Cylindrical pole outer surface cleaning climbing device and method

Abstract

This invention discloses a climbing device and method for cleaning the outer surface of cylindrical poles, comprising an upper working unit, a lower working unit, a screw-type module device, and a cleaning mechanism. The upper and lower working units each include a belt, a belt extension device, a belt retraction device, patches, and a telescopic connecting rod. The patches serve as belt support nodes, and when the belt retracts or releases, it drives each patch to move radially synchronously, causing the overall enclosure to expand or shrink. The upper and lower patches are arranged in a staggered circumferential pattern, and the inner wall of the patches is equipped with suction cups and a cleaning mechanism. The cleaning mechanism includes a floating cleaning disc, a flexible cleaning scraper, and a floating device. The screw-type module device drives the upper and lower working units to move relative to each other, achieving inchworm-like climbing. This invention, through the synergistic effect of the patches, belt, and telescopic device, achieves stable attachment to poles of different diameters, real-time dynamic adjustment of the enclosure diameter, and repeated graded cleaning, and is suitable for automatic cleaning of the outer surface of cylindrical poles such as utility poles and street light poles.

Description

Technical Field

[0001] This invention relates to the field of public facility cleaning technology, and in particular to a climbing device for cleaning the outer surface of a cylindrical pole. Background Technology

[0002] Currently, streetlights, utility poles, communication poles, and traffic facility poles are widely installed in urban roads, residential areas, factory areas, school campuses, parks, and other locations. Because these poles are exposed to the outdoor environment for extended periods, their surfaces easily accumulate dust, mud, bird droppings, residue from small advertisements, oil stains, and other pollutants. If they are not cleaned regularly, this not only affects the aesthetics of the urban environment but may also lead to accelerated aging and corrosion of the pole's surface coating, thus shortening the lifespan of these public facilities.

[0003] Current cleaning methods primarily rely on manual labor. Manual cleaning typically requires workers to use ladders, aerial work platforms, suspended platforms, or other elevated equipment, which presents problems such as high labor intensity, low efficiency, limited work area, and the risk of falls from heights. For a large number of widely distributed streetlights or utility poles, manual cleaning of each one is costly and time-consuming, making it difficult to meet the needs of refined maintenance of urban public facilities.

[0004] Most existing cleaning robots are designed for flat environments such as glass curtain walls, floors, and walls, and their walking and adsorption methods are primarily designed for smooth surfaces. Cylindrical rods differ from flat surfaces; their outer surfaces have continuous curvature, and the diameters, materials, and surface conditions of different rods are not entirely consistent. If the adsorption structure or walking method of a flat cleaning robot is directly adopted, problems such as insufficient adhesion, unstable climbing, uneven cleaning pressure, and jamming of the cleaning mechanism can easily occur.

[0005] Furthermore, while some climbing robots can move along columns, pipes, or poles, their primary functions are focused on inspection, patrol, or transportation, and they may not be suitable for surface cleaning. During cleaning operations, the cleaning disc, scraper, or cloth will generate frictional resistance against the pole surface, which will further affect the stability of the device. If the device lacks reliable alternating fixing mechanisms, floating cleaning mechanisms, and anti-loosening and anti-fall mechanisms, problems such as slippage, tilting, uneven force on the cleaning end, or even overall slippage may occur during actual operation.

[0006] Therefore, there is an urgent need to develop a cylindrical surface climbing cleaning device that can adapt to the outer surface of a cylinder, climb stably, perform cleaning during the climbing process, and has high safety. Summary of the Invention

[0007] The purpose of this invention is to provide a climbing cleaning device and a cleaning climbing method for cleaning the surface of a cylinder, so as to solve the problems of high risk and low efficiency of manual cleaning of poles in the prior art, as well as the difficulty of existing cleaning equipment to adapt to the curved surface of a cylinder, insufficient climbing stability, and poor adhesion of the cleaning end.

