A climbing robot for tunnel lining inspection

Abstract

The present invention discloses a tunnel lining inspection climbing robot, which relates to the technical field of robot tunnel inspection, and comprises: a robot and wheels rotatably connected to the bottom surface of the robot, an adsorption cavity opening is arranged at the center of the bottom surface of the robot, a manipulator is installed on the upper surface of the robot, a camera is fixedly connected to the execution end of the manipulator, a wall cleaning mechanism is arranged on the side of the robot away from the manipulator, impurities such as moss and dust on the lining wall are removed in advance by a bucket, and these impurities are avoided from being sucked into the adsorption cavity opening, thereby reducing the possibility of blockage, which not only ensures the negative pressure adsorption effect of the adsorption cavity opening, so that the robot can be adsorbed on the wall more stably, but also avoids the situation that the robot slides down and falls and is damaged due to insufficient adsorption force, thereby saving time and energy, thereby improving the overall efficiency of the inspection work.

Description

Technical Field

[0001] The present invention relates to the technical field of robot tunnel detection, in particular to a tunnel lining detection climbing robot. Background Art

[0002] Tunnel lining refers to a permanent supporting structure built with reinforced concrete and other materials along the perimeter of the tunnel in order to prevent deformation or collapse of the surrounding rock. During operation, tunnels may suffer from water leakage, lining cracks, tunnel frost damage, lining corrosion and other defects, which have a significant impact and threat to the safety and normal operation of the tunnel. Therefore, it is extremely important to regularly inspect and evaluate the tunnel lining.

[0003] The patent publication number is: CN202210163076.0, which discloses a wall-climbing tunnel structure detection and operation and maintenance intelligent robot and working method. It utilizes the negative pressure fan and sealing skirt equipped on the robot to enable the robot to be adsorbed on the tunnel lining wall. In conjunction with the geological radar module and image acquisition module carried by the robot, the robot can complete tunnel structure detection while running on the tunnel lining wall.

[0004] As a relatively closed space, tunnels often have dangers such as poor ventilation, high temperature, and toxic gases. Therefore, climbing robots can replace humans to enter these environments for inspection. The above-disclosed wall-climbing tunnel structure inspection and operation and maintenance intelligent robot and working method, which utilizes negative pressure adsorption, can enable the robot to better adsorb and drive on the tunnel lining wall. However, the internal environment of the tunnel is humid, difficult to ventilate, and there is a problem of water leakage, which creates a good growth environment for the growth of moss and lichens. In addition, during the operation of the tunnel, a large number of vehicles carry dust into the tunnel, causing dust to adhere to the inner wall of the tunnel. When the robot drives on the inner wall of the tunnel covered with dust and moss through the negative pressure fan adsorption, dust, moss and other substances will be adsorbed, causing the problem of blockage of the negative pressure fan, and the adsorption force generated will be weakened, making it difficult for the robot to be firmly adsorbed on the inner wall of the tunnel, increasing the risk of falling.

[0005] Therefore, a tunnel lining inspection climbing robot is proposed to solve the above problems. Summary of the invention

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a tunnel lining inspection climbing robot, comprising: a robot and wheels rotatably connected to the bottom surface of the robot, an adsorption cavity opening is arranged at the center of the bottom surface of the robot, a manipulator is installed on the upper surface of the robot, a camera is fixedly connected to the execution end of the manipulator, and a wall cleaning mechanism is arranged on the side of the robot away from the manipulator;

[0007] The wall cleaning mechanism includes a support frame fixedly connected to the upper surface of the robot, a servo motor is fixedly connected to the support frame, a gear 1 is fixedly connected to the output shaft end of the servo motor, two support rods are symmetrically fixedly connected to the left and right sides of the robot, one of the two support rods is rotatably connected to the end of the robot away from the robot with a gear 2, the end of the gear 2 away from the support rod is fixedly connected to a reciprocating screw, a rod ring is slidably connected to the reciprocating screw, three sleeves are equidistantly fixedly connected to a side wall of the robot close to the reciprocating screw, screws are respectively threaded in the three sleeves, a bucket is provided on the side of the robot close to the reciprocating screw, a T-slot is provided at the upper end of the bucket, a scraper is slidably connected in the T-slot, and guide plates are symmetrically fixedly connected to the left and right ends of the bucket.

