CN205816296U - Clean robot and cleaning systems for iron material matter column - Google Patents
Clean robot and cleaning systems for iron material matter column Download PDFInfo
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- CN205816296U CN205816296U CN201620709437.7U CN201620709437U CN205816296U CN 205816296 U CN205816296 U CN 205816296U CN 201620709437 U CN201620709437 U CN 201620709437U CN 205816296 U CN205816296 U CN 205816296U
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Abstract
The utility model discloses a kind of clean robot for iron material matter column and cleaning systems, belong to iron material matter column maintenance field.Wherein clean robot includes fuselage and control unit；Fuselage includes: framework；The relative both sides of framework are connected to support arm, and support arm is connected with frame articulation；Support arm is fixed with conduit away from one end of framework, and conduit is vertical with support arm；Framework, support arm and conduit can enclose formation square space；Being further fixed on magnetic walking unit on framework, magnetic walking unit is for making fuselage absorption on the surface of iron material matter column and drive fuselage to move along iron material matter column by magnetic force；Being respectively arranged with at least one nozzle on framework, on support arm and on conduit, nozzle is for being connected to iron material matter column jet cleaner with external cleaning machine；Control unit electrically connects with magnetic walking unit, for controlling the motion of magnetic walking unit.This clean robot simple in construction, cleaning effect are good, efficiency is high.
Description
Technical field
This utility model relates to iron material matter column maintenance field, particularly to a kind of for iron material matter column
Clean robot and cleaning systems.
Background technology
The agent structure of Beijing South Station includes that main building and canopy, main building both sides are the rain of encorbelmenting that 13 Pin A shape pylon posts support
Paulin, wherein, A shape pylon post is iron material matter column.
Owing to the A shape pylon post of Beijing South Station is not provided with lifting rope support means, " spider-man " therefore can not be used to carry out
Cleaning, needs to build scaffold and is cleaned A shape pylon post.
During realizing this utility model, the design people finds at least to there is problems in that in prior art foot hands
Long-pending relatively big, the structure bulky of support body, builds the longest, and such as, building 6m platform needs about 30 minutes, greatly reduces
Effective time in the some time of skylight, and scaffold fastness it cannot be guaranteed that, there is potential safety hazard.Meanwhile, Beijing
The front of the A shape pylon post at southern station is provided with the barrier such as contact net bar, herringbone pillar, is affected by above-mentioned barrier, foot
The height of hand cradle can not be too high, can only build the scaffold of height about 5m, and the stock of hand-held about the 9m of staff is carried out clearly
Clean, cleaning maximum height is about 15m, it is impossible to clean the top of A shape pylon post comprehensively, it is impossible to ensure cleaning quality.
Utility model content
In order to solve above-mentioned technical problem, this utility model embodiment provides a kind of simple in construction, cleaning efficiency high, clear
Clean effective, can realize iron material matter column surrounding around cleaning and the safe and reliable cleaning machine for iron material matter column
People and cleaning systems.
Specifically, including following technical scheme:
First aspect, this utility model embodiment provides a kind of clean robot for iron material matter column, this cleaning
Robot includes: fuselage and control unit；Described fuselage includes: framework；The relative both sides of described framework are connected to
Support arm, described support arm is connected with described frame articulation；Described support arm is fixed with conduit, described conduit away from one end of described framework
Vertical with described support arm；Described framework, described support arm and described conduit can enclose formation square space；On described framework the most solid
Surely be magnetic walking unit, and described magnetic walking unit is adsorbed described for being made the fuselage of described clean robot by magnetic force
The surface of iron material matter column also drives the fuselage of described clean robot to move along described iron material matter column；On described framework, institute
Stating on support arm and be respectively arranged with at least one nozzle on described conduit, described nozzle is for being connected to institute with external cleaning machine
State iron material matter column jet cleaner；Described control unit electrically connects with described magnetic walking unit, and described control unit is used for
Control the motion of described magnetic walking unit.
