CN107264662B - A kind of multi-functional climbing robot and its control method - Google Patents
A kind of multi-functional climbing robot and its control method Download PDFInfo
- Publication number
- CN107264662B CN107264662B CN201710459489.2A CN201710459489A CN107264662B CN 107264662 B CN107264662 B CN 107264662B CN 201710459489 A CN201710459489 A CN 201710459489A CN 107264662 B CN107264662 B CN 107264662B
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- Prior art keywords
- work department
- motor
- work
- pedestal
- shell
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- 230000009194 climbing Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 39
- 239000003463 adsorbent Substances 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims description 32
- 239000002243 precursor Substances 0.000 claims description 11
- 238000005192 partition Methods 0.000 claims description 10
- 238000010422 painting Methods 0.000 claims description 9
- 238000001179 sorption measurement Methods 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010626 work up procedure Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43K—IMPLEMENTS FOR WRITING OR DRAWING
- B43K23/00—Holders or connectors for writing implements; Means for protecting the writing-points
- B43K23/016—Holders for crayons or chalks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
- B43L21/00—Blackboard or slate cleaning devices
- B43L21/04—Wiper holders
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to climbing robot technical field, a kind of multi-functional climbing robot and its control method are disclosed, there is structure is complicated, control is difficult for solving the problems, such as existing climbing robot.The present invention includes pedestal and operating mechanism, the pedestal includes body shell, the body housing bottom surface is equipped with the first adsorbent equipment, on the upside of the first adsorbent equipment or the body shell of downside is connected with transmission device, the left and right ends of transmission device are mounted on the second adsorbent equipment, the the first torsion motor for connecting with transmission device and body shell being driven to move up and down is installed on body shell, transmission device is additionally provided with the second torsion motor for driving body shell to move left and right, the lower end of the body shell is provided with the third torsion motor for moving up and down with pneumatic operating mechanism.
Description
Technical field
The invention belongs to Climbing Robot technical fields, and in particular to a kind of multi-functional climbing robot and its controlling party
Method, the present invention are used not only for the writing of blackboard, while can also be used to the painting of large-scale iron gate and the cleaning of curtain wall etc.
Deng.
Background technique
Current era, because blackboard writing is high convenient for expression, flexibility, is learned although PPT, electron plate come into operation
Many advantages, such as raw viewing is clear, each classroom without exception still using blackboard.However since blackboard height is generally
1000mm；And the chamber height in a common compact classroom is generally 3000mm, is considering to be located in 800mm because viewing angle problem is without making
In the case where value, blackboard only has 60% to the utilization rate of metope, the reason is that the limitation of the height in classroom.Meanwhile some are taught
Although teacher's teaching is outstanding, writing on the blackboard ability is poor, special
It is not that geographical teacher, biology teachers then need to draw complicated ground figure caption, biological bone etc. according to classroom situation, and
Naturally there are low efficiency, ropy problems for Freehandhand-drawing.
Large-scale ironwork has incorporated the every aspect of people's life simultaneously, such as: large-scale iron gate etc., once it installs
At the suitable height of painting difficulty, it is believed that paint not only poor quality, more there is biggish security risk.
The appearance of climbing robot brings hope to solve above-mentioned technical problem, is developed a variety of machines
Mankind's type has crawler type, sufficient formula, frame-type, rail mounted and wheel type etc..But caterpillar type robot there is volumes big, knot
Structure is not easy to realize the problem of turning to；Legged type robot has that complicated, the speed of travel is slow and control difficulty is high；Frame
Formula robot has that structure problem, the speed of travel are slow；Rail mounted robot due to need to be laid with guide rail and there is
The limited problem of moving direction；Wheel type robot equally exists the difficult problem of control, and writing on the blackboard substantially difficult to realize is made
Industry.
Summary of the invention
The present invention is in order to solve the problems, such as that existing climbing robot there is structure is complicated, control is difficult, and provides one kind
Multi-functional climbing robot and its control method have the characteristics that structure is simple, turn to and easy to control.
