CN116174365B - Column cleaning crawling robot and cleaning method - Google Patents
Column cleaning crawling robot and cleaning method Download PDFInfo
- Publication number
- CN116174365B CN116174365B CN202211687729.1A CN202211687729A CN116174365B CN 116174365 B CN116174365 B CN 116174365B CN 202211687729 A CN202211687729 A CN 202211687729A CN 116174365 B CN116174365 B CN 116174365B
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- cleaning
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- clamping
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- 238000004140 cleaning Methods 0.000 title claims abstract description 201
- 230000009193 crawling Effects 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000005507 spraying Methods 0.000 claims description 22
- 230000000694 effects Effects 0.000 claims description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000004438 eyesight Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000001680 brushing effect Effects 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000000712 assembly Effects 0.000 description 9
- 238000000429 assembly Methods 0.000 description 9
- 238000011084 recovery Methods 0.000 description 9
- 238000001179 sorption measurement Methods 0.000 description 8
- 239000010865 sewage Substances 0.000 description 6
- 239000007921 spray Substances 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 238000011010 flushing procedure Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 241000221535 Pucciniales Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
Classifications
-
- 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
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses a cleaning method of a column cleaning crawling robot, which comprises a lifting component, a rotary guide component, a cleaning component, a clamping component, a supporting component and a chassis, wherein the supporting component is fixed on the chassis, the rotary guide component is fixed on the supporting component, the lifting component is connected between the chassis and the rotary guide component, the rotary guide component is connected with the cleaning component in a sliding manner, the cleaning component is used for cleaning the surface of the column, and the clamping component is fixedly connected with the lifting component to adjust the distance between the lifting component and the column. The invention has the advantages that when the upright posts with different diameters are cleaned, the distance between the driving roller and the upright posts can be adjusted through the clamping assembly, the application range of the whole equipment is enlarged, and the cleaning operation of the upright posts with various diameters can be realized; the cleaning efficiency is high.
Description
Technical Field
The invention relates to the technical field of column structure cleaning equipment, in particular to a column cleaning crawling robot.
Background
At present, most of the surface dirt and rust removal of upright posts (upright posts of steel structures, cement structures and the like) in the market adopts a working mode of building foot iron frames or mixing ladders and manpower. The labor intensity of manual operation is high, and the construction period is long; also in the prior art are automated cleaning equipment, bulletin numbers: CN216805637U, patent name: the utility model provides a wall robot is climbed to permanent magnet wheel group absorption formula with automatically cleaning function, includes main frame, washing wheel mounting bracket is fixed respectively at the bottom both ends of main frame, washing wheel mounting bracket includes backup pad, protective shield, the backup pad is fixed with the bottom of main frame, a pair of permanent magnet absorption wheel that is parallel to each other is installed to the bottom of backup pad. According to the invention, the protective baffles are arranged on both sides of the permanent magnet adsorption wheel, the flushing pipes are embedded in the protective baffles, and the cleaning liquid is sprayed out through the flushing holes in the flushing pipes to clean the tire surface of the permanent magnet adsorption wheel, so that the adsorption force of the permanent magnet adsorption wheel is ensured, and the permanent magnet adsorption wheel can be suitable for the metal wall surface with serious pollution and uneven surface.
In the prior art and this scheme, mostly realize climbing wall structure and wait to clean the stable contact of stand through adsorption structure, but through vacuum or other mode's adsorption structure, adsorption site is easy to be released, crawling the in-process, whole equipment drops from the stand easily.
In the cleaning process, the surface of the upright post is generally cleaned once or repeatedly cleaned according to a single walking route, the cleaning effect of the area with serious dirt can be disqualified due to the adoption of the primary cleaning, and the cleaning time can be increased if the cleaning is carried out repeatedly.
Disclosure of Invention
The invention aims to solve the problems, and designs a column cleaning crawling robot. The cleaning device is used for cleaning the upright post and comprises a lifting component, a rotary guide component, a cleaning component, a clamping component, a supporting component and a chassis, wherein the supporting component is fixed on the chassis, the rotary guide component is fixed on the supporting component, the lifting component is connected between the chassis and the rotary guide component, the rotary guide component is slidably connected with the cleaning component, the cleaning component moves along the rotary guide component and cleans the surface of the upright post, the clamping component is fixed on the supporting component, and the clamping component is fixedly connected with the lifting component to adjust the distance between the lifting component and the upright post;
the visual scanner is fixed on the fixed plate to obtain the cleaning condition of the cleaning assembly on the upright post;
the fixed plate is fixed with a re-cleaning component which is fixed below the cleaning component.
Further, the cleaning assembly comprises a supporting seat, a rotating body, spraying pieces and a first cleaning brush, the rotating body is rotatably arranged on the supporting seat, a plurality of spraying pieces are fixed at the end part of the rotating body, the spraying pieces are arrayed along the circumference of the rotating body, and the first cleaning brush is fixed at one side, close to the spraying pieces, of the supporting seat.
