CN108995730B - Magnetic adsorption type transverse obstacle-surmounting wall-climbing robot - Google Patents
Magnetic adsorption type transverse obstacle-surmounting wall-climbing robot Download PDFInfo
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 69
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 230000009194 climbing Effects 0.000 claims abstract description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 19
- 239000010959 steel Substances 0.000 claims description 19
- 230000003014 reinforcing effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 abstract 1
- 238000004140 cleaning Methods 0.000 description 6
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010422 painting Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
Description
技术领域Technical field
本发明涉及一种磁吸附式横向越障爬壁机器人。The invention relates to a magnetic adsorption type lateral obstacle-crossing and wall-climbing robot.
背景技术Background technique
换流阀是直流输电工程的核心设备，通过将三相交流电压连接到直流端得到期望的直流电压并实现对功率的控制。换流阀大厅是放置换流阀的封闭建筑，高度有30米，即机器人要在高约30米的垂直壁面上爬行并进行清洁工作，其内壁累积的灰尘若不及时清理会扩散到空气中，从而对换流阀的正常运行和使用寿命产生很大影响。目前，壁面的清洁工作由人工完成，需购买专业升降机器，效率低、危险性高且浪费了大量的人力和物力，研制自动化清洁机器人势在必行。目前市场上未能查到能在换流阀内壁上爬壁，并且可越过内壁彩钢板上的横棱障碍的机器人。The converter valve is the core equipment of the DC transmission project. By connecting the three-phase AC voltage to the DC terminal, the desired DC voltage is obtained and the power is controlled. The converter valve hall is a closed building where the converter valves are placed. It is 30 meters high. That is, the robot has to crawl on a vertical wall about 30 meters high and perform cleaning work. If the dust accumulated on the inner wall is not cleaned in time, it will spread into the air. , thus having a great impact on the normal operation and service life of the converter valve. Currently, wall cleaning is done manually, requiring the purchase of professional lifting machines, which is inefficient, highly dangerous and wastes a lot of manpower and material resources. It is imperative to develop automated cleaning robots. Currently, there is no robot on the market that can climb on the inner wall of the converter valve and cross the horizontal edge obstacles on the color steel plate of the inner wall.
发明内容Contents of the invention
为了解决上述问题，本发明提出了一种可用于在垂直壁的移动、并可越过换流阀内壁彩钢板的横棱障碍的磁吸附式横向越障爬壁机器人。In order to solve the above problems, the present invention proposes a magnetic adsorption type lateral obstacle climbing wall climbing robot that can be used to move on vertical walls and cross the horizontal edge obstacles of the color steel plate on the inner wall of the converter valve.
本发明所述的磁吸附式横向越障爬壁机器人，其特征在于：包括：The magnetic adsorption type lateral obstacle-crossing and wall-climbing robot according to the present invention is characterized by: including:
车架，用于安装越障机构；The frame is used to install the obstacle-crossing mechanism;
横向越障装置，包括越障驱动机构和摆动机构，越障驱动机构设置在车架上，摆动机构的上部与越障驱动机构的输出端相连，下部的摆动端安装驱动吸附装置，用于带动驱动吸附装置翻越行走表面障碍；The lateral obstacle-crossing device includes an obstacle-crossing drive mechanism and a swing mechanism. The obstacle-crossing drive mechanism is arranged on the frame. The upper part of the swing mechanism is connected to the output end of the obstacle-crossing drive mechanism. The lower swing end is equipped with a drive adsorption device for driving Drive the adsorption device to climb over obstacles on the walking surface;
驱动吸附装置，包括行走驱动机构和吸附机构，行走驱动机构安装在越障机构的摆动端，吸附机构设置在行走驱动机构的行走处，用于吸附在钢板上并在行走驱动机构带动下沿钢板行走；The driving adsorption device includes a walking drive mechanism and an adsorption mechanism. The walking drive mechanism is installed at the swing end of the obstacle crossing mechanism. The adsorption mechanism is set at the walking position of the walking drive mechanism and is used to adsorb to the steel plate and move along the steel plate driven by the walking drive mechanism. walk;
以及控制装置，包括控制器和压力传感器，其中压力传感器设置在驱动吸附装置上，并且压力传感器的输出端与控制器的输入端电连接，而控制器的输出端与横向越障装置以及驱动吸附装置的信号输入端信号连接，用于控制横向越障装置以及控制驱动吸附装置工作。and a control device, including a controller and a pressure sensor, wherein the pressure sensor is arranged on the driving adsorption device, and the output end of the pressure sensor is electrically connected to the input end of the controller, and the output end of the controller is connected to the lateral obstacle crossing device and the driving adsorption device The signal input end of the device is connected to a signal, which is used to control the lateral obstacle crossing device and control the operation of the driving adsorption device.
