Automatic pipeline cleaning robot control method based on torque control
A technology of automatic cleaning and control methods, applied in cleaning methods and utensils, chemical instruments and methods, cleaning hollow objects, etc. The effect of improving the cleaning effect
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[0044] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
[0045] The present invention provides a method for controlling an automatic pipe cleaning robot based on torque control in an embodiment. The automatic pipe cleaning robot is such as figure 1 As shown, it includes a spray bar 1 and a nozzle 2 connected to the spray bar. A horizontal rotation axis 3 and a vertical rotation axis 4 are also provided thereon. The spray bar 1 can rotate on a horizontal plane around the horizontal rotation axis 3, thereby The nozzle 2 is driven to rotate along the horizontal plane, and the spray rod 1 can rotate on the vertical plane around th...
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