Deepwater environment culvert inner wall attachment surface cleaning device

Abstract

The invention provides a deepwater environment culvert inner wall attachment surface cleaning device which is composed of a left moving carrier, a right moving carrier and two sets of synchronous telescopic mechanisms in the middle, box frame assemblies are arranged on the mechanisms, and high-pressure cleaning assemblies are installed on box frames. The synchronous telescopic mechanism structurally comprises a U-shaped shaft frame, an upper gear system and a lower gear system, a stretching rod is driven to move through gear meshing, and a box body can be kept balanced in the cleaning process through an outer end box synchronous wheel. The box frame assembly is composed of a box body and a fixable or movable outer frame, and the outer frame is provided with a high-pressure cleaning assembly. The high-pressure cleaning assembly comprises a high-pressure pump and a spray head, and the spray head is installed in the high-pressure cavity of the outer frame and connected to the high-pressure pump to provide strong water flow. According to the device, bidirectional water pressure difference is generated through jetting of the high-pressure cleaning assembly, the device is stably attached to the wall and slowly moves, the problem of backward movement caused by too large impact force is effectively avoided, and therefore the stability and efficiency of the cleaning process are guaranteed, the complex operation requirement in the culvert can be met, and efficient cleaning is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of deepwater environment culvert maintenance equipment, and in particular relates to a device for cleaning the surface of attachments on the inner wall of a deepwater environment culvert. Background Art

[0002] A deepwater culvert is a structure used in water conservancy projects to guide water through dams, dikes or other obstacles. Its function is to control and regulate water flow to prevent flooding, protect farmland, maintain river stability, etc. Deepwater culverts are mainly used in water conservancy facilities such as reservoirs, dams, and hydropower stations. Control facilities such as gates are installed inside the culvert to adjust the size and direction of the water flow. Since the silt and other materials carried by the water flow will be deposited in the culvert, regular maintenance and cleaning are required. The inner wall attachments of deepwater environment culverts mainly refer to various dirt and sediments accumulated on the inner wall of the culvert. These attachments will affect the normal function of the culvert, the smooth flow of water and the structural safety of the culvert. Biological attachments such as algae, moss, shellfish (such as mussels, oysters) and marine microorganisms have strong adhesion. Mechanical and chemical cleaning often requires higher power and stronger chemicals, increasing operational risks and environmental impacts. Non-biological attachments such as silt, mineral sediments (such as calcifications) and rust accumulate over time. These sediments will affect the water flow and increase the weight of the structure, making cleaning more difficult, especially in narrow or irregularly shaped channels.

[0003] There are currently corresponding technologies and devices for cleaning the inner wall attachments of deep-water culverts. Publication No. CN113714173A records a method and device for cleaning the inner wall attachments of deep-water culverts, the device includes an ROV unit, a plurality of pairs of fixing devices are arranged on the outer surface of the ROV unit, each fixing device includes a telescopic hinge and a suction cup fixed at the end of the telescopic hinge, the telescopic hinge is connected to a first motor, a dirt positioning device is arranged on the ROV unit, the dirt positioning device includes an LED light group, a rotating lifting platform, an underwater camera is arranged on the rotating lifting platform, the ROV unit is also connected to a cleaning device, the cleaning device includes a mechanical arm, a telescopic mechanism and a rotating mechanism are arranged on the mechanical arm, the mechanical arm is connected to a brush head group, the brush head group includes a plurality of electric brush heads, a collection device is arranged on the cleaning device or the ROV unit, and a remote control platform is arranged on water or land.

