A method for calculating the fan speed of a robot

Abstract

The invention belongs to the technical field of climbing equipment, and particularly relates to a method for calculating the fan rotating speed of a robot. The fan rotating speed required by a pressure piece is separately calculated according to the needs of pressure at different stages of the climbing process of the robot; a tree climbing claw located at a grabbing section is taken, according tothe action force of a first elastic member on the tree climbing claw, the distance from an action point of the first elastic member to a hinge point of the tree climbing claw, the action force of a tree body on the tree climbing claw and the distance from a point where the tree body acts on the tree climbing claw to the hinge point of the tree climbing claw, a lever is used for achieving balance,and stress of the single tree climbing claw is obtained; according to the maximum stress of the whole robot, the medium rotating speed needed by the robot during vertical climbing is calculated; and according to the self weight of the robot to the high rotating speed required by the robot, different gears of fan rotating are obtained, the pressure needs for climbing of the robot are met accordingto the different gears in the climbing process of the robot, and normal climbing is not influenced.

Description

technical field [0001] The invention belongs to the technical field of climbing equipment, and in particular relates to a method for calculating the rotational speed of a fan of a robot. Background technique [0002] The use of mechanical equipment instead of manual climbing of trees can reduce the risk of climbers falling and improve work efficiency. The current tree-climbing robot can realize tree pruning, fruit picking, pest control, tree growth detection, etc.; existing Most of the tree-climbing robots have three parts as a whole, the driving part for driving the tree climbing, the fixing part for fixing with the tree body, and the functional part for the robot to operate the tree body. Among them, Chinese patent CN201410242830.5 A tree-climbing robot is disclosed. The fixing part adopts the method of embracing the tree body. This robot mainly moves up and down the trunk to pruning the tree body and grasps the tree body firmly. The body surface has poor adaptability. In...

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Problems solved by technology

[0002] The use of mechanical equipment instead of manual climbing of trees can reduce the risk of climbers falling and improve work efficiency. The current tree climbing robot can realize tree pruning, fruit picking, pest control, tree growth detection, etc.; existing Most of the tree-climbing robots have three parts as a whole, the driving part for driving the tree climbing, the fixing part for fixing with the tree body and the functional part for the robot to operate the tree body. Among them, Chinese patent CN201410242830.5 A tree-climbing robot is disclosed. The fixing part adopts the method of embracing the tree body. This robot mainly moves up and down the trunk for pruning, and can firmly grasp the tree body. The surface of the body has poor adaptability. In the process of tree growth detection or environmental detection, it is necessary to quickly and flexibly climb the tree without destroying the tree. Irregularly growing trees, to complete environmental monitoring, the robot needs to use pressure parts to provide pressure pointing to the surface of the tree. The pressure must not affect the climbing of the robot, and at the same time provide enough pressure to ensure that the robot sticks to the tree.

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