CN214776231U - Pole-climbing cleaning robot - Google Patents

Abstract

The utility model provides a pole-climbing cleaning robot, include: the device comprises a climbing mechanism, a supporting plate, a cleaning mechanism, a control box and a lithium battery box; the climbing mechanism comprises a frame structure, a lifting device, an upper layer of enclasping device and a lower layer of enclasping device, the frame structure plays a role in fixing and supporting, the lifting device, the upper layer of enclasping device and the lower layer of enclasping device are all fixed on the frame structure, the upper layer of enclasping device and the lower layer of enclasping device are all used for realizing enclasping and release connection with a rod-shaped building, and the lifting device is used for realizing lifting of the upper layer of enclasping device and the lower layer of enclasping device; the climbing mechanism drives the whole device to climb up and down along the rod-shaped building in a reciprocating manner through the upper layer holding device and the lower layer holding device, and the rod-shaped building is cleaned through cleaning cloth arranged on the cleaning mechanism; the control box is used for controlling the climbing movement of the climbing mechanism; the lithium battery box supplies power to the whole device. The utility model discloses it is safe convenient, the reliability is high, can improve work efficiency, reduces the operating cost.

Description

Pole-climbing cleaning robot

Technical Field

The utility model relates to a mobile robot technical field especially relates to a pole-climbing cleaning robot.

Background

With the rapid development of cities, high-rise rod-shaped buildings such as telegraph poles, light poles, cable-stayed bridges, billboard posts and the like are increased, and the high-rise rod-shaped buildings are cleaned mainly by manpower and long-arm lifting equipment. The manual climbing is difficult and dangerous, the manual cleaning efficiency is low, the strength is high, and chemical reagents used for cleaning also have great damage to the bodies of workers. The long-arm lifting equipment is complex to operate, limited by the field range and the operation cost and inconvenient to use.

Climbing pole cleaning robot can replace artifical climbing and wash high-rise shaft-like buildings such as wire pole, light pole, cable-stay bridge and bill-board stand, reduces danger, improves work efficiency, reduces the operating cost, and is safe convenient, and the reliability is high.

The existing pole-climbing cleaning robot can be divided into three types: wheeled pole-climbing cleaning robot, claw formula pole-climbing cleaning robot and absorption formula pole-climbing cleaning robot. The wheel type pole climbing cleaning robot has the characteristics of light weight, safety, quick response and the like, is suitable for climbing cylindrical stepped rod pieces, and has limited obstacle crossing capability. The tail ends of the legs of the claw type climbing rod cleaning robot adopt a claw structure, can firmly climb on the surface of an object, is suitable for plane and curved surface structures, and is complex in grabbing mode. The adsorption type pole-climbing cleaning robot adopts a magnetic adsorption type runner structure, can be adsorbed on any curved surface, and can climb on the motion of any direction of the curved surface in a triangular universal wheel arrangement mode, but the load capacity is poor.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned technical problems, a pole-climbing cleaning robot is provided. The utility model discloses two-layer manipulator about mainly adopting presss from both sides tightly and loosens, realizes stable climbing action, has better adaptability to the high-rise shaft-like building of different diameters, and is safe convenient, and the reliability is high. The utility model is used for climbing and washing high-rise shaft-like buildings such as wire pole, light pole, cable-stay bridge and bill-board stand have compensatied wheeled pole-climbing cleaning robot's obstacle-crossing ability defect, have broken through claw formula pole-climbing cleaning robot's the mode bottleneck of snatching, have solved absorption formula pole-climbing cleaning robot's load capacity weak, improve work efficiency, reduce the operating cost. The utility model discloses a technical means as follows:

a pole-climbing cleaning robot comprising: the device comprises a climbing mechanism, a supporting plate fixed on the climbing mechanism, and a cleaning mechanism, a control box and a lithium battery box which are arranged on the supporting plate;

the climbing mechanism comprises a frame structure, a lifting device, an upper layer of enclasping device and a lower layer of enclasping device, the frame structure plays a role in fixing and supporting, the lifting device, the upper layer of enclasping device and the lower layer of enclasping device are all fixed on the frame structure, the upper layer of enclasping device and the lower layer of enclasping device are all used for realizing enclasping and release connection with a rod-shaped building, and the lifting device is used for realizing lifting of the upper layer of enclasping device and the lower layer of enclasping device;

the climbing mechanism drives the whole device to climb up and down along the rod-shaped building in a reciprocating manner through the upper layer of holding device and the lower layer of holding device, and the rod-shaped building is cleaned through cleaning cloth arranged on the cleaning mechanism;

the control box is used for controlling the climbing movement of the climbing mechanism; the lithium battery box supplies power to the whole device.

Further, the cleaning mechanism comprises a connecting frame, an elbow joint connecting rod, an elbow joint steering engine, a shoulder joint connecting rod, a shoulder joint steering engine mounting seat, a camera module, a wrist joint connecting rod, a wrist joint steering engine, a passive joint, a cleaning cloth mounting plate provided with cleaning cloth, a shoulder joint steering engine and a rotating base;

the two passive joints are symmetrically arranged on the right side of the wrist joint connecting rod through screws, and the cleaning cloth mounting plate is arranged at the right ends of the two passive joints through screws; the camera module is arranged at the upper end of the wrist joint connecting rod through a screw, and the wrist joint connecting rod is arranged at the right end of the wrist joint steering engine through a screw;

the connecting frame is cross-shaped, the upper end and the lower end of the connecting frame are arranged at the left end of the wrist joint steering engine through screws, and the front end and the rear end of the connecting frame are arranged at the right end of the elbow joint connecting rod through screws; the left end of the elbow joint connecting rod is arranged at the right end of the elbow joint steering engine through a screw; the upper end of the shoulder joint connecting rod is arranged at the left end of the elbow joint steering engine through a screw, the lower end of the shoulder joint connecting rod is arranged at the right end of the shoulder joint steering engine through a screw, and the shoulder joint steering engine is arranged on a shoulder joint steering engine mounting seat through a screw; the shoulder joint steering engine mounting seat is installed at the upper end of the rotating base through screws.

