Railway tunnel drainage blind pipe dredging robot

Abstract

The application discloses a railway tunnel drainage blind pipe dredging robot, which comprises a robot body, a water pump, a flushing liquid container, a control mechanism and a connecting mechanism for connecting the robot body and the water pump. The flushing liquid container is connected with the water pump through a hose, the control mechanism is connected with the water pump through a signal transmission line, and the robot body is connected with the water pump through the connecting mechanism. The cleaning liquid, power and control signal can be transmitted to the robot body through the connecting mechanism, and the robot transmits the image signal in the blind pipe to the control mechanism through the connecting mechanism. The robot body sprays the cleaning liquid and uses an electric cleaning brush to clean the inside of the blind pipe, and the inside image information of the blind pipe is transmitted to the control mechanism through a camera, so that the cleaning effect can be directly obtained. The application can clean the inside of the blind pipe in a targeted manner, reduces the use amount of the cleaning liquid while improving the cleaning effect, saves the cost and reduces the influence on the environment.

Description

Technical Field

[0001] This invention relates to the field of tunnel drainage system dredging engineering technology, specifically to a robot for dredging blind pipes in railway tunnels. Background Technology

[0002] The internal drainage system of tunnels has always been a weak link in tunnel design and construction. In karst areas or areas with high calcium ion content in the water, drainage pipes often become clogged due to calcium salt crystal precipitation under long-term water action, causing them to gradually lose their drainage capacity. If this problem is not addressed in time, it will cause a series of engineering problems such as lining cracking, large-scale water leakage, and steel corrosion, posing significant hidden dangers to the railway tunnel structure and train operation safety.

[0003] Based on their cleaning principles, tunnel drainage pipes can be mainly divided into physical and chemical methods. Physical methods include mechanical unblocking and high-pressure water cleaning; chemical methods include acid washing, alkaline washing, organic solvent cleaning, and surfactant cleaning. Considering that the internal dimensions of tunnel drainage pipes are mostly 50mm to 120mm, and the limited working space inside tunnels makes it difficult to use large mechanical equipment for unblocking operations, acid washing is the most effective chemical method for drainage pipes blocked by calcium salt crystal precipitation. However, unreacted acidic solutions are directly discharged, causing serious environmental pollution. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a robot for clearing blind drainage pipes in railway tunnels, thereby solving the problem of difficult-to-clear blockages in existing blind drainage pipes in railway tunnels.

[0005] The present invention relates to a robot for clearing blind drains in railway tunnels, comprising a cleaning fluid container, a water pump, a robot body, a controller, a power supply, and a connection mechanism.

[0006] The cleaning fluid container contains cleaning fluid; the outlet of the cleaning fluid container is connected to the inlet of the water pump through a water inlet hose, and the cleaning fluid is delivered to the robot body through the water pump and the connecting mechanism.

[0007] The robot body includes a power mechanism, a control panel, an image signal acquisition device, an electric cleaning brush, a cleaning fluid spraying mechanism, a robot external interface, and a robot shell.

[0008] The robot's outer shell is equipped with front and rear axles, with front and rear wheels mounted at their ends. A power mechanism enables the robot's movement. An electric cleaning brush is installed in the center of the robot's bottom surface. A cleaning fluid spraying mechanism is installed inside the upper part of the robot's outer shell, with its spray head located at a spray port on the front face of the outer shell. The inlet at the rear of the spray head connects to a spray fluid delivery pipe, which extends through an opening on the end face of the robot's outer shell. A fixed image signal acquisition device is embedded in a acquisition port on the front face of the robot's outer shell to acquire image information from the front of the robot. A control panel, located on the right rear side of the robot's outer shell, receives and processes control signals output from the controller, distributes power, and transmits back image signals from inside the blind tube acquired by the image signal acquisition device. The control panel is connected to the image signal acquisition unit via data cable A to receive image signals acquired by the acquisition unit; it is connected to the electric motor via data cable B to control the motion of the robot body; it is connected to the cleaning control electric motor via data cable C to control the operation of the electric cleaning brush; and it is connected to the spray head of the cleaning fluid spraying mechanism via data cable D to control the oscillation of the spray head and control the direction of the cleaning fluid spray.

