The invention discloses a four-axis synchronous control system of a suction cup type wall operation robot. The four-axis synchronous control system comprises a suction cup set, a motor set, a swing rod set and a pneumatic system. The suction cup set comprises a main suction cup, a first auxiliary suction cup, a second auxiliary suction cup, a third auxiliary suction cup and a fourth auxiliary suction cup, wherein the first auxiliary suction cup, the second auxiliary suction cup, the third auxiliary suction cup and the fourth auxiliary suction cup are located on the periphery of the main suction cup. The motor set comprises a first motor, a second motor, a third motor and a fourth motor. The swing rod set comprises a first swing rod, a second swing rod, a third swing rod and a fourth swing rod. The first motor is connected with the first auxiliary suction cup in a driving mode through the first swing rod. The second motor is connected with the second auxiliary suction cup in a driving mode through the second swing rod. The third motor is connected with the third auxiliary suction cup in a driving mode through the third swing rod. The fourth motor is connected with the fourth auxiliary suction cup in a driving mode through the fourth swing rod. The main suction cup, the first auxiliary suction cup, the second auxiliary suction cup, the third auxiliary suction cup and the fourth auxiliary suction cup are in power connection with the pneumatic system.
Four-axis synchronous control system and method of suction cup type wall operation robot
2015-11-25
Patent
Elektronische Ressource
Englisch
Europäisches Patentamt | 2021
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