[0008] Preferably, the surface of the reciprocating screw is provided with two thread grooves with the same pitch and opposite rotation directions, and the reciprocating screw and the rod sleeve together constitute a ball screw structure.

[0009] Preferably, the inner wall of the sleeve is provided with an internal thread.

[0010] Preferably, the lower end of the scraper is in contact with the inner wall of the lower end of the bucket, and a hole through which a screw can pass is left at the upper end of the scraper.

[0011] Preferably, a T-shaped sliding block matched with the T-shaped slot is provided on one side of the scraper close to the T-shaped slot.

[0012] Preferably, a socket seat is provided on one side of the scraper close to the rod sleeve, and the rod end of the rod sleeve can be movably inserted into the scraper socket seat.

[0013] Preferably, the upper surface of the robot is provided with a demisting and dust removing mechanism, which includes a synchronous wheel set 1, which consists of two synchronous wheels and a synchronous belt connected between the two synchronous wheels, a T-shaped bracket is fixedly connected to the upper surface of the robot near the synchronous wheel set, a synchronous wheel set 2 is fixedly connected to the T-shaped bracket, the synchronous wheel set 2 consists of two synchronous wheels and a synchronous belt connected between the two synchronous wheels, a push plate is fixedly connected to the synchronous belt of the synchronous wheel set 2, and a piston cylinder is fixedly connected to the upper surface of the robot near the synchronous wheel set 2, and a piston disk is slidably connected in the piston cylinder. The piston disc is fixedly connected with a sliding rod on one side close to the synchronous wheel set 2, and a spring is sleeved on the outer wall of the end of the sliding rod away from the piston disc, and a bending plate is fixedly connected to the end of the sliding rod close to the synchronous wheel set 2. The upper part of the piston cylinder away from the synchronous wheel set 2 is connected with a valved air inlet pipe, and the upper end of the valved air inlet pipe is threadedly connected with a filter box, and the end of the piston cylinder away from the synchronous wheel set 2 is connected with a valved air outlet pipe, and the manipulator is fixedly connected with an annular cavity near the camera, a heating wire is arranged in the annular cavity, and a circle of electrically controlled rotating nozzles are equidistantly connected to the lower end surface of the annular cavity, and a limiting ring is fixedly connected to the manipulator.

[0014] Preferably, the bending plate is located on the moving path of the push plate.

[0015] Preferably, the valved air inlet pipe is a low-pressure one-way valve, and the valve on the valved air outlet pipe is a high-pressure one-way valve.

[0016] Preferably, the valved air outlet pipe is arranged as a spiral hose near the piston cylinder.

[0017] Compared with the prior art, the present invention provides a tunnel lining inspection climbing robot, which has the following beneficial effects:

[0018] By using a bucket to remove impurities such as moss and dust on the lining wall in advance, these impurities are prevented from being sucked into the adsorption cavity, thereby reducing the possibility of blockage and ensuring the negative pressure adsorption effect of the adsorption cavity, so that the robot can be more stably adsorbed on the wall, avoiding the situation where the robot slides down and falls due to insufficient adsorption force and is damaged.

[0019] The scraping of moss on the lining wall by the bucket increases the friction between the wheels and the wall, preventing the wheels from slipping when driving on the mossy wall. This not only reduces the risk of loss of control and falling, ensures the stability of the robot's driving process, but also reduces the extra energy consumed by the wheels to overcome slipping, thereby extending the robot's endurance time.

[0020] The scraper can automatically scrape away impurities such as moss and dust in the bucket, and the inclined surface of the guide plate ensures that the impurities can be discharged smoothly and will not fall on the robot and its connecting parts when climbing vertically or upside down, avoiding increasing the load on the robot due to impurities falling on the robot, thereby ensuring the robot's movement performance.

[0021] The detachable bucket allows personnel to easily remove the bucket, scraper and guide plate for separate cleaning. When the bucket is worn, the detachable design allows for easy replacement.

[0022] By aiming a strong airflow at the surface of the camera lens through an electrically controlled rotating nozzle, not only can the camera be cooled, but also dust and other materials that drift onto the surface of the camera lens during the robot's driving process can be blown away, thereby improving imaging clarity. Stable and clear image output can more accurately present minor cracks, peeling, water seepage and other defects on the lining surface, avoiding missing or misjudging defects due to blurred images, further improving the accuracy and reliability of detection.

