CN115350988A

CN115350988A - Upright rod cleaning device, upright rod cleaning method and cleaning vehicle

Info

Publication number: CN115350988A
Application number: CN202211080223.4A
Authority: CN
Inventors: 彭祯桂; 颜祯; 阮晓鹏; 张明耀; 张露
Original assignee: Changsha Zoomlion Environmental Industry Co Ltd
Current assignee: Changsha Zoomlion Environmental Industry Co Ltd
Priority date: 2022-09-05
Filing date: 2022-09-05
Publication date: 2022-11-18

Abstract

The application discloses a vertical rod cleaning device, a vertical rod cleaning method and a cleaning vehicle, and relates to the technical field of environmental sanitation equipment. The upright rod cleaning device comprises a lifting module, an arm frame module, a cleaning module and a first monitoring module; the arm support module is arranged on the lifting module, and the lifting module is used for driving the arm support module to lift along a first direction; the cleaning module is arranged on the arm support module, the arm support module is used for driving the cleaning module to extend out along the second direction to be close to the upright to be cleaned, and the cleaning module is used for surrounding the upright to be cleaned in a non-contact manner and cleaning the peripheral surface of the upright; the first monitoring module is arranged on the cleaning module and used for controlling the lifting module, the arm support module and the cleaning module to cooperatively work to cross over the obstacle when the obstacle on the upright rod is detected. The utility model discloses a pole setting belt cleaning device can realize automatic washing, can stride across the barrier, safe and reliable, and the cleaning performance is good.

Description

Upright rod cleaning device, upright rod cleaning method and cleaning vehicle

Technical Field

The application relates to the technical field of environmental sanitation equipment, in particular to a vertical rod cleaning device, a vertical rod cleaning method and a cleaning vehicle.

Background

Urban roads are usually provided with uprights on both sides, such as light poles, utility poles, billboards, etc. Because the pole setting is close to the road, so tail gas and the raise dust of drive that the vehicle went to discharge, perhaps the sewage that the watering lorry sprinkled and splashed on the road surface all can adhere on the surface of pole setting to lead to the pole setting surface contaminated, if the irregular cleaning, can influence the city appearance.

Aiming at the problem of surface pollution of the vertical rods, a common treatment mode is to arrange cleaning personnel to scrub by rags at regular time, and because the vertical rods are large in number and far away from each other, the labor intensity of manual cleaning is too high, and the vertical rods are high in height, so that the manual cleaning is limited and the safety is not guaranteed. The prior art also has operating personnel to stand and washes with the high-pressure squirt counter rod surface on the watering lorry, but this kind of washing mode can't wash the pole setting one side dorsad operating personnel, and when wasing simultaneously, the water splash of high-pressure squirt can disturb pedestrian and vehicle current, has the potential safety hazard. Of course, in the prior art, the self-climbing robot is also adopted to carry out pole holding cleaning, but the self-climbing robot is mainly suitable for the vertical rod of the columnar structure, and the self-climbing robot needs to be manually disassembled and carried before and after cleaning at every time, so that the labor intensity of workers is high, and the cleaning efficiency is low. And because self-climbing robot is the cleaning of embracing pole contact, so can't stride across the barrier on the pole setting when wasing, have the risk of dropping. Therefore, the existing cleaning modes have the problems of high labor intensity, limited cleaning, poor safety and the like.

Disclosure of Invention

An object of the application is to provide a pole setting belt cleaning device, pole setting cleaning method and wash car for solve the not enough that exists among the prior art.

To achieve the above object, in a first aspect, the present application provides a pole cleaning device, comprising:

a lifting module;

the arm support module is arranged on the lifting module, and the lifting module is used for driving the arm support module to lift along a first direction;

the cleaning module is arranged on the arm support module, is used for driving the cleaning module to extend out along a second direction to be close to the upright to be cleaned, and is used for surrounding the upright to be cleaned in a non-contact manner and cleaning the peripheral surface of the upright; and

the first monitoring module is arranged on the cleaning module and used for controlling the lifting module, the arm frame module and the cleaning module to cooperatively work to cross over the barrier when the barrier on the upright is detected.

As a further improvement of the technical scheme:

with reference to the first aspect, in a possible implementation manner, the first monitoring module is configured to:

detecting the obstacle;

controlling the cleaning module to release the surrounding of the upright;

controlling the arm support module to drive the cleaning module to retract along the second direction;

and controlling the lifting module to drive the arm frame module to drive the cleaning module to move a preset distance along the first direction to cross the barrier.

With reference to the first aspect, in one possible implementation, the cleaning module includes:

the first cleaning assembly is arranged on the arm support module;

the two second cleaning assemblies are respectively hinged to two opposite ends of the first cleaning assembly, and at least one first monitoring module is arranged on each of the two second cleaning assemblies; and

the two first driving parts are respectively arranged on the first cleaning components, and are respectively connected with the corresponding second cleaning components and used for driving the two second cleaning components to open and close relative to the first cleaning components;

when the two second cleaning components are folded, an accommodating space for accommodating the upright rod is formed between the first cleaning component and the two second cleaning components.

With reference to the first aspect, in one possible implementation, the first cleaning assembly includes:

the first cleaning bracket is arranged on the arm support module; and

the first spraying ring is arranged on one side, close to the accommodating space, of the first cleaning support, and at least one nozzle used for spraying water is arranged on the first spraying ring.

With reference to the first aspect, in one possible implementation, each of the second cleaning assemblies includes:

the second cleaning support is hinged on the first cleaning component and is connected with the corresponding first driving piece; and

and the second spraying ring is arranged on one side, close to the accommodating space, of the second cleaning support, and at least one nozzle for spraying water is arranged on the second spraying ring.

With reference to the first aspect, in one possible implementation, the second cleaning assembly further includes:

the second driving piece is arranged on the second cleaning bracket;

the second driving piece is used for driving the third cleaning support to lift along the first direction; and

the third spraying ring is arranged on one side, close to the accommodating space, of the third cleaning support, and at least one nozzle for spraying water is arranged on the third spraying ring;

the third cleaning support is located above the second cleaning support, and the first monitoring module is arranged on the third cleaning support.

