CN108908375B - Adjustable vortex jet pole-climbing robot - Google Patents
Adjustable vortex jet pole-climbing robot Download PDFInfo
- Publication number
- CN108908375B CN108908375B CN201811125634.4A CN201811125634A CN108908375B CN 108908375 B CN108908375 B CN 108908375B CN 201811125634 A CN201811125634 A CN 201811125634A CN 108908375 B CN108908375 B CN 108908375B
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- water storage
- cleaning
- nozzle
- block
- clamping
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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
An adjustable vortex jet pole-climbing robot comprises a piston rod, a cylinder barrel, an upper cleaning structure, a lower cleaning structure, a trapezoidal sliding block, a water storage structure, a support seat, a water filling port, a clamping structure, a clamping cylinder, a clamping rod, a multi-section clamping jaw, a pivot joint, a bracket, a motor output shaft, a cleaning block, a connecting block, a nozzle motor shaft, an annular flow passage, a nozzle motor, a nozzle turning plate, a spiral flow passage, a pinion and a clamping structure; the lower cleaning structure comprises a cleaning block, a connecting block and a nozzle, wherein the nozzle is radially inwards arranged, the cleaning block is fixed on the water storage structure, a passage inside the connecting block is connected with a passage inside the water storage structure, and the passage inside the connecting block is obliquely arranged from top to bottom and connected with the annular flow passage.
Description
Technical Field
The invention relates to the related field of pole-climbing robots, in particular to an adjustable vortex jet pole-climbing robot.
Background
Along with the development of science and technology and the development of economy, high-rise buildings, telegraph poles and upright posts are more and more, when maintaining, workers need to climb the telegraph poles to maintain the upper ends of the telegraph poles, and then need to climb by means of climbing pole tools, the original climbing mode is to wear climbing pole shoe covers on the feet of the workers, and the other feet are moved up and down when being supported by the straight feet, so that the climbing pole shoes are very inconvenient and heavy.
In the prior art, a pole-climbing robot is designed to replace workers, but due to the technical lag, more problems still exist. In actual use, the existing pole-climbing robot has the following problems: 1. the pole-climbing robot of the prior art can carry out cleaning operation, but when cleaning, the extra container is required to be additionally arranged to contain washing liquid or water, and the extra container is not only required to be matched with the size of the robot, so that more liquid is difficult to contain, but also unbalance of weight can be caused.
2. The pole-climbing robot in the prior art uses a water pipe to directly connect with a cleaning part even if the problem of water storage is not considered, but cannot use a large-caliber water pipe so as not to cause extra weight; the consequence is that there is not a sufficiently strong water flow during the cleaning spray.
3. The cleaning nozzle in the prior art has a single structure, the water flow path therein is unchanged, and the water flow cannot scatter and concentrate jet flow.
4. In the clamping device of the pole-climbing robot in the prior art, the situations that the thickness of the pole is different and the clamping position is uneven often occur, and under the situations, robots of different models are generally selected, so that the economic cost is increased, and the time cost is wasted.
5. The cleaning structure in the prior art has fixed positions, can only clean different positions by using a mobile robot, and is complex to use and difficult to operate.
6. The prior art purge arrangements, where the fluid path is at right angles when cornering, can result in energy losses.
Disclosure of Invention
In order to overcome the above problems, the present invention proposes a solution to simultaneously solve the above problems.