[0008] One technical solution adopted in this invention is: a cylindrical rod outer surface cleaning and climbing device, comprising an upper working unit, a lower working unit, a lead screw module device, and a cleaning mechanism, characterized in that: The upper working unit includes an upper belt, an upper belt extension device, an upper belt retraction device, upper patches, and an upper telescopic connecting rod. At least two upper patches are arranged in parallel and spaced apart, and the upper patches are connected in sequence by the upper telescopic connecting rod. The upper belt extension device and the upper belt retraction device are respectively installed on the two upper patches at the beginning and end. The upper belt is laid along each upper patch and fixedly connected to its outer wall surface. The two ends of the upper belt are respectively connected to the upper belt extension device and the upper belt retraction device. The lower working unit includes a lower belt, a lower belt extension device, a lower belt retraction device, lower patches, and a lower telescopic connecting rod. At least two lower patches are arranged in parallel at intervals, and the lower patches are connected in sequence by the lower telescopic connecting rod. The lower belt extension device and the lower belt retraction device are respectively installed on the two lower patches at the beginning and end. The lower belt is laid along each lower patch and fixedly connected to its outer wall surface. The two ends of the lower belt are respectively connected to the lower belt extension device and the lower belt retraction device. The cleaning mechanism is located on the inner walls of the upper and lower patches; The upper end of the screw-type module device is connected to the upper belt extension device and the upper belt retraction device. Each of the upper patches forms an annular upper ring body. Under the action of the upper belt extension device and the upper belt retraction device, the upper belt is tightened or released, driving each of the upper patches to synchronously retract inward or expand outward along the radial direction, thereby expanding or shrinking the upper ring body. The lower end of the screw-type module device is connected to the lower belt extension device and the lower belt retraction device. Each of the lower patches forms an annular lower ring body. Under the action of the lower belt extension device and the lower belt retraction device, the lower belt is tightened or released, driving each of the lower patches to synchronously retract inward or expand outward along the radial direction, thereby expanding or shrinking the lower ring body. The screw-type module device adjusts the distance between the upper working unit and the lower working unit, and each upper patch in the upper ring body and each lower patch in the lower ring body are staggered in the circumferential position.

[0009] Furthermore, the two ends of the upper telescopic connecting rod are detachably hinged to the upper patch, and the upper belt is detachably connected to the upper patch; the two ends of the lower telescopic connecting rod are detachably hinged to the lower patch, and the lower belt is detachably connected to the lower patch.

[0010] Furthermore, the cleaning mechanism includes a floating cleaning disc, a flexible cleaning blade, and a floating device. The floating cleaning disc and the flexible cleaning blade are fixed to the inner walls of the upper and lower patches by the floating device. The floating device is used to cause the floating cleaning disc and the flexible cleaning blade to float radially or compensate for angle relative to the upper patch.

[0011] Furthermore, the lead screw module device includes a slide rail, a slider, a motor, and a lead screw. The upper belt extension device and the upper belt retraction device are fixedly connected to the top of the slide rail, and the lower belt extension device and the lower belt retraction device are fixedly connected to the slider. The motor drives the lead screw to rotate and drives the slider to slide up and down on the slide rail, thereby causing the upper working unit or the lower working unit to move up or down relative to another unit as a whole.

[0012] Furthermore, suction cups are fixedly provided on the inner walls of the upper patch and the lower patch.

[0013] Another technical solution adopted in this invention is: a cleaning and climbing method based on the above-mentioned cylindrical rod outer surface cleaning and climbing device, comprising the following steps: S1. Adjust the number of upper and lower patches according to the thickness of the cylindrical rod. The two ends of the upper belt are connected to the upper belt extension device and the upper belt retraction device. The upper ring body surrounds the outside of the cylindrical rod. The two ends of the lower belt are connected to the lower belt extension device and the lower belt retraction device. The lower ring body surrounds the outside of the cylindrical rod. The upper belt extension device and the upper belt retraction device are fixedly connected to the top of the slide. The lower belt extension device and the lower belt retraction device are fixedly connected to the slider. S2. The upper ring body tightens the upper belt through the upper belt retraction device. The upper belt drives each of the upper patches to converge radially and synchronously towards the center, so that each upper patch is attached to the outer surface of the cylindrical rod and is adsorbed onto the surface of the rod by the upper suction cup, thus fixing the upper working unit to the cylindrical rod to form the first fixed end. S3. The lower belt extension device releases the lower belt. Under the guidance and support of the lower telescopic connecting rod, the lower ring body is kept in the released state. The motor in the screw-type module device drives the screw to rotate forward and backward, driving the slider to move back and forth on the slide rail, pushing the lower working unit to move upward or downward along the cylindrical rod axis by one step distance. S4. The lower belt retraction device tightens the lower belt, and the lower belt drives each of the lower patches to converge radially and synchronously towards the center, so that each lower patch adheres to the outer surface of the cylindrical rod, and fixes the lower working unit on the cylindrical rod to form a second fixed end. S5. The upper belt extension device releases the upper belt. Under the guidance and support of the upper telescopic connecting rod, the upper ring body is released and fixed. The motor in the screw-type module device drives the screw to rotate forward and backward, drives the slider to move back and forth on the slide, and pushes the upper working unit to move upward or downward along the cylindrical rod axis by a second step distance. S6. Repeat steps S2 to S5 to make the cylindrical rod outer surface cleaning climbing device continuously climb along the axial direction of the cylindrical rod. During the climbing process, the cleaning mechanism located in the upper working unit and the lower working unit cleans the surface of the cylindrical rod so that the cleaning range covers at least a part of the circumferential surface of the rod, thus completing the cleaning of the outer surface of the cylindrical rod.

