CN106313077A - Rod-climbing cleaning robot adaptable to different diameters - Google Patents
Rod-climbing cleaning robot adaptable to different diameters Download PDFInfo
- Publication number
- CN106313077A CN106313077A CN201610952440.6A CN201610952440A CN106313077A CN 106313077 A CN106313077 A CN 106313077A CN 201610952440 A CN201610952440 A CN 201610952440A CN 106313077 A CN106313077 A CN 106313077A
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- China
- Prior art keywords
- support
- sleeve
- cleaning brush
- driven wheel
- mechanical hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Abstract
The invention discloses a rod-climbing cleaning robot adaptable to different diameters and belongs to the technical field of robots. A first driven bevel gear support and a second driven bevel gear support sleeve a first sleeve and a second sleeve respectively in an interference fit manner; a first gear shaft is connected with the first driven bevel gear support through a first bearing; an upper manipulator right driven bevel gear is fixed on the first gear shaft and meshed with an upper manipulator driving bevel gear; a flat key groove of a through shaft is machined in the first gear shaft; a first flat key is mounted on a first drive lead screw, is connected with the first gear shaft and can slide leftwards and rightwards along the flat key groove in the first gear shaft; a thread is machined on the first drive lead screw; a through hole thread is machined on the first driven bevel gear support and is connected with the thread on the first drive lead screw. The robot can clean rod pieces with different diameters and can clean certain parts of the rod pieces repeatedly.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of pole-climbing clean robot adapting to different-diameter.
Background technology
In city, each class set practicality and aesthetic property are in bars such as light pole integrally, bridge oblique pull cable wire, billboard columns
Surface can form staubosphere to part, thus affects attractive in appearance in an atmosphere due to the most exposed, simultaneously the acidic materials of mixing in air
Also the damage process of these rod members particularly metal rod, reduction of service life can be accelerated.At present, the cleaning of these rod members
Mostly employing manually operates, and has that labor intensity is big, efficiency is low, dangerous big, high in cost of production problem.Although currently also having
Some rod members clean machinery, but mostly there is problems such as not adapting to variable diameters rod member.
Summary of the invention
The present invention solves during tradition rod member cleaning efficiency is low, labor intensity big, bad adaptability and labour cost
Higher problem, and then a kind of pole-climbing clean robot adapting to different-diameter is proposed.
For solving above-mentioned technical problem, the present invention is achieved through the following technical solutions:
Adapt to the pole-climbing clean robot of different-diameter, overlap including first guide rod the 2, second guide rod the 1, first sleeve 3, second
Cylinder 11, first abutment sleeve the 4, second abutment sleeve the 6, the 3rd abutment sleeve the 12, the 4th abutment sleeve the 14, first cleaning brush support
5, second cleaning brush support the 13, first driven wheel of differential support the 7, second driven wheel of differential support the 15, first turn-screw 8,
Two turn-screws 16, upper mechanical hand drive bevel gear 10, upper manipulator control electric machine support the 9, first gear shaft the 40, second gear
Axle 52, connecting rod 18, crank the 19, the 5th abutment sleeve the 20, the 6th abutment sleeve the 22, the 7th abutment sleeve the 28, the 8th abutment sleeve
30, the 3rd cleaning brush support 21, fourth cleaning brush support the 29, the 3rd driven wheel of differential support the 24, the 4th driven wheel of differential support
31, crank connecting link controls electric machine support 23, lower manipulator control electric machine support the 26, the 3rd turn-screw the 25, the 4th turn-screw
32, lower mechanical hand drive bevel gear 27, the right driven wheel of differential of upper mechanical hand 34, the left driven wheel of differential of upper mechanical hand 35, lower machinery
The right driven wheel of differential of hands 42, the left driven wheel of differential of lower mechanical hand the 43, the 3rd gear shaft the 48, the 4th gear shaft 57, described first from
Dynamic bevel gear support 7 and the second driven wheel of differential support 15 are all respectively fitted over the first sleeve 3 and the second sleeve by interference fit
On 11；The both sides of described upper manipulator control electric machine support 9 are machined with through hole, are enclosed within the first sleeve 3 and by interference fit
On two sleeves 11；Described first cleaning brush support 5 and the second cleaning brush support 13 are respectively fitted over the first sleeve 3 and the second sleeve 11
On, and can be freely rotatable around the first sleeve 3 and the second sleeve 11；Described first cleaning brush support 5 and the second cleaning brush
Support 13 is not in same level, and in the vertical direction has spacing；Described first cleaning brush support 5 and the second cleaning brush prop up
Semicircular first cleaning brush 37 and the second cleaning brush 38 it is separately installed with on frame 13；Described first cleaning brush 37 and the second cleaning
Cleanout fluid shower nozzle it is respectively arranged with on brush 38；Connecting between described first cleaning brush support 5 and the second cleaning brush support 13 has first to draw
Tight spring 41.
