CN210497497U

CN210497497U - Efficient climbing rod cleaning machine suitable for different diameters

Info

Publication number: CN210497497U
Application number: CN201921090993.0U
Authority: CN
Inventors: 万理; 宾江华; 黄冠球; 谢安玲; 蒋丽艳; 宁绍潮
Original assignee: Guangxi Normal University
Current assignee: Guangxi Normal University
Priority date: 2019-07-12
Filing date: 2019-07-12
Publication date: 2020-05-12
Anticipated expiration: 2029-07-12

Abstract

The utility model provides a high-efficiency climbing rod cleaning machine suitable for different diameters, which comprises a main frame, wherein a wheel type climbing mechanism, a roller mechanical claw climbing rod mechanism and a cleaning mechanism are arranged on the main frame; the wheel type climbing mechanism comprises a wheel type driving motor, a first wheel type shaft, a transmission assembly, a second wheel type shaft and a driving wheel, the roller mechanical claw climbing rod mechanism is located right above the wheel type climbing mechanism and comprises a bent rod driving motor, a bent rod mechanism, two mechanical arms, a roller and a tension spring, the cleaning mechanism is located right below the wheel type climbing mechanism and comprises a sliding driving mechanism, a self-adaptive change control mechanism, a hoop holding structure, a brush cleaning assembly and a nozzle cleaning assembly. The utility model discloses a mechanism of crawling and clean mechanism homoenergetic enough adapt to the pole that different diameters changed to be convenient for pole-climbing cleaning machine washs the pole of variable diameter.

Description

Efficient climbing rod cleaning machine suitable for different diameters

Technical Field

The utility model relates to a clean auxiliary assembly technical field of environmental protection, in particular to adapt to high-efficient pole-climbing cleaning machines of different diameters.

Background

Tubular outer wall cleaning machines people is clean tool carrier of environment for the clean robot of supplementary pipe wall, it is convenient for clean pipe wall to provide, pole-climbing machine only focuses on the structural design who moves the carrier in the past, however, to the reducing pole, the effect of climbing is not ideal, simultaneously, also do not have the clean mechanism to reducing pole looks adaptation, that is to say, current cleaning machines people lack the concrete design research how to adapt to reducing pole cleaning work to clean mechanism, consequently, current pole-climbing cleaning machines people is not ideal to the cleaning performance of reducing pole.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need for an efficient pole-climbing cleaning machine that accommodates different diameters so that both the climbing mechanism and the cleaning mechanism of the pole-climbing cleaning machine can accommodate poles of varying diameters, thereby facilitating the washing of poles of varying diameters by the pole-climbing cleaning machine.

In order to achieve the above purpose, the utility model adopts the technical proposal that:

a high-efficiency pole-climbing cleaning machine suitable for different diameters comprises a main frame, wherein a wheel type climbing mechanism, a roller mechanical claw pole-climbing mechanism and a cleaning mechanism are mounted on the main frame;

the wheel type climbing mechanism comprises a wheel type driving motor, a first wheel type shaft, a transmission assembly, a second wheel type shaft and a driving wheel, wherein the wheel type driving motor is installed on a main frame, an output shaft of the wheel type driving motor is connected with the first wheel type shaft, the first wheel type shaft is rotatably installed on the main frame and is connected with the second wheel type shaft through the transmission assembly, the second wheel type shaft is rotatably installed on the main frame and is provided with the driving wheel, and the wheel surface of the driving wheel is provided with a part protruding out of the main frame;

the roller mechanical claw climbing rod mechanism is positioned right above the wheel type climbing mechanism and comprises a crank rod driving motor, a crank rod mechanism, two mechanical arms, a roller and a tension spring, the crank rod driving motor is arranged on a main frame, an output shaft of the crank rod driving motor is connected with a conveying initial end of the crank rod mechanism, the crank rod mechanism is provided with two conveying tail ends, each conveying tail end is rotatably connected with one mechanical arm, the two mechanical arms are respectively arranged on two opposite sides of the crank rod driving motor and the crank rod mechanism and are positioned on two opposite sides of the driving wheel, the mechanical arms are rotatably arranged on the main frame, the rotating axis is vertical, the front end of each mechanical arm is positioned on the side of the driving wheel, the roller is rotatably sleeved on the front end of each mechanical arm, the rotating axis of the roller is perpendicular to the rotating axis of the mechanical arms, the roller is positioned outside the main frame, and the rear end of each mechanical arm is, the spring fixing rod is arranged perpendicular to the mechanical arm, the rotating axis of the spring fixing rod is parallel to that of the mechanical arm, two ends of the tension spring are respectively installed at the rear end of the mechanical arm through the spring fixing rods on the two mechanical arms, the two rollers form an included angle in a natural state of the tension spring, and an opening of the included angle deviates from the tension spring;

the cleaning mechanism is positioned right below the wheel type climbing mechanism and comprises a sliding driving mechanism, a self-adaptive change control mechanism, a hoop structure and a brush cleaning assembly; wherein, the sliding driving mechanism comprises a sliding driving component, a sliding frame and a second tension spring, the sliding driving component comprises a sliding driving motor, a first gear, a second gear, a first pulley, a second pulley, a first rope and a second rope, the sliding driving motor is arranged on the main frame, an output shaft of the sliding driving motor is connected with the first gear through a first connecting shaft, the first gear is meshed with the second gear, the second gear is rotatably arranged on the main frame through a second connecting shaft, the second pulley is sleeved on the second connecting shaft, the first pulley is sleeved on the first connecting shaft, the first rope is wound on the first pulley, the second rope is wound on the second pulley, one end of the second rope is fixedly connected with the second pulley, the other end of the second rope is connected with the sliding frame, the sliding frame is slidably connected on the main frame, the second tension spring is connected with the upper end of the main frame;

the self-adaptive change control mechanism comprises a winding rod, an L-shaped rod and a first tension spring, wherein the winding rod is arranged between a first pulley and the L-shaped rod, the first rope is wound on the winding rod, one end of the first rope is wound and fixed on the first pulley, and the other end of the first rope is connected with the L-shaped rod; the L-shaped rod and the sliding frame are positioned on the same side and comprise a first supporting rod, a second supporting rod, a sleeve and a first telescopic spring, the middle part of the end part of the first supporting rod, which is close to one end of the winding rod, is provided with a pull ring connected with a first rope, the other end of the first supporting rod is connected with the second supporting rod through an S-shaped tension sensor, the first supporting rod and the second supporting rod jointly form a horizontally placed L-shaped structure, the second supporting rod is arranged towards one side of the climbing rod driving mechanism, the sleeve is slidably sleeved outside the end, which is provided with the pull ring, of the first supporting rod, the outer side face, which is close to one end of the winding rod, is provided with a V-shaped connecting rod, the V-shaped connecting rod is rotatably installed on the main frame through the V-shaped connecting rod, a third connecting shaft is installed at the V-shaped turning part of the V-shaped connecting rod, the, the first extension spring is arranged in the sleeve and sleeved on the first supporting rod, and two ends of the first extension spring are respectively connected with the sleeve and the first supporting rod; the first tension spring is in a stretching state when acting on the L-shaped rod, the central line of the first supporting rod is tangent to the winding rod and the second pulley at the same time, and the second supporting rod is opposite to the side where the driving wheel is located;

