An integrated robot for detecting, cleaning and painting

Abstract

The present invention discloses an integrated robot for detecting, cleaning and painting, comprising: a rotating device for generating a rotating driving force, and the rotating device can also switch the rotating driving force to an automatic control mode or a manual control mode; a tripod support frame, mounted on the rotating device; a lifting rod, the top of which is connected to the rotating device, the bottom of which is connected to one end of a telescopic frame, and the other end of which is connected to a leg support platform; wherein the rotating device can drive the lifting rod to rotate in a horizontal plane, adjust the steering of the leg support platform in the horizontal plane, the lifting rod can telescope up and down to adjust the height position of the telescopic frame and the leg support platform, and the telescopic frame can telescope horizontally to adjust the horizontal position of the leg support platform; the leg support platform is used to automatically clean the wall surface. The present invention can realize semi-automatic mechanical cleaning operations, and has the advantages of simple and convenient operation, high safety, and high operating efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning and painting devices, and particularly to an integrated robot for detection, cleaning and painting. Background Art

[0002] For the pumping station cleaning business in domestic sewage treatment plants, it is still mainly carried out by operators carrying cleaning equipment down into the well. However, there are toxic gases and substances such as hydrogen sulfide, methane, and cyanide in the pumping station. These neurotoxins can directly act on the brain nerve center through human organs, causing symptoms such as respiratory paralysis, motor disorders, and coma, all of which can lead to death. The acid-base substances in the pumping station can also corrode the eyes and skin. Therefore, accidents where cleaning personnel are killed or injured often occur. And before manual cleaning, it is necessary to conduct long-term ventilation and arrange protective devices and supplies, which consumes a large amount of operation time, and the protective supplies are expensive. Summary of the Invention

[0003] Based on this, it is necessary to provide an integrated robot for detection, cleaning and painting in view of the above technical problems.

[0004] An integrated robot for detection, cleaning and painting, comprising:

[0005] A rotating device for generating a rotational driving force, and the rotating device can also switch the rotational driving force to an automatic control mode or a manual control mode;

[0006] A three-legged support frame installed on the rotating device;

[0007] A lifting rod, the top of the lifting rod is connected to the rotating device, the bottom of the lifting rod is connected to one end of a telescopic frame, and the other end of the telescopic frame is connected to a leg cloud platform;

[0008] Wherein, the rotating device can drive the lifting rod to rotate in the horizontal plane, adjust the turning of the leg cloud platform in the horizontal plane, the lifting rod can be telescoped up and down to adjust the height position of the telescopic frame and the leg cloud platform, and the telescopic frame can be horizontally telescoped to adjust the horizontal position of the leg cloud platform; the leg cloud platform is used for automatically cleaning the wall surface.

[0009] In one embodiment, the rotating device includes a cross brace plate, and the cross brace plate is provided with:

[0010] An electric drive structure for generating an electric rotational force;

[0011] A manual drive structure for generating a manual rotational force;

[0012] A worm gear box for converting the rotation in the horizontal direction into the rotation in the vertical direction;

[0013] The shift gear box is used to switch the electric transmission structure or the manual transmission structure to be connected with the worm gear box.

[0014] In one embodiment, the worm gearbox comprises:

[0015] A worm gear box seat is fixed on the cross brace plate;

[0016] A spur gear, with both ends respectively mounted in the worm gearbox seat via a first bearing and a second bearing;

[0017] A worm shaft, both ends of which are respectively mounted in the worm gearbox seat via a third bearing and a fourth bearing, wherein one end of the worm shaft extends into the shift gearbox and is connected to the double gear, and the worm shaft meshes with the spur gear;

[0018] The worm gear box cover is fixed on the worm gear box seat.

[0019] In one embodiment, the electric transmission structure includes:

[0020] An electric motor is fixed on the cross brace plate, and a small pulley is installed on the rotating shaft of the electric motor;

[0021] An electric transmission shaft, one end of which is connected to the large pulley, and the other end of which extends into the shift gear box and is connected to the electric transmission gear;

[0022] The transmission belt is wound around the large pulley and the small pulley.

[0023] In one embodiment, the manual transmission structure includes:

[0024] A bearing seat fixed on the cross brace plate;

[0025] A hand-cranked transmission shaft is installed in the bearing seat via an eleventh bearing, one end of the hand-cranked transmission shaft extends into the shift gear box and is connected to the hand-cranked transmission gear, and the other end of the hand-cranked transmission shaft is connected to the hand wheel;

[0026] A bearing cover is fixed on the bearing seat.

