CN110639865B - Climbing type street lamp scrubbing robot and scrubbing method thereof - Google Patents
Climbing type street lamp scrubbing robot and scrubbing method thereof Download PDFInfo
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- CN110639865B CN110639865B CN201910927763.3A CN201910927763A CN110639865B CN 110639865 B CN110639865 B CN 110639865B CN 201910927763 A CN201910927763 A CN 201910927763A CN 110639865 B CN110639865 B CN 110639865B
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- 230000009194 climbing Effects 0.000 title claims abstract description 139
- 238000005201 scrubbing Methods 0.000 title claims abstract description 110
- 238000001179 sorption measurement Methods 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 37
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 37
- 239000002351 wastewater Substances 0.000 claims abstract description 19
- 238000011084 recovery Methods 0.000 claims abstract description 5
- 238000004140 cleaning Methods 0.000 claims description 32
- 239000000463 material Substances 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 8
- 230000005389 magnetism Effects 0.000 claims description 4
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 238000002955 isolation Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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- B08B1/32—
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- B08B1/12—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
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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
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Abstract
A climbing street lamp scrubbing robot and a scrubbing method thereof are disclosed, the scrubbing robot comprises a climbing module and a scrubbing module, the climbing module comprises an upper climbing mechanism unit body, a middle climbing mechanism unit body and a lower climbing mechanism unit body; the climbing mechanism unit body comprises a power device, a transmission mechanism and an adsorption device, wherein the power device comprises a climbing motor and a control motor which are connected with a power supply through a controller; the transmission mechanism comprises a transmission mechanism shell, a worm wheel, a worm, an upper bearing, a lower bearing, a lead screw, a second-stage straight gear, a first-stage straight gear, a helical gear, a rotating shaft and a staggered shaft helical gear, the scrubbing module comprises a scrubbing arm connected to the climbing module, the scrubbing execution mechanism comprises a scrubbing disc provided with a scrubbing brush head, and the scrubbing disc is connected with the water tank through a clean water conveying pipe and a wastewater recovery pipe. The invention can reduce the number of personnel required by work, has high automation degree, reduces the labor cost, improves the work efficiency, puts an end to the danger of high-altitude operation to the personnel and can recycle the waste water.
Description
Technical Field
The invention relates to the field of cleaning of outdoor traffic street lamps, in particular to a climbing type street lamp scrubbing robot and a scrubbing method thereof.
Background
Street lamps, as a common lighting fixture, are an important component of urban infrastructure. With the rapid development of national economy and the rapid promotion of urbanization, the number of urban and rural road illumination street lamps in China is continuously increased. However, the dirt on the surface of the street lamp often affects the brightness of the street lamp, so that the brightness loss of the street lamp is about 10% -20%, and if the street lamp cannot be cleaned for a long time, the dirt and dust attached to the surface of the street lamp can greatly affect the illumination of the street lamp, thereby greatly affecting pedestrians and vehicles. At present, the mode of cleaning the street lamp is mainly to clean by manual personnel, but because this kind of mode not only inefficiency, working cycle is long, and the street lamp post is higher moreover, and high altitude construction will increase staff's injury rate.
Disclosure of Invention
The invention aims to solve the problems of low efficiency of cleaning street lamps in high-altitude operation and high risk of personal injury in the prior art, and provides a climbing type street lamp cleaning robot and a cleaning method thereof, so that the manual participation is reduced, and the operation efficiency is improved.