[0014] Furthermore, during the climbing process, the climbing direction is switched by controlling the forward or reverse rotation of the motor; during the alternating fixed switching of the upper working unit and the lower working unit, at least one working unit is always fixed to the cylindrical rod.

[0015] Furthermore, when fixed to the cylindrical rod, the upper belt retraction device and the lower belt extension device automatically adjust the tightening degree according to the diameter of the cylindrical rod, so that the upper or lower patch remains in contact with the outer surface of the cylindrical rod, ensuring that the upper or lower working unit is stably fixed to the cylindrical rod; when releasing the fixation, the upper or lower suction cup first releases the suction, and then releases the corresponding belt.

[0016] Furthermore, during the cleaning process, the upper or lower working unit can move up and down repeatedly at a position on the cylindrical rod under the action of the screw-type module device. In conjunction with the upper and lower ring bodies, the upper and lower ring bodies automatically expand or shrink, adjusting the contact pressure between the cleaning mechanism and the cylindrical rod to gradually increase with the number of cleaning cycles, thereby achieving graded and repeated cleaning of a position on the cylindrical rod from light to heavy.

[0017] Furthermore, during the cleaning process, the flexible cleaning blade of the cleaning mechanism pre-scrapes off the deposits on the surface of the rod, and the floating cleaning disc wipes or polishes the surface of the cylindrical rod. The flexible cleaning blade and the floating cleaning disc are radially floating or angularly compensated by a floating device according to the curvature and local surface changes of the cylindrical rod surface, so as to maintain the cleaning contact pressure.

[0018] The beneficial effects of this invention are as follows: 1. This application utilizes a three-pronged encircling structure consisting of a patch, a belt, and a telescopic device. The patch serves as a support node for the belt, providing multi-point support and effectively preventing belt sagging. This allows the encircling body to maintain a stable geometric shape and uniform clamping force distribution regardless of diameter, adapting to cylindrical rods of different diameters and surface conditions. Through the precise drive of the screw-type module device, it forms an inchworm-like alternating climbing motion. The climbing action is smooth, the step distance is controllable, and it can stop at any position on the rod to perform cleaning operations.

[0019] 2. In this application, the floating cleaning disc and flexible cleaning scraper achieve radial floating and angle compensation through a floating device, which can adapt to the curvature changes and local unevenness of the rod surface, maintain a constant cleaning contact pressure, achieve good cleaning effect and not damage the rod surface; at the same time, through the synergistic effect of "patches + belts + telescopic devices" in the repeated cleaning process, the screw drives the upper and lower working units to move repeatedly, the telescopic device tightens the belt step by step, and the patches gradually converge towards the center, so that the cleaning pressure increases with the number of repetitions, realizing graded cleaning of stubborn stains from light to heavy, which significantly improves the cleaning effect.

[0020] 3. In this application, the upper and lower patches are arranged in a staggered manner in the circumferential direction, so that the cleaning mechanisms on the upper and lower patches form complementary coverage of the cleaning trajectory in the circumferential direction, reducing cleaning blind spots, and making the adhesion of the rod body more uniform in all positions in the circumferential direction.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this invention or the prior art, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only two examples of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 .

[0024] In the diagram, 1-upper working unit, 2-lower working unit, 3-screw-type module device, 4-cleaning mechanism, 5-suction cup; 11-Upper suction cup, 12-Upper patch, 13-Upper belt, 14-Upper belt extension device, 15-Upper belt retraction device, 16-Upper telescopic connecting rod; 21-Lower suction cup, 22-Lower patch, 23-Lower belt, 24-Lower belt extension device, 25-Lower belt retraction device, 26-Lower telescopic connecting rod; 31-Slide rail, 32-Slider, 33-Motor; 41-Floating cleaning disc, 42-Flexible cleaning scraper, 43-Floating cleaning disc device. Detailed Implementation

[0025] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention. Example 1

[0026] like Figure 1-2 As shown in the figure, this embodiment discloses a cylindrical rod outer surface cleaning climbing device, including an upper working unit 1, a lower working unit 2, a lead screw module device 3, and a cleaning mechanism 4.

[0027] The upper working unit 1 includes an upper belt 13, an upper belt extension device 14, an upper belt retraction device 15, upper patches 12, and an upper telescopic connecting rod 16. At least two upper patches 12 (preferably three or more, and in this application, preferably twelve) are arranged in parallel at intervals, and each upper patch 12 is connected to the others sequentially via the upper telescopic connecting rod 16. The upper belt extension device 14 and the upper belt retraction device 15 are respectively disposed on the two upper patches 12 at the beginning and end. The upper belt 13 is laid along each upper patch 12 and fixedly connected to its outer wall surface, and both ends of the upper belt 13 are respectively connected to the upper belt extension device 14 and the upper belt retraction device 15. Each upper patch 12 forms an annular upper ring, and under the action of the upper belt extension device 14 and the upper belt retraction device 15, the upper belt 13 is tightened or released, driving each upper patch 12 to synchronously retract inward or expand outward in the radial direction, thereby realizing the overall expansion or contraction of the upper ring.

