CN109675734B - Robot for cleaning and spraying paint on outer surface of street lamp pole - Google Patents

Abstract

The robot for cleaning and spraying paint on the outer surface of the street lamp pole comprises a front semi-cylindrical outer frame and a rear semi-cylindrical outer frame which are identical in structure and are symmetrical in front and back; the top of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame are provided with paint spraying devices, the middle upper parts in the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame are provided with climbing guide devices, and the lower parts in the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame are provided with rotary surface dust cleaning devices; the invention has reasonable design, compact structure, convenient operation, strong safety and reliability, high automation degree, and the integrated completion of rust removal, dust removal and paint spraying, reduces the labor intensity of workers and greatly improves the working efficiency. Of course, the invention can also be used for cleaning and painting operations of linear long rods or pipelines in various directions.

Description

Cleaning and painting robot for the outer surface of street light poles

technical field

The invention belongs to the technical field of street light pole anticorrosion maintenance, and in particular relates to a street light pole outer surface cleaning and painting robot.

Background technique

The street light poles on both sides of urban roads are generally made of steel pipes, and the manufacturer has already carried out anti-corrosion spray paint treatment, but because the street light poles are erected outdoors, they are exposed to wind, rain and sun all year round, and the outer surface of the street light poles will adhere more Dust, paint peeling and rusting occur, which not only affects the appearance of the city, but also shortens the service life of the street lamp pole. Falling and injuring pedestrians or vehicles. At present, there is no special device for automatically cleaning and spraying the surface of street light poles on the market. If manual cleaning and painting are adopted, ladders and multiple people are required to operate, which has great potential safety hazards, and the labor intensity is high, and the safety and reliability are poor.

Contents of the invention

In order to solve the deficiencies in the prior art, the present invention provides a street light pole outer surface cleaning and painting robot with low labor intensity, safety and reliability, high work efficiency, and which can be operated by a single person.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: the street light pole outer surface cleaning and painting robot, including the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame with the same structure and front and back symmetry, the front semi-cylindrical outer frame The center line coincides with the center line of the rear semi-cylindrical outer frame and the center line is arranged vertically, the left side of the front semi-cylindrical outer frame is hinged with the left side of the rear semi-cylindrical outer frame, and the front semi-cylindrical The right side of the outer frame is connected to the right side of the rear semi-cylindrical outer frame through the first connecting bolt assembly;

The top of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame are provided with a painting device, the middle and upper parts of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame are provided with a climbing guide device, the front semi-cylindrical outer frame and The lower part of the rear semi-cylindrical outer frame is provided with a rotary surface dust cleaning device;

The painting device consists of three high-pressure paint cans and six poles. The lower ends of the four poles and two high-pressure paint cans are set on the top of the rear semi-cylindrical outer frame, and the lower ends of the other two poles and one high-pressure paint can are set on the front half. On the top of the cylindrical outer frame, the upper end of each pole is provided with a high-pressure nozzle facing the center line of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame. Every two high-pressure nozzles pass through the paint hose and the three-way joint It is connected with the nozzle of the high-pressure paint tank, and the nozzle of the high-pressure paint tank is provided with a remote solenoid valve.

The climbing guide device includes three sets of crawler-clamping climbing power drive systems with the same structure and three sets of support and guide mechanisms located below the crawler-clamping climbing power drive system. The circular outer frame and the rear semi-cylindrical outer frame are evenly arranged in the circumferential direction, one set of crawler-clamping climbing power drive system is arranged in the middle of the inner wall of the front semi-cylindrical outer frame, and the other two sets of crawler-clamping climbing power drive systems are in the middle of the inner wall of the front semi-cylindrical outer frame. On the inner wall of the rear semi-cylindrical outer frame;

The crawler clamping climbing power drive system on the inner wall of the front semi-cylindrical outer frame includes a crawler electric cylinder, a crawler mounting frame, a crawler drive motor, a clamping upper link, a clamping lower link, a clamping support and a clamp Tighten the push-pull rod, the crawler electric cylinder is parallel to the center line of the front semi-cylindrical outer frame, the lower end of the cylinder body of the crawler electric cylinder is hinged on a vertical rod of the front semi-cylindrical outer frame, and the clamping support is set on the crawler electric cylinder The upper end of the push rod, the clamping guide rod is horizontally set on the clamping support, and the vertical rod is provided with a clamping guide hole along the direction parallel to the crawler electric cylinder, and the clamping guide rod is installed in the clamping guide hole. There are two clamping upper links, clamping lower links and clamping push-pull rods arranged symmetrically about the vertical bar. The clamping upper link is located above the clamping lower link and parallel to the clamping lower link. , the upper end of the clamping upper link and the upper end of the clamping lower link are both hinged on the vertical bar, and the lower ends of the clamping upper link and the clamping lower link on the left are hinged on the left side of the track mounting frame, The lower ends of the clamping upper link and the clamping lower link on the right are hinged on the right side of the track mounting frame, and the lower ends of the two clamping push-pull rods are hinged on the clamping support through the clamping guide rod. The upper end of the push-pull rod is hinged to the track mounting frame through a pin shaft, and the pin shaft is located below the hinge point between the clamping upper link and the track mounting frame and above the hinge point between the clamping lower link and the track mounting frame, and the track mounting frame The upper part and the lower part are respectively provided with a driven wheel and a driving wheel, and a row of pressing wheels is arranged vertically on the inner side of the track mounting frame. There are two, the two crawler drive motors are respectively arranged on the left and right sides of the crawler installation frame and are all connected with the driving wheel transmission.

