Cleaning robot for variable-diameter electric pole

Abstract

The invention provides a cleaning robot for a variable-diameter electric pole, and belongs to the technical field of electric power electric pole maintenance. Comprising a climbing mechanism, a centering adjusting mechanism, an annular guide rail mechanism, a rotary driving mechanism, a polishing mechanism, an electric control system and an electric pole, and the climbing mechanism is used for achieving lifting of the cleaning robot on the electric pole; the centering adjusting mechanism is used for adjusting the annular guide rail mechanism to be concentric with the electric pole; the annular guide rail mechanism provides annular motion guidance for the polishing mechanism; the rotary driving mechanism is used for driving the polishing mechanism to move; and the polishing mechanism is used for polishing and depainting the electric pole. The electric pole polishing device can achieve automatic polishing of straight electric poles and conical electric poles and has the advantages of being easy to operate, high in automation degree and the like.

Description

Technical Field

[0001] The invention relates to the technical field of power pole maintenance, and in particular to a cleaning robot for variable-diameter poles. Background Art

[0002] After long-term use, paint peeling occurs on electric poles, and the old paint on the surface of the electric poles needs to be polished off and then repainted. Usually, manual climbing is used to polish and then repaint, but there are also automatic polishing and painting devices using special tooling. CN116038507A discloses an automatic pole climbing and polishing and painting equipment, including a mounting ring, a pole climbing mechanism on the mounting ring for driving the mounting ring to move along the axial direction of the pole, a polishing and painting mechanism arranged on the mounting ring and movable along the circumferential direction of the mounting ring, and a circumferential driving mechanism for driving the polishing and painting mechanism to move along the circumferential direction of the mounting ring. When working, the mounting ring is sleeved on the outer peripheral side of the pole, and the outer peripheral surface of the pole is polished or painted by the polishing and painting mechanism. At the same time, the climbing mechanism and the circumferential driving mechanism can drive the polishing and painting mechanism to move along the axial and axial directions of the pole. Automatic pole climbing, automatic polishing, and automatic painting can be performed on straight poles of different diameters, but the invention cannot be used for polishing conical poles. Summary of the invention

[0003] The purpose of the present invention is to provide a cleaning robot for variable diameter poles in view of the above problems existing in the prior art. The technical problem to be solved by the present invention is how to realize automatic grinding of straight poles or conical poles of different diameters.