With reference to the first aspect, in one possible implementation, the first monitoring module includes a travel switch, a pressure sensor, a proximity switch, or an infrared sensor.

With reference to the first aspect, in a possible implementation manner, the pole cleaning apparatus further includes a second monitoring module, where the second monitoring module is disposed in the cleaning module, and the second monitoring module is configured to obtain a distance from the cleaning module to a peripheral surface of the pole to be cleaned.

With reference to the first aspect, in a possible implementation manner, the lifting module includes:

a base for providing support;

the lifting mechanism is arranged on the base;

the gantry mechanism comprises a third driving piece, an outer gantry and an inner gantry nested in the outer gantry, the outer gantry is arranged in the lifting mechanism, and the third driving piece is arranged between the outer gantry and the inner gantry and used for driving the inner gantry to lift relative to the outer gantry along the first direction; and

the lifting mechanism is slidably arranged on the inner layer portal frame and is linked with the inner layer portal frame through a flexible connecting piece, the arm frame module is arranged on the lifting mechanism, and the inner layer portal frame can be driven to lift by lifting.

With reference to the first aspect, in one possible implementation manner, the lifting mechanism is a scissor type lifting mechanism, a motor screw lifting mechanism, or an oil cylinder.

With reference to the first aspect, in a possible implementation manner, a guide wheel is arranged at the top of the inner layer gantry, one end of the flexible connecting piece is connected with the lifting mechanism, and the other end of the flexible connecting piece bypasses the guide wheel and is connected with the outer layer gantry.

With reference to the first aspect, in a possible implementation manner, the lifting module further includes a standing platform, and the standing platform is disposed on the lifting mechanism.

With reference to the first aspect, in a possible implementation manner, the upright rod cleaning device further includes a rotation module, the rotation module is disposed between the arm support module and the lifting module, and the rotation module is configured to drive the arm support module to swing in a plane perpendicular to the first direction.

With reference to the first aspect, in a possible implementation manner, the boom module includes:

one end of the telescopic arm is connected with the lifting module, and the other end of the telescopic arm is connected with the cleaning module; and

and the fourth driving piece is arranged on the telescopic arm and is used for driving the telescopic arm to stretch along the second direction.

In order to achieve the above object, in a second aspect, the present application further provides a method for cleaning a vertical rod, using the vertical rod cleaning apparatus provided in the first aspect, the method for cleaning a vertical rod comprising:

the cleaning module embraces the upright to be cleaned without contact, and the lifting module drives the arm support module to drive the cleaning module to move along a first direction so as to clean the peripheral surface of the upright;

under the condition that a first monitoring module detects an obstacle, the cleaning module releases the surrounding of the upright rod, the arm support module drives the cleaning module to retract along a second direction, and the lifting module drives the arm support module to drive the cleaning module to move along the first direction for a preset distance so as to cross the obstacle;

and continuing to perform the non-contact encircling of the vertical rod to be cleaned by the cleaning module, driving the arm support module to drive the cleaning module to move along the first direction by the lifting module at the same time until the vertical rod is cleaned to a preset position along the first direction, and stopping cleaning.

In order to achieve the above object, in a third aspect, the present application further provides a cleaning vehicle, including a chassis assembly, a water supply device, and the upright rod cleaning device provided in the first aspect, where the upright rod cleaning device and the water supply device are both disposed on the chassis assembly;

the chassis assembly is used for walking, and the water supply device is used for providing cleaning water for the upright rod cleaning device.

Compare in prior art, the beneficial effect of this application:

the application provides a vertical rod cleaning device, a vertical rod cleaning method and a cleaning vehicle, wherein when a vertical rod is cleaned, the vertical rod is surrounded by a cleaning module in a non-contact mode, and then the lifting module drives an arm support module to drive the cleaning module to move along a first direction so as to clean the peripheral face of the vertical rod. And at the in-process that the cleaning module removed, detect the barrier on the opposite pole through first control module, when detecting the barrier, through cooperating lift module, cantilever crane module and cleaning module work to stride across the barrier. From this, the pole setting belt cleaning device that this application provided can realize automatic washing, has greatly improved the security of operation, has reduced artifical intensity of labour, embraces the pole setting through wasing the module simultaneously, can wash the outer peripheral face of pole setting, washs and can stride across when meetting the barrier for wash more comprehensively. In addition, because the cleaning module is not contacted with the vertical rod during cleaning, the cleaning module is suitable for the vertical rods with different cross-sectional shapes, and has better universality and practicability.

Additional features and advantages of the present application will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate certain embodiments of the application and together with the description serve to explain the application, it will be understood that the following drawings illustrate only some embodiments of the application and are therefore not to be considered limiting of scope, for those skilled in the art to which the invention pertains and that other related drawings may be devised without undue experimentation. In the drawings:

fig. 1 is a schematic perspective view illustrating a washing vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a portion of the pole washing apparatus of the wash cart of FIG. 1;

FIG. 3 is a schematic view of a portion of the enlarged structure at A in FIG. 2;

figure 4 shows a top view of the cleaning module in cooperation with the boom module in the pole cleaning apparatus shown in figure 2;

FIG. 5 is a schematic view of a partial structure of a cleaning module surrounding a vertical rod without contact;

fig. 6 is a schematic view illustrating a state where a cleaning module crosses an obstacle in the pole cleaning apparatus according to the embodiment of the present application;

figure 7 is a line graph illustrating the variation in range values detected by the laser range sensor during the pole cleaning apparatus of the present application crossing an obstacle.

