CN106313077B - A kind of pole-climbing clean robot for adapting to different-diameter - Google Patents
A kind of pole-climbing clean robot for adapting to different-diameter Download PDFInfo
- Publication number
- CN106313077B CN106313077B CN201610952440.6A CN201610952440A CN106313077B CN 106313077 B CN106313077 B CN 106313077B CN 201610952440 A CN201610952440 A CN 201610952440A CN 106313077 B CN106313077 B CN 106313077B
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- China
- Prior art keywords
- stent
- driven wheel
- differential
- sleeve
- cleaning brush
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Classifications
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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 kind of pole-climbing clean robots for adapting to different-diameter, belong to robotic technology field.First driven wheel of differential stent and the second driven wheel of differential stent are respectively fitted over by interference fit in the first sleeve and second sleeve；First gear axis is connected by clutch shaft bearing with the first driven wheel of differential stent；The upper right driven wheel of differential of manipulator is fixed on first gear axis, and is engaged with upper manipulator drive bevel gear；The flat key slot of axis is machined in first gear axis；First flat key is installed on the first turn-screw；First flat key is connected with first gear axis, and can horizontally slip along the flat key slot in first gear axis；It is threaded on first turn-screw；Through hole whorl is machined on first driven wheel of differential stent, which is connected with the screw thread on the first turn-screw.The present invention can clean the rod piece of different-diameter, can also realize the cleaning repeatedly at a certain position to rod piece.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of pole-climbing clean robot for adapting to different-diameter.
Background technology
In city, each class set practicability is with aesthetics in bars such as light pole, bridge oblique pull cable wire, the billboard columns of one
Surface can form staubosphere to part in an atmosphere due to throughout the year exposed, so as to influence beauty, while the acidic materials mixed in air
Also it can accelerate the damage process of these rod pieces particularly metal rod, shorten the working life.At present, the cleaning of these rod pieces
Mostly using manually being operated, there are the problems such as labor intensity is big, efficiency is low, dangerous big, of high cost.Although also have at present
Some rod piece cleaning machinery, but mostly there is the problems such as not adapting to variable diameters rod piece.
Invention content
The present invention is the efficiency during solving traditional rod piece cleaning is low, labor intensity is big, bad adaptability and labour cost
The problem of higher, and then propose a kind of pole-climbing clean robot for adapting to different-diameter.
In order to solve the above technical problems, the invention is realized by the following technical scheme：
The pole-climbing clean robot of different-diameter is adapted to, including the first guide rod 2, the second guide rod 1,3, second sets of the first sleeve
The 11, first abutment sleeve 4 of cylinder, the second abutment sleeve 6, third abutment sleeve 12, the 4th abutment sleeve 14, the first cleaning brush stent
5th, the second cleaning brush stent 13, the first driven wheel of differential stent 7, the second driven wheel of differential stent 15, the first turn-screw 8,
Two turn-screws 16, upper manipulator drive bevel gear 10, upper manipulator control electric machine support 9, first gear axis 40, second gear
Axis 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
30th, third cleaning brush stent 21, fourth cleaning brush stent 29, third driven wheel of differential stent 24, the 4th driven wheel of differential stent
31st, crank connecting link control electric machine support 23, lower manipulator control electric machine support 26, third turn-screw 25, the 4th turn-screw
32nd, the right driven wheel of differential 34 of lower manipulator drive bevel gear 27, upper manipulator, the left driven wheel of differential 35 of upper manipulator, lower machinery
The right driven wheel of differential 42 of hand, the left driven wheel of differential 43 of lower manipulator, third gear shaft 48, the 4th gear shaft 57, described first from
7 and second driven wheel of differential stent 15 of dynamic bevel gear stent is respectively fitted over the first sleeve 3 and second sleeve by interference fit
On 11；The both sides of the upper manipulator control electric machine support 9 are machined with through-hole, and the first sleeve 3 and the are sleeved on by interference fit
On two sleeves 11；The first cleaning brush stent 5 and the second cleaning brush stent 13 are respectively fitted over the first sleeve 3 and second sleeve 11
On, and can be freely rotated around the first sleeve 3 and second sleeve 11；The first cleaning brush stent 5 and the second cleaning brush
Stent 13 is not in same level, in the vertical direction with spacing；The first cleaning brush stent 5 and the second cleaning brush branch
Semicircular first cleaning brush, 37 and second cleaning brush 38 is separately installed on frame 13；First cleaning brush 37 and second cleans
Cleaning solution nozzle is respectively arranged on brush 38；The first drawing is connected between the first cleaning brush stent 5 and the second cleaning brush stent 13
Tight spring 41.