Further, the passive joint comprises an output flange, a passive joint upper cover, a synchronous belt wheel, a spring and a passive joint shell;

a transmission shaft is arranged on one side in the driven joint shell, the inner surface of the synchronous belt wheel is arranged on the transmission shaft, and the outer surface of the synchronous belt wheel penetrates through the driven joint upper cover to be connected with an output flange; the two springs are in a stretching state during installation, the upper ends of the two springs are respectively installed at the lower ends of the two sides of the synchronous belt, and the lower ends of the two springs are both installed on the inner surface of the passive joint shell; the synchronous belt is arranged on the synchronous belt wheel;

when the output flange rotates under the external force of the cleaning cloth mounting plate, the output flange drives the synchronous belt wheel to rotate, one end of the synchronous belt compresses one spring, and the other end of the synchronous belt stretches the other spring; when the external force of the cleaning cloth mounting plate received by the output flange is removed, the spring is restored to the original state, so that the synchronous belt, the synchronous belt wheel and the output flange are restored to the original state.

Further, the rotating base comprises a bottom joint steering engine, a steering wheel, a base, a crossed roller bearing and a base upper cover;

the bottom joint steering engine is arranged on the lower end face of the base through a screw; the left end of the steering wheel is arranged at the right end of the bottom joint steering engine through a screw, and the right end of the steering wheel is arranged on the upper base cover through a screw to drive the upper base cover to rotate; the outer ring of the crossed roller bearing is arranged on the right side of the base through a screw, and the inner ring of the crossed roller bearing is arranged on the upper cover of the base through a screw and rotates along with the upper cover of the base; the upper end of the base upper cover is fixedly connected with the shoulder joint steering engine mounting seat.

Further, the control box comprises a control box shell, a lithium battery, a control mainboard and a control box upper cover; the lithium battery is arranged in a clamping groove in the shell of the control box and supplies power to the control main board; the control main board is arranged on a cylinder in the control box shell through a screw; the control box upper cover is installed on the right side end face of the control box shell through screws.

Further, the frame structure comprises an upper layer bottom plate, a lower layer bottom plate, four vertical guide rods and vertical guide rod nuts;

upper floor and lower floor internally mounted distance sensor, through-hole I has been seted up in the four corners of upper floor, and through-hole II has been seted up in the four corners of lower floor's bottom plate, and four through-holes I are packed into respectively to the upper end of four vertical guide bars, and four through-holes II are packed into respectively to the lower extreme, and every vertical guide bar all fixes on upper floor through vertical guide bar nut.

Further, the lifting device comprises a lifting motor, a lifting motor reducer connected with the lifting motor, a lifting motor support, a coupler, a left bearing, a gear shaft left support, a gear shaft right support, a right bearing and a rack;

the lifting motor and the lifting motor reducer are fixed on a lifting motor support through screws, and the lifting motor support is fixed on the upper-layer bottom plate through screws; the lower end of the rack is fixed on the lower bottom plate through a screw, and the upper end of the rack is arranged in a clamping groove of a support at the left side of the gear shaft and can slide up and down along the clamping groove; the left end of gear shaft is installed at gear shaft left side support through left side bearing, and the right-hand member is installed at gear shaft right side support through right side bearing, and the gear shaft passes through the shaft coupling to be installed at elevator motor's output, and gear shaft and rack toothing drive the rack and reciprocate, realize that the device is held tightly to upper strata and the lift of lower floor holding device.

Further, the upper layer clasping device comprises an upper layer guiding device, an upper layer driving transmission device and an upper layer manipulator; the upper layer guide device and the upper layer driving transmission device are arranged on the upper end face of the upper layer bottom plate side by side, and two upper layer mechanical arms are symmetrically arranged on the upper layer driving transmission device;

the upper layer guide device comprises two upper layer guide rods arranged side by side at intervals and two upper layer supports; the two upper layer supports are respectively arranged on two sides of the upper end surface of the upper layer bottom plate through screws; two ends of each upper layer guide rod are respectively arranged on the two upper layer supports; the two upper-layer guide rods penetrate through the tail ends of the two upper-layer manipulators, and the upper-layer manipulators slide left and right along the upper-layer guide rods;

the upper layer driving transmission device comprises an upper layer screw rod, an upper layer screw rod nut, an upper layer coupler, an upper layer screw rod motor support, an upper layer screw rod motor reducer and an upper layer screw rod motor; two ends of the upper-layer lead screw are respectively arranged on the two upper-layer supports and are assembled with the upper-layer guide rod in parallel; the upper lead screw motor speed reducer and the upper lead screw motor are arranged on an upper lead screw motor support through screws, and the upper lead screw motor support is arranged on the upper end face of the upper bottom plate through screws; the output end of the upper screw motor reducer is connected with an upper screw through an upper coupling; the two upper-layer screw nuts are arranged on the upper-layer screw and are respectively fixedly connected with the tail ends of the two upper-layer mechanical arms through screws, and the upper-layer mechanical arms are driven to move left and right along the upper-layer screw along with the rotation of the upper-layer screw;

two ends of the upper layer screw rod are provided with reverse threads, and the two upper layer mechanical arms are driven to move inwards to clasp the rod-shaped building and move outwards to loosen the rod-shaped building.