所述越障驱动机构包括越障步进电机、第一行星减速器以及传动齿轮组，所述越障步进电机、第一行星减速器安装在车架上，并且越障步进电机的输出端与第一行星减速器的输入端相连，第一行星减速器的输出端通过传动齿轮组与摆动机构的上端连接，用于带动整个摆动机构内外摆动以横向翻越行走面障碍，定义内外摆动为传动齿轮组其中一齿轮中心轴转动方向。The obstacle-crossing driving mechanism includes an obstacle-crossing stepper motor, a first planetary reducer and a transmission gear set. The obstacle-crossing stepper motor and the first planetary reducer are installed on the frame, and the output of the obstacle-crossing stepper motor The end of the first planetary reducer is connected to the input end of the first planetary reducer. The output end of the first planetary reducer is connected to the upper end of the swing mechanism through the transmission gear set. It is used to drive the entire swing mechanism to swing internally and externally to cross the walking surface obstacles laterally. The internal and external swing is defined as The direction of rotation of the central axis of one of the gears in the transmission gear set.
所述传动齿轮组包括圆柱齿轮和圆柱半齿轮，其中圆柱齿轮与第一行星减速器的输出端同轴固接，圆柱半齿轮下部装有一可与摆动机构固接的连接杆，其上部外齿轮在与同轴布置的圆柱齿轮啮合，使得连接杆在越障步进电机驱动下可以圆柱半齿轮中心轴为转动轴内外摆动。The transmission gear set includes a cylindrical gear and a cylindrical half gear. The cylindrical gear is coaxially fixed with the output end of the first planetary reducer. The lower part of the cylindrical half gear is equipped with a connecting rod that can be fixedly connected to the swing mechanism. The upper part of the external gear is When meshed with the coaxially arranged cylindrical gear, the connecting rod can swing inward and outward with the central axis of the cylindrical half gear as the rotation axis driven by the obstacle-crossing stepper motor.
所述摆动机构包括摆动电机以及下连接杆，摆动电机安装在下连接杆的上部，并且摆动电机的输出轴与连接杆的下部相连，下连接杆的下部配装一套可绕下连接杆上端前后摆动的驱动吸附装置，定义驱动吸附装置的行进方向为前。The swing mechanism includes a swing motor and a lower connecting rod. The swing motor is installed on the upper part of the lower connecting rod, and the output shaft of the swing motor is connected to the lower part of the connecting rod. The lower part of the lower connecting rod is equipped with a set that can be wound around the upper end of the lower connecting rod. For a swinging drive adsorption device, the traveling direction of the drive adsorption device is defined as forward.
所述行走驱动机构包括多个链轮、链条、驱动步进电机、第二行星减速器、传动固定轴和链条张紧器，链轮通过转动轴安装在摆杆下端，实现二者转动连接；链轮外部共同套接一环形链条，并且链条之间设置用于调节链条张紧度的链条张紧器；所述驱动步进电机通过传动固定轴一端安装在摆动机构下部，并且所述驱动步进电机的输出轴与第二行星减速器的输入端相连，第二行星减速器的输出端与其中一个链轮固接；链条张紧器上安装一用于检测行走面障碍的压力传感器。The walking drive mechanism includes a plurality of sprockets, chains, a driving stepper motor, a second planetary reducer, a transmission fixed shaft and a chain tensioner. The sprockets are installed on the lower end of the swing bar through a rotating shaft to achieve rotational connection between the two; An annular chain is jointly connected to the outside of the sprocket, and a chain tensioner for adjusting the chain tension is provided between the chains; the driving stepper motor is installed at the lower part of the swing mechanism through one end of the transmission fixed shaft, and the driving stepper motor The output shaft of the motor is connected to the input end of the second planetary reducer, and the output end of the second planetary reducer is fixedly connected to one of the sprockets; a pressure sensor for detecting obstacles on the walking surface is installed on the chain tensioner.