First abutment sleeve, 4 and second abutment sleeve 6 is sleeved on by interference fit on the first sleeve 3；Described
Two abutment sleeves 6 are between the first cleaning brush stent 5 and the first driven wheel of differential stent 7；First abutment sleeve 4 is located at
The top of first cleaning brush stent 5；The third abutment sleeve 12 and the 4th abutment sleeve 14 are sleeved on the by interference fit
On two sleeves 11；4th abutment sleeve 14 is between the second cleaning brush stent 13 and the second driven wheel of differential stent 15；
The third abutment sleeve 12 is located at the top of the second cleaning brush stent 13.
First sleeve 3 and second sleeve 11 are respectively fitted on the first guide rod 2 and the second guide rod 1, and can be led along first
2 and second guide rod 1 of bar slides up and down；First guide rod 2 is parallel with the second guide rod 1；The upper manipulator control motor
Manipulator control motor 17 is installed on stent 9；The upper manipulator drive bevel gear 10 is fixed on manipulator control electricity
On the output shaft of machine 17；The first gear axis 40 is connected by clutch shaft bearing 53 with the first driven wheel of differential stent 7；On described
The right driven wheel of differential 34 of manipulator is fixed on first gear axis 40, and is engaged with upper manipulator drive bevel gear 10；Described
The flat key slot of axis is machined in one gear shaft 40；First flat key 54 is installed on first turn-screw 8；Described first is flat
Key 54 is connected with first gear axis 40, and can horizontally slip along the flat key slot in first gear axis 40；First transmission
It is threaded on leading screw 8；Through hole whorl is machined on the first driven wheel of differential stent 7, the through hole whorl and first passes
Screw thread on dynamic leading screw 8 is connected.
The second gear axis 52 is connected by second bearing 55 with the second driven wheel of differential stent 15；The upper manipulator
Left driven wheel of differential 35 is fixed on second gear axis 52, and is engaged with upper manipulator drive bevel gear 10；The second gear
The flat key slot of axis is machined in axis 52；Second flat key 56 is installed on second turn-screw 16；Second flat key 56
It is connected with second gear axis 52, and can horizontally slips along the flat key slot in second gear axis 52；Second turn-screw
It is threaded on 16；Through hole whorl is machined on the second driven wheel of differential stent 15, the through hole whorl and the second transmission
Screw thread on leading screw 16 is connected.
The front end of first turn-screw, 8 and second turn-screw 16 is separately installed with the right pawl 36 of manipulator and upper machine
Tool hand left claw 39；The right pawl 36 of upper manipulator and upper manipulator left claw 39 are mounted on pressure sensor.
The crank 19 is connected with connecting rod 18, forms toggle；The upper end of the connecting rod 18 by straight pin with
Upper manipulator control electric machine support 9 is connected；The lower manipulator control electric machine support 26 and crank connecting link control electric machine support 23
Both sides be machined with through-hole, by interference fit be sleeved on the first guide rod 2 and the second guide rod 1；The crank connecting link control
Crank connecting link control motor 50 is installed on electric machine support 23；The crank connecting link control motor 50 passes through coupling spindle 51 and crank
19 are connected.
