A column cleaning crawling robot and a cleaning method

Abstract

The present invention discloses a cleaning method for a column cleaning crawling robot, which includes a lifting component, a rotating and guiding component, a cleaning component, a clamping component, a supporting component and a chassis. The chassis is fixed with a supporting component, the supporting component is fixed with a rotating and guiding component, a lifting component is connected between the chassis and the rotating and guiding component, the rotating and guiding component is slidably connected with a cleaning component, the cleaning component cleans the surface of the column, and the clamping component is fixedly connected with the lifting component to adjust the distance between the lifting component and the column. The beneficial effects of the present invention are that when cleaning columns with different diameters, the distance between the driving rollers and the column can be adjusted through the clamping component, expanding the use range of the entire device, and the cleaning operation of columns with various diameters can be realized; the cleaning efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of columnar structure cleaning equipment, and particularly to a column cleaning crawling robot. Background Art

[0002] Currently, for the surface decontamination and rust removal of columns (such as steel structure columns and cement structure columns) in the market, most work modes are a mixture of building scaffolding or ladders and manual labor. Manual work has a high labor intensity and a long construction period; there are also automated cleaning devices in the prior art, with the publication number: CN216805637U, and the patent name: A wall-climbing robot with a permanent magnet wheel set adsorption type and self-cleaning function, including a main frame and a flushing wheel mounting frame. At both ends of the bottom of the main frame, flushing wheel mounting frames are respectively fixed. The flushing wheel mounting frame includes a support plate and a protective baffle. The support plate is fixed to the bottom of the main frame, and a pair of mutually parallel permanent magnet adsorption wheels are installed at the bottom of the support plate. In the present invention, protective baffles are arranged on both sides of the permanent magnet adsorption wheels, and flushing pipes are embedded in the protective baffles. Cleaning liquid is sprayed out through the flushing holes on the flushing pipes to clean the tire surface of the permanent magnet adsorption wheels, ensuring the adsorption force of the permanent magnet adsorption wheels, and it can be applied to severely polluted and uneven metal wall surfaces.

[0003] In the prior art and this solution, most achieve stable contact between the wall-climbing structure and the column to be cleaned through an adsorption structure. However, for the adsorption structure by vacuum or other means, the adsorption area is prone to detachment, and during the crawling process, the entire device is prone to falling off the column.

[0004] During the cleaning process, generally, the column surface is cleaned once or multiple times according to a single walking route. If it is cleaned once, the cleaning effect of the severely soiled area will be unqualified. If it is cleaned multiple times, the cleaning time required will increase. Summary of the Invention

[0005] The purpose of the present invention is to solve the above problems and design a column cleaning crawling robot. It is used to clean columns and includes a lifting component, a rotation guiding component, a cleaning component, a clamping component, a supporting component, and a chassis. The chassis is fixed with a supporting component, the supporting component is fixed with a rotation guiding component, a lifting component is connected between the chassis and the rotation guiding component, the rotation guiding component is slidably connected with a cleaning component, the cleaning component moves along the rotation guiding component and cleans the column surface, the supporting component is fixed with a clamping component, and the clamping component is fixedly connected with the lifting component to adjust the distance between the lifting component and the column;

[0006] It further includes a vision scanner, and the vision scanner is fixed to the fixed plate to obtain the cleaning status of the cleaning component for the column;

[0007] The fixed plate is fixed with a compound cleaning component, and the compound cleaning component is fixed below the cleaning component.

[0008] Further, the cleaning component includes a support seat, a rotating body, a spraying member, and a first cleaning brush. The support seat is rotatably provided with a rotating body. A plurality of spraying members are fixed to the end of the rotating body. The spraying members are arranged in a circumferential array along the rotating body. A first cleaning brush is fixed to one side of the support seat close to the spraying member.

[0009] Further, the rotation guiding component includes a gear disc, an annular guide rail, a rotation driving motor, a pinion, a guiding slider, and a fixed plate. An annular guide rail is fixed to the side wall of the gear disc. The annular guide rail is slidably provided with a guiding slider. The guiding slider is fixedly connected to a fixed plate. The fixed plate is fixed with a cleaning component. The gear disc has a toothed portion. The toothed portion of the gear disc meshes with a pinion. The pinion is fixed with a rotation driving motor. The rotation driving motor is fixed to the fixed plate;

[0010] The gear disc includes a first split gear disc and a second split gear disc. The end of the first split gear disc has a convex block. The end of the second split gear disc has a groove. The convex block and the groove are mutually adapted. At least two annular guide rails are provided. The first split gear disc and the second split gear disc are respectively fixed with an annular guide rail. Two adjacent annular guide rails are spliced together.