the hoop structure is arranged on the sliding frame and is arranged up and down with the L-shaped rod, the hoop structure comprises a hoop driving motor, a fourth connecting shaft, a connecting sliding plate, two semicircular hoops and a curved rod connecting rod, the hoop driving motor is arranged on the sliding frame, an output shaft of the hoop driving motor is connected with the fourth connecting shaft, the fourth connecting shaft horizontally penetrates through and is in threaded connection with the connecting sliding plate, the connecting sliding plate is vertically arranged and is in sliding connection with the sliding frame, the two semicircular hoops are arranged on the other side, opposite to the sliding driving motor, of the sliding frame and are right opposite to the L-shaped rod, one end, close to the sliding driving motor, of each semicircular hoop is rotatably arranged on the sliding frame, the horizontally arranged hoop connecting rod is arranged on the outer side face of the other end of the semicircular hoop connecting rod, one end, far away from the semicircular hoop, of the semicircular hoop connecting rod, the other end of the curved bar connecting rod is rotatably connected with the sliding plate, the two semicircular hoops rotate along with the sliding of the connecting sliding plate relative to the sliding frame under the driving of the hooping driving motor so as to be mutually opened or closed to form a horizontally placed circular structure, and the circular structure is positioned right below the roller;

the top of each semicircular embracing ring is provided with the brush cleaning component, the brush cleaning component comprises a cleaning shell, an incomplete chain mechanism and a brush, the inner side of the cleaning shell is provided with a gear set of the incomplete chain mechanism, the top of the cleaning shell faces one side of the circle center of the semicircular embracing ring and is provided with the brush, a driving motor of the incomplete chain mechanism is positioned at the outer sides of the cleaning shell and the semicircular embracing ring, a chain of the incomplete chain mechanism is a semicircular chain ring, the semicircular chain ring is positioned at one side of the cleaning shell, which faces the circle center of the semicircular embracing ring and is fixedly connected with the semicircular embracing ring, the tooth-shaped structure of the semicircular chain ring faces the cleaning shell and is meshed with the incomplete chain in the cleaning shell, the incomplete chain is meshed with the gear set in the cleaning shell, and the cleaning, the fixed idler wheel is arranged on the side face, facing the circle center, of the semicircular chain ring, and preferably, the fixed idler wheel is installed on the cleaning shell through an idler wheel rod.

Furthermore, the wheel type driving motor is a stepping motor, the axes of the first wheel type shaft and the second wheel type shaft are arranged in parallel, the first wheel type shaft and the second wheel type shaft are both installed on the main frame through bearings, the transmission assembly is a chain transmission assembly and comprises a driving gear, a driven gear and a chain, the driving gear is installed on the first wheel type shaft, the driven gear is installed on the second wheel type shaft, and the driven gear is connected with the driving gear through the chain.

Further, the joint of the transmission tail end of the curved rod mechanism and the mechanical arm is positioned between the joint of the mechanical arm and the main frame and the tension spring; the distance from the tension spring to the joint of the mechanical arm and the main frame is greater than the distance from the roller to the joint of the mechanical arm and the main frame; each top and the bottom of arm rear end all are provided with the spring dead lever, are connected through a tension spring between the two spring dead levers that are located the top together, are connected through a tension spring between the two spring dead levers that are located the bottom together, the spring dead lever is provided with the link with tension spring's junction, tension spring passes through the buckle link and connects the spring dead lever.

Furthermore, the crank mechanism comprises a first crank rod, a second crank rod, a third crank rod and two fourth crank rods, wherein one end of the first crank rod is connected with an output shaft of a crank rod driving motor, the other end of the first crank rod is rotatably connected with one end of the second crank rod, the other end of the second crank rod is rotatably connected with one end of the third crank rod, the third crank rod is of a T-shaped structure, the middle part of the third crank rod is rotatably installed on the main frame, two ends of the third crank rod, which are located on the same straight line, are respectively rotatably connected with one end of the fourth crank rod, the other end of the fourth crank rod is further rotatably connected with the mechanical arm, the two fourth crank rods are identical in length, and the distance from the rotating connection part of the two fourth crank rods to the rotating connection part of the third crank rod and the main frame is identical to the distance from the; the bent rod mechanism is horizontally arranged, and all rotation axes of the bent rod mechanism are parallel to the rotation axis of the mechanical arm.

Furthermore, the two semicircular hoops are a pair of hoop groups, the hoop structures are provided with two pairs of hoop groups which are arranged up and down, the two pairs of hoop groups are arranged oppositely, the formed circle centers are positioned on the same vertical line, and the L-shaped rod is positioned between the two pairs of hoop groups; the brush cleaning assembly is arranged on one of the two pairs of surrounding groups, and the spray head cleaning assembly is arranged on the other pair of surrounding groups; the sprayer cleaning assembly comprises a sprayer fixing plate, a sprayer pulley, an opening spring, a spring fixing rod, a take-up cylinder and a take-up motor, wherein at least three sprayer fixing plates are arranged on each semicircular embracing ring at intervals around the circle center of the semicircular embracing ring, one sprayer fixing plate is positioned at one end of each semicircular embracing ring away from the connecting sliding plate, the sprayer fixing plates are horizontally arranged and are of an L-shaped structure, the L-shaped directions of all the sprayer fixing plates are the same, one end of each sprayer fixing plate is positioned at the inner side of each semicircular embracing ring and is rotationally connected with the semicircular embracing ring through a fifth connecting shaft, the other end of each sprayer fixing plate is positioned at the outer side of each semicircular embracing ring, a pulley rod is arranged at the other end of each sprayer fixing plate, the sprayer pulley is rotationally arranged on the pulley rod, and a connecting, a horizontally placed slide bar is slidably mounted at one end of the buckling rod, which is far away from the spray head fixing plate, the opposite ends of the slide bars on the two semicircular hoops are respectively provided with a pull ring and a drag hook which are matched with each other for use, a second telescopic spring is sleeved at the opposite end, the two ends of the second telescopic spring are respectively fixed on the slide bar and the buckling rod, spray heads are mounted on the spray head fixing plate except for the other ends, which are far away from the connecting slide plate, of the semicircular hoops, the spray heads are mounted at the L-shaped turning positions, a pulley is not mounted on a pulley bar on a spray head fixing plate of one of the two semicircular hoops, the take-up drum and the take-up motor are mounted, the take-up motor, the spray heads and the spray head pulley are positioned at the same side of the spray head fixing plate and, the rotation directions of two ends of the cable are opposite, the cable extends out of the take-up drum by penetrating the wall of the take-up drum, two ends of the cable extending out of the take-up drum are arranged in a deviating way, the end parts of the cable are fixedly connected with one end of the sliding rod far away from the pull ring or the drag hook respectively, and the cable is sequentially movably connected with the nozzle pulley on the line from the take-up drum to the sliding rod and is arranged in a tangent way with the nozzle pulley; each shower nozzle fixed plate L type contained angle opening side-mounting opens spring and spring fixed rod, open spring one end and connect the shower nozzle fixed plate, the other end is connected the spring fixed rod, the spring fixed rod links firmly on semi-circular armful ring, and is located the outside of semi-circular armful ring, and with shower nozzle fixed plate interval sets up, open under the spring natural state, the shower nozzle is located the semi-circular armful outside of encircling, and its position of spraying water does not move towards the centre of a circle department of semi-circular armful ring.