The technical scheme adopted for solving the technical problems is as follows: an adjustable vortex jet pole-climbing robot comprises a piston rod, a cylinder barrel, an upper cleaning structure, a lower cleaning structure, a trapezoidal sliding block, a water storage structure, a support seat, a water filling port, a clamping structure, a clamping cylinder, a clamping rod, a multi-section clamping jaw, a pivot joint, a bracket, a motor output shaft, a cleaning block, a connecting block, a nozzle motor shaft, an annular flow passage, a nozzle motor, a nozzle turning plate, a spiral flow passage, a pinion and a clamping structure; the cylinder barrel and the piston rod are connected between the two support seats, the up-and-down motion is realized through the extension and contraction of the cylinder barrel and the piston rod, the lower part of the upper support seat is connected with the upper part of the lower support seat, the upper part of the upper support seat is connected with the lower part of the lower support seat, the upper cleaning structure is positioned at the upper part of the upper water storage structure, and the lower cleaning structure is positioned at the lower part of the lower water storage structure; the water storage structure and the support seat are annular, a clamping structure is arranged in the middle of the annular, a trapezoidal sliding block is arranged on one side of the water storage structure, a trapezoidal groove is formed on one side of the support seat, the trapezoidal sliding block can slide in the trapezoidal groove in a rotating way along with the rotation of the water storage structure, a motor is connected to the support seat in an outward extending way through a bracket, the output end of the motor is connected with one end of an output shaft of the motor, the other end of the output shaft of the motor is connected with a pinion, and the pinion is connected with teeth on the outer edge of the water storage structure, so that the water storage structure is driven to rotate; the lower cleaning structure comprises a cleaning block, a connecting block and a nozzle, wherein the nozzle is radially inwards arranged, the cleaning block is fixed on the water storage structure, a passage in the connecting block is connected with a passage in the water storage structure, the passage in the connecting block is obliquely arranged from top to bottom and is connected with the annular flow passage, the plane at the lower part of the connecting block is an inclined plane, the annular flow passage is arranged in the cleaning block, the tail end of the annular flow passage is connected with a spiral flow passage in the nozzle, a nozzle motor is arranged in the cleaning block and is connected with the nozzle through a nozzle motor shaft to drive the nozzle to rotate, the spiral flow passage is provided with three or more than three spiral flow passages, the tail ends of the spiral flow passages are intersected to spray out the nozzle, a nozzle turning plate is pivoted at the outer side of the nozzle, and the turning angle of the nozzle turning plate is adjustable, so that the spraying angle of the sprayed water flow is adjusted; the clamping structure comprises a clamping cylinder and a clamping rod, horizontal movement is realized through the expansion and contraction of the clamping cylinder and the clamping rod, one end of the clamping rod is provided with a multi-section clamping jaw, the multi-section clamping jaw comprises six sections or more than six sections, and two adjacent sections are fixedly connected through a pivot joint, so that the relative angle between the two adjacent sections can be adjusted.
Preferably, a gasket is arranged on the inner wall of the multi-section clamping jaw.
Preferably, the upper cleaning structure also comprises a cleaning block, a connecting block and a nozzle.
Preferably, the trapezoidal sliding block is replaced by a T-shaped block.
Preferably, the number of the nozzle turning plates is four.
Preferably, a control valve is arranged between the upper cleaning structure, the lower cleaning structure and the corresponding water storage structure.
Preferably, the lowest point of the connecting block and the lowest point of the cleaning block are not on the same horizontal plane.
Preferably, the cleaning block is fixed on the water storage structure by bolts.
Preferably, the piston rod and the cylinder barrel form a cylinder, and the number of the cylinders is two.
Preferably, a half space of the water storage structure is used for storing water.
The beneficial effects of the invention are as follows: 1. aiming at the 1 st point of the background technology, the water storage container is skillfully connected with the main body structure of the robot, namely the main body bracket, and the water storage container is arranged as a part of the bracket, so that the weight unbalance caused by additionally adding the water storage container or the water storage container is avoided.
2. Aiming at the 2 nd point of the background technology, a vortex nozzle is constructed, the nozzle is driven by a motor to rotate to generate centrifugal force, and vortex is generated through the separation and the convergence of a fluid path and a spiral path, so that the ejected water flow with better cleaning performance is obtained.
3. Aiming at the 3 rd point proposed by the background technology, a nozzle turning plate outside the nozzle is constructed, and discrete water flow (for large-area injection) or concentrated water flow (for powerful cleaning) is obtained by adjusting the angle of the turning plate.
4. Aiming at the 4 th point proposed by the background technology, a multi-section clamping jaw is used, and the angles among the sections of the clamping jaw are adjustable, so that the clamping angle of the clamping jaw can be adjusted.
5. Aiming at the 5 th point of the background technology, an annular water storage cavity is adopted, and the annular water storage cavity can rotate by any angle under the control of a motor, so that a cleaning mechanism on the annular water storage cavity is driven to rotate, and the spray cleaning of different angles is completed.
6. Aiming at the 6 th point of the background technology, the nozzle adopts a diversion slope type design, thereby saving energy loss.
Note that: the above designs are not sequential, each of which provides a distinct and significant advance over the prior art.
Drawings
Fig. 1 is a schematic overall view of the present invention.
FIG. 2 is a schematic view of the lower cleaning structure of the present invention.
Fig. 3 is a schematic view of the clamping structure of the present invention.
Fig. 4 is a schematic view of the rotary jetting tool of the present invention.
In the drawings, reference numerals are as follows: 1. the cleaning device comprises a piston rod 2, a cylinder barrel 3, an upper cleaning structure 4, a lower cleaning structure 5, a trapezoidal sliding block 6, a water storage structure 7, a support seat 8, a water injection port 9, a clamping structure 10, a clamping cylinder 11, a clamping rod 12, a multi-section clamping jaw 13, a pivot joint 14, a support 15, a motor 16, a motor output shaft 17, a cleaning block 18, a connecting block 19, a nozzle 20, a nozzle motor shaft 21, an annular runner 22, a nozzle motor 23, a nozzle turning plate 24, a spiral runner 25, a pinion 26 and a clamping structure.