Described first abutment sleeve 4 and the second abutment sleeve 6 are all enclosed within the first sleeve 3 by interference fit；Described
Two abutment sleeves 6 are between the first cleaning brush support 5 and the first driven wheel of differential support 7；Described first abutment sleeve 4 is positioned at
The top of the first cleaning brush support 5；Described 3rd abutment sleeve 12 and the 4th abutment sleeve 14 are all enclosed within by interference fit
On two sleeves 11；Described 4th abutment sleeve 14 is between the second cleaning brush support 13 and the second driven wheel of differential support 15；
Described 3rd abutment sleeve 12 is positioned at the top of the second cleaning brush support 13.
Described first sleeve 3 and the second sleeve 11 are respectively fitted on the first guide rod 2 and the second guide rod 1, and can lead along first
Bar 2 and the second guide rod 1 slide up and down；Described first guide rod 2 is parallel with the second guide rod 1；Described upper manipulator control motor
Manipulator control motor 17 is installed on support 9；Described upper mechanical hand drive bevel gear 10 is fixed on manipulator control electricity
On the output shaft of machine 17；Described first gear shaft 40 is connected with the first driven wheel of differential support 7 by clutch shaft bearing 53；On described
The right driven wheel of differential of mechanical hand 34 is fixed on the first gear shaft 40, and engages with upper mechanical hand drive bevel gear 10；Described
The flat key groove of axis it is machined with in one gear shaft 40；On described first turn-screw 8, first flat key 54 is installed；Described first flat
Key 54 is connected with the first gear shaft 40, and can horizontally slip along the flat key groove in the first gear shaft 40；Described first transmission
It is threaded on leading screw 8；Being machined with through hole whorl on described first driven wheel of differential support 7, this through hole whorl and first passes
Screw thread on movable wire thick stick 8 is connected.
Described second gear shaft 52 is connected with the second driven wheel of differential support 15 by the second bearing 55；Described upper mechanical hand
Left driven wheel of differential 35 is fixed on the second gear shaft 52, and engages with upper mechanical hand drive bevel gear 10；Described second gear
The flat key groove of axis it is machined with in axle 52；On described second turn-screw 16, second flat key 56 is installed；Described second flat key 56
It is connected with the second gear shaft 52, and can horizontally slip along the flat key groove in the second gear shaft 52；Described second turn-screw
It is threaded on 16；It is machined with through hole whorl, this through hole whorl and the second transmission on described second driven wheel of differential support 15
Screw thread on leading screw 16 is connected.
The front end of described first turn-screw 8 and the second turn-screw 16 is separately installed with the right pawl of mechanical hand 36 and upper machine
Tool hands left claw 39；The described right pawl of upper mechanical hand 36 and upper mechanical hand left claw 39 are mounted on pressure transducer.
Described crank 19 is connected with connecting rod 18, forms toggle；The upper end of described connecting rod 18 by straight pin with
Upper manipulator control electric machine support 9 is connected；Described lower manipulator control electric machine support 26 and crank connecting link control electric machine support 23
Both sides be all machined with through hole, be all enclosed within the first guide rod 2 and the second guide rod 1 by interference fit；Described crank connecting link controls
Crank connecting link is installed on electric machine support 23 and controls motor 50；Described crank connecting link controls motor 50 by coupling spindle 51 and crank
19 are connected.
Described 3rd driven wheel of differential support 24 and the 4th driven wheel of differential support 31 are all arranged on by interference fit
On one guide rod 2 and the second guide rod 1；Described 3rd cleaning brush support 21 and fourth cleaning brush support 29 are respectively fitted over the first guide rod 2
With on the second guide rod 1, and can be freely rotatable around the first guide rod 2 and the second guide rod 1；Described 3rd cleaning brush support 21 He
Fourth cleaning brush support 29 is not in same level, and in the vertical direction has spacing；Described 3rd cleaning brush support 21 He
Semicircular 3rd cleaning brush 46 and fourth cleaning brush 47 it is separately installed with on fourth cleaning brush support 29；Described 3rd cleaning brush
Connect between support 21 and fourth cleaning brush support 29 and have the second back-moving spring 49.