The three sets of supporting and guiding mechanisms have the same structure and are evenly arranged along the circumferential direction of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame, and each set of supporting and guiding mechanisms is correspondingly located directly below a set of crawler clamping and climbing power drive systems;

The supporting and guiding mechanisms on the front side all include guiding electric cylinders, guiding arms and guiding wheels. The guiding electric cylinders are arranged along the radial direction of the front semi-cylindrical outer frame, and the cylinder body of the guiding electric cylinders is fixedly connected to the front semi-cylindrical outer frame. , the guide arm is set with a high outside and a low inside, the outer end of the guide arm is hinged on the vertical bar, the guide wheel is a dumbbell-shaped structure, the guide wheel is connected to the inner end of the guide arm in rotation, and the guide arm is provided with left and right sides along the length direction. Through the movable guide hole, the inner end of the guide electric cylinder is connected with a guide post slidably arranged in the movable guide hole.

The rotary surface dust cleaning device includes a front semi-cylindrical cleaning rack and a rear semi-cylindrical cleaning rack that are rotatably connected to the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame, and the front semi-cylindrical cleaning rack and the rear semi-cylindrical cleaning rack. The structure of the cleaning frame is the same and the front and back are symmetrical. The center lines of the front semi-cylindrical cleaning frame, the rear semi-cylindrical cleaning frame, the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame coincide, and the rear semi-cylindrical cleaning frame is fixedly connected to the rear Inside the semi-cylindrical outer frame, the left side of the front semi-cylindrical cleaning frame is hinged to the left side of the rear semi-cylindrical cleaning frame, and the right side of the front semi-cylindrical cleaning frame is connected to the right side of the rear semi-cylindrical cleaning frame. the sides are connected by a second connecting bolt assembly;

The inner side of the front semi-cylindrical outer frame is horizontally provided with an upper movable support guide rail and a lower movable support guide rail, both of which are semi-circular, and the inner side of the rear semi-cylindrical outer frame is horizontally provided with an upper fixed guide rail and a lower fixed guide rail, both of which are semi-circular. The upper support guide rail is joined with the upper fixed guide rail to form a ring-shaped upper support guide rail, and the lower movable support guide rail is joined with the lower fixed guide rail to form a circular ring-shaped lower support guide rail; the cross-section of the upper support guide rail and the lower support guide rail along the vertical direction It is an L-shaped structure, the upper support rail and the lower support rail have the same structure and are symmetrical up and down;

The upper end and the lower end of the front semi-cylindrical cleaning rack are respectively horizontally provided with movable semi-circular plates, and the inner upper end and lower end of the rear semi-cylindrical cleaning rack are respectively horizontally provided with fixed semi-circular plates, and the upper movable semi-circular plates The upper ring plate is formed into a circular ring by joining with the fixed semi-annular plate on the upper part; The ring plate is sleeved on the upper support rail, the inner circle of the upper ring plate is in contact with the outer circle of the upper part of the upper support guide rail, the lower ring surface of the upper ring plate is in contact with the upper ring surface of the lower part of the upper support guide rail, and the lower ring plate sleeve Set on the lower support rail, the inner circle of the lower ring plate is in contact with the outer circle of the lower part of the lower support guide rail, and the lower annular surface of the lower annular plate is in contact with the upper and lower annular surface of the lower support guide rail;

A cleaning motor is fixedly arranged on the rear semi-cylindrical outer frame, and the cleaning motor is arranged vertically. The power output shaft of the cleaning motor is provided with a gear, and the outer circumference of the upper movable semi-circular plate and the fixed semi-circular plate are respectively provided with a semi-circular ring. Ring gear, two semi-annular ring gears are butted to form an annular ring gear, and the gear meshes with the annular ring gear;

The inner side of the front semi-cylindrical cleaning frame and the rear semi-cylindrical cleaning frame are provided with three groups of cleaning mechanisms with the same structure, and the three groups of cleaning mechanisms are evenly arranged along the circumferential direction of the front semi-cylindrical cleaning frame and the rear semi-cylindrical cleaning frame.

One of the cleaning mechanisms is arranged on the inner side of the front semi-cylindrical cleaning frame, and the other two cleaning mechanisms are arranged on the inner side of the rear semi-cylindrical cleaning frame;

The cleaning mechanism arranged on the inside of the front semi-cylindrical cleaning frame includes cleaning electric cylinder, cleaning upper connecting rod, cleaning lower connecting rod, cleaning support, cleaning push-pull rod and arc plate with 1/3 cylindrical structure. The plate and the front semi-cylindrical cleaning rack are set on the same center line, and the inner wall of the arc plate is evenly provided with bristles;

The lower end of the cylinder block of the cleaning electric cylinder is hinged on a vertical rod of the front semi-cylindrical cleaning frame. The cleaning support is arranged on the upper end of the push rod of the cleaning electric cylinder. A cleaning guide hole is opened parallel to the direction of cleaning the electric cylinder, and the cleaning guide rod is penetrated in the cleaning guide hole. There are two cleaning upper connecting rods, cleaning lower connecting rods and cleaning push-pull rods symmetrically arranged with respect to the vertical rod. The cleaning upper link is located above the cleaning lower link and arranged parallel to the cleaning lower link. The upper end of the cleaning upper link and the upper end of the cleaning lower link are hinged on the vertical rod. The lower ends of the rods are hinged to the middle of the outer circumference of the arc-shaped plate through the upper hinge and the lower hinge respectively, the lower ends of the two cleaning push-pull rods are hinged on the cleaning support through the cleaning guide rod, and the upper ends of the two cleaning push-pull rods are hinged on the arc-shaped plate through the middle hinge In the middle of the outer circumference, the middle hinge is located between the upper hinge and the lower hinge.

