CN110928223A - Electric-pneumatic hybrid wall-climbing rust removal robot control system and method - Google Patents
Electric-pneumatic hybrid wall-climbing rust removal robot control system and method Download PDFInfo
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- CN110928223A CN110928223A CN201911191467.8A CN201911191467A CN110928223A CN 110928223 A CN110928223 A CN 110928223A CN 201911191467 A CN201911191467 A CN 201911191467A CN 110928223 A CN110928223 A CN 110928223A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention discloses a control system and a control method of an electric-pneumatic mixed wall-climbing rust removal robot, and belongs to the technical field of wall-climbing robots. The wall-climbing rust removal robot is characterized in that the electric-pneumatic hybrid control cabinet comprises a main power supply circuit, a control circuit, an auxiliary switch circuit and a pneumatic circuit; the hand-held controller is connected with the electric-pneumatic hybrid control cabinet; the main power supply circuit is used for supplying power to a control circuit, an auxiliary switch circuit and a pneumatic circuit in the control cabinet; the control circuit is used for completing the automatic control of each actuator; the auxiliary switch circuit includes switches opened to a user; and the pneumatic circuit is used for carrying out flow control on each actuator of the operation mechanism of the wall-climbing rust removing robot. The invention has safe, reliable, accurate and efficient control effect on the wall-climbing rust removing robot, and effectively improves the operation efficiency of the wall-climbing rust removing robot.
Description
Technical Field
The invention belongs to the field of wall-climbing robots, and particularly relates to a control system and method of an electric-pneumatic mixed wall-climbing rust removal robot.
Background
When the wall-climbing rust removal robot moves and works on a vertical metal wall surface, the wall-climbing rust removal robot is influenced by external factors such as load, wall surface materials, wind resistance and the like, and the phenomena of deviation and slippage of a movement track and the like easily occur, so that the control of an upper computer system on the movement state of the robot is influenced, and the efficiency of the system for carrying out fixed-point rust removal on the metal wall surface is reduced. The electrical system for accurately controlling the wall climbing and rust removing robot is researched and developed, the operation efficiency is improved, and the method has important significance for industrial production.
Disclosure of Invention
The invention provides a control system and a control method of an electric-pneumatic mixed wall-climbing rust removal robot, which can be used for accurately controlling the motion and operation processes of the wall-climbing rust removal robot. The wall climbing rust removal robot is a robot which can perform adsorption and movement on a metal wall surface and can perform rust removal operation on the metal wall surface; the operation process refers to the derusting operation by using a high-pressure water cleaning principle; the accurate control refers to accurate manual control and programming control over the motion trail and the working process of the robot.
A kind of electronic-pneumatic mixed wall-climbing rust cleaning robot control system, including electronic-pneumatic mixed control cabinet and hand-held controller, climb and rust cleaning robot and install the actuator, characterized by that the said electronic-pneumatic mixed control cabinet includes main power supply circuit, control circuit, auxiliary switch circuit, pneumatic circuit; the hand-held controller is connected with the electric-pneumatic hybrid control cabinet;
the main power supply circuit is used for supplying power to a control circuit, an auxiliary switch circuit and a pneumatic circuit in the control cabinet; the control circuit is used for completing the automatic control of each actuator; the auxiliary switch circuit includes switches opened to a user; and the pneumatic circuit is used for carrying out flow control on each actuator of the operation mechanism of the wall-climbing rust removing robot.
Furthermore, the main power supply circuit comprises a leakage protection switch, a first switch, a second switch, a first fuse, a second fuse, a first power supply branch circuit, a second power supply branch circuit and a third power supply branch circuit, wherein the first switch and the second switch are connected with the leakage protection main switch; the first fuse is connected with the second switch, the second fuse is respectively connected with the first switch and the auxiliary switch circuit, and the first power supply branch circuit, the second power supply branch circuit and the third power supply branch circuit are connected with the actuator.
Further, the actuator comprises a first alternating current servo motor, a second alternating current servo electric cylinder and a third alternating current servo motor; the first power supply branch comprises a first alternating current contactor, a first transformer and a first servo driver which are sequentially connected, the first alternating current contactor is connected with the first servo driver, and the first servo driver drives a first alternating current servo motor to work; the second power supply branch circuit comprises a second alternating current contactor, a second transformer and a second servo driver which are sequentially connected, the second alternating current contactor is connected with the second servo driver, and the second servo driver drives a second alternating current servo cylinder to work; the third power supply branch comprises a third alternating current contactor, a third transformer and a third servo driver, the third alternating current contactor is connected with the third servo driver, and the third servo driver drives a third alternating current servo motor to work.