[0004] The above scheme has high requirements for the environment in which it is used. For example, it requires the wall to have ferromagnetic materials, or it needs to find a place without dirt and relatively flat for positioning, which limits its scope of application. The vacuum suction cup needs to find a place without dirt and relatively flat for positioning, the electromagnetic base requires a certain amount of power support, and the wall needs to have ferromagnetic materials. The internal space of a deep-water culvert is limited. The cleaning equipment that uses a mechanical arm to carry a brush head group is difficult to turn and adjust the angle during movement, and is prone to collision or jamming problems, which limits the flexibility and operating range of the equipment. The inner wall of the culvert is usually a circular cross-section, and the brush head group is usually difficult to match, which increases the difficulty of cleaning. The cleaning device in the prior art lacks consideration for the type and degree of consolidation of the attached matter, and it is impossible to allocate the appropriate brush head and power according to the type or degree of consolidation of the attached dirt.

[0005] With the acceleration of urbanization and the increase in the scale of culverts, the research and improvement of culvert dredging technology is of great significance. There is an urgent need for technology that can better adapt to the maintenance of deep-water culverts to automated dredging equipment. Summary of the invention

[0006] In view of the defects and problems existing in the prior art, the present invention aims to provide a culvert inner wall cleaning device suitable for deep water environment, which can realize efficient and stable all-round deep water culvert inner wall cleaning through multi-directional drive and high-pressure confrontation cleaning.

[0007] The solution of the present invention to solve the technical problem is: a surface cleaning device for the inner wall of a deep-water environment culvert is adopted, comprising two left and right mobile carriers and two sets of synchronous telescopic mechanisms in the middle, a synchronous telescopic mechanism is respectively installed on the inner side of each mobile carrier, a box frame assembly is installed on each synchronous telescopic mechanism, and a high-pressure cleaning assembly is installed on each box frame assembly, the synchronous telescopic mechanism comprises a U-shaped shaft frame, a lower gear and an upper gear, the upper and lower wing plates of the U-shaped shaft frame are respectively fixed to the inner middle part of the mobile carrier, a pair or more pairs of fixed core shafts are fixed in parallel between the upper and lower wing plates, an axle tube is sleeved on the outer side of each fixed core shaft, the axle tube can rotate, a lower gear is fixed at the lower part of each axle tube, and an upper gear is fixed at the upper part Wheels, each adjacent gear is meshed with each other, the lower gear and the upper gear located at the outermost end are respectively fixed with extension rods, and the outer end of each extension rod is fixed with a box synchronization wheel; the box frame assembly includes a box body and an outer frame, and a pair of box fixed shafts are fixed on the outside of the top and bottom of the box body, and each box synchronization wheel is respectively mounted on the corresponding box fixed shaft and can rotate. A pair of box synchronization wheels at the top or bottom of the same box body are meshed with each other, and the outer frame is fixedly or movably installed on the front side of the box body; the high-pressure cleaning assembly includes a high-pressure pump and a high-pressure nozzle, and high-pressure chambers are respectively fixed on the upper and lower parts of the outer frame, and each high-pressure nozzle is sealed and installed at the front end of the high-pressure chamber, and the output end of the high-pressure pump is connected to each high-pressure nozzle.

[0008] Preferably, when the box body and the outer frame are movably mounted, side shafts are respectively mounted on the front of the left and right side walls of the box body through shaft seats, each side shaft is hinged with a swing rod, and the front end of each swing rod is fixed to the outer frame. At the same time, a swing driving assembly is also provided to adjust the swing angle of the outer frame.

[0009] Preferably, the swing drive assembly includes a connecting rod, a pull rod, a guide rod, a guide sleeve and an electric push rod. The top and bottom of the outer frame are connected with connecting rods respectively, the rear section of the connecting rod is connected with a pull rod, the rear section of the pull rod is connected with a guide rod, and the middle positions of the upper and lower sides of the box are respectively provided with guide sleeves, and the corresponding guide rod is sleeved in each guide sleeve. At the same time, on the rear side of each guide sleeve, an electric push rod fixedly installed with the top and bottom of the box is provided, and the push rod of each electric push rod is fixedly connected to the inner end of the guide sleeve. When one electric push rod is controlled to extend and the other electric push rod is retracted, the outer frame can be controlled to swing upward or downward with the swing rod as the support.