Detailed Description
The invention will be further described with reference to the drawings and examples.
As shown in the figure: an adjustable vortex jet pole-climbing robot comprises a piston rod, a cylinder barrel, an upper cleaning structure, a lower cleaning structure, a trapezoidal sliding block, a water storage structure, a support seat, a water filling port, a clamping structure, a clamping cylinder, a clamping rod, a multi-section clamping jaw, a pivot joint, a bracket, a motor output shaft, a cleaning block, a connecting block, a nozzle motor shaft, an annular flow passage, a nozzle motor, a nozzle turning plate, a spiral flow passage, a pinion and a clamping structure; connect cylinder and piston rod between two support seats, realize the up-and-down motion through the flexible of cylinder and piston rod, the clamp structure is connected on the support seat lower part of top and the support seat upper portion of below, and the water storage structure is connected on the support seat upper portion of top and the support seat lower part of below, and the clean structure of going up is located the water storage structure upper portion on upper portion, and the clean structure of going down is located the water storage structure lower part of lower part.
As shown in the figure: the water storage structure and the support seat are annular, a clamping structure is arranged in the middle of the annular, a trapezoidal sliding block is arranged on one side of the water storage structure, a trapezoidal groove is formed on one side of the support seat, the trapezoidal sliding block can slide in the trapezoidal groove in a rotating way along with the rotation of the water storage structure, a motor is connected to the support seat in an outward extending way through a bracket, the output end of the motor is connected with one end of an output shaft of the motor, the other end of the output shaft of the motor is connected with a pinion, and the pinion is connected with teeth on the outer edge of the water storage structure, so that the water storage structure is driven to rotate; the lower cleaning structure comprises a cleaning block, a connecting block and a nozzle, wherein the nozzle is radially inwards arranged, the cleaning block is fixed on the water storage structure, a passage in the connecting block is connected with a passage in the water storage structure, the passage in the connecting block is obliquely arranged from top to bottom and is connected with the annular flow passage, the plane at the lower part of the connecting block is an inclined plane, the annular flow passage is arranged in the cleaning block, the tail end of the annular flow passage is connected with a spiral flow passage in the nozzle, a nozzle motor is arranged in the cleaning block and is connected with the nozzle through a nozzle motor shaft to drive the nozzle to rotate, the spiral flow passage is provided with three or more than three spiral flow passages, the tail ends of the spiral flow passages are intersected to spray out the nozzle, a nozzle turning plate is pivoted at the outer side of the nozzle, and the turning angle of the nozzle turning plate is adjustable, so that the spraying angle of the sprayed water flow is adjusted; as shown in the figure: the clamping structure comprises a clamping cylinder and a clamping rod, horizontal movement is realized through the expansion and contraction of the clamping cylinder and the clamping rod, one end of the clamping rod is provided with a multi-section clamping jaw, the multi-section clamping jaw comprises six sections or more than six sections, and two adjacent sections are fixedly connected through a pivot joint, so that the relative angle between the two adjacent sections can be adjusted.
The inner wall of the multi-section clamping jaw is provided with a gasket.
The upper cleaning structure also comprises a cleaning block, a connecting block and a nozzle.
The trapezoidal sliding block is replaced by a T-shaped block.
The number of the nozzle turning plates is four.
And a control valve is arranged between the upper cleaning structure, the lower cleaning structure and the corresponding water storage structure.
The lowest point of the connecting block and the lowest point of the cleaning block are not on the same horizontal plane; the cleaning block is fixed on the water storage structure through bolts.
The piston rod and the cylinder barrel form a cylinder, and the number of the cylinders is two.
And a half space of the water storage structure is used for storing water.
The foregoing detailed description is directed to embodiments of the invention which are not intended to limit the scope of the invention, but rather to cover all modifications and variations within the scope of the invention.