In order to achieve the purpose, the invention has the following technical scheme:
a climbing type street lamp scrubbing robot comprises a climbing module and a scrubbing module, wherein the climbing module comprises an upper climbing mechanism unit body, a middle climbing mechanism unit body and a lower climbing mechanism unit body; the climbing mechanism unit body comprises a power device, a transmission mechanism and an adsorption device, wherein the power device comprises a climbing motor and a control motor which are connected with a power supply through a controller; the transmission mechanism comprises a transmission mechanism shell, a worm wheel, a worm, an upper bearing, a lower bearing, a lead screw, a secondary straight gear, a primary straight gear, a helical gear, a rotating shaft and a staggered shaft helical gear, wherein the lead screw sequentially penetrates through the transmission mechanism shells of the middle climbing mechanism unit body and the upper climbing mechanism unit body from the transmission mechanism shell of the lower climbing mechanism unit body to extend upwards, the worm is meshed with the worm wheel, the upper bearing, the lower bearing and the lead screw are coaxially matched and clamped on the upper side and the lower side of the worm wheel, and the gears are arranged between the upper bearing, the lower bearing and the lead screw and can normally rotate; one end of the worm is connected with the climbing motor, and the other end of the worm can rotate freely; one end of the rotating shaft is connected with the control motor, and the other end of the rotating shaft can rotate freely; the first-stage straight gear is fixed on the rotating shaft, and the second-stage straight gear is meshed with the first-stage straight gear and is connected with the helical gear through a connecting shaft; the adsorption device is provided with an openable holding arm, the holding arm is provided with a staggered shaft helical gear meshed with the helical gear, and the holding arm is driven by the staggered shaft helical gear to open and close; the cleaning module comprises a cleaning arm connected to the climbing module, the cleaning arm is connected with a cleaning executing mechanism, the cleaning executing mechanism comprises a cleaning disc provided with a cleaning head, a cleaning motor is connected with the cleaning disc through a gear, the cleaning disc is connected with a water tank through a clean water conveying pipe and a wastewater recovery pipe, and a water pump is arranged in the water tank.
Preferably, in an embodiment of the climbing street lamp scrubbing robot, the power device adopts a 220V alternating current power supply, and the scrubbing arm is connected to the transmission mechanism shell of the upper climbing mechanism unit body.
Preferably, in an embodiment of the climbing street lamp scrubbing robot, the rotating shaft is connected with the first-stage spur gear through a key, and the connecting shaft penetrates out of the transmission mechanism shell and is connected with the helical gear.
Preferably, in an embodiment of the climbing street lamp scrubbing robot according to the present invention, two holding arms of the adsorption device are hinged to a holding arm fixing seat on a transmission mechanism housing, and a staggered shaft helical gear is disposed at a tail end of the holding arm.
Preferably, in an embodiment of the climbing-type street lamp scrubbing robot, the arm includes an electromagnet and a magnetic isolation material arranged in a housing of the arm, the electromagnet wound with the electrified coil is divided into three parts which are uniformly distributed in the magnetic isolation material, and the electromagnet is electrified to clasp a lamp post of the street lamp.
Preferably, in an embodiment of the climbing street lamp scrubbing robot, the scrubbing module adopts two stages of scrubbing arms, a first-stage rotating arm motor is hinged with the transmission mechanism shell, and the first-stage scrubbing arm is connected with the first-stage rotating arm motor through a gear; the second-stage spiral arm motor is positioned at the far end part of the first-stage scrubbing arm and is connected with the second-stage scrubbing arm through a gear, and the second-stage scrubbing arm is hinged with the scrubbing motor through a hinged stud.
