Pipe cleaning robot and control method thereof
A technology for pipe cleaning and robotics, applied in cleaning methods and utensils, chemical instruments and methods, cleaning hollow objects, etc., can solve problems such as inability to achieve digital control, cleaning efficiency, difficult to guarantee effects, and difficulty in obtaining real-time information.
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[0069] The pipe cleaning robot of the present invention includes: a base 11, a horizontal rotating disk 10, a spray bar rotating seat 9, a spray bar 8, a spray head 7, a curvature stepping motor 6, a spray bar rotating stepping motor 5, and a vertical stepping motor 4 , a horizontal stepping motor 3, a left stepping motor 2, a right stepping motor 1 and a control system.
[0070] Such as figure 1 , 2 Shown, base, its both sides outside are provided with crawler belt rotating device, and base is provided with left and right side stepping motor, and left and right side stepping motor is driven by gear and crawler belt 12 transmissions, drives robot to move back and forth. The horizontal rotating disk 10 is located on the base 11, on which the spray boom rotating seat 9 is installed, and the horizontal stepping motor 3 is installed below it, and the output shaft of the horizontal stepping motor 3 passes through the horizontal rotating disk 10 and the spraying boom rotating seat....
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