Specifically, described magnetic walking unit includes track rail assembly, keyset and motor；Described track rail assembly includes driving
Driving wheel, directive wheel and be looped around described driving wheel and the crawler belt on directive wheel surface, the both sides of described crawler belt are also respectively provided with
Baffle plate；The surface configuration of described crawler belt has multiple groove, is provided with the first Magnet, the surface of described first Magnet in described groove
Flush with described crawler belt；Described driving wheel is connected with described motor by drive disk assembly；Described motor and described control
Unit electrically connects；Described keyset takes the shape of the letter U, and two sidewalls of described keyset baffle plate with described crawler belt both sides respectively is fixed,
The bottom of described keyset is fixing on said frame.
Specifically, described clean robot is provided with two magnetic walking unit.
Specifically, the axial cross section shape of the liquid outlet of described nozzle is sector.
Specifically, described framework is provided with two described nozzles, described support arm is provided with two nozzles, described conduit
On be provided with a described nozzle.
Further, described clean robot also includes: electricity push rod；Described electricity push rod two ends respectively with described framework with
And described support arm is articulated and connected near one end of described framework；Described electricity push rod electrically connects with described control unit, described control
Unit is additionally operable to control the flexible of described electricity push rod.
Further, described framework is further fixed on the second Magnet.
Further, described support arm is additionally provided with shock relieve vent.
Further, described framework being further fixed on photographic head, described photographic head electrically connects with described control unit, described
Control unit is additionally operable to show that described photographic head shoots the picture obtained.
Second aspect, this utility model embodiment provides a kind of cleaning systems for iron material matter column, this cleaning system
Unite and include clean robot and cleaning machine, the nozzle of described clean robot that this utility model embodiment first aspect provides
It is connected with described cleaning machine by pipeline.
The beneficial effect of the technical scheme that this utility model embodiment provides:
This utility model embodiment utilizes iron material matter column that the magnetic object of tool can be made to adsorb this spy on its surface
Point, it is provided that a kind of clean robot for iron material matter column.In this clean robot, the relative both sides of framework connect respectively
Connecing support arm, support arm is fixed with perpendicular conduit, framework, support arm and conduit can enclose and form square space, and
And on framework, on support arm and on conduit, it being also respectively provided with nozzle, iron material matter column is then positioned at inside above-mentioned square space.Clearly
The fuselage of clean robot relies on the magnetic walking magnetic-adsorption surface at iron material matter column of unit the control in control unit
Lower moving along iron material matter column, meanwhile, abluent sprays from nozzle and is cleaned iron material matter column.This utility model
The clean robot compact structure that embodiment provides is flexible, it is possible to realize iron material matter column surrounding around cleaning, cleaning effect
Good, cleaning efficiency is high, and staff can control cleaning process on ground, simple to operate, safe and reliable.
The clean robot that this utility model embodiment provides is applicable to be cleaned arbitrary iron material matter column, especially
It is applicable to large-scale A shape pylon post is cleaned.The clean robot that this utility model embodiment provides is applied to Bei Jingnan
The cleaning maintenance of the A type pylon post of agent structure of standing, achieves good effect.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in this utility model embodiment, required in embodiment being described below
Accompanying drawing to be used is briefly described, it should be apparent that, the accompanying drawing in describing below is only realities more of the present utility model
Execute example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these accompanying drawings
Obtain other accompanying drawing.
The perspective view of the fuselage of the clean robot that Fig. 1 provides for this utility model embodiment；
The front view of the fuselage of the clean robot that Fig. 2 provides for this utility model embodiment；
The top view of the fuselage of the clean robot that Fig. 3 provides for this utility model embodiment；
The left view of the fuselage of the clean robot that Fig. 4 provides for this utility model embodiment；
The perspective view of magnetic walking unit in the clean robot that Fig. 5 provides for this utility model embodiment；
The front view of magnetic walking unit in the clean robot that Fig. 6 provides for this utility model embodiment；
The structural representation of the cleaning systems that Fig. 7 provides for this utility model embodiment；
Fig. 8 is that nozzle quantity determines Method And Principle schematic diagram；
The distribution situation schematic diagram of nozzle, arrow in figure in the clean robot that Fig. 9 provides for this utility model embodiment
The position of indication is the position of nozzle；
Figure 10 is the scattering situation schematic diagram after liquid is sprayed by nozzle；
The workflow diagram of the cleaning systems that Figure 11 provides for this utility model embodiment；
The working method schematic diagram of the cleaning systems that Figure 12 a～Figure 12 f provides for this utility model embodiment.