Described 5th abutment sleeve 20 and the 6th abutment sleeve 22 are all enclosed within the first guide rod 2 by interference fit；Described
6th abutment sleeve 22 is between the 3rd cleaning brush support 21 and the 3rd driven wheel of differential support 24；Described 5th abutment sleeve
20 tops being positioned at the 3rd cleaning brush support 21；Described 7th abutment sleeve 28 and the 8th abutment sleeve 30 all pass through interference fit
It is enclosed within the second guide rod 1；Described 8th abutment sleeve 30 is positioned at fourth cleaning brush support 29 and the 4th driven wheel of differential support 31
Between；Described 7th abutment sleeve 28 is positioned at the top of fourth cleaning brush support 29.
On described lower manipulator control electric machine support 26, lower manipulator control motor 33 is installed；Described lower mechanical hand is actively
Bevel gear 27 is fixed on the output shaft of lower manipulator control motor 33；Described 3rd gear shaft 48 is by the 3rd bearing 58 and the
Three driven wheel of differential supports 24 are connected；The described right driven wheel of differential of lower mechanical hand 42 is fixed on the 3rd gear shaft 48, and with under
Mechanical hand drive bevel gear 27 engages；The flat key groove of axis it is machined with in described 3rd gear shaft 48；Described 3rd turn-screw
3rd flat key 59 is installed on 25；Described 3rd flat key 59 is connected with the 3rd gear shaft 48, and can be along the 3rd gear shaft 48
Interior flat key groove horizontally slips；It is threaded on described 3rd turn-screw 25；On described 3rd driven wheel of differential support 24
Being machined with through hole whorl, the screw thread on this through hole whorl and the 3rd turn-screw 25 is connected.
Described 4th gear shaft 57 is connected with the 4th driven wheel of differential support 31 by the 4th bearing 60；Described lower mechanical hand
Left driven wheel of differential 43 is fixed on the 4th gear shaft 57, and engages with lower mechanical hand drive bevel gear 27；Described 4th gear
The flat key groove of axis it is machined with in axle 57；On described 4th turn-screw 32, the 4th flat key 61 is installed；Described 4th flat key 61
It is connected with the 4th gear shaft 57, and can horizontally slip along the flat key groove in the 4th gear shaft 57；Described 4th turn-screw
It is threaded on 32；It is machined with through hole whorl, this through hole whorl and the 4th transmission on described 4th driven wheel of differential support 31
Screw thread on leading screw 32 is connected.
The front end of described 3rd turn-screw 25 and the 4th turn-screw 32 be separately installed with the right pawl of lower mechanical hand 44 and under
Mechanical hand left claw 45；The described right pawl of lower mechanical hand 44 and lower mechanical hand left claw 45 are mounted on pressure transducer.
The invention has the beneficial effects as follows: the present invention provides a kind of pole-climbing clean robot adapting to different-diameter, can be right
The rod member of different-diameter is cleaned, and meets the diversified demand of people；It addition, by the different operating shape regulating mechanical hand
State, it is possible to achieve the cleaning repeatedly at position a certain to rod member.
Accompanying drawing explanation
Fig. 1 is the pole-climbing clean robot front view that the present invention adapts to different-diameter.
Fig. 2 is the pole-climbing clean robot top view that the present invention adapts to different-diameter.
Fig. 3 is the sectional view of A-A in Fig. 1.
