A cleaning robot for high energy pulse shock wave wind tunnel

Abstract

The present invention provides a cleaning robot for a high-energy pulse shock wave wind tunnel. The cleaning robot for a high-energy pulse shock wave wind tunnel of the present invention comprises a brush roller system, a walking system, a dirt collection system and a control system connected in sequence, the brush roller system comprises a brush roller and a brush roller motor for driving the brush roller to rotate, and spray holes for spraying cleaning media are distributed on the outer wall of the brush roller, the walking system comprises a walking device for walking and a medium conveying device for conveying cleaning media to the spray holes, the medium conveying device is connected to the spray holes through a medium conveying pipe, the dirt collection system comprises a spring hose matching the wind tunnel pipeline and a dust collecting bag arranged downstream of the spring hose, and the control system is connected to the brush roller motor and the power mechanism of the walking system through a cable to control it. The cleaning robot of the present invention can effectively solve the problems of high-energy pulse shock wave wind tunnel cleaning being difficult, having a lot of oil pollution, having a long laying length, and being time-consuming and labor-intensive.

Description

Technical Field

[0001] The invention relates to the technical field of aerospace ground simulation tests, in particular to a cleaning robot for a high-energy pulse shock wave wind tunnel. Background Art

[0002] Usually, before the test, a high-energy pulse shock wind tunnel needs to be filled with high-pressure test gas in the shock tube. Under the compression of the upstream equipment, the high-pressure gas expands and generates a shock wave that moves rapidly toward the low-pressure gas area. The test requires that the gas pressure in the shock tube is stable and the established flow field is uniform and constant. But in fact, after each test is completed, a certain amount of dirt, dust and even aging rubber particles on the sealing ring will be generated. When similar impurities accumulate, it will affect the gas stability in the shock tube and also damage the quality of the flow field. Therefore, after the high-energy pulse shock wind tunnel completes the high-temperature and high-pressure test, the dust generated in the pipeline needs to be cleaned in time.

[0003] At present, the commonly used cleaning method is: place a cotton ball with the same diameter as the pipe in the pipe, apply alcohol and acetone on its surface manually, and clean the pipe wall by dragging it with a rope tied to the ball. When using the current cleaning method, on the one hand, it is not easy to place the rope for dragging the cotton ball on both sides of the pipe, which is inconvenient to operate, and each time the pipe is cleaned, it needs to be dragged about ten times, and the manual cleaning operation is laborious and time-consuming; on the other hand, alcohol and acetone are flammable and explosive, and they produce friction with the pipe wall in a closed space, which poses a safety hazard to personal safety. Therefore, it is necessary to safely modify the cleaning method of the wind tunnel blowing pipe body.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The object of the present invention is to provide a cleaning robot for a high-energy pulse shock wind tunnel, which can effectively solve the problems of high-energy pulse shock wind tunnel cleaning, such as great difficulty, high oil pollution, long laying length, and time-consuming and labor-intensive problems.

[0006] The present invention provides a cleaning robot for a high-energy pulse shock wave wind tunnel, comprising a brush roller system, a walking system, a dirt collection system and a control system connected in sequence, the brush roller system comprising a brush roller and a brush roller motor for driving the brush roller to rotate, spray holes for spraying cleaning media are distributed on the outer wall of the brush roller, the walking system comprises a walking device for walking and a medium conveying device for conveying cleaning media to the spray holes, the medium conveying device is connected to the spray holes through a medium conveying pipe, the dirt collection system comprises a spring hose matched with the wind tunnel pipeline and a dust collecting bag arranged downstream of the spring hose, and the control system is connected to the brush roller motor and a power mechanism of the walking system through cables to control them.

[0007] Furthermore, the brush roller is detachably mounted on the output end of the brush roller motor, the brush roller motor is connected to the travel system through the conveying housing, and the power cord and the medium conveying pipe of the brush roller motor are respectively connected to the control system and the medium conveying device through the conveying housing.

[0008] Furthermore, the brush roller system also includes a push rod arm arranged on the conveying shell, one end of the push rod arm is fixed on the conveying shell, and the other end of the push rod arm is hinged to the walking system.