A hoop with an open top is arranged on the top of the rear semi-cylindrical outer frame, and the high-pressure paint can is arranged in the hoop and clamped in the hoop by a bolt connection assembly.

By adopting the above technical scheme, the present invention uses a rechargeable battery to supply power to the electric cylinder and the motor, and controls the opening and closing of each electric rod, motor and remote control solenoid valve through remote control. For the present invention's specific working principle and working process are as follows:

First remove the first connecting bolt assembly, open the front semi-cylindrical outer frame forward, then remove the second connecting bolt assembly, open the front semi-cylindrical cleaning frame forward, and then put the present invention on the lower part of the street light pole First, close the semi-cylindrical cleaning rack, install the second connecting bolt assembly, then close the front semi-cylindrical outer frame, and install the first connecting bolt assembly. Remotely start the crawler electric cylinder, the push rod of the crawler electric cylinder pushes the clamping support upward, the clamping guide rod on the clamping support moves upward along the clamping guide hole, and the clamping support pushes the track mounting frame through the clamping push-pull rod Moving upwards, due to the parallel linkage mechanism composed of the upper end of the clamping upper link and the clamping lower link connected to the crawler mounting frame, the crawler mounting frame moves upward and at the same time moves inward in the radial direction until the three crawlers correspond to each other. Close the crawler electric cylinder after clamping the lamp pole.

When the crawler electric cylinder is started, the cleaning electric cylinder, cleaning motor and guide electric cylinder are also started. The push rod of the cleaning electric cylinder pushes up the cleaning support, and the cleaning guide rod on the cleaning support moves upward along the cleaning guide hole, cleaning the support. Push the arc-shaped plate and bristles to move upward through the cleaning push-pull rod. Due to the parallel linkage mechanism composed of the upper end of the cleaning upper link and the cleaning lower link, the arc-shaped plate and the bristles also move inward along the radial direction while moving upward until The three groups of bristles are all in contact with the street light pole and then close the cleaning electric cylinder; the cleaning motor drives the gear to rotate, the gear drives the circular ring gear meshed with it to rotate, and the circular ring gear drives the movable semi-circular plate and the fixed semi-circular ring When the plate rotates, the front semi-cylindrical cleaning frame, the rear semi-cylindrical cleaning frame and the three groups of cleaning mechanisms also rotate, and the bristles clean the outer peripheral surface of the street light pole. Because the height of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame of the present invention is relatively high, in order to improve the stability of upward movement, three groups of support guide mechanisms are provided in the present invention to cooperate with three caterpillar belts to ensure the stability of the present invention. Stability when moving up and down. After the guide electric rod is started, the push rod of the guide electric cylinder is extended in the radial direction, and the guide post moves in the movable guide hole, pushing the guide arm to rotate upwards until the guide wheel contacts the lamp pole and then closes the guide electric cylinder.

Then start the crawler drive motor, the crawler drive motor drives the crawler belt to rotate through the driving wheel, the sliding friction between the three crawler belts and the outer circle of the lamp pole is greater than the gravity of the present invention itself, the three crawler belts just move upwards along the lamppost, and the bristles are moving upwards Rotate at the same time to clean the dust or rust attached to the outer surface of the lamppost. When the utility model rises to the highest point of the straight section of the lamppost, the remote control solenoid valve is opened remotely, and the crawler drive motor is controlled to rotate in reverse at the same time. The nozzle of the tank is opened, and six high-pressure nozzles spray paint on the circumference of the lamppost at the same time. The crawler drive motor drives the invention to move down along the lamppost. Clean up the traces again until the utility model moves to the lowermost end of the street light pole, then close the crawler drive motor, cleaning motor and remote control solenoid valve, and then start the crawler electric cylinder, cleaning electric cylinder and guide electric cylinder to move in reverse, so that the crawler belt and the guide wheel are separated. lamp post. So far, the surface cleaning and painting of a street light pole are completed at one time. At the section of the lowermost section of the street light pole that is not sprayed by the high-pressure nozzle, the worker squats down and uses a brush dipped in paint to brush it.

The upper support guide rail and the lower support guide rail with an L-shaped structure in cross-section not only limit the position of the axial direction of the front semi-cylindrical cleaning rack and the rear semi-cylindrical cleaning rack, but also define the position of the front semi-cylindrical cleaning rack and the rear semi-cylindrical cleaning rack. Rotation provides a circular orbit,

To sum up, the present invention is powered by electric motors and realizes the clamping and pressure maintaining of the track, the crimping between the bristles and the outer wall of the street lamp pole, the contact between the guide wheel and the outer wall of the street lamp pole, etc. through the mechanical execution structure. A remote control system or a limit switch can be used to control the up and down work of the light pole along the road of the present invention. Three high-pressure paint tanks are arranged on the top of the present invention to supply two high-pressure spray heads respectively, and six high-pressure spray heads are evenly distributed above the machine to ensure uniform paint spraying on the pipeline.