[0011] Further, the lifting component includes a lifting driving motor, a driving roller, and a box body. The box body is fixed with a lifting driving motor. The output end of the lifting driving motor is in transmission connection with the driving roller. The box body is also rotatably provided with a driven roller.

[0012] Further, the clamping component includes a clamping driving motor, a sliding table, a sliding seat, a clamping balance column, a first position adjusting component, and a second position adjusting component. The clamping driving motor is in transmission connection with a lead screw. The lead screw is rotatably arranged in the sliding seat. The lead screw is in threaded connection with the sliding table. A guide rod is installed in the sliding seat. The guide rod penetrates through the sliding seat. The sliding table is fixed with a clamping balance column. The other end of the clamping balance column is fixed to the box body. The sliding seat is fixedly connected to the support component. A first position adjusting component is arranged between the gear disc and the box body. A second position adjusting component is arranged between the chassis and the box body.

[0013] Further, the complex cleaning assembly includes a complex cleaning drive motor, a driving gear, a rack, a driven gear, a rotating seat, a second cleaning brush, a third guide rail, and a third slider. The fixing plate is fixed with the complex cleaning drive motor and the third guide rail. The output end of the complex cleaning drive motor is fixed with the driving gear, which meshes with the rack. The rack meshes with the driven gear, and the driven gear is fixedly connected to the second cleaning brush. The rotating seat is rotatably provided with the second cleaning brush. The rack is fixedly connected to the third slider, and the third slider is slidably connected to the third guide rail.

[0014] Further, the second cleaning brush includes a brush base, a brush body, and an electric telescopic rod. The brush base is rotatably connected to the rotating seat, and the inner wall of the brush base is symmetrically fixed with electric telescopic rods. The brush body is fixed between the two electric telescopic rods.

[0015] A cleaning method, which applies the above-mentioned column cleaning crawling robot, includes

[0016] Step 1: Install the equipment: The first split gear disk and the second split gear disk of the rotary guiding assembly are sleeved outside the column to be cleaned and inserted into each other, and at the same time, the supporting unit is installed.

[0017] Step 2: Adjust the state of the clamping assembly: The clamping drive motor in the clamping assembly drives the sliding table to move along the sliding seat, and the clamping balance column then drives the lifting assembly to move. Adjust the position of the driving roller according to the diameter of the column until the driving roller is in close contact with the column.

[0018] Step 3: Crawl along the column: Divide the column to be cleaned into several working sections with the same distance. Start the lifting drive motor to make the driving roller move along the column to be cleaned, and the rotary guiding assembly and the cleaning assembly move continuously along the height direction of the column to be cleaned.

[0019] Step 4: Perform cleaning: Start the rotary drive motor, the cleaning assembly moves along the gear disk, the spraying part sprays and cleans the surface of the column to be cleaned, and the cleaning brush brushes the surface of the column to be cleaned. After completing the cleaning operation of this working section, the lifting drive motor drives the cleaning assembly to move to the next working section.

[0020] Step 5: Continuously repeat Step 3 and Step 4 until the entire surface of the column to be cleaned is cleaned.

[0021] Further, in Step 4, the visual scanner collects images of the cleaning effect and transmits the image collection information to the controller. The controller judges whether there are stains in the image information. If the controller judges that there are no stains, continue to clean the next working section. If the controller judges that there are stains, pause cleaning the next section and repeat cleaning this working section.

[0022] When repeatedly cleaning this working section, the controller controls the rotation drive motor and the secondary cleaning drive motor to start. Meanwhile, high-pressure water is introduced into the spraying member, and the spraying member, the first cleaning brush, and the second cleaning brush simultaneously clean the surface of the column. Then, the secondary cleaning drive device drives the driving gear to rotate, the rack moves along the third guide rail, and the driven gear rotates. The driven gear drives the second cleaning brush to change from the vertical state to the horizontal state to contact the column to be cleaned.

[0023] A column cleaning crawling robot manufactured by using the technical solution of the present invention achieves the following beneficial effects:

[0024] While the lifting assembly crawls along the column, the clamping drive motor drives the lead screw to rotate, and the clamping balance column drives the box body to move until it moves to a position where the driving rollers are in close contact with the outer wall of the column. The clamping assembly increases the friction between the driving rollers and the column, making it difficult for the entire device to disengage or slide down during the lifting and crawling process;

[0025] When cleaning columns with different diameters, the distance between the driving rollers and the column can be adjusted through the clamping assembly, expanding the scope of use of the entire device and enabling cleaning operations for columns with multiple diameters;

[0026] The cleaning assembly can spray high-pressure water onto the column wall surface to clean and remove rust from the wall surface with the high-pressure water, and clean the dirt on the surface. The orientations of the first nozzle and the second nozzle are different. After high-pressure water is introduced into both of them, under the action of high-pressure impact, the rotating body will rotate, and multiple spraying members can comprehensively and evenly clean the area covered by the support seat. With this setting, it is unnecessary to install a drive motor and other devices on the support seat to achieve the rotating effect of multiple spraying members, reducing the weight of the entire device. The support seat is formed with an annular accommodation space, and most of the high-pressure water after cleaning can flow into the recovery pipe along this accommodation space, preventing the sewage mixture after cleaning from splashing outwards and affecting the cleaning effect.