Further, the rotary guide assembly comprises a gear disc, an annular guide rail, a rotary driving motor, a pinion, a guide sliding block and a fixing plate, wherein the annular guide rail is fixed on the side wall of the gear disc, the guide sliding block is arranged on the annular guide rail in a sliding mode, the guide sliding block is fixedly connected with the fixing plate, the fixing plate is fixedly provided with a cleaning assembly, the gear disc is provided with a tooth part, the pinion is meshed with the tooth part of the gear disc, the rotary driving motor is fixed on the pinion, and the rotary driving motor is fixed on the fixing plate;
the gear plate comprises a first sub-gear plate and a second sub-gear plate, wherein the end part of the first sub-gear plate is provided with a protruding block, the end part of the second sub-gear plate is provided with a groove, the protruding block is mutually matched with the groove, the annular guide rail is provided with at least two annular guide rails, the first sub-gear plate and the second sub-gear plate are respectively fixed with the annular guide rail, and the two adjacent annular guide rails are mutually spliced.
Further, the lifting assembly comprises a lifting driving motor, a driving roller and a box body, wherein the lifting driving motor is fixed on the box body, the driving roller is connected with the output end of the lifting driving motor in a transmission mode, and the driven roller is further rotatably arranged on the box body.
Further, the clamping assembly comprises a clamping driving motor, a sliding table, a sliding seat, a clamping balance column, a first position adjusting assembly and a second position adjusting assembly, the clamping driving motor is connected with a screw rod in a transmission mode, the screw rod is rotatably arranged on the sliding seat, the screw rod is in threaded connection with the sliding table, a guide rod is installed in the sliding seat, the guide rod penetrates through the sliding seat, the sliding table is fixedly provided with the clamping balance column, the other end of the clamping balance column is fixedly arranged on the box body, the sliding seat is fixedly connected with the supporting assembly, the first position adjusting assembly is arranged between the gear disc and the box body, and the second position adjusting assembly is arranged between the chassis and the box body.
Further, the cleaning assembly comprises a cleaning driving motor, a driving gear, a rack, a driven gear, a rotating seat, a second cleaning brush, a third guide rail and a third sliding block, the cleaning driving motor and the third guide rail are fixed on the fixing plate, the driving gear is fixed at the output end of the cleaning driving motor, the driving gear is meshed with the rack, the rack is meshed with the driven gear, the driven gear is fixedly connected with the second cleaning brush, the second cleaning brush is rotatably arranged on the rotating seat, the third sliding block is fixedly connected with the rack, and the third sliding block is slidably connected with the third guide rail.
Further, the second cleaning brush comprises a brush seat, brush bodies and electric telescopic rods, the brush seat is rotationally connected with the rotating seat, the electric telescopic rods are symmetrically fixed on the inner wall of the brush seat, and the brush bodies are fixed between the two electric telescopic rods.
A cleaning method, which is applied to the column cleaning crawling robot, comprises the following steps of
Step one: mounting equipment: the first fluted disc and the second fluted disc of the rotary guide assembly are sleeved outside the upright post to be cleaned and are mutually spliced, and meanwhile, the supporting unit is installed;
step two: adjusting the state of the clamping assembly: the clamping driving motor in the clamping assembly drives the sliding table to move along the sliding seat, the clamping balance column immediately drives the lifting assembly to move in position, and the position of the driving roller is regulated according to the diameter of the upright column until the driving roller is driven to be in close contact with the upright column;
step three: crawling along the upright post: dividing the upright post to be cleaned into a plurality of working sections with the same distance, starting a lifting driving motor to enable the driving roller to move along the upright post to be cleaned, and enabling the rotary guiding assembly and the cleaning assembly to continuously move along the height direction of the upright post to be cleaned;
step four: cleaning: starting a rotary driving motor, enabling a cleaning assembly to move along a gear disc, enabling a spraying piece to spray and clean the surface of the upright post to be cleaned, brushing the surface of the upright post to be cleaned by a cleaning brush, and driving the cleaning assembly to move to the next working section by lifting the driving motor after the cleaning operation of the working section is completed;
step five: and continuously repeating the third step and the fourth step until the surface of the whole upright post to be cleaned is cleaned.
Further, in the fourth step, the vision scanner performs image acquisition on the cleaning effect, and transmits the image acquisition information to the controller, the controller determines whether the image information has a stain, if the controller determines that the image information does not have the stain, the controller continues to perform cleaning operation on the next working section, and if the controller determines that the image information has the stain, the controller pauses the cleaning operation on the next working section, and repeatedly performs cleaning on the working section.
When the working section is repeatedly cleaned, the controller controls the rotary driving motor and the re-cleaning driving motor to start, high-pressure water is introduced into the spraying part, the first cleaning brush and the second cleaning brush simultaneously clean the surface of the upright post, the re-cleaning driving device drives the driving gear to rotate, the rack moves along the third guide rail and the driven gear rotates, and the driven gear drives the second cleaning brush to be converted into a horizontal state from a vertical state to be in contact with the upright post to be cleaned.