Furthermore, the auxiliary switch circuit comprises a direct-current power supply, a panel control switch and an alternating-current relay, the alternating-current relay is connected with a single-phase alternating-current power supply and the direct-current power supply, and the direct-current power supply is connected with the first electromagnetic reversing valve, the second electromagnetic reversing valve and the main control circuit; the panel control switch comprises a three-way switch and an indicator lamp and is respectively connected with the first alternating current contactor, the second alternating current contactor and the third alternating current contactor.
Furthermore, the control circuit comprises a main controller, an action program processor, a wireless communication receiver, a first driver connector, a second driver connector and a third driver connector which are connected with the main controller; the action program processor is respectively connected with the main controller and the wireless communication receiver.
Furthermore, the actuator comprises a one-way cylinder, the pneumatic circuit mainly comprises a gas source processor, an overflow valve, a first electromagnetic directional valve, a second electromagnetic directional valve and a linear gas driver which are sequentially connected, the overflow valve is connected with the one-way cylinder, the first electromagnetic directional valve controls the linear gas driver, and the second electromagnetic directional valve controls the one-way cylinder.
Furthermore, the system accurately controls the motion track of the robot and masters the parameters of the robot, such as position, speed, posture and the like in real time; the system has the capability of manual and automatic control switching; the system has the capability of carrying out flow control on the high-pressure water rust removal operation mechanism; the system can perform closed-loop feedback control on the position and the speed of the robot movement mechanism, and ensure that the robot movement instruction is accurately executed.
Furthermore, the system can be switched between a manual control state and an automatic control state; in a manual state, the system obtains instructions from a handheld controller; in the automatic state, the system analyzes the communication command sent by the upper computer and executes a specified action.
Further, the control method in the manual state is as follows: opening a servo ON switch, and electrifying three alternating current servo motors by the system; the speed setting button is set to be in three gears to adjust the movement speed of the robot; pressing down an emergency stop switch to stop supplying power to the three alternating current servo motors; adjusting a motion rocker to control the motion direction of the robot; the robot body restores the initial motion attitude and the operation mechanism attitude through the reset button; pressing a starting operation button, controlling a linear air driver by the system through an air source processor, an overflow valve and a first electromagnetic directional valve, putting down a derusting operation mechanism by the robot, and starting an operation process; when a start maintenance button is pressed, the system starts the one-way cylinder through the second electromagnetic directional valve to turn over the operation mechanism, so that the interior of the operation mechanism is conveniently maintained;
in the automatic state, the system receives an external instruction through the wireless communication receiver, analyzes the external instruction through the action program processor and enters an automatic motion state controlled by the upper computer.
A control method of an electric-pneumatic mixed wall climbing rust removing robot is disclosed, wherein the action state of the wall climbing robot comprises a motion state, an operation state and a maintenance state, and the control method of each state comprises the following steps:
A. and (3) motion state: the system supplies power to the three alternating current servo motors through the power supply circuit, and controls the positions of the first alternating current servo motor and the third alternating current servo motor so as to control the movement speed and the movement distance of the robot; the system carries out position control on the second alternating current servo electric cylinder so as to control the steering angle of the robot;
B. the working state is as follows: when the system is started to operate, the system drives the linear air driver through the first electromagnetic directional valve, and the operating mechanism is put down; when the operation is finished, the system reversely drives the linear air driver through the first electromagnetic directional valve to lift the operation mechanism.
C. And (3) maintenance state: the system drives the one-way cylinder through the second electromagnetic reversing valve to turn over the operation mechanism, so that the interior of the operation mechanism is conveniently maintained; after the maintenance is finished, the system releases the one-way cylinder through the second electromagnetic directional valve, and the normal state is recovered.
In detail, the system has the following features:
(1) the system accurately grasps the walking track of the robot through closed-loop position control of a plurality of servo drivers, and reduces the influence of load and wall surface environment;
(2) the system masters the movement direction and the movement parameter setting of the robot through a handheld controller; the system can perform manual/automatic control switching;
(3) the system grasps the motion states of a plurality of cylinders of the operation mechanism by controlling the electromagnetic directional valve;
further, the above features are uniquely implemented in the present system:
(1) the closed-loop position control of a plurality of servo drivers can determine the movement speed, the movement distance and the steering angle of the robot; the linkage of a plurality of servo motors can avoid the influence of factors such as load, skidding and the like on a single motor.