[0027] The cleaning method manufactured by using the technical solution of the present invention achieves the following beneficial effects:

[0028] The rotation drive motor drives the cleaning assembly to move along the annular guide rail. The spraying member and the first cleaning brush in the cleaning assembly remove dirt from the outer wall of the column in this working section. The visual scanner collects images of the cleaning situation in this working section. If the image information in this working section shows that there are still dirty positions, the lifting drive motor pauses to drive the driving rollers to move to the next working section, and the cleaning assembly and the secondary cleaning assembly jointly repeat the cleaning of this working section until the cleaning effect in this working section meets the standard. It is possible to focus on cleaning areas with relatively serious dirt, improving the working efficiency and the cleaning effect at the same time. Description of the Drawings

[0029] Figure 1 is the perspective view of a column cleaning crawling robot according to the present invention;

[0030] Figure 2 is the schematic diagram of the usage state of a column cleaning crawling robot according to the present invention;

[0031] Figure 3 is the exploded view of the rotation guiding assembly according to the present invention;

[0032] Figure 4 is the partial perspective view of a column cleaning crawling robot according to the present invention;

[0033] Figure 5 is another partial perspective view of a column cleaning crawling robot according to the present invention;

[0034] Figure 6 is the structural schematic diagram of the lifting assembly and the clamping assembly according to the present invention;

[0035] Figure 7 is the exploded view of the clamping assembly according to the present invention;

[0036] Figure 8 is the exploded view of the cleaning assembly according to the present invention;

[0037] Figure 9 is the front view of the cleaning assembly according to the present invention;

[0038] Figure 10 is the structural schematic diagram of the complex cleaning assembly

[0039] In the figure, 1 is the clamping assembly; 101 is the clamping drive motor; 102 is the sliding seat; 103 is the first connecting plate; 104 is the connecting rod; 105 is the second connecting plate; 106 is the sliding table; 107 is the clamping balance column; 108 is the first support column; 109 is the positioning rod; 110 is the second support column; 111 is the positioning hole; 200 is the lifting assembly; 201 is the lifting drive motor; 202 is the reducer; 203 is the driving roller; 204 is the driven roller; 205 is the box body; 206 is the first guide rail; 207 is the first slider; 208 is the second guide rail; 209 is the second slider; 210 is the limit switch; 300 is the rotation guiding assembly; 301 is the gear disc; 3011 is the first divided gear disc; 3012 is the second divided gear disc; 3013 is the convex block; 3014 is the groove; 302 is the annular guide rail; 303 is the guiding slider; 304 is the fixing plate; 305 is the connecting plate; 306 is the rotation drive motor; 307 is the pinion; 308 is the connecting plate; 400 is the cleaning assembly; 401 is the support seat; 402 is the recovery pipe; 403 is the rotating body; 404 is the spraying part; 4041 is the first nozzle; 4042 is the second nozzle; 405 is the first cleaning brush; 500 is the chassis; 600 is the re-cleaning assembly; 601 is the re-cleaning drive motor; 602 is the driving gear; 603 is the rack; 604 is the driven gear; 605 is the rotating seat; 606 is the second cleaning brush; 6061 is the brush seat; 6062 is the brush body; 6063 is the electric telescopic rod; 607 is the third guide rail; 608 is the third slider. Detailed implementation manners

[0040] The present invention will be specifically described below with reference to the attached drawings, as Figure 1 and Figure 2As shown in the figure, a column cleaning crawling robot for cleaning columns includes a lifting assembly 200, a rotating and guiding assembly 300, a cleaning assembly 400, a clamping assembly 100, a supporting assembly, and a chassis 500. The chassis 500 is fixed with a supporting assembly, the supporting assembly is fixed with a rotating and guiding assembly 300, a lifting assembly 200 is connected between the chassis 500 and the rotating and guiding assembly 300, the rotating and guiding assembly 300 is slidably connected with a cleaning assembly 400, the cleaning assembly 400 moves along the rotating and guiding assembly 300 and cleans the surface of the column, the supporting assembly is fixed with a clamping assembly 100, and the clamping assembly 100 is fixedly connected with the lifting assembly 200 to adjust the distance between the lifting assembly 200 and the column. The lifting assembly 200 drives the cleaning assembly 400 to move along the column to be cleaned, so that the whole device is in a state of crawling along the column. The clamping assembly 100 is used to adjust the clamping degree of the lifting assembly 200 according to the diameter of the column. The rotating and guiding assembly 300 enables the cleaning assembly 400 to move along the outer periphery of the column, and the outer side walls of the column can be cleaned; the supporting assembly plays a role in supporting the rotating and guiding assembly 300 and the clamping assembly 100, and at the same time, the supporting assembly is used to connect the two parts of the whole device.