In order to solve the technical problem, the technical scheme adopted by the invention is that:
A kind of multi-functional Climbing Robot, which is characterized in that including pedestal and operating mechanism, the pedestal includes body shell
Body, the body housing bottom surface are equipped with the first adsorbent equipment, and on the upside of the first adsorbent equipment or the body shell of downside connects
It is connected to transmission device, the left and right ends of transmission device are mounted on the second adsorbent equipment, body
The the first torsion motor for connecting with transmission device and body shell being driven to move up and down is installed on body shell body, is driven
Device is additionally provided with the second torsion motor for driving body shell to move left and right, and the lower end setting of the body shell is useful
It is used to control the first adsorbent equipment in being equipped in the third torsion motor moved up and down with pneumatic operating mechanism, the body shell
With the relay of the second adsorbent equipment work and for controlling the first torsion motor, the second torsion motor and third torsion motor
First remote control panel of working condition；
The operating mechanism includes that the shell moved up and down is driven by third torsion motor, is equipped with fixation on shell
Frame and third adsorbent equipment are equipped with the fixed frame motor for driving fixed frame to move left and right on shell in shell,
The both ends of fixed frame are separately installed with the first work department and the second work department；It is also equipped in shell for controlling fixed frame electricity
Second remote control panel of machine, the first work department and the second work department working condition, third adsorbent equipment be electrically connected with relay and by
Relay controls work；Fixed frame motor, the first work department and the second work department are by
Two remote control panels control work.
The transmission device further includes the first rack gear and the second rack gear, first rack gear be placed in the vertical direction and
The both ends of first rack gear are separately fixed on transmission device and body shell, and the output end of the first torsion motor is provided with and first
Rack gear pitch wheel；Second rack gear along horizontally arranged on transmission device, the output end of the second torsion motor
It is provided with and the second rack gear pitch wheel.
First adsorbent equipment, the second adsorbent equipment and third adsorbent equipment are electromagnet.
First work department includes the first tube rotaring motor being mounted on fixed frame, and the first tube rotaring motor is connected with
First rotating cylinder, the first rotating cylinder and the first tube rotaring motor are fixed on fixed frame, and the first rotating cylinder is fixedly connected with partition,
The chalk fixed cylinder that sliding can be moved up and down on partition is arranged on partition, the output shaft of the first tube rotaring motor is connected with spiral shell
Bar, screw rod extend into the first rotating cylinder and are threadedly coupled with chalk fixed cylinder.
Second work department includes the second tube rotaring motor, and the second tube rotaring motor is connected with the second rotating cylinder, and the second rotating cylinder connects
It is connected to blackboard eraser.
First work department and the second work department include the tube rotaring motor being mounted on fixed frame, the rotating cylinder
Painting roller for painting is installed on the output end of motor.
The present invention also provides the control methods of the multi-functional climbing robot, which comprises the steps of: (1)
Pedestal is run to specified current column position；
(2) judge whether to need to be operated in current column position；Base is controlled if no longer current column position is operated
Seat transverse movement needs to be operated in current column position until judgement；If desired it is operated in current column position, judges to grasp
Whether the first work department and the second work department for making mechanism need longitudinal operation；
(3) if the first work department and the second work department need to vertically move, the first work department and the second work department are controlled
It is vertically moved, and pedestal band pneumatic operating mechanism moves longitudinally to designated position；If the first work department and the second work department
It does not need to vertically move, then the first work department and the second work department are without longitudinal movement, and pedestal band pneumatic operating mechanism is vertical
To being moved to designated position；
(4) after completing step (3), judge whether the first work department and the second work department need transverse shifting, if first
Work department and the second work department need transverse shifting then fixed frame motor drive fixed frame transverse movement, and
And pedestal band pneumatic operating mechanism vertically moves；It is fixed if the first work and the second work department do not need transverse shifting
Frame motor does not work, and pedestal band pneumatic operating mechanism vertically moves；
(5) judge that precursor shell column operates in completion step (4) whether to complete and judged again, if working as
The operation of precursor shell column is completed then to terminate, and does not complete if working as the operation of precursor shell column, repeatedly step (2)-
(5) until when the operation of precursor shell column is completed.