[0023] When fog occurs in the tunnel, the heating of the heating wire and the steering of the electrically controlled rotating nozzle can blow a strong hot air flow around the camera, thereby ensuring that the environment around the camera is clearly visible, reducing image blur or distortion caused by fog, and improving the applicability of robot detection operations. Even in humid and foggy conditions, the detection task can be carried out smoothly, and at the same time, the fog is prevented from condensing into water droplets on the lens surface and affecting the shooting. There is no need to frequently wipe the lens or interrupt the detection to deal with the fog problem, thus ensuring the continuity and efficiency of the detection work.

[0024] The heat-insulating foam cotton covering the surface of the annular cavity can isolate the heat from the camera when the heating wire is heated, and the electrically controlled rotating nozzle will aim its nozzle outside the camera lens when the heating wire is heated, thereby ensuring that the fog around the camera is dissipated while ensuring that the camera is not affected by overheating and reducing the probability of malfunction.

[0025] By setting a spiral at one end of the valved air outlet pipe near the piston cylinder, the length of the valved air outlet pipe can be freely extended or retracted following the swing amplitude of the manipulator. At the same time, with the limiting effect of the limiting ring on the valved air outlet pipe, the valved air outlet pipe will not affect the camera shooting even if the robot climbs upside down. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a main perspective structural diagram of the present invention;

[0027] Figure 2 It is a left-side structural diagram of the present invention;

[0028] Figure 3This is a three-dimensional structural diagram of the robot in the vertical climbing state of the present invention;

[0029] Figure 4 For the present invention Figure 1 A partial enlarged three-dimensional structure diagram at the center A;

[0030] Figure 5 It is a three-dimensional structural diagram of the bucket in the present invention in a cut-away state;

[0031] Figure 6 It is a three-dimensional structural diagram of the scraper, the rod collar and the T-slot in the present invention in a disassembled state;

[0032] Figure 7 This is a three-dimensional internal structure diagram of the piston cylinder in the cutaway state of the present invention;

[0033] Figure 8 This is a three-dimensional internal structure diagram of the annular cavity in the present invention in a cut-away state;

[0034] Fig. 9 It is a three-dimensional structural diagram of the electric-controlled rotating nozzle of the present invention when it is rotated 180 degrees.

[0035] In the figure: 1, robot; 101, wheel; 102, adsorption chamber opening; 103, manipulator; 104, camera;

[0036] 201, support frame; 202, servo motor; 203, gear 1; 204, support rod; 205, gear 2; 206, reciprocating screw; 207, rod collar; 208, sleeve; 2081, screw; 209, bucket; 210, T-slot; 211, scraper; 212, guide plate;

[0037] 301. Synchronous wheel set 1; 302. T-shaped bracket; 303. Synchronous wheel set 2; 304. Push plate; 305. Piston cylinder; 306. Piston disc; 307. Sliding rod; 308. Spring; 309. Bending plate; 310. Air inlet pipe with valve; 311. Air outlet pipe with valve; 312. Annular cavity; 313. Heating wire; 314. Electric-controlled rotating nozzle; 315. Limiting ring; 316. Filter box. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not 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.

[0039] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0040] Example 1: Reference Figures 1 to 6 A tunnel lining inspection climbing robot comprises: a robot 1 and a wheel 101 rotatably connected to the bottom surface of the robot 1, an adsorption cavity 102 is arranged at the center of the bottom surface of the robot 1, a manipulator 103 is installed on the upper surface of the robot 1, a camera 104 is fixedly connected to the execution end of the manipulator 103, and a wall cleaning mechanism for preventing the adsorption cavity 102 from sucking in moss or dust particles is arranged on the side of the robot 1 away from the manipulator 103;