所述吸附机构为若干间隔设置若干电磁铁，其中电磁铁的通电端与控制器的信号输出端电连接。The adsorption mechanism is provided with a plurality of electromagnets at several intervals, wherein the energized end of the electromagnet is electrically connected to the signal output end of the controller.
所述车架和驱动吸附装置之间增设球副，包括连接件和加强筋，其中连接件固装在车架底部，加强筋上端与连接件铰接，加强筋下端与传动固定轴相连，用于防止车架移动过程中产生晃动。A ball pair is added between the frame and the driving adsorption device, including a connecting piece and a reinforcing rib. The connecting piece is fixed at the bottom of the frame, the upper end of the reinforcing rib is hinged with the connecting piece, and the lower end of the reinforcing rib is connected to the transmission fixed shaft for Prevent the frame from shaking during movement.
所述车架上配装4套横向越障装置和4套驱动吸附装置，其中4套横向越障装置分别对称安装在车架相对的两侧，每套横向越障装置底部对应配装一驱动吸附装置，并且驱动吸附装置的行走驱动机构的行进方向一致。The frame is equipped with 4 sets of lateral obstacle crossing devices and 4 sets of drive adsorption devices. The 4 sets of lateral obstacle crossing devices are symmetrically installed on opposite sides of the frame. Each set of lateral obstacle crossing devices is equipped with a drive at the bottom. The adsorption device and the traveling driving mechanism driving the adsorption device have the same traveling direction.
所述车架为一矩形板。The vehicle frame is a rectangular plate.
车架上可以安装各种机械臂，完成各种探测任务，例如清扫，除锈，喷漆等。Various robotic arms can be installed on the frame to complete various detection tasks, such as cleaning, rust removal, painting, etc.
本发明工作过程：首先驱动步进电机和第二行星减速器为整个机器人提供了行走的动力；当机器人需要横向移动时，压力传感器首先检测到彩钢板的横棱障碍，检测信号被传送到控制装置，之后控制装置的控制器发出指令给4个驱动步进电机，此时4个驱动步进电机停止前进，其中一个行走驱动机构的链条上的电磁铁断电，此时电磁铁取消吸附力，这时链条处于未吸附的状态，然后摆动电机带动驱动吸附装置摆动，此时链条离开彩钢板；越障步进电机驱动传动齿轮组转动，整体的摆动机构向外侧摆动，同时压力传感器一直保持检测彩钢板横棱的位置，直到检测到的位置信号为零，说明该条链条已离开障碍物，到达横棱的另一侧；零信号传送到控制装置，控制装置控制摆动电机，进而带动驱动吸附装置，恢复该链条与彩钢板的接触，同时电磁铁通电，该条链条越过障碍恢复与彩钢板的吸附状态，之后其余的三条链条同样方式通过障碍，直至整个机器越过障碍，开始工作。The working process of the invention: firstly, the stepper motor and the second planetary reducer are driven to provide walking power for the entire robot; when the robot needs to move laterally, the pressure sensor first detects the horizontal edge obstacle of the color steel plate, and the detection signal is transmitted to the control device, and then the controller of the control device sends instructions to the 4 drive stepper motors. At this time, the 4 drive stepper motors stop moving forward, and the electromagnet on the chain of one of the walking drive mechanisms is powered off. At this time, the electromagnet cancels the adsorption force. , at this time, the chain is in an unadsorbed state, and then the swing motor drives the driving adsorption device to swing. At this time, the chain leaves the color steel plate; the obstacle-crossing stepper motor drives the transmission gear set to rotate, and the overall swing mechanism swings outward, while the pressure sensor remains Detect the position of the cross edge of the color steel plate until the detected position signal is zero, indicating that the chain has left the obstacle and reached the other side of the cross edge; the zero signal is transmitted to the control device, which controls the swing motor, thereby driving the drive The adsorption device restores the contact between the chain and the color steel plate. At the same time, the electromagnet is energized. The chain crosses the obstacle and resumes the adsorption state with the color steel plate. After that, the remaining three chains pass the obstacle in the same way until the entire machine overcomes the obstacle and starts working.