Description of reference numerals:

10. erecting a rod; 20. an obstacle;

100. a chassis assembly; 110. a wheel; 200. an electronic control system; 300. a water tank; 400. a vertical rod cleaning device; 410. a lifting module; 411. a base; 412. a lifting mechanism; 413. a gantry mechanism; 4130. an outer layer portal frame; 4131. an inner layer door frame; 414. a lifting mechanism; 415. a standing platform; 420. a boom module; 421. a telescopic arm; 4210. an outer arm body; 4211. an inner arm body; 422. a fourth drive; 430. cleaning the module; 431. a first cleaning assembly; 4310. a first cleaning support; 4311. a first spray ring; 432. a second cleaning assembly; 4320. a second cleaning support; 4321. a second spray ring; 4322. a second driving member; 4323. third cleaning the bracket; 4324. a third spray ring; 433. a first driving member; 434. an accommodating space; 435. a nozzle; 440. a second monitoring module; 450. a rotation module; 460. a pull rod;

z, a first direction; y, a second direction; x, and a third direction.

Detailed Description

The following detailed description of embodiments of the present application will be made with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the embodiments of the application, are given by way of illustration and explanation only, not limitation.

It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict.

In the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations and positional relationships based on the orientation and positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The present application will now be described in detail with reference to the drawings, in conjunction with exemplary embodiments.

Example one

Referring to fig. 1 to 6, the present embodiment provides a cleaning vehicle for cleaning the vertical rods 10 on both sides of the road. The vertical pole 10 includes a light pole, a telegraph pole, a billboard and the like.

In this embodiment, the cleaning vehicle includes a chassis assembly 100, an electronic control system 200, a water supply device, and a vertical rod cleaning device 400, and the electronic control system 200, the water supply device, and the vertical rod cleaning device 400 are all disposed on the chassis assembly 100.

The pole cleaning device 400 is used for cleaning the pole 10. The chassis assembly 100 is provided with wheels 110 for the traveling of the cleaning cart, which facilitates the transfer of the cleaning cart to the next vertical rod 10 to be cleaned. The water supply device comprises a water tank 300 and a water pump, wherein cleaning water is stored in the water tank 300, the water inlet end of the water pump is connected with the water tank 300 through a pipeline, the outlet end of the water pump is connected with the upright rod cleaning device 400 through a pipeline so as to provide cleaning water for the upright rod cleaning device 400, and the cleaning water is high-pressure water. The electric control system 200 is used for coordinating and controlling the whole cleaning vehicle.

In some embodiments, the chassis assembly 100 further includes a battery module for powering the wash cart. Optionally, the battery module is a high-density power battery. Of course, the chassis of the vehicle can also be directly used.

The pole cleaning apparatus 400 includes a lifting module 410, a boom module 420, a cleaning module 430, and a first monitoring module (not shown). The lifting module 410 is disposed on the chassis assembly 100, and the lifting module 410 can output a lifting motion along a vertical direction, which is defined as a first direction Z in this embodiment. The boom module 420 is disposed on the lift module 410, such that the lift module 410 can drive the boom module 420 to lift and lower along the first direction Z. The arm module 420 may output a telescopic motion along a second direction Y, which is perpendicular to the first direction Z in this embodiment.

The cleaning module 430 is disposed on the arm module 420, since the arm module 420 can output a telescopic motion along the second direction Y, the arm module 420 can drive the cleaning module 430 to be telescopic along the second direction Y, and the cleaning module 430 is used for surrounding the upright 10 to be cleaned without contact (see fig. 5) and cleaning the outer peripheral surface of the upright 10.

The first monitoring module is disposed on the cleaning module 430, and is configured to detect the obstacle 20 on the vertical rod 10, and control the lifting module 410, the boom module 420 and the cleaning module 430 to work cooperatively so as to cross the obstacle 20 (see fig. 6).

It can be understood that, when the cleaning vehicle is parked near the upright 10, if the initial length of the boom module 420 when it is unfolded is not enough to make the cleaning module 430 approach the upright 10, the cleaning module 430 may be driven by the boom module 420 to extend in the second direction Y so as to make the cleaning module 430 approach the upright 10 to be cleaned, and then the cleaning module 430 may surround the upright 10 to be cleaned without contact, and the cleaning module 430 may be connected to the water pump through a pipeline, so that the water pump supplies cleaning water to the cleaning module 430 to clean the outer circumferential surface of the upright 10. Further, since the vertical rod 10 has a certain height, in order to clean the position higher than the vertical rod 10 as much as possible, the lifting module 410 can drive the arm support module 420 to drive the cleaning module 430 to lift along the first direction Z, so as to clean the position higher than the vertical rod 10. In addition, through the cooperation of the lifting module 410, the cleaning vehicle can clean the uprights 10 of different heights.

Furthermore, since the cleaning module 430 surrounds the upright rod 10 to be cleaned for cleaning, the whole peripheral surface of the upright rod 10 corresponding to the cleaning module 430 can be cleaned completely without dead angles. Furthermore, wash module 430 cleaning process in with pole setting 10 contactless to can not cause the damage to the lacquer painting of pole setting 10, and wash module 430 and all be lifted by cantilever crane module 420 and lift module 410 in the whole cleaning process, do not have the potential safety hazard that drops, the cleaning action is safer.

When the upright 10 is provided with the obstacle 20, the obstacle 20 includes a billboard, an electric cabinet, a camera, a lantern or other objects, and the first monitoring module detects the existence of the obstacle 20 when the cleaning module 430 is in cleaning. In this embodiment, the first monitoring module feeds back a signal of detecting the obstacle 20 to the controller in the electronic control system 200, and the controller controls the lifting module 410, the boom module 420, and the cleaning module 430 to cooperatively work according to the signal, so as to cross the obstacle 20.

In some embodiments, a controller may be separately disposed in the pole washing apparatus 400 to control the lifting module 410, the boom module 420, and the washing module 430 of the pole washing apparatus 400.

In some embodiments, the first monitoring module comprises a travel switch, a pressure sensor, a proximity switch, or an infrared sensor. Wherein, the travel switch is triggered when touching the obstacle 20; the pressure sensor is contacted with the obstacle 20 and extrudes, and whether the obstacle 20 is contacted or not is confirmed according to the magnitude of the pressure value; both the proximity switch and the infrared sensor and the obstacle 20 are non-contact detection. It should be understood that the foregoing is illustrative only and is not intended to limit the scope of the invention.

