in real time to the cleaning situation of robot, user also can carry out Remote to robot simultaneously, the cleaning work to central air-conditioning pipe is completed according to the instruction of user after robot receives control command, the present invention can be applied to the most of central air-conditioning pipe used now, carries out dedusting and disinfection, simple to operate, strong adaptability.
Accompanying drawing explanation
Fig. 1 is the composition structural representation of the intelligence six pin climbing robot being applied to central air-conditioning pipe cleaning;
Fig. 2 is the telecommunication mode figure of the intelligence six pin climbing robot being applied to central air-conditioning pipe cleaning;
Fig. 3 is the internal module connection layout of the intelligence six pin climbing robot being applied to central air-conditioning pipe cleaning;
Fig. 4 is applied to the side view of intelligence six pin climbing robot of central air-conditioning pipe cleaning and camera monitoring system and purging system thereof to rotate schematic diagram;
Fig. 5 is the auxiliary support structure schematic diagram of the intelligence six pin climbing robot being applied to central air-conditioning pipe cleaning;
Fig. 6 is the auxiliary support bar structural representation of the intelligence six pin climbing robot being applied to central air-conditioning pipe cleaning;
Fig. 7 is the support bar draw-in groove blade structure schematic diagram of the intelligence six pin climbing robot being applied to central air-conditioning pipe cleaning;
Fig. 8 is the overall process flow chart of the intelligence six pin climbing robot being applied to central air-conditioning pipe cleaning;
Fig. 9 is the cleaning process flow chart of the intelligence six pin climbing robot being applied to central air-conditioning pipe cleaning;
Figure 10 is that the walking manner of the intelligence six pin climbing robot being applied to central air-conditioning pipe cleaning judges flow process;
In figure: hairbrush control module 1, cleaning bar controls globular motor 2, ultraviolet-sterilization module 3, expansion link 4, central control module 5, power supply module 6, monitoring camera-shooting module 7, wireless communication transmission module 8, motor drive module 9, crawling machinery pin control module 10, stepper motor 11, wheel 12, crawling machinery pin 13, machinery foot control globular motor 14, auxiliary support bar 15, electromagnetic valve device, support bar draw-in groove flabellum 18, the solid hole 19 of flabellum, the hollow hole 20 of flabellum, flabellum connecting hole 21, sleeve 22, intelligent robot 23, permanent magnet S level 24, permanent magnet N level 25, permanent magnetism iron core 26, robot chassis 27, chuck control module 28, remote monitoring PC 29, electromagnetic valve device is made up of electromagnetic valve device part A 16 and electromagnetic valve device part B 17.
Detailed description of the invention
As shown in Figure 1, the intelligence six pin climbing robot that the present invention is applied to central air-conditioning pipe cleaning comprises hairbrush control module 1, cleaning bar controls globular motor 2, ultraviolet-sterilization module 3, expansion link 4, central control module 5, power supply module 6, monitoring camera-shooting module 7, wireless communication transmission module 8, motor drive module 9, crawling machinery pin control module 10, stepper motor 11, wheel 12, crawling machinery pin 13, machinery foot control globular motor 14, auxiliary support bar 15, electromagnetic valve device, support bar draw-in groove flabellum 18, the solid hole 19 of flabellum, the hollow hole 20 of flabellum, flabellum connecting hole 21, sleeve 22, intelligent robot 23, permanent magnetism iron core 26, robot chassis 27, chuck control module 28, remote monitoring PC 29, electromagnetic valve device is made up of electromagnetic valve device part A 16 and electromagnetic valve device part B 17.
Robot chassis 27 is the integrally-built cores of robot as shown in Figure 3, central control module 5, power supply module 6, wireless communication transmission module 8, motor drive module 9, crawling machinery pin control module 10, stepper motor 11 and mechanical foot control globular motor 14 are all fixed on robot chassis 27, crawling machinery pin 13 is connected with mechanical foot control globular motor 14, wheel 12 is connected on stepper motor 11, and stepper motor 11 is connected on robot chassis 27.
Auxiliary support bar 15 as shown in Figure 5, electromagnetic valve device part A 16, electromagnetic valve device part B 17, support bar draw-in groove flabellum 18, chuck control module 28 is and is embedded in robot chassis 27 inside, wherein, electromagnetic valve device part A 16, electromagnetic valve device part B 17 is respectively at the right and left on robot chassis 27, auxiliary support bar 15 is inner through robot chassis 27, two ends connected electromagnetic valve device part A 16, electromagnetic valve device part B 17, the end that support bar draw-in groove flabellum 18 is positioned at electromagnetic valve device part A 16 is connected with chuck control module 28, as shown in Figure 7 support bar draw-in groove flabellum 18 there is the solid hole 19 of flabellum, there is flabellum connecting hole 21 at Ge Liangge center, flabellum hollow hole 20, the solid hole 19 of flabellum, the hollow hole 20 of flabellum is distributed on support bar draw-in groove flabellum 18 with flabellum connecting hole 21 in 90 ° each other, it is inner that support bar draw-in groove flabellum 18 is fixed on robot chassis 27 by flabellum connecting hole 21, and control its rotation by chuck control module 28.