The invention has the advantages of reasonable design, compact structure, convenient operation, strong safety and reliability, high degree of automation, integrated rust removal, dust removal and painting, which reduces labor intensity of workers and greatly improves work efficiency. Of course, the present invention can also be used for cleaning and painting operations of straight long rods or pipelines in various directions.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is the structural representation of the present invention after removing front semicylindrical outer frame;

Fig. 3 is an enlarged view of the crawler clamping climbing power drive system and the supporting guide mechanism in Fig. 1;

Fig. 4 is an enlarged view of the cleaning mechanism in Fig. 1 .

Detailed ways

As shown in Figures 1-4, the cleaning and painting robot for the outer surface of the street light pole of the present invention includes a front semi-cylindrical outer frame 1 and a rear semi-cylindrical outer frame 2 with the same structure and front and back symmetry, and the front semi-cylindrical outer frame The center line of 1 coincides with the center line of the rear semi-cylindrical outer frame 2 and the center line is arranged vertically, the left side of the front semi-cylindrical outer frame 1 is hinged to the left side of the rear semi-cylindrical outer frame 2 , the right side of the front semi-cylindrical outer frame 1 is connected to the right side of the rear semi-cylindrical outer frame 2 through the first connecting bolt assembly;

The top of the front semi-cylindrical outer frame 1 and the rear semi-cylindrical outer frame 2 is provided with a painting device, and the middle and upper parts of the front semi-cylindrical outer frame 1 and the rear semi-cylindrical outer frame 2 are provided with a climbing guide device. Shape outer frame 1 and rear semi-cylindrical outer frame 2 inner bottoms are provided with rotary surface dust cleaning device.

The climbing guide device includes three sets of crawler-clamping climbing power drive systems 3 with the same structure and three sets of support guide mechanisms 4 located below the crawler-clamping climbing power drive system 3, and three sets of crawler-clamping climbing power drive systems 3 Arranged evenly along the circumferential direction of the front semi-cylindrical outer frame 1 and the rear semi-cylindrical outer frame 2, one set of crawler belt clamping climbing power drive system 3 is arranged in the middle of the inner wall of the front semi-cylindrical outer frame 1, and the other two sets of crawler tracks Clamp the climbing power drive system 3 on the inner wall of the rear semi-cylindrical outer frame 2;

The crawler clamping and climbing power drive system 3 on the inner wall of the front semi-cylindrical outer frame 1 all includes a crawler electric cylinder 5, a crawler installation frame 6, a crawler drive motor 7, a clamping upper link 8, and a clamping lower link 9 , the clamping support 10 and the clamping push-pull rod 11, the crawler electric cylinder 5 is parallel to the center line of the front semi-cylindrical outer frame 1, and the lower end of the cylinder body of the crawler electric cylinder 5 is hinged on one of the front semi-cylindrical outer frames 1 On the vertical rod 12, the clamping support 10 is arranged on the upper end of the push rod of the crawler electric cylinder 5, and the clamping guide rod 13 is arranged horizontally on the clamping support 10, and the vertical rod 12 is set in a direction parallel to the crawler electric cylinder 5. There is a clamping guide hole 14, and the clamping guide rod 13 is penetrated in the clamping guide hole 14. The clamping upper link 8, the clamping lower link 9 and the clamping push-pull rod 11 are all about the vertical bar 12. There are two symmetrically arranged, the clamping upper link 8 is located above the clamping lower link 9 and arranged parallel to the clamping lower link 9, the upper end of the clamping upper link 8 and the upper end of the clamping lower link 9 are hinged on the upper end of the clamping lower link 9. On the vertical bar 12 described above, the lower ends of the clamping upper link 8 and the clamping lower link 9 on the left are hinged on the left side of the track mounting frame 6, and the clamping upper link 8 and the clamping lower link on the right The lower ends of the rods 9 are all hinged on the right side of the track mounting bracket 6, the lower ends of the two clamping push-pull rods 11 are hinged on the clamping support 10 through the clamping guide rod 13, and the upper ends of the two clamping push-pull rods 11 pass through a pin The shaft 15 is hinged with the track mounting frame 6, and the pin shaft 15 is located below the hinge point between the clamping upper link 8 and the track mounting frame 6 and above the hinge point between the clamping lower link 9 and the track mounting frame 6. The track mounting frame 6. The upper part and the lower part are respectively provided with a driven wheel and a driving wheel. The inner side of the track mounting frame 6 is provided with a row of pressing wheels along the vertical direction. The driving wheel, the driven wheel and a row of pressing wheels are connected by a transmission of the track 16, and the track Two driving motors 7 are provided, and the two crawler belt driving motors 7 are respectively arranged on the left and right sides of the crawler belt installation frame 6 and are all connected with the drive wheel transmission.

The three sets of supporting and guiding mechanisms 4 have the same structure and are evenly arranged along the circumferential direction of the front semi-cylindrical outer frame 1 and the rear semi-cylindrical outer frame 2. Each set of supporting and guiding mechanisms 4 is correspondingly located in a group of crawler belt clamping and climbing power drive systems. 3 directly below;

The support and guide mechanism 4 on the front side all comprises guide electric cylinder 17, guide arm 18 and guide wheel 19, and guide electric cylinder 17 is arranged along the radial direction of front semicylindrical outer frame 1, and the cylinder body of guide electric cylinder 17 is fixedly connected on On the front semi-cylindrical outer frame 1, the guide arm 18 is inclined to be high outside and low inside, and the outer end of the guide arm 18 is hinged on the vertical rod 12. The guide wheel 19 is a dumbbell-shaped structure, and the guide wheel 19 is rotatably connected to the At the inner end of the guide arm 18 , the guide arm 18 is provided with left and right transparent movable guide holes 20 along the length direction, and the inner end of the guide electric cylinder 17 is connected with a guide post 21 slidably arranged in the movable guide hole 20 .