[0009] The controller is connected to the data interface of the motherboard inside the water pump via data line E, and controls the power of the water pump through the controller. The controller is also connected to the data interface of the connecting mechanism via data line F. The control signal of the controller is transmitted to the control panel through the connecting mechanism, and the control panel controls the movement of the robot body. At the same time, the image signal inside the blind tube returned by the robot body is transmitted to the controller through the control panel and the connecting mechanism and displayed on the display of the controller.

[0010] The power supply's power line A is connected to the water pump's power interface to provide power to the water pump. The power supply is also connected to the controller's power interface via power line B to provide power to the controller, and then provides power to the robot body via the controller, data line F, and connecting mechanism.

[0011] The connection mechanism is used to connect the robot body with the water pump and controller, enabling the transmission of power, signals and cleaning fluid among the three.

[0012] The advantages of this invention are:

[0013] 1. The present invention relates to a railway tunnel drainage blind pipe dredging robot with a small body size, only about 7cm wide and about 3cm high. It can directly enter the drainage blind pipe for cleaning. The robot's movement is controlled by an external control mechanism, and the robot can check the internal image information of the blind pipe transmitted back by the robot. This allows for a direct judgment of the cleaning effect, preventing blockage caused by insufficient cleaning, and effectively preventing the environmental impact of cleaning fluid when over-cleaning.

[0014] 2. In the railway tunnel drainage blind pipe dredging robot of the present invention, the cleaning fluid is applied by spraying, which can reduce the amount of cleaning fluid used, thereby reducing the environmental impact of the cleaning fluid.

[0015] 3. The railway tunnel drainage blind pipe dredging robot of this invention is equipped with an electric cleaning brush at the bottom of the main body, which can scrub the internal scale layer, thereby enhancing the cleaning effect while further reducing the amount of cleaning fluid used. Through cleaning fluid, ultrasonic scrubbing, and inspection of the internal image of the blind pipe, the problem of drainage blind pipe blockage is solved, and the problem of difficult unblocking is avoided, while also avoiding environmental pollution.

[0016] 4. The railway tunnel drainage blind pipe dredging robot of the present invention has an image acquisition mechanism including a camera and a lighting lamp, which can illuminate the inside of the blind pipe and acquire image information of the inside of the blind pipe;

[0017] 5. The railway tunnel drainage blind pipe dredging robot of the present invention can spray cleaning fluid only on the areas with dirt, making the cleaning more targeted, reducing the amount of cleaning fluid used, and reducing the impact on the environment.

[0018] 6. The present invention relates to a railway tunnel drainage blind pipe dredging robot, which is designed with a connecting mechanism to connect the robot body with the water pump and control mechanism. It can continuously supply the robot with power and cleaning fluid from the outside, which can maximize the cleaning effect of a single cleaning. When the robot body is stuck, the connecting mechanism can be used to directly pull out the robot body.

[0019] 7. The railway tunnel drainage blind pipe dredging robot of the present invention has a docking design between multiple connecting mechanisms, thereby increasing the working range of the robot body and enabling it to clean deep within the blind pipe. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the railway tunnel drainage blind pipe dredging robot of the present invention;

[0021] Figure 2 This is a schematic diagram of the modular spraying control structure in the railway tunnel drainage blind pipe dredging robot of the present invention;

[0022] Figure 3 This is a schematic diagram of the overall structure of the robot body in the railway tunnel drainage blind pipe dredging robot of the present invention;

[0023] Figure 4 This is a top view of the internal structure of the robot body in the railway tunnel drainage blind pipe dredging robot of the present invention;

[0024] Figure 5 A schematic diagram of the cleaning fluid spraying mechanism in the robot body;

[0025] Figure 6 This is a schematic diagram of the connecting mechanism in the railway tunnel drainage blind pipe dredging robot of the present invention;

[0026] Figure 7 This is a schematic diagram of the intermediate flexible tube structure in the connecting mechanism;

[0027] Figure 8 This is a schematic diagram of the rigid interface structure in the connection mechanism;

[0028] Figure 9 This is a schematic diagram of the fastener structure;

[0029] Figure 10 This is a schematic diagram of the connection method between rigid connectors and rigid interfaces.