24 and the 4th driven wheel of differential stent 31 of third driven wheel of differential stent is mounted on the by interference fit
On one guide rod 2 and the second guide rod 1；The third cleaning brush stent 21 and fourth cleaning brush stent 29 are respectively fitted over the first guide rod 2
On the second guide rod 1, and it can be freely rotated around the first guide rod 2 and the second guide rod 1；21 He of third cleaning brush stent
Fourth cleaning brush stent 29 is not in same level, in the vertical direction with spacing；21 He of third cleaning brush stent
Semicircular third cleaning brush 46 and fourth cleaning brush 47 are separately installed on fourth cleaning brush stent 29；The third cleaning brush
The second back-moving spring 49 is connected between stent 21 and fourth cleaning brush stent 29.
5th abutment sleeve 20 and the 6th abutment sleeve 22 are sleeved on by interference fit on the first guide rod 2；It is described
6th abutment sleeve 22 is located between third cleaning brush stent 21 and third driven wheel of differential stent 24；5th abutment sleeve
20 are located at the top of third cleaning brush stent 21；7th abutment sleeve 28 and the 8th abutment sleeve 30 pass through interference fit
It is sleeved on the second guide rod 1；8th abutment sleeve 30 is located at fourth cleaning brush stent 29 and the 4th driven wheel of differential stent 31
Between；7th abutment sleeve 28 is located at the top of fourth cleaning brush stent 29.
Lower manipulator control motor 33 is installed on the lower manipulator control electric machine support 26；The lower manipulator is actively
Bevel gear 27 is fixed on the output shaft of lower manipulator control motor 33；The third gear shaft 48 passes through 3rd bearing 58 and
Three driven wheel of differential stents 24 are connected；The right driven wheel of differential 42 of lower manipulator is fixed on third gear shaft 48, and under
Manipulator drive bevel gear 27 engages；The flat key slot of axis is machined in the third gear shaft 48；The third turn-screw
Third flat key 59 is installed on 25；The third flat key 59 is connected with third gear shaft 48, and can be along third gear shaft 48
Interior flat key slot horizontally slips；It is threaded on the third turn-screw 25；On the third driven wheel of differential stent 24
Through hole whorl is machined with, which is connected with the screw thread on third turn-screw 25.
4th gear shaft 57 is connected by fourth bearing 60 with the 4th driven wheel of differential stent 31；The lower manipulator
Left driven wheel of differential 43 is fixed on the 4th gear shaft 57, and is engaged with lower manipulator drive bevel gear 27；4th gear
The flat key slot of axis is machined in axis 57；The 4th flat key 61 is installed on 4th turn-screw 32；4th flat key 61
It is connected with the 4th gear shaft 57, and can horizontally slips along the flat key slot in the 4th gear shaft 57；4th turn-screw
It is threaded on 32；Through hole whorl is machined on the 4th driven wheel of differential stent 31, the through hole whorl and the 4th transmission
Screw thread on leading screw 32 is connected.
The front end of 25 and the 4th turn-screw 32 of third turn-screw is separately installed with the right pawl 44 of lower manipulator under
Manipulator left claw 45；The right pawl 44 of lower manipulator and lower manipulator left claw 45 are mounted on pressure sensor.
The beneficial effects of the invention are as follows：The present invention provides a kind of pole-climbing clean robot for adapting to different-diameter, can be right
The rod piece of different-diameter is cleaned, and meets the diversified demand of people；In addition, the different operating shape by adjusting manipulator
State can realize the cleaning repeatedly at a certain position to rod piece.
Description of the drawings
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 vertical view that the present invention adapts to different-diameter.
Fig. 3 is the sectional view of A-A in Fig. 1.