(2) After the manual/automatic control is switched, the system can select two states: firstly, analyzing an external control instruction, and executing a specified action; and secondly, executing the automatic reset action of the robot.
(3) The system can execute various preset operation flows of the robot by controlling the electromagnetic directional valve: firstly, starting an operation flow; secondly, resetting the process after finishing the operation; and thirdly, maintaining the operation state.
The invention has the beneficial effects that:
1. the invention accurately controls the motion state of the wall climbing rust removing robot;
2. the invention improves the working efficiency of the wall-climbing rust removing robot for carrying out fixed-point rust removing operation;
3. the manual/automatic switching controlled by the system reduces the utilization rate of manpower and improves the production benefit;
4. the system can prevent the robot from slipping on the wall surface and deviating from the preset direction, and is safer and more reliable.
Drawings
FIG. 1 is a layout diagram of an electric-pneumatic hybrid wall-climbing rust removal robot control system in a cabinet;
FIG. 2 is an isometric view of a handheld controller;
FIG. 3 is an isometric view of a six-wheeled magnetic adsorption wall-climbing rust removal robot in a sample;
FIG. 4 is a schematic diagram of a main power supply circuit module of the present invention;
FIG. 5 is a schematic diagram of an auxiliary switching circuit module according to the present invention;
FIG. 6 is a schematic diagram of the control circuit and pneumatic circuit module;
FIG. 7 is a diagram showing the effect of forward and backward movement, left turn movement, and right turn movement of the robot;
FIG. 8 is a diagram showing the effect of the working state of the robot and the working mechanism in a down state;
FIG. 9 is an effect diagram of a robot maintenance state;
wherein: 1-leakage protection switch; 2-a first switch; 3-a second switch; 4-a first fuse; 5-a second fuse; 6-a first ac contactor; 7-a second ac contactor; 8-a third ac contactor; 9-an alternating current relay; 10-a direct current power supply; 11-a wireless communication receiver; 12-an action program processor; 13-a master controller; 14-handheld controller interface; 15-a first driver connector; 16-a second drive connector; 17-a third driver connector; 18-a first transformer; 19-a second transformer; 20-a third transformer; 21-a first servo driver; 22-a second servo driver; 23-a third servo driver; 24-a gas source processor; 25-relief valves; 26-a first electromagnetic directional valve; 27-a second electromagnetic directional valve; 28-servo ON switch; 29-speed setting button; 30-a scram switch; 31-a motion rocker; 32-reset button; 33-manual/automatic switching button; 34-start job button; 35-start maintenance button; 36-a first ac servomotor; 37-a second ac servo cylinder; 38-a third ac servomotor; 39-linear air drive; 40-one-way cylinder.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
The invention mainly comprises an electric-pneumatic hybrid control cabinet and a handheld controller, which are respectively shown in the attached drawings 1 and 2, wherein the handheld controller is connected with the electric-pneumatic hybrid control cabinet through a handheld controller interface 14, a six-wheel type magnetic adsorption wall climbing rust removal robot is taken as a sample, and the principle and the specific use method of the system are described as shown in fig. 3.
The wall climbing rust removal robot is a robot which can perform adsorption and movement on a metal wall surface and can perform rust removal operation on the metal wall surface; the operation process refers to the derusting operation by using a high-pressure water cleaning principle; the accurate control means that the motion trail and the operation process of the robot are accurately controlled manually and automatically.
As shown in fig. 3, the six-wheeled magnetic adsorption wall-climbing rust removing robot in the example is provided with a first ac servo motor 36, a second ac servo electric cylinder 37, a third ac servo motor 38, a linear air driver 39, and a one-way air cylinder 40. The first alternating current servo motor 36 is used for driving the front wheel module of the wall-climbing rust removal robot, the second alternating current servo electric cylinder 37 is used for pushing the front wheel module and the rear wheel module of the robot to complete accurate steering action, and the third alternating current servo motor 39 is used for driving the rear wheel module of the robot.