[0004] The object of the present invention can be achieved through the following technical solutions: a cleaning robot for variable diameter electric poles, characterized in that it includes a climbing mechanism, a centering adjustment mechanism, an annular guide mechanism, a rotary drive mechanism, a grinding mechanism, an electric control system and an electric pole, wherein the climbing mechanism is used to realize the lifting and lowering of the cleaning robot on the electric pole; the centering adjustment mechanism is used to adjust the annular guide mechanism to be concentric with the electric pole; the annular guide mechanism provides an annular motion guide for the grinding mechanism; the rotary drive mechanism is used to drive the grinding mechanism to move; the grinding mechanism is used to grind and remove paint from the electric pole; The climbing mechanism includes a first mounting frame, two first reduction motors respectively fixed on two outer sides of the first mounting frame, a first sprocket key-connected to the output shaft of the first reduction motor, two second sprockets respectively fixed and rotatably connected to the inner side of the first mounting frame, an oblique cone wheel fixed on one side of the second sprocket, and a first chain meshing with the first sprocket and the second sprocket. A side beam is provided on the rear side of the first mounting frame, a fixed shaft is provided on the inner side of the tail of the side beam, two first omnidirectional wheels are fixedly provided on the fixed shaft, a straight bearing seat is provided on the outer side of the middle part of the side beam, the linear bearing seat is rotatably connected to the side beam, wherein the small diameter end faces of the two oblique cone wheels are adjacent, the first reduction motor drives the oblique cone wheel to rotate through the first sprocket, the first chain and the second sprocket, and the two first reduction motors can realize linear lifting and lowering of the cleaning robot when the two first reduction motors are at equal speeds; the two first reduction motors can realize curved lifting and lowering of the cleaning robot when the two first reduction motors are at unequal speeds, and the first omnidirectional wheel is used for driven steering when the cleaning robot is lifted in a straight line or in a curve; The centering adjustment mechanism includes a second mounting frame rotatably connected to the rear of the first mounting frame, a first electric cylinder rotatably connected to the front of the first mounting frame, and a balancing wheel assembly fixed to the second mounting frame. The moving end of the first electric cylinder is rotatably connected to the top of the second mounting frame. The extension and retraction of the first electric cylinder can control the inclination angle of the second mounting frame. The balancing wheel assembly comprises a third mounting frame fixed on the second mounting frame, an adjusting rod threadedly connected to the third mounting frame, a fourth mounting frame slidably connected to the adjusting rod, a second omnidirectional wheel fixed to the fourth mounting frame, a spring arranged in the fourth mounting frame, a first inductive switch fixed to the adjusting rod, and a second inductive switch fixed to the fourth mounting frame, wherein a limiting shaft is arranged at the rear of the adjusting rod, a mounting block is arranged on the limiting shaft, and the first inductive switch is fixed on the mounting block; the limiting shaft is slidably connected to the fourth mounting frame, one end of the spring contacts the rear end surface of the adjusting rod, and the fourth mounting frame is elastically slidably connected to the adjusting rod; The annular guide rail mechanism comprises an annular track 1, an annular track 2 detachably fixed to the annular track 1, the annular track 1 comprises a fifth mounting frame slidably connected to the top of the second mounting frame, a first arc tube fixed on the fifth mounting frame, a first connecting piece with one end fixed on the first arc tube, a second annular tube fixedly connected to the other end of the first connecting piece, a second chain fixed on the outer ring of the second annular tube, a first arc copper bar fixed on the outer ring of the second annular tube, a second arc copper bar fixed on the outer ring of the first annular tube, and a first guide rod fixed on the inner ring of the first annular tube, the first connecting piece is made of insulating material, and the first arc copper bar and the second arc copper bar are respectively used for conducting electricity; A guide rod is used for sliding connection with the linear bearing seat on the climbing mechanism; the annular track 2 includes a third arc tube, a second connecting piece fixed at one end on the third arc tube, a fourth annular tube fixedly connected to the other end of the second connecting piece, a third chain fixed on the outer ring of the fourth annular tube, a third arc copper bar fixed on the outer ring of the fourth annular tube, and a fourth arc copper bar fixed on the outer ring of the third annular tube, and the second connecting piece is an insulating material; after the annular track 1 and the annular track 2 are assembled, the third arc copper bar and the fourth arc copper bar are respectively connected with the first arc copper bar and the second arc copper bar to form a conductive piece connecting the copper bars; the second chain is connected with the third chain to form a chain; The rotary drive mechanism includes a sixth mounting frame, a second electric cylinder fixed on the upper side of the sixth mounting frame, an elastic member connected at one end to the moving end of the second electric cylinder, a seventh mounting frame slidably connected to the sixth mounting frame and connected to the elastic member, a protective cover fixed to the seventh mounting frame, a second reduction motor fixed to the lower part of the sixth mounting frame, a third sprocket key-connected to the output shaft of the second reduction motor, four groups of carbon brushes elastically slidably connected to the lower side of the sixth mounting frame, and four groups of guide wheels fixed to the lower side of the sixth mounting frame, and the elastic member is a spring; the seventh mounting frame Two second guide rods and a dovetail groove are arranged on the mounting frame, the second guide rod is slidably connected to the sixth mounting frame, and the dovetail groove is used to fix the grinding mechanism; the third sprocket engages the second chain and the third chain; the upper two groups and the lower two groups of the four groups of carbon brushes are respectively connected in series, and the four groups of carbon brushes are respectively in contact with the first arc-shaped copper bar and the third arc-shaped copper bar and the second arc-shaped copper bar and the fourth arc-shaped copper bar; the upper two groups of the four groups of guide wheels are respectively rollingly connected with the first arc-shaped tube and the third arc-shaped tube, and the lower two groups of the four groups of guide wheels are respectively rollingly connected with the second annular tube and the fourth annular tube; The grinding mechanism includes a mounting plate, a gear box fixed on the upper side of the mounting plate, a mounting seat fixed on the upper side of the gear box, an angle grinder fixed between the two mounting seats, and a wire brush key-connected to the output shaft of the gear box. The gear box includes a housing, a first gear, a second gear, a first gear shaft, and a second gear shaft. The first gear, the second gear, the first gear shaft, and the second gear shaft are rotatably connected in the housing. The first gear meshes with the second gear and the first gear shaft at the same time, and the second gear meshes with the second gear shaft. The output shaft of the angle grinder is spline-connected to the first gear. The mounting plate can be fixed in the dovetail groove of the seventh mounting frame, and the dovetail groove can also be used to install the painting device; The electric control system comprises an electric control cabinet fixed on the first mounting frame and a battery fixed in the first mounting frame, and is used to control each reduction motor, electric cylinder and angle grinder to execute program setting actions.