[0028] The lower working unit 2 includes a lower belt 23, a lower belt extension device 24, a lower belt retraction device 25, lower patches 22, and a lower telescopic connecting rod 26. At least two lower patches 22 (preferably three or more, and in this application, preferably twelve) are arranged in parallel at intervals, and the lower patches 22 are connected sequentially by the lower telescopic connecting rod 26. The lower belt extension device 24 and the lower belt retraction device 25 are respectively disposed on the two lower patches 22 at the beginning and end. The lower belt 23 is laid along each lower patch 22 and fixedly connected to its outer wall surface, and the two ends of the lower belt 23 are respectively connected to the lower belt extension device 24 and the lower belt retraction device 25. Each lower patch 22 forms an annular lower ring, and under the action of the lower belt extension device 24 and the lower belt retraction device 25, the lower belt 23 is tightened or released, driving each lower patch 22 to synchronously retract inward or expand outward in the radial direction, realizing the overall expansion or contraction of the lower ring.

[0029] like Figure 1 and Figure 2 As shown, the upper patches 12 in the upper ring and the lower patches 22 in the lower ring are staggered in their circumferential positions. That is, the circumferential positions of the upper patches 12 in the upper ring and the circumferential positions of the lower patches 22 in the lower ring are staggered, creating a complementary distribution in the circumferential direction. In this embodiment, there are twelve upper patches 12 and twelve lower patches 22. The upper patches 12 are evenly spaced at 30° intervals in the circumferential direction, and the lower patches 22 are evenly spaced at 30° intervals in the circumferential direction, with each lower patch 22 located in the middle of an adjacent upper patch 12 (i.e., staggered by 15°). This staggered arrangement ensures that when the upper and lower rings are alternately fixed, the pressing positions are complementary in the circumferential direction of the rod, resulting in more uniform and stable adhesion.

[0030] The upper end of the screw-type module device 3 is connected to the upper belt extension device 14 and the upper belt retraction device 15, and the lower end of the screw-type module device 3 is connected to the lower belt extension device 24 and the lower belt retraction device 25. The screw-type module device 3 is used to adjust the distance between the upper working unit 1 and the lower working unit 2. Figure 1 and Figure 2 As shown, the lead screw type module device 3 includes a slide rail 31, a slider 32, a motor 33, and a lead screw 34. The upper belt extension device 14 and the upper belt retraction device 15 are fixedly connected to the top of the slide rail 31, and the lower belt extension device 24 and the lower belt retraction device 25 are fixedly connected to the slider 32. The motor 33 drives the lead screw 34 to rotate and drives the slider 32 to slide up and down on the slide rail 31, thereby causing the upper working unit 1 or the lower working unit 2 to move up or down relative to the other unit as a whole.

[0031] The cleaning mechanism 4 is located on the inner walls of the upper patch 12 and the lower patch 22. For example... Figure 1 and Figure 2 As shown, the cleaning mechanism 4 includes a floating cleaning disc 41, a flexible cleaning blade 42, and a floating device 43. The floating cleaning disc 41 and the flexible cleaning blade 42 are fixed to the inner walls of the upper patch 12 and the lower patch 22 by the floating device 43. The floating device 43 is used to cause the floating cleaning disc 41 and the flexible cleaning blade 42 to float radially or compensate for angle relative to the corresponding patch. Specifically, the floating device 43 may adopt a spring-tensioning structure or an elastic hinge structure, so that the cleaning element can adaptively retract, deflect, or tilt when subjected to the reaction force of the rod surface, thereby maintaining its contact with the rod surface.

[0032] Suction cups 5 are fixedly disposed on the inner walls of the upper patch 12 and the lower patch 22. Specifically, an upper suction cup 11 is fixedly disposed on the inner wall of the upper patch 12, and a lower suction cup 21 is fixedly disposed on the inner wall of the lower patch 22. When the upper ring body retracts to fit the surface of the cylindrical rod, the upper suction cup 11 adheres to the surface of the cylindrical rod to assist in fixation; when the lower ring body retracts to fit the surface of the cylindrical rod, the lower suction cup 21 adheres to the surface of the cylindrical rod to assist in fixation. The suction cups 5 are preferably rubber vacuum suction cups. When the ring body retracts to fit the surface of the rod, the suction cups are squeezed to expel internal air, forming negative pressure adsorption. The number of suction cups 5 is preferably 1-2 per inner wall of each patch to ensure sufficient adsorption force. Example 2

[0033] like Figure 1-2 As shown, this embodiment is obtained by changing the connection between the telescopic connecting rod and the belt and the patch. Specifically, the two ends of the upper telescopic connecting rod 16 are detachably hinged to the upper patch 12, and the upper belt 13 is detachably connected to the upper patch 12 (e.g., by bolts, buckles, or Velcro). The two ends of the lower telescopic connecting rod 26 are detachably hinged to the lower patch 22, and the lower belt 23 is detachably connected to the lower patch 22.