Further, the lower layer enclasping device comprises a lower layer guide device, a lower layer driving transmission device and a lower layer mechanical arm; the lower layer guide device and the lower layer driving transmission device are arranged on the upper end face of the lower layer bottom plate side by side, and two lower layer manipulators are symmetrically arranged on the lower layer driving transmission device;

the lower layer guide device comprises two lower layer guide rods arranged side by side at intervals and two lower layer supports; the two lower-layer supports are respectively arranged on two sides of the upper end surface of the lower-layer bottom plate through screws; two ends of each lower layer guide rod are respectively arranged on the two lower layer supports; the two lower-layer guide rods penetrate through the tail ends of the two lower-layer manipulators, and the lower-layer manipulators slide left and right along the lower-layer guide rods;

the lower-layer driving transmission device comprises a lower-layer lead screw, a lower-layer lead screw nut, a lower-layer coupler, a lower-layer lead screw motor support, a lower-layer lead screw motor reducer and a lower-layer lead screw motor; two ends of the lower-layer lead screw are respectively arranged on the two lower-layer supports and are assembled with the lower-layer guide rod in parallel; the lower-layer lead screw motor reducer and the lower-layer lead screw motor are arranged on a lower-layer lead screw motor support through screws, and the lower-layer lead screw motor support is arranged on the upper end face of the lower-layer bottom plate through screws; the output end of the lower-layer screw motor reducer is connected with a lower-layer screw through a lower-layer coupler; the two lower-layer screw nuts are arranged on the lower-layer screw and are respectively and fixedly connected with the tail ends of the two lower-layer manipulators through screws, and the lower-layer manipulators are driven to move left and right along the lower-layer screw along with the rotation of the lower-layer screw;

two ends of the lower layer screw rod are provided with reverse threads, and the two lower layer mechanical arms are driven to move inwards to clasp the rod-shaped building and move outwards to loosen the rod-shaped building.

Further, the lower layer manipulator and the upper layer manipulator have the same structure;

the upper manipulator includes: the device comprises a rubber patch, a pressure sensor and a V-shaped gripper; the right side surface of the pressure sensor is attached to the left side surface of the V-shaped grip, and the right side surface of the rubber patch is attached to the left side surface of the pressure sensor; the pressure sensor is electrically connected with the control box and transmits the collected pressure to the control box for processing.

Compared with the prior art, the utility model has the advantages of it is following:

1. the utility model provides a pole-climbing cleaning robot adopts upper and lower two-layer manipulator, presss from both sides tightly and loosens, realizes stable climbing action, has better adaptability to the high-rise shaft-like building of different diameters, and is safe convenient, and the reliability is high.

2. The utility model provides a pole-climbing cleaning robot has upper and lower two-layer drive transmission, can realize rising freely switching with the decline, and passive joint makes clean mechanism have stronger flexibility, improves abluent work efficiency.

Based on the reason, the utility model discloses can be in the mobile robot that is used for climbing and washs high-rise shaft-like buildings such as wire pole, light pole, cable-stay bridge and bill-board stand field extensive popularization.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural view of the pole-climbing cleaning robot of the present invention.

Fig. 2 is a schematic structural view of the cleaning mechanism of the present invention.

Fig. 3 is a schematic view of the structure of the passive joint of the cleaning mechanism of the present invention.

Fig. 4 is a schematic structural view of the rotating base of the cleaning mechanism of the present invention.

Fig. 5 is a schematic structural diagram of the control box of the present invention.

Figure 6 is the utility model discloses a climbing mechanism structure schematic diagram.

Fig. 7 is a schematic view of the manipulator structure of the present invention.

Fig. 8 is the climbing schematic diagram of the pole-climbing robot of the present invention, wherein (a) is the initial state, (b) is the upper layer holding, (c) is the lifting of the lower layer, (d) is the lower layer holding, (e) is the upper layer loosening, and (f) is the lifting of the upper layer.

Fig. 9 is a schematic view of the climbing rod cleaning robot of the present invention climbing downward, wherein (a) is an initial state, (b) is loosened for the upper layer, (c) is lowered for the upper layer, (d) is held tightly for the upper layer, (e) is loosened for the lower layer, (f) is lowered for the lower layer, and (g) is held tightly for the lower layer.

In the figure: 1. a cleaning mechanism; 2. a control box; 3. a support plate; 4. a climbing mechanism; 5. a lithium battery case;

1-1, a connecting frame; 1-2, elbow joint connecting rod; 1-3, an elbow joint steering engine; 1-4, shoulder joint connecting rod; 1-5, shoulder joint steering engine mounting seats; 1-6, a camera module; 1-7, a wrist joint connecting rod; 1-8, a wrist joint steering engine; 1-9, passive joint; 1-10, mounting a cleaning cloth plate; 1-11 parts of shoulder joint steering engine; 1-12, rotating the base;

1-9-1, an output flange; 1-9-2, passive joint upper cover; 1-9-3, synchronous belt; 1-9-4, synchronous pulley; 1-9-5, spring; 1-9-6, passive joint shell;

1-12-1, a bottom joint steering engine; 1-12-2, a steering wheel; 1-12-3, a base; 1-12-4, crossed roller bearings; 1-12-5, and a base upper cover;

2-1, controlling the box shell; 2-2, lithium battery; 2-3, controlling the main board; 2-4, controlling the upper cover of the box;

4-1, an upper manipulator; 4-2, an upper layer lead screw; 4-3, an upper layer support; 4-4, an upper screw nut; 4-5, an upper layer guide rod; 4-6, an upper bottom plate; 4-7, vertical guide rod nuts; 4-8, vertical guide rods; 4-9, a lifting motor; 4-10, a reducer of a lifting motor; 4-11, a lifting motor support; 4-12, a coupler; 4-13, left side bearing; 4-14, a gear shaft left side support; 4-15, gear shaft; 4-16, a gear shaft right side support; 4-17, right side bearing; 4-18, a rack; 4-19, lower guide bar; 4-20, lower layer screw rod; 4-21, a lower bottom plate; 4-22, an upper layer coupler; 4-23, an upper screw motor support; 4-24, an upper screw motor reducer; 4-25, an upper screw motor; 4-26, a lower manipulator; 4-27, lower layer screw nut; 4-28, lower layer support; 4-29, lower layer coupling; 4-30 of lower layer screw motor support; 4-31, lower layer screw motor reducer; 4-32, lower layer screw motor;

4-1-1, rubber patch; 4-1-2, a pressure sensor; 4-1-3, and a V-shaped gripper.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1, the utility model provides a pole-climbing cleaning robot, include: cleaning mechanism 1, control box 2, backup pad 3, climbing mechanism 4, lithium cell box 5. The climbing mechanism 4 can carry the whole device to climb up and down along the rod-shaped building in a reciprocating manner, and the rod-shaped building is cleaned through cleaning cloth arranged on the cleaning mechanism; the control box is used for controlling the climbing movement of the climbing mechanism; the lithium battery box supplies power to the whole device.