In accompanying drawing
1 second guide rod 2 first guide rod 3 first sleeve 4 first abutment sleeve 5 first cleaning brush support
Manipulator control on 6 second abutment sleeve 7 first driven wheel of differential support 8 first turn-screws 9
Electric machine support
On 10, mechanical hand drive bevel gear 11 second sleeve 12 the 3rd abutment sleeve 13 second cleaning brush props up
Frame
Mechanical hand on 14 the 4th abutment sleeve 15 second driven wheel of differential support 16 second turn-screws 17
Control motor
18 connecting rod 19 crank 20 the 5th abutment sleeve 21 the 3rd cleaning brush support 22 the 6th positioning sleeves
Cylinder
23 crank connecting links control electric machine support 24 the 3rd driven wheel of differential support 25 the 3rd turn-screw
27 times mechanical hand drive bevel gear 28 the 7th abutment sleeves 29 of 26 times manipulator control electric machine supports
Fourth cleaning brush support
30 the 8th abutment sleeve 31 the 4th driven wheel of differential support 32 the 4th 33 times mechanical hands of turn-screw
Control motor
The right pawl of mechanical hand on the left driven wheel of differential of mechanical hand 36 on the right driven wheel of differential of mechanical hand 35 on 34
37 first cleaning brush
Mechanical hand left claw 40 first gear shaft 41 first back-moving spring on 38 second cleaning brush 39
42 times right driven wheels of differential of mechanical hand, 44 times right pawls of mechanical hand of 43 times left driven wheels of differential of mechanical hand
45 times mechanical hand left claw 46 the 3rd cleaning brush 47 fourth cleaning brush 48 the 3rd gear shafts
49 second back-moving spring 50 crank connecting links control motor 51 connecting shaft 52 second gear shaft
53 clutch shaft bearing 54 first flat key 55 second bearing 56 second flat key 57 the 4th gear shafts
58 the 3rd bearing 59 the 3rd flat key 60 the 4th bearing 61 the 4th flat keys
Detailed description of the invention
With detailed description of the invention, the present invention is described further below in conjunction with the accompanying drawings, but they are not the limits to the present invention
System:
As shown in Figure 1, Figure 2 and Figure 3, adapt to the pole-climbing clean robot of different-diameter, including the first guide rod 2, second lead
Bar the 1, first sleeve the 3, second sleeve the 11, first abutment sleeve the 4, second abutment sleeve the 6, the 3rd abutment sleeve the 12, the 4th positions
Sleeve the 14, first cleaning brush support the 5, second cleaning brush support the 13, first driven wheel of differential support the 7, second driven wheel of differential props up
Frame the 15, first turn-screw the 8, second turn-screw 16, upper mechanical hand drive bevel gear 10, upper manipulator control electric machine support 9,
First gear shaft the 40, second gear shaft 52, connecting rod 18, crank the 19, the 5th abutment sleeve the 20, the 6th abutment sleeve the 22, the 7th are fixed
Position sleeve the 28, the 8th abutment sleeve the 30, the 3rd cleaning brush support 21, fourth cleaning brush support the 29, the 3rd driven wheel of differential support
24, the 4th driven wheel of differential support 31, crank connecting link control electric machine support 23, lower manipulator control electric machine support the 26, the 3rd biography
Movable wire thick stick the 25, the 4th turn-screw 32, lower mechanical hand drive bevel gear 27, the right driven wheel of differential of upper mechanical hand 34, upper mechanical hand
Left driven wheel of differential 35, the right driven wheel of differential of lower mechanical hand 42, the left driven wheel of differential of lower mechanical hand the 43, the 3rd gear shaft 48,
Four gear shafts 57, described first driven wheel of differential support 7 and the second driven wheel of differential support 15 are all overlapped respectively by interference fit
On the first sleeve 3 and the second sleeve 11；The both sides of described upper manipulator control electric machine support 9 are machined with through hole, pass through interference
Engagement sleeves is on the first sleeve 3 and the second sleeve 11；Described first cleaning brush support 5 and the second cleaning brush support 13 are respectively fitted over
On first sleeve 3 and the second sleeve 11, and can be freely rotatable around the first sleeve 3 and the second sleeve 11；Described first clear
Clean brush support 5 and the second cleaning brush support 13 be not in same level, and in the vertical direction has spacing；Described first cleaning
Semicircular first cleaning brush 37 and the second cleaning brush 38 it is separately installed with on brush support 5 and the second cleaning brush support 13；Described
It is respectively arranged with cleanout fluid shower nozzle on first cleaning brush 37 and the second cleaning brush 38；Described first cleaning brush support 5 and the second cleaning brush
Connect between support 13 and have the first back-moving spring 41.
Described first abutment sleeve 4 and the second abutment sleeve 6 are all enclosed within the first sleeve 3 by interference fit；Described
Two abutment sleeves 6 are between the first cleaning brush support 5 and the first driven wheel of differential support 7；Described first abutment sleeve 4 is positioned at
The top of the first cleaning brush support 5；Described 3rd abutment sleeve 12 and the 4th abutment sleeve 14 are all enclosed within by interference fit
On two sleeves 11；Described 4th abutment sleeve 14 is between the second cleaning brush support 13 and the second driven wheel of differential support 15；
Described 3rd abutment sleeve 12 is positioned at the top of the second cleaning brush support 13.