[0034] The detachable connection allows for flexible adjustment of the number of patches to accommodate different diameters of the cylindrical rod. When the rod diameter is large, the number of patches can be increased to enlarge the envelope diameter of the ring; when the rod diameter is small, the number of patches can be reduced to allow the ring to shrink to a smaller diameter. This modular design enables the device to adapt to a wider range of diameters.

[0035] The telescopic connecting rods (upper telescopic connecting rod 16 and lower telescopic connecting rod 26) are hinged to the patches (upper patch 12 and lower patch 22), and the axis of rotation of both is parallel to the axis of the cylindrical rod. This hinged connection method allows each patch to automatically adjust its rotation angle according to the curvature of the cylindrical rod when the ring expands or shrinks, so that the inner wall of the patch can better fit with the surface of the cylindrical rod, increasing the effective contact area and improving the adhesion stability.

[0036] The telescopic connecting rod connects the patches into a whole, facilitating the adjustment of the overall spacing between the upper working unit 1 or the lower working unit 2 via the screw-type module device 3. The telescopic connecting rod has a telescopic function, with an internal return spring that cooperates with the hinge structure. Specifically, when the belt retracts, the telescopic connecting rod shortens under the force of the belt contraction, overcoming the elastic force of the return spring, causing the patches to converge radially and synchronously towards the center; when the belt releases, the elastic force of the return spring drives the telescopic connecting rod to extend, causing the patches to expand radially and synchronously towards the centrifugal center. The return spring also allows each patch to have adaptive elastic adjustment capability when the enclosure expands or shrinks, avoiding jamming or uneven force that might occur with a rigid structure. Example 3

[0037] like Figure 1-2 As shown, this embodiment is an optimized version of the specific structure of the cleaning mechanism 4. Specifically, the floating device 43 includes a radial floating spring and an angle-compensating hinge. One end of the radial floating spring is fixed to the inner wall of the patch, and the other end is connected to the mounting base of the floating cleaning disc 41 and the flexible cleaning scraper 42, allowing the cleaning element to generate elastic displacement in the radial direction. The angle-compensating hinge is disposed between the cleaning element and the mounting base, allowing the cleaning element to deflect at a small angle around a direction parallel to or perpendicular to the axis of the rod.

[0038] The floating cleaning disc 41 has a disc-shaped structure, and its cleaning working surface is equipped with a cleaning cloth, cleaning sponge, or cleaning bristles. The flexible cleaning scraper 42 has a certain degree of elasticity and is preferably made of elastic and wear-resistant materials such as silicone, rubber, or polyurethane. The front end of the flexible cleaning scraper 42 is provided with a scraping edge for scraping away stubborn dirt attached to the surface of the rod.

[0039] During the cleaning process, the flexible cleaning blade 42 first contacts the pole surface and pre-scrapes away the attached substances, while the floating cleaning disc 41 then wipes or polishes the pole surface. The floating device 43 enables both to float radially or compensate for changes in the curvature of the pole surface and local surface variations (such as minor bumps, weld protrusions, uneven coatings, etc.), maintaining effective contact with the pole surface at all times and avoiding cleaning blind spots or surface damage caused by rigid contact.