The invention also discloses a scrubbing method of the climbing street lamp scrubbing robot, which comprises the following steps:
1) switching on a power supply to enable the adsorption devices in the climbing mechanism unit bodies at the upper part, the middle part and the lower part to be adsorbed on the lamp post, placing the water tank and the water pump on the ground below the street lamp, and normally connecting the clear water conveying conduit and the waste water backflow conduit;
2) the controller controls a control motor in the unit body of the upper climbing mechanism to rotate forwards, the transmission shaft is driven to rotate forwards through the gear, and then the first-stage straight gear is driven to rotate forwards;
3) the motor is controlled to stop rotating, the climbing motor in the unit body of the upper climbing mechanism rotates forwards, the worm is driven to rotate forwards through the gear, the worm drives the worm wheel to rotate forwards, and the unit body of the upper climbing mechanism moves towards the upper end of the screw rod;
4) when the unit body of the upper climbing mechanism reaches the far end of the screw rod, the climbing motor stops working, the motor is controlled to rotate reversely at the moment, the transmission shaft is driven to rotate reversely through the gear to drive the first-stage straight gear to rotate reversely, the first-stage straight gear rotates reversely to drive the second-stage straight gear to rotate positively, then the connecting shaft is driven to rotate positively, the connecting shaft drives the helical gear to rotate positively to drive the staggered shaft helical gear to operate towards the position close to the second-stage; meanwhile, an electromagnet in the adsorption device is electrified to start working, the adsorption device is closed, and after the adsorption action is finished, the motor is controlled to stop rotating;
5) repeating the steps 2) -4) to finish climbing and adsorption of the middle climbing mechanism unit body and the lower climbing mechanism unit body in sequence;
6) the upper climbing mechanism unit body, the middle climbing mechanism unit body and the lower climbing mechanism unit body circularly reciprocate the last movement process and continuously climb upwards or downwards;
7) climbing to a designated position, controlling the scrubbing arm by the controller to enable the scrubbing disc to reach the lower part of the street lamp lampshade, and driving the scrubbing disc to rotate by the scrubbing motor; clear water is stored in a water tank and is transmitted into a scrubbing disc through a clear water conveying guide pipe, the scrubbing disc continuously works to scrub the street lamp, and the wastewater finishes backflow through a wastewater backflow guide pipe;
8) after the scrubbing is finished, the climbing module climbs downwards to finish the scrubbing process.
Compared with the prior art, the climbing type street lamp scrubbing robot has the following beneficial effects: climbing module scrambles the realization through upper portion, middle part, lower part climbing mechanism cell cube on the lead screw in turn and cleans the position lift of robot on the lamp pole, and the cooperation is scrambleed the action, and control motor passes through helical gear and crisscross axle helical gear and makes adsorption equipment's armful arm hold tightly or open on the lamp pole. When the robot moves to a preset position, the scrubbing arm sends the scrubbing disc provided with the scrubbing brush head to the position of the lampshade, the scrubbing disc is driven by the scrubbing motor to complete scrubbing, and the scrubbing disc is connected with the water tank through the clean water conveying pipe and the waste water recycling pipe. Compared with the traditional manual scrubbing mode, the automatic scrubbing device has the advantages that the number of personnel required by work can be reduced, the automation degree is high, the labor cost is reduced, the work efficiency is fully improved, the danger of high-altitude operation on the personnel is avoided, and the wastewater can be recycled.
Compared with the prior art, the street lamp scrubbing method disclosed by the invention has the advantages that the robot is fully utilized, the climbing and high-altitude scrubbing work is automatically completed, the problems of overhigh lamp post and difficulty in manual scrubbing are fully solved, and the safety coefficient is high. The upper portion, middle part, lower part climbing mechanism unit body climb or descend in turn, and adsorption equipment adopts the electromagnet can effectively laminate with the lamp pole, and the reliability is higher, wipes the waste water that the sucking disc cleaned the lamp shade and produced and can effectively retrieve, has also avoided the pollution that causes the environment in the work.