[0009] Furthermore, the brush roller includes a cylindrical body, a center hole is provided in the center of the cylindrical body, and multiple groups of spray holes are provided on the side wall of the cylindrical body, each group of spray holes includes multiple spray holes arranged at intervals along the axial direction of the cylindrical body, and multiple medium conveying channels are provided between the center hole of the cylindrical body and the side wall of the cylindrical body, and each medium conveying channel is connected to a group of spray holes.

[0010] Furthermore, the walking device includes a walking drive motor and a crawler walking mechanism, the crawler walking mechanism includes a track half-shaft, a track wheel hub and a crawler track, the walking drive motor is connected to the track half-shaft to drive the track half-shaft to rotate, the crawler track is sleeved on the outside of the track wheel hub, and the track half-shaft is connected to the track wheel hub at the end of the crawler track through a universal joint.

[0011] Furthermore, the medium conveying device includes a medium container and a medium conveying motor. The medium container has a feeding port for adding cleaning medium. The medium conveying motor is connected to the medium container to convey the cleaning medium in the medium container to the spray hole.

[0012] Furthermore, the walking system also includes a shell, and the walking device and the medium conveying device are arranged on the shell. The shell is also provided with front and rear high-definition cameras, which are fixed to the shell through height adjustment support rods and connected to the control system through cables.

[0013] Furthermore, a lighting device, a lifting ring and a cable interface are provided on the shell, the lighting device is connected to the control system via a cable, the sewage collection system is detachably connected to the walking system via the lifting ring, and the cable is connected to the control system via the cable interface.

[0014] Furthermore, the control system includes a control box, in which a processing output unit and a high-definition display connected to the processing output unit, a brush roller control switch, a medium conveying control switch and a travel control rocker are arranged.

[0015] Furthermore, the control system also includes a take-up reel, on which the cable is wound and connected to the processing output unit.

[0016] The implementation of the present invention has at least the following advantages:

[0017] 1. The cleaning robot of the present invention is provided with a brush roller with a spray hole and a medium conveying device for conveying a cleaning medium to the spray hole. Wrapping foam and cotton cloth on the brush roller can realize automatic spraying of the cleaning medium to soak the foam and cotton cloth. Spraying and soaking the foam and cotton cloth anytime and anywhere can avoid the rework problem caused by insufficient cleaning medium during the pipeline cleaning process of the robot, and eliminates the potential danger of manually soaking the cotton cloth, saving time, ensuring personnel safety, and having real-time performance.

[0018] 2. The cleaning robot of the present invention can adjust parameters such as brush roller speed, cleaning medium spraying amount, and walking speed through the control system. Users can adjust according to cleaning needs. For example, when there is a lot of oil pollution in a certain area of ​​the wind tunnel pipeline, the brush roller speed can be increased, and an appropriate amount of cleaning medium can be sprayed to improve the cleaning effect. The operation is simple;

[0019] 3. The cleaning robot of the present invention connects the brush roller and the spring hose to the walking system in a detachable manner, so that the brush roller and the spring hose of different diameters can be replaced according to the inner diameters of different wind tunnel pipe bodies, and has a wide range of applications; in addition, by arranging the take-up reel at the entrance of the wind tunnel pipe, it is effectively avoided that the pulling rope causes continuous damage to a certain part of the pipe body when the robot is recovered, and the robot can be recovered quickly and efficiently;

[0020] 4. The cleaning robot of the present invention can control the walking device through the control system, so it is suitable for cleaning the wind tunnel duct with both ends open or one end open. When both ends of the wind tunnel duct are open, the robot can enter from one end and drive out from the other end; when one end of the wind tunnel duct is open, the robot can go back to the entrance end after walking to the end of the other end, thereby satisfying the operability required by different users;

[0021] 5. The cleaning robot of the present invention can adapt to different pipe wall curvatures by installing universal joints on the track half-axles, which can effectively increase the contact area between the track and the pipe wall, greatly improving the passability of the cleaning robot under different working conditions; in addition, by setting up high-definition cameras, it can not only provide road condition information to the robot operator in real time, but also the user can monitor the use of the wind tunnel pipe (such as crack defects, types of roadblocks, etc.), which provides a strong basis for technicians to design, operate and maintain wind tunnels;