The column cleaning crawling robot manufactured by the technical scheme of the invention has the beneficial effects that:
the lifting assembly crawls along the upright post, the clamping driving motor drives the screw rod to rotate, the clamping balance column drives the box body to move until the box body moves to the state that the driving roller is in close contact with the outer wall of the upright post, and the clamping assembly improves the friction force between the driving roller and the upright post, so that the whole equipment is not easy to separate or slide downwards in the lifting crawling process;
when the upright posts with different diameters are cleaned, the distance between the driving roller and the upright posts can be adjusted through the clamping assembly, the application range of the whole equipment is enlarged, and the cleaning operation of the upright posts with various diameters can be realized;
the cleaning component can spray high-pressure water to the wall surface of the upright post, and the wall surface is cleaned and derusted by the high-pressure water so as to clean dirt on the surface. The orientation of first nozzle and second nozzle are different, to the two after letting in high pressure water, under the effect of high pressure impact, the rotator will realize rotating, and a plurality of injection members can carry out comprehensive and even cleanness to the region that the supporting seat was made to cover. By adopting the arrangement, the rotating effect of a plurality of spraying pieces is avoided by installing equipment such as a driving motor on the supporting seat, and the weight of the whole equipment is reduced. The supporting seat is provided with an annular accommodating space, and most of cleaned high-pressure water can flow into the recovery pipe along the accommodating space, so that the cleaning effect is prevented from being influenced by the outward splashing of the cleaned sewage mixture.
The cleaning method manufactured by the technical scheme of the invention has the following beneficial effects:
the cleaning assembly is driven to move along the annular guide rail through the rotary driving motor, the spraying piece and the first cleaning brush in the cleaning assembly remove dirt on the outer wall of the upright post in the working section, the visual scanner collects images of cleaning conditions in the working section, if the image information in the working section still shows a dirt position, the lifting driving motor pauses to drive the driving roller to move towards the next working section, and the cleaning assembly and the re-cleaning assembly repeatedly clean the working section until the cleaning effect in the working section is qualified. The method can be used for cleaning the areas with serious dirt degree, so that the working efficiency is improved, and the cleaning effect is improved.
Drawings
FIG. 1 is a perspective view of a column cleaning crawling robot in accordance with the present invention;
FIG. 2 is a schematic view of a use state of a column cleaning crawling robot according to the present invention;
FIG. 3 is an exploded view of the rotary steerable assembly of the present invention;
FIG. 4 is a perspective view of a portion of a post cleaning crawling robot in accordance with the present invention;
FIG. 5 is another perspective view of a portion of a post cleaning crawling robot in accordance with the present invention;
FIG. 6 is a schematic view of the structure of the lifting assembly and clamping assembly of the present invention;
FIG. 7 is an exploded view of the clamping assembly of the present invention;
FIG. 8 is an exploded view of the cleaning assembly of the present invention;
FIG. 9 is a front view of a cleaning assembly according to the present invention;
FIG. 10 is a schematic structural view of a re-cleaning assembly
In the figure, 1, a clamping assembly; 101. clamping a driving motor; 102. a slide; 103. a first connection plate; 104. a connecting rod; 105. a second connecting plate; 106. a sliding table; 107. clamping the balance column; 108. a first support column; 109. a positioning rod; 110. a second support column; 111. positioning holes; 200. a lifting assembly; 201. a lifting driving motor; 202. a speed reducer; 203. a driving roller; 204. a driven roller; 205. a case; 206. a first guide rail; 207. a first slider; 208. a second guide rail; 209. a second slider; 210. a limit switch; 300. a rotary guide assembly; 301. a gear plate; 3011. a first toothed dividing disc; 3012. a second dividing fluted disc; 3013. a bump; 3014. a groove; 302. an annular guide rail; 303. a guide slide block; 304. a fixing plate; 305. a connecting plate; 306. a rotary drive motor; 307. a pinion gear; 308. a connecting plate; 400. cleaning the assembly; 401. a support base; 402. a recovery pipe; 403. a rotating body; 404. a spray member; 4041. a first nozzle; 4042. a second nozzle; 405. a first cleaning brush; 500. a chassis; 600. a re-cleaning assembly; 601. a re-cleaning drive motor; 602. a drive gear; 603. a rack; 604. a driven gear; 605. a rotating seat; 606. a second cleaning brush; 6061. a brush holder; 6062. a brush body; 6063. an electric telescopic rod; 607. a third guide rail; 608. and a third slider.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings, as shown in fig. 1 and 2, a column cleaning crawling robot is used for cleaning columns, and comprises a lifting assembly 200, a rotary guiding assembly 300, a cleaning assembly 400, a clamping assembly 100, a supporting assembly and a chassis 500, wherein the chassis 500 is fixedly provided with the supporting assembly, the rotary guiding assembly 300 is fixedly provided with the supporting assembly, the lifting assembly 200 is connected between the chassis 500 and the rotary guiding assembly 300, the rotary guiding assembly 300 is slidingly connected with the cleaning assembly 400, the cleaning assembly 400 moves along the rotary guiding assembly 300 and cleans the column surface, the clamping assembly 100 is fixedly provided with the supporting assembly 100, and the clamping assembly 100 is fixedly connected with the lifting assembly 200 to adjust the distance between the lifting assembly 200 and the columns. The lifting assembly 200 drives the cleaning assembly 400 to move along the upright post to be cleaned, so that the whole equipment is in a crawling state along the upright post, the clamping assembly 100 is used for adjusting the clamping degree of the lifting assembly 200 according to the diameter of the upright post, the rotary guide assembly 300 enables the cleaning assembly 400 to move along the periphery of the upright post, and the outer side wall on the upright post can be cleaned; the support assembly serves to support the rotary guide assembly 300 and the clamping assembly 100 while the support assembly serves to connect the two parts of the entire apparatus.