[0040] The method of using the overall technical solution formed by the above embodiments is another technical solution disclosed in this application. This technical solution is: a method for cleaning and climbing the outer surface of a cylindrical rod, including the following steps: S1. Adjust the number of upper patch 12 and lower patch 22 according to the thickness of the cylindrical rod (add or remove patches via detachable connection). Connect both ends of the upper belt 13 to the upper belt extension device 14 and the upper belt retraction device 15 respectively, so that the upper ring body surrounds the outside of the cylindrical rod. Connect both ends of the lower belt 23 to the lower belt extension device 24 and the lower belt retraction device 25 respectively, so that the lower ring body surrounds the outside of the cylindrical rod. Fix the upper belt extension device 14 and the upper belt retraction device 15 to the top of the slide rail 31, and fix the lower belt extension device 24 and the lower belt retraction device 25 to the slider 32. S2. The upper ring body tightens the upper belt 13 through the upper belt retraction device 15. The upper belt 13 drives each upper patch 12 to converge radially and synchronously towards the center, so that each upper patch 12 is attached to the outer surface of the cylindrical rod and is adsorbed to the surface of the rod through the upper suction cup 11, thus fixing the upper working unit 1 to the cylindrical rod to form the first fixed end. S3. The lower belt extension device 24 releases the lower belt 23. Under the guidance and support of the lower telescopic connecting rod 26, the lower ring body remains in a released state (i.e., the diameter of the lower ring body is slightly larger than the diameter of the rod body, allowing the lower working unit 2 to slide freely along the rod body while maintaining guide contact). The motor 33 in the screw-type module device 3 drives the screw 34 to rotate forward or reverse, driving the slider 32 to reciprocate on the slide rail 31, pushing the lower working unit 2 to move upward or downward along the cylindrical rod body axis by a first step distance (the first step distance is the product of the lead of the screw 34 and the number of rotations of the motor 33, typically 50mm-200mm). S4. The lower belt retraction device 25 tightens the lower belt 23. The lower belt 23 drives each lower patch 22 to converge radially and synchronously towards the center, so that each lower patch 22 is attached to the outer surface of the cylindrical rod and is adsorbed onto the surface of the rod by the lower suction cup 21, thus fixing the lower working unit 2 to the cylindrical rod to form the second fixed end. S5. The upper belt extension device 14 releases the upper belt 13, and under the guidance and support of the upper telescopic connecting rod 16, the upper ring body is released and fixed (i.e., the diameter of the upper ring body is slightly larger than the diameter of the rod body, so that the upper working unit 1 can slide freely along the rod body but maintain guide contact). The motor 33 in the screw-type module device 3 drives the screw 34 to rotate forward or reverse, driving the slider 32 to move back and forth on the slide rail 31, pulling the upper working unit 1 to move upward or downward along the cylindrical rod body axis by a second step distance (the second step distance is equal to the first step distance). S6. Repeat steps S2 to S5 to make the cylindrical rod outer surface cleaning climbing device continuously climb along the axial direction of the cylindrical rod. During the climbing process, the cleaning mechanism 4 located in the upper working unit 1 and the lower working unit 2 simultaneously clean the surface of the cylindrical rod, so that the cleaning range covers at least a part of the circumferential surface of the rod, thus completing the cleaning of the outer surface of the cylindrical rod.

[0041] During the climbing process, the climbing direction is switched by controlling the forward or reverse rotation of motor 33 (forward rotation is upward, reverse rotation is downward). During the alternating fixed switching between the upper working unit 1 and the lower working unit 2, at least one working unit is always fixed to the cylindrical rod to ensure that the device will not slip off the rod at any time.

[0042] When fixed to the cylindrical rod, the upper belt retraction device 15 and the lower belt retraction device 25 automatically adjust the tightening degree according to the diameter of the cylindrical rod (by controlling the torque or stroke of the motor), so that the upper patch 12 or the lower patch 22 remains in contact with the outer surface of the cylindrical rod, ensuring that the upper working unit 1 or the lower working unit 2 is stably fixed to the cylindrical rod. When releasing the fixation, the upper suction cup 11 or the lower suction cup 21 first releases the suction (by inflating the suction cup to break the vacuum or by forcibly detaching it through a mechanical structure), and then releases the corresponding belt to avoid difficulty in release due to the suction force of the suction cup.

[0043] During the cleaning process, when it is necessary to intensify the cleaning of a specific target area on the cylindrical rod, the upper working unit 1 or the lower working unit 2 can move up and down repeatedly at a position on the cylindrical rod under the action of the screw-type module device 3. In conjunction with the automatic expansion or contraction of the upper and lower ring bodies, the contact pressure between the cleaning mechanism 4 and the cylindrical rod increases gradually with the increase of the number of repeated cleanings, so as to achieve graded repeated cleaning of a position on the cylindrical rod from light to heavy.

[0044] The cleaning mechanism's flexible cleaning blades pre-scrape away the deposits on the rod surface, while the floating cleaning disc wipes or polishes the cylindrical rod surface. The flexible cleaning blades and the floating cleaning discs use a floating device to radially float or compensate for angle changes in the curvature and local surface of the cylindrical rod surface, thereby maintaining cleaning contact pressure.

[0045] Repeated movement steps: The lead screw module device 3 drives the upper working unit 1 and the lower working unit 2 to move up and down repeatedly at the target cleaning position (such as the area where stubborn stains are attached) on the cylindrical rod. During each up and down movement, the cleaning mechanism 4 installed on the inner wall of the upper patch 12 and the lower patch 22 repeatedly passes through the target cleaning position.

[0046] The step-by-step tightening process involves the upper belt retraction device 15 and / or the lower belt retraction device 25 coordinating with the reciprocating motion to synchronously adjust the tightness of the upper belt 13 and / or the lower belt 23. Specifically, after each reciprocating movement, the belt retraction device further tightens the belt by a preset small stroke (e.g., 1mm-3mm), causing each patch to further converge radially towards the center.