[0005] Before use, clip the devices except the circular track 2 onto the pole, make the two oblique cone wheels and the two omnidirectional wheels contact the pole, fix the circular track 2 with the circular track 1, manually adjust the adjustment rod in the balance wheel assembly, make the circular guide mechanism concentric with the pole; when in use, the first reduction motor is energized, drives the oblique cone wheel to rotate through the first chain, and the cleaning robot rises. During the ascent, if the induction switch 1 does not sense the induction switch, the first electric cylinder is energized, and the moving end of the first electric cylinder is partially extended, making the circular guide mechanism concentric with the pole, the angle grinder is energized to drive the two wire brushes to rotate in the opposite direction, the second electric cylinder is energized, and the second electric cylinder is energized. The moving end extends out to make the wire brush contact the surface of the pole to remove rust. The second reduction motor is powered to drive the grinding mechanism to rotate around the pole, so that the wire brush moves while removing rust. When there is an obstacle above the cleaning robot, the first reduction motor is controlled to move at an uneven speed, so that the cleaning robot climbs along the curve of the pole and makes the obstacle pass through the open loop in the circular guide rail mechanism to achieve obstacle avoidance. After grinding and rust removal, the first reduction motor is reversed to make the cleaning robot descend to the lowest position. After the cleaning robot is used, the second circular guide rail is disassembled and the cleaning robot is taken out of the pole, thus completing the entire automatic grinding process of a pole.

[0006] The advantages are: the climbing mechanism adopts two sets of independent wheel transmission and uses the first omnidirectional wheel for driven steering, and by controlling the speed and steering of the two oblique cone wheels, the straight and curved lifting of the cleaning robot can be realized; the circular track one and the circular track two form an open-loop guide rail, and during the lifting process of the cleaning robot, obstacles are avoided through the open loop of the open-loop guide rail; the circular guide rail mechanism is slidably connected to the centering adjustment mechanism and the first guide rod on the circular guide rail mechanism is slidably connected to the linear bearing seat on the climbing mechanism, and after manually adjusting the adjustment rod, the cleaning robot can be kept concentric with the straight pole during the lifting process; when the cleaning robot moves on the conical pole, the first electric cylinder is controlled to be extended and retracted so that the induction switch one and the induction switch two on the balance wheel assembly are always in the induction state, so that the circular guide rail mechanism is concentric with the conical pole, thereby realizing automatic grinding on the straight pole or the conical pole. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a three-dimensional structural schematic diagram of the cleaning robot.

[0008] Figure 2 It is a three-dimensional structural schematic diagram of the cleaning robot when it is working.

[0009] Figure 3 , Figure 4 , Figure 5 They are schematic diagrams of the three-dimensional structure of the cleaning robot in different states without the rotating drive mechanism and the grinding mechanism.

[0010] Figure 6 It is a three-dimensional structural schematic diagram of the balance wheel assembly of the centering adjustment mechanism in the cleaning robot.

[0011] Figure 7 , Figure 8 They are schematic diagrams of the three-dimensional structures of the circular track 1 of the circular guide mechanism of the cleaning robot in different states.

[0012] Fig. 9 It is a three-dimensional structural schematic diagram of the circular track 2 of the circular guide mechanism in the cleaning robot.

[0013] Fig.10 , Fig.11 They are schematic diagrams of the three-dimensional structure of the rotary drive mechanism of the cleaning robot in different states.

[0014] Fig.12 , Fig.13 They are schematic diagrams of the three-dimensional structure of the grinding mechanism of the cleaning robot in different states.