Drawings
FIG. 1 is a schematic structural view of a climbing street lamp scrubbing robot according to the present invention;
FIG. 2 is a schematic diagram of the internal structure of the climbing mechanism unit body of the present invention;
FIG. 3 is a schematic view of the driving relationship of the adsorption apparatus of the present invention;
FIG. 4 is a schematic view of a cantilever structure of the adsorption apparatus of the present invention;
in the drawings: 1-an adsorption device; 2-a bevel gear; 3-a worm; 4-climbing motor; 5-1, an upper bearing; 5-2, lower bearing; 6-controlling the motor; 7-a worm gear; 8-a lead screw; 9-1, a second-stage straight gear; 9-2, a first-stage straight gear; 10-a rotating shaft; 11-a transmission housing; 12-cross axis helical gear; 13-a magnetic-isolating material; 14-an electromagnet; 15-arm-embracing shell; 16-a connecting shaft; 17-1, a first-stage swing arm motor; 17-2. a secondary radial arm motor; 18-primary scrubbing arm; 19-a secondary scrubbing arm; 20-a hinge stud; 21-a scrubbing motor; 22-a scrub pad; 23-a scrub brush head; 24-clear water delivery conduits; 25-a wastewater recovery conduit; 26-a water tank; 27-a controller; 28-wire.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Referring to fig. 1, the scrub robot of the present invention is comprised of a climbing device and a scrub device. The climbing device comprises an upper climbing mechanism unit body, a middle climbing mechanism unit body and a lower climbing mechanism unit body. The climbing mechanism unit body comprises a power device, a transmission mechanism and an adsorption device. The power device comprises a 220V alternating current power supply, a controller 27, a climbing motor 4 and a control motor 6; the transmission mechanism comprises a worm wheel 7, a worm 3, an upper bearing 5-1, a lower bearing 5-2, a screw rod 8, a secondary straight gear 9-1, a primary straight gear 9-2, a helical gear 2, a rotating shaft 10, a staggered shaft helical gear 12 and a transmission mechanism shell 11; the adsorption device 1 comprises an electromagnet 14, a magnetism isolating material 13 and an arm-embracing shell 15; the scrubbing device comprises a primary rotary arm motor 17-1, a secondary rotary arm motor 17-2, a primary scrubbing arm 18, a secondary scrubbing arm 19, a hinged stud 20, a scrubbing motor 21, a scrubbing disc 22, a scrubbing brush head 23, a clean water conveying pipe 24, a waste water return pipe 25 and a water tank 26.
The power device consists of a 220V alternating current power supply, a controller 27, a climbing motor 4 and a control motor 6.
The 220V alternating current power supply is connected with a controller 27 through a lead 28, the controller 27 is fixed on the upper part of the lower climbing mechanism unit body transmission mechanism shell 11 and is connected with the climbing motor 4 and the control motor 6 of each unit body through the lead 28.
The transmission mechanism consists of a worm wheel 7, a worm 3, an upper bearing 5-1, a lower bearing 5-2, a screw rod 8, a secondary straight gear 9-1, a primary straight gear 9-2, a helical gear 2, a rotating shaft 10, a staggered shaft helical gear 12 and a transmission mechanism shell 11. The worm 3 is meshed with the worm wheel 7, the upper bearing 5-1, the lower bearing 5-2 and the lead screw 8 are coaxially matched and clamped on the upper side and the lower side of the worm wheel 7, and the gears can normally rotate. The rotating shaft 10 is connected with the first-stage straight gear 9-2 through a key. The first-stage straight gear 9-2 is meshed with the second-stage straight gear 9-1, and the gears can normally rotate. The second-stage straight gear 9-1 is connected with the helical gear 2 through a connecting shaft 16. The helical gear 2 is meshed with the crossed shaft helical gear 12, and the gears can normally rotate. The gear housing 11 is added to the outside of the gear.
The adsorption device comprises an electromagnet 14, a magnetic isolation material 13 and an arm-embracing shell 15. The electromagnet 14 wound with the electrified coil is uniformly distributed in the magnetic isolation material 13 in three parts. The arm-embracing shell 15 is added outside the adsorption device 1.
The lower end part of the screw 8 is fixed with the lower climbing mechanism unit body, and the worm wheel 7, the upper bearing 5-1 and the lower bearing 5-2 in the upper climbing mechanism unit body and the middle climbing mechanism unit body are coaxially meshed with the screw 8. Wherein, worm wheel 7 and worm 3 can normally rotate, and upper portion, middle part climbing mechanism unit body can follow lead screw 8 motion. The first-stage swing arm motor 17-1 is hinged with the upper part of the transmission mechanism shell 11, and the first-stage scrubbing arm 18 is connected with the first-stage swing arm motor 17-1 through a gear. The second-stage rotary arm motor 17-2 is positioned at the far end part of the first-stage scrubbing arm 18 and is connected with the second-stage scrubbing arm 19 through a gear, the second-stage scrubbing arm 19 is hinged with the scrubbing motor 21 through a hinged stud 20, the scrubbing motor 21 is connected with the scrubbing disc 22 through a gear, and the scrubbing brush head 23 is fixed with the scrubbing disc 22.