Furthermore, three spray head fixing plates are arranged on each semicircular embracing ring at intervals, and the take-up drum is arranged in the middle of one of the three spray head fixing plates; the connection parts of all the spray head fixing plates and the semicircular embracing rings are positioned on the same circular ring, all the spray heads are positioned on the same circular ring, and the circular rings all use the circle centers of the semicircular embracing rings as the circle centers.

Furthermore, a photoelectric distance sensor is mounted on a sprayer fixing plate positioned at one end, far away from the connecting sliding plate, of the semicircular embracing ring, the detection position of the photoelectric distance sensor faces to a sprayer adjacent to the photoelectric distance sensor, the photoelectric distance sensor is connected with a controller, and the controller is connected with a wire collecting motor.

Furthermore, the spray head cleaning assembly is positioned right above the brush cleaning assembly, the spray head is positioned at the top of the semicircular embracing ring, and a water inlet of the spray head is connected with a water source through a hose.

Further, be provided with the water tank on the relative shower nozzle of main frame washs one side of subassembly, the water tank top has the filling opening, filling opening department is provided with the lid, the water tank bottom has the liquid outlet, liquid outlet department is connected with the pipeline to through the water inlet of pipe connection centrifugal pump, the centrifugal pump is installed in the water tank bottom, the delivery port of centrifugal pump passes through a plurality of hoses of reposition of redundant personnel joint connection, and each hose is connected with a shower nozzle.

Furthermore, the fourth connecting shaft is positioned between the two pairs of hooping groups, and both ends of the fourth connecting shaft are rotatably installed on the sliding frame; the connecting sliding plate is embedded on the guide rail of the sliding frame.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the pole-climbing motion mechanism of the pole-climbing cleaning mechanism designed by the utility model adopts two modes of wheel-type pole climbing and claw-type pole climbing, thereby leading the pole-climbing machine to climb stably, wherein, the driving wheel of the wheel type climbing mechanism can provide climbing force for climbing the pole machine upwards, the claw type climbing pole, namely the mechanical arm of the roller mechanical claw climbing pole mechanism, can ensure that the pole machine stably clamps the pole to be cleaned, and can adapt to rods with different diameters, in particular, the mechanical arm of the roller mechanical claw climbing rod mechanism can be opened, closed and clamped under the action of a curved rod driving motor and a curved rod mechanism, the stretching is realized under the action of a tension spring so as to keep the two mechanical arms in a stretched state when the machine is not started, therefore, the rod to be cleaned can be easily and correctly sleeved between the two manipulators, manual assistance is not required additionally, and the simplicity of operation is improved.

2. The utility model discloses a wiper mechanism of clean mechanism of pole-climbing adopts brush and shower nozzle dual mode, and can make brush and shower nozzle can make corresponding change along with the change of waiting the diameter of wiper rod, wherein, self-adaptation change control mechanism combines sliding drive mechanism, can survey the pole, embrace the ring structure and can move according to the detection condition of self-adaptation change control mechanism, thereby make two halves circle to embrace to encircle and treat abluent pole, and then make brush washing subassembly and shower nozzle washing subassembly clean the pole, in addition, the cable on the shower nozzle washing subassembly can make the shower nozzle be close to the pole surface, thereby make clean effect better.

3. The utility model discloses a clean mechanism of pole climbing can realize stably and steadily climbing on the variable diameter pole of certain limit to guarantee the clear even of pole, and the shower nozzle and the brush that adopt jointly wash, the cleaning performance is better, and this wiper mechanism also adapts to the cleanness of certain diameter change pole, consequently, the utility model discloses can clean certain diameter change pole.

Drawings

Fig. 1 is a schematic perspective view of the high-efficiency pole-climbing cleaning machine suitable for different diameters.

Fig. 2 is a left side view of fig. 1.

Fig. 3 is a perspective view of the climbing rod driving mechanism in fig. 1.

Fig. 4 is a front view of fig. 3.

Figure 5 is a top view of the wheel climbing mechanism of figure 3.

Fig. 6 is a front view of the roller gripper bar-climbing mechanism of fig. 3.

Fig. 7 is a top view of fig. 6.

Fig. 8 is a schematic perspective view of the cleaning mechanism of fig. 1.

Fig. 9 is a front view of fig. 8.

Fig. 10 is a schematic view of the structure of fig. 8 without the outer frame.

Fig. 11 is a front view of fig. 10.

Fig. 12 is a schematic structural diagram of the adaptive change control mechanism in fig. 8.

Fig. 13 is a front view of fig. 12.

Fig. 14 is a top view of fig. 12.

Fig. 15 is a schematic structural view of the hoop structure and the brush cleaning mechanism in fig. 8.

Fig. 16 is a schematic view of the structure of fig. 15 as seen from below.

Fig. 17 is a top view of fig. 15.

FIG. 18 is a schematic structural view of the hoop structure and the showerhead cleaning mechanism of FIG. 8.

Fig. 19 is a front view of fig. 18.

Fig. 20 is a top view of fig. 18.

Description of the main elements

In the figure: the main frame 1, the wheel climbing mechanism 2, the wheel driving motor 21, the first wheel shaft 22, the transmission assembly 23, the second wheel shaft 24, the driving wheel 25, the roller gripper climbing mechanism 3, the curved lever driving motor 31, the curved lever mechanism 32, the first curved lever 321, the second curved lever 323, the third curved lever 323, the fourth curved lever 324, the two arms 33, the roller 34, the tension spring 35, the spring fixing lever 36, the sliding driving mechanism 4, the sliding driving assembly 41, the sliding driving motor 4121, the first connecting shaft 4122, the first gear 4123, the second gear 4124, the second connecting shaft 4125, the first pulley 4126, the second pulley 4127, the first rope 4128, the second rope 4129, the sliding frame 42, the second tension spring 43, the adaptive change control mechanism 5, the winding rod 51, the L-shaped lever 52, the first strut 521, the pull ring 5211, the S-shaped tension sensor 522, the second strut 523, the sleeve 52524, the first expansion spring 5241, the second tension sensor 522, the second tension sensor, The device comprises a V-shaped connecting rod 53, a third connecting shaft 54, a spring connecting rod 55, a first tension spring 56, an embracing ring structure 6, an embracing ring driving motor 61, a fourth connecting shaft 62, a connecting sliding plate 63, a guide rail 631, two semicircular embracing rings 64, an embracing ring connecting rod 65, a curved rod connecting rod 66, a brush cleaning component 7, a cleaning shell 71, an incomplete chain mechanism 72, a driving motor 721 of the incomplete chain mechanism, a gear set 722, a semicircular chain ring 723, a brush 73, a roller rod 74, a fixed roller 75, a nozzle cleaning component 8, a nozzle fixing plate 81, a fifth connecting shaft 82, a pulley rod 83, a nozzle pulley 84, a buckling rod 85, a sliding rod 86, a second telescopic spring 861, a nozzle 87, a wire collecting cylinder 88, a wire collecting motor 89, a spring fixing rod 810, an opening spring 820, a limiting rod 830 and an optoelectronic.