The following contents is specifically included in above-mentioned steps (1): first determining whether pedestal is vertically moved, if desired
Longitudinal movement then controls pedestal longitudinal movement until running to specified current column position；Base is controlled if not needing longitudinal movement
Seat transverse movement is until pedestal runs to specified current column position.
Compared with prior art, the invention has the following advantages:
Multi-functional Climbing Robot provided by the invention in use, is inhaled by the first adsorbent equipment and second
The work up and down of pedestal is realized in the common mating reaction of adsorption device and the first torsion motor and the second torsion motor
Movement, and moved up and down by the zone of action pneumatic operating mechanism of third torsion motor, it is realized by fixed frame motor
The position of first work department and the second work department, to realize that the first work department and the second work department carry out work in specified position
Make.The present invention has the characteristics that structure is simple, easy to make, while being by relay and the first remote control panel and the second remote control panel
The work that each moving component can be achieved has the characteristics that easy to control.Solves caterpillar type robot presence in the prior art
Volume is big, structure is not easy to realize the problem of turning to；Solving legged type robot in the prior art, there is the complicated, speeds of travel
Problem slow and that control difficulty is high；Solving frame-type robot in the prior art, there is structure problem, the speed of travel are slow
The problem of；Rail mounted robot in the prior art is solved due to needing to be laid with guide rail and there is what moving direction was limited to ask
Topic；Solve the problems, such as that wheel type robot equally exists control difficulty in the prior art, writing on the blackboard substantially difficult to realize is made
Industry.
The present invention can not only be applied to the writing on the blackboard of teaching, commercial writing on the blackboard, additionally it is possible to apply to the plasterer at irony gate
Make etc., have the characteristics that use scope is wide.
Detailed description of the invention
Fig. 1 is the bottom surface structure schematic diagram of pedestal of the invention；
Fig. 2 is the schematic diagram of internal structure of pedestal of the invention；
Fig. 3 is the connection schematic diagram of transmission device and body shell of the invention；
Fig. 4 be operating mechanism of the invention structural schematic diagram (in the schematic diagram, the first work department be used for chalk
Writing, the second work department is for erasing the board)；
The connection schematic diagram of the first tube rotaring motor and chalk fixed cylinder that Fig. 5 is；
Fig. 6 be control method of the invention flow chart (in the flow chart, the first work department be used for chalk book
It writes, the second work department is for erasing the board)；
Marked in the figure: 1.1, transmission device, 1.2, body shell, the 2, first adsorbent equipment, 3, second inhales
Adsorption device, 4, third torsion motor, the 5.1, first rack gear, the 5.2, second rack gear, the 6.1, first torsion electricity
Machine, 6.2 second torsion motors, 7, relay, the 8, first remote control panel, the 9, first tube rotaring motor, 10,
One rotating cylinder, 11, chalk fixed cylinder, 12, shell, the 13, second tube rotaring motor, the 14, second rotating cylinder, 15,
Connector, 16, blackboard eraser, the 17, second remote controler fixed frame, 18, fixed frame driving motor, 19, fixation
Frame, 20, third adsorbent equipment, 21, partition, 22, screw rod, 23, chalk.
Specific embodiment
The present invention will be further described with reference to the examples below, and described embodiment is only present invention a part
Embodiment is not whole embodiment.Based on the embodiments of the present invention, the ordinary skill of this field
Personnel's other embodiments used obtained without making creative work, belong to guarantor of the invention
Protect range.