A water tank and pump 26 is connected to the scrub pad 22 via a clean water transfer conduit 24 and a waste water recovery conduit 25.
Above, the assembly is completed by the cylindrical climbing type street lamp scrubbing robot.
The cleaning method of the climbing street lamp cleaning robot comprises the following steps:
1) the cylindrical climbing type street lamp scrubbing robot is connected with a 220V alternating-current power supply, so that the cylindrical climbing type street lamp scrubbing robot works on the adsorption devices 1 in the climbing mechanism unit bodies at the upper part, the middle part and the lower part and is adsorbed on the side wall of the cylindrical rod. The water tank 26 and the water pump are positioned on the ground below the street lamp, and the clear water conveying conduit 24 and the waste water backflow conduit 25 are normally connected.
2) The staff transmits an upward command to the controller 27 through the remote operation device, so that the cylindrical climbing type street lamp scrubbing robot climbs upward. Specifically, the controller 27 controls the motor 6 to rotate forward in the unit body of the upper climbing mechanism, the transmission shaft 10 is driven to rotate forward through the gears, the first-stage spur gear 9-2 is driven to rotate forward, the first-stage spur gear 9-2 rotates forward to drive the second-stage spur gear 9-1 to rotate backward, the connecting shaft 16 is driven to rotate backward at the moment, the connecting shaft 16 drives the helical gear 2 to rotate backward, and the staggered-shaft helical gear 12 is driven to operate far away from the second-stage spur gear 9-1 at the moment; meanwhile, the electromagnet 14 in the adsorption device 1 is powered off and stops working, and the adsorption device 1 is opened.
After the opening action of the adsorption device 1 is finished, controlling the motor 6 to stop rotating; at the moment, the climbing motor 4 positively rotates in the upper climbing mechanism unit body, the worm 3 positively rotates through the gear, the worm 3 positively rotates to drive the worm wheel 7 positively rotates, and at the moment, the upper climbing mechanism unit body moves towards the upper end part of the lead screw. When the unit body of the upper climbing mechanism reaches the far end of the screw rod, the climbing motor 4 stops working, the motor 6 is controlled to rotate reversely at the moment, the transmission shaft 10 is driven to rotate reversely through the gear to drive the first-stage straight gear 9-2 to rotate reversely, the first-stage straight gear 9-2 rotates reversely to drive the second-stage straight gear 9-1 to rotate forwards, the connecting shaft 16 is driven to rotate forwards at the moment, the connecting shaft 16 drives the helical gear 2 to rotate forwards, and the staggered shaft helical gear 12 is driven to operate towards the position close to the second-; meanwhile, the electromagnet 14 in the adsorption device 1 is electrified to start working, and the adsorption device 1 is closed and adsorbed on the side wall of the cylindrical lamp pole. After the adsorption action is finished, the motor 6 is controlled to stop rotating.
3) The middle climbing mechanism unit body is the same as the upper climbing mechanism unit body in working process, the opening of the adsorption device 1 is completed firstly, then the middle climbing mechanism unit body moves towards the upper climbing unit body, and the adsorption device 1 is closed after the movement is finished and is adsorbed on the side wall of the cylindrical rod. The opening motion of the adsorption device 1 in the lower climbing mechanism unit body is the same as the opening motion process of the adsorption device 1 in the upper and middle climbing mechanism unit bodies. After the adsorption device 1 is opened, the climbing motors 4 in the climbing mechanism unit bodies on the upper portion and the middle portion synchronously rotate reversely, the worm gears 3 drive the worm gears 3 to rotate reversely, the worm gears 3 drive the worm gears 7 to rotate reversely, and the worm gears 7 drive the lead screw 8 and the lower climbing mechanism unit bodies fixed with the lead screw 8 to move towards the upper end of the lead screw.