[0027] In one embodiment, the shift gear box comprises:

[0028] A shift gear box seat, fixed on the cross brace plate;

[0029] A sliding gear is slidably arranged on the shaft, and two ends of the shaft are respectively mounted on the shift gear box seat via a fifth bearing and a sixth bearing;

[0030] The seventh bearing and the eighth bearing, the electric drive shaft and the hand crank drive shaft are respectively connected in the shift gearbox seat through the seventh bearing and the eighth bearing;

[0031] The ninth bearing and the tenth bearing are arranged at both ends of the double gear, and the worm shaft is connected to the shift gearbox seat through the ninth bearing and the tenth bearing;

[0032] The shift gearbox cover is fixedly covered on the shift gearbox seat;

[0033] The shift handle is slidably installed in the track at the top of the shift gearbox cover. The bottom of the shift handle penetrates through the middle part of the sliding gear, and the shift handle can drive the sliding gear to move on the shaft;

[0034] When the shift handle is pushed forward, the sliding gear meshes with the double gear and the electric drive gear respectively, and transmits the rotational driving force of the motor to the first worm; when the shift handle is pushed backward, the sliding gear meshes with the double gear and the hand crank drive gear respectively, and transmits the rotational driving force of the handwheel to the first worm. The first worm meshes with the spur gear to convert the rotation in the horizontal direction into the rotation in the vertical direction.

[0035] In one embodiment, the three-legged support frame includes:

[0036] The triangular center plate is fixed to the bottom of the cross brace plate;

[0037] Three legs arranged at intervals are rotatably installed in the side grooves of the triangular center plate, and a support foot is provided at the bottom of each leg;

[0038] Three fixing rings are respectively screwed and installed at the ends of the corresponding legs,

[0039] The strap passes through the three fixing rings in sequence and is locked.

[0040] In one embodiment, the lifting rod includes:

[0041] The coupling is connected to the lower end shaft of the spur gear;

[0042] The lifting rod includes a first sleeve, a second sleeve, a third sleeve, a fourth sleeve and a fifth sleeve which are nested in sequence and can slide relative to each other telescopically. The top of the first sleeve is installed below the coupling. The bottom of the fifth sleeve is connected with a U-shaped connecting frame, and a first pulley is installed at the end of each sleeve;

[0043] The hand crank control box is installed on the first sleeve. The steel wire rope in the hand crank control box passes through each first pulley in sequence, and the hand crank control box can release or retract the steel wire rope to make the lifting rod rise and fall;

[0044] The pulley seat is installed at the tail end of the second-stage sleeve through the second hoop and the third hoop, and a second pulley is installed inside the pulley seat;

[0045] The cable winding motor is installed on the first-stage sleeve through two identical first hoops; the cable of the cable winding motor passes through the second pulley and is connected to the telescopic frame.

[0046] In one embodiment, the telescopic frame includes a telescopic frame body, and the telescopic frame body includes:

[0047] A plurality of intermediate long rods, and the end of each intermediate long rod is rotatably connected to the ends of two outer long rods;

[0048] The intermediate short rod is arranged at the two side ends of the telescopic frame body, and the intermediate short rod is rotatably connected to the outer short rod;

[0049] The collar is installed on the side wall of the outer long rod, and the collar is used for bundling pipelines or lines;

[0050] The bolts are arranged on the corresponding two outer long rods, and the telescopic frame body is fixed on the U-shaped connecting frame through the bolts;

[0051] The machined channel aluminum and the machined angle aluminum are respectively installed at the ends of adjacent outer long rods. An internally threaded shaft member is installed inside the machined channel aluminum, and a motor mounting frame is installed on the outside of the machined angle aluminum, and a stepping motor is installed inside the motor mounting frame;

[0052] The second worm is connected to the rotating shaft of the stepping motor, and the second worm is arranged in the internally threaded shaft member;

[0053] The protective sleeve is connected inside the machined angle aluminum, and the protective sleeve covers the second worm.