In figure, reference represents respectively:
1-framework；
2-magnetic walking unit；21-track rail assembly；211-crawler belt；212-baffle plate；22-keyset；
3-support arm；
4-conduit；
5-electricity push rod；
6-the second Magnet；
7-iron material matter column；
8-control unit；
9-cleaning machine；
A-core segment；
B-basic segment；
C-dissipation section.
Detailed description of the invention
For making the technical solution of the utility model and advantage clearer, below in conjunction with accompanying drawing, this utility model is implemented
Mode is described in further detail.Unless otherwise defined, all technical terms used by this utility model embodiment are respectively provided with
The identical implication being generally understood that with those skilled in the art.
First aspect, this utility model embodiment provides a kind of clean robot for iron material matter column, sees figure
1, and combine Fig. 2～Fig. 7, this clean robot includes: fuselage and control unit 8.
Fuselage includes: framework 1；The relative both sides of framework 1 are connected to support arm 3, and support arm 3 is articulated and connected with framework 1；
Support arm 3 is fixed with conduit 4 away from one end of framework 1, and conduit 4 is vertical with support arm 3；Framework 1, support arm 3 and conduit 4 can enclose shape
Squarely space.
Magnetic walking unit 2 it is further fixed on framework 1；Magnetic walking unit 2 is for making clean robot by magnetic force
Fuselage absorption on the surface of iron material matter column and drives the fuselage of clean robot to move along iron material matter column.
Being respectively arranged with at least one nozzle on framework 1, on support arm 3 and on conduit 4, nozzle is used for and external cleaning machine
Connect to iron material matter column jet cleaner.
Control unit 8 electrically connects with magnetic walking unit 2, and control unit 8 is for controlling the motion of magnetic walking unit 2.
Iron material matter column has the character that can make the absorption of tool magnetic object on its surface, utilizes this this practicality of character
New embodiment provides above-mentioned clean robot.Framework 1 is the main element of the fuselage of clean robot, clean robot
The miscellaneous part of fuselage all install with framework 1 for matrix.The relative support arm 3 that is respectively hinged to two sides of framework 1, i.e.
Adjustable angle between support arm 3 and framework 1.Perpendicular conduit 4 it is fixed with on support arm 3, and by adjusting support arm 3 and frame
Angle between frame 1 makes support arm 3 vertical with framework 1 so that framework 1, support arm 3 and conduit 4 enclose formed one square
Space, during cleaning, iron material matter column 7 is positioned at above-mentioned square space, i.e. framework 1, support arm 3 and conduit 4 and is looped around
Around iron material matter column.It will be appreciated by persons skilled in the art that the conduit 4 on the support arm 3 being positioned at framework 1 both sides should phase
To setting, so that framework 1, support arm 3 and conduit 4 can enclose formation square space.It is that square iron material matter is stood with cross section
As a example by post 7, framework 1, the support arm 3 of framework 1 opposite sides distinguish three faces of corresponding iron material matter column 7, and relative conduit 4 is common
The corresponding remaining face of iron material matter column 7.The fuselage of clean robot relies on the magnetic-adsorption of magnetic walking unit 2 at iron material
Matter column 7 surface and magnetic walking unit 2 drive under move along iron material matter column 7.Framework 1, support arm 3 and conduit 4
On be mounted on nozzle, while the fuselage of clean robot moves along iron material matter column, external cleaning machine output cleaning
Agent is sprayed by nozzle, thus cleans iron material matter column 7 comprehensively.
The clean robot compact structure that this utility model embodiment provides is flexible, it is possible to realize iron material matter column surrounding
Around cleaning, cleaning effect is good, and cleaning efficiency is high, and staff can control cleaning process on ground, simple to operate, peace
Complete reliable.