In order to more clearly describe the technical solution provided by this embodiment, in this embodiment, a method for cleaning the vertical rod is also provided. The pole cleaning method employs the pole cleaning device 400 provided above, wherein the pole cleaning method comprises the following steps:

s100: the cleaning module 430 surrounds the vertical rod 10 to be cleaned in a non-contact manner, and the lifting module 410 drives the arm support module 420 to drive the cleaning module 430 to move along the first direction Z, so as to clean the outer peripheral surface of the vertical rod 10.

S200: under the condition that the first monitoring module detects the obstacle 20, the cleaning module 430 releases the surrounding of the vertical rod 10, meanwhile, the boom module 420 drives the cleaning module 430 to retract along the second direction Y, and the lifting module 410 drives the boom module 420 to drive the cleaning module 430 to move along the first direction Z for a preset distance so as to cross the obstacle 20;

s300: the cleaning module 430 is continuously performed to embrace the upright 10 to be cleaned without contact, and the lifting module 410 drives the arm support module 420 to drive the cleaning module 430 to move along the first direction Z until the cleaning is performed to a preset position of the upright 10 along the first direction Z, and the cleaning is stopped.

Before the step S100 is executed, the cleaning vehicle is moved to the vicinity of the upright 10 to be cleaned, specifically, the cleaning module 430 and the upright 10 are on the same side of the cleaning vehicle. Then, the arm module 420 drives the cleaning module 430 to approach the vertical rod 10, and the cleaning module 430 surrounds the vertical rod 10 without contacting the vertical rod 10. The surrounding means that the cleaning module 430 surrounds the outer periphery of the vertical rod 10 (see fig. 5).

In the step S200, the lifting module 410 drives the arm support module 420 to drive the cleaning module 430 to move along the first direction Z by a preset distance consistent with the height of the obstacle 20. It can be understood that, for example, all the billboards on the lamp posts on both sides of the road are substantially the same in size, so that when the first lamp post is cleaned, the retraction distance of the arm support module 420 and the lifting distance of the lifting module 410 across the obstacle 20 (which is the preset distance in the step S200) can be manually controlled, the controller will automatically store the parameter of the first obstacle crossing, so that when the subsequent lamp post is cleaned, the stored parameter before the pole cleaning device 400 can be called to automatically perform the obstacle crossing action. Of course, in some embodiments, the height of the obstacle 20 may be measured manually and input into the controller for execution, wherein the measured distance is the preset distance in the step S200. However, the height of the different obstacles 20 is different, and thus, the preset distance is not limited in the present embodiment.

In step S300, after the pole cleaning apparatus 400 has crossed the obstacle 20, the cleaning module 430 resumes cleaning of the pole 10. The position of the upright 10 where the cleaning module 430 is located when the cleaning is stopped may be a preset height value, or may be the tail end of the upright 10, or may be the highest height to which the lifting module 410 is lifted. However, the height of the different uprights 10 differs, so that the preset position of the washing stop is not defined in this embodiment.

In some embodiments, in the step S300, the cleaning module 430 does not stop cleaning after reaching the preset cleaning position, and may continue to return along the original path, and the cleaning and obstacle crossing are automatically performed during the return process, so as to improve the cleaning effect.

Referring to fig. 3, 4 and 5, in some embodiments, the pole cleaning apparatus 400 further includes a second monitoring module 440, the second monitoring module 440 is disposed on the cleaning module 430, the second monitoring module 440 is configured to obtain a distance from the cleaning module 430 to an outer peripheral surface of the pole 10 to be cleaned, and the second monitoring module 440 is electrically connected to the controller. When the cleaning module 430 is used for cleaning, the distance from the second monitoring module 440 to the outer peripheral surface of the vertical rod 10 can be detected in real time, so that the cleaning module 430 is ensured not to contact the vertical rod 10 in the cleaning process, the normal operation of the cleaning operation is ensured, and the damage to the paint surface of the vertical rod 10 is prevented.

It will also be appreciated that the obstacle 20 is raised on the outer periphery of the upright 10 when the obstacle is being cleared. Therefore, when the cleaning module 430 crosses the obstacle 20, the distance from the outer peripheral surface of the upright 10 to the cleaning module 430 detected by the second monitoring module 440 is L1, the distance from the obstacle 20 to the cleaning module 430 detected by the second monitoring module 440 in the process of crossing the obstacle 20 is L2, wherein L2 < L1, so that when the distance from the outer peripheral surface of the upright 10 to the cleaning module 430 detected by the second monitoring module 440 is L1 again, it is determined that the cleaning module 430 crosses the obstacle 20,

optionally, the second monitoring module 440 includes a laser ranging sensor or an infrared ranging sensor.

Compared with the prior art, the pole setting belt cleaning device 400 that this embodiment provided can realize automatic washing, has greatly improved the security of operation, has reduced artifical intensity of labour, encircles pole setting 10 through wasing module 430 simultaneously, can wash the outer peripheral face of pole setting 10, can stride across when wasing and meetting barrier 20 for wash more comprehensively. In addition, because the cleaning module 430 is not in contact with the vertical rod 10 in the cleaning process, the cleaning module is suitable for the vertical rod 10 with different cross-sectional shapes, and the universality and the practicability are better.

Example two

Referring to fig. 1 to 7, the present embodiment provides a cleaning cart. The present embodiment is an improvement on the technology of the first embodiment, and compared with the first embodiment, the difference is that:

referring to fig. 2, 3 and 4, in the present embodiment, the cleaning module 430 includes a first cleaning assembly 431, two second cleaning assemblies 432 and two first driving assemblies 433. The first cleaning assembly 431 is disposed at an end of the boom module 420 away from the lift module 410. Two second wash subassembly 432 hinge respectively in the relative both ends of first washing subassembly 431, all be equipped with at least one first control module on two second wash subassemblies 432. Two first driving pieces 433 are arranged on the first cleaning assemblies 431, and the two first driving pieces 433 are respectively connected with the corresponding second cleaning assemblies 432 and used for driving the two second cleaning assemblies 432 to open and close relative to the first cleaning assemblies 431.

