Control method of dual-clamping cyclone rope-climbing robot

Abstract

A control method of a dual-clamping cyclone rope-climbing robot is provided. The dual-clamping cyclone rope-climbing robot comprises piston rods, cylinder barrels, an upper washing structure, a lowerwashing structure, a trapezoidal slider, water storage structures, support seats, a water injection port, a clamping structure, a carrier, a motor, a motor output shaft, a connection block, a nozzle,a nozzle motor shaft, a circular passage, a nozzle motor, a nozzle flap, a spiral passage, a small gear, and a fastening structure. The clamping structure includes a clamping cylinder, a clamping rod,a clamping plate, a clamping half-ring and a split support. The control method includes the steps of preparing, controlling rope climbing, and controlling washing; the washing controlling step includes opening a control valve so that flows of water pass through the connection block, the circular passage and the spiral passage and gather at a nozzle outlet, turning the nozzle motor so that a fluidpassing the spiral passage rotates to form a vortex sprayed out, controlling a motor connected with the carrier so that the small gear rotates and drives teeth at the outer edges of the water storagestructures, thereby driving the water storage structures to rotate and driving the washing structures to rotate for cleaning.

Description

technical field [0001] The invention relates to the related field of rope climbing robots, in particular to a control method of a double-clamping swirl rope climbing robot. Background technique [0002] With the development of science and technology and the development of economy, there are more and more high-rise buildings. During maintenance, workers need to climb cables to maintain high-rise buildings, and they need to use rope climbing tools to climb. However, high-altitude operations are dangerous and The psychological quality and psychological endurance of the maintenance workers are relatively high. [0003] Rope climbing robots have been designed to replace workers in the prior art, but there are still many problems due to backward technology. In actual use, the existing rope climbing robots have the following problems: 1. The rope climbing robots of the prior art can perform cleaning operations, but additional containers are required to accommodate washing liquid o...

AI Technical Summary

Problems solved by technology

[0002] With the development of science and technology and the development of economy, there are more and more high-rise buildings. During maintenance, workers need to climb cables to maintain high-rise buildings, and they need to use rope climbing tools to climb. However, high-altitude operations are dangerous and Higher requirements are placed on the psychological quality and psychological endurance of maintenance workers

[0003] Rope climbing robots are designed to replace workers in the prior art, but there are still many problems due to backward technology

In actual use, the existing rope climbing robots have the following problems: 1. The rope climbing robots of the prior art can perform cleaning operations, but additional containers are required to accommodate washing liquid or water during cleaning, and the additional containers must not only be adapted to the robot The size makes it difficult to hold more liquids, and it also creates an imbalance in weight

[0004] 2. Even if the rope climbing robot in the prior art does not consider the problem of water storage, it uses a water pipe to directly connect the cleaning part, but it cannot use a large-diameter water pipe to avoid extra weight; therefore, the consequence is that there is not enough water flow when cleaning and spraying

[0005] 3. The cleaning nozzle of the prior art has a single structure, the water flow path does not change, and the water flow cannot scatter and concentrate the jet

[0006] 4. The clamping device of the rope climbing robot in the prior art often has the situation that the thickness of the rope is different and it is difficult to clamp all the ropes. In these cases, different types of robots are generally used, which increases the economic cost and wastes time and cost.

[0007] 5. The cleaning structure of the prior art has a fixed position and can only be cleaned by mobile robots in different positions, which is complicated to use and difficult to operate

[0008] 6. In the prior art cleaning structure, the fluid path is at right angles when turning, which will cause energy loss

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