[0015] In the figure, 100, climbing mechanism; 110, first mounting frame; 111, side beam; 112, fixed shaft; 120, first reduction motor; 130, first sprocket; 140, second sprocket; 150, oblique cone wheel; 160, first chain; 170, first omnidirectional wheel; 180, linear bearing seat; 200, centering adjustment mechanism; 210, second mounting frame; 220, first electric cylinder; 230, balancing wheel assembly; 231, third mounting frame; 232, Adjustment rod; 2321, limit axis; 2322, mounting block; 233, fourth mounting frame; 234, second omnidirectional wheel; 235, spring; 236, induction switch 1; 237, induction switch 2; 300, annular guide mechanism; 310, annular track 1; 311, fifth mounting frame; 312, first arc tube; 313, first connecting piece; 314, second arc tube; 315, second chain; 316, first arc copper bar; 317, second arc copper strip; 318; first guide rod; 320, annular track 2; 321, third arc tube; 322, second connecting piece; 323, fourth arc tube; 324, third chain; 325, third arc copper strip; 326, fourth arc copper strip; 400, rotary drive mechanism; 410, sixth mounting frame; 420, second electric cylinder; 430, elastic member; 440, seventh mounting frame; 441, second guide rod; 442, dovetail groove; 450, protective cover; 4 60. Second reduction motor; 470. Third sprocket; 480. Carbon brush; 490. Guide wheel; 500. Grinding mechanism; 510. Mounting plate; 520. Gear box; 521. Box body; 522. First gear; 523. Second gear; 524. First gear shaft; 525. Second gear shaft; 530. Mounting seat; 540. Angle grinder; 550. Wire brush; 600. Electric control system; 610. Electric control cabinet; 620. Battery; 700. Electric pole. DETAILED DESCRIPTION

[0016] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0017] like Figure 1As shown, it includes a climbing mechanism 100, a centering adjustment mechanism 200, a ring guide mechanism 300, a rotating drive mechanism 400, a grinding mechanism 500, and an electric control system 600, wherein the climbing mechanism 100 is used to realize the lifting and lowering of the cleaning robot; the centering adjustment mechanism 200 is fixed on the climbing mechanism 100, and is used to adjust the ring guide mechanism 300 to make the ring guide mechanism 300 concentric with the pole 700; the ring guide mechanism 300 is slidably connected to the centering adjustment mechanism 200, and is used to provide a ring motion guide for the grinding mechanism 500; the rotating drive mechanism 400 and the ring guide mechanism 300 are engaged and driven by a sprocket chain, and are used to drive the grinding mechanism 500 to move in a ring along the ring guide mechanism 300; the grinding mechanism 500 is fixed on the rotating drive mechanism 400, and is used to grind and remove paint from the pole 700; the electric control system 600 is used to control each actuator to perform actions according to the set program to realize automatic grinding.

[0018] like Figures 3-4 As shown, the climbing mechanism 100 includes a first mounting frame 110, two first reduction motors 120 respectively fixed on both outer sides of the first mounting frame 110, a first sprocket 130 key-connected to the output shaft of the first reduction motor 120, two second sprockets 140 respectively fixedly connected to the inner side of the first mounting frame 110, an oblique cone wheel 150 fixed to one side of the second sprocket 140, and a first chain 160 meshing with the first sprocket 130 and the second sprocket 140. A side beam 111 is provided at the rear side of the first mounting frame 110, a fixed shaft 112 is provided at the inner side of the tail of the side beam 111, and a fixed shaft 112 is fixed on the fixed shaft 112. Two first omnidirectional wheels 170 and a straight bearing seat 180 are provided on the outer side of the middle part of the side beam 111. The linear bearing seat 180 is rotatably connected to the side beam 111, wherein the small-diameter end faces of the two bevel wheels 150 are adjacent, and the first reduction motor 120 drives the bevel wheels 150 to rotate through the first sprocket 130, the first chain 160, and the second sprocket 140. When the two first reduction motors 120 are at the same speed, the cleaning robot can be lifted in a straight line; when the two first reduction motors 120 are not at the same speed, the cleaning robot can be lifted in a curve. The first omnidirectional wheel 170 can be used for the driven steering of the cleaning robot in straight and curved lifting.

[0019] like Figure 5 As shown, the centering adjustment mechanism 200 includes a second mounting frame 210 and a first electric cylinder 220 which are respectively rotatably connected to the upper rear and upper front of the first mounting frame 110, and a balancing wheel assembly 230 fixed between the second mounting frame 210, wherein the moving end of the first electric cylinder 220 is rotatably connected to the top of the second mounting frame 210, and the extension and retraction of the first electric cylinder 220 can control the tilt angle of the second mounting frame 210. Figure 6As shown, the balancing wheel assembly 230 includes a third mounting frame 231 fixed between the second mounting frames 210, an adjusting rod 232 threadedly connected to the third mounting frame 231, a fourth mounting frame 233 slidably connected to the adjusting rod 232, a second omnidirectional wheel 234 fixed to the fourth mounting frame 233, a spring 235 arranged in the fourth mounting frame 233, and an inductive switch 1 236 and an inductive switch 237 respectively fixed to the adjusting rod 232 and the fourth mounting frame 233, wherein a limiting shaft 2321 is provided at the rear of the adjusting rod 232, and a limiting shaft 2321 is provided on the limiting shaft 2321. Mounting block 2322, sensing switch 1 236 is fixed on mounting block 2322, and is used to sense sensing switch 2 237; limiting shaft 2321 is slidably connected with fourth mounting frame 233, one end of spring 235 is in contact with the rear end surface of adjusting rod 232, fourth mounting frame 233 is elastically slidably connected with adjusting rod 232, and sensing switch 1 236 cannot sense sensing switch 2 237 when second omnidirectional wheel 234 is not subjected to external pressure; spring 235 is compressed to a certain state, and sensing switch 1 236 can sense sensing switch 2 237; second omnidirectional wheel 234 is used for lifting and driven steering.