The following detailed description of the invention will be further described in conjunction with the above-identified drawings.

Detailed Description

Referring to fig. 1-2, in a preferred embodiment of the present invention, a high-efficiency pole-climbing cleaning machine suitable for different diameters comprises a main frame 1, and a wheel-type climbing mechanism 2, a roller gripper pole-climbing mechanism 3 and a cleaning mechanism are mounted on the main frame 1.

Referring to fig. 2-4, the wheeled climbing mechanism 2 includes a wheeled driving motor 21, a first wheeled shaft 22, a transmission assembly 23, a second wheeled shaft 24 and a driving wheel 25, the wheeled driving motor 21 is installed on the main frame 1, an output shaft of the wheeled driving motor is connected with the first wheeled shaft 22, the first wheeled shaft 22 is rotatably installed on the main frame 1 and is connected with the second wheeled shaft 24 through the transmission assembly 23, the second wheeled shaft 24 is rotatably installed on the main frame 1 and is provided with the driving wheel 25, and a wheel surface of the driving wheel 25 protrudes out of the main frame 1 to contact with a rod to be cleaned and climb; further, the wheel type driving motor 21 is a stepping motor, the axes of the first wheel type shaft 22 and the second wheel type shaft 24 are arranged in parallel, the first wheel type shaft 22 and the second wheel type shaft 24 are both mounted on the main frame 1 through bearings, the transmission assembly 23 is a chain transmission assembly 23 and comprises a driving gear, a driven gear and a chain, the driving gear is mounted on the first wheel type shaft 22, the driven gear is mounted on the second wheel type shaft 24 and is connected with the driving gear through the chain.

Referring to fig. 6-7, the roller gripper bar-climbing mechanism 3 is located right above the wheel-type climbing mechanism 2, and includes a curved bar driving motor 31, a curved bar mechanism 32, two mechanical arms 33, a roller 34 and a tension spring 35, the curved bar driving motor 31 is installed on the main frame 1, an output shaft thereof is connected to a transmission initial end of the curved bar mechanism 32, the curved bar mechanism 32 has two transmission end ends, each transmission end is rotatably connected to a mechanical arm 33, the two mechanical arms 33 are respectively disposed on two opposite sides of the curved bar driving motor 31 and the curved bar mechanism 32 and located on two opposite sides of the driving wheel 25, the mechanical arms 33 are rotatably installed on the main frame 1, a rotation axis is vertical, a front end of each mechanical arm 33 is located on the side of the driving wheel 25, the roller 34 is rotatably sleeved thereon, a rotation axis of the roller 34 is perpendicular to the rotation axis of the mechanical arm 33, the roller 34 is positioned outside the main frame 1, and the installation height of the roller 34 is preferably slightly higher than that of the driving wheel 25; the rear end of each mechanical arm 33 is rotatably provided with a spring fixing rod 36, the spring fixing rod 36 is arranged perpendicular to the mechanical arms 33, the rotation axis of the spring fixing rod 36 is parallel to the rotation axis of the mechanical arm 33, two ends of the tension spring 35 are respectively installed at the rear end of the mechanical arm 33 through the spring fixing rods 36 on the two mechanical arms 33, specifically, the spring fixing rod 36 is hooked on a hanging ring at one end far away from the mechanical arm 33, in a natural state of the tension spring 35, the two rollers 34 form an included angle, an opening of the included angle is deviated from the tension spring 35, namely, the two mechanical arms 33 are in an open state, which is a state when the machine is not started, so that a rod to be cleaned can be easily and correctly sleeved between the two mechanical arms 33, additional manual assistance is not needed, the operation simplicity is improved, the arrangement of the rollers 34 on the two mechanical arms 33 can enable the mechanical arms 33 to clamp the rod without hindering climbing, which serves as climbing assistance, and the crank drive motor 31 and the crank mechanism 32 motor rotate the two arms 33 in opposite directions to each other, so as to achieve the clamping purpose, preferably, the two arms 33 are symmetrically arranged with respect to the driving wheel 25.

Further, the torque force of the two mechanical arms 33 is amplified by the lever principle, so that the rollers 34 on the two mechanical arms 33 clamp the rod to be climbed and can adapt to rods with different diameters, namely, can climb a rod with a variable diameter, therefore, in the utility model, the connection between the transmission end of the curved rod mechanism 32 and the mechanical arm 33 is positioned between the connection between the mechanical arm 33 and the main frame 1 and the tension spring 35; the distance from the tension spring 35 to the joint of the mechanical arm 33 and the main frame 1 is greater than the distance from the roller 34 to the joint of the mechanical arm 33 and the main frame 1. Preferably, spring fixing rods 36 are arranged at the top and the bottom of the rear end of each mechanical arm 33, the two spring fixing rods 36 located at the top are connected through a tension spring 35, the two spring fixing rods located at the bottom are connected through a tension spring 35, a hanging ring is arranged at the joint of each spring fixing rod 36 and each tension spring 35, and each tension spring 35 is connected with each spring fixing rod 36 through a hooking and hanging ring, so that the imbalance of the upper and lower torsion force brought to the mechanical arm 33 by the single tension spring 35 is overcome.

Further, in the present invention, the curved bar mechanism 32 includes a first curved bar 321, a second curved bar 322, a third curved bar 323 and two fourth curved bars, one end of the first curved bar 321 is connected to the output shaft of the curved bar driving motor 31, the other end is rotatably connected to one end of the second curved bar 322, the other end of the second curved bar 322 is rotatably connected to one end of the third curved bar 323, the third curved bar 323 is a T-shaped structure, the middle portion of the third curved bar is rotatably mounted on the main frame 1, two ends of the third curved bar 323 located on the same straight line are respectively rotatably connected to one end of a fourth curved bar, the other end of the fourth curved bar is rotatably connected to the mechanical arm 33, the lengths of the two fourth curved bars are the same, and the distances from the rotation connection of the two curved bars 323 to the rotation connection of the third curved bar 323 and the rotation connection of the main frame 1 are the same; the knee lever mechanism 32 is placed horizontally with all axes of rotation parallel to the axis of rotation of the robotic arm 33.

Referring to fig. 8-10, the cleaning mechanism is located right below the wheeled climbing mechanism 2, and includes a sliding driving mechanism 4, an adaptive change control mechanism 5, a hoop structure 6, a brush cleaning assembly 7, and a nozzle 87 cleaning assembly 8.