[0054] In one embodiment, the support leg pan-tilt includes:

[0055] The center plate is fixed at one end of the telescopic frame body away from the stepping motor;

[0056] The support leg is rotatably installed in the side groove of the center plate;

[0057] The spring, one end of the spring is sleeved on the protruding cylinder of the support leg, and the other end of the spring is sleeved on the protruding cylinder of the extension arm of the center plate;

[0058] The pan-tilt plate is fixed on the center plate, and a camera mounting plate is installed on the pan-tilt plate;

[0059] The camera is installed on the camera mounting plate through the fourth hoop;

[0060] The mounting plate is installed on the pan-tilt plate, and the nozzle is installed on the mounting plate via the fifth hoop.

[0061] The universal wheel is installed at the end of the support leg, and the universal wheel can support and slide on the wall surface of the pumping station.

[0062] The brush is installed on the side of the end of the support leg, and the brush can clean the wall surface of the pumping station.

[0063] For the above-mentioned integrated detection, cleaning and painting robot, the three-legged support frame is supported on the wellhead, and then the underground part is put into the wellhead. The position of the support leg pan-tilt is adjusted by the steering of the rotating device, the up and down movement of the lifting rod, and the horizontal expansion and contraction of the telescopic frame. Finally, the wall surface can be automatically cleaned through the support leg pan-tilt. It can realize semi-automatic mechanical cleaning operation, with the advantages of simple and convenient operation, high safety, and high operation efficiency. Brief Description of the Drawings

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0065] Figure 1 is a schematic structural diagram of the integrated detection, cleaning and painting robot of the present invention;

[0066] Figure 2 is a schematic structural diagram of the rotating device of the present invention;

[0067] Figure 3 is a schematic structural diagram of the shift gearbox of the present invention;

[0068] Figure 4 is a schematic structural diagram of the worm gearbox of the present invention;

[0069] Figure 5 is a schematic structural diagram of the motor drive structure of the present invention;

[0070] Figure 6 is a schematic structural diagram of the manual drive structure of the present invention;

[0071] Figure 7 is a schematic structural diagram of the three-legged support frame of the present invention;

[0072] Figure 8 is a schematic structural diagram of the lifting rod of the present invention;

[0073] Figure 9 is a schematic structural diagram of the telescopic frame of the present invention;

[0074] Figure 10 It is a schematic structural diagram of the supporting leg cloud platform of the present invention. Specific embodiments

[0075] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0076] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be a central element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a central element at the same time.

[0077] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0078] Refer to Figures 1-10 As shown, an embodiment of the present invention provides a detection, cleaning and painting integrated robot, including:

[0079] A rotating device 1 for generating a rotating driving force, and the rotating device 1 can also switch the rotating driving force to an automatic control mode or a manual control mode;

[0080] A three-legged support frame 2 is installed on the rotating device 1;

[0081] A lifting rod 3, the top of the lifting rod 3 is connected to the rotating device 1, the bottom of the lifting rod 3 is connected to one end of a telescopic frame 4, and the other end of the telescopic frame 4 is connected to a supporting leg cloud platform 5;

[0082] Wherein, the rotating device 1 can drive the lifting rod 3 to rotate in a horizontal plane to adjust the turning of the supporting leg cloud platform 5 in the horizontal plane, the lifting rod 3 can be telescoped up and down to adjust the height position of the telescopic frame 4 and the supporting leg cloud platform 5, and the telescopic frame 4 can be horizontally telescoped to adjust the horizontal position of the supporting leg cloud platform 5; the supporting leg cloud platform 5 is used for automatically cleaning the wall surface.

[0083] The above-mentioned integrated detection, cleaning and painting robot is constructed by supporting the tripod support frame 2 on the wellhead, and then lowering the underground part from the wellhead. The leg platform 5 is adjusted to a suitable position by utilizing the steering of the rotating device 1, the up and down lifting of the lifting rod 3, and the horizontal extension and retraction of the telescopic frame 4. Finally, the wall surface can be automatically cleaned by the leg platform 5. It can realize semi-automatic mechanical cleaning operations and has the advantages of simple and convenient operation, high safety, and high operating efficiency.

[0084] In one embodiment of the present invention, the rotating device 1 comprises a cross brace 15, and the cross brace 15 is provided with:

[0085] The electric transmission structure 13 is used to generate electric rotation force;

[0086] A manual transmission structure 14, used to generate manual rotation force;

[0087] A worm gear box 12, used to convert horizontal rotation into vertical rotation;

[0088] The shift gear box 11 is used to switch the electric transmission structure 13 or the manual transmission structure 14 to be connected with the worm gear box 12 .