[0041] As Figure 3 shown, the rotating and guiding assembly 300 includes a gear disk 301, an annular guide rail 302, a rotating drive motor 306, a pinion 307, a guide slider 303, and a fixing plate 304. The side wall of the gear disk 301 is fixed with an annular guide rail 302. The annular guide rail 302 is slidably provided with a guide slider 303. The guide slider 303 is fixedly connected with a fixing plate 304. The fixing plate 304 is fixed with a cleaning assembly 400. The gear disk 301 has a toothed part. The toothed part of the gear disk 301 is engaged with a pinion 307. The pinion 307 is fixed with a rotating drive motor 306. The rotating drive motor 306 is fixed to the fixing plate 304. The fixing plate 304 and the cleaning assembly 400 are connected through a connecting plate 305. The rotating drive motor 306 drives the pinion 307 to rotate. Since the pinion 307 and the gear disk 301 are engaged with each other, the pinion 307 will move along the outside of the gear disk 301. The cleaning assembly 400 moves along with the movement of the pinion 307. The guide slider 303 and the annular guide rail 302 play a guiding role, and the cleaning assembly 400 moves along the annular guide rail 302 to clean the surface of the column comprehensively.

[0042] As Figure 4 and Figure 5As shown, the gear disk 301 includes a first split gear disk 3011 and a second split gear disk 3012. The end of the first split gear disk 3011 has a convex block 3013, and the end of the second split gear disk 3012 has a groove 3014. The convex block 3013 and the groove 3014 are mutually adapted. There are at least two annular guide rails 302. Annular guide rails 302 are respectively fixed on the first split gear disk 3011 and the second split gear disk 3012, and two adjacent annular guide rails 302 are spliced together. The support assembly includes a first support column 108 and a second support column 110. The first split gear disk 3011 is fixed with the first support column 108, and the second split gear disk 3012 is fixed with the second support column 110. Positioning rods 109 are fixed on the side walls of the first support column 108 and the second support column 110, and positioning holes 111 are formed in the side walls of the first support column 108 and the second support column 110. The positioning rods 109 and the positioning holes 111 are mutually adapted. The positioning rods and the positioning holes on the same support column are located at different heights. In this embodiment, the rotation guiding assembly 300 adopts a spliced structure, that is, the gear disk 301 includes a first split gear disk 3011 and a second split gear disk 3012 which are inserted into each other through the convex block 3013 and the groove 3014, and then the whole device is spliced through the positioning rods 109 and the positioning holes 111 on the support assembly. The central part of the gear disk 301 is a hollow structure for accommodating the column to be cleaned. There are at least two annular guide rails 302, and each annular guide rail 302 is a guide rail structure with a certain arc. Multiple annular guide rails 302 are spliced into an annular structure. Adopting this structure makes it more convenient to install the cleaning crawling device on the column, and it is convenient for storage and transportation after disassembly.

[0043] As Figure 2 and 6 shown, the lifting assembly 200 includes a lifting drive motor 201, a driving roller 203 and a box body 205. The box body 205 is fixed with the lifting drive motor 201, the output end of the lifting drive motor 201 is drivingly connected with the driving roller 203, and the box body 205 is also rotatably provided with a driven roller 204. A speed reducer 202 is drivingly connected between the lifting drive motor 201 and the driving roller 203, and the speed reducer 202 can be selected as a worm and worm gear speed reducer. The lifting drive motor 201 drives the driving roller 203 to rotate, the driving roller 203 moves along the column, and at the same time the driven roller 204 also moves along the column, and the driven roller 204 makes the movement of the whole device more stable.