[0030] In the picture:

[0031] 1-Cleaning fluid container 2-Water pump 3-Robot body

[0032] 4-Controller 5-Power Supply 6-Connection Mechanism

[0033] 7-Box body 101-Addition port 102-Water inlet hose

[0034] 103-Valve 301-Power Mechanism 301a-Motion Control Electric Motor 302 - Turning Mechanism; 303 - Control Panel; 303a - Data Cable A

[0035] 303b - Data Cable B; 303c - Data Cable C; 303d - Data Cable D

[0036] 304 - Image signal acquisition unit; 305 - Electric cleaning brush; 305a - Vibration motor

[0037] 306 - Cleaning fluid spraying mechanism; 306a - Spray head; 306b - Directional motor 306c - Drive shaft; 306d - Pad; 306e - Spray liquid delivery pipeline 307 - Robot External Interface; 308 - Robot Shell; 401 - Data Cable E

[0038] 402 - Data Cable F; 501 - Power Cable A; 502 - Power Cable B

[0039] 601-Rigid plug; 601a-Connector terminal; 601b-Cylinder plug

[0040] 601c - Data cable plug; 602 - Flexible inner tube; 603 - Rigid connector

[0041] 603a - Data cable interface; 603b - Connector port; 604 - Connector

[0042] 605-Positioning mating part; 606-Rotating positioning part; 607-Mounting base Detailed Implementation

[0043] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings.

[0044] This invention relates to a robot for clearing blind drain pipes in railway tunnels, comprising a cleaning fluid container 1, a water pump 2, a robot body 3, a controller 4, a power supply 5, and a connecting mechanism 6. Figure 1 , Figure 2 As shown.

[0045] The cleaning fluid container 1 has a cylindrical structure and is used to hold the cleaning fluid. The top of the cleaning fluid container 1 has an inlet 101 for adding cleaning fluid. The bottom side wall of the cleaning fluid container 1 has a cleaning fluid outlet, which is connected to the inlet of the water pump 2 via a water inlet hose 102. A valve 103 is also installed at the cleaning fluid outlet 102 to control the output of cleaning fluid from the water pump 2. After cleaning, the water pump 2 is removed, and excess cleaning fluid inside the cleaning fluid container 1 is drained by opening the valve 103.

[0046] The robot body 3 includes a power mechanism 301, a turning mechanism 302, a control panel 303, an image signal acquisition device 304, an electric cleaning brush 305, a cleaning fluid spraying mechanism 306, a robot external interface 307, and a robot shell 308. Figure 3 , Figure 4 As shown.

[0047] The robot shell 308 has a flat bottom surface and an approximately rhomboid longitudinal section, which minimizes the volume of the robot body 3 while achieving good cleaning results, thus enhancing its versatility. Front and rear axles, arranged in a left-right direction, are mounted on the front and rear of the robot shell 308, respectively. The two ends of the front axle are connected to the sides of the robot shell 308 via bearings. Front and rear wheels are respectively mounted on the ends of the front and rear axles.

[0048] Since the dirt in the blind tube is mainly concentrated at the bottom, the electric cleaning brush 305 is installed at the opening in the center of the bottom surface of the robot housing 308 to scrub the dirt layer inside the blind tube and improve cleaning efficiency. The vibration motor 305a is installed inside the robot housing 308, and drives the electric cleaning brush 305 to achieve high-speed vibration at a frequency of 40,000 to 46,000 times per minute to achieve efficient and deep cleaning of the inside of the blind tube.

[0049] The cleaning fluid spraying mechanism 306 is installed inside the upper part of the robot housing 308; for example Figure 5As shown, it features a fan-shaped, flat spray head 306a to increase water pressure and the coverage area of ​​the cleaning fluid. The spray nozzle at the front end of the spray head 306a is located at the spray port on the front surface of the robot housing 308, and the spray direction is adjusted by a directional motor 306b combined with a transmission mechanism. The directional motor 306b is mounted inside the robot housing 308 via a bracket and is located on the side of the spray head 306a. The transmission mechanism consists of a drive shaft 306c and a pad 306d. The output shaft of the directional motor 306b is coaxially connected to the drive shaft 306c via a coupling. The front side of the pad 306d is fixedly fitted onto the drive shaft 306c, and the upper surface of the pad 306d is fixed to the bottom surface of the spray head 306a. Therefore, the directional motor 306b drives the drive shaft 306c to rotate, causing the pad 306d to rotate around the drive shaft 306c, thereby changing the pitch angle of the spray head 306a and adjusting the spraying direction of the spray head 306a. The liquid inlet at the rear end of the spray head 306a is connected to the spray liquid delivery pipe 306e; the inlet end of the spray liquid delivery pipe 306e extends out through the opening on the end face of the robot shell 308.