As shown in fig. 2, the cleaning mechanism 1 includes: the device comprises a connecting frame 1-1, elbow joint connecting rods 1-2, elbow joint steering engines 1-3, shoulder joint connecting rods 1-4, shoulder joint steering engine mounting seats 1-5, camera modules 1-6, wrist joint connecting rods 1-7, wrist joint steering engines 1-8, passive joints 1-9, cleaning cloth mounting plates 1-10, shoulder joint steering engines 1-11 and rotating bases 1-12; the cleaning cloth mounting plates 1-10 are mounted at the right ends of the passive joints 1-9 through screws, and two passive joints 1-9 are symmetrically mounted at the right sides of the wrist joint connecting rods 1-7 through screws; the camera modules 1-6 are arranged at the upper ends of the wrist joint connecting rods 1-7 through screws, and the wrist joint connecting rods 1-7 are arranged at the right ends of the wrist joint steering engines 1-8 through screws; the connecting frame 1-1 is cross-shaped, the upper end and the lower end of the connecting frame 1-1 are installed at the left end of the wrist joint steering engine 1-8 through screws, the front end and the rear end of the connecting frame 1-1 are installed at the right end of the elbow joint connecting rod 1-2 through screws, and the left end of the elbow joint connecting rod 1-2 is installed at the right end of the elbow joint steering engine 1-3 through screws; the upper end of a shoulder joint connecting rod 1-4 is installed at the left end of an elbow joint steering engine 1-3 through a screw, the lower end of the shoulder joint connecting rod 1-4 is installed at the right end of a shoulder joint steering engine 1-11 through a screw, and the shoulder joint steering engine 1-11 is installed on a shoulder joint steering engine installing seat 1-5 through a screw; the shoulder joint steering engine mounting seats 1-5 are mounted at the upper ends of the rotating bases 1-12 through screws.

As shown in FIG. 3, the passive joints 1-9 of the cleaning mechanism 1 include: 1-9-1 parts of output flange, 1-9-2 parts of passive joint upper cover, 1-9-3 parts of synchronous belt, 1-9-4 parts of synchronous belt wheel, 1-9-5 parts of spring and 1-9-6 parts of passive joint shell; the inner surface of the synchronous pulley 1-9-4 is arranged on a transmission shaft of the passive joint shell 1-9-6, and the outer surface of the synchronous pulley 1-9-4 passes through the passive joint upper cover 1-9-2 and is connected with the output flange 1-9-1; the lower ends of the springs 1-9-5 are arranged on the inner surface of the passive joint shell 1-9-6, the upper ends of the springs 1-9-5 are arranged at the lower ends of the synchronous belts 1-9-3, two springs 1-9-5 are arranged, and the springs 1-9-5 are in a stretching state when being arranged; the synchronous belt 1-9-3 is arranged on the synchronous belt pulley 1-9-4; when the output flange 1-9-1 rotates under the external force of the cleaning cloth mounting plate 1-10, the synchronous belt wheel 1-9-4 is driven to rotate, one end of the synchronous belt 1-9-3 compresses a spring, and the other end of the synchronous belt 1-9-3 stretches the spring; when the external force of the cleaning cloth mounting plate 1-10 on the output flange 1-9-1 is removed, the spring 1-9-5 is restored to the original state, so that the synchronous belt 1-9-3, the synchronous pulley 1-9-4 and the output flange 1-9-1 are restored to the original state.

As shown in fig. 4, the rotating bases 1 to 12 of the cleaning mechanism 1 include: 1-12-1 parts of a bottom joint steering engine, 1-12-2 parts of a steering wheel, 1-12-3 parts of a base, 1-12-4 parts of a crossed roller bearing and 1-12-5 parts of an upper cover of the base; the bottom joint steering engine 1-12-1 is arranged on the lower end face of the base 1-12-3 through a screw; the left end of the steering wheel 1-12-2 is arranged at the right end of the bottom joint steering engine 1-12-1 through a screw, and the right end of the steering wheel 1-12-2 is arranged at the upper base cover 1-12-5 through a screw to drive the upper base cover 1-12-5 to rotate; the outer ring of the crossed roller bearing 1-12-4 is installed on the right side of the base 1-12-3 through a screw, and the inner ring of the crossed roller bearing 1-12-4 is installed on the upper cover 1-12-5 of the base through a screw and rotates together with the upper cover 1-12-5 of the base.

The working process of the cleaning mechanism 1 is as follows: when the climbing rod cleaning robot climbs to a position needing cleaning, the shoulder joint steering engines 1-11 rotate, the swing angles of the shoulder joint connecting rods 1-4 are adjusted, the elbow joint steering engines 1-3 rotate, the swing angles of the elbow joint connecting rods 1-2 are adjusted, the wrist joint steering engines 1-8 rotate, the swing angles of the wrist joint connecting rods 1-7 are adjusted, the bottom joint steering engines 1-12-1 rotate, the cleaning mechanism 1 is adjusted to be close to a rod-shaped building, the rod-shaped building is cleaned through cleaning cloth installed on the cleaning cloth installing plates 1-10, and the cleaning cloth installing plates 1-10 have strong flexibility and can improve the cleaning work efficiency through the passive joints 1-9; when cleaning is finished, the bottom joint steering engine 1-12-1 rotates, the cleaning mechanism 1 is adjusted to be far away from the rod-shaped building, and the rod-climbing cleaning robot is ready to climb to the next position to be cleaned.