Further, it is also possible to by nozzle to iron material matter leg surface spray other maintenance reagent, the most antirust reagent etc., right
Iron material matter column 7 carries out maintaining.
The clean robot that this utility model embodiment provides is applicable to be cleaned arbitrary iron material matter column safeguarding
Maintenance, is particularly suited for large-scale A shape pylon post.The clean robot that this utility model embodiment provides is applied to Beijing South Station
The cleaning maintenance of the A type pylon post of agent structure, achieves good effect.
It should be noted that the clean robot that this utility model embodiment provides needs to carry out at a higher pressure clearly
Wash, i.e. abluent has higher pressure when spraying from nozzle, thus ensures the cleaner that this utility model embodiment provides
The cleaning performance of device people.
It will be appreciated by persons skilled in the art that the nozzle on framework 1, support arm 3 and conduit 4 and iron material matter column 7
Surface between there is a certain distance, with the ejection of beneficially abluent.Framework 1, support arm 3 and conduit 4 enclose formation
Square space can be rectangular space, it is also possible to be square space, the shape of square space preferably with iron material matter column 7
Cross sectional shape is corresponding, so that the distance between nozzle and each face of iron material matter column 7 on framework 1, support arm 3 and conduit 4
Equal, improve cleaning performance.
It should be noted that in the clean robot of this utility model embodiment, the side of framework 1 can arrange one
Arm 3, arranges two support arms 3 the most altogether, it is also possible to be arranged in parallel many support arms 3.The quantity of conduit 4 matches with the quantity of support arm 3.
Further, the concrete form of the magnetic walking unit 2 in the clean robot that this utility model embodiment provides
Can be to use the form such as magnetic rollers, magnetic track, it is preferred to use the magnetic walking unit of magnetic track form, this is owing to carrying out
Carry bigger with the contact area of iron material matter leg surface, it is possible to make clean robot operationally held stationary.See Fig. 5, and
In conjunction with Fig. 6, a kind of implementation of magnetic based on crawler belt walking unit 2 can be: include track rail assembly 21, keyset 22 with
And motor.Wherein track rail assembly 21 uses the track rail assembly that this area is conventional, specifically, including driving wheel, directive wheel
And it being looped around the crawler belt 211 on driving wheel and directive wheel surface, the both sides of crawler belt 211 are also respectively provided with baffle plate 212.Crawler belt is total
The driving wheel becoming 21 is connected with motor by drive disk assembly (such as drive sprocket), and motor electrically connects with control unit 8, controls single
Unit 8 controls the rotation of driving wheel by controlling the rotation of motor, thus controls the motion of magnetic walking unit 2.Specifically,
Control unit 8 regulates the speed of service and the operation angle of track rail assembly 21 by the regulation motor speed of service, thus controls to carry out
The direction of motion of belt magnetic walking unit.It will be appreciated by persons skilled in the art that above-mentioned motor, driving wheel, directive wheel
Deng parts between two pieces of baffle plates 212, not shown in figure.Surface configuration at crawler belt 211 has multiple groove, sets in groove
It is equipped with the first Magnet, utilizes the magnetic force of the first Magnet to make the fuselage of clean robot adsorb at iron material matter leg surface, i.e. clearly
In clean robot work process, the first Magnet is in close contact with iron material matter leg surface.Therefore, the first Magnet is filled in groove
After Nei, it shall be guaranteed that the surface of the first Magnet and the flush of crawler belt.Keyset 22 takes the shape of the letter U, two sidewalls of U-shaped keyset
Baffle plate 212 with crawler belt both sides is fixed respectively, and the bottom of U-shaped keyset is fixed on framework 1, thus unit 2 that magnetic is walked
It is integrally attached on framework 1.
Above-mentioned the first Magnet preferred ferromagnetism Magnet, such as ndfeb magnet or neodymium nickel cobalt Magnet etc..Motor is the highest
Torque motor.
In the clean robot of this utility model embodiment, the quantity of magnetic walking unit 2 includes but not limited to two, this
Skilled person can arrange the quantity of magnetic walking unit according to practical situation.