[0020] like Figure 3 As shown, the circular guide rail mechanism 300 includes a circular track 1 310 and a circular track 2 320 detachably fixed to the circular track 1 310. Figures 7-8 As shown, the annular track 310 includes a fifth mounting frame 311 slidably connected to the top of the second mounting frame 210, a first arc tube 312 fixed on the fifth mounting frame 311, a first connecting piece 313 with one end fixed on the first arc tube 312, a second annular tube 314 fixedly connected to the other end of the first connecting piece 313, a second chain 315 and a first arc copper bar 316 fixed on the outer ring of the second annular tube 314, a second arc copper bar 317 fixed on the outer ring of the first annular tube 312, and a first guide rod 318 fixed on the inner ring of the first annular tube 312, wherein the first connecting piece 313 is made of insulating material, preferably nylon 1010; the first arc copper bar 316 and the second arc copper bar 317 are used for conducting electricity respectively; and the first guide rod 318 is used for slidably connecting with the linear bearing seat 180 on the climbing mechanism 100. Fig. 9As shown, the annular track 2 320 includes a third arc tube 321, a second connector 322 fixed at one end on the third arc tube 321, a fourth annular tube 323 fixedly connected to the other end of the second connector 322, a third chain 324 and a third arc copper bar 325 respectively fixed on the outer ring of the fourth annular tube 323, and a fourth arc copper bar 326 fixed on the outer ring of the third annular tube 321, wherein the second connector 322 is made of insulating material, preferably nylon 1010. After the annular track 1 310 and the annular track 2 320 are assembled, the third arc copper bar 325 and the fourth arc copper bar 326 are respectively connected to the first arc copper bar 316 and the second arc copper bar 317 to form a connected copper bar for conduction; the second chain 315 is connected to the third chain 324 to form a chain.

[0021] like Figures 10-11 As shown, the rotary drive mechanism 400 includes a sixth mounting frame 410, a second electric cylinder 420 fixed on the upper side of the sixth mounting frame 410, an elastic member 430 connected at one end to the moving end of the second electric cylinder 420, a seventh mounting frame 440 slidably connected to the sixth mounting frame 410 and connected to the elastic member 430, a protective cover 450 fixed to the seventh mounting frame 440, a second reduction motor 460 fixed to the lower part of the sixth mounting frame 410, a third sprocket 470 key-connected to the output shaft of the second reduction motor 460, four groups of carbon brushes 480 elastically slidably connected to the lower side of the sixth mounting frame 410, and four groups of guide wheels 490 fixed to the lower side of the sixth mounting frame 410, wherein the elastic member 430 is preferably a spring; two second guide rods 411 and a dovetail groove 442 are provided on the seventh mounting frame 440, and the second guide rod 411 is slidably connected to the sixth mounting frame 410, The dovetail groove 442 is used to fix the grinding mechanism 500; the third sprocket 470 is meshed with the second chain 315 and the third chain 324 for transmission; the upper two groups and the lower two groups of the four groups of carbon brushes 480 are respectively connected in series and are in contact with the first arc-shaped copper bar 316 and the third arc-shaped copper bar 325 and the second arc-shaped copper bar 317 and the fourth arc-shaped copper bar 326 respectively; the upper two groups and the lower two groups of the four groups of guide wheels 490 are respectively rollingly connected with the first arc-shaped tube 312 and the third arc-shaped tube 321 and the second annular tube 314 and the fourth annular tube 323, the second reduction motor 460 is electrically driven to drive the third sprocket 470 to rotate, the third sprocket 470 is meshed with the second chain 315 and the third chain 324, but the second chain 315 and the third chain 324 are fixed and the second reduction motor 460 moves, and the rotation drive mechanism 400 moves along the annular guide rail mechanism 300 as the second reduction motor 460 moves.