In attached drawing
1-the second guide rod the 3-the first sleeve of the 2-the first guide rod
4-the first abutment sleeve the 5-the first cleaning brush stent
6-the second abutment sleeve the 7-the first driven wheel of differential stent
8-the first turn-screw 9-upper manipulator control electric machine support
10-upper manipulator 11-second sleeve of drive bevel gear
12-third abutment sleeve the 13-the second cleaning brush stent
14-the four abutment sleeve the 15-the second driven wheel of differential stent
16-the second turn-screw 17-upper manipulator control motor
The 20-the five abutment sleeve of 18-connecting rod, 19-crank
The 22-the six abutment sleeve of 21-third cleaning brush stent
23-crank connecting link controls electric machine support 24-third driven wheel of differential stent
25-third turn-screw
26-lower manipulator control electric machine support 27-lower manipulator drive bevel gear
28-the seven abutment sleeve 29-fourth cleaning brush stent
30-the eight the 31-the four driven wheel of differential stent of abutment sleeve
32-the four turn-screw 33-lower manipulator control motor
The right driven wheel of differential 35 of the 34-upper manipulator-left driven wheel of differential of upper manipulator
Right the 37-the first cleaning brush of pawl of 36-upper manipulator
38-the second cleaning brush 39-upper manipulator left claw
The 41-the first back-moving spring of 40-first gear axis
42-lower right the driven wheel of differential 43 of manipulator-left driven wheel of differential of lower manipulator
44-lower right the pawl of manipulator
45-lower manipulator left claw, 46-third cleaning brush
47-fourth cleaning brush 48-third gear shaft
49-the second 50-crank connecting link of back-moving spring controls motor
51-connecting shaft, 52-second gear axis
53-clutch shaft bearing, 55-second bearing of the 54-the first flat key
56-the second the 57-the four gear shaft of flat key
58-3rd bearing, 59-third flat key
60-fourth bearing 61-the, four flat key
Specific embodiment
The present invention is described further with reference to the accompanying drawings and detailed description, but they are not the limits to the present invention
System：
As shown in Figure 1, Figure 2 and Figure 3, the pole-climbing clean robot of different-diameter is adapted to, is led including the first guide rod 2, second
Bar 1, the first sleeve 3, second sleeve 11, the first abutment sleeve 4, the second abutment sleeve 6, third abutment sleeve the 12, the 4th position
Sleeve 14, the first cleaning brush stent 5, the second cleaning brush stent 13, the first driven wheel of differential stent 7, the second driven wheel of differential branch
Frame 15, the first turn-screw 8, the second turn-screw 16, upper manipulator drive bevel gear 10, upper manipulator control electric machine support 9,
First gear axis 40, second gear axis 52, connecting rod 18, crank 19, the 5th abutment sleeve 20, the 6th abutment sleeve the 22, the 7th are fixed
Position sleeve 28, the 8th abutment sleeve 30, third cleaning brush stent 21, fourth cleaning brush stent 29, third driven wheel of differential stent
24th, the 4th driven wheel of differential stent 31, crank connecting link control electric machine support 23, lower manipulator control electric machine support 26, third pass
Dynamic leading screw 25, the 4th turn-screw 32, lower manipulator drive bevel gear 27, the right driven wheel of differential 34 of upper manipulator, upper manipulator
The right driven wheel of differential 42 of left driven wheel of differential 35, lower manipulator, the left driven wheel of differential 43 of lower manipulator, third gear shaft 48,
Four gear shafts 57, the first driven wheel of differential stent 7 and the second driven wheel of differential stent 15 are covered respectively by interference fit
On the first sleeve 3 and second sleeve 11；The both sides of the upper manipulator control electric machine support 9 are machined with through-hole, pass through interference
Engagement sleeves are on the first sleeve 3 and second sleeve 11；The first cleaning brush stent 5 and the second cleaning brush stent 13 are respectively fitted over
On first sleeve 3 and second sleeve 11, and it can be freely rotated around the first sleeve 3 and second sleeve 11；Described first is clear
Clean 5 and second cleaning brush stent 13 of brush stent is not in same level, in the vertical direction with spacing；First cleaning
Semicircular first cleaning brush, 37 and second cleaning brush 38 is separately installed on 5 and second cleaning brush stent 13 of brush stent；It is described
Cleaning solution nozzle is respectively arranged on first cleaning brush 37 and the second cleaning brush 38；The first cleaning brush stent 5 and the second cleaning brush
The first back-moving spring 41 is connected between stent 13.