[0089] Specifically, in one embodiment of the present invention, the worm gearbox 12 includes:

[0090] A worm gear box seat 128 is fixed on the cross brace plate 15;

[0091] The spur gear 127 has two ends mounted in the worm gear box seat 128 via a first bearing 125 and a second bearing 126 respectively;

[0092] The worm shaft 122 has two ends respectively mounted in the worm gear box seat 128 via a third bearing 123 and a fourth bearing 124, wherein one end of the worm shaft 122 extends into the shift gear box 11 and is connected to the double gear 129, and the worm shaft 122 is meshed with the spur gear 127;

[0093] The worm gear box cover 121 is fixed on the worm gear box seat 128 .

[0094] In this embodiment, the worm shaft 122 is distributed in the horizontal direction, and the spur gear 127 is distributed in the vertical direction. When the worm shaft 122 rotates, it can drive the spur gear 127 to rotate, so that the driving force in the horizontal direction can be transmitted to the vertical direction.

[0095] In one embodiment of the present invention, the electric transmission structure 13 includes:

[0096] The electric motor 131 is fixed on the cross brace plate 15, and a small pulley 132 is installed on the rotating shaft of the electric motor 131;

[0097] The electric transmission shaft 136 has one end connected to the large pulley 134, and the other end of the electric transmission shaft 136 extends into the shift gearbox 11 and is connected to the electric transmission gear 135;

[0098] The transmission belt 133 is wound around the large pulley 134 and the small pulley 132.

[0099] In this embodiment, the rotation of the electric motor 131 can drive the rotation of the small pulley 132, and then, through the transmission belt 133 and the large pulley 134, the power of the electric motor 131 can be transmitted to the electric transmission shaft 136 and the electric transmission gear 135, so that the automatically controlled rotational force can be transmitted into the shift gearbox 11.

[0100] In an embodiment of the present invention, the manual transmission structure 14 includes:

[0101] The bearing seat 145 is fixed on the cross brace plate 15;

[0102] The hand-cranked transmission shaft 142 is installed in the bearing seat 145 through the eleventh bearing 144. One end of the hand-cranked transmission shaft 142 extends into the shift gearbox 11 and is connected to the hand-cranked transmission gear 141, and the other end of the hand-cranked transmission shaft 142 is connected to the hand wheel 146;

[0103] The bearing cover 143 is fixedly covered on the bearing seat 145.

[0104] In this embodiment, when the hand wheel 146 is manually rotated, it can drive the rotation of the hand-cranked transmission gear 141 and the hand-cranked transmission shaft 142, so that the manually controlled rotational force can be transmitted into the shift gearbox 11.

[0105] In an embodiment of the present invention, the shift gearbox 11 includes:

[0106] The shift gearbox seat 1111 is fixed on the cross brace plate 15;

[0107] The sliding gear 119 is slidably sleeved on the shaft 1110, and both ends of the shaft 1110 are respectively installed on the shift gearbox seat 1111 through the fifth bearing 114 and the sixth bearing 117;

[0108] The seventh bearing 116 and the eighth bearing 113 are arranged on both sides of the electric transmission gear 135. The electric transmission shaft 136 and the hand-cranked transmission shaft 142 are respectively connected in the shift gearbox seat through the seventh bearing 116 and the eighth bearing 113;

[0109] The ninth bearing 118 and the tenth bearing 115 are arranged at both ends of the double gear 129, and the worm shaft 122 is connected to the shift gearbox seat 1111 through the ninth bearing 118 and the tenth bearing 115;

[0110] The shift gearbox cover 112 is fixedly covered on the shift gearbox seat 1111;

[0111] The shift lever 111 is slidably installed in the track at the top of the shift gearbox cover 112. The bottom of the shift lever 111 penetrates through the middle part of the sliding gear 119, and the shift lever 111 can drive the sliding gear 119 to move on the shaft 1110;

[0112] When the shift lever 111 is pushed forward, the sliding gear 119 meshes with the double gear 129 and the electric transmission gear 135 respectively, and transmits the rotational force of the motor 131 to the first worm 122; thus, the first worm 122 can be driven to rotate. The first worm 122 meshes with the spur gear 127, and can convert the rotation in the horizontal direction into the rotation in the vertical direction, and realize the automatic control mode.