[0022] like Figures 12-13As shown, the grinding mechanism 500 includes a mounting plate 510, a gear box 520 fixed on the upper side of the mounting plate 510, a mounting seat 530 fixed above the gear box 520, an angle grinder 540 fixed between the two mounting seats 530, and a wire brush 500 key-connected to the output shaft of the gear box 520, wherein the gear box 520 includes a box body 521, a first gear 522, a second gear 523, a first gear shaft 524 and a second gear shaft 525 which are rotatably connected in the box body 521, respectively. The first gear 522 is respectively meshed with the second gear 523 and the first gear shaft 524, the second gear 523 is meshed with the second gear shaft 525, the output shaft of the angle grinder 540 is keyed to the first gear 522, and the angle grinder 540 electrically drives the first gear 522 to make the first gear shaft 524 and the second gear shaft 525 rotate in opposite directions; the mounting plate 510 can be fixed in the dovetail groove 442 of the seventh mounting frame 440, and the dovetail groove 442 can also be used to install a painting device to realize automatic painting of the electric pole 700.

[0023] like Figures 2-3 As shown, the electric control system 600 includes an electric control cabinet 610 fixed on the first mounting frame 110 and a battery fixed in the first mounting frame 110, which is used to control each reduction motor and electric cylinder as well as the angle grinder 540 to execute program setting actions.

[0024] Before use, insert the devices except the second circular track 320 onto the pole 700, make the two oblique cone wheels 150 and the two omnidirectional wheels 170 contact the pole 700, fix the second circular track 320 with the first circular track 310, manually adjust the adjustment rod 232 in the balance wheel assembly 230, make the circular guide mechanism 300 concentric with the pole 700; when in use, the first reduction motor 120 is energized, drives the oblique cone wheel 150 to rotate through the first chain 130, and the cleaning robot rises. During the rising process, if the induction switch 1 236 cannot sense the induction switch 237, the first electric cylinder 220 is energized, and the moving end of the first electric cylinder 220 is partially extended, so that the circular guide mechanism 300 is concentric with the pole 700, and the angle grinder 540 is energized to drive the two wire brushes 550 to rotate in the opposite direction. The second electric cylinder 420 is energized, the moving end of the second electric cylinder 420 is extended, and the wire brush 550 contacts the surface of the pole 700 for rust removal. The second reduction motor 460 is energized to drive the grinding mechanism 500 to rotate around the pole 700, so that the wire brush 550 moves while removing rust. When there is an obstacle above the cleaning robot, the first reduction motor 120 is controlled to move at an uneven speed, so that the cleaning robot climbs along the curve of the pole 700 and passes the obstacle through the open loop of the annular guide rail mechanism 300 to achieve obstacle avoidance. After completing the grinding and rust removal, the first reduction motor 120 is reversed to make the cleaning robot descend to the lowest position. After the cleaning robot is used, the annular guide rail 320 is disassembled and the cleaning robot is taken out of the pole 700, thereby completing the entire automatic grinding process of a pole 700.

[0025] The advantages are: the climbing mechanism 100 adopts two sets of independent wheel transmission and uses the first omnidirectional wheel 170 for driven steering, and by controlling the rotation speed and steering of the two oblique cone wheels 150, the straight lifting and curved lifting of the cleaning robot can be realized; the circular track 1 310 and the circular track 2 320 constitute an open-loop guide rail, and during the lifting process of the cleaning robot, obstacles are avoided through the open loop of the open-loop guide rail; the circular guide rail mechanism 300 is slidably connected with the centering adjustment mechanism 200 and the first guide rod 318 on the circular guide rail mechanism 300 is slidably connected with the linear bearing seat 180 on the climbing mechanism 100, and after manually adjusting the adjustment rod 232, the cleaning robot can be concentric with the straight pole during the lifting process; when the cleaning robot moves on the conical pole, the first electric cylinder 220 is controlled to be extended and retracted so that the induction switch 1 236 and the induction switch 2 237 on the balance wheel assembly 230 are always in the induction state, so that the circular guide rail mechanism 300 is concentric with the conical pole, thereby realizing automatic grinding on the straight pole or the conical pole.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cleaning robot for variable diameter electric poles, characterized in that: The invention comprises a climbing mechanism (100), a centering adjustment mechanism (200), an annular guide rail mechanism (300), a rotary drive mechanism (400), a grinding mechanism (500), an electric control system (600) and an electric pole (700). The climbing mechanism (100) is used to realize the lifting and lowering of the cleaning robot on the electric pole (700); the centering adjustment mechanism (200) is used to adjust the annular guide rail mechanism (300) to be concentric with the electric pole (700); the annular guide rail mechanism (300) provides an annular motion guide for the grinding mechanism (500); the rotary drive mechanism (400) is used to drive the grinding mechanism (500) to move; and the grinding mechanism (500) is used to grind and remove paint from the electric pole (700).