[0044] As Figure 4 、 Figure 6 and 7As shown, the clamping assembly 100 includes a clamping drive motor 101, a slide table 106, a slide base 102, a clamping balance column 107, a first position adjustment assembly, and a second position adjustment assembly. The clamping drive motor 101 is drivingly connected to a lead screw. The lead screw is rotatably arranged in the slide base 102. The lead screw is threadedly connected to the slide table 106. A guide rod is installed in the slide base 102. The guide rod penetrates through the slide base 102. The slide table 106 is fixed with the clamping balance column 107. The other end of the clamping balance column 107 is fixed to the box body 205. The slide base 102 is fixedly connected to the support assembly. A first position adjustment assembly is provided between the gear disk 301 and the box body 205. A second position adjustment assembly is provided between the chassis 500 and the box body 205. For columns with different diameters, the clamping assembly 100 is adjusted before the cleaning operation so that the driving roller 203 and the driven roller 204 are in contact with the column. Specifically, after the clamping drive motor 101 is started, it drives the lead screw to rotate. The slide table 106 is threadedly connected to the lead screw. Thus, the slide table 106 moves along the lead screw and the guide rod. The clamping balance column 107 fixed to the slide table 106 drives the box body 205 to move. The first position adjustment assembly and the second position adjustment assembly play a guiding role during the movement until it moves to the point where the driving roller 203 is in close contact with the outer wall of the column. The clamping assembly 100 is used to increase the friction between the driving roller 203 and the column, so that the entire device is not easily disengaged or slide down during the lifting and crawling process. At the same time, the clamping assembly 100 enables the robot to adapt to columns with different diameters for cleaning.

[0045] A first connecting plate 103 and a second connecting plate 105 are fixed outside the slide base 102, which play a role in supporting the slide base 102.

[0046] As Figure 1 As shown, two sets of lifting assemblies 200 are symmetrically arranged along the gear disk 301. A clamping assembly 100 is provided on both sides of each box body 205. A connecting rod 104 is fixed between the two sets of clamping assemblies 100. Two sets of lifting assemblies 200 are symmetrically arranged along both sides of the column. The two pairs of driving rollers 203 make the device crawl along the column more smoothly. Two sets of clamping assemblies 100 are provided on both sides of the box body 205 of each lifting assembly 200. The two sets of clamping assemblies 100 make the overall movement of the box body 205 more labor-saving and adjust the friction between the two main rollers and the column to be consistent. A connecting rod 104 is provided between the two clamping assemblies 100, which plays a supporting role.

[0047] As Figure 6As shown, the first position adjustment component includes a first guide rail 206 and a first slider 207. The first guide rail 206 is fixed above the box body 205, and the first slider 207 is slidably arranged on the first guide rail 206. A gear disc 301 is fixed to the first slider 207. The first guide rail 206 and the first slider 207 play a guiding role in the movement of the box body 205.

[0048] The second position adjustment component includes a second guide rail 208 and a second slider 209. The second guide rail 208 is fixed below the box body 205, and the second slider 209 is slidably arranged on the second slider 209. A chassis 500 is fixed to the second slider 209. The second guide rail 208 and the second slider 209 play a guiding role in the movement of the box body 205.

[0049] A limit switch 210 is fixed to the side wall of the sliding seat 102. According to the actual requirements of the column diameter, a limit switch 210 is arranged on the sliding seat 102 to limit the moving distance of the clamping component 100.

[0050] The chassis 500 is formed by splicing two sheet-like structures. The gear disc 301 is formed by splicing a first split gear disc 3011 and a second split gear disc 3012. The first support column 108 and the second support column 110 respectively support the first split gear disc 3011 and the second split gear disc 3012, and the positioning rod 109 and the positioning hole 111 play a fixing role. Two lifting components 200 are respectively arranged on both sides of the gear disc 301, and two groups of clamping components 100 are fixed on both sides of each lifting component 200. The lifting component 200 enables the whole device to crawl along the column, and the clamping component 100 adjusts the position between the driving roller 203 and the column, setting the whole device as a split structure, which is more convenient for installation and disassembly.

[0051] It further includes a vision scanner, and the vision scanner is fixed to the fixing plate 304 to obtain the cleaning condition of the cleaning component 400 for the column.

[0052] Such as Figure 8 and Figure 9As shown, the cleaning assembly 400 includes a support base 401, a rotating body 403, a spraying member 404, and a first cleaning brush 405. The support base 401 is rotatably provided with a rotating body 403. A plurality of spraying members 404 are fixed to the end of the rotating body 403. The spraying members 404 are arranged in a circumferential array along the rotating body 403. A first cleaning brush 405 is fixed to one side of the support base 401 close to the spraying member 404. A first nozzle 4041 and a second nozzle 4042 are symmetrically arranged on both sides of the rotating body 403. The water outlet of the first nozzle 4041 is arranged obliquely upward along the support base 401, and the water outlet of the second nozzle 4042 is arranged obliquely downward along the support base 401. The first nozzle 4041 and the second nozzle 4042 are high-pressure nozzles. The support base 401 has an annular accommodation space, and the spraying member 404 is accommodated in this annular accommodation space. A recovery pipe 402 is communicated with the bottom of the support base 401, and the recovery pipe 402 is used to recover the high-pressure water cleaning mixture in this annular accommodation space.