In conjunction with attached drawing, multi-functional Climbing Robot provided by the invention includes pedestal and operating mechanism, and the pedestal includes
Body shell 1.2,1.2 bottom surface of body shell are equipped with the first adsorbent equipment 2, are located at the first absorption
The body shell 1.2 of 2 upside of device or downside is connected with transmission device 1.1, and transmission device 1.1 connects in the present embodiment
It connects in the upside of body shell 1.2, the left and right ends of transmission device 1.1 are mounted on the second adsorbent equipment 3, body shell 1.2
On the first torsion motor 6.1 for connecting with transmission device 1.1 and body shell 1.1 being driven to move up and down, transmission device are installed
1.1 are additionally provided with the second torsion motor 6.2 for driving body shell 1.2 to move left and right, the lower end of the body shell 1.1
It is provided with the third torsion electricity for moving up and down with pneumatic operating mechanism
Machine 4 is equipped in the body shell 1.2 for controlling the first adsorbent equipment 2 and the work of the second adsorbent equipment 3
Relay 7 and for controlling the first torsion motor 6.1, the second torsion motor 6.2 and third torsion motor 4 work
First remote control panel 8 of state, wherein as a kind of preferred mode of the present invention, the first remote control panel selects four accesses
Remote control panel；
The operating mechanism includes that the shell 12 moved up and down is driven by third torsion motor 4, is installed on shell 12
There are fixed frame 19 and third adsorbent equipment 20, is equipped in shell 12 and drives the left and right shifting on housing 12 of fixed frame 19
Dynamic fixed frame motor 18, wherein fixed frame 18 is moved on housing 12 by gear and rack drives fixed frame 19, fixed frame
19 both ends are separately installed with the first work department and the second work department；It is also equipped in shell 12 for controlling fixed frame motor
18, the second remote control panel of the first work department and the second work department working condition, third
Adsorbent equipment 20 is electrically connected with relay 7 and controls work by relay 7；Fixed frame motor 18, the first work department
Work is controlled by the second remote control panel with the second work department, the second remote controler fixed frame 17, the second remote control are wherein installed on shell
Plate selects six access remote control panels, and the second remote controler is mounted in the second remote controler fixed frame 17.
As a kind of mode of selection of the present invention, the transmission device further includes the first rack gear 5.1 and the second rack gear
5.2, first rack gear 5.1 is placed in the vertical direction and the both ends of the first rack gear 5.1 are separately fixed at biography
On dynamic device 1.1 and body shell 1.2, the output end of the first torsion motor 6.1 is provided with and 5.1 phase of the first rack gear
Intermeshed gear；For second rack gear 5.2 along horizontally arranged on transmission device 1.1, the second torsion is electric
The output end of machine 6.2 is provided with and 5.2 pitch wheel of the second rack gear.
As a kind of preferred mode of the present invention, first adsorbent equipment 2, the second adsorbent equipment 3 and third absorption dress
20 are set as electromagnet；The route and relay 7 of electromagnet are mutually connected.Wherein two electromagnet parallel connections on transmission device 1.1
It is electrically connected afterwards with relay 7；The quantity of first adsorbent equipment 2 is at least 2, and is electrically connected after parallel connection with relay 7.
Third torsion motor of the invention can also make pedestal band pneumatic operating mechanism by way of rack-and-pinion, rope
It moves up and down.
As a kind of preferred mode of the present invention, the first work department includes the first tube rotaring motor being mounted on fixed frame 19
9, the first tube rotaring motor 9 is connected with the first rotating cylinder 10, and the first rotating cylinder 10 and the first tube rotaring motor 9 are fixed on
On fixed frame 19, the first rotating cylinder 10 is fixedly connected with partition 21, be arranged on partition 21 can be on partition 21 on
The chalk fixed cylinder 11 of lower mobile sliding, the output shaft of the first tube rotaring motor 9 are connected with screw rod 22, and screw rod 22 extend into first turn
It is threadedly coupled in cylinder 10 and with chalk fixed cylinder 11, chalk is installed in chalk fixed cylinder, passes through screw rod 22 and chalk fixed cylinder
Nut on 22 cooperates, and screw rod drives chalk fixed cylinder 11 to move up and down during rotating, to realize stretching for chalk
Contracting.
Second work department includes the second tube rotaring motor 13, and the second tube rotaring motor 13 is connected with the second rotating cylinder 14, and second
Connector 15 is offered on rotating cylinder 14, blackboard eraser 16 is plugged on the second rotating cylinder 14 through connector.
As a kind of mode of selection of the present invention, first work department and the second work department include being mounted on admittedly
Determine the tube rotaring motor on frame, the painting roller for painting is installed on the output end of the tube rotaring motor, is passed through
Roller is painted to realize the painting work of large-scale iron gate.