First abutment sleeve, 4 and second abutment sleeve 6 is sleeved on by interference fit on the first sleeve 3；Described
Two abutment sleeves 6 are between the first cleaning brush stent 5 and the first driven wheel of differential stent 7；First abutment sleeve 4 is located at
The top of first cleaning brush stent 5；The third abutment sleeve 12 and the 4th abutment sleeve 14 are sleeved on the by interference fit
On two sleeves 11；4th abutment sleeve 14 is between the second cleaning brush stent 13 and the second driven wheel of differential stent 15；
The third abutment sleeve 12 is located at the top of the second cleaning brush stent 13.
First sleeve 3 and second sleeve 11 are respectively fitted on the first guide rod 2 and the second guide rod 1, and can be led along first
2 and second guide rod 1 of bar slides up and down；First guide rod 2 is parallel with the second guide rod 1；The upper manipulator control motor
Manipulator control motor 17 is installed on stent 9；The upper manipulator drive bevel gear 10 is fixed on manipulator control electricity
On the output shaft of machine 17；The first gear axis 40 is connected by clutch shaft bearing 53 with the first driven wheel of differential stent 7；On described
The right driven wheel of differential 34 of manipulator is fixed on first gear axis 40, and is engaged with upper manipulator drive bevel gear 10；Described
The flat key slot of axis is machined in one gear shaft 40；First flat key 54 is installed on first turn-screw 8；Described first is flat
Key 54 is connected with first gear axis 40, and can horizontally slip along the flat key slot in first gear axis 40；First transmission
It is threaded on leading screw 8；Through hole whorl is machined on the first driven wheel of differential stent 7, the through hole whorl and first passes
Screw thread on dynamic leading screw 8 is connected.
The second gear axis 52 is connected by second bearing 55 with the second driven wheel of differential stent 15；The upper manipulator
Left driven wheel of differential 35 is fixed on second gear axis 52, and is engaged with upper manipulator drive bevel gear 10；The second gear
The flat key slot of axis is machined in axis 52；Second flat key 56 is installed on second turn-screw 16；Second flat key 56
It is connected with second gear axis 52, and can horizontally slips along the flat key slot in second gear axis 52；Second turn-screw
It is threaded on 16；Through hole whorl is machined on the second driven wheel of differential stent 15, the through hole whorl and the second transmission
Screw thread on leading screw 16 is connected.
The front end of first turn-screw, 8 and second turn-screw 16 is separately installed with the right pawl 36 of manipulator and upper machine
Tool hand left claw 39；The right pawl 36 of upper manipulator and upper manipulator left claw 39 are mounted on pressure sensor.
The crank 19 is connected with connecting rod 18, forms toggle；The upper end of the connecting rod 18 by straight pin with
Upper manipulator control electric machine support 9 is connected；The lower manipulator control electric machine support 26 and crank connecting link control electric machine support 23
Both sides be machined with through-hole, by interference fit be sleeved on the first guide rod 2 and the second guide rod 1；The crank connecting link control
Crank connecting link control motor 50 is installed on electric machine support 23；The crank connecting link control motor 50 passes through coupling spindle 51 and crank
19 are connected.
24 and the 4th driven wheel of differential stent 31 of third driven wheel of differential stent is mounted on the by interference fit
On one guide rod 2 and the second guide rod 1；The third cleaning brush stent 21 and fourth cleaning brush stent 29 are respectively fitted over the first guide rod 2
On the second guide rod 1, and it can be freely rotated around the first guide rod 2 and the second guide rod 1；21 He of third cleaning brush stent
Fourth cleaning brush stent 29 is not in same level, in the vertical direction with spacing；21 He of third cleaning brush stent
Semicircular third cleaning brush 46 and fourth cleaning brush 47 are separately installed on fourth cleaning brush stent 29；The third cleaning brush
The second back-moving spring 49 is connected between stent 21 and fourth cleaning brush stent 29.
5th abutment sleeve 20 and the 6th abutment sleeve 22 are sleeved on by interference fit on the first guide rod 2；It is described
6th abutment sleeve 22 is located between third cleaning brush stent 21 and third driven wheel of differential stent 24；5th abutment sleeve
20 are located at the top of third cleaning brush stent 21；7th abutment sleeve 28 and the 8th abutment sleeve 30 pass through interference fit
It is sleeved on the second guide rod 1；8th abutment sleeve 30 is located at fourth cleaning brush stent 29 and the 4th driven wheel of differential stent 31
Between；7th abutment sleeve 28 is located at the top of fourth cleaning brush stent 29.