[0047] The tiered cleaning process involves gradually decreasing the diameter of the encircling body with each repetition, while increasing the contact pressure between the cleaning mechanism 4 and the outer surface of the cylindrical rod. During the first reciprocating motion, the cleaning pressure is low, primarily removing surface dust and loose deposits. The second and third reciprocating motions use moderate pressure to remove general dirt. Subsequent reciprocating motions apply higher pressure to powerfully remove stubborn stains. This tiered cleaning approach, from light to heavy, effectively removes stubborn stains while avoiding excessive initial pressure that could force stains into the rod's surface coating or scratch the surface.

[0048] During climbing and cleaning, when the diameter of the cylindrical rod changes axially (e.g., due to taper or joint protrusion), the device achieves adaptive diameter adjustment in the following way: When the ring body moves to a section with a larger rod diameter, the belt retraction device automatically reduces the belt tension (by reversing the motor to release part of the belt), allowing the ring body to expand appropriately and preventing movement jamming or motor overload due to excessive tightness. When the ring body moves to a section with a smaller rod diameter, the belt retraction device automatically increases the belt tension, allowing the ring body to shrink appropriately and preventing poor adhesion or slippage due to excessive looseness.

[0049] Specifically, the tightness of the retaining body can be indirectly determined by detecting the drive current of motor 33: when the current increases beyond the threshold, it indicates that the retaining body is too tight, and the belt extension device releases the belt; when the current decreases below the threshold, it indicates that the retaining body is too loose, and the belt retraction device tightens the belt. This achieves closed-loop automatic adjustment of the retaining diameter, enabling the device to adapt to rods of different diameters.

[0050] The cylindrical pole external surface cleaning climbing device and its cleaning climbing method provided by this invention can be widely used for automatic cleaning of the external surfaces of various cylindrical poles such as utility poles, street light poles, flagpoles, traffic signal poles, bridge cables, and pipelines. The device has a compact structure, stable climbing capability, and good cleaning effect, effectively replacing traditional manual high-altitude cleaning operations, reducing labor intensity and safety hazards, and improving cleaning efficiency.

[0051] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A cylindrical rod outer surface cleaning and climbing device, comprising an upper working unit, a lower working unit, a lead screw module device, and a cleaning mechanism, characterized in that: The upper working unit includes an upper belt, an upper belt extension device, an upper belt retraction device, upper patches, and an upper telescopic connecting rod. At least two upper patches are arranged in parallel and spaced apart, and the upper patches are connected in sequence by the upper telescopic connecting rod. The upper belt extension device and the upper belt retraction device are respectively installed on the two upper patches at the beginning and end. The upper belt is laid along each upper patch and fixedly connected to its outer wall surface. The two ends of the upper belt are respectively connected to the upper belt extension device and the upper belt retraction device. The lower working unit includes a lower belt, a lower belt extension device, a lower belt retraction device, lower patches, and a lower telescopic connecting rod. At least two lower patches are arranged in parallel at intervals, and the lower patches are connected in sequence by the lower telescopic connecting rod. The lower belt extension device and the lower belt retraction device are respectively installed on the two lower patches at the beginning and end. The lower belt is laid along each lower patch and fixedly connected to its outer wall surface. The two ends of the lower belt are respectively connected to the lower belt extension device and the lower belt retraction device. The cleaning mechanism is located on the inner walls of the upper and lower patches; The upper end of the screw-type module device is connected to the upper belt extension device and the upper belt retraction device. Each of the upper patches forms an annular upper ring body. Under the action of the upper belt extension device and the upper belt retraction device, the upper belt is tightened or released, driving each of the upper patches to synchronously retract inward or expand outward along the radial direction, thereby expanding or shrinking the upper ring body. The lower end of the screw-type module device is connected to the lower belt extension device and the lower belt retraction device. Each of the lower patches forms an annular lower ring body. Under the action of the lower belt extension device and the lower belt retraction device, the lower belt is tightened or released, driving each of the lower patches to synchronously retract inward or expand outward along the radial direction, thereby expanding or shrinking the lower ring body. The screw-type module device adjusts the distance between the upper working unit and the lower working unit, and each upper patch in the upper ring body and each lower patch in the lower ring body are staggered in the circumferential position.

2. The cylindrical rod outer surface cleaning and climbing device according to claim 1, characterized in that, The upper telescopic connecting rod is detachably hinged to the upper patch at both ends, and the upper belt is detachably connected to the upper patch; the lower telescopic connecting rod is detachably hinged to the lower patch at both ends, and the lower belt is detachably connected to the lower patch.

3. The cylindrical rod outer surface cleaning and climbing device according to claim 2, characterized in that, The cleaning mechanism includes a floating cleaning disc, a flexible cleaning blade, and a floating device. The floating cleaning disc and the flexible cleaning blade are fixed to the inner walls of the upper and lower patches by the floating device. The floating device is used to cause the floating cleaning disc and the flexible cleaning blade to float radially or compensate for angle relative to the upper patch.