The present invention also provides the control methods of the multi-functional climbing robot, include the following steps:
(1) pedestal is run to specified current column position；
(2) judge whether to need to be operated in current column position；Base is controlled if no longer current column position is operated
Seat transverse movement needs to be operated in current column position until judgement；If desired it is operated in current column position, judges to grasp
Whether the first work department and the second work department for making mechanism need longitudinal operation；
(3) if the first work department and the second work department need to vertically move, the first work department and the second work department are controlled
It is vertically moved, and pedestal band pneumatic operating mechanism moves longitudinally to designated position；If the first work
Portion and the second work department do not need to vertically move, then the first work department and the second work department be without longitudinal movement,
And pedestal band pneumatic operating mechanism moves longitudinally to designated position；
(4) after completing step (3), judge whether the first work department and the second work department need transverse shifting, if first
Work department and the second work department need transverse shifting, and then fixed frame motor drives fixed frame transverse movement, and pedestal drive operation
Mechanism longitudinal movement；Fixed frame motor does not work if the first work and the second work department do not need transverse shifting, and pedestal
Band pneumatic operating mechanism vertically moves；
(5) judge that precursor shell column operates in completion step (4) whether to complete and judged again, if working as
The operation of precursor shell column is completed then to terminate, if when the operation of precursor shell column does not complete,
Then step (2)-(5) are repeated until when the operation of precursor shell column is completed.
The following contents is specifically included in above-mentioned steps (1): first determining whether pedestal is vertically moved, if desired
Longitudinal movement then controls pedestal longitudinal movement until running to specified current column position；If not needing to indulge
Pedestal transverse movement is then controlled until pedestal runs to specified current column position to mobile.
With the first work department for writing, for the second work department is blackboard eraser, wherein the first, second, and third absorption dress
It is set to for magnet that (for the ease of following description, the first, second, third adsorbent equipment is referred to as electromagnet 2, electromagnet 3
With electromagnet 20), to be illustrated to control process of the invention.
The power on/off that the first adsorbent equipment 2, the second adsorbent equipment 3 and third adsorbent equipment 20 are controlled by relay 7, by the
One remote control panel 8 controls the positive and negative rotation of the first, second, and third torsion motor, to realize in irony metope
Movement on (including blackboard)；First tube rotaring motor 9,13 and of the second tube rotaring motor are controlled by the second remote control panel
The positive and negative rotation of fixed frame motor 18, to realize the work write and erased the board.
When carrying out blackboard writing, operation robot makes at the top of its base motion to blackboard.When carrying out longitudinal creep, first
Electromagnet 2 is set to be powered, electromagnet 3 powers off, and the first torsion motor 6.1 drives the movement of the first rack gear 5.1 to realize body shell 1.2
Longitudinal (i.e. up and down) movement, when the first torsion motor 6.1 rotates backward, body
Shell 1.2 is along another direction longitudinal movement；When laterally creep, electromagnet 2 is controlled logical by relay 7
Electricity, electromagnet 3 are controlled by relay 7 and are powered off, and are remotely controlled the second torsion motor 6.2 by the first remote control panel and are driven the second rack gear 5.2
It is laterally moved, similarly, when the second torsion motor 6.2 rotates backward, body shell 1.2 is arrived towards other direction transverse movement
Up to after target position, the energization of foot's electromagnet 3 is controlled by relay board 7 and is adsorbed on blackboard.