[0050] The image signal acquisition device 304 is embedded in the acquisition port on the front surface of the robot shell 308 and fixed to the robot shell 308, and is used to acquire image information in front of the robot body 3.

[0051] The power mechanism 301 includes a motion control electric motor 301a and a gear transmission mechanism. The motion control electric motor 301a provides forward power to the robot body and is mounted on the rear left side of the robot housing 308 via a bracket. The gear transmission mechanism transmits the power output from the motion control electric motor 301a to two axles, enabling the movement of the robot body 3. The gear transmission mechanism includes a large gear A fixed to the output shaft of the motion control electric motor 301a, a small gear A coaxially fixed to the left side of the rear axle and meshing with the large gear A, a large gear B coaxially fixed to the right side of the rear axle, a large gear C coaxially fixed to the right side of the front axle, and small gears B and C fixed at both ends of a rotating shaft and meshing with the large gear B and large gear C respectively; this rotating shaft is mounted on a shaft support frame designed on the robot housing 308. The power output from the motion control electric motor 301a drives the rear axle to rotate through the transmission between the large gear A and the small gear A, and further drives the front axle to rotate through the transmission between the large gear B, the large gear C and the small gear B and the small gear C, ultimately realizing the movement of the robot body 3.

[0052] The control panel 303 is used to receive and process control signals output by the controller 4, distribute power, and transmit image signals from the blind tube collected by the image signal acquisition unit 304. It is installed on the rear right side of the housing 308. The control panel 303 is connected to the image signal acquisition unit 304 via data cable A303a to receive image signals collected by the image signal acquisition unit 304; it is connected to the electric motor 301a via data cable B303b to realize motion control of the robot body 5; it is connected to the cleaning control electric motor 305a via data cable C303c to control the operation of the electric cleaning brush 305; and it is connected to the spray head 306a of the cleaning fluid spraying mechanism 306 via data cable D303d to control the up and down swing of the spray head 306a to realize the direction control of the cleaning fluid spraying.

[0053] The turning mechanism 302 consists of rollers installed at the included angles on both sides of the front end of the robot shell 308. The rollers are mounted on the shell via brackets, with the roller axis perpendicular to the bottom surface of the robot shell 308. The angle between the center of the roller and the line connecting the left and right ends of the front side of the robot shell 308 and the midline of the robot shell 308 in the front-rear direction is designed to be 40° to 50°. The turning mechanism 302 prevents the robot body 3 from getting stuck at the corners of the blind tube.

[0054] The controller 4 is connected to the data interface of the motherboard of the water pump 2 via data cable E401, and controls the power of the water pump 2. The controller 4 is also connected to the data interface of the connecting mechanism 6 via data cable F402. The control signal of the controller 4 is transmitted to the control panel 303 through the connecting mechanism 6, and the control panel 303 controls the movement of the robot body 5 to clean the inside of the blind tube. At the same time, the image signal of the inside of the blind tube returned by the robot body 5 is transmitted to the controller 4 through the control panel 303 and the connecting mechanism 6 and displayed on the display of the controller 4.

[0055] The power supply 5 is connected to the power interface of the water pump 2 via power line A501, providing power to the water pump 2; the power supply 5 is connected to the power interface of the controller 4 via power line B502, providing power to the controller 4, and providing power to the robot body 5 via the controller 4, data line F402, and connecting mechanism 6.

[0056] The water pump 2 and power supply 5 can be installed inside the housing 7, while the controller 4 is installed on the outer wall of the housing 7, forming a modular spray control module.

[0057] The connecting mechanism 6 is used to connect the robot body 3 to the water pump 2 and the controller. The connecting mechanism 6 includes a rigid plug 601, a flexible intermediate tube 602, a rigid socket 603, and a connecting fastener, such as... Figure 6 As shown.

[0058] The intermediate flexible hose 602 is 10 meters long and is used to transmit power, signals, and cleaning fluid. The intermediate flexible hose 602 has two axially designed cavities, denoted as cavity A and cavity B, as shown below. Figure 7 As shown. Chamber A serves as the data cable chamber, housing the data cable; Chamber B serves as the cleaning fluid channel. Rigid plugs 601 and rigid sockets 603 are respectively fitted to both ends of the intermediate flexible tube 602.