Lower manipulator control motor 33 is installed on the lower manipulator control electric machine support 26；The lower manipulator is actively
Bevel gear 27 is fixed on the output shaft of lower manipulator control motor 33；The third gear shaft 48 passes through 3rd bearing 58 and
Three driven wheel of differential stents 24 are connected；The right driven wheel of differential 42 of lower manipulator is fixed on third gear shaft 48, and under
Manipulator drive bevel gear 27 engages；The flat key slot of axis is machined in the third gear shaft 48；The third turn-screw
Third flat key 59 is installed on 25；The third flat key 59 is connected with third gear shaft 48, and can be along third gear shaft 48
Interior flat key slot horizontally slips；It is threaded on the third turn-screw 25；On the third driven wheel of differential stent 24
Through hole whorl is machined with, which is connected with the screw thread on third turn-screw 25.
4th gear shaft 57 is connected by fourth bearing 60 with the 4th driven wheel of differential stent 31；The lower manipulator
Left driven wheel of differential 43 is fixed on the 4th gear shaft 57, and is engaged with lower manipulator drive bevel gear 27；4th gear
The flat key slot of axis is machined in axis 57；The 4th flat key 61 is installed on 4th turn-screw 32；4th flat key 61
It is connected with the 4th gear shaft 57, and can horizontally slips along the flat key slot in the 4th gear shaft 57；4th turn-screw
It is threaded on 32；Through hole whorl is machined on the 4th driven wheel of differential stent 31, the through hole whorl and the 4th transmission
Screw thread on leading screw 32 is connected.
The front end of 25 and the 4th turn-screw 32 of third turn-screw is separately installed with the right pawl 44 of lower manipulator under
Manipulator left claw 45；The right pawl 44 of lower manipulator and lower manipulator left claw 45 are mounted on pressure sensor.
The pole-climbing clean robot course of work for adapting to different-diameter is as follows：Manipulator control motor 17 rotates forward in control,
Manipulator drive bevel gear 10 rotates in drive, makes the right driven wheel of differential 34 of manipulator and the left driven wheel of differential 35 of upper manipulator
Rotation, so as to which the first turn-screw 8 and the second turn-screw 16 be driven to rotate, makes the right pawl 36 of manipulator and upper manipulator left claw
39 clamp the body of rod, and pressure is detected by the pressure sensor being mounted in the right pawl 36 of upper manipulator and upper manipulator left claw 39, when
When pressure reaches clamping force value, upper manipulator control motor 17 stops operating；The lower right pawl 44 of manipulator and lower machinery are kept at this time
Hand left claw 45, which is in, unclamps body of rod state；Then, control crank connecting link control motor 50 rotates 180 degree angle, drives 19 turns of crank
Dynamic 180 degree angle makes 2 upward half of step pitch of creeping of the second guide rod 1 and the first guide rod.Then lower manipulator control motor 33 is controlled just
Turn, lower manipulator drive bevel gear 27 is driven to rotate, makes the right driven wheel of differential 42 of lower manipulator and a lower manipulator left side from mantle tooth
43 rotation of wheel, so as to which 25 and the 4th turn-screw 32 of third turn-screw be driven to rotate, makes the right pawl 44 of lower manipulator and lower machinery
Hand left claw 45 clamps the body of rod, and pressure is detected by the pressure sensor being mounted on the right pawl 44 of lower manipulator and lower manipulator left claw 45
Power, when pressure, which reaches, clamps force value, lower manipulator control motor 33 stops operating；Then upper manipulator control motor 17 is controlled
It inverts, manipulator drive bevel gear 10 inverts in drive, makes the right driven wheel of differential 34 of manipulator and a upper manipulator left side from mantle
Gear 35 inverts, and so as to which the first turn-screw 8 and the second turn-screw 16 be driven to invert, makes the right pawl 36 of manipulator and upper machinery
Hand left claw 39 unclamps the body of rod；Control crank connecting link control motor 50 is rotated further 180 degree angle at this time, drives the rotation of crank 19 180
Angle is spent, makes the first sleeve 3 and upward half of the step pitch of creeping of second sleeve 11.By above-mentioned range of motion, entire machine is completed
The upward crawling exercises of one step pitch of people.In entire crawling process, in the 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 third cleaning brush 46 and fourth cleaning brush 47, which are constantly in, to be embraced
The state of the tight body of rod, so as to be cleaned to rod piece.Manipulator control motor 17 and lower manipulator control motor 33 in change
Rotating sequence, to control the upper right pawl 36 of manipulator and upper manipulator left claw 39 and the right pawl 44 of lower manipulator and lower manipulator left
Pawl 45 clamps and unclamps the sequence of the body of rod, so that it may change the direction of creeping of robot.