As shown in fig. 3, the rotary guide assembly 300 includes a gear plate 301, a ring rail 302, a rotary drive motor 306, a pinion 307, a guide slider 303, and a fixing plate 304, the ring rail 302 is fixed on the side wall of the gear plate 301, the guide slider 303 is slidably disposed on the ring rail 302, the guide slider 303 is fixedly connected with the fixing plate 304, the fixing plate 304 is fixed with the cleaning assembly 400, the gear plate 301 has a tooth portion, the pinion 307 is meshed with the tooth portion of the gear plate 301, the pinion 307 is fixed with the rotary drive motor 306, and the rotary drive motor 306 is fixed on the fixing plate 304. The fixing plate 304 is connected with the cleaning assembly 400 through the connection plate 305. The rotation driving motor 306 drives the pinion 307 to rotate, and as the pinion 307 is meshed with the gear plate 301, the pinion 307 moves along the outside of the gear plate 301, the cleaning assembly 400 moves along with the movement of the pinion 307, the guide slide block 303 and the annular guide rail 302 play a guiding role, and the cleaning assembly 400 moves along the annular guide rail 302 to comprehensively clean the surface of the upright post.
As shown in fig. 4 and fig. 5, the gear plate 301 includes a first tooth dividing plate 3011 and a second tooth dividing plate 3012, a protruding block 3013 is provided at an end of the first tooth dividing plate 3011, a groove 3014 is provided at an end of the second tooth dividing plate 3012, the protruding block 3013 and the groove 3014 are mutually matched, at least two annular guide rails 302 are provided, annular guide rails 302 are respectively fixed on the first tooth dividing plate 3011 and the second tooth dividing plate 3012, and two adjacent annular guide rails 302 are mutually spliced. The support assembly comprises a first support column 108 and a second support column 110, the first support column 108 is fixed on the first tooth dividing disc 3011, the second support column 110 is fixed on the second tooth dividing disc 3012, the positioning rods 109 are fixed on the side walls of the first support column 108 and the second support column 110, the positioning holes 111 are formed in the side walls of the first support column 108 and the second support column 110, and the positioning rods 109 are mutually matched with the positioning holes 111. The positioning rods and the positioning holes on the same support column are respectively located at different heights, in this embodiment, the rotary guide assembly 300 adopts a spliced structure, that is, the gear plate 301 comprises a first gear dividing plate 3011 and a second gear dividing plate 3012 which are mutually spliced through a convex block 3013 and a concave groove 3014, the whole equipment is spliced through the positioning rods 109 and the positioning holes 111 on the support assembly, and the central part of the gear plate 301 is of a hollow structure and is used for accommodating a stand column to be cleaned. The annular guide rails 302 are provided with at least two, each annular guide rail 302 is a guide rail structure with a certain arc shape, and a plurality of annular guide rails 302 are spliced into an annular structure. The structure is adopted, so that the cleaning crawling device is more convenient to install on the upright post, and convenient to store and transport after being disassembled.
As shown in fig. 2 and 6, the lifting assembly 200 includes a lifting driving motor 201, a driving roller 203 and a box 205, the box 205 is fixed with the lifting driving motor 201, the output end of the lifting driving motor 201 is in transmission connection with the driving roller 203, and the box 205 is further provided with a driven roller 204 in a rotating manner. A speed reducer 202 is in transmission connection between the lifting driving motor 201 and the driving roller 203, and the speed reducer 202 can be a turbine worm speed reducer. The lifting driving motor 201 drives the driving roller 203 to rotate, the driving roller 203 moves along the upright post, meanwhile, the driven roller 204 also moves along the upright post, and the driven roller 204 enables the movement of the whole device to be stable.
As shown in fig. 4, fig. 6 and fig. 7, the clamping assembly 100 includes a clamping driving motor 101, a sliding table 106, a sliding seat 102, a clamping balance column 107, a first position adjusting assembly and a second position adjusting assembly, the clamping driving motor 101 is in transmission connection with a screw rod, the screw rod is rotatably arranged on the sliding seat 102, the screw rod is in threaded connection with the sliding table 106, a guide rod is installed in the sliding seat 102, the guide rod penetrates through the sliding seat 102, the sliding table 106 is fixed with the clamping balance column 107, the other end of the clamping balance column 107 is fixed on the box 205, the sliding seat 102 is fixedly connected with the supporting assembly, a first position adjusting assembly is arranged between the gear disc 301 and the box 205, and a second position adjusting assembly is arranged between the chassis 500 and the box 205. For the columns of different diameters, the clamping assembly 100 is adjusted before the cleaning operation is performed so that the driving roller 203 and the driven roller 204 are in contact with the columns. Specifically, the clamping driving motor 101 is started to drive the screw rod to rotate, the sliding table 106 is in threaded connection with the screw rod, then the sliding table 106 moves along the screw rod and the guide rod, the clamping balance column 107 fixed with the sliding table 106 drives the box 205 to move, the first position adjusting component and the second position adjusting component play a role in guiding until the first position adjusting component and the second position adjusting component move to the state that the driving roller 203 is in close contact with the outer wall of the upright post, and the clamping component 100 is used for improving the friction force between the driving roller 203 and the upright post, so that the whole equipment is not easy to separate or slide downwards in the lifting crawling process. While the clamping assembly 100 allows the robot to accommodate different diameter column cleaning.