[0010] Preferably, the mobile carrier includes side walls, a bottom plate and a top plate, the bottom plate and the top plate are laterally fixed at the upper and lower parts of the inner wall of the side wall, and propulsion rotor blades are installed at the front and rear ends of the front and rear flow channels of the bottom plate and the top plate, respectively; vertical channels are respectively arranged in the middle of the bottom plate and the top plate, and lifting and flipping rotor blades are installed in each vertical channel.

[0011] Preferably, columns are fixed on the outer sides of the front and rear ends of the side walls, and running wheels are installed on the ends of each column.

[0012] Preferably, the high-pressure pump of the high-pressure cleaning assembly includes a motor and a threaded pump head, high-pressure chambers are respectively fixed at the upper and lower parts of the outer frame, a motor is fixed in the box body, a threaded pump head is fixed on the front side wall of the box body, the rotating shaft of the motor seat is drivingly connected to the rotating shaft of the threaded pump head, a water inlet is provided on one side of the threaded pump head, and a drain pipe is connected to the other side, the drain pipe is connected to a collecting pipe, the upper and lower collecting pipes are respectively connected to the inner cavity of the corresponding high-pressure chamber, each high-pressure nozzle is sealed and installed at the front end of the high-pressure chamber, and the upper and lower collecting pipes are connected in series through a series pipe.

[0013] Preferably, each high-pressure chamber fixedly or movably mounted on the end of the outer frame is inclined upward.

[0014] Preferably, when the box body and the outer frame are movably installed, an electromagnetic swing mechanism is adopted, which includes an electromagnetic pin, an electromagnetic pin is transversely fixed on the edge of the top plate or the bottom plate of the box body, a telescopic rod is sleeved inside the electromagnetic pin, a spring is sleeved between the magnetic stop platform at the inner end of the telescopic rod and the front port of the electromagnetic pin, and an electromagnet is sleeved on the outer side of the front port of the electromagnetic pin; a wedge-shaped head is provided at the front end of the telescopic rod, and at the same time, a wedge-shaped groove is provided on the inner end side wall of the guide rod, and the width of the wedge-shaped groove is greater than the telescopic rod.

[0015] The beneficial effects of the present invention are as follows: the deep-water culvert cleaning device can realize stable and efficient culvert inner wall cleaning in a deep-water environment, and is flexible in operation and highly adaptable, effectively solving the problems of movement, positioning and cleaning of existing cleaning devices in deep-water culverts.

[0016] 1. Bidirectional driven movement and efficient cleaning: The device cooperates with the mobile carriers on the left and right sides. On the basis of the multi-dimensional operations of the carriers such as lateral movement, horizontal rotation, rising and falling, and horizontal flipping of the center line, the high-pressure cleaning component provides bidirectional water pressure difference drive: The device uses the high-pressure cleaning component as the main driving force, and generates recoil force through the injection of different pressures, which pushes the device to move along the culvert in the working state. The pressure difference between the forward and reverse injection of the nozzle group enables the device to stick to the wall and move slowly, solving the problem of the traditional cleaning device moving backward due to excessive impact force under high water pressure, ensuring a stable and efficient cleaning process. Flexible directional control and movement are achieved to adapt to the complex working environment in the culvert.

[0017] 2. Application of synchronous telescopic mechanism: The synchronous telescopic mechanism includes a series of gears and extension rods, and the device is retracted through the meshing and extension of the synchronous wheels. In deep water environments, the device can be retracted when entering the culvert to reduce the water flow resistance and collision risk; during cleaning work, the device can be unfolded to achieve more stable wall-adhering operations and improve cleaning efficiency.

[0018] 3. Multi-angle cleaning coverage: The cleaning components are arranged on both sides of the device, and the back-facing nozzle group can exert a wall-adhering force to make the device close to the side wall of the culvert, ensuring a wide cleaning coverage without being restricted by the type and location of the attachments. All-round cleaning can be carried out on the top, side walls and bottom of the culvert.