[0022] 6. The cleaning robot of the present invention can solve the problems of high-energy pulse shock wind tunnel cleaning, such as great difficulty, high oil pollution, long laying length, time-consuming and labor-intensive problems. It has the characteristics of cleaning pipelines, recovering dirt generated by wind tunnel tests, adapting to wind tunnel pipe diameters, high passability, and automatic spraying of cleaning media. It has broad production prospects, good feasibility, and simple operation. It can safely, quickly and effectively clean the entire high-energy pulse shock wind tunnel pipe body, with high cleaning efficiency and good cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic structural diagram of a cleaning robot for a high energy pulse shock wave wind tunnel according to an embodiment;

[0025] Figure 2 It is a structural schematic diagram of a brush roller system according to one embodiment;

[0026] Figure 3 It is a structural schematic diagram of a walking system in one embodiment;

[0027] Figure 4 It is a schematic structural diagram of a sewage collection system according to one embodiment;

[0028] Figure 5 It is a schematic structural diagram of a control system according to one implementation mode.

[0029] Description of reference numerals:

[0030] 1: brush roller system; 101: brush roller; 102: brush roller motor; 103: conveying housing; 104: push rod arm;

[0031] 2: Travel system; 201: Front and rear high-definition cameras; 202: Support plate; 203: Connecting plate; 204: Shell; 205: Lifting ring; 206: Lighting device; 207: Cable interface; 208: Track axle; 209: Track wheel hub; 210: Track; 211: Medium conveying motor; 212: Medium container; 213: Travel drive motor;

[0032] 3: Dirt collection system; 301: Steel rope; 302: Spring hose; 303: Dust bag;

[0033] 4: control system; 401: cable; 402: take-up reel; 403: control box; 404: high-definition display; 405: medium conveying control switch; 406: travel control rocker; 407: brush roller control switch; 408: lighting device switch; 409: push rod arm control switch; 410: power cord. DETAILED DESCRIPTION

[0034] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form also includes the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this description, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Example 1

[0038] Combination Figures 1 to 5 As shown, the cleaning robot for the high-energy pulse shock wave wind tunnel of this embodiment includes a brush roller system 1, a walking system 2, a dirt collection system 3 and a control system 4 which are connected in sequence. The brush roller system 1 includes a brush roller 101 and a brush roller motor 102 for driving the brush roller 101 to rotate. Spray holes for spraying cleaning medium are distributed on the outer wall of the brush roller 101. The walking system 2 includes a walking device for walking and a medium conveying device for conveying cleaning medium to the spray holes. The medium conveying device is connected to the spray holes through a medium conveying pipe. The dirt collection system 3 includes a spring hose 302 matching the wind tunnel pipeline and a dust bag 303 arranged downstream of the spring hose 302. The control system 4 is connected to the brush roller motor 102 and the power mechanism of the walking system 2 through a cable 401 to control them.

[0039] The brush roller system 1 includes a brush roller 101 and a brush roller motor 102 for driving the brush roller 101 to rotate. The outer wall of the brush roller 101 is provided with spray holes for spraying cleaning media. When in use, the cleaning material can be wrapped on the brush roller 101 by wrapping cotton cloth with the outer layer of foam, and the cleaning medium can be sprayed onto the surface of the foam and cotton cloth through the spray holes. This method can make the brush roller 101 fully contact with the pipe wall of the wind tunnel pipe, which has the beneficial effects of reducing the overall weight and elastically adjusting the gap; at the same time, wrapping the foam and cotton cloth on the brush roller 101 can realize automatic spraying of the cleaning medium to soak the foam and cotton cloth. Spraying and soaking the foam and cotton cloth anytime and anywhere can avoid the rework problem caused by insufficient cleaning medium during the pipeline cleaning process of the robot, and eliminate the potential danger of manually soaking the cotton cloth, saving time, ensuring personnel safety, and having real-time performance.

[0040] There is no strict restriction on the specific structure of the brush roller 101, as long as the above-mentioned cleaning function can be achieved. Specifically, the brush roller 101 may include a cylindrical body, with a center hole provided in the center of the cylindrical body; a plurality of groups of spray holes are provided on the side wall of the cylindrical body, each group of spray holes includes a plurality of spray holes arranged at intervals along the axial direction of the cylindrical body, and a plurality of medium conveying channels are provided between the center hole of the cylindrical body and the side wall of the cylindrical body, and each medium conveying channel is connected to a group of spray holes. In addition, rectangular grooves corresponding to the spray holes can be provided on the brush roller 101, and each spray hole can be provided in its corresponding rectangular groove. There is no strict restriction on the number of rectangular grooves and spray holes, and the content of cleaning media such as alcohol in foam and cotton cloth can be controlled by processing an appropriate number according to user needs. For example, four groups of spray holes can be provided on the side wall of the cylindrical body, and the four groups of spray holes are evenly distributed on the circumference of the cylindrical body.