The rotary surface dust cleaning device comprises a front semi-cylindrical cleaning frame 22 and a rear semi-cylindrical cleaning frame 23 that are rotatably connected to the front semi-cylindrical outer frame 1 and the rear semi-cylindrical outer frame 2, and the front semi-cylindrical cleaning frame 22 Same structure as rear semi-cylindrical cleaning frame 23 and front and back symmetry, the center lines of front semi-cylindrical cleaning frame 22, rear semi-cylindrical cleaning frame 23, front semi-cylindrical outer frame 1 and rear semi-cylindrical outer frame 2 coincide, Rear semi-cylindrical cleaning frame 23 is fixedly connected inside rear semi-cylindrical outer frame 2, the left side of front semi-cylindrical cleaning frame 22 is hinged with the left side of rear semi-cylindrical cleaning frame 23, and the front semi-cylindrical cleaning frame The right side of 22 is connected with the right side of rear semi-cylindrical cleaning frame 23 by the second connecting bolt assembly;

The inner side of the front semi-cylindrical outer frame 1 is horizontally provided with an upper movable support guide rail and a lower movable support guide rail, both of which are semi-circular, and the inner side of the rear semi-cylindrical outer frame 2 is horizontally provided with an upper fixed guide rail and a lower fixed guide rail, both of which are semi-circular. The upper movable support guide rail and the upper fixed guide rail are butt jointed to form an annular upper support guide rail 24, and the lower movable support guide rail and the lower fixed guide rail are joined to form a circular lower support guide rail 25; the upper support guide rail 24 and the lower support guide rail 25 has an L-shaped cross-section along the vertical direction, and the upper support guide rail 24 and the lower support guide rail 25 have the same structure and are symmetrical up and down;

The front semi-cylindrical cleaning frame 22 upper end and the lower end are respectively horizontally provided with movable semi-circular plates; The ring plate and the fixed semi-annular plate of the upper part butt joint to form a circular upper annular plate 26, and the movable semi-annular plate of the lower part and the fixed semi-annular plate of the lower part butt joint to form a circular lower ring Plate 27, the upper ring plate 26 is sleeved on the upper support rail 24, the inner circle of the upper ring plate 26 is in contact with the upper outer circle of the upper support rail 24, and the annular surface of the upper ring plate 26 is in contact with the upper support rail 24 bottom. The side annular surface is in contact, the lower annular plate 27 is sleeved on the lower supporting rail 25, the inner circle of the lower annular plate 27 is in contact with the lower outer circle of the lower supporting rail 25, and the lower annular surface of the lower annular plate 27 is in contact with the lower supporting rail 25. Underside annular surface contact;

The rear semi-cylindrical outer frame 2 is fixedly provided with a cleaning motor 28, the cleaning motor 28 is vertically arranged, and the power output shaft of the cleaning motor 28 is provided with a gear 29, and the outer circumference of the upper movable semi-circular plate and the fixed semi-circular plate A semi-annular ring gear is respectively provided, and the two semi-annular ring gears are docked to form an annular ring gear, and the gear 29 meshes with the annular ring gear 30;

The inner part of front semi-cylindrical cleaning frame 22 and rear semi-cylindrical cleaning frame 23 is provided with three groups of cleaning mechanisms 31 identical in structure, and three groups of cleaning mechanisms 31 are arranged along the front semi-cylindrical cleaning frame 22 and rear semi-cylindrical cleaning frame 23. Evenly distributed in the circumferential direction.

Wherein one group of cleaning mechanism 31 is arranged on the inner part of the front semi-cylindrical cleaning frame 22, and the other two cleaning mechanisms 31 are arranged on the inner part of the rear semi-cylindrical cleaning frame 23;

The cleaning mechanism 31 arranged on the inside of the front semi-cylindrical cleaning rack 22 includes a cleaning electric cylinder 32, a cleaning upper connecting rod 33, a cleaning lower connecting rod 34, a cleaning support 35, a cleaning push-pull rod 36 and a 1/3 cylindrical structure The arc-shaped plate 37, the arc-shaped plate 37 and the front semi-cylindrical cleaning frame 22 are set on the same center line, and the inner side wall of the arc-shaped plate 37 is evenly provided with bristles 38;

The lower end of the cylinder block of the cleaning electric cylinder 32 is hinged on a vertical bar 39 of the front semi-cylindrical cleaning frame 22, the cleaning support 35 is arranged on the push rod upper end of the cleaning electric cylinder 32, and the cleaning guide rod is horizontally arranged on the cleaning support 35 40, the root vertical rod 39 is provided with a cleaning guide hole 41 along the direction parallel to the cleaning electric cylinder 32, and the cleaning guide rod 40 is penetrated in the cleaning guide hole 41, and the cleaning upper connecting rod 33, the cleaning lower connecting rod 34 and the cleaning push Pull rods 36 are all symmetrically arranged with two about the vertical bar 39. The cleaning upper connecting rod 33 is located above the cleaning lower connecting rod 34 and is arranged in parallel with the cleaning lower connecting rod 34. The upper end of the cleaning upper connecting rod 33 and the cleaning lower connecting rod 34 upper ends are all hinged on the described vertical rod 39, and the cleaning upper connecting rod 33 lower ends and the cleaning lower connecting rod 34 lower ends are respectively hinged on the outer circumference middle part of the arc plate 37 through the upper hinge and the lower hinge, and two cleaning push-pull rods 36 The lower end is hinged on the cleaning support 35 through the cleaning guide rod 40, and the upper ends of the two cleaning push-pull rods 36 are hinged on the outer circumference middle part of the arc plate 37 through the middle hinge, and the middle hinge is between the upper hinge and the lower hinge.