4) After the lower climbing mechanism unit body reaches the designated position, the climbing motors 4 in the upper climbing mechanism unit body and the middle climbing mechanism unit body synchronously stop rotating; the motor 6 is controlled to rotate reversely, the transmission shaft 10 is driven to rotate reversely through the gear to drive the first-stage straight gear 9-2 to rotate reversely, the first-stage straight gear 9-2 rotates reversely to drive the first-stage straight gear 9-1 to rotate forwardly and drive the connecting shaft 16 to rotate forwardly, the connecting shaft 16 drives the helical gear 2 to rotate forwardly and drive the staggered shaft helical gear 12 to operate towards the position close to the second-stage straight gear 9-1; meanwhile, the electromagnet 14 in the adsorption device 1 is electrified to start working, and the adsorption device 1 is closed and adsorbed on the side wall of the cylindrical rod. After the adsorption action is finished, the motor 6 is controlled to stop rotating.
5) After the adsorption device 1 of the lower climbing mechanism unit body finishes the last work, the upper climbing mechanism unit body, the middle climbing mechanism unit body and the lower climbing mechanism unit body circularly reciprocate the last movement process. The working personnel transmits an upward or downward instruction to enable each device in the climbing type street lamp scrubbing robot to do reciprocating motion circularly and climb upwards or downwards continuously.
6) When the cylindrical climbing type street lamp scrubbing robot is remotely controlled by a worker to climb to a specified position, the climbing motor 4 stops rotating in the climbing mechanism unit bodies at the upper part and the middle part. The worker transmits an instruction to the controller 27, the controller 27 controls the first-stage swing arm motor 17-1 to rotate, the first-stage scrubbing arm 18 is driven to rotate through the gear, the second-stage swing arm motor 17-2 rotates at the moment, the second-stage scrubbing arm 19 is driven to rotate through the gear, and when the scrubbing disc reaches a proper distance below the street lamp shade, the scrubbing motor 21 rotates to drive the scrubbing disc 22 to rotate. Clean water is stored in a water tank and a water pump 26 and is transmitted to the scrubbing disc 22 through a clean water conveying conduit 24, the scrubbing disc 22 continuously works to scrub the street lamps, and the wastewater completes backflow through a wastewater backflow conduit 25.
7) After the cleaning is completed, the worker transmits an instruction to the controller 27, the cleaning is completed through the cleaning device, and the climbing type street lamp cleaning robot climbs downwards to complete the cleaning process.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides a climbing formula street lamp cleans robot which characterized in that: the climbing mechanism comprises a climbing module and a scrubbing module, wherein the climbing module comprises an upper climbing mechanism unit body, a middle climbing mechanism unit body and a lower climbing mechanism unit body; the climbing mechanism unit body comprises a power device, a transmission mechanism and an adsorption device (1), wherein the power device comprises a climbing motor (4) and a control motor (6) which are connected with a power supply through a controller (27); the transmission mechanism comprises a transmission mechanism shell (11), a worm wheel (7), a worm (3), an upper bearing (5-1), a lower bearing (5-2), a lead screw (8), a secondary straight gear (9-1), a primary straight gear (9-2), a helical gear (2), a rotating shaft (10) and a staggered shaft helical gear (12), wherein the lead screw (8) sequentially penetrates through the transmission mechanism shells (11) of the middle climbing mechanism unit body and the transmission mechanism shells (11) of the upper climbing mechanism unit body from the transmission mechanism shells (11) of the lower climbing mechanism unit body to extend upwards, the worm (3) is meshed with the worm wheel (7), the upper bearing (5-1), the lower bearing (5-2) and the lead screw (8) are coaxially matched and clamped on the upper side and the lower side of the worm wheel (7), and the gear is arranged between the upper bearing and the lower bearing and; one end of the worm (3) is connected with the climbing motor (4), and the other end can rotate freely; one end of the rotating shaft (10) is connected with the control motor (6), and the other end can rotate freely; the primary straight gear (9-2) is fixed on the rotating shaft (10), and the secondary straight gear (9-1) is meshed with the primary straight gear (9-2) and is connected with the helical gear (2) through a connecting shaft (16); the adsorption device (1) is provided with an openable holding arm, the holding arm is provided with a crossed shaft helical gear (12) meshed with the helical gear (2), and the holding arm is driven by the crossed shaft helical gear (12) to open and close; the cleaning module comprises a cleaning arm connected to the climbing module, the cleaning arm is connected with a cleaning executing mechanism, the cleaning executing mechanism comprises a cleaning disc (22) provided with a cleaning brush head (23), a cleaning motor (21) is connected with the cleaning disc (22) through a gear, the cleaning disc (22) is connected with a water tank (26) through a clean water conveying pipe (24) and a waste water recovery pipe (25), and a water pump is arranged in the water tank (26).