Described first sleeve 3 and the second sleeve 11 are respectively fitted on the first guide rod 2 and the second guide rod 1, and can lead along first
Bar 2 and the second guide rod 1 slide up and down；Described first guide rod 2 is parallel with the second guide rod 1；Described upper manipulator control motor
Manipulator control motor 17 is installed on support 9；Described upper mechanical hand drive bevel gear 10 is fixed on manipulator control electricity
On the output shaft of machine 17；Described first gear shaft 40 is connected with the first driven wheel of differential support 7 by clutch shaft bearing 53；On described
The right driven wheel of differential of mechanical hand 34 is fixed on the first gear shaft 40, and engages with upper mechanical hand drive bevel gear 10；Described
The flat key groove of axis it is machined with in one gear shaft 40；On described first turn-screw 8, first flat key 54 is installed；Described first flat
Key 54 is connected with the first gear shaft 40, and can horizontally slip along the flat key groove in the first gear shaft 40；Described first transmission
It is threaded on leading screw 8；Being machined with through hole whorl on described first driven wheel of differential support 7, this through hole whorl and first passes
Screw thread on movable wire thick stick 8 is connected.
Described second gear shaft 52 is connected with the second driven wheel of differential support 15 by the second bearing 55；Described upper mechanical hand
Left driven wheel of differential 35 is fixed on the second gear shaft 52, and engages with upper mechanical hand drive bevel gear 10；Described second gear
The flat key groove of axis it is machined with in axle 52；On described second turn-screw 16, second flat key 56 is installed；Described second flat key 56
It is connected with the second gear shaft 52, and can horizontally slip along the flat key groove in the second gear shaft 52；Described second turn-screw
It is threaded on 16；It is machined with through hole whorl, this through hole whorl and the second transmission on described second driven wheel of differential support 15
Screw thread on leading screw 16 is connected.
The front end of described first turn-screw 8 and the second turn-screw 16 is separately installed with the right pawl of mechanical hand 36 and upper machine
Tool hands left claw 39；The described right pawl of upper mechanical hand 36 and upper mechanical hand left claw 39 are mounted on pressure transducer.
Described crank 19 is connected with connecting rod 18, forms toggle；The upper end of described connecting rod 18 by straight pin with
Upper manipulator control electric machine support 9 is connected；Described lower manipulator control electric machine support 26 and crank connecting link control electric machine support 23
Both sides be all machined with through hole, be all enclosed within the first guide rod 2 and the second guide rod 1 by interference fit；Described crank connecting link controls
Crank connecting link is installed on electric machine support 23 and controls motor 50；Described crank connecting link controls motor 50 by coupling spindle 51 and crank
19 are connected.
Described 3rd driven wheel of differential support 24 and the 4th driven wheel of differential support 31 are all arranged on by interference fit
On one guide rod 2 and the second guide rod 1；Described 3rd cleaning brush support 21 and fourth cleaning brush support 29 are respectively fitted over the first guide rod 2
With on the second guide rod 1, and can be freely rotatable around the first guide rod 2 and the second guide rod 1；Described 3rd cleaning brush support 21 He
Fourth cleaning brush support 29 is not in same level, and in the vertical direction has spacing；Described 3rd cleaning brush support 21 He
Semicircular 3rd cleaning brush 46 and fourth cleaning brush 47 it is separately installed with on fourth cleaning brush support 29；Described 3rd cleaning brush
Connect between support 21 and fourth cleaning brush support 29 and have the second back-moving spring 49.
Described 5th abutment sleeve 20 and the 6th abutment sleeve 22 are all enclosed within the first guide rod 2 by interference fit；Described
6th abutment sleeve 22 is between the 3rd cleaning brush support 21 and the 3rd driven wheel of differential support 24；Described 5th abutment sleeve
20 tops being positioned at the 3rd cleaning brush support 21；Described 7th abutment sleeve 28 and the 8th abutment sleeve 30 all pass through interference fit
It is enclosed within the second guide rod 1；Described 8th abutment sleeve 30 is positioned at fourth cleaning brush support 29 and the 4th driven wheel of differential support 31
Between；Described 7th abutment sleeve 28 is positioned at the top of fourth cleaning brush support 29.
On described lower manipulator control electric machine support 26, lower manipulator control motor 33 is installed；Described lower mechanical hand is actively
Bevel gear 27 is fixed on the output shaft of lower manipulator control motor 33；Described 3rd gear shaft 48 is by the 3rd bearing 58 and the
Three driven wheel of differential supports 24 are connected；The described right driven wheel of differential of lower mechanical hand 42 is fixed on the 3rd gear shaft 48, and with under
Mechanical hand drive bevel gear 27 engages；The flat key groove of axis it is machined with in described 3rd gear shaft 48；Described 3rd turn-screw
3rd flat key 59 is installed on 25；Described 3rd flat key 59 is connected with the 3rd gear shaft 48, and can be along the 3rd gear shaft 48
Interior flat key groove horizontally slips；It is threaded on described 3rd turn-screw 25；On described 3rd driven wheel of differential support 24
Being machined with through hole whorl, the screw thread on this through hole whorl and the 3rd turn-screw 25 is connected.