The volume cost utility model embodiment of the first Magnet is not particularly limited, it should combine the absorption of each first Magnet
The parameters such as the coefficient of friction between power, the gross mass of clean robot fuselage, magnetic walking robot and iron material matter column are come really
The quantity of fixed first Magnet, the total absorption affinity enabling multiple first Magnet to provide ensure that the fuselage edge of clean robot
Iron material matter column 7 surface to move.
Further, in the clean robot that this utility model embodiment provides, nozzle preferably employs high pressure nozzle, with full
The needs of foot high-pressure wash.It will be appreciated by persons skilled in the art that nozzle has inlet and liquid outlet, wherein liquid outlet
Shape cleaning performance is had important impact.In the cleaning robot that this utility model embodiment provides, nozzle preferably goes out liquid
The shape of mouth axial cross section is in fan-shaped high pressure nozzle, and this type of nozzle is directly produced the flat of flat even by nozzle form and penetrates
Stream, cleaning area is bigger, it is adaptable to be carried out iron material matter column.
In this utility model embodiment, the quantity of nozzle does not has strict restriction, as long as can carry out iron material matter column
Clean comprehensively.In conjunction with Fig. 8, can be according to the minimum shower nozzle quantity needed for below equation calculating:
In formula, N represents the minimum number of nozzle；D represents nozzle, and to the distance on iron material matter column 7 surface, (acquiescence is each here
Individual identity distance is from equal)；S represents scope of operation total length, and S=L+2W, L represent operation face length degree, and W represents operation face width degree；θ represents
Nozzle send angle forth.Calculated by above-mentioned formula, and combine actual job situation, in this utility model embodiment, nozzle
Quantity preferably 8, and as it is shown in figure 9, according to arranging two nozzles on framework 1, two support arms 3 are respectively arranged with two sprays
Mouth, the mode that two conduits 4 are respectively provided with a nozzle is distributed, and in Fig. 9, the position of arrow indication is the position of nozzle.
Seeing Figure 10, liquid scatters situation schematic diagram after being sprayed by nozzle, and the structure of high-pressure water jet is along jet length
On generally can be divided into core segment a, basic segment b and dissipation section c from nozzle.Wherein, core segment a is used primarily in the cutting of dirt
On；The operations such as basic segment b is used for cleaning, eliminates rust, surface finish and deburring；Dissipation section c is mainly used to the industry such as depositing dust, dedusting
In.Therefore, rationally arrange nozzle range (i.e. water jet from nozzle to clean surface distance), nozzle diameter (i.e. nozzle center
Bore dia) and the Nozzle Parameter such as fan nozzle central angle to improving clean robot, the cleaning performance of iron material matter column is had weight
The effect wanted.
Specifically, the pressure that can provide according to external cleaning machine and flow parameter, calculate by following equation and determine spray
The diameter of mouth.
In above formula: d is nozzle diameter, unit mm；P is the operating pressure of external cleaning machine, units/kg f/cm2(1MPa=
9.8kgf/cm2)；Q is working flow, unit L/min；N is nozzle number；η is ejection efficiency, spray tip η is taken 1.05～
1.1, flexible spray boom η is taken 1.2～1.3.
In this utility model embodiment, preferred more than the 0.9mm of nozzle diameter, more preferably 0.9mm or 1.1mm.
Nozzle range can be determined according to following empirical equation:
Core segment range: Sh=(70～130) d；
Basic segment range: Sj=(300～600) d.
In formula: Sh、SjBeing core segment and basic segment range respectively, mm:d is nozzle diameter, mm.
In this utility model embodiment, fan nozzle central angle can be 65 °, 80 °, 95 ° or 110 °.Clean in reality
During, it should according to practical situation, it is determined by experiment the optimum collocation of range and fan nozzle central angle, so that cleaning effect
Fruit reaches optimal.