2. The cleaning robot for variable diameter poles according to claim 1, characterized in that: The climbing mechanism (100) comprises a first mounting frame (110), two first reduction motors (120) respectively fixed on two outer sides of the first mounting frame (110), a first sprocket (130) key-connected to the output shaft of the first reduction motor (120), two second sprockets (140) respectively fixedly rotatably connected to the inner side of the first mounting frame (110), an inclined cone wheel (150) fixed on one side of the second sprocket (140), and a first chain (160) meshed with the first sprocket (130) and the second sprocket (140). A side beam (111) is provided at the rear side of the first mounting frame (110), a fixed shaft (112) is provided on the inner side of the tail of the side beam (111), and a fixed shaft (112) is provided on the fixed shaft (112). Two first omnidirectional wheels (170) are fixedly provided, a linear bearing seat (180) is provided on the outer side of the middle part of the side beam (111), and the linear bearing seat (180) is rotatably connected to the side beam (111), wherein the small-diameter end faces of the two oblique cone wheels (150) are adjacent, and the first reduction motor (120) drives the oblique cone wheels (150) to rotate through the first sprocket (130), the first chain (160), and the second sprocket (140). When the two first reduction motors (120) are at the same speed, the cleaning robot can be lifted in a straight line; when the two first reduction motors (120) are at different speeds, the cleaning robot can be lifted in a curve. The first omnidirectional wheel (170) is used for driven steering when the cleaning robot is lifted in a straight line or in a curve.

3. The cleaning robot for variable diameter poles according to claim 2, characterized in that: The centering adjustment mechanism (200) comprises a second mounting frame (210) rotatably connected to the rear of the first mounting frame (110), a balancing wheel assembly (230) rotatably connected to the front of the first mounting frame (110) and a first electric cylinder (220), and fixed to the second mounting frame (210); a moving end of the first electric cylinder (220) is rotatably connected to the top of the second mounting frame (210); and the first electric cylinder (220) can control the tilt angle of the second mounting frame (210) by extending and retracting.

4. The cleaning robot for variable diameter poles according to claim 3, characterized in that: The balancing wheel assembly (230) comprises a third mounting frame (231) fixed on the second mounting frame (210), an adjusting rod (232) threadedly connected to the third mounting frame (231), a fourth mounting frame (233) slidably connected to the adjusting rod (232), a second omnidirectional wheel (234) fixed to the fourth mounting frame (233), a spring (235) disposed in the fourth mounting frame (233), an inductive switch (236) fixed to the adjusting rod (232), and a spring (235) fixed to the fourth mounting frame (233). The second induction switch (237) on the mounting frame (233) comprises a limit shaft (2321) disposed behind the adjusting rod (232), a mounting block (2322) disposed on the limit shaft (2321), and the first induction switch (236) is fixed on the mounting block (2322); the limit shaft (2321) is slidably connected to the fourth mounting frame (233), one end of the spring (235) contacts the rear end surface of the adjusting rod (232), and the fourth mounting frame (233) is elastically slidably connected to the adjusting rod (232).