[0059] The rigid plug 601 has a cylindrical structure with an overall length of 3 cm. Its rear end is a large-diameter cylindrical connecting end 601a, which is coaxially sleeved and fixed to the end of the intermediate flexible tube 602. The front of the rigid plug 601 has a cylindrical plug 601b, which communicates with the cleaning fluid channel of the intermediate flexible tube 602. A data cable plug 601c is designed on the side of the cylindrical plug 601b, connecting to the data cable inside the data cable cavity of the intermediate flexible tube 602.

[0060] like Figure 8 As shown, the rigid connector 603 is a 3 cm long cylindrical structure with a grooved end that is fixedly fitted to the end of the intermediate flexible tube 602. The front part has a connection port 603b that matches the outer wall size of the cylindrical plug 601b in the rigid connector. This connection port 603b communicates with the cleaning fluid channel of the intermediate flexible tube 602. Simultaneously, a data cable interface 603a is designed on the side of the connection port 603b, which connects to the data cable in the intermediate flexible tube 602. Figure 7 As shown.

[0061] The aforementioned rigid connector 603 is used to connect to the controller 4, water pump 2, or rigid plug 603; the rigid plug 601 is used to connect to the cleaning fluid spraying mechanism 306, control panel 303, or rigid plug 601. Specifically:

[0062] The rigid connector 603b is plugged into and fixed to the output end of the water pump 2; at the same time, the data line 402 of the controller 4 is connected to the data line interface 603a. The cylindrical plug 601b of the rigid plug 601 is plugged into and fixed to the inlet end of the spray liquid delivery pipe 306e; at the same time, the data line E of the control panel 303 is connected to the data line plug 601.

[0063] When the length of one connecting mechanism 6 is insufficient to meet the cleaning range requirements of the robot body 3, multiple connecting mechanisms 6 can be interconnected to increase the length, thereby expanding the cleaning range of the robot body 3. When two connecting mechanisms 6 are connected, the connection port 603b and data cable interface 603 of the rigid plug 603 in one connecting mechanism 6 are respectively plugged into the cylindrical plug 601b and data cable plug 601c of the rigid plug 601 in the other connecting mechanism 6.

[0064] The connection between the rigid connector 603b and the water pump 2, the connection between the rigid plug 601 and the spray liquid delivery pipe 306e, and the connection between the rigid plug and the rigid connector are all ensured to be effective and reliable by the connecting fasteners designed on the two ends of the connection.

[0065] like Figure 9 As shown, the connecting fastener includes a connector 604 mounted on connecting end A and a positioning fitting 605 mounted on connecting end B. The connecting end can be a rigid plug 601 and the output end of the water pump 2; the connector B can be a rigid socket 603 and the input end of the spray liquid delivery pipe 306e. The connector 604 is made of 2mm diameter 304 hard stainless steel wire bent into a U-shaped structure. Both ends are inserted into the internal channels of the U-shaped structure mounting base 607 fixed on the side wall of connecting end A, forming a rotating pair. The positioning fitting 605 is a disc structure, fixedly mounted on the side wall of connecting end B, and its radius is the same as the arc radius of the end of the connector 604. The positioning fitting 605 has a threaded hole at its center for threaded connection with the threaded connector head at the center of the bottom surface of the disc-shaped rotating positioning part 606. Therefore, after connecting end A and connecting end B are inserted, rotating the connecting piece will place it onto the positioning fitting 605, and then the disc-shaped rotary positioning piece 606 will be installed and tightened. Because the radius of the disc-shaped rotary positioning piece 606 is larger than the radius of the positioning fitting 605, the connecting piece 604 will not disengage from the positioning fitting. Thus, through the cooperation between the connecting piece 604 and the positioning fitting 605, axial positioning between the two connected ends is achieved. Figure 10 As shown.

[0066] In application, the cleaning fluid of the railway tunnel drainage blind pipe dredging robot of this invention is first added to the cleaning fluid container 1. Then, the water inlet hose 102 is connected to the water pump 2, and then connected to the controller 4 and the power supply 5 via data cable E401 and power cable A501, respectively. The controller 4 is connected to the power supply 5 via power cable B502. Then, the output end of the water pump 2 and the data cable F402 are respectively connected to the connection port 603b and the data cable interface 603a of the rigid plug 603 in the connecting mechanism 6, and are secured and positioned by the connecting fastener. The input end of the cleaning fluid delivery pipe 306e and the data cable G of the control panel are respectively connected to the cylindrical plug 601b and the data cable plug of the rigid plug 601 of the connecting mechanism 6, and are secured and positioned by the connecting fastener.