Further, the clean robot of this utility model embodiment also includes: electricity push rod 5.The two ends of electricity push rod 5 are respectively
It is articulated and connected near one end of framework 1 with framework 1 and support arm 3.Electricity push rod 5 electrically connects with control unit 8, passes through control unit
8 control the flexible of electricity push rod 5.Electricity push rod is also referred to as linear actuator, mainly includes motor and push rod, is a kind of by motor
Rotary motion is changed into the power-jdriven gear of the straight reciprocating motion of push rod.By controlling the flexible of electricity push rod 5, thus control
Angle between support arm 3 and framework 1.During cleaning, when running into barrier, control unit 8 controls electricity push rod 5 and shrinks,
Angle between support arm 3 and framework 1 increases, and support arm 3 launches, so that the fuselage avoiding obstacles of clean robot.Work as cleaning
After the fuselage cut-through thing of robot, control unit 8 controls electricity push rod 5 and extends, and the angle between support arm 3 and framework 1 subtracts
Little, support arm 3 recovers to the state of encircling.The angle that support arm 3 launches can be adjusted according to the position of site obstructions.
Further, see Fig. 3, in the clean robot that this utility model embodiment provides, framework 1 is further fixed on the
Two Magnet 6, leave certain gap between the surface of the second Magnet 6 and iron material matter column 7, not with the surface of iron material matter column 7
Directly contact, the captivation between the second Magnet 6 and iron material matter column 7 ensure that the motion in clean robot running
Direction is not deviateed, additionally it is possible to anti-skidding, strengthen absorbability, fuselage falls when preventing support arm 3 from launching.Second Magnet 6 is same
Can be ferromagnetism Magnet, such as ndfeb magnet, neodymium nickel cobalt Magnet etc..
Further, in the clean robot that this utility model embodiment provides, support arm 3 is additionally provided with shock relieve vent,
Avoid the shake in clean robot running on the premise of proof strength, the weight of support arm 3 can also be alleviated simultaneously, thus
Reduce the weight of clean robot fuselage.
Further, in the clean robot that this utility model embodiment provides, framework 1 is further fixed on photographic head, takes the photograph
As head electrically connects with control unit 8, the log of clean robot is got off by photographic head, will shooting by control unit 8
The picture that head shooting obtains shows, makes staff can understand the working condition of clean robot in real time on ground.Photographic head
Quantity include but not limited to 2.
Further, see Fig. 1, the frame that the framework 1 in this utility model embodiment can use cross sectional shape to be U-shaped
Frame.Support arm 3 is connected with two sides of U-frame frame, and magnetic walking unit the 2, second Magnet 6 and the nozzle being positioned on framework are equal
It is fixed on the bottom surface of U-frame frame.
In this utility model embodiment, framework 1 preferably employs aluminum alloy materials processing and manufacturing, and aluminum alloy materials has intensity
The advantages such as height, light weight, shockproof effect.
The material of conduit 4 preferably employs rustless steel.
Magnetic walking unit 2, electricity push rod 5 and photographic head are connected by controlling cable with control unit 8.Control cable
Line transmission complete digital signal information, the shielding line of internal signal transmission line is twisted-pair feeder, such be designed with stronger anti-interference
Function.Have trace Kev bracing wire in controlling cable interior video line, can effectively prevent in clean robot running
Draw, roll over and the control signal mistake that causes.The adapter controlling one end that cable is connected with clean robot is simple locking
Formulas I P67 level bonder, convenient installation and use.
The technical parameter of crawler type magnetic walking unit can select according to practical situation, this utility model embodiment
Do not do particular determination.
In this utility model embodiment, control unit 8 can be integrated in control chamber, in order to carrying.Control chamber is permissible
Using ABS engineering plastics to make, ABS engineering plastics have good anti-knock shock resistance performance.Control chamber includes casing and case
Lid, arranges operating space at box portion, such as control the walking of clean robot, electricity push rod 5 flexible etc..Set at lid section
Put liquid crystal display, for showing the picture that photographic head shoots, a liquid crystal display can be correspondingly arranged with each photographic head.
Second aspect, this utility model embodiment provides a kind of cleaning systems for iron material matter column, sees Fig. 7,
These cleaning systems include clean robot and the cleaning machine 9 of this utility model embodiment first aspect, wherein, clean robot
Nozzle be connected with cleaning machine 9 by pipeline.