As shown in fig. 4 and 5, when the two second cleaning assemblies 432 are folded, a receiving space 434 for receiving the vertical rod 10 is formed between the first cleaning assembly 431 and the two second cleaning assemblies 432. Thus, as shown in fig. 6, when the two second cleaning assemblies 432 are opened, the upright 10 can be conveniently moved into the position where the two second cleaning assemblies 432 form the accommodating space 434, or the whole cleaning module 430 can be conveniently separated from the upright 10.

The first cleaning assembly 431 includes a first cleaning support 4310 and at least one first spray ring 4311. The first cleaning support 4310 is disposed at an end of the arm module 420 away from the lifting module 410, and two ends of the first cleaning support 4310 extend along a third direction X, wherein the third direction X is coplanar with the second direction Y, and the third direction X is perpendicular to the first direction Z and the second direction Y. All the first spraying rings 4311 are disposed at one side of the first cleaning support 4310 close to the accommodating space 434, the first spraying rings 4311 are connected to the water pump through a pipeline, and at least one nozzle 435 for spraying water is disposed on the first spraying ring 4311.

The second cleaning assembly 432 includes a second cleaning support 4320 and at least one second spray ring 4321. The second cleaning supports 4320 of the two second cleaning assemblies 432 are respectively hinged to two ends of the first cleaning support 4310, the second cleaning supports 4320 of the second cleaning assemblies 432 are respectively hinged to the corresponding first driving member 433, and one end of the first driving member 433, which is far away from the second cleaning support 4320, is hinged to the first cleaning support 4310. All the second spraying rings 4321 are disposed on the second cleaning support 4320 and located at a side of the second cleaning support 4320 close to the accommodating space 434, the second spraying rings 4321 are connected to the water pump through a pipeline, and at least one nozzle 435 for spraying water is disposed on the second spraying ring 4321.

In this embodiment, the first driving member 433 can output a linear telescopic motion to drive the second cleaning support 4320 to rotate relative to the first cleaning support 4310. Thus, when the two first driving members 433 are operated synchronously, the two second cleaning brackets 4320 can be driven to move away from and close to each other to realize the unfolding and folding of the second cleaning assembly 432.

Optionally, the first driving member 433 is one of an oil cylinder, an air cylinder, a linear motor, an electric push rod, and an electric cylinder. It should be understood that the foregoing is illustrative only and is not intended to limit the scope of the invention.

Further, in this embodiment, when the two cleaning assemblies are in the unfolded state, the two first driving members 433 extend out, so that the included angles between the two second cleaning supports 4320 and the first cleaning supports 4310 are 180 degrees respectively; when the two cleaning assemblies are in a closed state, the two first driving members 433 are retracted at this time, so that the included angles between the two second cleaning brackets 4320 and the first cleaning bracket 4310 are 90 °, respectively, and the accommodating space 434 is formed between the first cleaning assembly 431 and the two second cleaning assemblies 432.

Further, the second cleaning assembly 432 further includes a second driving member 4322, a third cleaning support 4323 and at least one third spray ring 4324. The second driving member 4322 is vertically disposed on the second cleaning support 4320. The third cleaning support 4323 is disposed at an output end of the second driving element 4322, and the second driving element 4322 is configured to drive the third cleaning support 4323 to move up and down along the first direction Z. In this embodiment, the third cleaning support 4323 is located above the second cleaning support 4320.

Optionally, the second driving member 4322 is one of a cylinder, a pneumatic cylinder, a linear motor, an electric push rod, and an electric cylinder. It should be understood that the foregoing is illustrative only and is not intended to limit the scope of the invention.

In some embodiments, the spraying directions of all the nozzles 435 are inclined at a certain angle relative to the first direction Z, so that the water sprayed by the nozzles 435 forms a certain angle with the outer peripheral surface of the upright rod 10, thereby improving the cleaning effect.

In some embodiments, the first spray ring 4311, the second spray ring 4321 and the third spray ring 4324 are selected as fan-ring-shaped spray rings, so that after the two second cleaning assemblies 432 are folded, the first spray ring 4311, the second spray ring 4321 and the third spray ring 4324 are fitted to the outer circumferential surface of the vertical rod 10 to avoid interference with the outer circumferential surface of the vertical rod 10.

Optionally, the arc lengths of the first spray ring 4311, the second spray ring 4321 and the third spray ring 4324 may be designed to be the same or different.

Further, each third cleaning support 4323 is provided with at least one first monitoring module and at least one second monitoring module 440. Each second cleaning support 4320 is provided with at least one second monitoring module 440, and the first cleaning support 4310 is provided with at least one second monitoring module 440. In this embodiment, the first monitoring module is selected as a travel switch, and the second monitoring module 440 is selected as a laser ranging sensor.

Referring to fig. 1 to 7, in the process of cleaning the vertical rod 10, the second driving element 4322 drives the third cleaning bracket 4323 to ascend and descend along the first direction Z to drive the travel switch to sense the obstacle 20 in the first direction Z in advance, when the obstacle 20 exists, the travel switch on the third cleaning bracket 4323 first touches the obstacle 20, the controller receives a signal indicating that the travel switch touches the obstacle 20, and at this time, the second driving element 4322 drives the third cleaning bracket 4323 to descend along the first direction Z, and the controller controls the vertical rod cleaning device 400 to perform an obstacle crossing action. The method comprises the following specific steps:

in the first step, two first driving members 433 are extended synchronously to drive two second cleaning assemblies 432 to be unfolded.