[0041] The wall cleaning mechanism includes a support frame 201 fixedly connected to the upper surface of the robot 1, the support frame 201 is located on the side of the robot 1 away from the manipulator 103, a servo motor 202 is fixedly connected inside the support frame 201, and the output shaft end of the servo motor 202 is fixedly connected to a gear 1 203, and two support rods 204 are symmetrically fixedly connected to the left and right sides of the robot 1, and one end of one of the support rods 204 away from the robot 1 is rotatably connected to a gear 2 205, and the gear 2 205 is located below the gear 1 203, and the gear 2 205 The reciprocating screw 206 is coaxially fixedly connected to the end of the gear 205 away from the support rod 204, and the end of the reciprocating screw 206 away from the gear 205 is rotatably connected to the support rod 204 on the other side. The reciprocating screw 206 is slidably connected to the rod collar 207. The surface of the reciprocating screw 206 is provided with two thread grooves with the same pitch and opposite rotation. The reciprocating screw 206 and the rod collar 207 together constitute a ball screw structure. The robot 1 is fixedly connected to the side wall of the reciprocating screw 206 at an equal distance. There are three sleeves 208, the inner wall of the sleeve 208 is provided with an internal thread, and screws 2081 are respectively threadedly connected in the three sleeves 208. A bucket 209 is provided on the side of the robot 1 close to the reciprocating screw 206. The bucket 209 is fixedly connected to the sleeve 208 by the screw 2081. The lower end surface of the bucket 209 is flush with the bottom end of the wheel 101. A baffle is provided in the middle of the bucket 209, and the width of the middle baffle is wider than the bottom end of the bucket 209. A T-shaped slot 210 is provided at the upper end of the bucket 209. The length of the T-shaped slot 210 is The scraper 211 is longer than the bucket 209, and a scraper 211 is slidably connected in the T-slot 210. The lower end of the scraper 211 fits with the inner wall of the lower end of the bucket 209. A hole is left at the upper end of the scraper 211 for passing the screw 2081. A T-shaped slider matching the T-slot 210 is provided on the side of the scraper 211 close to the T-slot 210. The T-shaped slider is slidably connected to the T-slot 210. A socket seat is provided on the side of the scraper 211 close to the rod collar 207. The rod end of the rod collar 207 can be movably plugged into the socket seat of the scraper 211. For reference, Figure 6 The left and right ends of the bucket 209 are symmetrically fixedly connected with guide plates 212, and the guide plates 212 are arranged in an inclined shape.

[0042] When using the climbing robot, please refer to Figure 5 , the inspection personnel fix the bucket 209 between the sleeve 208 and the screw 2081 in advance, then turn on the power of the robot 1, and keep the robot 1 connected to the remote control terminal on the ground, and then start the robot 1 to climb on the tunnel lining wall. The upward climbing state of the robot 1 can be referred to Figure 3 , and according to Figure 3 It can be seen that the direction of the bucket 209 in the figure is the forward direction. Therefore, the robot 1 moves forward to drive the camera 104 carried on the manipulator 103 to detect the inner wall of the tunnel lining. The above are the starting operation steps of the robot 1.

[0043] When testing, you can refer to Figure 2 Since the direction of the bucket 209 is the forward direction of the robot 1, and the lower end surface of the bucket 209 is flush with the bottom end of the robot 1, when the wheel 101 travels on the lining wall, the bottom end of the bucket 209 will fit against the lining wall. As the robot 1 moves forward, the bucket 209 first fits against the lining wall in front of the robot 1 to remove moss, dust and other materials attached to the wall, so as to avoid the suction of foreign particles during the negative pressure adsorption of the adsorption cavity 102.

[0044] You can refer to it later Figure 4 and Figure 5 When the robot 1 is started, the servo motor 202 will also be started synchronously, thereby driving the gear 1 203 to mesh with the gear 2 205 to rotate, and then driving the reciprocating screw 206 to rotate, so that the rod collar 207 will be driven to move back and forth on the reciprocating screw 206, and the movement of the rod collar 207 will drive the scraper 211 to move back and forth synchronously in the T-slot 210. Since the lower end of the scraper 211 fits the lower end inner wall of the bucket 209, the scraper 211 will scrape the moss and dust removed in the bucket 209 when it moves back and forth, and since the length of the T-slot 210 is longer than the bucket 209, when the scraper 211 slides to the left and right ends of the T-slot 210, the lower end of the scraper 211 will move to the outside of the bucket 209, so as to discharge the moss, dust and other impurities scraped out of the bucket 209. Please refer to Figure 3 When the scraper 211 drives the scraped impurities to be located outside the bucket 209, the impurities will slide down the inclined surface of the guide plate 212 and be discharged, so that they will not fall on the sides of the robot 1 when climbing vertically upward. And because the baffle in the middle of the bucket 209 is wider than the bottom of the bucket 209, when the robot 1 climbs upside down on the tunnel vault, the moss and dust scraped by the bucket 209 will be caught by the baffle in the middle of the bucket 209. As the scraper 211 scrapes back and forth, the scraped impurities will also fall vertically on both sides of the robot 1, so they will not fall on the robot 1 and the connecting parts of the robot 1.