The first connecting plate 103 and the second connecting plate 105 are fixed outside the slide seat 102, and play a role in supporting the slide seat 102.
As shown in fig. 1, the lifting assembly 200 is symmetrically provided with two groups along the gear plate 301, and two sides of each box 205 are provided with clamping assemblies 100. A connecting rod 104 is fixed between the two sets of clamping assemblies 100. The lifting assembly 200 is provided with two sets symmetrically along the two sides of the upright, and the two pairs of driving rollers 203 enable the equipment to be more stable when crawling along the upright. Two groups of clamping assemblies 100 are arranged on two sides of the box 205 of each lifting assembly 200, the two groups of clamping assemblies 100 enable the box 205 to move integrally more labor-saving, and the friction force between the two main rollers and the upright posts is adjusted to be consistent. A connecting rod 104 is provided between the two clamping assemblies 100 for supporting purposes.
As shown in fig. 6, the first position adjusting assembly includes a first guide rail 206 and a first slider 207, the first guide rail 206 is fixed above the box 205, the first guide rail 206 is slidably provided with the first slider 207, and the first slider 207 is fixed with a gear plate 301. The first guide rail 206 and the first slider 207 guide the movement of the case 205.
The second position adjusting assembly comprises a second guide rail 208 and a second sliding block 209, the second guide rail 208 is fixed below the box 205, the second sliding block 209 is slidably provided with the second sliding block 209, and the second sliding block 209 is fixed with the chassis 500. The second guide rail 208 and the second slider 209 guide the movement of the case 205.
A limit switch 210 is fixed on the side wall of the sliding seat 102. A limit switch 210 may be provided on the slide 102 to limit the movement distance of the clamping assembly 100 according to the actual diameter of the column.
The chassis 500 is formed by splicing two sheet structures. The gear plate 301 is formed by splicing a first sub-gear plate 3011 and a second sub-gear plate 3012, the first support column 108 and the second support column 110 respectively support the first sub-gear plate 3011 and the second sub-gear plate 3012, and the positioning rod 109 and the positioning hole 111 play a fixed role. Two lifting assemblies 200 are respectively arranged on two sides of the gear plate 301, two groups of clamping assemblies 100 are fixed on two sides of each lifting assembly 200, the lifting assemblies 200 enable the whole equipment to creep along the upright posts, the clamping assemblies 100 adjust positions between the driving rollers 203 and the upright posts, and the whole equipment is arranged to be of a split type structure and is more convenient to install and detach.
Also included is a vision scanner secured to the mounting plate 304 to obtain a cleaning condition of the upright by the cleaning assembly 400.
As shown in fig. 8 and 9, the cleaning assembly 400 includes a support 401, a rotating body 403, an ejector 404, and a first cleaning brush 405, the support 401 is rotatably provided with the rotating body 403, a plurality of ejectors 404 are fixed at an end of the rotating body 403, the ejectors 404 are arrayed along a circumference of the rotating body 403, and the first cleaning brush 405 is fixed at a side of the support 401 close to the ejectors 404. The two sides of the rotating body 403 are symmetrically provided with a first nozzle 4041 and a second nozzle 4042, the water outlet of the first nozzle 4041 is arranged upwards along the inclination of the supporting seat 401, the water outlet of the second nozzle 4042 is arranged downwards along the inclination of the supporting seat 401, and the first nozzle 4041 and the second nozzle 4042 are high-pressure nozzles. The support 401 has an annular accommodating space in which the spray member 404 is accommodated, and a recovery pipe 402 is communicated with the bottom of the support 401, and the recovery pipe 402 is used for recovering the high-pressure water cleaning mixture in the annular accommodating space.
Specifically, when cleaning the surface of the upright post, high-pressure water is introduced into each spraying member 404, and specifically, the cleaning assembly 400 can spray the high-pressure water to the wall surface, and clean and remove rust on the wall surface by using the high-pressure water, so as to clean dirt on the surface. In this embodiment, the first nozzle 4041 and the second nozzle 4042 are oriented differently, and after high pressure water is introduced into the two nozzles, the rotating body 403 will rotate under the action of high pressure impact, and the plurality of spraying members 404 can clean the area covered by the supporting seat 401 comprehensively and uniformly. By adopting the arrangement, the rotating effect of the plurality of spraying pieces 404 is avoided by installing a plurality of driving motors and other devices on the supporting seat 401, the weight of the whole device is reduced, and the whole device is lighter in the crawling process. The supporting seat 401 is formed with annular accommodation space, and most of the cleaned high-pressure water can flow into the recovery pipe 402 along the accommodation space, so that the cleaning effect is prevented from being influenced by the outward splashing of the cleaned sewage mixture.