In the second step, the arm module 420 drives the whole cleaning module 430 to be retracted, so as to avoid equipment damage. If the diameter of the upright 10 is small, the second step may be performed first, followed by the first step, with no interference in movement of the cleaning module 430 as it is retracted.

Third, the lifting module 410 drives the arm support module 420 to drive the cleaning module 430 to ascend together to cross the obstacle 20.

Fourthly, after crossing the obstacle 20, the boom module 420 drives the whole cleaning module 430 to extend to a predetermined position, and then the two first driving members 433 retract synchronously to drive the two second cleaning assemblies 432 to close, so that the cleaning module 430 surrounds the upright rod 10 without contact to continue cleaning.

The change in the initial distance from the cleaning module 430 to the vertical pole 10 detected by the at least one laser distance measuring sensor during the crossing of the obstacle 20 is shown in fig. 7. Wherein the distance value detected by the laser ranging sensor coincides with the reference a in fig. 7 before the cleaning module 430 does not touch the obstacle 20. When the cleaning module 430 encounters the obstacle 20, the boom module 420 drives the cleaning module 430 to retract, and the value detected by the laser ranging sensor suddenly increases to the farthest position a. And in the process that washing module 430 rises, when laser ranging sensor detected barrier 20, the value that laser ranging sensor detected suddenly declined, and the value that laser ranging sensor detected this moment is the distance value of washing module 430 to barrier 20. In the process that the cleaning module 430 continuously rises, when the value detected by the laser distance measuring sensor suddenly increases to the farthest position a, which indicates that the cleaning module 430 has passed over the obstacle 20, the boom module 420 extends out until the value detected by the laser distance measuring sensor coincides with the reference value a, and then the two second cleaning assemblies 432 are folded to continue cleaning the vertical rod 10.

In some embodiments, a water guard plate is disposed below each of the second and

third cleaning brackets

4320 and 4323 to prevent splashing of the contaminated water generated during cleaning.

Referring to fig. 1 and 2, in the present embodiment, the lifting module 410 includes a base 411, a lifting mechanism 412, a gantry mechanism 413, and a lifting mechanism 414. Wherein the base 411 is disposed on the chassis assembly 100 for providing support. The lifting mechanism 412 is disposed on the base 411 and is used for performing a lifting motion along the first direction Z. The gantry mechanism 413 is provided on the lifting mechanism 412, and the gantry mechanism 413 is arranged in the first direction Z, whereby the lifting mechanism 412 can drive the gantry mechanism 413 to lift in the first direction Z. The lifting mechanism 414 is arranged on the gantry mechanism 413 and is in linkage fit with the gantry mechanism 413. The lifting mechanism 414 is connected to the arm module 420, and is configured to drive the arm module 420 to lift along the first direction Z.

Specifically, the lifting mechanism 412 is a scissor-type lifting mechanism, a motor screw lifting mechanism, or an oil cylinder. In this embodiment, the lift mechanism 412 is selected to be a scissor lift mechanism. Further, the lifting module 410 further comprises a standing platform 415, the standing platform 415 is disposed on top of the scissor lift mechanism 412, and the standing platform 415 can be used for an operator to stand for assisting in cleaning or maintenance.

The gantry mechanism 413 is arranged in the first direction Z, that is, a longitudinal direction of the gantry mechanism 413 coincides with the first direction Z. In the present embodiment, the door frame mechanism 413 includes a third driving member (not shown), an outer door frame 4130 and an inner door frame 4131 nested within the outer door frame 4130, the outer door frame 4130 is disposed on the lifting mechanism 412, and the third driving member is disposed between the outer door frame 4130 and the inner door frame 4131 for driving the inner door frame 4131 to move up and down in the first direction Z relative to the outer door frame 4130.

Optionally, the third driving member is a cylinder, a linear motor or a motor-screw mechanism. It should be understood that the foregoing is illustrative only and is not intended to limit the scope of the invention.

Further, the gantry mechanism 413 further comprises a flexible connecting member (not shown), wherein the lifting mechanism 414 is slidably disposed on the inner gantry 4131, a guide wheel (not shown) is disposed on a top of the inner gantry 4131, one end of the flexible connecting member is connected to the lifting mechanism 414, and the other end of the flexible connecting member bypasses the guide wheel and is connected to the outer gantry 4130. Because the flexible linkage is of a fixed length, as the inner gantry 4131 is driven by the third drive member to rise in the first direction Z, the distance between the guide wheel and the outer gantry 4130 increases, and the flexible linkage, under the action of the guide wheel, to compensate for the increased distance between the guide wheel and the outer gantry 4130, will drive the lifting mechanism 414 to slide along the inner gantry 4131, i.e., to rise in the first direction Z. When the inner layer door frame 4131 descends, the lifting mechanism 414 descends along with the inner layer door frame 4131 under the action of gravity, the flexible connecting piece automatically compensates, and the lifting mechanism 414 is ensured to descend stably under the traction action of the flexible connecting piece.

Furthermore, the number of flexible connectors is a plurality of, and a plurality of flexible connectors distribute in the both sides of lifting mechanism 414 to stability when lifting mechanism 414 goes up and down is improved.

Optionally, the flexible connecting element is a chain, but of course a steel cable is also an option.

Referring to fig. 2, fig. 4 and fig. 5, in the present embodiment, the upright cleaning device 400 further includes a rotating module 450, and the rotating module 450 is disposed on the lifting mechanism 414. The arm module 420 is disposed on the rotation module 450. The swing module 450 can drive the arm support module 420 to swing in a plane perpendicular to the first direction Z, so that the swing module 450 can realize automatic folding and unfolding of the arm support module 420, that is, the arm support module 420 is in a folded state before cleaning, the overall dimension of the whole cleaning vehicle can be reduced, and the cleaning vehicle can conveniently walk on a road; the arm module 420 is unfolded during cleaning.