As shown in fig. 5, the control box 2 includes: the control box comprises a control box shell 2-1, a lithium battery 2-2, a control mainboard 2-3 and a control box upper cover 2-4; the lithium battery 2-2 is arranged in a clamping groove in the control box shell 2-1 and supplies power to the control mainboard 2-3; the control main board 2-3 is arranged on a cylinder in the control box shell 2-1 through a screw; the control box upper cover 2-4 is installed on the right side end face of the control box shell 2-1 through screws.

As shown in fig. 6, the climbing mechanism 4 includes: frame construction, elevating gear, upper strata cohesion device and lower floor cohesion device. The frame structure plays a role in fixing and supporting, the lifting device, the upper layer of enclasping device and the lower layer of enclasping device are all fixed on the frame structure, the upper layer of enclasping device and the lower layer of enclasping device are all used for realizing enclasping and releasing connection with a rod-shaped building, and the lifting device is used for realizing lifting of the upper layer of enclasping device and the lower layer of enclasping device; climbing mechanism holds the device tightly through upper strata and holds the device tightly with the lower floor, takes whole device to carry out reciprocal climbing from top to bottom along shaft-like building.

The frame structure includes: 4-6 parts of an upper layer bottom plate, 4-21 parts of a lower layer bottom plate, 4-8 parts of a vertical guide rod and 4-7 parts of a vertical guide rod nut; distance sensors are arranged in the upper bottom plate 4-6 and the lower bottom plate 4-21; the upper ends of the vertical guide rods 4-8 are arranged in through holes of the upper-layer bottom plate 4-6, the lower ends of the vertical guide rods 4-8 are arranged in through holes of the lower-layer bottom plate 4-21, and the vertical guide rods 4-8 are fixed on the upper-layer bottom plate 4-6 through vertical guide rod nuts 4-7; four vertical guide rods 4-8 are provided.

The lifting device comprises: 4-9 parts of a lifting motor, 4-10 parts of a lifting motor reducer, 4-11 parts of a lifting motor support, 4-12 parts of a coupler, 4-13 parts of a left bearing, 4-14 parts of a left gear shaft support, 4-15 parts of a gear shaft, 4-16 parts of a right gear shaft support, 4-17 parts of a right bearing and 4-18 parts of a rack; the lifting motor 4-9 and the speed reducer 4-10 are fixed on a lifting motor support 4-11 through screws, and the lifting motor support 4-11 is fixed on an upper layer bottom plate 4-6 through screws; the lower ends of the racks 4-18 are fixed on the lower-layer bottom plate 4-21 through screws, and the upper ends of the racks 4-18 are arranged in clamping grooves of the left-side supports 4-14 of the gear shaft and can slide up and down along the clamping grooves; the left end of the gear shaft 4-15 is arranged on a left support 4-14 of the gear shaft through a left bearing 4-13, the right end of the gear shaft 4-15 is arranged on a right support 4-16 of the gear shaft through a right bearing 4-17, the gear shaft 4-15 is arranged on the output end of the lifting motor 4-9 through a coupler 4-12, and the gear shaft 4-15 is meshed with the rack 4-18 to drive the rack 4-18 to move up and down.

The upper strata cohesion device includes: an upper layer guiding device, an upper layer driving transmission device and an upper layer manipulator 4-1; the upper layer guiding device and the upper layer driving transmission device are arranged on the upper end face of the upper layer bottom plate 4-6 side by side, and two upper layer manipulators 4-1 are symmetrically arranged on the upper layer driving transmission device.

Lower floor holds tightly device includes: a lower layer guide device, a lower layer drive transmission device and lower layer mechanical arms 4-26; the lower layer guide device and the lower layer driving transmission device are arranged on the upper end face of the lower layer bottom plate 4-21 side by side, and two lower layer manipulators 4-26 are symmetrically arranged on the lower layer driving transmission device.

The upper layer guide device comprises: 4-5 parts of an upper layer guide rod and 4-3 parts of an upper layer support; two upper layer supports 4-3 are arranged on the upper end surface of the upper layer bottom plate 4-6 through screws; two upper-layer guide rods 4-5 are arranged, and two ends of each upper-layer guide rod 4-5 are arranged on the upper-layer support 4-3 side by side; the upper layer guide rod 4-5 passes through the tail end of the upper layer manipulator 4-1, and the upper layer manipulator 4-1 slides left and right along the upper layer guide rod 4-5.

The upper drive transmission device comprises: 4-2 parts of an upper-layer screw, 4-4 parts of an upper-layer screw nut, 4-22 parts of an upper-layer coupling, 4-23 parts of an upper-layer screw motor support, 4-24 parts of an upper-layer screw motor reducer and 4-25 parts of an upper-layer screw motor; two ends of the upper lead screw 4-2 are arranged on the upper support 4-3 and are assembled with the upper guide rod 4-5 in parallel; the upper lead screw motor speed reducer 4-24 and the upper lead screw motor 4-25 are arranged on the upper lead screw motor support 4-23 through screws, and the upper lead screw motor support 4-23 is arranged on the upper end face of the upper bottom plate 4-6 through screws; the output end of the upper screw motor reducer 4-24 is connected with an upper screw 4-2 through an upper coupling 4-22; the upper lead screw nut 4-4 is arranged on the upper lead screw 4-2 and is fixedly connected with the tail end of the upper manipulator 4-1 through a screw, and the upper manipulator 4-1 is driven to move left and right along the upper lead screw 4-2 along with the rotation of the upper lead screw 4-2.

The lower layer guiding device comprises: 4-19 of a lower guide rod and 4-28 of a lower support; two lower-layer supports 4-28 are arranged on the upper end surface of the lower-layer bottom plate 4-21 through screws; two lower guide rods 4-19 are provided, and two ends of the lower guide rods 4-19 are arranged on the lower support 4-28 side by side; the lower guide bar 4-19 passes through the tail end of the lower manipulator 4-26, and the lower manipulator 4-26 slides left and right along the lower guide bar 4-19.