The first cleaning brush 405 has an arc structure, and can be abutted against the wall surface of the upright post and attached to the wall surface, where the cleaning assembly 400 can clean the position inside the support seat 401, and in this embodiment, the recovery tube 402 is connected to a negative pressure source, and a vacuum recovery device can be used as the negative pressure source. In the working process, the cleaned sewage can be recovered through a negative pressure source, so that the environment is prevented from being polluted by the sewage. Meanwhile, after the sewage is recycled by the negative pressure source, the phenomenon that the wall surface rusts due to the fact that the sewage remains on the wall surface can be avoided.
The number of the through holes communicating with the recovery tube 402 on the support 401 is not limited, and for example, the number of the through holes may be set to three, and the three through holes are respectively located at the rear side of the end of the support 401 away from the wall surface and at the left and right sides. In one possible implementation, the through holes may be connected to a negative pressure source through the recovery tube 402, and when the number of through holes is plural, each through hole may be connected to one negative pressure source, respectively.
As shown in fig. 10, the fixing plate 304 is fixed with a re-cleaning assembly 600, the re-cleaning assembly 600 includes a re-cleaning driving motor 601, a driving gear 602, a rack 603, a driven gear 604, a rotating base 605, a second cleaning brush 606, a third guide rail 607 and a third slider 608, the fixing plate 304 is fixed with the re-cleaning driving motor 601 and the third guide rail 607, an output end of the re-cleaning driving motor 601 is fixed with the driving gear 602, the driving gear 602 is meshed with the rack 603, the rack 603 is meshed with the driven gear 604, the driven gear 604 is fixedly connected with the second cleaning brush 606, the rotating base 605 is rotatably provided with the second cleaning brush 606, the rack 603 is fixedly connected with the third slider 608, and the third slider 608 is slidably connected with the third guide rail 607.
The second cleaning brush 606 comprises a brush holder 6061, a brush body 6062 and electric telescopic rods 6063, the brush holder 6061 is rotationally connected with the rotary seat 605, the electric telescopic rods 6063 are symmetrically fixed on the inner wall of the brush holder 6061, and the brush body 6062 is fixed between the two electric telescopic rods 6063. As the second brush 606 moves with the rotary guide assembly 300, one of the two motorized telescopic rods 6063 is extended, the other is retracted and the action is repeated continuously, increasing the cleaning force against the column surface.
A cleaning method comprising the steps of: mounting equipment: the first tooth dividing disc 3011 and the second tooth dividing disc 3012 of the rotary guide assembly 300 are sleeved outside the stand column to be cleaned and are mutually inserted, and meanwhile, the positioning rods 109 and the positioning holes 111 of the first support stand column and the second support stand column are mutually matched;
step two: adjusting the state of the clamping assembly 1: the clamping driving motor 101 in the clamping assembly 1 drives the sliding table 106 to move along the sliding seat 102, the clamping balance column 107 immediately drives the lifting assembly 200 to move in position, and the position of the driving roller 203 is adjusted according to the diameter of the upright post until the driving roller 203 is driven to be in close contact with the upright post;
step three: crawling along the upright post: dividing the upright to be cleaned into a plurality of working sections with the same distance, starting a lifting driving motor 201 to enable a driving roller 203 to move along the upright to be cleaned, and enabling a rotary guiding assembly 300 and a cleaning assembly 400 to continuously move along the height direction of the upright to be cleaned; the upright post to be cleaned is divided into a plurality of working sections with the same distance, the upright post is moved to the next working section for operation after the working task of one working section is completed, the cleaning operation can be orderly carried out by the regional treatment, the working section with poor cleaning effect can be repeatedly treated, the working section with good cleaning effect can be cleaned once, the repeated treatment of the whole upright post for a plurality of times is avoided, and the time consumption of the work is reduced.
Step four: cleaning: starting a rotary driving motor 306, moving the cleaning assembly 400 along the gear plate 301, spraying and cleaning the surface of the upright to be cleaned by a spraying piece 404, brushing the surface of the upright to be cleaned by a cleaning brush, and driving the cleaning assembly 400 to move to the next working section by lifting the driving motor 201 after the cleaning operation of the working section is completed;
step five: and (3) continuously repeating the third step and the fourth step to finish the cleaning of the surface of the whole upright post to be cleaned.
In the fourth step, the vision scanner performs image acquisition on the cleaning effect and transmits the image acquisition information to the controller, the controller judges whether the image information contains dirt, if the controller judges that the image information does not contain dirt, the controller continues to perform cleaning work on the next working section, and if the controller judges that the image information contains dirt, the controller pauses the cleaning work on the next working section and repeatedly cleans the working section. The vision scanner can be selected as a camera for collecting cleaning effect image information on the upright post and transmitting the cleaning effect image information to the controller in a wireless way. The working steps are guided according to the cleaning effect.