Further, in the cleaning process, gyration module 450 can improve the degree of freedom when whole cleaning module 430 washs, when one of them laser range finding sensor on second cleaning assembly 432 detected cleaning module 430 and pole setting 10 outer peripheral face apart from appearing the deviation, accessible gyration module 450 drive cantilever crane module 420 to drive cleaning module 430 and finely tune, thereby prevent to wash module 430 and pole setting 10 collision, protect the lacquer painting of pole setting 10 on the one hand, on the other hand protective apparatus's safety.

Since the boom module 420 has a cantilever structure, in order to improve the structural stability, a pull rod 460 is disposed between the boom module 420 and the lifting mechanism 414, wherein one end of the pull rod 460 is hinged to the boom module 420, and the other end of the pull rod 460 is hinged to the lifting mechanism 414, so that the pull rod 460 can swing together with the boom module 420.

Referring to fig. 2 and 4, in the present embodiment, the boom module 420 includes a telescopic boom 421 and a fourth driving member 422, the telescopic boom 421 includes an outer boom 4210 and an inner boom 4211, one end of the outer boom 4210 is disposed on the rotation module 450, the other end extends in a direction away from the rotation module 450, and the pull rod 460 is hinged to the outer boom 4210. The inner arm 4211 is nested within the outer arm 4210 and can be extended or retracted relative to the outer arm 4210. The end of the inner arm 4211 away from the swing module 450 is hinged to a first cleaning support 4310 of the cleaning module 430.

In some embodiments, the fourth driving member 422 is disposed in the telescopic arm 421, that is, the fourth driving member 422 is disposed in an inner cavity of the outer arm 4210 and respectively connects the inner arm 4211 and the outer arm 4210, and the fourth driving member 422 is configured to drive the inner arm 4211 to telescope in the second direction Y relative to the outer arm 4210.

In other embodiments, the fourth driving member 422 is disposed outside the telescopic arm 421, that is, one end of the fourth driving member 422 is disposed on the outer arm 4210, and the other end is connected to the inner arm 4211 exposed outside the outer wall.

In some embodiments, a plurality of inner arms 4211 are provided, the plurality of inner arms 4211 are sequentially sleeved, and the fourth driving member 422 is capable of driving the plurality of inner arms 4211 to sequentially extend and retract, thereby forming a multi-stage extension and retraction.

Optionally, the fourth driving member 422 is one of an oil cylinder, an air cylinder, a linear motor, an electric push rod, and an electric cylinder. It should be understood that the foregoing is illustrative only and is not intended to limit the scope of the invention.

Referring to fig. 1 to fig. 7, compared with the prior art, the cleaning cart provided in this embodiment further has the following advantages:

(1) The cleaning vehicle carries the upright rod cleaning device 400 through the chassis assembly 100, so that the cleaning machine for the upright rod 10 can be conveniently moved, and the working efficiency is improved.

(2) The second cleaning assembly 432 is a two-layer structure for cleaning the vertical rod 10 without contact. The pressure regulating valves in the water pump and the water supply device can also be regulated to control the spraying high-pressure fan-shaped water surface and the spraying pressure of the nozzles 435, and the spraying angle of the nozzles 435 is optimized, so that the sprayed high-pressure fan-shaped water surface and the periphery of the upright rod 10 form a certain inclination angle, and the cleaning effect is ensured.

(3) The lifting mechanism 412 can drive the whole door frame mechanism 413 to ascend, the door frame mechanism 413 adopts a double-layer structure, the outer door frame 4130 is fixed, and the inner door frame 4131 can ascend relative to the outer door frame 4130 under the driving of the third driving piece, so that the height of the cleaning operation is furthest lifted to be matched with the vertical rods 10 with different heights for cleaning.

(4) A standing platform 415 is disposed on the lifting mechanism 412 for an operator to stand on, so as to realize manual auxiliary cleaning.

(5) The distance between the cleaning module 430 and the outer peripheral surface of the upright 10 is compensated by the rotation module 450 and the arm support module 420 in real time, so that the cleaning module 430 is not in contact with the upright 10 during cleaning operation, collision is avoided, equipment safety is ensured, and the paint surface of the upright 10 is prevented from being damaged.

Alternative embodiments of the present application are described in detail with reference to the drawings, however, the embodiments of the present application are not limited to the details of the embodiments, and various simple modifications may be made to the technical solutions of the embodiments of the present application within the technical concept of the embodiments of the present application, and the simple modifications all belong to the protection scope of the embodiments of the present application.

It should be noted that, in the foregoing detailed description, various specific technical features described in the foregoing detailed description may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not separately described in the embodiments of the present application.

In addition, any combination of various different implementation manners of the embodiments of the present application can be made, and the embodiments of the present application should also be regarded as disclosed in the embodiments of the present application as long as the combinations do not depart from the spirit of the embodiments of the present application.

Claims

1. A pole setting belt cleaning device which characterized in that includes:

a lifting module (410);

the arm support module (420) is arranged on the lifting module (410), and the lifting module (410) is used for driving the arm support module (420) to lift along a first direction;

the cleaning module (430) is arranged on the arm support module (420), the arm support module (420) is used for driving the cleaning module (430) to extend out along a second direction to be close to the upright (10) to be cleaned, and the cleaning module (430) is used for surrounding the upright (10) to be cleaned in a non-contact manner and cleaning the peripheral surface of the upright (10); and

the first monitoring module is arranged on the cleaning module (430) and used for controlling the lifting module (410), the arm frame module (420) and the cleaning module (430) to cooperatively work to cross over the obstacle (20) when the obstacle (20) on the upright rod (10) is detected.

2. The pole cleaning apparatus of claim 1, wherein the first monitoring module is configured to:

-detecting the obstacle (20);

controlling the cleaning module (430) to release the surrounding of the upright (10);

controlling the boom module (420) to drive the cleaning module (430) to retract along the second direction;

and controlling the lifting module (410) to drive the arm support module (420) to drive the cleaning module (430) to move a preset distance along the first direction to cross the obstacle (20).