The lower layer driving transmission device comprises: 4-20 parts of a lower-layer lead screw, 4-27 parts of a lower-layer lead screw nut, 4-29 parts of a lower-layer coupling, 4-30 parts of a lower-layer lead screw motor support, 4-31 parts of a lower-layer lead screw motor reducer and 4-32 parts of a lower-layer lead screw motor; two ends of a lower lead screw 4-20 are arranged on a lower support 4-28 and are assembled with a lower guide rod 4-19 in parallel; the lower-layer lead screw motor speed reducer 4-31 and the lower-layer lead screw motor 4-32 are arranged on a lower-layer lead screw motor support 4-30 through screws, and the lower-layer lead screw motor support 4-30 is arranged on the upper end face of a lower-layer bottom plate 4-21 through screws; the output ends of the lower-layer lead screw motor reducers 4 to 31 are connected with lower-layer lead screws 4 to 20 through lower-layer couplers 4 to 29; the lower-layer screw nut 4-27 is arranged on the lower-layer screw 4-20 and is fixedly connected with the tail end of the lower-layer manipulator 4-26 through a screw, and the lower-layer manipulator 4-26 is driven to move left and right along the lower-layer screw 4-20 along with the rotation of the lower-layer screw 4-20.

Two ends of the upper layer lead screw 4-2 and the lower layer lead screw 4-20 are reverse threads, and the two upper layer mechanical arms and the two lower layer mechanical arms are respectively driven to move inwards to clasp the rod-shaped building and move outwards to loosen the rod-shaped building.

As shown in fig. 7, the upper robot 4-1 includes: 4-1-1 part of rubber patch, 4-1-2 parts of pressure sensor and 4-1-3 parts of V-shaped handle; the right side surface of the pressure sensor 4-1-2 is attached to the left side surface of the V-shaped handle 4-1-3, the right side surface of the rubber patch 4-1-1 is attached to the left side surface of the pressure sensor 4-1-2, and the rubber patch 4-1-1 plays a role in skid resistance, so that the upper manipulator 4-1 can grasp the rod-shaped building.

As shown in fig. 8, the utility model discloses a climbing rod cleaning robot upwards climbs along shaft-like building:

a) as shown in fig. 8 (a), the pole-climbing cleaning robot is placed on the ground, the upper manipulator 4-1 and the lower manipulator 4-26 embrace around the rod-shaped building in a released state, and all motors are in a stopped state.

b) As shown in fig. 8 (b), the pole-climbing cleaning robot is started, an upward climbing mode is selected, the distance between the upper bottom plate 4-6 and the lower bottom plate 4-21 is collected in real time by using the distance sensors arranged inside the upper bottom plate 4-6 and the lower bottom plate 4-21, the pressure between the upper manipulator 4-1 and the lower manipulator 4-26 is collected in real time by using the pressure sensors of the upper manipulator 4-1 and the lower manipulator 4-26, and after signal conditioning and digital-to-analog conversion, information is transmitted to the control main board 2-3 through a data line for data operation, a motion signal is sent, the upper lead screw motor 4-25 is controlled to rotate forwards, and the upper manipulator 4-1 is clamped.

c) As shown in fig. 8 (c), when the upper manipulator 4-1 is clamped to the limit, information is transmitted to the control main board 2-3 through a data line, data operation is performed, a motion signal is sent, the upper lead screw motor 4-25 is controlled to stop, and the lifting motor 4-9 is controlled to lift the lower bottom board 4-21.

d) As shown in fig. 8 (d), when the lower bottom plate 4-21 is lifted to the limit, the information is transmitted to the control main board 2-3 through the data line, data operation is performed, a motion signal is sent, the lifting motor 4-9 is controlled to stop, the lower lead screw motor 4-32 is controlled to rotate forward, and the lower manipulator 4-26 is clamped.

e) As shown in fig. 8 (e), when the lower layer manipulator 4-26 is clamped to the limit, the information is transmitted to the control main board 2-3 through the data line, data operation is carried out, a motion signal is sent, the lower layer lead screw motor 4-32 is controlled to stop, the upper layer lead screw motor 4-25 is controlled to rotate reversely, and the upper layer manipulator 4-1 is loosened.

f) As shown in fig. 8 (f), when the upper manipulator 4-1 loosens the rod-shaped building, information is transmitted to the control main board 2-3 through the data line, data operation is performed, a motion signal is sent, the upper lead screw motor 4-25 is controlled to stop, and the lifting motor 4-9 is controlled to lift the upper bottom board 4-6.

If the climbing is continued, repeating the process; and if the climbing robot does not climb upwards any more, the climbing rod cleaning robot stops moving.

As shown in fig. 9, the utility model discloses a climbing rod cleaning robot climbs along shaft-like building downwards:

a) as shown in fig. 9 (a), the pole-climbing washing robot is placed at the upper end of the rod-shaped building, and the upper robot 4-1 and the lower robot 4-26 grip the rod-shaped building.

b) As shown in fig. 9 (b), a downward climbing mode is selected, the distance between the upper floor 4-6 and the lower floor 4-21 is acquired in real time by using the distance sensors installed inside the upper floor 4-6 and the lower floor 4-21, the pressure of the upper manipulator 4-1 and the lower manipulator 4-26 is acquired in real time by using the pressure sensors of the upper manipulator 4-1 and the lower manipulator 4-26, and after signal conditioning and digital-analog conversion, information is transmitted to the control main board 2-3 through a data line to perform data operation, a motion signal is sent, the upper lead screw motor 4-25 is controlled to reverse, and the upper manipulator 4-1 is released.

c) As shown in fig. 9 (c), when the upper manipulator 4-1 loosens the rod-shaped building, the information is transmitted to the control main board 2-3 through the data line, data operation is performed, a motion signal is sent, the upper lead screw motor 4-25 is controlled to stop, and the lifting motor 4-9 is controlled to lower the upper bottom board 4-6.