Referring to fig. 9 to 10, the sliding driving mechanism 4 includes a sliding driving assembly 41, a sliding frame 42 and a second tension spring 43, the sliding driving assembly 41 includes a sliding driving motor 4121, a first gear 4123, a second gear 4124, a first pulley 4126, a second pulley 4127, a first rope 4128 and a second rope 4129, the sliding driving motor 4121 is installed on the main frame 1, an output shaft thereof is connected to the first gear 4123 through a first connecting shaft 4122, the first gear 4123 is engaged with the second gear 4124, the second gear 4124 is rotatably installed on the main frame 1 through a second connecting shaft 4125, the second pulley 4127 is sleeved on the second connecting shaft 4125, the first pulley 4126 is sleeved on the first connecting shaft 4122, the first rope 4128 is wound on the first pulley 4126, the second rope 4129 is wound on the second pulley 4127, the first rope 4128 is wound on the first pulley 4126, a second rope 4129 is wound on the second pulley 4127, the second rope 4129 is wound on the second pulley 4127, one end of the second rope 4127 is fixedly connected with the second pulley 4127, the other end of the second rope 4129 is connected with the sliding frame 42, the sliding frame 42 and the L-shaped rod 52 are positioned on the same side, the sliding frame 42 is slidably connected on the main frame 1, the second tension spring 43 is connected thereon, and the second tension spring 43 is further connected with the main frame 1; with the above arrangement, the first rope 4128 and the second rope 4129 can be wound around the first pulley 4126 and the second pulley 4127 by the sliding driving motor 4121, so as to move the object connected thereto, e.g., the second rope 4129 moves the sliding frame 42 back and forth; and the second tension spring 43 serves to restore the slide frame 42. Preferably, the second tension spring 43 and the second pull rope are arranged at an interval up and down, and are located on the same side of the sliding frame 42 as the pull rope, and at least two of the second tension springs are arranged at the side of the sliding frame 42 at an interval, so as to facilitate the resetting of the sliding frame 42; further, the second tension spring 43 is located right below the second rope 4129, and two tension springs are provided on opposite sides of the sliding frame 42 and the second rope 4129, all the second tension springs 43 being located on the same horizontal plane. In the present invention, the first connecting shaft 4122 and the second connecting shaft 4125 are vertically disposed, and the first gear 4123, the second gear 4124, the first pulley 4126, and the second pulley 4127 are horizontally disposed.

Referring to fig. 12 to 14, the adaptive change control mechanism 5 includes a winding rod 51, an L-shaped rod 52 and a first tension spring 56, the winding rod 51 is disposed between a first pulley 4126 and the L-shaped rod 52, the first rope 4128 is wound thereon, the first rope 4128 is wound around the winding rod 51 for one turn, one end of the first rope is wound and fixed on the first pulley 4126, and the other end of the first rope is connected to the L-shaped rod 52; the L-shaped rod 52 is located on the same side as the sliding frame 42, and includes a first support bar 5211, a second support bar 523, a sleeve 524 and a first expansion spring 5241, the middle of the end part of one end of the first support bar 5211 close to the winding bar 51 is provided with a pull ring 5211 connected with the first rope 4128, the other end is connected with the second support bar 523 through an S-shaped tension sensor, the first support bar 5211 and the second support bar 523 jointly form a horizontally placed L-shaped structure, the second support bar 523 is arranged towards one side of the climbing bar driving mechanism, the sleeve 524 is slidably sleeved outside the end of the first support bar 5211 where the pull ring 5211 is arranged, a V-shaped connecting rod 53 is arranged on the outer side surface of one end of the winding bar 5211 close to the main frame 1 and rotatably installed on the main frame 1 through the V-shaped connecting rod 53, a third connecting shaft 54 is installed at the V-shaped turning point of the V-shaped connecting rod 53, and, one end of the V-shaped connecting rod 53 is fixedly connected to the sleeve 524, the other end of the V-shaped connecting rod is located between the spring connecting rod 55 and the first branch 5211 and is connected to one end of the first tension spring 56, the other end of the first tension spring 56 is connected to the spring connecting rod 55, the first extension spring 5241 is arranged in the sleeve 524 and is sleeved on the first branch 5211, and the two ends of the first extension spring 5241 are respectively connected to the sleeve 524 and the first branch 5211; the first tension spring 56 is naturally, the L-shaped included angle opening of the L-shaped rod 52 is away from the main frame 1, when the first rope 4128 acts on the L-shaped rod 52, the first tension spring 56 is in a stretching state, the center line of the first branch 5211 is tangent to the winding rod 51 and the second pulley 4127 at the same time, the second branch 523 is opposite to the side where the driving wheel is located, so that the center line of the first branch 5211 of the L-shaped rod 52 is in the same straight line with the first rope 4128 under the pulling action of the first rope 4128, the second branch 523 is perpendicular to the first branch 5211, at this time, the second branch 523 is opposite to the rod to be cleaned, when the first rope 4128 continues to pull the L-shaped rod 52, the second branch 523 is in contact with the rod to be cleaned and is abutted, at this time, the S-shaped tension sensor 522 is received, which transmits a signal to the controller, and then the controller controls the sliding driving motor 4121 to stop moving, the first rope 4128 will be stationary, i.e., the arrangement of the L-shaped bar 52 can be used to sense the bar to be cleaned, enabling the present application to be adapted to bars of different diameters; in addition, the first extension spring 5241 on the L-shaped rod 52 can make the first support rod 5211 and the second support rod 523 reset, and make the S-shaped tension sensor 522 not stressed, and the first tension spring 56 can make the L-shaped rod 52 in an open state when not pulled by the first rope 4128, so that the L-shaped rod 52 can better surround the circumference of the rod to be cleaned when being used again, and then the rod is convenient to sense.

Referring to fig. 15-20, the hoop structure 6 is mounted on the sliding frame 42 and disposed above and below the L-shaped rod 52, the hoop structure 6 includes a hoop driving motor 61, a fourth connecting shaft 62, a connecting sliding plate 63, a semi-circular hoop 64 and a curved rod connecting rod 66, the hoop driving motor 61 is mounted on the sliding frame 42, an output shaft thereof is connected to the fourth connecting shaft 62, the fourth connecting shaft 62 horizontally penetrates and is connected to the connecting sliding plate 63 in a threaded manner, the connecting sliding plate 63 is vertically disposed and is slidably connected to the sliding frame 42, the semi-circular hoop 64 is mounted on the other side of the sliding frame 42 opposite to the sliding driving motor 4121 and opposite to the L-shaped rod 52, one end of the semi-circular hoop 64 close to the sliding driving motor 4121 is rotatably mounted on the sliding frame 42, and a hoop connecting rod 65 horizontally disposed is disposed on an outer side surface of the one end, one end of the hoop connecting rod 65, which is far away from the semicircular hoop 64, is rotatably connected with one end of a curved rod connecting rod 66, the other end of the curved rod connecting rod 66 is rotatably connected with a connecting sliding plate 63, and under the driving of the hoop driving motor 61, the two semicircular hoops 64 rotate along with the sliding of the connecting sliding plate 63 relative to the sliding frame 42 so as to be mutually opened or closed into a horizontally-arranged circular structure; through the arrangement, the semicircular holding ring 64 can hold the rod to be cleaned, and the semicircular holding ring 64 can be opened and closed at different angles under the action of the curved rod connecting rod 66 and the holding ring connecting rod 65, so that the rod to be cleaned can be held by the semicircular holding ring 64 and can change along with the change of the diameter of the rod, in addition, the sliding driving mechanism 4, the self-adaptive change control mechanism 5 and the sliding frame 42 can ensure that the semicircular holding ring 64 can be coincided with the geometric center of the rod to be cleaned at any time, the cleaning component and the rod are not deviated due to the change of the diameter of the rod, in addition, the semicircular holding ring 64 can be opened forwards along with the resetting of the sliding frame 42 under the action of the second tension spring 43, so that the rod to be cleaned can be accommodated in the range of the semicircular holding ring, the rod to be conveniently and correctly sleeved into the two semicircular holding rings 64, and it needs to be noted that the holding ring driving motor 61 and the sliding driving motor 4121 start and, when the first rope 4128 stops moving, the semicircular holding ring 64 just closes and holds the rod to be cleaned, and in addition, the start and stop of the second rope 4129 are synchronized with the start and stop of the first rope 4128, so that when the L-shaped rod 52 senses the rod to be cleaned, the sliding frame 42 also stops sliding, and the two semicircular holding rings 64 hold the rod to be cleaned, namely, the holding ring structure 6 on the sliding frame 42 can move back and forth along with the change of the rod diameter.