Auxiliary support bar 15 skin is sleeve 22 as shown in Figure 6, inside is a permanent magnetism iron core 26, permanent magnetism iron core 26 two ends are respectively permanent magnet S level 24 and permanent magnet N level 25, support bar 15 is placed in electromagnetic valve device, move in electromagnetic valve device part A 16 and electromagnetic valve device part B 17, realize automatically controlled flexible function.Cleaning bar controls globular motor 2 connects robot chassis 27 two parts by bearing, expansion link 4 is connected to cleaning bar and controls on globular motor 2, hairbrush control module 1, ultraviolet-sterilization module 3 is connected on a top of expansion link 4, connect monitoring camera-shooting module 7 at the other end, form cleaning machine monitor control mechanism.Intelligence six pin climbing robot crawling machinery pin control modules 10 are arranged on robot chassis 27, and crawling machinery pin 13, mechanical foot control globular motor 14 are connected with robot chassis 27, and mechanical foot control globular motor 14 controls the walking of crawling machinery pin 13.
This robot adopts from uptake to the cleaning way in lower air port as shown in Figure 8, show according to related data, central air conditioner system conventional is now top-down circulating form, adopt this kind of mode can realize after the dust of inner-walls of duct is swept by robot, can the flow direction with the wind waft to lower air port, therefore only need, in lower air port, the object that dust collection bag can reach cleaning dust is installed.
At first robot is placed on the most summit position of uptake (most) (can adopt artificial mode of placing that lift also can be adopted robot to be delivered to most summit) of central air-conditioning pipe when using robot, then robot will bring into operation just, first robot will be monitored in real time by monitoring camera-shooting module 7 pairs of environment, gather image, range data, by central control module 5, the data gathered are processed as shown in Figure 2, and by wireless communication transmission module 8, data are sent to the PC 29 of user, user is according to the data selection Non-follow control received or automatically control, robot starts cleaning just, along with robot advances forward, central control module 5 controls hairbrush control module 1, cleaning bar controls globular motor 2, ultraviolet-sterilization module 3, expansion link 4 adjusts angle and cleans and sterilization operation duct wall, the realization of above function is when pipeline is by being taked time straight.
The pipe-line system of the various central air-conditioning of comprehensive analysis, robot needs mainly two difficulties overcome, and the first crosses over downward hole, hole, T-shaped road junction, the turning point that flex point is 90 °.To this intelligent hexagonal climbing robot be described in detail to these two difficult treating methods below.
As shown in Figure 10 when running into downward hole, hole, T-shaped road junction, central control module 5 will control four-wheel stepper motor driver module 9, stepper motor 11 shuts down, hairbrush control module 1, cleaning bar controls globular motor 2, ultraviolet-sterilization module 3, expansion link 4 is returned to reset condition, and electromagnetic valve device part A 16 and electromagnetic valve device part B 17 running make auxiliary support bar 15 stretch out, block at second half of robot health, other end support bar draw-in groove flabellum 18 blocks the other end of support bar, form stable supporting construction, drive crawling machinery pin control module 10 and crawling machinery pin 13, machinery foot control globular motor 14, machinery pin stretches out to the duct wall of both sides, and be fixed on above duct wall, after six pin fix, be positioned at two mechanical pin A of forefront, B stretches out forward certain angle by under the control of globular motor, then fix again, subsequently, be positioned at two middle mechanical pin C, D stretches out same angle by under the control of globular motor, then fixing, finally, two the mechanical pin being positioned at back complete the same action of as above four, after fixing, six globular motor cooperating syringe, realize travelling forward of robot.Be illustrated in figure 9 cleaning T-shaped road junction and cheat dust in hole downwards, time directly over robot crawling to hole, hole, central control module 5 controls cleaning bar control globular motor 2 and expansion link 4 makes cleaning bar be rotated down 90 °, then six mechanical pin 13 fixing under, flexible by expansion link 4, cleans downward hole, hole, after having cleaned, cleaning rod returns to original state, and robot, by mechanical pin 13, continues to creep forward.