d) As shown in fig. 9 (d), when the upper layer bottom plate 4-6 descends to the limit, the information is transmitted to the control main board 2-3 through the data line, data operation is performed, a motion signal is sent, the lifting motor 4-9 is controlled to stop, the upper layer lead screw motor 4-25 is controlled to rotate forwards, and the upper layer manipulator 4-1 is clamped.

e) As shown in fig. 9 (e), when the upper layer manipulator 4-1 is clamped to the limit, the information is transmitted to the control main board 2-3 through the data line, data operation is performed, a motion signal is sent, the upper layer lead screw motor 4-25 is controlled to stop, the lower layer lead screw motor 4-32 is controlled to reverse, and the lower layer manipulator 4-26 is loosened.

f) As shown in fig. 9 (f), when the lower manipulator 4-26 loosens the rod-shaped building, the information is transmitted to the control main board 2-3 through the data line, data operation is performed, a motion signal is sent, the lower lead screw motor 4-32 is controlled to stop, and the lifting motor 4-9 is controlled to lower the lower bottom board 4-21.

g) As shown in fig. 9 (g), when the lower bottom plate 4-21 descends to the limit, the information is transmitted to the control main board 2-3 through the data line, data operation is carried out, a motion signal is sent, the lifting motor 4-9 is controlled to stop, the lower lead screw motor 4-32 is controlled to rotate forwards, and the lower manipulator 4-26 is clamped.

If the climbing is continued, repeating the process; and if the climbing rod cleaning robot does not climb downwards any more, the climbing rod cleaning robot stops moving.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (10)

1. A pole-climbing cleaning robot, comprising: the device comprises a climbing mechanism, a supporting plate fixed on the climbing mechanism, and a cleaning mechanism, a control box and a lithium battery box which are arranged on the supporting plate;

the climbing mechanism comprises a frame structure, a lifting device, an upper layer of enclasping device and a lower layer of enclasping device, the frame structure plays a role in fixing and supporting, the lifting device, the upper layer of enclasping device and the lower layer of enclasping device are all fixed on the frame structure, the upper layer of enclasping device and the lower layer of enclasping device are all used for realizing enclasping and release connection with a rod-shaped building, and the lifting device is used for realizing lifting of the upper layer of enclasping device and the lower layer of enclasping device;

the climbing mechanism drives the whole device to climb up and down along the rod-shaped building in a reciprocating manner through the upper layer of holding device and the lower layer of holding device, and the rod-shaped building is cleaned through cleaning cloth arranged on the cleaning mechanism;

the control box is used for controlling the climbing movement of the climbing mechanism; the lithium battery box supplies power to the whole device.

2. The climbing rod cleaning robot according to claim 1, wherein the cleaning mechanism comprises a connecting frame, an elbow joint connecting rod, an elbow joint steering engine, a shoulder joint connecting rod, a shoulder joint steering engine mounting seat, a camera module, a wrist joint connecting rod, a wrist joint steering engine, a driven joint, a cleaning cloth mounting plate provided with cleaning cloth, a shoulder joint steering engine and a rotating base;

the two passive joints are symmetrically arranged on the right side of the wrist joint connecting rod through screws, and the cleaning cloth mounting plate is arranged at the right ends of the two passive joints through screws; the camera module is arranged at the upper end of the wrist joint connecting rod through a screw, and the wrist joint connecting rod is arranged at the right end of the wrist joint steering engine through a screw;

the connecting frame is cross-shaped, the upper end and the lower end of the connecting frame are arranged at the left end of the wrist joint steering engine through screws, and the front end and the rear end of the connecting frame are arranged at the right end of the elbow joint connecting rod through screws; the left end of the elbow joint connecting rod is arranged at the right end of the elbow joint steering engine through a screw; the upper end of the shoulder joint connecting rod is arranged at the left end of the elbow joint steering engine through a screw, the lower end of the shoulder joint connecting rod is arranged at the right end of the shoulder joint steering engine through a screw, and the shoulder joint steering engine is arranged on a shoulder joint steering engine mounting seat through a screw; the shoulder joint steering engine mounting seat is installed at the upper end of the rotating base through screws.

3. The pole-climbing cleaning robot as claimed in claim 2, wherein the passive joint comprises an output flange, a passive joint upper cover, a synchronous belt, a synchronous pulley, a spring and a passive joint housing;

a transmission shaft is arranged on one side in the driven joint shell, the inner surface of the synchronous belt wheel is arranged on the transmission shaft, and the outer surface of the synchronous belt wheel penetrates through the driven joint upper cover to be connected with an output flange; the two springs are in a stretching state during installation, the upper ends of the two springs are respectively installed at the lower ends of the two sides of the synchronous belt, and the lower ends of the two springs are both installed on the inner surface of the passive joint shell; the synchronous belt is arranged on the synchronous belt wheel;

when the output flange rotates under the external force of the cleaning cloth mounting plate, the output flange drives the synchronous belt wheel to rotate, one end of the synchronous belt compresses one spring, and the other end of the synchronous belt stretches the other spring; when the external force of the cleaning cloth mounting plate received by the output flange is removed, the spring is restored to the original state, so that the synchronous belt, the synchronous belt wheel and the output flange are restored to the original state.

4. The climbing rod cleaning robot according to claim 2, wherein the rotating base comprises a bottom joint steering engine, a steering wheel, a base, a crossed roller bearing and a base upper cover;

the bottom joint steering engine is arranged on the lower end face of the base through a screw; the left end of the steering wheel is arranged at the right end of the bottom joint steering engine through a screw, and the right end of the steering wheel is arranged on the upper base cover through a screw to drive the upper base cover to rotate; the outer ring of the crossed roller bearing is arranged on the right side of the base through a screw, and the inner ring of the crossed roller bearing is arranged on the upper cover of the base through a screw and rotates along with the upper cover of the base; the upper end of the base upper cover is fixedly connected with the shoulder joint steering engine mounting seat.

5. The pole-climbing cleaning robot as claimed in claim 1, wherein the control box comprises a control box housing, a lithium battery, a control main board and a control box upper cover; the lithium battery is arranged in a clamping groove in the shell of the control box and supplies power to the control main board; the control main board is arranged on a cylinder in the control box shell through a screw; the control box upper cover is installed on the right side end face of the control box shell through screws.