[0113] When the shift lever 111 is pushed backward, the sliding gear 119 meshes with the double gear 129 and the hand crank transmission gear 141 respectively, and transmits the rotational driving force of the hand wheel 146 to the first worm 122. Thus, the first worm 122 can be driven to rotate. The first worm 122 meshes with the spur gear 127, and can convert the rotation in the horizontal direction into the rotation in the vertical direction, and realize the manual control mode.

[0114] In an embodiment of the present invention, the three-legged support frame 2 includes:

[0115] The triangular center plate 21 is fixed to the bottom of the cross brace plate 15;

[0116] Three legs 22 arranged at intervals are rotatably installed in the side grooves of the triangular center plate 21, and a support foot 24 is provided at the bottom of each leg 22;

[0117] Three fixing rings 23 are respectively screwed and installed at the ends of the corresponding legs 22;

[0118] The strap 25 passes through the three fixing rings 23 in sequence and is locked.

[0119] In this embodiment, by providing three rotatable legs 22, thus, it is convenient to select the fixed position of the triangular center plate 21. And after adjusting to the appropriate position, it can be locked by passing the strap 25 through the three fixing rings 23 in sequence. Its fixation is simple and convenient, and the safety is high.

[0120] In an embodiment of the present invention, the lifting rod 3 includes:

[0121] The coupling 31 is connected to the lower end shaft of the spur gear 127;

[0122] The lifting rod includes a first sleeve 32, a second sleeve 310, a third sleeve 312, a fourth sleeve 313, and a fifth sleeve 314 that are nested in sequence and can slide relative to each other telescopically. The top of the first sleeve 32 is installed below the coupling 31. The bottom of the fifth sleeve 314 is connected with a U-shaped connecting frame 315. A first pulley 39 is installed at the end of each sleeve;

[0123] The hand-crank control box 33 is installed on the first sleeve 32. The steel wire rope in the hand-crank control box 33 passes through each first pulley 39 in sequence. The hand-crank control box 33 can release or retract the steel wire rope to raise and lower the lifting rod; specifically, by releasing or retracting the steel wire rope through the hand-crank control box 33, each sleeve rises and falls, so as to realize the overall rise and fall of the lifting rod.

[0124] The pulley seat 36 is installed at the end of the second sleeve 310 through the second hoop 311 and the third hoop 37. A second pulley 35 is installed in the pulley seat 36;

[0125] The cable winding motor 34 is installed on the first sleeve 32 through two identical first hoops 38; the rope of the cable winding motor 34 passes through the second pulley 35 and then is connected to the telescopic frame 4.

[0126] In this embodiment, when the telescopic frame 4 extends, the cable winding motor 34 releases the rope. When the telescopic frame 4 shortens, the cable winding motor 34 retracts the rope, so that the rope is in a taut state. Through this device, the weight at the front end of the telescopic frame 4 is shared, and the overall strength of the device is enhanced.

[0127] In an embodiment of the present invention, the telescopic frame 4 includes a telescopic frame body, and the telescopic frame body includes:

[0128] A plurality of intermediate long rods 41, and the end of each intermediate long rod 41 is rotatably connected to the ends of two outer long rods 42;

[0129] The intermediate short rods 46 are arranged at the two ends of the telescopic frame body, and the intermediate short rods 46 are rotatably connected to the outer short rods 47;

[0130] The collar 43 is installed on the side wall of the outer long rod 42, and the collar 43 is used for bundling pipelines or lines; specifically, the high-pressure water pipeline, the paint pipeline, the control line, etc. are wound around the lifting rod 3 and then installed in the collar 43 of the telescopic frame 4. In this way, its folding and stretching can be realized, and winding can be avoided.

[0131] The bolt 45 is arranged on the corresponding two outer long rods 42, and the telescopic frame body is fixed on the U-shaped connecting frame 315 through the bolt 45;

[0132] The processed channel aluminum 411 and the processed angle aluminum 412 are respectively installed at the ends of adjacent outer long rods 42. An internally threaded shaft member 410 is installed in the processed channel aluminum 411, and a motor mounting bracket 413 is installed on the outer side of the processed angle aluminum 412, and a stepper motor 414 is installed in the motor mounting bracket 413;

[0133] The second worm 49 is connected to the rotating shaft of the stepper motor 414, and the second worm 49 is arranged in the internally threaded shaft member 410;

[0134] The protective sleeve 48 is connected to the inside of the processed angle aluminum 412, and the protective sleeve 48 covers the second worm 49. The protective sleeve 48 can protect the second worm 49 and improve its safety.