[0019] 4. Adjustable swing mechanism: The swing drive assembly can adjust the swing angle of the outer frame through the design of pull rods, guide rods and electric push rods. After the nozzle groups at the front and rear ends swing outward, the component of the back nozzle group perpendicular to the wall is greater than the component of the inner nozzle group perpendicular to the wall, so the pressure of the back nozzle group is greater than that of the inner nozzle group. This pressure difference can make the device fit the wall surface, and then it can flexibly adapt to different cleaning needs. This component further enhances the adjustment accuracy of the swing angle of the outer frame through the control of the guide rod or the use of an electromagnetic swing drive mechanism, so that the high-pressure cleaning component can cover the complex surface of the inner wall of the culvert. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the working state of the device of Example 1 of the present invention; Figure 2 yes Figure 1 Schematic diagram of contraction state; Figure 3 yes Figure 2 Schematic diagram of the internal structure of the mobile vehicle; Figure 4 yes Figure 1 A top view of Figure 5 yes Figure 4 Schematic diagram of the AA section structure; Figure 6 yes Figure 5 Schematic diagram of the structure of the middle BB section; Figure 7 It is a schematic diagram of the installation relationship between the box frame assembly and the high-pressure cleaning assembly; Figure 8 yes Figure 7 Side view of Fig. 9 yes Figure 7 From the top view; Fig.10 yes Fig. 9 Schematic diagram of the structure of the middle DD section; Fig.11 yes Figure 8 Schematic diagram of the CC cross-section structure.

[0021] Reference numerals in the figure: mobile carrier 1; synchronous telescopic mechanism 2; box frame assembly 3; drive swing assembly 4; high-pressure cleaning assembly 5; electromagnetic drive swing mechanism 6; push component 7; side wall 11; bottom plate 12; top plate 13; propulsion rotor 14; vertical channel 15; lifting and flipping rotor 16; buoy 17; column 18; walking wheel 19; U-shaped shaft frame 21; lower gear 22; shaft tube 23; upper gear 24; fixed spindle 25; stretching rod 26 ; Box synchronous wheel 27; Box fixed shaft 28; Box body 31; Side shaft 32; Rocker arm 33; Outer frame 34; Connecting rod 41; Pull rod 42; Guide rod 43; Guide sleeve 44; Electric push rod 45; Motor seat 51; Motor 52; Threaded pump head 53; Water inlet 54; Drain pipe 55; Collection pipe 56; High-pressure nozzle 57; High-pressure chamber 58; Series pipe 59; Electromagnetic pin 61; Telescopic rod 62; Wedge-shaped head 63; Wedge-shaped groove 64. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0023] Example 1: Deepwater culverts are mainly used in water conservancy facilities such as reservoirs, dams, and hydropower stations. Control facilities such as gates are installed inside the culvert to adjust the size and direction of the water flow. Since the silt and other substances carried by the water flow will be deposited in the culvert, these attachments will affect the normal function of the culvert, the smooth flow of water, and the structural safety of the culvert. In view of this situation, this embodiment provides a device suitable for deepwater culverts to quickly clean objects attached to the inner wall of the culvert. Figure 1 and Figure 2As shown, the device mainly includes two left and right moving carriers 1 and two sets of synchronous telescopic mechanisms 2 in the middle. Figure 3 As shown, a synchronous telescopic mechanism 2 is installed on the inner side of each mobile carrier 1, a box frame assembly 3 is installed on each synchronous telescopic mechanism 2, and a swing driving assembly 4 and a high-pressure cleaning assembly 5 are installed on each box frame assembly 3. Before carrying the cable into the deep-water culvert, the device mainly relies on the power of the two sides 1 to move, but in the working state, the device mainly relies on the impact and anti-impact force of the high-pressure cleaning assembly 5 to coordinate movement and high-pressure washing.

