Curtain wall robot capable of walking stably and control method

Abstract

The invention discloses a curtain wall robot capable of walking stably. The curtain wall robot comprises a machine frame, a control device, a driving device, a vacuum device, driving wheels, sucking cups, motors, screws, and vacuum negative pressure sensors, and the control device, the driving device, the vacuum device, the driving wheels, the sucking cups, the motors, the screws, and the vacuum negative pressure sensors are arranged on the machine frame; the driving device is used for driving the driving wheels to walk on a curtain wall; one side of each sucking cup is fixedly connected with one end of the corresponding screw, and the other side of the sucking cup is in contact with the curtain wall; the motors are connected with the screws, and are used for driving the screws to lift and fall; the vacuum negative pressure sensors are connected with the control device and are used for detecting the numerical values of the vacuum degree of the sucking cups; the vacuum device is connected with the sucking cups, so that a vacuum state is formed in the sucking cups; the control device is connected with the driving device and the motors, and the control device controls the driving device and controls the motor to rotate positively and negatively, so that the screws are driven to lift and fall and the driving wheels are driven to walk. The curtain wall robot can detect the numerical values of the vacuum degree in the sucking cups, thus self-control of the motors is achieved, through the rotation of the motors, lifting and falling of the screws are thus achieved, the purpose of maintaining the vacuum stability in the sucking cups is achieved, and thus the curtain wall robot capable of walking stably has a broad application prospect.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a curtain wall robot with stable walking and a control method. Background technique [0002] Motor control refers to the control of starting, accelerating, running, decelerating and stopping the motor. [0003] At present, the suction cup produces vertical glass surface pressure on the wheels of the high-altitude curtain wall cleaning robot, so that the wheels walk on the vertical glass surface. The magnitude of the vertical pressure and the surface of the suction cup are related to the height difference of the wheel. Due to construction errors, the upper and lower glass are not on the same vertical plane, and the error is within 2MM according to the national standard. Under the action of gravity, the glass itself will also bend. During the operation of the high-altitude curtain wall cleaning robot, the original height difference between the suction cup surface and the wh...

AI Technical Summary

Problems solved by technology

The adsorption force of the suction cup to the glass is reduced. When the suction cup passes through the joint of the curtain wall panel (such as glass), due to the unevenness of the glue seam, air leakage occurs between the suction cup and the curtain wall panel, and the suction is lost, which affects the operation stability of the high-altitude curtain wall cleaning robot. Safety, so adjusting the gap between the suction cup and the glass becomes a regular job

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