A pole climbing cleaning robot

Abstract

A pole climbing cleaning robot comprises an upper climbing unit and a lower climbing unit, the upper climbing unit and the lower climbing unit are identical in structure, each of the upper climbing unit and the lower climbing unit comprises a frame, a transmission mechanism is installed on the upper part of each frame, and the transmission mechanism drives a main shaft to rotate; the main shaft of the upper climbing unit extends out of the frame at both ends and is hingedly connected with a crank respectively; the main shaft of the lower climbing unit extends out of the frame at both ends and is hingedly connected with a connecting rod respectively; the crank and the connecting rod are hingedly connected; two groups of screw rod mechanisms are installed on the lower part of each frame, each group of screw rod mechanisms drives a group of cam plates to slide left and right; the opposite ends of the two groups of cam plates are hingedly connected with a connecting rod and a bent arm in sequence, the inflection point of the bent arm is rotatably connected with the frame, and the outer end of the bent arm is provided with a clamping jaw, and the clamping jaws on the left and right sides tightly hold or release the pipeline. The pole climbing cleaning robot can be used as a deep-sea pipeline maintenance device, and safety and reliability are improved.

Description

Technical Field

[0001] This utility model relates to the field of ship cleaning, and in particular to a pole-climbing cleaning robot. Background Technology

[0002] Currently, after years of service, the longitudinal pipes of ships often suffer from corrosion and damage due to scale buildup or paint peeling on the outer walls, affecting structural safety. Furthermore, failure to promptly clean the peeling paint can lead to failure to pass port state control inspections, resulting in changes to the ship's transport plans.

[0003] Currently, most ship cleaning devices used in China are combinations of high-pressure water hoses and nozzles. They rely on high-pressure water flow to clean pipes, solving the problem of pipe cleaning and maintenance. However, such cleaning devices cannot be connected to ultra-long water pipes at high altitudes, causing them to sway during forward movement, making it difficult to guarantee the cleaning effect and even affecting the operational stability of the cleaning robot. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a pole-climbing cleaning robot that can stably climb on the longitudinal pipes of a ship and clean the outer wall of the pipe.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0006] A pole-climbing cleaning robot includes an upper climbing unit and a lower climbing unit. The upper and lower climbing units have the same structure, each including a frame. A conveying mechanism is installed in the upper part of each frame, which drives the main shaft to rotate. The two ends of the main shaft of the upper climbing unit extend out of the frame and are respectively hinged to cranks. The two ends of the main shaft of the lower climbing unit extend out of the frame and are respectively hinged to connecting rods. The cranks and connecting rods are hinged together. Two sets of lead screw mechanisms are installed in the lower part of each frame. Each set of lead screw mechanisms drives a set of cam plates to slide left and right. The opposite ends of the two sets of cam plates are sequentially hinged to connecting rods and bending arms. The inflection point of the bending arms is rotatably connected to the frame. The outer end of the bending arms is equipped with grippers, which grip or release the pipe.

[0007] The transmission mechanism includes a stepper motor, the output end of which is connected to a drive gear. The drive gear meshes with a transmission gear, which is mounted on the main shaft.

[0008] The lead screw mechanism includes a lead screw motor, the output shaft of which is connected to the lead screw via a coupling. Two sets of lead screws are arranged in opposite directions, and each lead screw is threadedly connected to a cam plate, which is slidably mounted on a slide block.

[0009] The climbing unit is equipped with brushes, which are driven to rotate by a brush motor.

[0010] A painting device is installed at the bottom of the lower climbing unit.

[0011] The upper climbing unit and the lower climbing unit are guided by guide rod 46.

[0012] The frame includes a front plate, a rear plate, and a top plate, which are detachably connected as a whole by bolts.

[0013] This utility model provides a pole-climbing cleaning robot, which has the following technical effects:

[0014] 1) The problem of high-altitude climbing of this device can be solved by adopting a dual climbing unit structure; the purpose of using claws instead of wheels is: 1) to reduce the contact area with the pole, thereby reducing the possibility of damaging the pole's paint surface; 2) by adopting an upper climbing unit and a lower climbing unit, it can prevent falls caused by a single claw failing to close during upward movement.

[0015] 2) This device can complete the spraying of new paint, provide immediate anti-corrosion maintenance, and avoid secondary high-altitude operations.

[0016] 3) This device avoids manual operation and is suitable for operation in dangerous areas, such as the masts of ocean-going ships or the vertical poles inside the engine room. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0018] Figure 1 This is a schematic diagram of the installation structure of this utility model.

[0019] Figure 2 This is the left view of the installation of this utility model.

[0020] Figure 3 This is a schematic diagram of the structure of the present invention (first perspective).

[0021] Figure 4 This is a schematic diagram of the structure of the present invention (second perspective).

[0022] Figure 5 This is a partial structural schematic diagram of the present invention (first view).

[0023] Figure 6 This is a partial structural schematic diagram of the present invention (second perspective).