Claims (10)
1. An adjustable vortex jet pole-climbing robot comprises a piston rod, a cylinder barrel, an upper cleaning structure, a lower cleaning structure, a trapezoidal sliding block, a water storage structure, a support seat, a water filling port, a clamping structure, a bracket, a motor output shaft, a cleaning block, a connecting block, a nozzle motor shaft, an annular flow passage, a nozzle motor, a nozzle turning plate, a spiral flow passage, a pinion and a clamping structure; the method is characterized in that: the cylinder barrel and the piston rod are connected between the two support seats, the up-and-down motion is realized through the extension and contraction of the cylinder barrel and the piston rod, the lower part of the upper support seat is connected with the upper part of the lower support seat, the upper part of the upper support seat is connected with the lower part of the lower support seat, the upper cleaning structure is positioned at the upper part of the upper water storage structure, and the lower cleaning structure is positioned at the lower part of the lower water storage structure; the water storage structure and the support seat are annular, a clamping structure is arranged in the middle of the annular, a trapezoidal sliding block is arranged on one side of the water storage structure, a trapezoidal groove is formed on one side of the support seat, the trapezoidal sliding block can slide in the trapezoidal groove in a rotating way along with the rotation of the water storage structure, a motor is connected to the support seat in an outward extending way through a bracket, the output end of the motor is connected with one end of an output shaft of the motor, the other end of the output shaft of the motor is connected with a pinion, and the pinion is connected with teeth on the outer edge of the water storage structure, so that the water storage structure is driven to rotate; the lower cleaning structure comprises a cleaning block, a connecting block and nozzles, wherein the nozzles of the nozzles are radially inwards arranged, the cleaning block is fixed on the water storage structure, a passage in the connecting block is connected with a passage in the water storage structure, the passage in the connecting block is obliquely arranged from top to bottom and is connected with the annular flow passage, the plane at the lower part of the connecting block is an inclined plane, the annular flow passage is arranged in the cleaning block, the tail ends of the annular flow passage are connected with spiral flow passages in the nozzles, nozzle motors are arranged in the cleaning block and are connected with the nozzles through nozzle motor shafts to drive the nozzles to rotate, the three spiral flow passages are arranged, the tail ends of the spiral flow passages are intersected to enable water to spray out of the nozzles, nozzle turning plates are pivoted at the outer sides of the nozzles, and the turning angles of the nozzle turning plates are adjustable, so that the spraying angles of water spraying flows are adjusted; the clamping structure comprises a clamping cylinder and a clamping rod, horizontal movement is realized through the expansion and contraction of the clamping cylinder and the clamping rod, one end of the clamping rod is provided with a multi-section clamping jaw, the multi-section clamping jaw comprises six sections, and two adjacent sections are fixedly connected through a pivot joint, so that the relative angle between the two adjacent sections can be adjusted.
2. An adjustable vortex spray pole-climbing robot as in claim 1 wherein: the inner wall of the multi-section clamping jaw is provided with a gasket.
3. An adjustable vortex spray pole-climbing robot as in claim 1 wherein: the upper cleaning structure also comprises a cleaning block, a connecting block and a nozzle.
4. An adjustable vortex spray pole-climbing robot as in claim 1 wherein: the trapezoidal sliding block is replaced by a T-shaped block.
5. An adjustable vortex spray pole-climbing robot as in claim 1 wherein: the number of the nozzle turning plates is four.
6. An adjustable vortex spray pole-climbing robot as in claim 1 wherein: control valves are arranged between the upper cleaning structure and the lower cleaning structure and the corresponding water storage structure.
7. An adjustable vortex spray pole-climbing robot as in claim 1 wherein: the lowest point of the connecting block and the lowest point of the cleaning block are not on the same horizontal plane.
8. An adjustable vortex spray pole-climbing robot as in claim 1 wherein: the cleaning block is fixed on the water storage structure through bolts.
9. An adjustable vortex spray pole-climbing robot as in claim 1 wherein: the piston rod and the cylinder barrel form a cylinder, and the number of the cylinders is two.
10. An adjustable vortex spray pole-climbing robot as in claim 1 wherein: and a half space of the water storage structure is used for storing water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811125634.4A CN108908375B (en) | 2018-09-26 | 2018-09-26 | Adjustable vortex jet pole-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811125634.4A CN108908375B (en) | 2018-09-26 | 2018-09-26 | Adjustable vortex jet pole-climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108908375A CN108908375A (en) | 2018-11-30 |
| CN108908375B true CN108908375B (en) | 2023-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811125634.4A Active CN108908375B (en) | 2018-09-26 | 2018-09-26 | Adjustable vortex jet pole-climbing robot |
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| CN (1) | CN108908375B (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201736227U (en) * | 2010-04-16 | 2011-02-09 | 洛阳理工学院 | Creeping rope-climbing and pole-climbing robot |
| JP5535863B2 (en) * | 2010-10-13 | 2014-07-02 | 剛宏 山梨 | Nozzle unit |
| CN105730540B (en) * | 2016-02-05 | 2018-09-07 | 国家电网公司 | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function |
| CN206393631U (en) * | 2016-11-08 | 2017-08-11 | 天津职业技术师范大学 | A kind of hydraulic pressure climbing level robot |
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2018
- 2018-09-26 CN CN201811125634.4A patent/CN108908375B/en active Active
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| CN108908375A (en) | 2018-11-30 |
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