[0135] In this embodiment, when the stepper motor 414 is started, the second worm 49 rotates in the internally threaded shaft member 410. In this way, the intermediate long rod 41 and the outer long rod 42 can be driven to rotate relative to each other, so that the telescopic frame body can be extended and shortened as a whole.

[0136] In an embodiment of the present invention, the leg cloud platform 5 includes:

[0137] The central plate 54 is fixed to one end of the telescopic frame body away from the stepper motor 414;

[0138] The support leg 52 is rotatably installed in the side groove of the central plate 54;

[0139] The spring 53, one end of the spring 53 is sleeved on the protruding cylinder of the support leg 52, and the other end of the spring 53 is sleeved on the protruding cylinder of the extension arm of the central plate 54; thus, when the telescopic frame 4 extends until the leg cloud platform 5 reaches the wall surface of the pumping station, the support leg 52 can be squeezed and rotated to a certain extent to prevent the rigid fracture of the device.

[0140] The cloud platform plate 55 is fixed to the central plate 54, and a camera mounting plate 58 is installed on the cloud platform plate 55;

[0141] The camera 59 is installed on the camera mounting plate 58 through the fourth hoop 57; the camera 59 can collect the cleaning operation status of the wall surface;

[0142] The mounting plate 512 is installed on the cloud platform plate 55, and the nozzle 511 is installed on the mounting plate 512 through the fifth hoop 513;

[0143] The universal wheel 51 is installed at the end of the support leg 52, and the universal wheel 51 can support and slide on the wall of the pumping station;

[0144] The brush 56 is installed on the side of the end of the support leg 52, and the brush 56 can clean the wall of the pumping station.

[0145] In this embodiment, by using the flexible support leg 52 supported by the spring 53, the telescopic frame 4 can be pushed and slid on the wall surface, while completing the cleaning work. The deformation space of the support leg 52 can prevent the rigid deformation of the telescopic frame 4 or the lifting rod 3, and also enables each spray head 511 to maintain a good flushing distance from the wall surface, improving the cleaning and spraying effects.

[0146] The working process of the present invention is as follows:

[0147] During operation, the triangular support frame 2 is opened and supported at the wellhead of the pumping station. The handle control box 33 of the lifting rod 3 is shaken to release the steel wire rope. The pulleys 39 of each sleeve of the lifting rod 3 descend under the traction of the steel wire rope, and the telescopic frame 4 is sent into the well. The stepping motor 414 starts to rotate the second worm 49, and the telescopic frame 4 is expanded and extended under the action of the second worm 49 until the universal wheel 51 at the front end of the support leg cloud platform 5 reaches the wall of the pumping station, and then starts flushing and cleaning.

[0148] The steering device 1 has two modes: manual control and electric control. The shift handle 111 in the shift gearbox 11 can control the sliding gear 119 to engage with the hand-cranked transmission gear 141 or the electric transmission gear 135. The rotation of the handwheel 146 or the motor 131 is transmitted by the shift gearbox 11 to the worm gearbox 12 to realize the rotation of the spur gear 127 in the worm gearbox 12. The lower shaft section of the spur gear 127 is connected to the lifting rod 3 through the coupling 31, so as to realize the rotation of the telescopic frame 4 and the support leg cloud platform 5 in the pumping station.

[0149] In summary, the advantages of the present invention are as follows:

[0150] 1. The cleaning robot can be remotely operated, is convenient to deploy, has low cleaning costs, short time consumption, and improves the cleaning efficiency of the inner walls of enclosed spaces such as pumping stations.

[0151] 2. It can replace the way of cleaning personnel working in the well, is safer and more reliable, and avoids various safety accidents.

[0152] 3. The cleaning robot can complete lifting, rotation and telescopic movements in enclosed spaces such as pumping stations, has a large variation range and a wide working area, and can adapt to various types of lower part cleaning operation occasions.

[0153] 4. Each part of the cleaning robot is convenient to assemble, can be flexibly modified according to the actual operation environment, and has broad prospects for product upgrading and replacement.

[0154] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0155] The above-described embodiments merely represent several implementation manners of the present invention, but should not be construed as limiting the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention shall be subject to the appended claims.