[0041] The brush roller 101 can be detachably mounted on the output end of the brush roller motor 102, so that it is convenient to replace brush rollers 101 of different diameters according to the different inner diameters of the wind tunnel tube, so as to expand the application range of the cleaning robot; specifically, the brush roller 101 and the brush roller motor 102 can be connected through rods and flanges, and the power line of the brush roller motor 102 is connected to the inside of the walking system 2 through the conveying housing 103. In addition, the brush roller motor 102 can be arranged downstream of the brush roller 101, so that the brush roller 101 can be directly driven to rotate, avoiding mechanical loss and efficiency loss.

[0042] Further, the brush roller motor 102 can be connected to the travel system 2 through the conveying housing 103, and the power cord and medium conveying pipe of the brush roller motor 102 can be arranged in the conveying housing 103, and connected to the control system 4 and the medium conveying device through the conveying housing 103 respectively. In addition, the brush roller system 1 can also include a push rod arm 104 arranged on the conveying housing 103, which is used to be driven by the motor to lift and clean when necessary; one end of the push rod arm 104 can be fixed on the conveying housing 103, and the other end of the push rod arm 104 can be hinged on the travel system 2; more specifically, the brush roller system 1 can achieve the power transmission of the push rod arm 104 lifting by meshing the bevel gear arranged downstream of the conveying housing 103 with the power gear on the travel drive motor 213 in the travel system 2. The push rod arm 104 is used to flexibly control the lifting height when the robot is lifted, thereby controlling the lifting angle, and the length of the push rod arm 104 can be customized according to user requirements to achieve multi-angle cleaning.

[0043] The walking system 2 mainly includes a walking device for walking and a medium conveying device for conveying cleaning medium to the spray hole; there is no strict restriction on the specific structure of the walking device and the medium conveying device, as long as the required walking function and cleaning medium conveying function can be achieved.

[0044] Specifically, the walking device may include a walking drive motor 213 and a crawler walking mechanism, the crawler walking mechanism includes a crawler half shaft 208, a crawler wheel hub 209 and a crawler 210, the walking drive motor 213 is connected to the crawler half shaft 208 to drive the crawler half shaft 208 to rotate, the crawler 210 is sleeved on the outside of the crawler wheel hub 209, and the crawler half shaft 208 is connected to the crawler wheel hub 209 at the end of the crawler 210 through a universal joint. The walking system 2 uses the crawler half shaft 208, the crawler wheel hub 209 and the crawler 210 as the walking parts of the robot, and the crawler 210 is adapted to the curvature of the wall of different pipe diameters by installing a universal joint on the crawler half shaft 208, which can effectively increase the contact area between the crawler 210 and the pipe wall, increase the grip and obstacle crossing ability, and greatly improve the robot's passability under different working conditions.

[0045] The track half shaft 208, track wheel hub 209, and track 210 are the walking parts of the robot. The wind tunnel ground simulation experiment may involve different working media, which may cause the inner wall of some tubes to accumulate excessive oil, dust, and even large rubber particles after hundreds or thousands of uses. Traditional wheeled walking may cause stuck, slipping, etc., and its passability cannot meet the environment in the wind tunnel pipe. The tracked walking has better grip and obstacle crossing ability, and can also better adapt to the curvature of the inner wall. Therefore, taking the track half shaft 208, track wheel hub 209, and track 210 as the walking parts of the robot can produce a better walking effect; at the same time, a universal joint is set on the track half shaft 208 to adapt to the rotation of the half shaft in any direction.

[0046] The medium conveying device may include a medium container 212 and a medium conveying motor 211. The medium container 212 has a feeding port for adding a cleaning medium and an output port for connecting a travel drive motor 213. The medium conveying motor 211 is connected to the medium container 212 to convey the cleaning medium in the medium container 212 to the spray hole. The medium conveying motor 211 outputs the pressurized flowing cleaning medium to the spray hole through the medium conveying pipe.