When carrying out operating mechanism lifting, 4 positive and negative rotation of third torsion motor is remotely controlled by the first remote control panel 8, via cable tie
Dynamic 12 integral elevating of shell, when reaching object height, electromagnet 20 is controlled by relay 7 and is powered, and provides holding power for writing on the blackboard.Into
When row transverse direction writing on the blackboard, the first tube rotaring motor 9 is rotated by the control of the second remote control panel 17,
So that the chalk 23 for being fixed on chalk mounting cylinder 11 carries out stretching receipts, control whether to reach in the enterprising running hand of blackboard
The purpose write.Fixed frame motor 18 is controlled by the second remote control panel, is connected via wheel and rack, and then drives the
One rotating cylinder 10 is laterally moved with the second rotating cylinder 14, and then completes the lateral writing on the blackboard in certain altitude certain area
With wiping for blackboard.When carrying out longitudinal writing on the blackboard, the first rotating cylinder 10 and the second rotating cylinder 14 are controlled, and by the second remote control
Plate 8 controls third torsion motor 4 and carries out positive and negative rotation, so that the lifting of shell 12 is controlled, when chalk stretches out,
And control shell and carry out longitudinal movement, it can achieve the purpose that longitudinal writing on the blackboard, be combined with lateral writing on the blackboard
To carry out complete writing on the blackboard.And transverse movement is repeated in blackboard highest point in robot body shell 1.2,
To achieve the effect that complete writing on the blackboard or erase the board.Commercial plate writing on the blackboard process is similar with classroom blackboard writing on the blackboard process.And
Different operations can be carried out by the workpiece of the first work department of replacement and the second work department.
Claims (8)
1. a kind of multi-functional climbing robot, which is characterized in that including pedestal and operating mechanism, the pedestal includes body shell
Body, the body housing bottom surface are equipped with the first adsorbent equipment, and on the upside of the first adsorbent equipment or the body shell of downside connects
It is connected to transmission device, the left and right ends of transmission device are mounted on the second adsorbent equipment, are equipped on body shell and fill with transmission
The the first torsion motor set connection and body shell is driven to move up and down, transmission device are additionally provided with for driving body shell left
The the second torsion motor moved right, the lower end of the body shell are provided with the torsion of the third for moving up and down with pneumatic operating mechanism
Force motor is equipped with the relay for controlling the first adsorbent equipment and the second adsorbent equipment working condition in the body shell
And the first remote control panel for controlling the first torsion motor, the second torsion motor and third torsion electric machine operation state；
The operating mechanism includes that the shell moved up and down is driven by third torsion motor, is equipped with fixed frame and third on shell
Adsorbent equipment is equipped with the fixed frame motor for driving fixed frame to move left and right on shell, the both ends part of fixed frame in shell
First work department and the second work department are not installed；Be also equipped in shell for control fixed frame motor, the first work department and
Second remote control panel of the second work department working condition, third adsorbent equipment are electrically connected with relay and control work by relay,
Fixed frame motor, the first work department and the second work department control work by the second remote control panel.
2. multi-functional climbing robot according to claim 1, which is characterized in that the transmission device further includes the first tooth
Item and the second rack gear, first rack gear is placed in the vertical direction and the both ends of the first rack gear are separately fixed at transmission device
On body shell, the output end of the first torsion motor is provided with and the first rack gear pitch wheel；Second rack gear along
It is horizontally arranged on transmission device, the output end of the second torsion motor is provided with and the second rack gear pitch wheel.
3. multi-functional climbing robot according to claim 1, which is characterized in that first adsorbent equipment, second inhale
Adsorption device and third adsorbent equipment are electromagnet.
4. multi-functional climbing robot according to claim 1, which is characterized in that first work department includes being mounted on
The first tube rotaring motor on fixed frame, the first tube rotaring motor are connected with the first rotating cylinder, and the first rotating cylinder and the first tube rotaring motor are fixed
On fixed frame, the first rotating cylinder is fixedly connected with partition, and the chalk that sliding can be moved up and down on partition is arranged on partition
Fixed cylinder, the output shaft of the first tube rotaring motor are connected with screw rod, screw rod extend into the first rotating cylinder and with chalk fixed cylinder screw thread
Connection.
5. multi-functional climbing robot according to claim 4 and its control method, which is characterized in that second work
Portion includes the second tube rotaring motor, and the second tube rotaring motor is connected with the second rotating cylinder, and the second rotating cylinder is connected with blackboard eraser.
6. multi-functional climbing robot according to claim 1 and its control method, which is characterized in that first work
Portion and the second work department include the tube rotaring motor being mounted on fixed frame, are equipped with and are used on the output end of the tube rotaring motor
The painting roller of painting.