The paint spraying device comprises three high-pressure paint cans 42 and six poles 43, and the lower ends of four poles 43 and two high-pressure paint cans 42 are all arranged on the rear semi-cylindrical outer frame 2 top, and the other two poles 43 lower ends and one The high-pressure paint pot 42 is arranged on the top of the front semi-cylindrical outer frame 1, and the upper end of each pole 43 is provided with a high-pressure nozzle 44 facing the center line of the front semi-cylindrical outer frame 1 and the rear semi-cylindrical outer frame 2. Each high-pressure spray nozzle 44 is all connected with the spout of high-pressure paint can 42 by paint hose (not shown among the figure) and tee joint 45, and the spout of high-pressure paint can 42 is provided with remote control electromagnetic valve.

The top of the rear semi-cylindrical outer frame 2 is provided with a hoop 46 with an open top, and the high-pressure paint can 42 is arranged in the hoop 46 and is clamped in the hoop 46 by a bolt connection assembly. The setting of the hoop 46 can facilitate the replacement of the high-pressure paint can, and the high-pressure paint can can adopt a self-spray paint can, which has a larger spraying pressure.

The present invention uses the rechargeable battery to supply power to the electric cylinder and the motor through wires, and the rechargeable battery is not arranged on the trolley of the present invention to reduce the weight of the present invention. The opening and closing of each electric lever, motor and remote solenoid valve is controlled by remote control. For the present invention's specific working principle and working process are as follows:

First remove the first connecting bolt assembly, open the front semi-cylindrical outer frame 1 forward, then disassemble the second connecting bolt assembly, open the front semi-cylindrical cleaning rack 22 forward, and then put the present invention on the street light pole The bottom of the bottom, first close the semi-cylindrical cleaning rack, install the second connecting bolt assembly, then close the front semi-cylindrical outer frame 1, and install the first connecting bolt assembly. Start the crawler electric cylinder 5 by remote control, the push rod of the crawler electric cylinder 5 pushes the clamping support 10 upward, the clamping guide rod 13 on the clamping support 10 moves upward along the clamping guide hole 14, and the clamping support 10 passes through the clamping Tight push-pull rod 11 promotes crawler track mounting frame 6 to move upwards, because the clamping upper link 8 upper end that is connected on the crawler track mounting frame 6 and the parallel link mechanism that clamping lower link 9 form, crawler track mounting frame 6 moves upwards and also Move inward along the radial direction until the three crawler belts 16 are correspondingly clamped to the lamp pole and then close the crawler belt electric cylinder 5 .

When the crawler electric cylinder 5 starts, the cleaning electric cylinder 32, the cleaning motor 28 and the guide electric cylinder 17 are also started, and the push rod of the cleaning electric cylinder 32 pushes up the cleaning support 35, and the cleaning guide rod 40 on the cleaning support 35 sweeps along the The guide hole 41 moves upwards, and the cleaning support 35 pushes the arc plate 37 and the bristles 38 to move upwards by the cleaning push-pull rod 36. Due to the parallel linkage mechanism formed by cleaning the upper link 33 upper end and the cleaning lower link 34, the arc plate 37 When the bristles 38 move upwards, they also move inwards in the radial direction until the three groups of bristles 38 are in contact with the lamp pole and then close the cleaning electric cylinder 32; the cleaning motor 28 drives the gear 29 to rotate, and the gear 29 drives the ring meshed with it Shape ring gear 30 rotates, and annular ring gear 30 drives movable semi-circular ring plate and fixed semi-circular ring plate to rotate, and front semi-cylindrical cleaning frame 22, rear semi-cylindrical cleaning frame 23 and three groups of cleaning mechanisms 31 also follow As it rotates, the bristles 38 clean the outer peripheral surface of the street light pole. Because the height of the front semi-cylindrical outer frame 1 and the rear semi-cylindrical outer frame 2 of the present invention is relatively high, in order to improve the stability of upward movement, three sets of support guide mechanisms 4 are provided in the present invention to cooperate with three caterpillar belts 16. Ensure the stability of the present invention when moving up and down. After the guide electric rod is activated, the push rod of the guide electric cylinder 17 is extended in the radial direction, and the guide post 21 moves in the movable guide hole 20, pushing the guide arm 18 to rotate upwards until the guide wheel 19 contacts the lamp pole and then closes the guide motor. Cylinder 17.