When the working section is repeatedly cleaned, the controller controls the rotary driving motor 306 and the re-cleaning driving motor 601 to start, high-pressure water is introduced into the spraying part 404, the first cleaning brush 405 and the second cleaning brush 606 simultaneously clean the surface of the upright post, the re-cleaning driving device drives the driving gear 602 to rotate, the rack 603 moves along the third guide rail 607 and the driven gear 604 rotates, and the driven gear 604 drives the second cleaning brush 606 to be converted into a horizontal state from a vertical state so as to be in contact with the upright post to be cleaned. Taking cleaning operation for a certain working section as an example, the cleaning assembly 400 is driven by the rotary driving motor 306 to move along the annular guide rail 302, the spraying piece 404 and the first cleaning brush 405 in the cleaning assembly 400 remove dirt on the outer wall of the upright post in the working section, the visual scanner performs image acquisition on the cleaning condition in the working section, if the image information in the working section shows that the cleaning condition still has a dirt position, the lifting driving motor 201 pauses to drive the driving roller 203 to move towards the next working section, and the cleaning assembly 400 and the re-cleaning assembly 600 repeatedly clean the working section until the cleaning effect in the working section is qualified. By adopting the scheme, the area with serious dirt degree can be cleaned in a key way, and the cleaning effect is improved while the working efficiency is improved.
When the re-cleaning assembly 600 cleans, the re-cleaning driving motor 601 is started to drive the driving gear 602 to move along the rack 603, the rack 603 and the third slider 608 move along the third guide rail 607, and then the driven gear 604 meshed with the rack 603 also rotates, and the second cleaning brush 606 is adjusted to be in a horizontal state from a vertical state due to the fixed connection with the gear. In the initial state, the second brush 606 is in a vertical state, is not in contact with the upright post, reduces friction to the upright post to scratch the surface layer of the upright post, and in the re-cleaning process, the second brush 606 is in a horizontal state, and the end part of the second brush 606 is in contact with the upright post to re-clean the cleaned area of the first brush 405. By adopting the scheme, the abrasion to the upright post is reduced.
The above technical solution only represents the preferred technical solution of the present invention, and some changes that may be made by those skilled in the art to some parts of the technical solution represent the principles of the present invention, and the technical solution falls within the scope of the present invention.
Claims (5)
1. The utility model provides a robot is crawled in stand washing, is used for wasing the stand, and a serial communication port includes lifting unit (200), rotatory direction subassembly (300), washs subassembly (400), clamping unit (100), supporting unit and chassis (500), chassis (500) are fixed with supporting unit, supporting unit is fixed with rotatory direction subassembly (300), chassis (500) with be connected with lifting unit (200) between rotatory direction subassembly (300), rotatory direction subassembly (300) sliding connection has washs subassembly (400), washs subassembly (400) along rotatory direction subassembly (300) remove and wash the stand surface, supporting unit is fixed with clamping unit (100), clamping unit (100) with lifting unit (200) fixed connection are in order to adjust the distance between lifting unit (200) and the stand; the cleaning assembly (400) comprises a supporting seat (401), a rotating body (403), spraying pieces (404) and a first cleaning brush (405), the rotating body (403) is rotatably arranged on the supporting seat (401), a plurality of spraying pieces (404) are fixedly arranged at the end part of the rotating body (403), the spraying pieces (404) are distributed in a circumferential array along the rotating body (403), the first cleaning brush (405) is fixedly arranged on one side, close to the spraying pieces (404), of the supporting seat (401), the rotary guide assembly (300) comprises a gear disc (301), an annular guide rail (302), a rotary driving motor (306), a pinion (307), a guide sliding block (303) and a fixing plate (304), the side wall of the gear disc (301) is fixedly provided with the annular guide rail (302), the guide sliding block (303) is fixedly connected with the fixing plate (304), the fixing plate (304) is fixedly provided with the cleaning assembly (400), the gear disc (301) is provided with teeth, the pinion (307) is meshed with the motor (307), and the pinion (307) is fixedly arranged on the rotary driving motor (306), and the rotary driving motor (306) is fixedly arranged on the fixing plate (306).
The gear plate (301) comprises a first sub-fluted disc (3011) and a second sub-fluted disc (3012), the end part of the first sub-fluted disc (3011) is provided with a protruding block (3013), the end part of the second sub-fluted disc (3012) is provided with a groove (3014), the protruding block (3013) is mutually matched with the groove (3014), the annular guide rail (302) is provided with at least two, the annular guide rail (302) is respectively fixed on the first sub-fluted disc (3011) and the second sub-fluted disc (3012), the two adjacent annular guide rails (302) are mutually spliced, the lifting assembly (200) comprises a lifting driving motor (201), a driving roller (203) and a box body (205), the box body (205) is fixedly provided with the lifting driving motor (201), the output end of the lifting driving motor (201) is in transmission connection with the driving roller (203), the box body (205) is also rotationally provided with a driven roller (204), the clamping assembly (100) comprises a clamping driving motor (101), a sliding table (106), a clamping balancing motor (102), a second position adjusting column (107) and a screw rod (102) are connected in the driving column (102) in a rotating way, the screw rod (102) is connected with the screw rod, the guide rod penetrates through the sliding seat (102), the sliding table (106) is fixedly provided with a clamping balance column (107), the other end of the clamping balance column (107) is fixed on the box body (205), the sliding seat (102) is fixedly connected with the supporting component, a first position adjusting component is arranged between the gear plate (301) and the box body (205), a second position adjusting component is arranged between the chassis (500) and the box body (205),
the cleaning device further comprises a visual scanner, wherein the visual scanner is fixed on the fixed plate (304) to acquire the cleaning condition of the cleaning assembly (400) on the upright column;
the cleaning device comprises a fixing plate (304), and is characterized in that a re-cleaning assembly (600) is fixed on the fixing plate (304), the re-cleaning assembly (600) is fixed below the cleaning assembly (400), the re-cleaning assembly (600) comprises a re-cleaning driving motor (601), a driving gear (602), a rack (603), a driven gear (604), a rotating seat (605), a second cleaning brush (606), a third guide rail (607) and a third sliding block (608), the fixing plate (304) is fixed with the re-cleaning driving motor (601) and the third guide rail (607), the driving gear (602) is fixed at the output end of the re-cleaning driving motor (601), the driving gear (602) is meshed with the rack (603), the rack (603) is meshed with the driven gear (604), the driven gear (604) is fixedly connected with the second cleaning brush (606), the rotating seat (605) is rotatably provided with the second cleaning brush (606), the third sliding block (608) is fixedly connected with the third guide rail (607).