[0024] Specifically, Figure 3 In the figure, the mobile vehicle 1 includes a side wall 11, a bottom plate 12, a top plate 13, a propulsion vane 14, a vertical channel 15, a lifting and flipping vane 16, a pontoon 17, a column 18 and a running wheel 19. The bottom plate 12 is transversely fixed to the upper part of the inner side wall of the side wall 11, and the top plate 13 is transversely fixed to the lower part. A front and rear flow passage is formed between the bottom plate 12 and the top plate 13, and the propulsion vane 14 is installed at the front and rear ends of the front and rear flow passages. Usually, the propulsion vane 14 is installed at an angle. Figure 6 The state shown. When a pair of propulsion vanes 14 on the diagonal rotate forward and a pair of propulsion vanes 14 on the other diagonal rotate backward, the entire device rotates horizontally; when all propulsion vanes 14 rotate forward or backward, the entire device moves forward or backward. Vertical channels 15 are respectively provided in the middle of the bottom plate 12 and the top plate 13, and a lifting and flipping vane 16 is installed in each vertical channel 15. Therefore, when the lifting and flipping vanes 16 located in the middle of the two moving vehicles 1 on both sides rotate forward or backward at the same time, the entire device rises or falls, and when the lifting and flipping vanes 16 on both sides rotate forward and backward respectively, the entire device flips horizontally along the center line. The device realizes multi-dimensional flexible movement in the culvert through a two-way drive system, including forward and backward movement, horizontal rotation, rising and falling, and horizontal flipping operations, adapting to the complex working environment of the culvert and improving the cleaning efficiency. The synchronous telescopic mechanism can be retracted in the non-working state, reducing the volume of the device, facilitating its movement in the deep-water culvert, reducing water flow resistance and collision risks, and improving the convenience of operation and the safety of deep-water operations.

[0025] Posts 18 are fixed to the outside of the front and rear ends of the side wall 11 , respectively. A running wheel 19 is mounted on the end of each post 18 .

[0026] like Figure 3In the embodiment, the synchronous telescopic mechanism 2 includes a U-shaped shaft frame 21, a lower gear 22, a shaft tube 23, an upper gear 24, a fixed mandrel 25, a stretching rod 26 and a box synchronous wheel 27. The U-shaped shaft frame 21 includes a web and upper and lower wing plates in the middle, and the upper and lower wing plates are respectively fixed to the inner surface of the middle of the bottom plate 12 and the top plate 13. A pair or more (four) pairs of fixed mandrels 25 are fixed in parallel between the upper and lower wing plates, and a shaft tube 23 is sleeved on the outer side of each fixed mandrel 25, and the shaft tube 23 can rotate. A lower gear 22 is fixed at the lower part of each shaft tube 23, and an upper gear 24 is fixed at the upper part. The upper adjacent upper gears 24 are meshed with each other, and the lower adjacent lower gears 22 are meshed with each other. The lower gear 22 and the upper gear 24 located at the outermost end are respectively fixed with a stretching rod 26, and the outer end of each stretching rod 26 is fixed with a box synchronous wheel 27.

[0027] like Figure 7 In the embodiment, the box frame assembly 3 includes a box body 31, a side shaft 32, a swing rod 33 and an outer frame 34. A pair of box fixing shafts 28 are fixed to the outer sides of the top and bottom of the box body 31, and each box synchronous wheel 27 is respectively mounted on the corresponding box fixing shaft 28 and can rotate. The pair of box synchronous wheels 27 at the top or bottom of the same box body 31 mesh with each other. The outer frame 34 is fixedly or movably installed on the front side of the box body 31. When movably installed, such as Figure 7 As shown, at the front of the left and right side walls of the box body 31, side shafts 32 are respectively installed through shaft seats, and a swing rod 33 is hinged on each side shaft 32, and the front end of each swing rod 33 is fixed to the outer frame 34. At the same time, a swing driving component 4 is also provided for adjusting the swing angle of the outer frame 34.