Referring to fig. 15-17, the brush cleaning assembly 7 is disposed at the top of each semicircular embracing ring 64, the brush cleaning assembly 7 also surrounds the rod to be cleaned when the semicircular embracing ring 64 embraces the rod to be cleaned, the brush cleaning assembly 7 includes a cleaning housing 71, an incomplete chain mechanism 72 and a brush 73, a gear set 722 of the incomplete chain mechanism 72 is mounted at the inner side of the cleaning housing 71, the brush 73 is mounted at the top of the cleaning housing facing the center of the semicircular embracing ring 64, a driving motor 721 of the incomplete chain mechanism is located at the outer side of the cleaning housing 71 and the semicircular embracing ring 64, the chain of the incomplete chain mechanism 72 is a semicircular chain ring 723, the semicircular chain ring 723 is located at one side of the cleaning housing 71 facing the center of the semicircular embracing ring 64 and is fixedly connected with the semicircular embracing ring 64, and the tooth-shaped structure of the semicircular chain ring 723 faces the cleaning housing 71, and with incomplete chain meshing in wasing the shell 71 is connected, gear train 722 in the washing shell 71 is connected in incomplete chain meshing, wash shell 71 through fixed idler and semi-circular chain ring 723 sliding connection, fixed idler sets up on the side of semi-circular chain ring 723 towards the centre of a circle to make brush 73 can be along with wasing shell 71 reciprocating motion on semi-circular chain ring 723, realize that brush 73 brushes the pole face of treating the washing, reach the clean purpose in the utility model discloses in, brush 73 utilizes incomplete chain mechanism 72 to realize reciprocating motion on semi-circular armful ring 64. Preferably, the cleaning shell 71 is in an arc structure, and the arc length is smaller than that of the semicircular chain ring 723; two brushes 73 are arranged on the cleaning shell 71 at intervals.

Further, the two semicircular hoops 64 are a pair of hoop groups, the hoop structure 6 is provided with two pairs of hoop groups which are arranged up and down, the two pairs of hoop groups are arranged oppositely, the formed circle centers are located on the same vertical line, and the L-shaped rod 52 is located between the two pairs of hoop groups; one of the two pairs of embracing groups is provided with the brush cleaning component 7, and the other pair is provided with the spray nozzle 87 cleaning component 8. Referring to fig. 18 to 20, the nozzle 87 cleaning assembly 8 includes a nozzle fixing plate 81, nozzles 87, nozzle pulleys 84, an opening spring 820, a spring fixing rod 810, a wire winding drum 88 and a wire winding motor 89, wherein at least three nozzle fixing plates 81 are arranged on each semicircular hoop 64 at intervals around the center of the semicircular hoop 64, one nozzle fixing plate 81 is located at one end of the semicircular hoop 64 far from the connecting sliding plate 63, the nozzle fixing plate 81 is horizontally arranged and has an L-shaped structure, the L-shaped directions of all the nozzle fixing plates 81 are the same, one end of the nozzle fixing plate 81 is located at the inner side of the semicircular hoop 64 and is rotatably connected to the semicircular hoop 64 through a fifth connecting shaft 82, the other end of the nozzle fixing plate 81 is located at the outer side of the semicircular hoop 64, the other end of the nozzle fixing plate is provided with a pulley rod 83, and the nozzle pulleys 84 are rotatably installed on, a buckling rod 85 is also vertically arranged at the other end of the spray head fixing plate 81 positioned at one end of the semicircular embracing ring 64 far away from the connecting sliding plate 63, a sliding rod 86 which is horizontally arranged is arranged at one end of the buckling rod 85 far away from the spray head fixing plate 81 in a sliding way, a pull ring 5211 and a pull hook which are mutually matched are respectively arranged at one opposite end of the sliding rod 86 on the two semicircular embracing rings 64, a second expansion spring 861 is sleeved at the other end which is far away from the sliding rod 86 and the buckling rod 85, spray heads 87 are respectively arranged on the spray head fixing plate 81 except the other end of the semicircular embracing ring 64 far away from the connecting sliding plate 63, the spray heads 87 are arranged at the L-shaped turning part, a pulley rod 83 on one spray head fixing plate 81 of one of the two semicircular embracing rings 64 is not provided with a pulley, and a take-up cylinder, the wire take-up motor 89, the spray head 87 and the spray head pulley 84 are positioned on the same side of the spray head fixing plate 81, the wire take-up motor is installed on the outer side surface of the wire take-up cylinder 88, an output shaft is connected with a rotating shaft on the wire take-up cylinder 88, a cable is wound on the rotating shaft, the rotating directions of two ends of the cable are opposite, the cable extends out of the wire take-up cylinder 88 by penetrating through the cylinder wall of the wire take-up cylinder 88, two ends of the cable extending out of the wire take-up cylinder 88 are arranged in a deviating way, the end parts of the cable are fixedly connected with one end of the sliding rod 86 far away from the pull ring 5211 or the drag hook respectively, and the cable is sequentially movably connected; an opening spring 820 and a spring fixing rod 810 are installed on one side of an L-shaped included angle opening of each spray head fixing plate 81, one end of the opening spring 820 is connected with the spray head fixing plate 81, the other end of the opening spring 820 is connected with the spring fixing rod 810, the spring fixing rod 810 is fixedly connected to the semicircular holding ring 64 and located on the outer side of the semicircular holding ring 64, and the spring fixing rod 810 and the spray head fixing plate 81 are arranged at intervals, under the natural state of the opening spring 820, the spray head 87 is located on the outer side of the semicircular holding ring 64, and the position of water spray of the spray head 87 does not. The arrangement of the spray head 87 cleaning assembly 8 can enable the climbing pole cleaning machine to have the cleaning functions of the brush 73 and the spray head 87 at the same time, wherein, in the utility model, the distance from the spray head 87 to the center of the rod can be changed along with the diameter change of the rod, so that the spray head 87 is as close as possible to the cleaning surface of the wand, optimizing the cleaning effect of the spray head 87 on the wand, in particular by means of the distance adjustment by means of the cable, namely, the change of the diameter of the cable loop is realized by adjusting the tightening degree of the cable which comes out from the take-up drum 88 and encircles a loop, and in addition, the rotating action of the nozzle fixing plate 81 relative to the semicircular encircling ring 64 and the arrangement of the nozzle 87 and the nozzle pulley 84 on the nozzle fixing plate enable the nozzle pulley 84 to be tensioned when the cable is tightened, thereby driving the nozzle fixing plate 81 to rotate towards the direction close to the center of the rod to be cleaned, and further enabling the nozzle 87 on the nozzle fixing plate 81 to be close to the surface of the rod to be cleaned; moreover, by adopting the method of the pull ring 5211 and the pull hook on the slide rod 86, the pull ring 5211 at the cable cut-off part is hooked with the pull hook when the spray head 87 cleaning assembly 8 works, so that the cable encircles into a complete circle, and when the spray head cleaning assembly does not work, the pull ring 5211 and the pull hook can be disconnected and hooked along with the opening of the two semicircular hooping rings 64; in addition, considering that the ribbon cable is a flexible material, which cannot maintain a certain shape when not stressed, after the rotation of the head fixing plate 81, the distribution of the heads 87 will be irregular under the condition that the tightening degree of the cable is not changed, and in order to make the head pulley 84 on the head fixing plate 81 receive the cable pressure under any condition, the expanding spring 820 is added to apply the spring tension of pulling outwards (i.e. the tension far from the center of the rod to be cleaned) to the head fixing plate 81, the spring tension reaches the equilibrium state with the cable tightening force when the head 87 cleaning assembly 8 is in the working state, the distribution of the heads 87 will also stabilize the circumferential distribution, and when the cable is rolled, the diameter of the circle formed by the cable is reduced to drive the heads 87 to be close to the center of the rod, and in order to prevent the heads 87 from directly contacting the rod, the present invention installs the photoelectric distance sensor 840 on the head fixing plate 81 located on the end of the semicircular embracing ring 64 far from the connecting sliding plate, the detection part of the photoelectric distance sensor 840 faces one spray head 87 adjacent to the photoelectric distance sensor, the photoelectric distance sensor 840 is connected with a controller, the controller is connected with the wire take-up motor 89, the distance between the spray head 87 and the rod is detected through the photoelectric distance sensor 840, and therefore when the preset distance is reached, the wire take-up motor 89 is driven to stop rotating, and the cable is stopped to be tightened. It should be noted that the utility model discloses a mounting quantity and position on the two semicircular embracing rings 64 of the clean subassembly 7 of shower nozzle make shower nozzle 87 treat the clean circumference surface of abluent pole and cover, in addition, shower nozzle 87 adopts the shower nozzle that can twist reverse certain angle automatically when pressurizeing.