[0024] Figure 7 This is a schematic diagram of the structure that drives the crank motion in this utility model.

[0025] Figure 8 This is a top view of the drive gripper movement in this utility model.

[0026] Figure 9This is a schematic diagram of the installation of the guide rod in this utility model.

[0027] Figure 10 This is a partial front view of the present invention.

[0028] In the diagram: Rear plate 1, Stepper motor 2, Drive gear 3, Front plate 4, Main shaft 5, Transmission gear 6, Motor mounting plate 7, Gripper 8, Cam plate 9, Connecting rod 9.1, Bend arm 9.2, Slide 10, Connecting rod 11, Friction plate 12, Lead screw 13, Lead screw motor 14, Coupling 15, Top plate 16, Pin 17, Crank 18, Painting device 19, Brush 20, Brush motor 21, Guide rod 22, Upper climbing unit 23, Lower climbing unit 24, Pipe 25. Detailed Implementation

[0029] like Figure 1-4 As shown, a pole-climbing cleaning robot includes an upper climbing unit 23 and a lower climbing unit 24. The main structures of the upper climbing unit and the lower climbing unit are roughly the same, both including a frame. The frame includes a front plate 4, a rear plate 1 and a top plate 16. The front plate 4 and the rear plate 1 are connected and fixed together by a first connecting bolt. The top plate 16 is connected and fixed to the front plate 4 and to the rear plate 1 by a second connecting bolt.

[0030] like Figure 7 As shown, a motor mounting plate 7 is installed on the rear plate 1 of each frame. A stepper motor 2 is mounted on the motor mounting plate 7. The output end of the stepper motor 2 is connected to the drive gear 3, which meshes with the transmission gear 6. The transmission gear 6 is mounted on the main shaft 5. The stepper motor 2 drives the main shaft 5 to rotate through the gear transmission mechanism. The main shaft 5 is rotatably mounted on the rear plate 1 through four sets of bearing assemblies to increase the structural stability of the device.

[0031] The main shaft 5 of the upper climbing unit extends out of the frame at both ends and is hinged to a crank 18 at each end. The main shaft 5 of the lower climbing unit extends out of the frame at both ends and is hinged to a connecting rod 11 at each end. The cranks 18 and the connecting rods 11 are hinged to each other via pins 17.

[0032] like Figure 8As shown, in addition, a slide block 10 is horizontally mounted on the rear plate 1 inside each frame, located below the main shaft 5. Two sets of lead screw motors 14 are arranged in the middle of the slide block 10. The output shaft of each set of lead screw motors 14 is connected to a lead screw 13 through a coupling 15. The two sets of lead screws 13 are arranged opposite to each other. Each lead screw 13 is threadedly connected to a cam plate 9, and each cam plate 9 is slidably mounted on the slide block 10. One side of the cam plate 9 is hinged to a connecting rod 9.1, and the other end of the connecting rod 9.1 is hinged to a bending arm 9.2. The bending arm 9.2 is a bent rod, and the inflection point of the bent rod is rotatably connected to the front plate 4 through a pin. A gripper 8 is installed on the outer end of the bending arm 9.2 outside the front plate 4. Both grippers 8 are arc-shaped and form a surrounding ring that covers the pipe.

[0033] When the lead screw motor 14 drives the lead screw 13 to rotate, the lead screw 13 drives the cam plate 9 to slide left and right along the slide block 10. When the two cam plates 9 are relatively close, the bending arm 9.2 rotates outward, and the two grippers 8 open; when the two cam plates 9 are relatively far apart, the bending arm 9.2 rotates inward, and the two grippers 8 close together.

[0034] Furthermore, since the two lead screw motors 14 can independently drive the cam plate 9, the relative position of the pole-climbing cleaning robot and the pipeline can be changed by controlling different lead screw motors 14 separately. One gripper 8 can be made to retract inward while the other gripper 8 is appropriately opened outward, allowing the pole-climbing cleaning robot to move horizontally in the left and right directions relative to the column at the same height to avoid obstacles or adapt to the object being climbed.

[0035] Preferably, a guide rod 22 is installed between the upper climbing unit and the lower climbing unit. The guide rod 22 freely passes through the top plate 16 of the lower climbing unit and is fixedly connected to the front plate 4 of the upper climbing unit. By setting the guide rod 22, when the main shaft 5 of the upper climbing unit rotates and drives the lower climbing unit to climb, the pole-climbing cleaning robot always moves along the direction of the guide rod 22, preventing the pole-climbing cleaning robot from losing balance and maintaining the stability of the equipment operation.

[0036] Preferably, a brush 20 is installed at the upper climbing unit, and the brush 20 is driven to rotate by a brush motor 21. The arc-shaped brush is designed with flexible bristles, which fit against the tube wall when rotating to avoid impact. It is mainly used to prevent the expansion of the damaged area due to local paint peeling or damage (local damage caused by weathering or collision).