3. The pole cleaning apparatus of claim 1, wherein the cleaning module (430) comprises:

the first cleaning assembly (431) is arranged on the arm frame module (420);

the two second cleaning assemblies (432) are respectively hinged to two opposite ends of the first cleaning assembly (431), and at least one first monitoring module is arranged on each of the two second cleaning assemblies (432); and

the two first driving pieces (433) are arranged on the first cleaning assembly (431), and the two first driving pieces (433) are respectively connected with the corresponding second cleaning assemblies (432) and used for driving the two second cleaning assemblies (432) to open and close relative to the first cleaning assembly (431);

when the two second cleaning assemblies (432) are folded, an accommodating space (434) for accommodating the upright (10) is formed between the first cleaning assembly (431) and the two second cleaning assemblies (432).

4. A pole washing arrangement as claimed in claim 3, wherein the first washing assembly (431) comprises:

the first cleaning bracket (4310) is arranged on the arm support module (420); and

the first spraying ring (4311) is arranged on one side, close to the accommodating space (434), of the first cleaning support (4310), and at least one nozzle (435) used for spraying water is arranged on the first spraying ring (4311).

5. Pole washing arrangement according to claim 3, characterized in that each of the second washing assemblies (432) comprises:

a second cleaning support (4320) hinged to said first cleaning assembly (431) and connected to the corresponding first actuating element (433); and

the second spraying ring (4321) is arranged on one side, close to the accommodating space (434), of the second cleaning support (4320), and at least one nozzle (435) for spraying water is arranged on the second spraying ring (4321).

6. The pole cleaning apparatus as set forth in claim 5, wherein the second cleaning assembly (432) further comprises:

a second driving member (4322) arranged on the second cleaning bracket (4320);

the third cleaning support (4323) is arranged at the output end of the second driving part (4322), and the second driving part (4322) is used for driving the third cleaning support (4323) to lift along the first direction; and

the third spraying ring (4324) is arranged on one side, close to the accommodating space (434), of the third cleaning support (4323), and at least one nozzle (435) for spraying water is arranged on the third spraying ring (4324);

wherein the third cleaning support (4323) is located above the second cleaning support (4320), and the first monitoring module is arranged on the third cleaning support (4323).

7. The pole cleaning apparatus according to any one of claims 1-6, wherein the first monitoring module comprises a travel switch, a pressure sensor, a proximity switch, or an infrared sensor.

8. Pole cleaning device according to claim 1, characterized in that the pole cleaning device (400) further comprises a second monitoring module (440), the second monitoring module (440) being arranged at the cleaning module (430), the second monitoring module (440) being configured to obtain a distance of the cleaning module (430) to an outer circumferential surface of the pole (10) to be cleaned.

9. Pole washing arrangement according to claim 1, characterized in that the lifting module (410) comprises:

a base (411) for providing support;

a lifting mechanism (412) provided to the base (411);

a gantry mechanism (413) arranged in the first direction, the gantry mechanism (413) including a third drive, an outer gantry (4130) and an inner gantry (4131) nested within the outer gantry (4130), the outer gantry (4130) being disposed to the lift mechanism (412), the third drive being disposed between the outer gantry (4130) and the inner gantry (4131) for driving the inner gantry (4131) up and down in the first direction relative to the outer gantry (4130); and

the lifting mechanism (414) is slidably arranged on the inner layer gantry (4131) and is linked with the inner layer gantry (4131) through a flexible connecting piece, the arm support module (420) is arranged on the lifting mechanism (414), and the lifting of the inner layer gantry (4131) drives the lifting mechanism (414) to lift together.

10. Pole cleaning device according to claim 9, characterized in that the lifting mechanism (412) is a scissor lift, a motor screw lift or a cylinder.

11. Pole washing arrangement according to claim 9, characterized in that the top of the inner gantry (4131) is provided with a guide wheel, and that the flexible connection piece is connected at one end to the lifting mechanism (414) and at the other end to the outer gantry (4130) bypassing the guide wheel.

12. Pole washing arrangement according to claim 9, characterized in that the lifting module (410) further comprises a standing platform (415), the standing platform (415) being provided to the lifting mechanism (412).

13. The pole cleaning apparatus of claim 1, wherein the pole cleaning apparatus (400) further comprises a swing module (450), the swing module (450) being disposed between the boom module (420) and the lift module (410), the swing module (450) being configured to drive the boom module (420) to swing in a plane perpendicular to the first direction.

14. The pole cleaning apparatus of claim 1, wherein the boom module (420) comprises:

one end of the telescopic arm (421) is connected with the lifting module (410), and the other end of the telescopic arm is connected with the cleaning module (430); and

and the fourth driving piece (422) is arranged on the telescopic arm (421) and is used for driving the telescopic arm (421) to extend and retract along the second direction.

15. A pole cleaning method, characterized in that the pole cleaning device (400) according to any of claims 1-14 is applied, the pole cleaning method comprising:

the cleaning module (430) surrounds the upright rod (10) to be cleaned in a non-contact manner, and meanwhile, the lifting module (410) drives the arm support module (420) to drive the cleaning module (430) to move along a first direction so as to clean the peripheral surface of the upright rod (10);

under the condition that the first monitoring module detects an obstacle (20), the cleaning module (430) releases the surrounding of the upright (10), the arm support module (420) drives the cleaning module (430) to retract along a second direction, and the lifting module (410) drives the arm support module (420) to drive the cleaning module (430) to move for a preset distance along the first direction so as to cross the obstacle (20);

and continuously executing the cleaning module (430) to surround the upright rod (10) to be cleaned in a non-contact manner, and simultaneously driving the arm support module (420) to move the cleaning module (430) along a first direction by the lifting module (410) until the upright rod (10) is cleaned to a preset position along the first direction, and stopping cleaning.

16. A washing vehicle, characterized in that it comprises a chassis assembly (100), a water supply device and a pole washing device (400) according to any one of claims 1-14, said pole washing device (400) and said water supply device being both provided to said chassis assembly (100);

the chassis assembly (100) is used for walking, and the water supply device is used for providing cleaning water for the upright rod cleaning device.