[0045] When robot 1 is finished testing, you can refer to Figure 5 , the inspector can rotate the screw 2081 out of the sleeve 208, and then the bucket 209 will no longer be fixedly connected to the sleeve 208, and then refer to Figure 6 Since the rod end of the rod collar 207 is inserted into the socket of the scraper 211, it is only necessary to move the unfixed bucket 209 downward, thereby driving the scraper 211 to move downward and be taken out synchronously, so as to facilitate the cleaning of the bucket 209, the scraper 211 and the guide plate 212.

[0046] Therefore, the bucket 209 is used to remove impurities such as moss and dust on the lining wall in advance, preventing these impurities from being sucked into the adsorption cavity 102, thereby reducing the possibility of blockage and ensuring the negative pressure adsorption effect of the adsorption cavity 102, so that the robot 1 can be more stably adsorbed on the wall, avoiding the situation where the robot 1 slides down, falls and is damaged due to insufficient adsorption force.

[0047] In addition, the removal of moss from the lining wall by the bucket 209 increases the friction between the wheel 101 and the wall, preventing the wheel 101 from slipping when traveling on the mossy wall. This not only reduces the risk of loss of control and falling, ensures the stability of the robot 1 during driving, but also reduces the extra energy consumed by the wheel 101 to overcome slipping, thereby extending the battery life of the robot 1.

[0048] At the same time, the scraper 211 can automatically scrape away impurities such as moss and dust in the bucket 209, and the setting of the inclined surface of the guide plate 212 ensures that the impurities can be discharged smoothly and will not fall on the robot 1 and its connecting parts when climbing vertically upward or upside down, avoiding the increase of the load of the robot 1 due to impurities falling on the robot 1, thereby ensuring the movement performance and adsorption capacity of the robot 1.

[0049] The detachable setting of the bucket 209 inserted on the rod ring 207 allows personnel to easily remove the bucket 209, the scraper 211 and the guide plate 212 for separate cleaning. At the same time, when the bucket 209 is worn, the detachable design facilitates separate replacement.

[0050] Embodiment 2: Based on the above embodiment 1, refer to Figure 2 , Figure 3 , Figures 7 to 9The upper surface of the robot 1 is provided with a demisting and dust removal mechanism for preventing dust or fog in the tunnel from affecting the imaging of the camera 104. The demisting and dust removal mechanism includes a synchronous wheel set 1 301, which is composed of two synchronous wheels and a synchronous belt connected between the two synchronous wheels. One of the synchronous wheels of the synchronous wheel set 1 301 is fixedly connected to the output shaft of the support frame 201, and the other synchronous wheel is rotatably connected to the upper surface of the robot 1. A T-shaped bracket 302 is fixedly connected to the upper surface of the robot 1 near the synchronous wheel set 1 301, and a synchronous wheel set 2 303 is fixedly connected to the T-shaped bracket 302. The synchronous wheel set 2 303 is composed of two synchronous wheels and a synchronous belt connected between the two synchronous wheels. The two synchronous wheels of the synchronous wheel set 2 303 The two ends of the T-shaped bracket 302 are respectively rotatably connected. The synchronous wheel of the synchronous wheel set 1 301 away from the servo motor 202 is coaxially fixedly connected with one of the synchronous wheels of the synchronous wheel set 2 303. Therefore, when the synchronous wheel set 1 301 rotates, the synchronous wheel set 2 303 will also be driven to rotate. A push plate 304 is fixedly connected to the synchronous belt of the synchronous wheel set 2 303. The upper surface of the robot 1 close to the synchronous wheel set 2 303 is fixedly connected to the piston cylinder 305. In the initial state, the push plate 304 is located at the synchronous wheel of the synchronous wheel set 2 303 close to the piston cylinder 305. A piston disk 306 is slidably connected in the piston cylinder 305. A sliding rod 307 is fixedly connected to the side of the piston disk 306 close to the synchronous wheel set 2 303. The sliding rod 307 is away from the piston disk 30 6, a spring 308 is sleeved on the outer wall of one end of the spring 308, one end of the spring 308 close to the piston disc 306 is fixedly connected to the surface of the piston cylinder 305, the other end of the spring 308 is fixedly connected to the outer wall of the sliding rod 307, the end of the sliding rod 307 close to the synchronous wheel set 2 303 is fixedly connected with a bending plate 309, the bending plate 309 is located on the moving path of the push plate 304, the upper part of the piston cylinder 305 away from the synchronous wheel set 2 303 is connected with a valved air inlet pipe 310, the valve on the valved air inlet pipe 310 is a one-way air inlet valve, the upper end of the valved air inlet pipe 310 is threadedly connected with a filter box 316, the interior of the filter box 316 is provided with drying cotton for isolating moisture and dust, the upper part of the filter box 316 is threadedly connected with a mesh breathable cover, which can be removed by rotating Remove the mesh breathable cover to replace the drying cotton inside the filter box 316, the end of the piston cylinder 305 away from the synchronous wheel group 2 303 is connected to a valved air outlet pipe 311, the manipulator 103 is fixedly connected to an annular cavity 312 near the camera 104, the surface of the annular cavity 312 is coated with heat-insulating foam cotton, a heating wire 313 is arranged in the annular cavity 312, the lower end surface of the annular cavity 312 is equidistantly connected to a circle of electrically controlled rotating nozzles 314, the direction of the electrically controlled rotating nozzles 314 is aligned with the lens surface of the camera 104 in the initial state, a limiting ring 315 is fixedly connected to the manipulator 103, the valve on the valved air outlet pipe 311 is a one-way air outlet valve, and the valved air outlet pipe 311 passes through the limiting ring 315 and is connected to the annular cavity 312,One end of the valved air outlet pipe 311 near the piston cylinder 305 is configured as a spiral hose to adapt to different swing amplitudes of the manipulator 103.