Claims

1. A detection, cleaning and painting integrated robot, characterized in that, it includes: A rotating device (1) for generating a rotating driving force, and the rotating device (1) can also switch the rotating driving force to an automatic control mode or a manual control mode; A three-legged support frame (2) installed on the rotating device (1); A lifting rod (3), the top of the lifting rod (3) is connected to the rotating device (1), the bottom of the lifting rod (3) is connected to one end of a telescopic frame (4), and the other end of the telescopic frame (4) is connected to a leg cloud platform (5); Wherein, the rotating device (1) can drive the lifting rod (3) to rotate in the horizontal plane to adjust the turning of the leg cloud platform (5) in the horizontal plane, the lifting rod (3) can be telescoped up and down to adjust the height position of the telescopic frame (4) and the leg cloud platform (5), and the telescopic frame (4) can be horizontally telescoped to adjust the horizontal position of the leg cloud platform (5); the leg cloud platform (5) is used for automatically cleaning the wall surface.

2. The detection, cleaning and painting integrated robot according to claim 1, characterized in that, The rotating device (1) includes a cross brace plate (15), and the cross brace plate (15) is provided with: An electric drive structure (13) for generating an electric rotating force; A manual drive structure (14) for generating a manual rotating force; A worm gear box (12) for converting the rotation in the horizontal direction into the rotation in the vertical direction; A shift gear box (11) for switching the connection between the electric drive structure (13) or the manual drive structure (14) and the worm gear box (12).

3. The detection, cleaning and painting integrated robot according to claim 2, characterized in that, The worm gear box (12) includes: A worm gear box seat (128) fixed on the cross brace plate (15); A spur gear (127) whose two ends are respectively installed in the worm gear box seat (128) through a first bearing (125) and a second bearing (126); A worm shaft (122) whose two ends are respectively installed in the worm gear box seat (128) through a third bearing (123) and a fourth bearing (124), wherein one end of the worm shaft (122) extends into the shift gear box (11) and is connected to a double gear (129), and the worm shaft (122) meshes with the spur gear (127); A worm gear box cover (121) covering and fixing on the worm gear box seat (128).

4. The detection, cleaning and painting integrated robot according to claim 3, characterized in that, The electric drive structure (13) includes: A motor (131) fixed on the cross brace plate (15), and a small pulley (132) is installed on the rotating shaft of the motor (131); An electric drive shaft (136) whose one end is connected to a large pulley (134), and the other end of the electric drive shaft (136) extends into the shift gear box (11) and is connected to an electric drive gear (135); A transmission belt (133) wound around the large pulley (134) and the small pulley (132).

5. The integrated robot for detection, cleaning and painting as claimed in claim 4, characterized in that, the manual transmission structure (14) includes: a bearing seat (145) fixed on the cross brace plate (15); a hand-cranked transmission shaft (142) installed in the bearing seat (145) through an eleventh bearing (144), one end of the hand-cranked transmission shaft (142) extends into the shift gearbox (11) and is connected to a hand-cranked transmission gear (141), and the other end of the hand-cranked transmission shaft (142) is connected to a hand wheel (146); a bearing cover (143) covering and fixed on the bearing seat (145).

6. The integrated robot for detection, cleaning and painting as claimed in claim 5, characterized in that, the shift gearbox (11) includes: a shift gearbox seat (1111) fixed on the cross brace plate (15); a sliding gear (119) slidably disposed on a shaft (1110), both ends of the shaft (1110) are installed on the shift gearbox seat (1111) through a fifth bearing (114) and a sixth bearing (117) respectively; a seventh bearing (116) and an eighth bearing (113), the electric transmission shaft (136) and the hand-cranked transmission shaft (142) are respectively connected in the shift gearbox seat (1111) through the seventh bearing (116) and the eighth bearing (113); a ninth bearing (118) and a tenth bearing (115) disposed at both ends of the double gear (129), the worm shaft (122) is connected to the shift gearbox seat (1111) through the ninth bearing (118) and the tenth bearing (115); a shift gearbox cover (112) covering and fixed on the shift gearbox seat (1111); a shift lever (111) slidably installed in a track at the top of the shift gearbox cover (112), the bottom of the shift lever (111) penetrates through the middle part of the sliding gear (119), and the shift lever (111) can drive the sliding gear (119) to move on the shaft (1110); when the shift lever (111) is pushed forward, the sliding gear (119) meshes with the double gear (129) and the electric transmission gear (135) respectively, and transmits the rotational driving force of the motor (131) to the first worm (122); when the shift lever (111) is pushed backward, the sliding gear (119) meshes with the double gear (129) and the hand-cranked transmission gear (141) respectively, and transmits the rotational driving force of the hand wheel (146) to the first worm (122), and the first worm (122) meshes with a spur gear (127) to convert the rotational movement in the horizontal direction into the rotational movement in the vertical direction.