The right pawl 36 of manipulator and upper manipulator left claw 39 be always when being cleaned repeatedly at position a certain to rod piece, in control
In body of rod state is clamped, the lower right pawl 44 of manipulator and lower manipulator left claw 45 is controlled to be constantly in body of rod state of unclamping, control
Even control motor 50 is constantly in working condition to crank, and third cleaning brush 46 and fourth cleaning brush 47 will be in the corresponding portions of rod piece
Position is moved up and down repeatedly, so as to fulfill cleaning repeatedly.
Claims (5)
1. a kind of pole-climbing clean robot for adapting to different-diameter, which is characterized in that including the first guide rod (2), the second guide rod
(1), the first sleeve (3), second sleeve (11), the first abutment sleeve (4), the second abutment sleeve (6), third abutment sleeve
(12), the 4th abutment sleeve (14), the first cleaning brush stent (5), the second cleaning brush stent (13), the first driven wheel of differential stent
(7), the second driven wheel of differential stent (15), the first turn-screw (8), the second turn-screw (16), upper manipulator active conical tooth
Take turns (10), upper manipulator control electric machine support (9), first gear axis (40), second gear axis (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), third
Cleaning brush stent (21), fourth cleaning brush stent (29), third driven wheel of differential stent (24), the 4th driven wheel of differential stent
(31), crank connecting link control electric machine support (23), lower manipulator control electric machine support (26), third turn-screw (25), the 4th
Turn-screw (32), lower manipulator drive bevel gear (27), the right driven wheel of differential of upper manipulator (34), a upper manipulator left side are from mantle
Gear (35), the right driven wheel of differential of lower manipulator (42), the left driven wheel of differential of lower manipulator (43), third gear shaft (48),
Four gear shafts (57), the first driven wheel of differential stent (7) and the second driven wheel of differential stent (15) pass through interference fit
It is respectively fitted on the first sleeve (3) and second sleeve (11)；The both sides of the upper manipulator control electric machine support (9) are machined with logical
Hole is sleeved on by interference fit on the first sleeve (3) and second sleeve (11)；The first cleaning brush stent (5) and second is clearly
Clean brush stent (13) is respectively fitted on the first sleeve (3) and second sleeve (11), and can be around the first sleeve (3) and second
Sleeve (11) is freely rotated；The first cleaning brush stent (5) and the second cleaning brush stent (13) not in same level,
There is spacing on vertical direction；Semicircle is separately installed on the first cleaning brush stent (5) and the second cleaning brush stent (13)
The first cleaning brush (37) of shape and the second cleaning brush (38)；It is respectively arranged on first cleaning brush (37) and the second cleaning brush (38)
Cleaning solution nozzle；The first back-moving spring is connected between the first cleaning brush stent (5) and the second cleaning brush stent (13)
(41)。
2. the pole-climbing clean robot according to claim 1 for adapting to different-diameter, which is characterized in that first positioning
Sleeve (4) and the second abutment sleeve (6) are sleeved on by interference fit on the first sleeve (3)；Second abutment sleeve (6) position
Between the first cleaning brush stent (5) and the first driven wheel of differential stent (7)；First abutment sleeve (4) is clear positioned at first
The top of clean brush stent (5)；The third abutment sleeve (12) and the 4th abutment sleeve (14) are sleeved on the by interference fit
On two sleeves (11)；4th abutment sleeve (14) is positioned at the second cleaning brush stent (13) and the second driven wheel of differential stent
(15) between；The third abutment sleeve (12) is positioned at the top of the second cleaning brush stent (13).