Furthermore, the nozzle 87 cleaning component 8 is positioned right above the brush cleaning component 7, the nozzle 87 is positioned at the top of the semicircular surrounding ring 64, a water inlet of the nozzle 87 cleaning component is connected with a water source through a hose, a water tank is arranged on one side of the main frame 1 opposite to the nozzle 87 cleaning component 8, a liquid filling port is arranged at the top of the water tank, a cover is arranged at the liquid filling port, a liquid outlet is arranged at the bottom of the water tank, a pipeline is connected at the liquid outlet and is connected with a water inlet of a centrifugal pump through a pipeline, the centrifugal pump is arranged at the bottom of the water tank, a water outlet of the centrifugal pump is connected with a plurality of hoses through a flow dividing joint, and each hose is; preferably, the bottom of the water tank is concave, and the liquid outlet is arranged at the bottom of the concave.

Further, the method comprises the following steps of; the fourth connecting shaft 62 is located between the two pairs of hoop groups, and both ends of the fourth connecting shaft are rotatably mounted on the sliding frame 42; the connecting slide 63 is embedded in the guide rails 631 of the sliding frame 42; all the spray head pulleys 84 are positioned at the same mounting height, and all the spray heads 87 are positioned at the same mounting height; the semicircular embracing ring 64 is provided with a limiting rod 830, the limiting rod 830 is arranged on one side of an L-shaped included angle opening of the spray head fixing plate 81 and is arranged at an interval with the spring fixing rod 810, and the limiting rod 830 is abutted against the spray head fixing plate 81 in a natural state of an expanding spring 820 so as to limit the spray head fixing plate 81 to excessively rotate under the action of the expanding spring 820.

It should be noted that the present invention adopts a wheel-type driving motor 21 as a stepping motor, which can utilize the power-on self-locking characteristic of the stepping motor to satisfy the functional requirement that the driving wheel 25 does not rotate when the driving wheel 25 travels and stops during climbing.

And through adopting wheeled climbing mechanism 2 and cylinder gripper climbing mechanism 3, can make the focus of the pole-climbing cleaning machine that designs not coincide with the pole center of waiting to clean mutually, namely, the central point that the driving wheel 25 locates and the arm 33 holds the pole to combine together and have certain vertical distance between the public point of action (namely the centre of a circle of the cross section of the pole) on the pole, in the utility model, the material of the driving wheel 25 adopts butyl rubber material, when the position of the driving wheel 25 is suitable, under the effect when the deviation moment that the pole-climbing cleaning machine produced because of gravity and arm 33 hold the power tightly, the frictional force of the driving wheel 25 that stops rotating and pole will be greater than whole machine gravity, the pole-climbing cleaning machine will reach the gravity auto-lock on the cleaning pole, therefore, the utility model discloses can be stable stop on the pole of waiting to wash the pole to make the cleaning mechanism wash the pole, and the cleaning effect is better.

The above description is for the detailed description of the preferred possible embodiments of the present invention, but the embodiments are not intended to limit the scope of the present invention, and all equivalent changes or modifications accomplished under the technical spirit suggested by the present invention should fall within the scope of the present invention.

Claims

1. The utility model provides a high-efficient pole-climbing cleaning machine of different diameters of adaptation, includes the main frame, its characterized in that: the main frame is provided with a wheel type climbing mechanism, a roller mechanical claw climbing rod mechanism and a cleaning mechanism;

the top of each semicircular embracing ring is provided with the brush cleaning component, the brush cleaning component comprises a cleaning shell, an incomplete chain mechanism and a brush, the inner side of the cleaning shell is provided with a gear set of the incomplete chain mechanism, the top of the cleaning shell faces one side of the circle center of the semicircular embracing ring and is provided with the brush, a driving motor of the incomplete chain mechanism is positioned at the outer sides of the cleaning shell and the semicircular embracing ring, a chain of the incomplete chain mechanism is a semicircular chain ring, the semicircular chain ring is positioned at one side of the cleaning shell, which faces the circle center of the semicircular embracing ring and is fixedly connected with the semicircular embracing ring, the tooth-shaped structure of the semicircular chain ring faces the cleaning shell and is meshed with the incomplete chain in the cleaning shell, the incomplete chain is meshed with the gear set in the cleaning shell, and the cleaning, the fixed rollers are arranged on the side faces, facing the circle center, of the semicircular chain rings.

2. An efficient pole-climbing cleaning machine to accommodate different diameters as recited in claim 1, wherein: the driving mechanism comprises a main frame, a wheel type driving motor, a first wheel type shaft, a second wheel type shaft, a transmission assembly, a driving gear, a driven gear and a chain, wherein the wheel type driving motor is a stepping motor, the axes of the first wheel type shaft and the second wheel type shaft are arranged in parallel, the first wheel type shaft and the second wheel type shaft are both installed on the main frame through bearings, the transmission assembly is a chain transmission assembly and comprises the driving gear, the driven gear and the chain, the driving gear is installed on the first wheel type shaft, the driven gear is installed on the second.