Described 4th gear shaft 57 is connected with the 4th driven wheel of differential support 31 by the 4th bearing 60；Described lower mechanical hand
Left driven wheel of differential 43 is fixed on the 4th gear shaft 57, and engages with lower mechanical hand drive bevel gear 27；Described 4th gear
The flat key groove of axis it is machined with in axle 57；On described 4th turn-screw 32, the 4th flat key 61 is installed；Described 4th flat key 61
It is connected with the 4th gear shaft 57, and can horizontally slip along the flat key groove in the 4th gear shaft 57；Described 4th turn-screw
It is threaded on 32；It is machined with through hole whorl, this through hole whorl and the 4th transmission on described 4th driven wheel of differential support 31
Screw thread on leading screw 32 is connected.
The front end of described 3rd turn-screw 25 and the 4th turn-screw 32 be separately installed with the right pawl of lower mechanical hand 44 and under
Mechanical hand left claw 45；The described right pawl of lower mechanical hand 44 and lower mechanical hand left claw 45 are mounted on pressure transducer.
The pole-climbing clean robot work process adapting to different-diameter is as follows: in control, manipulator control motor 17 rotates forward,
In drive, mechanical hand drive bevel gear 10 rotates, and makes the right driven wheel of differential of mechanical hand 34 and the left driven wheel of differential of upper mechanical hand 35
Rotate, thus drive the first turn-screw 8 and the second turn-screw 16 to rotate, make the right pawl of mechanical hand 36 and upper mechanical hand left claw
The 39 clamping bodies of rod, detect pressure by the pressure transducer being arranged in the right pawl of upper mechanical hand 36 and upper mechanical hand left claw 39, when
When pressure reaches to clamp force value, upper manipulator control motor 17 stops operating；Now keep the lower right pawl of mechanical hand 44 and lower machinery
Hands left claw 45 is in unclamps body of rod state；Then, control crank connecting link control motor 50 and rotate 180 degree of angles, drive 19 turns of crank
Dynamic 180 degree of angles, make the second guide rod 1 and the first guide rod 2 upwards creep half step pitch.Then just lower manipulator control motor 33 is controlled
Turn, drive lower mechanical hand drive bevel gear 27 to rotate, make the right driven wheel of differential of lower mechanical hand 42 and lower mechanical hand left from mantle tooth
Wheel 43 rotation, thus drive the 3rd turn-screw 25 and the 4th turn-screw 32 to rotate, make the right pawl of lower mechanical hand 44 and lower machinery
Hands left claw 45 clamps the body of rod, by the pressure transducer detection pressure being arranged in the right pawl of lower mechanical hand 44 and lower mechanical hand left claw 45
Power, when pressure reaches to clamp force value, lower manipulator control motor 33 stops operating；Then upper manipulator control motor 17 is controlled
Reversion, in drive, mechanical hand drive bevel gear 10 inverts, and makes the right driven wheel of differential of mechanical hand 34 and upper mechanical hand left from mantle
Gear 35 inverts, thus drives the first turn-screw 8 and the second turn-screw 16 to invert, and makes the right pawl of mechanical hand 36 and upper machinery
Hands left claw 39 unclamps the body of rod；Now control crank connecting link control motor 50 and be rotated further 180 degree of angles, drive crank 19 to rotate 180
Degree angle, makes the first sleeve 3 and the second sleeve 11 upwards creep half step pitch.By above-mentioned range of motion, complete whole machine
The upwards crawling exercise of one step pitch of people.In whole crawling process, drawing of the first back-moving spring 41 and the second back-moving spring 49
Under clamp force effect, the first cleaning brush 37 and the second cleaning brush 38 and the 3rd cleaning brush 46 and fourth cleaning brush 47 are constantly in be embraced
The state of the tight body of rod, thus rod member is cleaned.Manipulator control motor 17 and lower manipulator control motor 33 in change
Rotating order, left to control the upper right pawl of mechanical hand 36 and upper mechanical hand left claw 39 and the right pawl of lower mechanical hand 44 and lower mechanical hand
Pawl 45 clamps and unclamps the order of the body of rod, so that it may change the direction of creeping of robot.
When position a certain to rod member is cleaned repeatedly, in control, the right pawl of mechanical hand 36 and upper mechanical hand left claw 39 are always
It is in clamping body of rod state, controls the lower right pawl of mechanical hand 44 and lower mechanical hand left claw 45 is constantly in body of rod state of unclamping, control
Crank even controls motor 50 and is constantly in duty, and the 3rd cleaning brush 46 and fourth cleaning brush 47 will be in the corresponding portions of rod member
Position moves up and down repeatedly, thus realizes repeatedly cleaning.