[0037] Preferably, a painting device 19 is installed at the bottom of the lower climbing unit. The painting device 19 can be the painting device in the patent "An automatic painting device and automatic painting method for the inner wall of a wind turbine tower" with application number "201710286731.0".

[0038] Preferably, the inner wall of the gripper 8 is provided with a friction plate 12. The friction plate 12 is made of strip-shaped rubber. The advantage of using PP polypropylene is that it can reduce the protection of the paint on the rod and prevent the robot from slipping due to insufficient friction.

[0039] Preferably, the device is equipped with a ground-based control system, which is electrically connected to the robot and controls the robot's climbing movements, brush cleaning, and spraying by the spraying device. The control system includes a PLC controller, sensors, a speed controller, and a remote controller.

[0040] This application, along with the patent application number "201721112546.1" entitled "A High-Imitation Robot Specifically for Climbing Thin Rods," both employ a crank-connecting rod mechanism for climbing, thus their basic climbing principles are consistent. The difference lies in this application's inclusion of cleaning and painting functions. First, cleaning is performed. Upon reaching a point where the paint on a ship's mast or interior vertical pole has oxidized or corroded, exposing the metal surface (maintenance is performed when the area is small), the remaining paint is brushed away. After cleaning the mast or interior vertical pole, the robot is climbed again for painting. The painting in this application serves as a temporary substitute, providing a temporary solution before the ship is moored or undergoes major repairs.

[0041] The difference between this application and the aforementioned prior art is that:

[0042] 1) This application uses a stepper motor to drive the main shaft 5, which drives the cranks and connecting rods on both sides to rotate. Compared with the above-mentioned patent, this simplifies the structure and reduces the failure rate.

[0043] 2) This application is equipped with an electric brush and a spray painting device, which can first clean up the paint that is about to peel off from high places, and then spray paint; secondly, the application object of this application is clear (applied to vertical pipes in ship masts or engine rooms, which are subject to the risk of crew members working in the wind and waves during the voyage of ocean-going ships, and if left unattended, the peeling area will increase).

[0044] 3) In this application, the screw mechanism held by the gripper 8 of the upper climbing unit 23 and the lower climbing unit 24 is driven independently from the crank connecting rod mechanism of the upper climbing unit 23 and the lower climbing unit 24. That is, the opening of the gripper 8 is adjustable, rather than fixed. In this way, when there are some installation parts on the side wall of the ship's mast or engine room vertical pipe (pole), the gripper 8 in this application can adjust the opening size as needed, so as to successfully overcome the obstacle.

Claims

1. A pole-climbing cleaning robot, characterized in that: It includes an upper climbing unit (23) and a lower climbing unit (24). The upper climbing unit (23) and the lower climbing unit (24) have the same structure, both including a frame. A transmission mechanism is installed in the upper part of each frame, and the transmission mechanism drives the main shaft (5) to rotate. The two ends of the main shaft (5) of the upper climbing unit (23) extend out of the frame and are respectively hinged to the crank (18); the two ends of the main shaft (5) of the lower climbing unit (24) extend out of the frame and are respectively hinged to the connecting rod (11). Connect; the crank (18) and the connecting rod (11) are hinged; two sets of screw mechanisms are installed in the lower part of each frame, and each set of screw mechanisms drives a set of cam plates (9) to slide left and right; the two sets of cam plates (9) are hinged to the opposite ends of the connecting rod (9.1) and the bending arm (9.2) in sequence. The inflection point of the bending arm (9.2) is rotatably connected to the frame. The outer end of the bending arm (9.2) is equipped with a gripper (8). The left and right grippers (8) clamp or loosen the pipe.

2. The pole-climbing cleaning robot according to claim 1, characterized in that: The transmission mechanism includes a stepper motor (2), the output end of which is connected to a drive gear (3), the drive gear (3) meshes with a transmission gear (6), and the transmission gear (6) is mounted on the main shaft (5).

3. The pole-climbing cleaning robot according to claim 1, characterized in that: The lead screw mechanism includes a lead screw motor (14), the output shaft of which is connected to the lead screw (13) via a coupling (15). Two sets of lead screws (13) are arranged opposite to each other. Each lead screw (13) is threadedly connected to a cam plate (9), and the cam plate (9) is slidably arranged on the slide (10).

4. The pole-climbing cleaning robot according to claim 1, characterized in that: A brush (20) is installed on the climbing unit (23), and the brush (20) is driven to rotate by the brush motor (21).

5. The pole-climbing cleaning robot according to claim 1, characterized in that: A painting device (19) is installed at the bottom of the lower climbing unit (24).

6. The pole-climbing cleaning robot according to claim 1, characterized in that: The upper climbing unit (23) and the lower climbing unit (24) are guided by a guide rod (22).

7. A pole-climbing cleaning robot according to claim 6, characterized in that: The frame includes a front plate (4), a rear plate (1) and a top plate (16), which are detachably connected as a whole by bolts.

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