[0047] Furthermore, the walking system 2 may also include a housing 204, on which the walking device and the medium conveying device may be arranged, and the walking drive motor 213 may output power to the crawler half shaft 208 and the conveying housing 103; in addition, a support plate 202 is arranged on the housing 204, which may be used to support the push rod arm 104. The housing 204 also includes front and rear high-definition cameras 201, which may be integrated cameras or separate front and rear high-definition cameras, and the front and rear high-definition cameras may be connected via a connecting plate 203; in addition, the front and rear high-definition cameras 201 may be fixed to the housing 204 via a height-adjusting support rod and connected to the control system 4 via a cable 401, and in this case, the camera is a retractable camera, and the radial height of the high-definition camera may be adjusted by lifting the support rod. The front and rear high-definition cameras 201 can provide the robot operator with road condition information in real time. The operator can also monitor the usage of the wind tunnel pipe (such as crack defects, types of roadblocks, defects on the inner wall of the wind tunnel pipe, etc.), and provide timely feedback on the walking road conditions to the operator, providing a strong basis for the technicians to design, operate and maintain the wind tunnel.

[0048] In addition, a lighting device 206, a hanging ring 205 and a cable interface 207 can be provided on the housing 204. The lighting device 206 can be an LED lamp, which can reduce energy consumption. Two LED lamps are arranged on the front and rear sides of the housing 204 respectively. The walking lighting light can enable the high-definition camera to clearly observe the actual situation in the wind tunnel duct. The lighting device 206 is connected to the control system 4 through the cable 401. The hanging ring 205 is used to connect with the sewage collection system 3, and the sewage collection system 3 is detachably connected to the walking system 2 through the hanging ring 205. The cable interface 207 is used to output the control signal of the brush roller motor 102, the control signal of the medium conveying motor 211, the control signal of the walking drive motor 213, and the front and rear high-definition camera 201 signals to the control system 4. Each cable 401 can be connected to the control system 4 through the cable interface 207.

[0049] More specifically, the housing 204 can be composed of an upper housing and a lower housing. The upper housing can be processed with lower housing mounting holes and eyelet threaded holes; the lower housing can be processed with front and rear LED light mounting holes, cable mounting holes, and track axle mounting holes. After the upper and lower housings are processed, they can be assembled by bolt connection. In addition, the medium conveying motor 211, the medium container 212, and the travel drive motor 213 can be arranged inside the lower housing.

[0050] The sewage collection system 3 mainly includes a steel rope 301, a spring hose 302 and a dust bag 303. The steel rope 301 can be connected to the lifting ring 205 on the walking device; the outer diameter of the spring hose 302 can match the inner diameter of the pipeline, so as to play a better supporting role; the dust bag 303 downstream of the spring hose 302 can be quickly opened, and an assembly hole is provided in the dust bag 303. The cable 401 passes through the assembly hole and passes out from the dust bag 303 to the downstream control system 4, so as to realize the connection between the walking system 2, the sewage collection system 3 and the control system 4. The spring hose 302 can be installed in a detachable manner, so that it is convenient to replace the spring hose 302 of different diameters according to the inner diameter of the different pipe bodies, and the application range is wider.

[0051] The control system 4 is used to control other systems. The control system 4 includes a control box 403, in which a processing output unit and a high-definition display 404 connected to the processing output unit, a medium conveying control switch 405, a travel control rocker 406 and a brush roller control switch 407 are provided.

[0052] More specifically, the control box 403 may be provided with an air plug interface, an outer shell 204, a processing output unit, a high-definition display 404, a medium conveying control switch 405, a walking control rocker 406, a brush roller control switch 407, a lighting device control switch 408, and a push rod arm control switch 409. The processing output unit is used to process the brush roller motor 102 control signal, the medium conveying motor 211 control signal, the walking drive motor 213 control signal, and the front and rear high-definition camera 201 signal transmitted by the cable 401, and on the other hand, the output medium conveying control switch 405 signal, the brush roller 101 control signal, and the walking control signal are transmitted to the medium conveying control switch 405, the brush roller control switch 407, and the walking control rocker 406, respectively, so that the user can adjust the rotation speed of the brush roller 101, the walking speed of the robot, and other parameters in real time during operation. The control box 403 is also provided with a power line 410, and the power supply can use a 36V input voltage, which is less than the human body safety voltage and has good safety.