When running into flex point 90 ° of turnings, be the situation of robot cleaning to the end of this layer of pipeline, need direction of advance half-twist, advance downwards, climb to lower one deck, the now same running stopping cleaning module and wheel, climb by six mechanical pin 13, control crawling machinery pin control module 10 by central control module 5 simultaneously and make its complete turning in 90 °, that dolly can be creeped downwards, while creeping downwards, central control module 5 controls hairbrush control module 1, cleaning bar controls globular motor 2, ultraviolet-sterilization module 3, expansion link 4 makes it proceed identical with flat tube of cleaning form, just have rotated 90 ° of angles, the flex point of one deck pipeline under only next T-shaped road junction is advanced by robot, adopt identical method, realize the direction of advance of robot half-twist, when now robot is relative to last layer, upper surface and lower surface exchange, and due to during Robot Design less than up and down point, outward appearance, this robot is laterally zygomorphic, also be symmetrical simultaneously, it is upper and lower all around that this just makes robot not exist, that is under any one face on can being can also be, after before can being can also being, this just makes robot have very strong adaptability, eliminate the demand of carrying out exceedingly difficult movements in the duct, make this robot architecture's simple motion flexible.After robot arrives new one deck, proceed to clean according to the cleaning way of last layer!
Globular motor controls mechanical pin can complete a lot of action flexibly, the action realizing seesawing as above, globular motor can the rotation of three orthogonal vectors in implementation space, wherein both direction rotates 300 °, a direction rotating 360 degrees, this robot is provided with six pin when designing, and mainly considers that such design can make it move more flexible, and more load can be carried, the performance of hoisting machine people.The functions such as the unsettled advance of robot, big angle rotary, any direction advance can be realized by the flexible collocation of six pin.
The auxiliary support structure object of robot is that auxiliary cleaning bar controls globular motor 2 bearing as shown in Figure 5, common support robot integral frame, when robot is in straight pipeline during travel operation, auxiliary support bar 15 is the forms regained, robot is facilitated to travel and cleaning bar controls globular motor 2 and controls expansion link 4 and carry out cleaning, both sides, robot chassis 27 are connected by bearing simultaneously, robot ambulation pose adjustment can be carried out according to different surface states, when robot will carry out creeping action, auxiliary support bar is under the control of electromagnetic valve device part A 16 and electromagnetic valve device part B 17, magnetic according to permanent magnetism iron core 26 makes extend action, simultaneously chuck control module 28 controls support bar draw-in groove flabellum 18 and rotates and block to the solid hole 19 of flabellum the auxiliary support bar 15 stretched out, realize chassis supplemental support and fixing action, after robot completes action of creeping, the permanent magnetism iron core 26 controlling auxiliary support bar 15 inside under the control of electromagnetic valve device part A 16 and electromagnetic valve device part B 17 makes withdrawal action, meanwhile chuck control module 28 controls support bar draw-in groove flabellum 18 and rotates and regain auxiliary support bar 15 to the hollow hole 20 of flabellum.
Simultaneously, the camera that is equipped with of robot and cleaning bar to be fixed on globular motor and in 180 ° of angles as shown in Figure 4, this just makes cleaning bar can not shelter from the sight line of camera, and the design class of cleaning bar is similar to the tail of robot, like this when cleaning, the dust produced also can not shelter from the sight line of camera.While robot cleaning duct wall, can transmit image data to user, user can real-time monitoring images situation, if the instruction that user has some special, can carry out cleaning by remote-controlled robot.
After robot completes the cleaning of last one deck, descending air port to be recovered most, simultaneously robot clean the dirts such as the dust got off and also will reclaim in the collection bag in lower air port, the cleaning of robot to central air-conditioning also just completes.
The present invention can be applied to the most of central air-conditioning pipe used now, carries out dedusting and disinfection, simple to operate, strong adaptability.
Describe the present invention in detail according to embodiment below, object of the present invention and effect will become more obvious.
Embodiment
In the present embodiment, each functions of modules of robot and type selecting are with reference to being described below:
Hairbrush control module 1 controls hairbrush and carries out rotary-cleaning work, can adopt ST company L298N model motor drive ic, but be not limited thereto.
Ultraviolet-sterilization module 3 controls ultraviolet sterilization device and carries out sterilization operation, can adopt Philips company's T UV6W model ultraviolet germicidal, but be not limited thereto.
The powered operation of power supply module 6 control entirety, can adopt Allnte company 2596 DC-DC model energy supply control module, but be not limited thereto.
Monitoring camera-shooting module 7 gathers machine People's Bank of China and enters the view data in process and simply process, and can adopt KaiCong company s508cr model monitor camera device, but be not limited thereto.
The view data that robot collects by wireless communication transmission module 8 and central control module carry out real-time Transmission to remote monitoring PC 29 to the control situation of modules and the working condition of modules, the DRF2619A model radio communication device of Zigbee can be adopted, but be not limited thereto.
The stepper motor 11 of four-wheel stepper motor driver module 9 control and the work of wheel 12, can adopt ST company L298N model motor drive ic, but be not limited thereto.
Crawling machinery pin control module 10 controls the moving situation of mechanical pin 13, can adopt ST company A3988SJP-T model globular motor driving chip, but be not limited thereto.