[0051] Since the temperature inside the tunnel is relatively constant, the temperature inside the tunnel is generally higher than that outside the tunnel. When it rains, rainwater outside is brought into the tunnel by vehicles. As the temperature rises, the rainwater vaporizes and easily turns into fog. At this time, the visibility in the tunnel is reduced, and visual inspection using the robot 1 equipped with the camera 104 will make the captured image blurry.

[0052] Therefore, when using the climbing robot, you can refer to Figure 3 When the servo motor 202 is started, it will drive the synchronous wheel set 1 301 to drive, thereby driving the synchronous wheel set 2 303 to drive synchronously. Figure 2 and Figure 7 Since the push plate 304 is fixedly connected to the synchronous belt of the synchronous wheel group 2 303, during the synchronous belt transmission process of the synchronous wheel group 2 303, the push plate 304 will be driven to rotate downward at the synchronous wheel of the synchronous wheel group 2 303 close to the piston cylinder 305, and then it will conflict with the bending plate 309, thereby pulling the bending plate 309 to move synchronously in the direction of the bucket 209. At this time, the spring 308 on the outer wall of the sliding rod 307 will be stretched, and as the synchronous wheel group 2 303 continues to rotate, the bending plate 309 will be continuously pulled to the bottom of the synchronous wheel group 2 303 through the push plate 304, and the sliding rod 307 and the piston disc 306 will be driven to slide synchronously in the piston cylinder 305 in the direction of the synchronous wheel group 2 303. During this process, the internal space of the piston cylinder 305 close to one end of the valved air inlet pipe 310 generates negative pressure, so the valved air inlet pipe 310 will be opened to allow external air to pass through the filter box 316. The dry filter enters the piston cylinder 305, and when the push plate 304 gradually moves from the synchronous wheel group 2 303 to the synchronous wheel near the side of the piston cylinder 305, the push plate 304 will rotate upward to achieve steering, and then move toward the piston cylinder 305 at the upper end of the synchronous wheel group 2 303. After the push plate 304 rotates upward, the push plate 304 will be out of contact with the bending plate 309. Therefore, the sliding rod 307 and the bending plate 309 will move and reset under the reaction force of the spring 308 to reset and contract, and drive the piston disc 306 to slide quickly in the piston cylinder 305 toward the valved air outlet pipe 311. At this time, the gas on the side of the piston cylinder 305 close to the valved air inlet pipe 310 is rapidly compressed, and the internal pressure of the piston cylinder 305 increases, so the one-way valve on the valved air outlet pipe 311 will open, thereby quickly delivering the compressed dry gas in the piston cylinder 305 to the annular cavity 312. Please refer to Figure 8A strong airflow is discharged from the electrically controlled rotating nozzle 314 toward the lens surface of the camera 104, which can not only dissipate the heat of the camera 104, but also blow away dust and other substances that float to the lens surface of the camera 104 during the driving of the robot 1, thereby improving the imaging clarity.