The electric part of the control system is used for controlling the track of the robot driving module, the pneumatic part is used for controlling the process of the robot operation module, and the control system has the capability of manual and automatic control switching. The invention has safe, reliable, accurate and efficient control effect on the wall-climbing rust removing robot, and effectively improves the operation efficiency of the wall-climbing rust removing robot.
The system mainly comprises an electric-pneumatic hybrid control cabinet and a handheld controller. The electric-pneumatic hybrid control cabinet mainly comprises a power supply circuit, a main control circuit, an auxiliary switch circuit and a pneumatic circuit; the hand-held controller mainly comprises a safety element, a function setting element, a manual control element and the like.
As shown in fig. 4, the power supply circuit includes a leakage protection switch 1, a first switch 2 and a second switch 3 connected to the leakage protection main switch 1, a first fuse 4, a second fuse 5, and a first power supply branch, a second power supply branch, and a third power supply branch connected to the first fuse 4. The first fuse 4 is connected with the second switch 3, and the second fuse 5 is respectively connected with the first switch 2 and the auxiliary switch circuit. The first power supply branch comprises a first alternating current contactor 6, a first transformer 18 and a first servo driver 21 which are sequentially connected, the first alternating current contactor 6 is connected with the first servo driver 21, and the output end of the first servo driver 21 supplies power to a first alternating current servo motor 36. The power supply modes of the second power supply branch and the third power supply branch are similar to that of the first power supply branch, the second power supply branch comprises a second alternating current contactor 7, a second transformer 19 and a second servo driver 22 which are connected in sequence, the second alternating current contactor 7 is connected with the second servo driver 22, and the second servo driver 22 supplies power to a second alternating current servo cylinder 37. The third power supply branch comprises a third alternating current contactor 8, a third transformer 20 and a third servo driver 23, the third alternating current contactor 8 is connected with the third servo driver 23, and the output end of the third servo driver 23 supplies power to a third alternating current servo motor 38.
As shown in fig. 5, the auxiliary switch circuit includes a direct current power supply 10, a panel control switch, and an alternating current relay 9, the alternating current relay 9 connects a single-phase alternating current power supply and the direct current power supply 10, and the direct current power supply 10 is connected with a first electromagnetic directional valve 26, a second electromagnetic directional valve 27, and a main control circuit; the panel control switch comprises a three-way switch and an indicator lamp, and is respectively connected with the first alternating current contactor 6, the second alternating current contactor 7 and the third alternating current contactor 8.
As shown in fig. 6, the main control circuit includes a main controller 13, an operation program processor 12, a wireless communication receiver 11, and a first driver connector 15, a second driver connector 16, and a third driver connector 17 connected to the main controller 13; the operation program processor 12 is connected to the main controller 13 and the wireless communication receiver 11, respectively.
As shown in fig. 6, the pneumatic circuit mainly includes a gas source processor 24, an overflow valve 25, a first electromagnetic directional valve 26, a second electromagnetic directional valve 27, and a linear air driver 39, which are connected in sequence, the overflow valve 25 is connected with a one-way cylinder 40, the first electromagnetic directional valve 26 controls the linear air driver 39, and the second electromagnetic directional valve 27 controls the one-way cylinder 40. The air supply enters the pneumatic circuit from the air supply processor 24.
As shown in fig. 2, the hand-held controller includes: a servo ON switch 28, a speed setting button 29, an emergency stop switch 30, a motion rocker 31, a reset button 32, a manual/automatic switching button 33, a starting operation button 34 and a starting maintenance button 35; the switches and buttons of the hand-held controller are connected to the main controller 13 through the hand-held controller interface 14.
In the manual control state, the servo ON switch 28 is turned ON, and the system will power ON the three ac servo motors; the speed setting button 29 is set to be in three gears, so that the movement speed of the robot can be adjusted; the emergency stop switch 30 is pressed to stop supplying power to the three alternating current servo motors; the motion direction of the robot can be controlled by adjusting the motion rocker 31; the robot body recovers the initial motion posture and the working mechanism posture by pressing the reset button 32; when the start operation button 34 is pressed, the system controls a linear air driver 39 through the air source processor 24, the overflow valve 25 and the first electromagnetic directional valve 26, the robot puts down a rust removal operation mechanism, and the operation flow is started; when the start and maintenance button 35 is pressed, the system starts the one-way cylinder 40 through the second electromagnetic directional valve 27, so that the operation mechanism is turned over, and the inside of the operation mechanism is conveniently maintained.