7. The integrated robot for detection, cleaning and painting as claimed in claim 6, characterized in that, the three-legged support frame (2) includes: a triangular center plate (21) fixed at the bottom of the cross brace plate (15); three legs (22) arranged at intervals and rotatably installed in the side grooves of the triangular center plate (21), and a support foot (24) is provided at the bottom of each leg (22). Three fixed rings (23) are respectively screwed and installed at the ends of the corresponding legs (22). The strap (25) passes through the three fixed rings (23) in sequence and is locked.

8. The integrated detection, cleaning and painting robot according to claim 7, characterized in that The lifting rod (3) includes: A coupling (31) connected to the lower end shaft of the spur gear (127); The lifting rod includes a first sleeve (32), a second sleeve (310), a third sleeve (312), a fourth sleeve (313) and a fifth sleeve (314) which are nested in sequence and can slide relative to each other telescopically. The top of the first sleeve (32) is installed below the coupling (31). The bottom of the fifth sleeve (314) is connected with a U-shaped connecting frame (315). A first pulley (39) is installed at the end of each sleeve. A hand-crank control box (33) is installed on the first sleeve (32). The steel wire rope in the hand-crank control box (33) passes through each first pulley (39) in sequence. The hand-crank control box (33) can release or retract the steel wire rope to raise and lower the lifting rod. A pulley seat (36) is installed at the end of the second sleeve (310) through a second hoop (311) and a third hoop (37). A second pulley (35) is installed in the pulley seat (36). A cable winding motor (34) is installed on the first sleeve (32) through two identical first hoops (38). The rope of the cable winding motor (34) passes through the second pulley (35) and is connected to the telescopic frame (4).

9. The integrated detection, cleaning and painting robot according to claim 8, characterized in that The telescopic frame (4) includes a telescopic frame body, and the telescopic frame body includes: A plurality of intermediate long rods (41), and the end of each intermediate long rod (41) is rotatably connected to the ends of two outer long rods (42); An intermediate short rod (46) is arranged at the two side ends of the telescopic frame body. The intermediate short rod (46) is rotatably connected to the outer short rod (47). A collar (43) is installed on the side wall of the outer long rod (42), and the collar (43) is used for bundling pipelines or lines. Bolts (45) are arranged on the corresponding two outer long rods (42). The telescopic frame body is fixed on the U-shaped connecting frame (315) through the bolts (45). A processed channel aluminum (411) and a processed angle aluminum (412) are respectively installed at the ends of adjacent outer long rods (42). An internally threaded shaft member (410) is installed in the processed channel aluminum (411). A motor mounting bracket (413) is installed on the outside of the processed angle aluminum (412). A stepping motor (414) is installed in the motor mounting bracket (413). A second worm (49) is connected to the rotating shaft of the stepping motor (414), and the second worm (49) is arranged in the internally threaded shaft member (410). A protective sleeve (48) is connected inside the processed angle aluminum (412), and the protective sleeve (48) covers the second worm (49).

10. The integrated detection, cleaning and painting robot according to claim 9, characterized in that The leg cloud platform (5) includes: The central plate (54) is fixed to one end of the telescopic frame body away from the stepping motor (414); The support leg (52) is rotatably installed in the side groove of the central plate (54), The spring (53), one end of the spring (53) is sleeved on the protruding cylinder of the support leg (52), and the other end of the spring (53) is sleeved on the protruding cylinder of the extension arm of the central plate (54); The pan-tilt plate (55) is fixed to the central plate (54), and a camera mounting plate (58) is installed on the pan-tilt plate (55); The camera (59) is installed on the camera mounting plate (58) through the fourth hoop (57); The mounting plate (512) is installed on the pan-tilt plate (55), and the nozzle (511) is installed on the mounting plate (512) through the fifth hoop (513); The universal wheel (51) is installed at the end of the support leg (52), and the universal wheel (51) can support and slide on the wall surface of the pumping station; The brush (56) is installed on the side of the end of the support leg (52), and the brush (56) can clean the wall surface of the pumping station.

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