[0053] Specifically, when cleaning the surface of the column, high-pressure water is introduced into each spraying member 404. Specifically, the cleaning assembly 400 can spray high-pressure water onto the wall surface, and use the high-pressure water to clean and remove rust on the wall surface, and clean the dirt on the surface. In this embodiment, the orientations of the first nozzle 4041 and the second nozzle 4042 are different. After high-pressure water is introduced into the two, under the action of high-pressure impact, the rotating body 403 will rotate, and multiple spraying members 404 can comprehensively and evenly clean the area covered by the support base 401. With this setting, it is avoided to install multiple driving motors and other devices on the support base 401 to achieve the rotating effect of multiple spraying members 404, which reduces the weight of the entire device and makes the entire device more lightweight during the crawling process. The support base 401 forms an annular accommodation space, and most of the high-pressure water after cleaning can flow into the recovery pipe 402 along this accommodation space, avoiding the splashing of the cleaned sewage mixture outward and affecting the cleaning effect.

[0054] The first cleaning brush 405 has an arc-shaped structure and can abut against and fit with the column wall surface. Among them, the cleaning assembly 400 can clean the position inside the support base 401. In this embodiment, the recovery pipe 402 is connected to a negative pressure source, and a vacuum recovery device can be used as the negative pressure source. During the working process, the sewage for cleaning can be recovered through the negative pressure source, avoiding environmental pollution by the sewage. At the same time, after the sewage is recovered by the negative pressure source, it can be avoided that the sewage remains on the wall surface and causes the wall surface to rust.

[0055] The number of through holes on the support base 401 that communicate with the recovery pipe 402 is not restrictive. For example, the number of through holes can be set to three, and the three through holes are respectively located at the rear side and the left and right sides of the end of the support base 401 away from the wall surface. In a possible implementation, the through holes can be connected to a negative pressure source through the recovery pipe 402. When the number of through holes is multiple, each through hole can be respectively connected to a negative pressure source.

[0056] As Figure 10 shown, the fixing plate 304 is fixed with a secondary cleaning assembly 600. The secondary cleaning assembly 600 includes a secondary cleaning drive motor 601, a driving gear 602, a rack 603, a driven gear 604, a rotating seat 605, a second cleaning brush 606, a third guide rail 607 and a third slider 608. The fixing plate 304 is fixed with a secondary cleaning drive motor 601 and a third guide rail 607. The output end of the secondary cleaning drive motor 601 is fixed with a driving gear 602. The driving gear 602 meshes with the rack 603. The rack 603 meshes with the driven gear 604. The driven gear 604 is fixedly connected with a second cleaning brush 606. The second cleaning brush 606 is rotatably arranged on the rotating seat 605. The rack 603 is fixedly connected with a third slider 608. The third slider 608 is slidably connected with the third guide rail 607.

[0057] The second cleaning brush 606 includes a brush base 6061, a brush body 6062 and an electric telescopic rod 6063. The brush base 6061 is rotatably connected with the rotating seat 605. Electric telescopic rods 6063 are symmetrically fixed to the inner wall of the brush base 6061. A brush body 6062 is fixed between the two electric telescopic rods 6063. When the second cleaning brush 606 moves together with the rotating guide assembly 300, one of the two electric telescopic rods 6063 extends, and the other retracts and repeats this action continuously to increase the cleaning force on the surface of the column.

[0058] A cleaning method includes Step 1: Install the equipment: The first split gear disc 3011 and the second split gear disc 3012 of the rotating guide assembly 300 are sleeved outside the column to be cleaned and inserted into each other. At the same time, the positioning rods 109 of the first support column and the second support column are adapted to the positioning holes 111.

[0059] Step 2: Adjust the state of the clamping assembly 1: The clamping drive motor 101 in the clamping assembly 1 drives the slide table 106 to move along the slide seat 102. The clamping balance column 107 then drives the lifting assembly 200 to move. The position of the driving active roller 203 is adjusted according to the diameter of the column until the driving active roller 203 is in close contact with the column.

[0060] Step 3: Crawl along the vertical column: Divide the vertical column to be cleaned into several working sections with the same distance. Start the lifting drive motor 201 to move the active roller 203 along the vertical column to be cleaned, and the rotary guiding assembly 300 and the cleaning assembly 400 continuously move along the height direction of the vertical column to be cleaned; Divide the vertical column to be cleaned into multiple working sections with the same distance. After completing the work tasks of one working section, move to the next working section for operation. The regional treatment can make the cleaning operation proceed in an orderly manner. The working sections with poor cleaning effects can be processed repeatedly, and the working sections with good cleaning effects only need to be cleaned once, avoiding repeated treatment of the entire vertical column and reducing the working time.