Then start the crawler belt drive motor 7, the crawler belt drive motor 7 drives the crawler belt 16 to rotate through the driving wheel, the sliding friction between the three crawler belts 16 and the outer circle of the street lamp pole is greater than the gravity of the present invention itself, and the three crawler belts 16 just move upwards along the street lamp pole, The bristles 38 rotate while moving upwards to clean up the dust or rust attached to the outer surface of the lamppost. When the utility model rises to the highest point of the straight section of the lamppost, the remote control electromagnetic valve is opened remotely, and the crawler drive motor is controlled at the same time. 7 Reverse rotation, the nozzle of the high-pressure paint can 42 is opened, six high-pressure nozzles 44 spray paint on the circumference of the street light pole at the same time, the crawler drive motor 7 drives the present invention to move downward along the street light pole, and the bristles 38 continue to rotate while moving , clean up the dust or rust attached to the outer surface of the street lamp pole again until the present invention moves to the lowermost end of the street lamp pole and then close the crawler drive motor 7, the cleaning motor 28 and the remote control solenoid valve, and then start the crawler electric cylinder 5 and the cleaning electric cylinder 32 and guide electric cylinder 17 reverse actions, crawler belt 16 and guide wheel 19 are broken away from street lamp post. So far, the surface cleaning and painting of a street light pole are completed at one time. At the section that is not sprayed by the high-pressure nozzle 44 at the bottom of the street light pole, the worker squats down and uses a brush dipped in paint to brush it.

This embodiment does not impose any formal restrictions on the shape, material, structure, etc. of the present invention. All simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention belong to the protection of the technical solution of the present invention. scope.

Claims (5)