Claims (5)
1. the pole-climbing clean robot adapting to different-diameter, it is characterised in that include the first guide rod (2), the second guide rod
(1), the first sleeve (3), the second sleeve (11), the first abutment sleeve (4), the second abutment sleeve (6), the 3rd abutment sleeve
(12), the 4th abutment sleeve (14), the first cleaning brush support (5), the second cleaning brush support (13), the first driven wheel of differential support
(7), the second driven wheel of differential support (15), the first turn-screw (8), the second turn-screw (16), upper mechanical hand active conical tooth
Wheel (10), upper manipulator control electric machine support (9), the first gear shaft (40), the second gear shaft (52), connecting rod (18), crank
(19), the 5th abutment sleeve (20), the 6th abutment sleeve (22), the 7th abutment sleeve (28), the 8th abutment sleeve (30), the 3rd
Cleaning brush support (21), fourth cleaning brush support (29), the 3rd driven wheel of differential support (24), the 4th driven wheel of differential support
(31), crank connecting link control electric machine support (23), lower manipulator control electric machine support (26), the 3rd turn-screw (25), the 4th
Turn-screw (32), lower mechanical hand drive bevel gear (27), the right driven wheel of differential of upper mechanical hand (34), upper mechanical hand are left from mantle
Gear (35), the right driven wheel of differential of lower mechanical hand (42), the left driven wheel of differential of lower mechanical hand (43), the 3rd gear shaft (48),
Four gear shafts (57), described first driven wheel of differential support (7) and the second driven wheel of differential support (15) all pass through interference fit
It is respectively fitted on the first sleeve (3) and the second sleeve (11)；The both sides of described upper manipulator control electric machine support (9) are machined with logical
Hole, is enclosed within the first sleeve (3) and the second sleeve (11) by interference fit；Described first cleaning brush support (5) and second clear
Clean brush support (13) is respectively fitted on the first sleeve (3) and the second sleeve (11), and can be around the first sleeve (3) and second
Sleeve (11) is freely rotatable；Described first cleaning brush support (5) and the second cleaning brush support (13) not in same level,
There is on vertical direction spacing；It is separately installed with semicircle on described first cleaning brush support (5) and the second cleaning brush support (13)
First cleaning brush (37) of shape and the second cleaning brush (38)；It is respectively arranged with on described first cleaning brush (37) and the second cleaning brush (38)
Cleanout fluid shower nozzle；Connect between described first cleaning brush support (5) and the second cleaning brush support (13) and have the first back-moving spring
(41)。
The pole-climbing clean robot of adaptation different-diameter the most according to claim 1, it is characterised in that described first location
Sleeve (4) and the second abutment sleeve (6) are all enclosed within the first sleeve (3) by interference fit；Described second abutment sleeve (6) position
Between the first cleaning brush support (5) and the first driven wheel of differential support (7)；It is clear that described first abutment sleeve (4) is positioned at first
The top of clean brush support (5)；Described 3rd abutment sleeve (12) and the 4th abutment sleeve (14) are all enclosed within by interference fit
On two sleeves (11)；Described 4th abutment sleeve (14) is positioned at the second cleaning brush support (13) and the second driven wheel of differential support
(15) between；Described 3rd abutment sleeve (12) is positioned at the top of the second cleaning brush support (13).
The pole-climbing clean robot of adaptation different-diameter the most according to claim 1, it is characterised in that described first sleeve
(3) and the second sleeve (11) is respectively fitted on the first guide rod (2) and the second guide rod (1), and can lead along the first guide rod (2) and second
Bar (1) slides up and down；Described first guide rod (2) is parallel with the second guide rod (1)；Described upper manipulator control electric machine support
(9) manipulator control motor (17) is installed on；Described upper mechanical hand drive bevel gear (10) is fixed on manipulator control
On the output shaft of motor (17)；Described first gear shaft (40) is by clutch shaft bearing (53) and the first driven wheel of differential support (7)
It is connected；The right driven wheel of differential of described upper mechanical hand (34) is fixed on the first gear shaft (40), and with upper mechanical hand active conical tooth
Wheel (10) engagement；The flat key groove of axis it is machined with in described first gear shaft (40)；It is provided with on described first turn-screw (8)
First flat key (54)；Described first flat key (54) is connected with the first gear shaft (40), and can be interior along the first gear shaft (40)
Flat key groove horizontally slip；It is threaded on described first turn-screw (8)；On described first driven wheel of differential support (7)
Being machined with through hole whorl, the screw thread on this through hole whorl and the first turn-screw (8) is connected.