In this utility model embodiment, the flow of cleaning machine 9 and operating pressure can be according to the nozzles of clean robot
Flow and quantity determine, this utility model embodiment is not particularly limited.Preferably employ internal combustion type jetting machine, high
The gross pressure that pressure cleaning machine provides can be more than or equal to 40MPa.
For example, when nozzle diameter be 0.9mm or 1.1mm, nozzle quantity be 8 time, each nozzle maximum stream flow
For 1.7L/min, then the total flow of 8 nozzles is 13.6L/min.But owing to there is loss, and for the premise to equipment protection
Under, the flow of jetting machine is only capable of reaching about the 70% of rated value, and the flow of therefore selected jetting machine should not
Less than 20L/min, provided pressure minimum is not less than 35MPa.
The flow of nozzle can be estimated according to below equation:
In above formula: QReasonFor nozzle theoretical delivery, unit L/min；D is nozzle diameter, unit mm；P is cleaning machine work pressure
Power, unit is MPa.
Can be calculated according to above formula: QReason≈ 12L, close with actual result.
Further, in the cleaning systems that this utility model embodiment provides, it is also possible to include device for recycling sewage, sewage
Retracting device may be mounted at the bottom of iron material matter column, such as, can be flexible waterproof material, such as plastic sheeting etc..Nozzle sprays
The abluent gone out along iron material matter leg surface to dirty hence into device for recycling sewage, thus prevent from cleaning process produces
Surrounding is polluted by sewage.
Work below as a example by cleaning Beijing South Station A shape pylon post, to the cleaning systems that this utility model embodiment provides
Briefly introduce as flow process.
Seeing Figure 11 and Figure 12 a～Figure 12 f, the workflow of the cleaning systems that this utility model embodiment provides is as follows:
After determining the washing and cleaning operation time with station communication and coordination, by staff by clean robot, cleaning machine etc.
Equipment conveying is to on-the-spot.By magnetic walking unit 2, the electricity push rod 5 of clean robot, image first-class parts by controlling cable
It is connected with control unit 8, nozzle is connected with cleaning machine by pressure duct, the water inlet pipe of cleaning machine is set with cleanout fluid storage
Standby (such as bucket) connects, and debugs each equipment.After having debugged, the magnetic force utilizing magnetic walking unit will cleaning
The fuselage of robot adsorbs on a surface of A shape pylon post, and adjusts the angle between support arm and framework, makes support arm, frame
Frame and conduit enclose formation square space, embrace the A shape pylon band of column in centre.After switching on power, controlled by control unit 8
The fuselage of clean robot moves upward along A shape pylon post, meanwhile, starts cleaning machine, makes abluent be sprayed A shape tower by nozzle
Trestle is carried out.In cleaning process, when running into the barriers such as contact net pull bar or outstanding pull bar, Electricity push rod5 control to prop up
Arm 3 launches, it is to avoid the fuselage of clean robot collides with barrier, walks around after barrier, and electricity push rod 5 controls support arm 3
Regain, recover to the state of encircling.In cleaning process, monitor cleaning performance by photographic head.If residue is the most up to standard, then need
Carry out secondary cleaning.After cleaning performance is up to standard, the fuselage controlling cleaning robot returns to ground.Then collator, closes
Water source, power supply, after confirming not have instrument to omit at the scene, staff leaves scene, completes the cleaning to A shape pylon post.
The above is for only for ease of those skilled in the art and understands the technical solution of the utility model, not in order to
Limit this utility model.All within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made,
Within should be included in protection domain of the present utility model.