5. The cleaning robot for variable diameter poles according to claim 4, characterized in that: The annular guide rail mechanism (300 comprises an annular track 1 (310), an annular track 2 (320) detachably fixed to the annular track 1 (310), the annular track 1 (310) comprising a fifth mounting frame (311) slidably connected to the top of the second mounting frame (210), a first arc tube (312) fixed to the fifth mounting frame (311), a first connecting member (313) fixed at one end to the first arc tube (312), and a second annular track (320) fixedly connected to the other end of the first connecting member (313). a first arc-shaped copper strip (316) fixed on the outer ring of the second annular tube (314), a second arc-shaped copper strip (317) fixed on the outer ring of the first annular tube (312), and a first guide rod (318) fixed on the inner ring of the first annular tube (312); the first connecting member (313) is made of insulating material; the first arc-shaped copper strip (316) and the second arc-shaped copper strip (317) are respectively used for conducting electricity; A guide rod (318) is used for sliding connection with the linear bearing seat (180) on the climbing mechanism (100); the annular track 2 (320) includes a third arc tube (321), a second connecting piece (322) fixed at one end to the third arc tube (321), a fourth annular tube (323) fixedly connected to the other end of the second connecting piece (322), a third chain (324) fixed on the outer ring of the fourth annular tube (323), and a third arc tube (321) fixed on the outer ring of the fourth annular tube (323). The copper bar (325), a fourth arc-shaped copper bar (326) fixed on the outer ring of the third annular tube (321), and the second connecting piece (322) are made of insulating material; after the annular track 1 (310) and the annular track 2 (320) are assembled, the third arc-shaped copper bar (325) and the fourth arc-shaped copper bar (326) are respectively connected to the first arc-shaped copper bar (316) and the second arc-shaped copper bar (317) to form a conductive piece connecting the copper bars; the second chain (315) and the third chain (324) are connected to form a chain.

6. The cleaning robot for variable diameter poles according to claim 5, characterized in that: The rotary drive mechanism (400) comprises a sixth mounting frame (410), a second electric cylinder (420) fixed on the upper side of the sixth mounting frame (410), an elastic member (430) having one end connected to the moving end of the second electric cylinder (420), a seventh mounting frame (440) slidably connected to the sixth mounting frame (410) and connected to the elastic member (430), a protective cover (450) fixed to the seventh mounting frame (440), a second reduction motor (460) fixed to the lower part of the sixth mounting frame (410), a third sprocket (470) key-connected to the output shaft of the second reduction motor (460), four groups of carbon brushes (480) elastically slidably connected to the lower side of the sixth mounting frame (410), and four groups of guide wheels (490) fixed to the lower side of the sixth mounting frame (410); the elastic member (430) is a spring; the seventh mounting frame (440) is a second reduction motor (460) fixed to the lower part of the sixth mounting frame (410), and a third sprocket (470) key-connected to the output shaft of the second reduction motor (460). 0) is provided with two second guide rods (411) and a dovetail groove (442), the second guide rods (411) are slidably connected to the sixth mounting frame (410), and the dovetail groove (442) is used to fix the grinding mechanism (500); the third sprocket (470) meshes with the second chain (315) and the third chain (324); the upper two groups and the lower two groups of the four groups of carbon brushes (480) are respectively connected in series, and the four groups of carbon brushes (480) are respectively in contact with the first arc-shaped copper bar (316) and the third arc-shaped copper bar (325) and the second arc-shaped copper bar (317) and the fourth arc-shaped copper bar (326); the upper two groups of the four groups of guide wheels (490) are respectively rollingly connected to the first arc-shaped tube (312) and the third arc-shaped tube (321), and the lower two groups of the four groups of guide wheels (490) are respectively rollingly connected to the second annular tube (314) and the fourth annular tube (323).

7. The cleaning robot for variable diameter poles according to claim 6, characterized in that: The grinding mechanism (500) comprises a mounting plate (510), a gear box (520) fixed on the upper side of the mounting plate (510), a mounting seat (530) fixed on the upper side of the gear box (520), an angle grinder (540) fixed between the two mounting seats (530), and a wire brush (500) key-connected to the output shaft of the gear box (520). The gear box (520) comprises a box body (521), a first gear (522), a second gear (523), a first gear The wheel shaft (524) and the second gear shaft (525), the first gear (522), the second gear (523), the first gear shaft (524) and the second gear shaft (525) are rotatably connected in the box body (521), the first gear (522) is meshed with the second gear (523) and the first gear shaft (524) at the same time, the second gear (523) is meshed with the second gear shaft (525), and the output shaft of the angle grinder (540) is spline-connected with the first gear (522).

8. The cleaning robot for variable diameter poles according to claim 7, characterized in that: The mounting plate (510) is fixed in the dovetail groove (442) of the seventh mounting frame (440).

9. The cleaning robot for variable diameter poles according to claim 7, characterized in that: The dovetail groove (442) is used to install the paint brush device.

10. A cleaning robot for variable diameter poles according to any one of claims 2 to 9, characterized in that: The electric control system (600) comprises an electric control cabinet (610) fixed on a first mounting frame (110) and a battery fixed in the first mounting frame (110).

Images