3. the pole-climbing clean robot according to claim 1 for adapting to different-diameter, which is characterized in that first sleeve
(3) it is respectively fitted on the first guide rod (2) and the second guide rod (1), and can be led along the first guide rod (2) and second with second sleeve (11)
Bar (1) slides up and down；First guide rod (2) is parallel with the second guide rod (1)；The upper manipulator control electric machine support
(9) manipulator control motor (17) is installed on；The upper manipulator drive bevel gear (10) is fixed on manipulator control
On the output shaft of motor (17)；The first gear axis (40) passes through clutch shaft bearing (53) and the first driven wheel of differential stent (7)
It is connected；The right driven wheel of differential of upper manipulator (34) is fixed on first gear axis (40), and with upper manipulator active conical tooth
Take turns (10) engagement；The flat key slot of axis is machined in the first gear axis (40)；It is equipped on first turn-screw (8)
First flat key (54)；First flat key (54) is connected with first gear axis (40), and can be along in first gear axis (40)
Flat key slot horizontally slip；It is threaded on first turn-screw (8)；On the first driven wheel of differential stent (7)
Through hole whorl is machined with, which is connected with the screw thread on the first turn-screw (8).
4. the pole-climbing clean robot according to claim 1 for adapting to different-diameter, which is characterized in that the second gear
Axis (52) is connected by second bearing (55) with the second driven wheel of differential stent (15)；The left driven wheel of differential of upper manipulator
(35) it is fixed on second gear axis (52), and is engaged with upper manipulator drive bevel gear (10)；The second gear axis (52)
Inside it is machined with the flat key slot of axis；The second flat key (56) is installed on second turn-screw (16)；Second flat key
(56) it is connected with second gear axis (52), and can horizontally slips along the flat key slot in second gear axis (52)；Described second
Turn-screw is threaded on (16)；Through hole whorl is machined on the second driven wheel of differential stent (15), the through-hole spiral shell
Line is connected with the screw thread on the second turn-screw (16).
5. the pole-climbing clean robot according to claim 1 for adapting to different-diameter, which is characterized in that first transmission
The front end of leading screw (8) and the second turn-screw (16) is separately installed with the right pawl of manipulator (36) and upper manipulator left claw (39)；
The right pawl of upper manipulator (36) and upper manipulator left claw (39) are mounted on pressure sensor.
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 |
|---|---|
| CN106313077A CN106313077A (en) | 2017-01-11 |
| CN106313077B true CN106313077B (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106313077B (en) |
Families Citing this family (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 |
| CN109878590B (en) * | 2019-04-15 | 2020-04-07 | 南京原觉信息科技有限公司 | Pole-climbing robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58146690U (en) * | 1982-03-25 | 1983-10-03 | 株式会社三協精機製作所 | industrial robot head |
| US5248230A (en) * | 1992-08-26 | 1993-09-28 | Chung Ming Chin | Device for tapping within die |
| CN101791612B (en) * | 2010-04-01 | 2011-08-31 | 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 |
| CN103056882B (en) * | 2013-01-14 | 2015-05-27 | 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 |
| CN105438304B (en) * | 2016-01-06 | 2018-03-27 | 北京电子科技职业学院 | A kind of climbing level robot system and device and application process |
| CN206170090U (en) * | 2016-10-27 | 2017-05-17 | 东北林业大学 | Pole -climbing cleaning machines people who adapts to different diameters |
-
2016
- 2016-10-27 CN CN201610952440.6A patent/CN106313077B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN106313077A (en) | 2017-01-11 |
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