本发明有益效果在于：该爬壁机构可跨越换流阀内壁上的横棱障碍，可在上面搭载机械臂，完成各种探测任务，例如清扫，除锈，喷漆等。工作效率高，节约了大量的成本，而且换流阀大厅的内壁高达30米，使用该机构工作能够降低危险性。该发明可为用在多种工作环境的爬壁机器人设计研究提供依据。The beneficial effect of the present invention is that the wall-climbing mechanism can cross the horizontal edge obstacle on the inner wall of the converter valve, and can be equipped with a mechanical arm on it to complete various detection tasks, such as cleaning, rust removal, painting, etc. The work efficiency is high and a lot of costs are saved. Moreover, the inner wall of the converter valve hall is as high as 30 meters. Using this mechanism can reduce the risk. This invention can provide a basis for the design and research of wall-climbing robots used in various working environments.
附图说明Description of the drawings
图1是本发明的整体结构正视图。Figure 1 is a front view of the overall structure of the present invention.
图2是发明的整体结构俯视图。Figure 2 is a top view of the overall structure of the invention.
图3是发明的工作环境彩钢板。Figure 3 is the invented working environment color steel plate.
实施方式Implementation
下面结合附图进一步说明本发明The present invention will be further described below in conjunction with the accompanying drawings.
参照附图：Refer to the attached picture:
实施例1本发明所述的磁吸附式横向越障爬壁机器人，包括：Embodiment 1 The magnetic adsorption type lateral obstacle climbing wall climbing robot according to the present invention includes:
车架6，用于安装越障机构；Frame 6 is used to install the obstacle-crossing mechanism;
横向越障装置，包括越障驱动机构和摆动机构，越障驱动机构设置在车架上，摆动机构的上部与越障驱动机构的输出端相连，下部的摆动端安装驱动吸附装置，用于带动驱动吸附装置翻越行走表面障碍；The lateral obstacle-crossing device includes an obstacle-crossing drive mechanism and a swing mechanism. The obstacle-crossing drive mechanism is arranged on the frame. The upper part of the swing mechanism is connected to the output end of the obstacle-crossing drive mechanism. The lower swing end is equipped with a drive adsorption device for driving Drive the adsorption device to climb over obstacles on the walking surface;
驱动吸附装置，包括行走驱动机构和吸附机构，行走驱动机构安装在越障机构的摆动端，吸附机构设置在行走驱动机构的行走处，用于吸附在钢板上并在行走驱动机构带动下沿钢板行走；The driving adsorption device includes a walking drive mechanism and an adsorption mechanism. The walking drive mechanism is installed at the swing end of the obstacle crossing mechanism. The adsorption mechanism is set at the walking position of the walking drive mechanism and is used to adsorb to the steel plate and move along the steel plate driven by the walking drive mechanism. walk;
以及控制装置，包括控制器和压力传感器，其中压力传感器设置在驱动吸附装置上，并且压力传感器的输出端与控制器的输入端电连接，而控制器的输出端与横向越障装置以及驱动吸附装置的信号输入端信号连接，用于控制横向越障装置以及控制驱动吸附装置工作。and a control device, including a controller and a pressure sensor, wherein the pressure sensor is arranged on the driving adsorption device, and the output end of the pressure sensor is electrically connected to the input end of the controller, and the output end of the controller is connected to the lateral obstacle crossing device and the driving adsorption device The signal input end of the device is connected to a signal, which is used to control the lateral obstacle crossing device and control the operation of the driving adsorption device.
所述越障驱动机构包括越障步进电机8、第一行星减速器7以及传动齿轮组，所述越障步进电机8、第一行星减速器7安装在车架6上，并且越障步进电机8的输出端与第一行星减速器7的输入端相连，第一行星减速器7的输出端通过传动齿轮组与摆动机构的上端连接，用于带动整个摆动机构内外摆动以横向翻越行走面障碍，定义内外摆动为传动齿轮组其中一齿轮中心轴转动方向，即横向指的是车架宽度方向。The obstacle-crossing driving mechanism includes an obstacle-crossing stepper motor 8, a first planetary reducer 7 and a transmission gear set. The obstacle-crossing stepper motor 8 and the first planetary reducer 7 are installed on the vehicle frame 6 and are used for obstacle-crossing. The output end of the stepper motor 8 is connected to the input end of the first planetary reducer 7, and the output end of the first planetary reducer 7 is connected to the upper end of the swing mechanism through the transmission gear set, which is used to drive the entire swing mechanism to swing internally and externally for lateral crossing. The walking surface obstacle is defined as the internal and external swing as the rotation direction of the central axis of one of the gears in the transmission gear set, that is, the transverse direction refers to the width direction of the vehicle frame.