The pole-climbing clean robot of adaptation different-diameter the most according to claim 1, it is characterised in that described second gear
Axle (52) is connected with the second driven wheel of differential support (15) by the second bearing (55)；The described left driven wheel of differential of upper mechanical hand
(35) it is fixed on the second gear shaft (52), and engages with upper mechanical hand drive bevel gear (10)；Described second gear shaft (52)
Inside it is machined with the flat key groove of axis；On described second turn-screw (16), the second flat key (56) is installed；Described second flat key
(56) it is connected with the second gear shaft (52), and can horizontally slip along the flat key groove in the second gear shaft (52)；Described second
Turn-screw is threaded on (16)；It is machined with through hole whorl, this through hole spiral shell on described second driven wheel of differential support (15)
Screw thread on stricture of vagina and the second turn-screw (16) is connected.
The pole-climbing clean robot of adaptation different-diameter the most according to claim 1, it is characterised in that described first transmission
The front end of leading screw (8) and the second turn-screw (16) is separately installed with the right pawl of mechanical hand (36) and upper mechanical hand left claw (39)；
The right pawl of described upper mechanical hand (36) and upper mechanical hand left claw (39) are mounted on pressure transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610952440.6A CN106313077B (en) | 2016-10-27 | 2016-10-27 | A kind of pole-climbing clean robot for adapting to different-diameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610952440.6A CN106313077B (en) | 2016-10-27 | 2016-10-27 | A kind of pole-climbing clean robot for adapting to different-diameter |
Publications (2)
| Publication Number | Publication Date |
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| CN106313077A true CN106313077A (en) | 2017-01-11 |
| CN106313077B CN106313077B (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610952440.6A Expired - Fee Related CN106313077B (en) | 2016-10-27 | 2016-10-27 | A kind of pole-climbing clean robot for adapting to different-diameter |
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| Country | Link |
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| CN (1) | CN106313077B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515545A (en) * | 2018-12-14 | 2019-03-26 | 南京全控航空科技有限公司 | Creeping motion type climbing level robot |
| CN109878590A (en) * | 2019-04-15 | 2019-06-14 | 南京原觉信息科技有限公司 | A kind of climbing level robot |
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| US5248230A (en) * | 1992-08-26 | 1993-09-28 | Chung Ming Chin | Device for tapping within die |
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| CN103056882A (en) * | 2013-01-14 | 2013-04-24 | 哈尔滨工程大学 | Inchworm gait imitation climbing robot |
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| CN105438304A (en) * | 2016-01-06 | 2016-03-30 | 北京电子科技职业学院 | Pole-climbing robot system device and application method |
| CN206170090U (en) * | 2016-10-27 | 2017-05-17 | 东北林业大学 | Pole -climbing cleaning machines people who adapts to different diameters |
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- 2016-10-27 CN CN201610952440.6A patent/CN106313077B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4518298A (en) * | 1982-03-25 | 1985-05-21 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Head for industrial robot |
| US5248230A (en) * | 1992-08-26 | 1993-09-28 | Chung Ming Chin | Device for tapping within die |
| CN101791612A (en) * | 2010-04-01 | 2010-08-04 | 上海交通大学 | High-pressure live-cleaning insulated mechanical arm with two degrees of freedom |
| CN202201081U (en) * | 2011-05-20 | 2012-04-25 | 华北电力大学（保定） | Automatic obstacle-surmounting rod-climbing cleaning robot |
| CN103056882A (en) * | 2013-01-14 | 2013-04-24 | 哈尔滨工程大学 | Inchworm gait imitation climbing robot |
| CN204772556U (en) * | 2015-07-08 | 2015-11-18 | 安庆联泰电子科技有限公司 | Full -automatic hanging air conditioner shell cleaning robot |
| CN105438304A (en) * | 2016-01-06 | 2016-03-30 | 北京电子科技职业学院 | Pole-climbing robot system device and application method |
| CN206170090U (en) * | 2016-10-27 | 2017-05-17 | 东北林业大学 | Pole -climbing cleaning machines people who adapts to different diameters |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109515545A (en) * | 2018-12-14 | 2019-03-26 | 南京全控航空科技有限公司 | Creeping motion type climbing level robot |
| CN109878590A (en) * | 2019-04-15 | 2019-06-14 | 南京原觉信息科技有限公司 | A kind of climbing level robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106313077B (en) | 2018-06-15 |
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