By pressing the manual/automatic switch button 33, the other buttons of the hand-held controller (fig. 2) will be deactivated. If the main controller 13 has a reset program inside, the system will execute automatic reset action to the robot; if the main controller 13 has no reset program inside, the system receives an external instruction through the wireless communication receiver 11, analyzes the external instruction through the action program processor 12, and enters an automatic motion state controlled by the upper computer.
The six-wheeled magnetic adsorption wall-climbing robot (figure 3) in the embodiment can complete the following actions in the movement process:
A. the robot moves forward and backward, turns left and turns right, as shown in fig. 7, the system supplies power to the three alternating current servo motors through the power supply circuit, and the movement speed and the movement distance of the robot are very accurate because the system controls the positions of the first alternating current servo motor 36 and the third alternating current servo motor 38; because the system carries out position control to second alternating current servo electric cylinder 37, the angle of turning to of robot is controlled strictly, and the process of turning to is comparatively accurate.
B. The robot working process, as shown in fig. 8: when the system is started, the system drives the linear air driver 39 through the first electromagnetic directional valve 26, and the operating mechanism is put down; when the operation is completed, the system reversely drives the linear air driver 39 through the first electromagnetic directional valve 26 to lift the operation mechanism.
C. Maintenance state of the robot operating mechanism, as shown in fig. 9: the system drives the one-way cylinder 40 through the second electromagnetic reversing valve 27 to turn over the operation mechanism, so that the interior of the operation mechanism is conveniently maintained; after the maintenance is finished, the system releases the one-way cylinder 40 through the second electromagnetic directional valve 27, and the normal state is recovered.
Claims (10)
1. A kind of electronic-pneumatic mixed wall-climbing rust cleaning robot control system, including electronic-pneumatic mixed control cabinet and hand-held controller, climb and rust cleaning robot and install the actuator, characterized by that the said electronic-pneumatic mixed control cabinet includes main power supply circuit, control circuit, auxiliary switch circuit, pneumatic circuit; the hand-held controller is connected with the electric-pneumatic hybrid control cabinet;
the main power supply circuit is used for supplying power to a control circuit, an auxiliary switch circuit and a pneumatic circuit in the control cabinet; the control circuit is used for completing the automatic control of each actuator; the auxiliary switch circuit includes switches opened to a user; and the pneumatic circuit is used for carrying out flow control on each actuator of the operation mechanism of the wall-climbing rust removing robot.
2. An electric-pneumatic hybrid wall climbing rust removing robot control system according to claim 1, characterized in that the main power supply circuit comprises an earth leakage protection switch (1), a first switch (2) and a second switch (3) connected with the earth leakage protection switch (1), a first fuse (4), a second fuse (5), and a first power supply branch, a second power supply branch and a third power supply branch connected with the first fuse (4); the first fuse (4) is connected with the second switch (3), the second fuse (5) is respectively connected with the first switch (2) and the auxiliary switch circuit, and the first power supply branch circuit, the second power supply branch circuit and the third power supply branch circuit are connected with the actuator.
3. An electric-pneumatic hybrid wall-climbing rust removing robot control system according to claim 1, characterized in that the actuators comprise a first ac servomotor (36), a second ac servomotor (37), a third ac servomotor (38); the first power supply branch comprises a first alternating current contactor (6), a first transformer (18) and a first servo driver (21) which are sequentially connected, the first alternating current contactor (6) is connected with the first servo driver (21), and the first servo driver (21) drives a first alternating current servo motor (36) to work; the second power supply branch comprises a second alternating current contactor (7), a second transformer (19) and a second servo driver (22) which are sequentially connected, the second alternating current contactor (7) is connected with the second servo driver (22), and the second servo driver (22) drives a second alternating current servo electric cylinder (37) to work; the third power supply branch comprises a third alternating current contactor (8), a third transformer (20) and a third servo driver (23), the third alternating current contactor (8) is connected with the third servo driver (23), and the third servo driver (23) drives a third alternating current servo motor (38) to work.
4. An electric-pneumatic hybrid wall-climbing rust removing robot control system as claimed in claim 1, characterized in that the auxiliary switch circuit comprises a direct current power supply (10), a panel control switch, and an alternating current relay (9), the alternating current relay (9) is connected with a single-phase alternating current and the direct current power supply (10), and the direct current power supply (10) is connected with the first electromagnetic directional valve (26), the second electromagnetic directional valve (27) and the main control circuit; the panel control switch comprises a three-way switch and an indicator lamp, and is respectively connected with the first alternating current contactor (6), the second alternating current contactor (7) and the third alternating current contactor (8).