Electromagnetic valve device part A 16 and electromagnetic valve device part B 17 control the moving situation of auxiliary support bar 15, can adopt Bosun company 4V210-08 model monitor camera device, but be not limited thereto.
The rotation auxiliary selenoid valve gear that chuck control module 28 controls support bar draw-in groove flabellum 18 realizes the control of auxiliary support bar 15 jointly, can adopt ST company L298N model motor drive ic, but be not limited thereto.
Central control module 5 is parts of robot core the most, the working condition of the above hairbrush control module 1 of this component controls, ultraviolet-sterilization module 3, power supply module 6, monitoring camera-shooting module 7, wireless communication transmission module 8, four-wheel stepper motor driver module 9, crawling machinery pin control module 10, electromagnetic valve device part A 16 and electromagnetic valve device part B 17, chuck control module 28 9 control modules, embedded technology can be adopted realize, can also be controlled by single-chip microcomputer.STC Corporation STC89C52RC-40I-PDIP40 type product can be adopted, but be not limited thereto.
The four-wheel six pin formula intelligent robot being applied to central air-conditioning pipe cleaning be made up of above-mentioned concrete module can according to the environmental data collected, carry out the automatic cleaning of pipeline, and by six pin crawling devices, realize the function that robot creeps up and down and crosses over hole, hole, realize the comprehensive cleansing power to central air-conditioning pipe.
Claims (2)
1. one kind is applied to the intelligence six pin climbing robot of central air-conditioning pipe cleaning, it is characterized in that, it comprises hairbrush control module (1), cleaning bar controls globular motor (2), ultraviolet-sterilization module (3), expansion link (4), central control module (5), power supply module (6), monitoring camera-shooting module (7), wireless communication transmission module (8), motor drive module (9), crawling machinery pin control module (10), stepper motor (11), wheel (12), crawling machinery pin (13), machinery foot control globular motor (14), auxiliary support bar (15), electromagnetic valve device, support bar draw-in groove flabellum (18), the solid hole of flabellum (19), the hollow hole of flabellum (20), flabellum connecting hole (21), sleeve (22), intelligent robot (23), permanent magnetism iron core (26), robot chassis (27), chuck control module (28) and remote monitoring PC (29), electromagnetic valve device is made up of electromagnetic valve device part A (16) and electromagnetic valve device part B (17), central control module (5), power supply module (6), wireless communication transmission module (8), motor drive module (9), crawling machinery pin control module (10), stepper motor (11) and mechanical foot control globular motor (14) are all fixed on robot chassis (27), crawling machinery pin (13) is connected with mechanical foot control globular motor (14), wheel (12) is connected on stepper motor (11), and stepper motor (11) is connected on robot chassis (27), described auxiliary support bar (15), electromagnetic valve device part A (16), electromagnetic valve device part B (17), support bar draw-in groove flabellum (18), chuck control module (28) all embedding machine people chassis (27) is inner, wherein, described electromagnetic valve device part A (16), electromagnetic valve device part B (17) is respectively at the right and left of robot chassis (27), auxiliary support bar (15) is inner through robot chassis (27), two ends distribution connected electromagnetic valve device part A (16), electromagnetic valve device part B (17), the end that support bar draw-in groove flabellum (18) is positioned at electromagnetic valve device part A (16) is connected with chuck control module (28), the center of support bar draw-in groove flabellum (18) has flabellum connecting hole (21), circumferentially be uniformly distributed two solid holes of flabellum (19) and two hollow holes of flabellum (20), it is inner that support bar draw-in groove flabellum (18) is fixed on robot chassis (27) by flabellum connecting hole (21), and central control module (5) controls support bar draw-in groove flabellum (18) by chuck control module (28) and rotates.
2. be applied to the intelligence six pin climbing robot of central air-conditioning pipe cleaning according to claim 1, it is characterized in that, described auxiliary support bar (15) skin is sleeve (22), inside is a permanent magnetism iron core (26), permanent magnetism iron core (26) two ends are respectively permanent magnet S level (24) and permanent magnet N level (25), support bar (15) is placed in electromagnetic valve device, and in electromagnetic valve device part A (16) and electromagnetic valve device part B (17), motion, realizes automatically controlled flexible function.
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| CN201210475446.0A CN102941204B (en) | 2012-11-20 | 2012-11-20 | Intelligent six feet crawling robot applied to clean central air conditioning pipelines |
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| CN201210475446.0A CN102941204B (en) | 2012-11-20 | 2012-11-20 | Intelligent six feet crawling robot applied to clean central air conditioning pipelines |
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| CN203044446U (en) * | 2012-11-20 | 2013-07-10 | 浙江大学 | Intelligent six-foot climbing robot applied to cleaning of central air conditioner pipeline |
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