2. The upright post cleaning crawling robot according to claim 1, wherein the second cleaning brush (606) comprises a brush base (6061), a brush body (6062) and electric telescopic rods (6063), the brush base (6061) is rotationally connected with the rotating base (605), the electric telescopic rods (6063) are symmetrically fixed on the inner wall of the brush base (6061), and the brush body (6062) is fixed between the two electric telescopic rods (6063).
3. A cleaning method is characterized in that the column cleaning crawling robot adopting the column cleaning method as claimed in claim 1 or 2 comprises the following steps of
Step one: and (3) installing a robot: the first fluted disc (3011) and the second fluted disc (3012) of the rotary guide assembly (300) are sleeved outside the upright post to be cleaned and are mutually spliced, and meanwhile, the support assembly is installed;
step two: adjusting the status of the clamping assembly (100): a clamping driving motor (101) in the clamping assembly (100) drives a sliding table (106) to move along a sliding seat (102), a clamping balance column (107) immediately drives a lifting assembly (200) to move in position, and the position of a driving roller (203) is regulated according to the diameter of the upright until the driving roller (203) is in close contact with the upright;
step three: crawling along the upright post: dividing the upright to be cleaned into a plurality of working sections with the same distance, starting a lifting driving motor (201) to enable a driving roller (203) to move along the upright to be cleaned, and enabling a rotary guide assembly (300) and a cleaning assembly (400) to continuously move along the height direction of the upright to be cleaned;
step four: cleaning: starting a rotary driving motor (306), moving the cleaning assembly (400) along the gear plate (301), spraying and cleaning the surface of the upright to be cleaned by a spraying piece (404), brushing the surface of the upright to be cleaned by a first cleaning brush, and driving the cleaning assembly (400) to move to the next working section by a lifting driving motor (201) after the cleaning operation of the working section is completed;
step five: and continuously repeating the third step and the fourth step until the surface of the whole upright post to be cleaned is cleaned.
4. A cleaning method according to claim 3, wherein in the fourth step, the vision scanner performs image acquisition on the cleaning effect and transmits the image acquisition information to the controller, the controller determines whether there is a stain in the image information, if the controller determines that there is no stain, the controller continues to perform cleaning operation on the next working section, and if the controller determines that there is a stain, the controller pauses performing cleaning operation on the next section, and repeats cleaning operation on the working section.
5. A cleaning method according to claim 4, characterized in that, when the cleaning of the working section is repeated, the controller controls the rotary driving motor (306) and the re-cleaning driving motor (601) to start, and simultaneously, high-pressure water is introduced into the spraying member (404), the first cleaning brush (405) and the second cleaning brush (606) to clean the surface of the upright, the re-cleaning driving motor drives the driving gear (602) to rotate, the rack (603) moves along the third guide rail (607) and the driven gear (604) rotates, and the driven gear (604) drives the second cleaning brush (606) to be converted from the vertical state to the horizontal state to be in contact with the upright to be cleaned.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211687729.1A CN116174365B (en) | 2022-12-27 | 2022-12-27 | Column cleaning crawling robot and cleaning method |
| CN202311193185.8A CN117046768A (en) | 2022-12-27 | 2022-12-27 | Column cleaning crawling robot and cleaning method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211687729.1A CN116174365B (en) | 2022-12-27 | 2022-12-27 | Column cleaning crawling robot and cleaning method |
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| CN202311193185.8A Division CN117046768A (en) | 2022-12-27 | 2022-12-27 | Column cleaning crawling robot and cleaning method |
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| CN116174365B true CN116174365B (en) | 2023-10-17 |
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| CN202211687729.1A Active CN116174365B (en) | 2022-12-27 | 2022-12-27 | Column cleaning crawling robot and cleaning method |
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| CN116753126B (en) * | 2023-08-17 | 2023-10-24 | 青岛星宸铁塔有限公司 | Wind power tower barrel cleaning device |
| CN117566634B (en) * | 2024-01-16 | 2024-03-19 | 沈阳添润信息技术有限公司 | Communication is with holding pole device |
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| KR100691616B1 (en) * | 2006-04-25 | 2007-03-12 | 한국전력공사 | Robot mechanism for cleaning and inspection of live-line insulator |
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Also Published As
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| CN117046768A (en) | 2023-11-14 |
| CN116174365A (en) | 2023-05-30 |
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