3. An efficient pole-climbing cleaning machine to accommodate different diameters as recited in claim 1, wherein: the joint of the transmission tail end of the curved bar mechanism and the mechanical arm is positioned between the joint of the mechanical arm and the main frame and the tension spring; the distance from the tension spring to the joint of the mechanical arm and the main frame is greater than the distance from the roller to the joint of the mechanical arm and the main frame; each top and the bottom of arm rear end all are provided with the spring dead lever, are connected through a tension spring between the two spring dead levers that are located the top together, are connected through a tension spring between the two spring dead levers that are located the bottom together, the spring dead lever is provided with the link with tension spring's junction, tension spring passes through the buckle link and connects the spring dead lever.

4. An efficient pole-climbing cleaning machine to accommodate different diameters as recited in claim 1, wherein: the crank mechanism comprises a first crank rod, a second crank rod, a third crank rod and two fourth crank rods, one end of the first crank rod is connected with an output shaft of a crank rod driving motor, the other end of the first crank rod is rotatably connected with one end of the second crank rod, the other end of the second crank rod is rotatably connected with one end of the third crank rod, the third crank rod is of a T-shaped structure, the middle part of the third crank rod is rotatably installed on the main frame, two ends of the third crank rod, which are located on the same straight line, are respectively rotatably connected with one end of the fourth crank rod, the other end of the fourth crank rod is further rotatably connected with the mechanical arm, the two fourth crank rods are identical in length, and the distance from the rotating connection position of the two fourth crank rods to the rotating connection position of the third crank rod and the main frame is identical; the bent rod mechanism is horizontally arranged, and all rotation axes of the bent rod mechanism are parallel to the rotation axis of the mechanical arm.

5. An efficient pole-climbing cleaning machine to accommodate different diameters as recited in claim 1, wherein: the two semicircular hoops are a pair of hoop groups, the hoop structures are provided with two pairs of hoop groups which are arranged up and down, the two pairs of hoop groups are arranged oppositely, the formed circle centers are positioned on the same vertical line, and the L-shaped rod is positioned between the two pairs of hoop groups; the brush cleaning assembly is arranged on one of the two pairs of surrounding groups, and the spray head cleaning assembly is arranged on the other pair of surrounding groups; the sprayer cleaning assembly comprises a sprayer fixing plate, a sprayer pulley, an opening spring, a spring fixing rod, a take-up cylinder and a take-up motor, wherein at least three sprayer fixing plates are arranged on each semicircular embracing ring at intervals around the circle center of the semicircular embracing ring, one sprayer fixing plate is positioned at one end of each semicircular embracing ring away from the connecting sliding plate, the sprayer fixing plates are horizontally arranged and are of an L-shaped structure, the L-shaped directions of all the sprayer fixing plates are the same, one end of each sprayer fixing plate is positioned at the inner side of each semicircular embracing ring and is rotationally connected with the semicircular embracing ring through a fifth connecting shaft, the other end of each sprayer fixing plate is positioned at the outer side of each semicircular embracing ring, a pulley rod is arranged at the other end of each sprayer fixing plate, the sprayer pulley is rotationally arranged on the pulley rod, and a connecting, a horizontally placed slide bar is slidably mounted at one end of the buckling rod, which is far away from the spray head fixing plate, the opposite ends of the slide bars on the two semicircular hoops are respectively provided with a pull ring and a drag hook which are matched with each other for use, a second telescopic spring is sleeved at the opposite end, the two ends of the second telescopic spring are respectively fixed on the slide bar and the buckling rod, spray heads are mounted on the spray head fixing plate except for the other ends, which are far away from the connecting slide plate, of the semicircular hoops, the spray heads are mounted at the L-shaped turning positions, a pulley is not mounted on a pulley bar on a spray head fixing plate of one of the two semicircular hoops, the take-up drum and the take-up motor are mounted, the take-up motor, the spray heads and the spray head pulley are positioned at the same side of the spray head fixing plate and, the rotation directions of two ends of the cable are opposite, the cable extends out of the take-up drum by penetrating the wall of the take-up drum, two ends of the cable extending out of the take-up drum are arranged in a deviating way, the end parts of the cable are fixedly connected with one end of the sliding rod far away from the pull ring or the drag hook respectively, and the cable is sequentially movably connected with the nozzle pulley on the line from the take-up drum to the sliding rod and is arranged in a tangent way with the nozzle pulley; each shower nozzle fixed plate L type contained angle opening side-mounting opens spring and spring fixed rod, open spring one end and connect the shower nozzle fixed plate, the other end is connected the spring fixed rod, the spring fixed rod links firmly on semi-circular armful ring, and is located the outside of semi-circular armful ring, and with shower nozzle fixed plate interval sets up, open under the spring natural state, the shower nozzle is located the semi-circular armful outside of encircling, and its position of spraying water does not move towards the centre of a circle department of semi-circular armful ring.

6. An efficient pole-climbing cleaning machine to accommodate different diameters as claimed in claim 5 wherein: three spray head fixing plates are arranged on each semicircular embracing ring at intervals, and the take-up drum is arranged on one of the three spray head fixing plates; the connection parts of all the spray head fixing plates and the semicircular embracing rings are positioned on the same circular ring, all the spray heads are positioned on the same circular ring, and the circular rings all use the circle centers of the semicircular embracing rings as the circle centers.

7. An efficient pole-climbing cleaning machine to accommodate different diameters as claimed in claim 5 wherein: a photoelectric distance sensor is mounted on a sprayer fixing plate located at one end, far away from a connecting sliding plate, of the semicircular embracing ring, the detection position of the photoelectric distance sensor faces towards a sprayer adjacent to the photoelectric distance sensor, the photoelectric distance sensor is connected with a controller, and the controller is connected with a take-up motor.

8. An efficient pole-climbing cleaning machine to accommodate different diameters as claimed in claim 5 wherein: the sprayer cleaning component is positioned right above the brush cleaning component, the sprayer is positioned at the top of the semicircular embracing ring, and a water inlet of the sprayer is connected with a water source through a hose.

9. An efficient pole-climbing cleaning machine that accommodates different diameters as recited in claim 8, wherein: the water tank is arranged on one side, opposite to the spray head cleaning assembly, of the main frame, a liquid filling opening is formed in the top of the water tank, a cover is arranged at the position of the liquid filling opening, a liquid outlet is formed in the bottom of the water tank, a pipeline is connected to the position of the liquid outlet and is connected with a water inlet of the centrifugal pump through the pipeline, the centrifugal pump is installed at the bottom of the water tank, a water outlet of the centrifugal pump is connected with a plurality of hoses through flow distribution connectors, and.

10. An efficient pole-climbing cleaning machine to accommodate different diameters as claimed in claim 5 wherein: the fourth connecting shaft is positioned between the two pairs of hooping groups, and both ends of the fourth connecting shaft are rotatably arranged on the sliding frame; the connecting sliding plate is embedded on the guide rail of the sliding frame.