1. A robot for cleaning and painting the outer surface of a street light pole, characterized in that it includes a front semi-cylindrical outer frame and a rear semi-cylindrical outer frame with the same structure and front and back symmetry, the center line of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame The centerlines of the outer frames coincide and the centerlines are arranged vertically, the left side of the front semi-cylindrical outer frame is hinged to the left side of the rear semi-cylindrical outer frame, and the right side of the front semi-cylindrical outer frame is connected to the left side of the rear semi-cylindrical outer frame. The right side of the rear semi-cylindrical outer frame is connected by the first connecting bolt assembly; The top of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame are provided with a painting device, the middle and upper parts of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame are provided with a climbing guide device, the front semi-cylindrical outer frame and The lower part of the rear semi-cylindrical outer frame is provided with a rotary surface dust cleaning device; The painting device consists of three paint cans and six poles. The lower ends of the four poles and two paint cans are set on the top of the rear semi-cylindrical outer frame, and the lower ends of the other two poles and one paint can are set on the front semi-cylindrical frame. On the top of the outer frame, the upper end of each pole is provided with a nozzle facing the center line of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame, and each of the two nozzles passes through the spray nozzle of the paint hose, the three-way joint and the paint can Connection, the nozzle of the paint can is equipped with a remote solenoid valve; The rotary surface dust cleaning device includes a front semi-cylindrical cleaning rack and a rear semi-cylindrical cleaning rack that are rotatably connected to the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame, and the front semi-cylindrical cleaning rack and the rear semi-cylindrical cleaning rack. The structure of the cleaning frame is the same and the front and back are symmetrical. The center lines of the front semi-cylindrical cleaning frame, the rear semi-cylindrical cleaning frame, the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame coincide, and the rear semi-cylindrical cleaning frame is fixedly connected to the rear Inside the semi-cylindrical outer frame, the left side of the front semi-cylindrical cleaning frame is hinged to the left side of the rear semi-cylindrical cleaning frame, and the right side of the front semi-cylindrical cleaning frame is connected to the right side of the rear semi-cylindrical cleaning frame. the sides are connected by a second connecting bolt assembly; The inner side of the front semi-cylindrical outer frame is horizontally provided with an upper movable support guide rail and a lower movable support guide rail, both of which are semi-circular, and the inner side of the rear semi-cylindrical outer frame is horizontally provided with an upper fixed guide rail and a lower fixed guide rail, both of which are semi-circular. The upper support guide rail is joined with the upper fixed guide rail to form a ring-shaped upper support guide rail, and the lower movable support guide rail is joined with the lower fixed guide rail to form a circular ring-shaped lower support guide rail; the cross-section of the upper support guide rail and the lower support guide rail along the vertical direction It is an L-shaped structure, the upper support rail and the lower support rail have the same structure and are symmetrical up and down; The upper end and the lower end of the front semi-cylindrical cleaning rack are respectively horizontally provided with movable semi-circular plates, and the inner upper end and lower end of the rear semi-cylindrical cleaning rack are respectively horizontally provided with fixed semi-circular plates, and the upper movable semi-circular plates The upper ring plate is formed into a circular ring by joining with the fixed semi-annular plate on the upper part; The ring plate is sleeved on the upper support rail, the inner circle of the upper ring plate is in contact with the outer circle of the upper part of the upper support guide rail, the lower ring surface of the upper ring plate is in contact with the upper ring surface of the lower part of the upper support guide rail, and the lower ring plate sleeve Set on the lower support rail, the inner circle of the lower ring plate is in contact with the outer circle of the lower part of the lower support guide rail, and the lower annular surface of the lower annular plate is in contact with the upper and lower annular surface of the lower support guide rail; A cleaning motor is fixedly arranged on the rear semi-cylindrical outer frame, and the cleaning motor is arranged vertically. The power output shaft of the cleaning motor is provided with a gear, and the outer circumference of the upper movable semi-circular plate and the fixed semi-circular plate are respectively provided with a semi-circular ring. Ring gear, two semi-annular ring gears are butted to form an annular ring gear, and the gear meshes with the annular ring gear; The inner side of the front semi-cylindrical cleaning frame and the rear semi-cylindrical cleaning frame are provided with three groups of cleaning mechanisms with the same structure, and the three groups of cleaning mechanisms are evenly arranged along the circumferential direction of the front semi-cylindrical cleaning frame and the rear semi-cylindrical cleaning frame. 2. The robot for cleaning and painting the outer surface of a street light pole according to claim 1, wherein the climbing guide device includes three sets of crawler-clamping climbing power drive systems and a crawler-clamping climbing power drive system located in the same structure. Three sets of supporting and guiding mechanisms below, three sets of crawler clamping and climbing power drive systems are evenly arranged along the circumferential direction of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame, and one set of crawler clamping and climbing power drive systems is arranged In the middle of the inner wall of the front semi-cylindrical outer frame, the other two sets of crawlers clamp the climbing power drive system on the inner wall of the rear semi-cylindrical outer frame; The crawler clamping climbing power drive system on the inner wall of the front semi-cylindrical outer frame includes a crawler electric cylinder, a crawler mounting frame, a crawler drive motor, a clamping upper link, a clamping lower link, a clamping support and a clamp Tighten the push-pull rod, the crawler electric cylinder is parallel to the center line of the front semi-cylindrical outer frame, the lower end of the cylinder body of the crawler electric cylinder is hinged on a vertical rod of the front semi-cylindrical outer frame, and the clamping support is set on the crawler electric cylinder The upper end of the push rod, the clamping guide rod is horizontally set on the clamping support, and the vertical rod is provided with a clamping guide hole along the direction parallel to the crawler electric cylinder, and the clamping guide rod is installed in the clamping guide hole. There are two clamping upper links, clamping lower links and clamping push-pull rods arranged symmetrically about the vertical bar. The clamping upper link is located above the clamping lower link and parallel to the clamping lower link. , the upper end of the clamping upper link and the upper end of the clamping lower link are both hinged on the vertical bar, and the lower ends of the clamping upper link and the clamping lower link on the left are hinged on the left side of the track mounting frame, The lower ends of the clamping upper link and the clamping lower link on the right are hinged on the right side of the track mounting frame, and the lower ends of the two clamping push-pull rods are hinged on the clamping support through the clamping guide rod. The upper end of the push-pull rod is hinged to the track mounting frame through a pin shaft, and the pin shaft is located below the hinge point between the clamping upper link and the track mounting frame and above the hinge point between the clamping lower link and the track mounting frame, and the track mounting frame The upper part and the lower part are respectively provided with a driven wheel and a driving wheel, and a row of pressing wheels is arranged vertically on the inner side of the track mounting frame. There are two, the two crawler drive motors are respectively arranged on the left and right sides of the crawler installation frame and are all connected with the driving wheel transmission. 3. The robot for cleaning and painting the outer surface of street light poles according to claim 2, characterized in that: the three sets of supporting and guiding mechanisms have the same structure and are evenly arranged along the circumferential direction of the front semi-cylindrical outer frame and the rear semi-cylindrical outer frame , each group of supporting and guiding mechanisms is located directly below a group of crawler clamping and climbing power drive systems; The supporting and guiding mechanisms on the front side all include guiding electric cylinders, guiding arms and guiding wheels. The guiding electric cylinders are arranged along the radial direction of the front semi-cylindrical outer frame, and the cylinder body of the guiding electric cylinders is fixedly connected to the front semi-cylindrical outer frame. , the guide arm is set with a high outside and a low inside, the outer end of the guide arm is hinged on the vertical bar, the guide wheel is a dumbbell-shaped structure, the guide wheel is connected to the inner end of the guide arm in rotation, and the guide arm is provided with left and right sides along the length direction. Through the movable guide hole, the inner end of the guide electric cylinder is connected with a guide post slidably arranged in the movable guide hole. 4. The street light pole outer surface cleaning and painting robot according to claim 1, characterized in that: one set of cleaning mechanisms is arranged on the inner side of the front semi-cylindrical cleaning frame, and the other two cleaning mechanisms are arranged on the rear semi-cylindrical cleaning frame. the inner part of the frame; The cleaning mechanism arranged on the inside of the front semi-cylindrical cleaning frame includes cleaning electric cylinder, cleaning upper connecting rod, cleaning lower connecting rod, cleaning support, cleaning push-pull rod and arc plate with 1/3 cylindrical structure. The plate and the front semi-cylindrical cleaning rack are set on the same center line, and the inner wall of the arc plate is evenly provided with bristles; The lower end of the cylinder block of the cleaning electric cylinder is hinged on a vertical rod of the front semi-cylindrical cleaning frame. The cleaning support is arranged on the upper end of the push rod of the cleaning electric cylinder. A cleaning guide hole is opened parallel to the direction of cleaning the electric cylinder, and the cleaning guide rod is penetrated in the cleaning guide hole. There are two cleaning upper connecting rods, cleaning lower connecting rods and cleaning push-pull rods symmetrically arranged with respect to the vertical rod. The cleaning upper link is located above the cleaning lower link and arranged parallel to the cleaning lower link. The upper end of the cleaning upper link and the upper end of the cleaning lower link are hinged on the vertical rod. The lower ends of the rods are hinged to the middle of the outer circumference of the arc-shaped plate through the upper hinge and the lower hinge respectively, the lower ends of the two cleaning push-pull rods are hinged on the cleaning support through the cleaning guide rod, and the upper ends of the two cleaning push-pull rods are hinged on the arc-shaped plate through the middle hinge In the middle of the outer circumference, the middle hinge is located between the upper hinge and the lower hinge. 5. The robot for cleaning and painting the outer surface of a street light pole according to claim 1, characterized in that: the top of the rear semi-cylindrical outer frame is provided with a hoop with an open top, and the paint can is arranged in the hoop and connected to the components by bolts Clamped in the hoop.