Claims (10)
1. the clean robot for iron material matter column, it is characterised in that including: fuselage and control unit (8)；
Described fuselage includes:
Framework (1)；The relative both sides of described framework (1) are connected to support arm (3), described support arm (3) and described framework (1)
It is articulated and connected；Described support arm (3) is fixed with conduit (4), described conduit (4) and described support arm away from one end of described framework (1)
(3) vertical；Described framework (1), described support arm (3) and described conduit (4) can enclose formation square space；
Being further fixed on magnetic walking unit (2) on described framework (1), described magnetic walking unit (2) is for making institute by magnetic force
The fuselage absorption stating clean robot on the surface of described iron material matter column and drives the fuselage of described clean robot along described
Iron material matter column moves；
Described framework (1) is upper, described support arm (3) is upper and is respectively arranged with at least one nozzle, described spray on described conduit (4)
Mouth is for being connected to described iron material matter column jet cleaner with external cleaning machine；
Described control unit (8) electrically connects with described magnetic walking unit (2), and described control unit (8) is used for controlling described magnetic
Property walking unit (2) motion.
Clean robot the most according to claim 1, it is characterised in that described magnetic walking unit (2) includes that crawler belt is total
Become (21), keyset (22) and motor；
Described track rail assembly (21) includes driving wheel, directive wheel and is looped around described driving wheel and the crawler belt on directive wheel surface
(211), the both sides of described crawler belt (211) are also respectively provided with baffle plate (212)；
The surface configuration of described crawler belt (211) has multiple groove, is provided with the first Magnet in described groove, described first Magnet
Surface and the flush of described crawler belt (211)；
Described driving wheel is connected with described motor by drive disk assembly；
Described motor electrically connects with described control unit (8)；
Described keyset (22) takes the shape of the letter U, two sidewalls of described keyset (22) respectively with the baffle plate of described crawler belt (211) both sides
(212) fixing, the bottom of described keyset (22) is fixed on described framework (1).
Clean robot the most according to claim 1, it is characterised in that be provided with two magnetic in described clean robot
Walking unit (2).
Clean robot the most according to claim 1, it is characterised in that the axial cross section shape of the liquid outlet of described nozzle
In sector.
Clean robot the most according to claim 1, it is characterised in that be provided with two described sprays on described framework (1)
Mouth, described support arm (3) is provided with two nozzles, described conduit (4) is provided with a described nozzle.
Clean robot the most according to claim 1, it is characterised in that described clean robot also includes: electricity push rod
(5)；One end of the two ends of described electricity push rod (5) described framework (1) close with described framework (1) and described support arm (3) respectively
It is articulated and connected；
Described electricity push rod (5) electrically connects with described control unit (8), and described control unit (8) is additionally operable to control described electricity push rod
(5) flexible.
Clean robot the most according to claim 1, it is characterised in that described framework is further fixed on the second Magnet on (1)
(6)。
Clean robot the most according to claim 1, it is characterised in that described support arm is additionally provided with shock relieve vent on (3).
Clean robot the most according to claim 1, it is characterised in that described framework is further fixed on photographic head on (1), institute
Stating photographic head to electrically connect with described control unit (8), described control unit (8) is additionally operable to show what the shooting of described photographic head obtained
Picture.
10. the cleaning systems for iron material matter column, it is characterised in that include described in any one of claim 1～9 is clear
Clean robot and cleaning machine, the nozzle of described clean robot is connected with described cleaning machine by pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620709437.7U CN205816296U (en) | 2016-07-06 | 2016-07-06 | Clean robot and cleaning systems for iron material matter column |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620709437.7U CN205816296U (en) | 2016-07-06 | 2016-07-06 | Clean robot and cleaning systems for iron material matter column |
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| Publication Number | Publication Date |
|---|---|
| CN205816296U true CN205816296U (en) | 2016-12-21 |
Family
ID=57564621
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106000973A (en) * | 2016-07-06 | 2016-10-12 | 北京铁路局北京科学技术研究所 | Cleaning robot for iron vertical column and cleaning system |
| CN108145542A (en) * | 2017-12-22 | 2018-06-12 | 孙伟鹏 | A kind of luggage manufacture pull rod surface polishing equipment |
-
2016
- 2016-07-06 CN CN201620709437.7U patent/CN205816296U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106000973A (en) * | 2016-07-06 | 2016-10-12 | 北京铁路局北京科学技术研究所 | Cleaning robot for iron vertical column and cleaning system |
| CN108145542A (en) * | 2017-12-22 | 2018-06-12 | 孙伟鹏 | A kind of luggage manufacture pull rod surface polishing equipment |
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