所述传动齿轮组包括圆柱齿轮9和圆柱半齿轮10，其中圆柱齿轮9与第一行星减速器7的输出端同轴固接，圆柱半齿轮10下部装有一可与摆动机构固接的上连接杆，其上部外齿轮在与同轴布置的圆柱齿轮啮合，使得上连接杆在越障步进电机驱动下可以圆柱半齿轮中心轴为转动轴内外摆动。The transmission gear set includes a cylindrical gear 9 and a cylindrical half gear 10. The cylindrical gear 9 is coaxially fixed with the output end of the first planetary reducer 7. The lower part of the cylindrical half gear 10 is equipped with an upper connection that can be fixedly connected to the swing mechanism. The upper external gear of the rod is meshed with the coaxially arranged cylindrical gear, so that the upper connecting rod can swing inward and outward under the driving of the obstacle-crossing stepper motor with the central axis of the cylindrical half gear as the rotation axis.
所述摆动机构12包括摆动电机11以及下连接杆19，摆动电机安装在下连接杆的上部，并且摆动电机的输出轴与上连接杆的下部相连，下连接杆的下部配装一套可绕下连接杆上端前后摆动的驱动吸附装置，定义驱动吸附装置的行进方向为前。The swing mechanism 12 includes a swing motor 11 and a lower connecting rod 19. The swing motor is installed on the upper part of the lower connecting rod, and the output shaft of the swing motor is connected to the lower part of the upper connecting rod. The lower part of the lower connecting rod is equipped with a set that can be wound around. The driving adsorption device with the upper end of the connecting rod swinging back and forth defines the traveling direction of the driving adsorption device as forward.
所述行走驱动机构包括多个链轮2、链条1、驱动步进电机16、第二行星减速器15、传动固定轴17和链条张紧器13，所述链轮2与摆杆一一对应，并且链轮2通过传动固定轴17安装在摆动机构12下端，实现二者转动连接；链轮外部共同套接一环形链条1，并且链条1之间设置用于调节链条张紧度的链条张紧器；所述驱动步进电机通过传动固定轴一端安装在摆动机构12下部，并且所述驱动步进电机的输出轴与第二行星减速器的输入端相连，第二行星减速器的输出端与其中一个链轮固接；链条张紧器上安装一用于检测行走面障碍的压力传感器。The traveling driving mechanism includes a plurality of sprockets 2, a chain 1, a driving stepper motor 16, a second planetary reducer 15, a transmission fixed shaft 17 and a chain tensioner 13. The sprockets 2 correspond to the swing bar one by one. , and the sprocket 2 is installed at the lower end of the swing mechanism 12 through the transmission fixed shaft 17 to achieve a rotational connection between the two; an annular chain 1 is jointly connected to the outside of the sprocket, and a chain tensioner is set between the chains 1 for adjusting the chain tension. Tightener; the driving stepper motor is installed at the lower part of the swing mechanism 12 through one end of the transmission fixed shaft, and the output shaft of the driving stepper motor is connected to the input end of the second planetary reducer, and the output end of the second planetary reducer It is fixedly connected to one of the sprockets; a pressure sensor for detecting obstacles on the walking surface is installed on the chain tensioner.
所述吸附机构为若干间隔设置在链条的折弯上的若干电磁铁3，其中电磁铁3的通电端与控制器的信号输出端电连接。The adsorption mechanism is a plurality of electromagnets 3 arranged at intervals on the bends of the chain, wherein the energized end of the electromagnet 3 is electrically connected to the signal output end of the controller.
所述车架和驱动吸附装置之间增设球副5，包括连接件和加强筋4，其中连接件固装在车架底部，加强筋上端与连接件铰接，加强筋下端与传动固定轴17一端相连，用于防止车架移动过程中产生晃动。A ball pair 5 is added between the frame and the driving adsorption device, including a connector and a reinforcing rib 4. The connector is fixed at the bottom of the frame, the upper end of the reinforcing rib is hinged with the connector, and the lower end of the reinforcing rib is connected to one end of the transmission fixed shaft 17 Connected to prevent the frame from shaking during movement.