[0053] Therefore, by aiming the electrically controlled rotating nozzle 314 at the surface of the camera 104 lens and blowing a strong airflow, not only can the camera 104 dissipate heat, but also dust and other substances that drift to the surface of the camera 104 lens during the driving of the robot 1 can be blown away, thereby improving the imaging clarity. The stable and clear image output can more accurately present the fine cracks, peeling, water seepage and other defects on the lining surface, avoid missing or misjudging defects due to blurred images, and further improve the accuracy and reliability of detection.

[0054] Also, when there is fog in the tunnel, please refer to Figure 8 , the heating wire 313 and the electric-controlled rotating nozzle 314 can be started on the remote control terminal on the ground. At this time, the heating wire 313 starts to heat up, and the electric-controlled rotating nozzle 314 will turn 180 degrees. This state can be referred to Fig. 9 At this time, the direction of the electrically-controlled rotating nozzle 314 will no longer be aimed at the lens surface of the camera 104, but at the periphery of the camera 104. At the same time, the gas transported to the annular cavity 312 by the valved air outlet pipe 311 will be heated by the heating wire 313 and discharged through the electrically-controlled rotating nozzle 314, thereby spraying a hot and strong airflow to the periphery of the camera 104. Since the mist is composed of tiny water droplets, when the air temperature around the camera 104 rises, the water droplets in the mist will evaporate, causing the mist around the camera 104 to dissipate, which can not only ensure that the environment around the camera 104 is clearly visible, but also prevent the mist from condensing into water droplets on the lens surface of the camera 104.

[0055] Therefore, in a cold and humid environment and when there is fog in the tunnel, the heating of the heating wire 313 and the steering of the electrically controlled rotating nozzle 314 can blow a strong hot airflow around the camera 104, thereby ensuring that the environment around the camera 104 is clearly visible, reducing image blur or distortion caused by fog, and improving the applicability of the robot 1 for detection operations. Even in humid and foggy conditions, the detection task can be carried out smoothly, and at the same time, it avoids the condensation of fog into water droplets on the lens surface to affect the shooting. There is no need to frequently wipe the lens or interrupt the detection to deal with the fog problem, thereby ensuring the continuity and efficiency of the detection work.

[0056] In addition, the heat-insulating foam cotton covering the surface of the annular cavity 312 can isolate the heat from the camera 104 when the heating wire 313 is heated, and the electrically controlled rotating nozzle 314 can align its nozzle toward the outside of the camera 104 lens when the heating wire 313 is heated, thereby ensuring that the fog around the camera 104 is dissipated while ensuring that the camera 104 is not affected by overheating, thereby reducing the probability of malfunction.

[0057] At the same time, since the valved air outlet pipe 311 is a stretchable hose close to the piston cylinder 305, the length of the valved air outlet pipe 311 can be freely extended and retracted following the swing amplitude of the manipulator 103. At the same time, combined with the limiting effect of the limiting ring 315 on the valved air outlet pipe 311, even if the robot 1 climbs upside down, the valved air outlet pipe 311 will not affect the shooting of the camera 104.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tunnel lining inspection climbing robot, comprising: A robot (1) and a wheel (101) rotatably connected to the bottom surface of the robot (1); an adsorption cavity opening (102) is arranged at the center of the bottom surface of the robot (1); a manipulator (103) is installed on the upper surface of the robot (1); a camera (104) is fixedly connected to the execution end of the manipulator (103); and the robot (1) is characterized in that a wall cleaning mechanism is arranged on a side of the robot (1) away from the manipulator (103); The wall cleaning mechanism comprises a support frame (201) fixedly connected to the upper surface of the robot (1), a servo motor (202) fixedly connected inside the support frame (201), a gear 1 (203) fixedly connected to the output shaft end of the servo motor (202), two support rods (204) symmetrically fixedly connected to the left and right sides of the robot (1), one of the two support rods (204) is rotatably connected to a gear 2 (205) at one end away from the robot (1), a reciprocating screw (206) is fixedly connected to the end of the gear 2 (205) away from the support rod (204), a rod collar (207) is slidably connected to the reciprocating screw (206), three sleeves (208) are equidistantly fixedly connected to a side wall of the robot (1) close to the reciprocating screw (206), screws (2081) are respectively threadedly connected inside the three sleeves (208), and the robot (1) A bucket (209) is provided on one side close to the reciprocating screw (206), a T-shaped slot (210) is provided on the upper end of the bucket (209), a scraper (211) is slidably connected in the T-shaped slot (210), guide plates (212) are symmetrically fixedly connected to the left and right ends of the bucket (209), an annular cavity (312) is fixedly connected to the manipulator (103) close to the camera (104), and a cavity (312) is provided in the annular cavity (312). A heating wire (313) is provided, the surface of the annular cavity (312) is coated with heat-insulating foam cotton, the lower end surface of the annular cavity (312) is equidistantly connected to a circle of electrically controlled rotating nozzles (314), a limiting ring (315) is fixedly connected to the manipulator (103), the electrically controlled rotating nozzle (314) is aimed at the surface of the camera (104) when performing soot blowing, and the electrically controlled rotating nozzle (314) is aimed at the periphery of the camera (104) when performing demisting.