7. according to claim 1 in -6 any multi-functional climbing robot control method, which is characterized in that including such as
Lower step:
(1) pedestal is run to specified current column position；
(2) judge whether to need to be operated in current column position；Pedestal cross is controlled if no longer current column position is operated
To movement until judgement needs to be operated in current column position；If desired it is operated in current column position, judges operation machine
Whether the first work department and the second work department of structure need longitudinal operation；
(3) it if the first work department and the second work department need to vertically move, controls the first work department and the second work department carries out
Longitudinal movement, and pedestal band pneumatic operating mechanism moves longitudinally to designated position；If the first work department and the second work department are not required to
It vertically moves, then the first work department and the second work department are without longitudinal movement, and pedestal band pneumatic operating mechanism longitudinally moves
It moves to designated position；
(4) after completing step (3), judge whether the first work department and the second work department need transverse shifting, if the first work
Portion and the second work department need transverse shifting, and then fixed frame motor drives fixed frame transverse movement, and pedestal band pneumatic operating mechanism
Longitudinal movement；Fixed frame motor does not work if the first work and the second work department do not need transverse shifting, and pedestal drives
Operating mechanism longitudinal movement；
(5) judge that precursor shell column operates in completion step (4) whether to complete and judged again, if current body
The operation of body shell body column is completed then to terminate, if repeatedly step (2)-(5) are straight when the operation of precursor shell column does not complete
It is completed to when the operation of precursor shell column.
8. the control method of multi-functional climbing robot according to claim 7, which is characterized in that above-mentioned steps (1) tool
Body includes the following contents: first determining whether pedestal is vertically moved, if desired vertically moves, controls pedestal longitudinal direction
Movement is until run to specified current column position；Pedestal transverse movement is controlled if not needing longitudinal movement until pedestal is run
To specified current column position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710459489.2A CN107264662B (en) | 2017-06-16 | 2017-06-16 | A kind of multi-functional climbing robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710459489.2A CN107264662B (en) | 2017-06-16 | 2017-06-16 | A kind of multi-functional climbing robot and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107264662A CN107264662A (en) | 2017-10-20 |
| CN107264662B true CN107264662B (en) | 2019-04-19 |
Family
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Family Applications (1)
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| CN201710459489.2A Expired - Fee Related CN107264662B (en) | 2017-06-16 | 2017-06-16 | A kind of multi-functional climbing robot and its control method |
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| CN110481217A (en) * | 2019-08-21 | 2019-11-22 | 山东交通职业学院 | A kind of complementary education instructional device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3811320A (en) * | 1973-03-12 | 1974-05-21 | Rockwell International Corp | Surface scaler apparatus |
| JPS6436588A (en) * | 1987-07-31 | 1989-02-07 | Yokohama Rubber Co Ltd | Walking machine for wall surface washing |
| CN203666819U (en) * | 2013-11-20 | 2014-06-25 | 徐州工业职业技术学院 | Wall-climbing robot with moving-type adsorption racks |
| CN105035203A (en) * | 2015-08-28 | 2015-11-11 | 昆山塔米机器人有限公司 | Magnetic medium surface climbing robot based on electromagnetic chucks |
| CN205433546U (en) * | 2015-12-16 | 2016-08-10 | 河南工业职业技术学院 | Automatic wash robot of glass window |
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2017
- 2017-06-16 CN CN201710459489.2A patent/CN107264662B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3811320A (en) * | 1973-03-12 | 1974-05-21 | Rockwell International Corp | Surface scaler apparatus |
| JPS6436588A (en) * | 1987-07-31 | 1989-02-07 | Yokohama Rubber Co Ltd | Walking machine for wall surface washing |
| CN203666819U (en) * | 2013-11-20 | 2014-06-25 | 徐州工业职业技术学院 | Wall-climbing robot with moving-type adsorption racks |
| CN105035203A (en) * | 2015-08-28 | 2015-11-11 | 昆山塔米机器人有限公司 | Magnetic medium surface climbing robot based on electromagnetic chucks |
| CN205433546U (en) * | 2015-12-16 | 2016-08-10 | 河南工业职业技术学院 | Automatic wash robot of glass window |
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| CN107264662A (en) | 2017-10-20 |
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