2. The climbing street lamp scrubbing robot as claimed in claim 1, wherein: the power device adopts a 220V alternating current power supply, and the scrubbing arm is connected to a transmission mechanism shell (11) of the upper climbing mechanism unit body.
3. The climbing street lamp scrubbing robot as claimed in claim 1, wherein: the rotating shaft (10) is connected with the first-stage straight gear (9-2) through a key, and the connecting shaft (16) penetrates out of the transmission mechanism shell (11) to be connected with the helical gear (2).
4. The climbing street lamp scrubbing robot according to claim 1 or 3, characterized in that: two embracing arms of the adsorption device (1) are hinged on an embracing arm fixing seat on a transmission mechanism shell (11), and the tail ends of the embracing arms are provided with staggered shaft helical gears (12).
5. The climbing street lamp scrubbing robot as claimed in claim 1, wherein: the arm comprises an electromagnet (14) and a magnetism isolating material (13), wherein the electromagnet (14) and the magnetism isolating material (13) are arranged in the middle of an arm shell (15), the electromagnet (14) wound with an electric coil is evenly distributed in the magnetism isolating material (13) from top to bottom, and the electromagnet (14) is electrified to tightly hold a lamp post of a street lamp.
6. The climbing street lamp scrubbing robot as claimed in claim 1, wherein: the scrubbing module adopts two stages of scrubbing arms, a first-stage rotating arm motor (17-1) is hinged with the transmission mechanism shell (11), and a first-stage scrubbing arm (18) is connected with the first-stage rotating arm motor (17-1) through a gear; the second-stage spiral arm motor (17-2) is positioned at the far end part of the first-stage scrubbing arm (18) and is connected with the second-stage scrubbing arm (19) through a gear, and the second-stage scrubbing arm (19) is hinged with the scrubbing motor (21) through a hinged stud (20).