5. An electric-pneumatic hybrid wall-climbing rust removing robot control system according to claim 1, characterized in that the control circuit comprises a main controller (13), an action program processor (12), a wireless communication receiver (11), and a first driver connector (15), a second driver connector (16), and a third driver connector (17) connected with the main controller (13); the operation program processor (12) is connected to the main controller (13) and the wireless communication receiver (11), respectively.
6. The control system of the electric-pneumatic hybrid wall-climbing rust removing robot as claimed in claim 1, wherein the actuator comprises a one-way cylinder (40), the pneumatic circuit mainly comprises a gas source processor (24), an overflow valve (25), a first electromagnetic directional valve (26), a second electromagnetic directional valve (27) and a linear gas driver (39) which are sequentially connected, the overflow valve (25) is connected with the one-way cylinder (40), the first electromagnetic directional valve (26) controls the linear gas driver (39), and the second electromagnetic directional valve (27) controls the one-way cylinder (40).
7. The electric-pneumatic hybrid wall-climbing rust removing robot control system according to claim 1, characterized in that:
the system accurately controls the motion trail of the robot and masters the parameters of the robot such as position, speed, posture and the like in real time; the system has the capability of manual and automatic control switching; the system has the capability of carrying out flow control on the high-pressure water rust removal operation mechanism; the system can perform closed-loop feedback control on the position and the speed of the robot movement mechanism, and ensure that the robot movement instruction is accurately executed.
8. The electric-pneumatic hybrid wall-climbing rust removing robot control system according to claim 1, characterized in that: the system can be switched between a manual control state and an automatic control state; in a manual state, the system obtains instructions from a handheld controller; in the automatic state, the system analyzes the communication command sent by the upper computer and executes a specified action.
9. The electric-pneumatic hybrid wall-climbing rust removing robot control system as claimed in claim 8, wherein the control method in the manual state is as follows: a servo ON switch (28) is turned ON, and the system is powered ON for three alternating current servo motors; the speed setting button (29) is set to be a third gear to adjust the movement speed of the robot; pressing down an emergency stop switch (30) to stop supplying power to the three alternating current servo motors; a motion rocker (31) is adjusted to control the motion direction of the robot; a reset button (32), wherein the robot body restores the initial motion posture and the working mechanism posture; a start operation button (34) is pressed, a linear air driver (39) is controlled by the system through an air source processor (24), an overflow valve (25) and a first electromagnetic directional valve (26), the robot puts down a rust removal operation mechanism, and an operation flow is started; a start maintenance button (35) is pressed, the system starts a one-way cylinder (40) through a second electromagnetic directional valve (27) to turn over the operation mechanism, and the interior of the operation mechanism is conveniently maintained;
in the automatic state, the system receives an external instruction through the wireless communication receiver (11), analyzes the external instruction through the action program processor (12), and enters an automatic motion state controlled by an upper computer.
10. A control method of an electric-pneumatic mixed wall climbing rust removing robot is disclosed, wherein the action state of the wall climbing robot comprises a motion state, an operation state and a maintenance state, and the control method of each state comprises the following steps:
A. and (3) motion state: the system supplies power to the three alternating current servo motors through the power supply circuit, and performs position control on the first alternating current servo motor (36) and the third alternating current servo motor (38) so as to control the movement speed and the movement distance of the robot; the system carries out position control on the second alternating current servo electric cylinder (37) so as to control the steering angle of the robot;
B. the working state is as follows: when the system is started, the system drives a linear air driver (39) through a first electromagnetic directional valve (26) to put down a working mechanism; when the operation is finished, the system reversely drives a linear air driver (39) through a first electromagnetic directional valve (26) to lift the operation mechanism;
C. and (3) maintenance state: the system drives the one-way cylinder (40) through the second electromagnetic directional valve (27) to turn over the operation mechanism, so that the interior of the operation mechanism is conveniently maintained; after the maintenance is finished, the system releases the one-way cylinder (40) through the second electromagnetic directional valve (27) to recover the normal state.
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| CN112498514A (en) * | 2020-12-18 | 2021-03-16 | 北京博清科技有限公司 | Wall-climbing robot and adsorption control method thereof |
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