2. A tunnel lining inspection climbing robot according to claim 1, characterized in that: The surface of the reciprocating screw (206) is provided with two thread grooves with the same pitch and opposite rotation directions, and the reciprocating screw (206) and the rod sleeve (207) together form a ball screw structure.

3. The tunnel lining inspection climbing robot according to claim 1, characterized in that: The inner wall of the sleeve (208) is provided with an internal thread.

4. The tunnel lining inspection climbing robot according to claim 1, characterized in that: The lower end of the scraper (211) is in contact with the inner wall of the lower end of the bucket (209), and a hole through which a screw (2081) can pass is left at the upper end of the scraper (211).

5. A tunnel lining inspection climbing robot according to claim 4, characterized in that: A T-shaped sliding block adapted to the T-shaped slot (210) is provided on one side of the scraper (211) close to the T-shaped slot (210).

6. A tunnel lining inspection climbing robot according to claim 5, characterized in that: A socket seat is provided on one side of the scraper (211) close to the rod sleeve (207), and the rod end of the rod sleeve (207) can be movably plugged into the socket seat of the scraper (211).

7. The tunnel lining inspection climbing robot according to claim 1, characterized in that: The upper surface of the robot (1) is provided with a demisting and dust removing mechanism, the demisting and dust removing mechanism comprises a synchronous wheel set 1 (301), the synchronous wheel set 1 (301) is composed of two synchronous wheels and a synchronous belt connected between the two synchronous wheels, the upper surface of the robot (1) near the synchronous wheel set 1 (301) is fixedly connected with a T-shaped bracket (302), the T-shaped bracket (302) is fixedly connected with a synchronous wheel set 2 (303), the synchronous wheel set 2 (303) is composed of two synchronous wheels and a synchronous belt connected between the two synchronous wheels, the synchronous belt of the synchronous wheel set 2 (303) is fixedly connected with a push plate (304), the upper surface of the robot (1) near the synchronous wheel set 2 (303) is fixedly connected with a piston cylinder (305), the piston cylinder (305) slides inside A piston disc (306) is connected, and a sliding rod (307) is fixedly connected to a surface of the piston disc (306) close to the second synchronous wheel set (303); a spring (308) is sleeved on the outer wall of the end of the sliding rod (307) away from the piston disc (306); a bending plate (309) is fixedly connected to the end of the sliding rod (307) close to the second synchronous wheel set (303); the upper part of the end of the piston cylinder (305) away from the second synchronous wheel set (303) is connected to a valved air inlet pipe (310); the upper end of the valved air inlet pipe (310) is threadedly connected to a filter box (316); the end of the piston cylinder (305) away from the second synchronous wheel set (303) is connected to a valved air outlet pipe (311); the valved air outlet pipe (311) passes through a limiting ring (315) and is connected to the annular cavity (312).

8. The tunnel lining inspection climbing robot according to claim 7, characterized in that: The bending plate (309) is located on the moving path of the push plate (304).

9. The tunnel lining inspection climbing robot according to claim 7, characterized in that: The valved air inlet pipe (310) is a low-pressure one-way valve, and the valve on the valved air outlet pipe (311) is a high-pressure one-way valve.

10. The tunnel lining inspection climbing robot according to claim 9, characterized in that: The valved air outlet pipe (311) is arranged close to the piston cylinder (305) as a spiral hose.

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