[0053] In addition, the control system 4 also includes a take-up drum 402. The cable 401 is connected to the take-up drum 402 after passing through the dust bag 303. The cable 401 is wound on the take-up drum 402 and connected to the processing output unit. Since the wind tunnel pipe is generally long, it is difficult to collect the control cable 401, and it is difficult to recover the robot if the walking system 2 fails. Therefore, a take-up drum 402 is set at the outlet end of the wind tunnel pipe body to effectively avoid the above situation.

[0054] The working process of the high energy pulse shock wave wind tunnel cleaning robot of the present invention is as follows:

[0055] ① Put foam on the brush roller 101, and wrap cotton cloth on the outer layer of the foam to fix it;

[0056] ② Add sufficient amount of cleaning medium into the medium container 212;

[0057] ③ Plug in the cable 401, put the robot into the appropriate position in the pipeline, fix the take-up reel 402 and the sewage collection system 3, plug in the power cord 410, turn on the control box 403, and turn on the lighting device 206 (if the height of the push rod arm 104 needs to be adjusted, turn on the push rod arm control switch 409);

[0058] ④ Turn on the medium delivery control switch 405, spray the cleaning medium fully into the foam and cotton cloth, make them soaked, and then turn it off;

[0059] ⑤ Turn on the brush roller control switch 407, adjust the speed of the brush roller 101 to a suitable value, and then control the travel control rocker 406 to move forward or backward to a suitable position to clean the dirt in the pipeline;

[0060] ⑥ After a round of cleaning, if both ends of the pipe are open, the robot will be directly driven to the other exit to recover the robot; if one end of the pipe is open, the robot will be controlled to retreat to the entrance to recover the robot;

[0061] ⑦ Turn off the brush roller control switch 407 and the lighting device control switch 408 in sequence, turn off the power, remove the foam, cotton cloth, and dust bag 303 and clean or replace them.

[0062] The cleaning robot of this embodiment is provided with a brush roller 101 with a spray hole and a medium conveying device for conveying a cleaning medium to the spray hole. Foam and cotton cloth are wrapped on the brush roller 101 to realize automatic spraying of the cleaning medium to soak the foam and cotton cloth. Spraying and soaking the foam and cotton cloth anytime and anywhere can avoid the problem of rework caused by insufficient cleaning medium during the pipeline cleaning process of the robot, and eliminates the potential dangers of manually soaking the cotton cloth, saving time, ensuring personnel safety, and at the same time being real-time.

[0063] The cleaning robot of this embodiment can adjust parameters such as the rotation speed of the brush roller 101, the amount of cleaning medium sprayed, and the walking speed through the control system 4. The user can make adjustments according to the cleaning needs. For example, when there is a lot of oil in a certain area of ​​the wind tunnel pipe, the rotation speed of the brush roller 101 can be increased, and an appropriate amount of cleaning medium can be sprayed to improve the cleaning effect. The operation is simple.

[0064] The cleaning robot of this embodiment connects the brush roller 101 and the spring hose 302 to the walking system 2 in a detachable manner, so that the brush roller 101 and the spring hose 302 of different diameters can be replaced according to the inner diameters of different wind tunnel tubes, and has a wide range of applications; in addition, by arranging the take-up reel 402 at the entrance of the wind tunnel pipe, continuous damage to a certain part of the tube body caused by pulling the rope when recovering the robot is effectively avoided, and the robot can be recovered quickly and efficiently.

[0065] The cleaning robot of this embodiment can control the walking device through the control system 4, so that it is suitable for cleaning conditions where both ends of the wind tunnel duct are open or one end is open. When both ends of the wind tunnel duct are open, the robot can enter from one end and exit from the other end; when one end of the wind tunnel duct is open, the robot can reverse and return to the entrance end after walking to the end of the other end, thereby meeting the operability requirements of different users.