所述车架上配装4套横向越障装置和4套驱动吸附装置，其中4套横向越障装置分别对称安装在车架相对的两侧，每套横向越障装置底部对应配装一驱动吸附装置，并且驱动吸附装置的行走驱动机构的行进方向一致。The frame is equipped with 4 sets of lateral obstacle crossing devices and 4 sets of drive adsorption devices. The 4 sets of lateral obstacle crossing devices are symmetrically installed on opposite sides of the frame. Each set of lateral obstacle crossing devices is equipped with a drive at the bottom. The adsorption device and the traveling driving mechanism driving the adsorption device have the same traveling direction.
所述车架6为一矩形板。The vehicle frame 6 is a rectangular plate.
车架6上可以安装各种机械臂，完成各种探测任务，例如清扫，除锈，喷漆等。Various robotic arms can be installed on the frame 6 to complete various detection tasks, such as cleaning, rust removal, painting, etc.
本发明工作过程：首先驱动步进电机和第二行星减速器为整个机器人提供了行走的动力；当机器人需要横向移动时，压力传感器首先检测到彩钢板的横棱障碍，检测信号被传送到控制装置，之后控制装置的控制器发出指令给4个驱动步进电机，此时4个驱动步进电机停止前进，其中一个行走驱动机构的链条上的电磁铁断电，此时电磁铁取消吸附力，这时链条处于未吸附的状态，然后摆动电机带动驱动吸附装置摆动，此时链条离开彩钢板21；越障步进电机驱动传动齿轮组转动，整体的摆动机构向外侧摆动，同时压力传感器一直保持检测彩钢板21横棱20的位置，直到检测到的位置信号为零，说明该条链条已离开障碍物，到达横棱的另一侧；零信号传送到控制装置，控制装置控制摆动电机，进而带动驱动吸附装置，恢复该链条与彩钢板的接触，同时电磁铁通电，该条链条越过障碍恢复与彩钢板的吸附状态，之后其余的三条链条同样方式通过障碍，直至整个机器越过障碍，开始工作。The working process of the invention: firstly, the stepper motor and the second planetary reducer are driven to provide walking power for the entire robot; when the robot needs to move laterally, the pressure sensor first detects the horizontal edge obstacle of the color steel plate, and the detection signal is transmitted to the control device, and then the controller of the control device sends instructions to the 4 drive stepper motors. At this time, the 4 drive stepper motors stop moving forward, and the electromagnet on the chain of one of the walking drive mechanisms is powered off. At this time, the electromagnet cancels the adsorption force. , at this time, the chain is in an unadsorbed state, and then the swing motor drives the driving adsorption device to swing. At this time, the chain leaves the color steel plate 21; the obstacle-crossing stepper motor drives the transmission gear set to rotate, and the overall swing mechanism swings outward, while the pressure sensor keeps Keep detecting the position of the horizontal edge 20 of the color steel plate 21 until the detected position signal is zero, indicating that the chain has left the obstacle and reached the other side of the horizontal edge; the zero signal is transmitted to the control device, and the control device controls the swing motor. Then the driving adsorption device is driven to restore the contact between the chain and the color steel plate. At the same time, the electromagnet is energized. The chain crosses the obstacle and resumes the adsorption state with the color steel plate. After that, the remaining three chains pass the obstacle in the same way until the entire machine overcomes the obstacle and starts. Work.
本说明书实施例所述的内容仅仅是对发明构思的实现形式的列举，本发明的保护范围不应当被视为仅限于实施例所陈述的具体形式，本发明的保护范围也包括本领域技术人员根据本发明构思所能够想到的等同技术手段。The content described in the embodiments of this specification is only an enumeration of the implementation forms of the inventive concept. The protection scope of the present invention should not be considered to be limited to the specific forms stated in the embodiments. The protection scope of the present invention also includes those skilled in the art. Equivalent technical means that can be thought of based on the concept of the present invention.
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| CN112716399B (en) * | 2021-01-15 | 2024-07-02 | 北京工业大学 | Cleaning adsorption device of photovoltaic curtain wall cavity cleaning robot |
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