[0061] Step 4: Conduct cleaning: Start the rotary drive motor 306, the cleaning assembly 400 moves along the gear disk 301, the spraying part 404 sprays and cleans the surface of the vertical column to be cleaned, and the cleaning brush brushes the surface of the vertical column to be cleaned. After completing the cleaning operation of this working section, the lifting drive motor 201 drives the cleaning assembly 400 to move to the next working section;

[0062] Step 5: Continuously repeat Step 3 and Step 4 to complete the cleaning of the entire surface of the vertical column to be cleaned.

[0063] In the said Step 4, the visual scanner collects images of the cleaning effect and transmits the image collection information to the controller. The controller judges whether there are stains in the image information. If the controller judges that there are no stains, continue to clean the next working section. If the controller judges that there are stains, pause cleaning the next working section and repeat cleaning this working section. The visual scanner can be selected as a camera, which is used to collect the image information of the cleaning effect on the vertical column and wirelessly transmit it to the controller. It plays a guiding role in the working steps according to the cleaning effect.

[0064] When repeatedly cleaning the working section, the controller controls the rotation drive motor 306 and the secondary cleaning drive motor 601 to start. At the same time, high-pressure water is introduced into the spraying member 404. The spraying member 404, the first cleaning brush 405, and the second cleaning brush 606 simultaneously clean the surface of the column. The secondary cleaning drive device drives the driving gear 602 to rotate, the rack 603 moves along the third guide rail 607, and the driven gear 604 rotates. The driven gear 604 drives the second cleaning brush 606 to change from a vertical state to a horizontal state to contact the column to be cleaned. Taking the cleaning operation of a certain working section as an example, first, the rotation drive motor 306 drives the cleaning assembly 400 to move along the annular guide rail 302. The spraying member 404 and the first cleaning brush 405 in the cleaning assembly 400 remove dirt from the outer wall of the column in this working section. The visual scanner collects images of the cleaning situation in this working section. If the image information in this working section still shows dirty positions, the lifting drive motor 201 pauses to drive the driving roller 203 to move to the next working section. The cleaning assembly 400 and the secondary cleaning assembly 600 jointly perform repeated cleaning on this working section until the cleaning effect in this working section is qualified. Adopting this solution can focus on cleaning areas with relatively serious dirt levels, improving the working efficiency and the cleaning effect at the same time.

[0065] When the secondary cleaning assembly 600 is cleaning, after the secondary cleaning drive motor 601 starts, it drives the driving gear 602 to move along the rack 603. The rack 603 and the third slider 608 move along the third guide rail 607. Thus, the driven gear 604 meshing with the rack 603 also rotates. The second cleaning brush 606 is adjusted from a vertical state to a horizontal state because it is fixedly connected to the gear. In the initial state, the second cleaning brush 606 is in a vertical state and does not contact the column, reducing the friction against the column and scratching the surface layer of the column. When performing secondary cleaning, the second cleaning brush 606 is in a horizontal state, and the end of the second cleaning brush 606 contacts the column to perform secondary cleaning on the area cleaned by the first cleaning brush 405. Adopting this solution reduces the wear on the column.

[0066] The above technical solution only reflects the preferred technical solution of the technical solution of the present invention. Some changes that those skilled in the art in this technical field may make to some parts thereof all reflect the principle of the present invention and fall within the protection scope of the present invention.