[0066] The cleaning robot of this embodiment can adapt the track 210 to the curvature of the wall of pipes with different diameters by installing a universal joint on the track half-shaft 208, which can effectively increase the contact area between the track 210 and the pipe wall, and greatly improve the passability of the cleaning robot under different working conditions; in addition, by setting up a high-definition camera, not only can the road condition information be provided to the robot operator in real time, but the user can also monitor the usage conditions in the wind tunnel pipe at the same time (such as the occurrence of crack defects, the type of roadblocks, etc.), which provides a strong basis for technical personnel to design, operate and maintain the wind tunnel.

[0067] The cleaning robot of this embodiment can solve the problems of high-energy pulse shock wind tunnel cleaning, such as great difficulty, high oil pollution, long laying length, time-consuming and labor-intensive problems. It has the characteristics of cleaning pipelines, recovering dirt generated by wind tunnel tests, adapting to wind tunnel pipe diameters, high passability, and automatic spraying of cleaning media. It has broad production prospects, good feasibility, and simple operation. It can safely, quickly and effectively clean the entire high-energy pulse shock wind tunnel pipe body, with high cleaning efficiency and good cleaning effect.

[0068] 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cleaning robot for high energy pulse shock wave wind tunnel, It is characterized in that The invention comprises a brush roller system, a travel system, a dirt collection system and a control system which are connected in sequence. The brush roller system comprises a brush roller and a brush roller motor for driving the brush roller to rotate. Spray holes for spraying cleaning medium are distributed on the outer wall of the brush roller. Foam and cotton cloth are wrapped on the brush roller, and the cleaning medium is sprayed onto the surface of the foam and cotton cloth through the spray holes. The travel system comprises a travel device for walking and a medium conveying device for conveying cleaning medium to the spray holes. The travel device comprises a travel drive motor and a crawler travel mechanism. The crawler travel mechanism comprises a crawler half shaft, a crawler wheel hub and a crawler. The travel drive motor is connected to the crawler half shaft to drive the crawler half shaft to rotate. The crawler is sleeved on the outside of the crawler wheel hub. The crawler half shaft is connected to the crawler wheel hub at the end of the crawler through a universal joint. The medium conveying device is connected to the spray hole through a medium conveying pipe. The dirt collection system comprises a spring hose matching the wind tunnel pipe and a dust collecting bag arranged downstream of the spring hose. The control system is connected to the brush roller motor and the power mechanism of the travel system through cables to control them. The brush roller is detachably mounted on the output end of the brush roller motor, the brush roller motor is connected to the travel system through a conveying shell, the power cord and the medium conveying pipe of the brush roller motor are respectively connected to the control system and the medium conveying device through the conveying shell, the brush roller system also includes a push rod arm arranged on the conveying shell, one end of the push rod arm is fixed on the conveying shell, and the other end of the push rod arm is hinged on the travel system, the brush roller includes a cylindrical body, a central hole is provided at the center of the cylindrical body, a plurality of groups of spray holes are provided on the side wall of the cylindrical body, each group of spray holes includes a plurality of spray holes arranged at intervals along the axial direction of the cylindrical body, a plurality of medium conveying channels are provided between the central hole of the cylindrical body and the side wall of the cylindrical body, and each medium conveying channel is connected to a group of spray holes, the control system includes a control box, a processing output unit and a high-definition display connected to the processing output unit, a brush roller control switch, a medium conveying control switch and a travel control rocker are provided in the control box, the control system also includes a take-up reel, the cable is wound on the take-up reel and connected to the processing output unit.

2. The cleaning robot for a high energy pulse shock wave wind tunnel according to claim 1, It is characterized in that The medium conveying device comprises a medium container and a medium conveying motor. The medium container has a feeding port for adding cleaning medium. The medium conveying motor is connected to the medium container to convey the cleaning medium in the medium container to the spray hole.

3. The cleaning robot for a high energy pulse shock wave wind tunnel according to claim 1, It is characterized in that The walking system also includes a shell, a walking device and a medium conveying device are arranged on the shell, and front and rear high-definition cameras are also arranged on the shell. The front and rear high-definition cameras are fixed to the shell through height adjustment rods and connected to the control system through cables.

4. The cleaning robot for a high energy pulse shock wave wind tunnel according to claim 3, It is characterized in that A lighting device, a lifting ring and a cable interface are provided on the shell. The lighting device is connected to the control system through the cable. The sewage collection system is detachably connected to the walking system through the lifting ring. The cable is connected to the control system through the cable interface.

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