[0067] Then, the power supply 5, controller 4, water pump 2, and robot body 3 are started. The display screen of controller 4 shows the image captured by image signal acquisition device 304 in real time. Using controller 4, the robot body 3 is controlled to enter the blind tube, locate the parts that need to be cleaned according to the image, and use the cleaning fluid spraying mechanism 306 and electric cleaning brush 305 of robot body 3 to clean the inside of the blind tube. The cleaning effect is judged by the image inside the blind tube captured by image signal acquisition device 304.

Claims

1. A robot for clearing blind drainage pipes in railway tunnels, characterized in that: Includes cleaning fluid container, water pump, robot body, controller, power supply and connection mechanism; The cleaning fluid container contains cleaning fluid; the outlet of the cleaning fluid container is connected to the inlet of the water pump through a water inlet hose, and the cleaning fluid is delivered to the robot body through the water pump and the connecting mechanism. The robot body includes a power mechanism, a control panel, an image signal acquisition device, an electric cleaning brush, a cleaning fluid spraying mechanism, a robot external interface, and a robot shell. The bottom surface of the robot shell is flat, and its longitudinal section is approximately rhomboid. Front and rear axles are mounted on the front and rear of the robot shell, respectively, with front and rear wheels mounted at their ends. The power mechanism enables the movement of the robot body. An electric cleaning brush is installed in the middle of the bottom surface of the robot shell. Rollers are installed at the included angle on both sides of the front end of the robot shell, with the roller axis perpendicular to the bottom surface of the robot shell. The angle between the center of the roller and the line connecting the left and right ends of the front side of the robot shell and the midline of the robot shell's front-rear direction is designed to be 40°–50°. The robot shell (30...) 8) A cleaning fluid spraying mechanism is installed at the upper part of the robot's interior, with the spray head located at the spray port on the front face of the robot's shell. The spray head has a fan-shaped, flat structure. The spray direction is adjusted by a directional motor combined with a transmission mechanism. The directional motor is mounted inside the robot's shell via a bracket, located on the side of the spray head. The transmission mechanism consists of a drive shaft and a pad. The output shaft of the directional motor is coaxially connected to the drive shaft via a coupling. The front side of the pad is fixedly fitted onto the drive shaft, and the upper surface of the pad is fixed to the bottom surface of the spray head. Thus, the directional motor drives the drive shaft to rotate, causing the pad to rotate around the drive shaft, thereby changing the pitch angle of the spray head and adjusting its spray direction. The inlet at the rear of the spray head is connected to the spray liquid delivery pipe; the inlet of the spray liquid delivery pipe is through the opening at the end face of the robot shell; a fixed image signal acquisition device (304) is embedded in the acquisition port on the front face of the robot shell (308) for acquiring image information in front of the robot body (3); the control panel is used to receive and process the control signals output by the controller, distribute power, and transmit the image signals inside the blind tube acquired by the image signal acquisition device, and is installed on the right side of the rear of the robot shell; the control panel is connected to the image signal acquisition device via data cable A for receiving the image signals acquired by the image signal acquisition device; it is connected to the electric motor via data cable B to realize the motion control of the robot body; it is connected to the cleaning control electric motor via data cable C to control the operation of the electric cleaning brush; it is connected to the spray head of the cleaning liquid spraying mechanism via data cable D to control the swing of the spray head and realize the spraying direction control of the cleaning liquid; The controller is connected to the data interface of the motherboard inside the water pump via data line E, and controls the power of the water pump through the controller. The controller is also connected to the data interface of the connecting mechanism via data line F. The control signal of the controller is transmitted to the control panel through the connecting mechanism, and the control panel controls the movement of the robot body. At the same time, the image signal inside the blind tube returned by the robot body is transmitted to the controller through the control panel and the connecting mechanism and displayed on the display of the controller. The power supply's power line A is connected to the water pump's power interface to provide power to the water pump; the power supply is connected to the controller's power interface through power line B to provide power to the controller, and provides power to the robot body through the controller, data line F, and connecting mechanism. The connection mechanism is used to connect the robot body with the water pump and controller, enabling the transmission of power, signals and cleaning fluid among the three. The connection