6. The pole-climbing cleaning robot as claimed in claim 1, wherein the frame structure includes an upper floor, a lower floor, four vertical guide rods and vertical guide rod nuts;

upper floor and lower floor internally mounted distance sensor, through-hole I has been seted up in the four corners of upper floor, and through-hole II has been seted up in the four corners of lower floor's bottom plate, and four through-holes I are packed into respectively to the upper end of four vertical guide bars, and four through-holes II are packed into respectively to the lower extreme, and every vertical guide bar all fixes on upper floor through vertical guide bar nut.

7. The climbing rod cleaning robot according to claim 1, wherein the lifting device comprises a lifting motor, a lifting motor reducer connected with the lifting motor, a lifting motor support, a coupler, a left bearing, a gear shaft left support, a gear shaft right support, a right bearing and a rack;

the lifting motor and the lifting motor reducer are fixed on a lifting motor support through screws, and the lifting motor support is fixed on the upper-layer bottom plate through screws; the lower end of the rack is fixed on the lower bottom plate through a screw, and the upper end of the rack is arranged in a clamping groove of a support at the left side of the gear shaft and can slide up and down along the clamping groove; the left end of gear shaft is installed at gear shaft left side support through left side bearing, and the right-hand member is installed at gear shaft right side support through right side bearing, and the gear shaft passes through the shaft coupling to be installed at elevator motor's output, and gear shaft and rack toothing drive the rack and reciprocate, realize that the device is held tightly to upper strata and the lift of lower floor holding device.

8. The pole-climbing cleaning robot as claimed in claim 1, wherein the upper layer clasping device comprises an upper layer guiding device, an upper layer driving transmission device and an upper layer manipulator; the upper layer guide device and the upper layer driving transmission device are arranged on the upper end face of the upper layer bottom plate side by side, and two upper layer mechanical arms are symmetrically arranged on the upper layer driving transmission device;

the upper layer guide device comprises two upper layer guide rods arranged side by side at intervals and two upper layer supports; the two upper layer supports are respectively arranged on two sides of the upper end surface of the upper layer bottom plate through screws; two ends of each upper layer guide rod are respectively arranged on the two upper layer supports; the two upper-layer guide rods penetrate through the tail ends of the two upper-layer manipulators, and the upper-layer manipulators slide left and right along the upper-layer guide rods;

the upper layer driving transmission device comprises an upper layer screw rod, an upper layer screw rod nut, an upper layer coupler, an upper layer screw rod motor support, an upper layer screw rod motor reducer and an upper layer screw rod motor; two ends of the upper-layer lead screw are respectively arranged on the two upper-layer supports and are assembled with the upper-layer guide rod in parallel; the upper lead screw motor speed reducer and the upper lead screw motor are arranged on an upper lead screw motor support through screws, and the upper lead screw motor support is arranged on the upper end face of the upper bottom plate through screws; the output end of the upper screw motor reducer is connected with an upper screw through an upper coupling; the two upper-layer screw nuts are arranged on the upper-layer screw and are respectively fixedly connected with the tail ends of the two upper-layer mechanical arms through screws, and the upper-layer mechanical arms are driven to move left and right along the upper-layer screw along with the rotation of the upper-layer screw;

two ends of the upper layer screw rod are provided with reverse threads, and the two upper layer mechanical arms are driven to move inwards to clasp the rod-shaped building and move outwards to loosen the rod-shaped building.

9. The pole-climbing cleaning robot as claimed in claim 8, wherein the lower layer holding device includes a lower layer guiding device, a lower layer driving transmission device and a lower layer manipulator; the lower layer guide device and the lower layer driving transmission device are arranged on the upper end face of the lower layer bottom plate side by side, and two lower layer manipulators are symmetrically arranged on the lower layer driving transmission device;

the lower layer guide device comprises two lower layer guide rods arranged side by side at intervals and two lower layer supports; the two lower-layer supports are respectively arranged on two sides of the upper end surface of the lower-layer bottom plate through screws; two ends of each lower layer guide rod are respectively arranged on the two lower layer supports; the two lower-layer guide rods penetrate through the tail ends of the two lower-layer manipulators, and the lower-layer manipulators slide left and right along the lower-layer guide rods;

the lower-layer driving transmission device comprises a lower-layer lead screw, a lower-layer lead screw nut, a lower-layer coupler, a lower-layer lead screw motor support, a lower-layer lead screw motor reducer and a lower-layer lead screw motor; two ends of the lower-layer lead screw are respectively arranged on the two lower-layer supports and are assembled with the lower-layer guide rod in parallel; the lower-layer lead screw motor reducer and the lower-layer lead screw motor are arranged on a lower-layer lead screw motor support through screws, and the lower-layer lead screw motor support is arranged on the upper end face of the lower-layer bottom plate through screws; the output end of the lower-layer screw motor reducer is connected with a lower-layer screw through a lower-layer coupler; the two lower-layer screw nuts are arranged on the lower-layer screw and are respectively and fixedly connected with the tail ends of the two lower-layer manipulators through screws, and the lower-layer manipulators are driven to move left and right along the lower-layer screw along with the rotation of the lower-layer screw;

two ends of the lower layer screw rod are provided with reverse threads, and the two lower layer mechanical arms are driven to move inwards to clasp the rod-shaped building and move outwards to loosen the rod-shaped building.

10. The pole-climbing washing robot as claimed in claim 9, wherein the lower manipulator and the upper manipulator are identical in structure;

the upper manipulator includes: the device comprises a rubber patch, a pressure sensor and a V-shaped gripper; the right side surface of the pressure sensor is attached to the left side surface of the V-shaped grip, and the right side surface of the rubber patch is attached to the left side surface of the pressure sensor; the pressure sensor is electrically connected with the control box and transmits the collected pressure to the control box for processing.

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