7. A scrubbing method of a climbing street lamp scrubbing robot is characterized by comprising the following steps:
1) switching on a power supply to enable the adsorption devices (1) in the climbing mechanism unit bodies at the upper part, the middle part and the lower part to be adsorbed on the lamp post, placing a water tank (26) and a water pump on the ground below the street lamp, and normally connecting a clear water conveying conduit (24) and a waste water backflow conduit (25);
2) the controller (27) controls a control motor (6) in the unit body of the upper climbing mechanism to rotate forwards, a transmission shaft (10) is driven to rotate forwards through a gear, and then a first-stage spur gear (9-2) is driven to rotate forwards, the first-stage spur gear (9-2) rotates forwards to drive a second-stage spur gear (9-1) to rotate backwards, a connecting shaft (16) is driven to rotate backwards, the connecting shaft (16) drives a helical gear (2) to rotate backwards, the helical gears (12) with staggered shafts operate far away from the second-stage spur gear (9-1), and meanwhile, the adsorption device (1) of the unit body of the upper climbing mechanism is opened;
3) the motor (6) is controlled to stop rotating, the climbing motor (4) in the upper climbing mechanism unit body rotates forwards, the worm (3) is driven to rotate forwards through the gear, the worm (3) drives the worm wheel (7) to rotate forwards, and the upper climbing mechanism unit body moves towards the upper end of the lead screw;
4) when the unit body of the upper climbing mechanism reaches the far end of the screw rod, the climbing motor (4) stops working, the motor (6) is controlled to rotate reversely at the moment, the transmission shaft (10) is driven to rotate reversely through the gear to drive the first-stage straight gear (9-2) to rotate reversely, the first-stage straight gear (9-2) rotates reversely to drive the second-stage straight gear (9-1) to rotate forwardly, then the connecting shaft (16) is driven to rotate forwardly, the connecting shaft (16) drives the helical gear (2) to rotate forwardly, and the staggered-shaft helical gear (12) is driven to operate close to the second-stage straight gear (9-; meanwhile, the electromagnet (14) in the adsorption device (1) is electrified to start working, the adsorption device (1) is closed, and the motor (6) is controlled to stop rotating after the adsorption action is finished;
5) repeating the steps 2) -4) to finish climbing and adsorption of the middle climbing mechanism unit body and the lower climbing mechanism unit body in sequence;
6) the upper climbing mechanism unit body, the middle climbing mechanism unit body and the lower climbing mechanism unit body circularly reciprocate the last movement process and continuously climb upwards or downwards;
7) climbing to a designated position, controlling the scrubbing arm by the controller (27) to enable the scrubbing disc to reach the lower part of the street lamp lampshade, and driving the scrubbing disc (22) to rotate by the scrubbing motor (21); clean water is stored in a water tank (26) and is transmitted into the scrubbing disc (22) through a clean water conveying conduit (24), the scrubbing disc (22) continuously works to scrub the street lamp, and the wastewater finishes backflow through a wastewater backflow conduit (25);
8) after the scrubbing is finished, the climbing module climbs downwards to finish the scrubbing process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910927763.3A CN110639865B (en) | 2019-09-27 | 2019-09-27 | Climbing type street lamp scrubbing robot and scrubbing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910927763.3A CN110639865B (en) | 2019-09-27 | 2019-09-27 | Climbing type street lamp scrubbing robot and scrubbing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110639865A CN110639865A (en) | 2020-01-03 |
| CN110639865B true CN110639865B (en) | 2020-10-30 |
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| CN114939573B (en) * | 2022-05-30 | 2024-02-27 | 苏州浪潮智能科技有限公司 | Intelligent dust removal device and method for node server wind window in general cabinet |
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| WO2007027044A1 (en) * | 2005-08-30 | 2007-03-08 | Dong Jun Jung | Automatic cleaning apparatus for glass window |
| CN105057242A (en) * | 2015-08-13 | 2015-11-18 | 衢州市依科达节能技术有限公司 | Cleaner for street lamp |
| CN205365796U (en) * | 2016-01-13 | 2016-07-06 | 山东科技大学 | Pole -climbing supervisory -controlled robot |
| CN110254547A (en) * | 2019-06-27 | 2019-09-20 | 安徽理工大学 | A kind of bionic type climbing level robot |
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| WO2007027044A1 (en) * | 2005-08-30 | 2007-03-08 | Dong Jun Jung | Automatic cleaning apparatus for glass window |
| CN105057242A (en) * | 2015-08-13 | 2015-11-18 | 衢州市依科达节能技术有限公司 | Cleaner for street lamp |
| CN205365796U (en) * | 2016-01-13 | 2016-07-06 | 山东科技大学 | Pole -climbing supervisory -controlled robot |
| CN110254547A (en) * | 2019-06-27 | 2019-09-20 | 安徽理工大学 | A kind of bionic type climbing level robot |
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