Claims

1. A column cleaning crawling robot for cleaning columns, characterized in that, It includes a lifting component, a rotating and guiding component, a cleaning component, a clamping component, a supporting component and a chassis. The chassis is fixed with the supporting component, the supporting component is fixed with the rotating and guiding component, a lifting component is connected between the chassis and the rotating and guiding component, the rotating and guiding component is slidably connected with the cleaning component, and the cleaning component moves along the rotating and guiding component to clean the surface of the column. The supporting component is fixed with the clamping component, and the clamping component is fixedly connected with the lifting component to adjust the distance between the lifting component and the column; The lifting component includes a lifting drive motor, a driving roller and a box body. The box body is fixed with the lifting drive motor, the output end of the lifting drive motor is drivingly connected with the driving roller, and the box body is also rotatably provided with a driven roller; The rotating and guiding component includes a gear disc, an annular guide rail, a rotating drive motor, a pinion, a guiding slider and a fixing plate. The side wall of the gear disc is fixed with the annular guide rail, the annular guide rail is slidably provided with the guiding slider, the guiding slider is fixedly connected with the fixing plate, the fixing plate is fixed with the cleaning component, the gear disc has a toothed part, the toothed part of the gear disc is engaged with the pinion, the pinion is fixed with the rotating drive motor, and the rotating drive motor is fixed to the fixing plate; The clamping component includes a clamping drive motor, a slide table, a slide seat, a clamping balance column, a first position adjusting component and a second position adjusting component. The clamping drive motor is drivingly connected with a lead screw, the lead screw is rotatably arranged in the slide seat, the lead screw is threadedly connected with the slide table, a guide rod is installed in the slide seat, the guide rod penetrates through the slide seat, the slide table is fixed with the clamping balance column, the other end of the clamping balance column is fixed to the box body, the slide seat is fixedly connected to the supporting component, a first position adjusting component is arranged between the gear disc and the box body, and a second position adjusting component is arranged between the chassis and the box body; The cleaning component includes a supporting seat, a rotating body, spraying parts and a first cleaning brush. The supporting seat is rotatably provided with the rotating body, and a plurality of spraying parts are fixed to the end of the rotating body. The spraying parts are arranged in a circumferential array along the rotating body. The plurality of spraying parts include a first nozzle and a second nozzle. The first nozzle and the second nozzle are symmetrically arranged on both sides of the rotating body. The water outlet of the first nozzle is arranged obliquely upward along the supporting seat, and the water outlet of the second nozzle is arranged obliquely downward along the supporting seat. A first cleaning brush is fixed to one side of the supporting seat close to the spraying parts; It also includes a visual scanner, and the visual scanner is fixed to the fixing plate to obtain the cleaning condition of the cleaning component on the column; The fixing plate is fixed with a secondary cleaning component, and the secondary cleaning component is fixed below the cleaning component; The secondary cleaning component includes a secondary cleaning drive motor, a driving gear, a rack, a driven gear, a rotating seat, a second cleaning brush, a third guide rail and a third slider. The fixing plate is fixed with the secondary cleaning drive motor and the third guide rail. The output end of the secondary cleaning drive motor is fixed with the driving gear, the driving gear meshes with the rack, the rack meshes with the driven gear, the driven gear is fixedly connected with the second cleaning brush, the rotating seat is rotatably provided with the second cleaning brush, the rack is fixedly connected with the third slider, and the third slider is slidably connected with the third guide rail; The second cleaning brush includes a brush seat, a brush body and an electric telescopic rod. The brush seat is rotatably connected with the rotating seat, electric telescopic rods are symmetrically fixed to the inner wall of the brush seat, and the brush body is fixed between the two electric telescopic rods.

2. The column cleaning crawling robot according to claim 1, wherein The gear disk includes a first sub-gear disk and a second sub-gear disk. The end of the first sub-gear disk has a convex block, and the end of the second sub-gear disk has a groove. The convex block and the groove are mutually adapted. There are at least two annular guide rails. The annular guide rails are respectively fixed on the first sub-gear disk and the second sub-gear disk, and two adjacent annular guide rails are spliced together.

3. A cleaning method, characterized in that, Applying a column cleaning crawling robot according to claim 2, comprising Step 1: Install the equipment: The first sub-gear disk and the second sub-gear disk of the rotary guiding assembly are sleeved outside the column to be cleaned and inserted into each other, and at the same time, the supporting unit is installed. Step 2: Adjust the state of the clamping assembly: The clamping drive motor in the clamping assembly drives the sliding table to move along the sliding seat, and the clamping balance column then drives the lifting assembly to move. Adjust the position of the driving active roller according to the diameter of the column until the driving active roller is in close contact with the column. Step 3: Crawl along the column: Divide the column to be cleaned into several working sections with the same distance. Start the lifting drive motor to make the driving active roller move along the column to be cleaned, and the rotary guiding assembly and the cleaning assembly move continuously along the height direction of the column to be cleaned. Step 4: Perform cleaning: Start the rotary drive motor, the cleaning assembly moves along the gear disk, the spraying member sprays and cleans the surface of the column to be cleaned, and the cleaning brush brushes the surface of the column to be cleaned. After completing the cleaning operation of this working section, the lifting drive motor drives the cleaning assembly to move to the next working section. Step 5: Continuously repeat Step 3 and Step 4 until the entire surface of the column to be cleaned is cleaned.

4. A cleaning method according to claim 3, characterized in that, In Step 4, the visual scanner collects images of the cleaning effect and transmits the image collection information to the controller. The controller judges whether there are stains in the image information. If the controller judges that there are no stains, continue to clean the next working section. If the controller judges that there are stains, pause cleaning the next section and repeat cleaning this working section.

5. A cleaning method according to claim 4, characterized in that, When repeating the cleaning of this working section, the controller controls the rotary drive motor and the re-cleaning drive motor to start. At the same time, high-pressure water is introduced into the spraying member. The spraying member, the first cleaning brush and the second cleaning brush clean the surface of the column at the same time. The re-cleaning drive device drives the driving gear to rotate, the rack moves along the third guide rail and the driven gear rotates. The driven gear drives the second cleaning brush to change from the vertical state to the horizontal state to contact the column to be cleaned.

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