4. The cylindrical rod outer surface cleaning and climbing device according to claim 3, characterized in that, The lead screw module device includes a slide rail, a slider, a motor, and a lead screw. The upper belt extension device and the upper belt retraction device are fixedly connected to the top of the slide rail, and the lower belt extension device and the lower belt retraction device are fixedly connected to the slider. The motor drives the lead screw to rotate and drives the slider to slide up and down on the slide rail, thereby causing the upper working unit or the lower working unit to move up or down relative to another unit as a whole.

5. The cylindrical rod outer surface cleaning and climbing device according to claim 4, characterized in that, The upper and lower patches are fixedly equipped with suction cups on their inner walls.

6. A cleaning and climbing method based on the cylindrical rod outer surface cleaning and climbing device of claim 5, comprising the following steps: S1. Adjust the number of upper and lower patches according to the thickness of the cylindrical rod. The two ends of the upper belt are connected to the upper belt extension device and the upper belt retraction device. The upper ring body surrounds the outside of the cylindrical rod. The two ends of the lower belt are connected to the lower belt extension device and the lower belt retraction device. The lower ring body surrounds the outside of the cylindrical rod. The upper belt extension device and the upper belt retraction device are fixedly connected to the top of the slide. The lower belt extension device and the lower belt retraction device are fixedly connected to the slider. S2. The upper ring body tightens the upper belt through the upper belt retraction device. The upper belt drives each of the upper patches to converge radially and synchronously towards the center, so that each upper patch is attached to the outer surface of the cylindrical rod and is adsorbed onto the surface of the rod by the upper suction cup, thus fixing the upper working unit to the cylindrical rod to form the first fixed end. S3. The lower belt extension device releases the lower belt. Under the guidance and support of the lower telescopic connecting rod, the lower ring body is kept in the released state. The motor in the screw-type module device drives the screw to rotate forward and backward, driving the slider to move back and forth on the slide rail, pushing the lower working unit to move upward or downward along the cylindrical rod axis by one step distance. S4. The lower belt retraction device tightens the lower belt, and the lower belt drives each of the lower patches to converge radially and synchronously towards the center, so that each lower patch adheres to the outer surface of the cylindrical rod, and fixes the lower working unit on the cylindrical rod to form a second fixed end. S5. The upper belt extension device releases the upper belt. Under the guidance and support of the upper telescopic connecting rod, the upper ring body is released and fixed. The motor in the screw-type module device drives the screw to rotate forward and backward, drives the slider to move back and forth on the slide, and pushes the upper working unit to move upward or downward along the cylindrical rod axis by a second step distance. S6. Repeat steps S2 to S5 to make the cylindrical rod outer surface cleaning climbing device continuously climb along the axial direction of the cylindrical rod. During the climbing process, the cleaning mechanism located in the upper working unit and the lower working unit cleans the surface of the cylindrical rod so that the cleaning range covers at least a part of the circumferential surface of the rod, thus completing the cleaning of the outer surface of the cylindrical rod.

7. The method for cleaning and climbing the outer surface of a cylindrical rod according to claim 6, characterized in that: During the climbing process, the climbing direction is switched by controlling the forward or reverse rotation of the motor; during the alternating fixed switching of the upper working unit and the lower working unit, at least one working unit is always fixed to the cylindrical rod.

8. The method for cleaning and climbing the outer surface of a cylindrical rod according to claim 6, characterized in that: When fixed to the cylindrical rod, the upper belt retraction device and the lower belt extension device automatically adjust the tightening degree according to the diameter of the cylindrical rod, so that the upper or lower patch is in contact with the outer surface of the cylindrical rod, ensuring that the upper or lower working unit is stably fixed to the cylindrical rod; when releasing the fixation, the upper or lower suction cup first releases the suction, and then releases the corresponding belt.

9. The method for cleaning and climbing the outer surface of a cylindrical rod according to claim 6, characterized in that: During the cleaning process, the upper or lower working unit can move up and down repeatedly at a position on the cylindrical rod under the action of the screw-type module device. In conjunction with the upper and lower ring bodies, the unit automatically expands or contracts, adjusting the contact pressure between the cleaning mechanism and the cylindrical rod to gradually increase with the number of cleaning cycles. This allows for graded and repeated cleaning of a single position on the cylindrical rod from light to heavy pressure.

10. The method for cleaning and climbing the outer surface of a cylindrical rod according to claim 6, characterized in that: During the cleaning process, the flexible cleaning blade of the cleaning mechanism pre-scrapes off the deposits on the surface of the rod, and the floating cleaning disc wipes or polishes the surface of the cylindrical rod. The flexible cleaning blade and the floating cleaning disc are radially floating or angularly compensated by a floating device according to the curvature and local surface changes of the cylindrical rod surface to maintain the cleaning contact pressure.

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