mechanism includes a rigid plug, a flexible intermediate tube and a rigid socket. The flexible intermediate tube has two cavities designed along the axial direction, denoted as cavity A and cavity B. Cavity A serves as the data cable cavity, housing the data cable. Cavity B serves as the cleaning fluid channel. The two ends of the flexible intermediate tube are respectively fitted with a rigid plug and a rigid socket. The rigid plug is used to connect the cleaning fluid spraying mechanism, control panel, or other components. The rear of the rigid plug has a large-diameter cylindrical connection end, which is coaxially sleeved and fixed to the end of the intermediate hose. The front of the rigid plug has a cylindrical plug that communicates with the cleaning fluid channel of the intermediate hose. A data cable plug is also designed on the side of the cylindrical plug, connecting to the data cable inside the data cable cavity of the intermediate hose. The cylindrical plug of the rigid plug is inserted and fixed to the inlet end of the spraying fluid delivery pipe. The data cable of the control panel is connected to the data cable plug. The rigid connector is used to connect to the controller, water pump, or rigid plug. The end of the rigid connector is slotted and fixedly fitted to the end of the intermediate flexible tube. The front is designed with a connection port that matches the outer wall size of the cylindrical plug in the rigid plug. This connection port communicates with the cleaning fluid channel of the intermediate flexible tube. At the same time, a data cable interface is designed on the side of the connection port to connect to the data cable in the intermediate flexible tube. The connection port of the rigid connector is plugged into and fixed to the output end of the water pump. At the same time, the controller's data cable is connected to the data cable interface. When the length of a single connecting mechanism is insufficient to meet the cleaning range requirements of the robot body, multiple connecting mechanisms are interconnected to increase the length, thereby expanding the cleaning range of the robot body. When two connecting mechanisms are connected, the connection port and data cable interface of the rigid plug in one connecting mechanism are respectively connected to the cylindrical plug and data cable plug of the rigid plug in the other connecting mechanism. Furthermore, the connections between the rigid connector and the water pump, the rigid plug and the spray liquid delivery pipeline, and the rigid plug and the rigid connector are all ensured to be effective and reliable through connecting fasteners designed on both ends of the connection. The connecting fasteners include a connector installed on the connecting end A and a positioning fitting installed on the connecting end B. The connecting end is the output end of the rigid plug and the water pump; the connector B is the input end of the spray liquid delivery pipeline and the rigid connector; the connector is a U-shaped connector with both ends connected to the mounting base on the connecting end A to form a rotating pair; the positioning fitting is a disc structure, fixedly installed on the side wall of the connecting end B, and its radius is the same as the arc radius of the end of the connector; the positioning fitting has a threaded hole at its center for threaded connection with the threaded connector head at the center of the bottom surface of the disc-shaped rotating positioning component; after the connecting end A and the connecting end B are inserted, the connecting component is rotated to fit the connector onto the positioning fitting, and the disc-shaped rotating positioning component is further installed and tightened to achieve axial positioning between the two connected ends.

2. The railway tunnel drainage blind pipe dredging robot as described in claim 1, characterized in that: The power unit includes a motion control electric motor and a gear transmission mechanism. The motion control electric motor provides forward power to the robot body and is mounted on the left rear of the robot shell via a bracket. The gear transmission mechanism transmits the power output from the motion control electric motor to two axles, enabling the robot body to move. The gear transmission mechanism includes a large gear A fixed to the output shaft of the motion control electric motor, a small gear A coaxially fixed to the left side of the rear axle and meshing with the large gear A, a large gear B coaxially fixed to the right side of the rear axle, a large gear C coaxially fixed to the right side of the front axle, and small gears B and C fixed at both ends of a rotating shaft and meshing with the large gear B and the large gear C, respectively. The rotating shaft is mounted on a shaft support frame designed on the robot shell. The power output from the motion control electric motor drives the rear axle to rotate through the transmission between the large gear A and the small gear A, and further drives the front axle to rotate through the transmission between the large gear B and the large gear C and the small gears B and C.

3. The railway tunnel drainage blind pipe dredging robot as described in claim 1, characterized in that: The water pump and power supply are installed inside the enclosure, while the controller is installed on the outer wall of the enclosure, forming a modular spray control module.

Images