[0028] like Figure 8-Figure 10In the figure, the high-pressure cleaning assembly 5 includes a motor seat 51, a motor 52, a threaded pump head 53, a water inlet 54, a drain pipe 55, a collection pipe 56, a high-pressure nozzle 57, a high-pressure chamber 58 and a series pipe 59. A high-pressure chamber 58 is fixed to the upper and lower parts of the outer frame 34, respectively. A motor seat 51 is fixed to the inner wall of the box body 31, and a motor 52 is fixed in the motor seat 51. At the same time, a threaded pump head 53 is fixed to the front side wall of the box body 31, and the rotating shaft of the motor seat 51 is connected to the rotating shaft of the threaded pump head 53 (the high-pressure pump includes a motor 52 and a threaded pump head 53, and other pumps can also be used. The screw pump has a wide range of pressure and flow, and the inertia force of the rotating parts in the pump is low, so it can use a very high speed, the flow is uniform and continuous, the vibration is small, it is not very sensitive to the incoming gas and dirt, and is suitable for dirty environments cleaned with high-pressure water). A water inlet 54 is set on one side of the threaded pump head 53, and a drain pipe 55 is connected to the other side, and the drain pipe 55 is connected to the collection pipe 56. The upper and lower collecting pipes 56 are respectively connected to the inner cavity of the corresponding high-pressure chamber 58. The upper and lower collecting pipes 56 are connected in series through a series pipe 59. Each high-pressure nozzle 57 is sealed and installed at the front end of the high-pressure chamber 57. Each high-pressure chamber 58 fixedly or movably installed at the end of the outer frame 34 is tilted upward.

[0029] Based on the above structure, the front and rear ends of the left and right synchronous telescopic mechanisms 2 each have a pair of box synchronous wheels 27. The pair of box synchronous wheels 27 at the front end of the left synchronous telescopic mechanism 2 are installed on the box fixed shaft 28 on the left side of the front box body 31, and the pair of box synchronous wheels 27 at the rear end are installed on the box fixed shaft 28 on the left side of the rear box body 31; the pair of box synchronous wheels 27 at the front end of the right synchronous telescopic mechanism 2 are installed on the box fixed shaft 28 on the right side of the front box body 31, and the pair of box synchronous wheels 27 at the rear end are installed on the box fixed shaft 28 on the right side of the rear box body 31. In the natural state, the extension rod 26 is pulled by the tension spring 29 and is in a retracted state, so that the two outer frames 34 at the front and rear ends are in a retracted state, and the left and right mobile vehicles 1 are kept close to each other inward. This retracted state facilitates the movement of the entire device into deep water, ensures that the device is reduced in size, avoids collisions and reduces water flow impact. In the workplace located in the culvert, when the high-pressure cleaning assembly 5 is started to work, the controller controls the power of the front and rear motors 52 respectively, so that the front and rear power are not equal, and the side with greater power has greater reverse impulse, driving the entire device to move to one side, that is, in the working mode, the movement of the device mainly depends on the water pressure difference in both directions. Figure 5Taking the nozzle groups A, B, C and D as an example, when the spray pressure of the left pair of nozzle groups A and B is greater than that of the right pair of nozzle groups C and D, the entire device moves to the right. At this time, one of the nozzle groups C or D on the right is in the cleaning working mode (when cleaning the bottom, nozzle group C cleans the bottom, and when cleaning the top, nozzle group D cleans the top). The above-mentioned movement and work through the positive and negative water pressures that resist each other can avoid the problem of the working nozzle group causing the device to move backward due to excessive impact force on the side wall of the culvert. The characteristics of positive and negative resistance can ensure that the device moves slowly and reaches the high-pressure jet cleaning conditions. The high-pressure cleaning component uses the water pressure difference to drive the movement, and cooperates with the reverse spray force to ensure that the device is firmly attached to the wall, avoiding the problem of traditional cleaning devices moving backward under high-pressure impact, making the cleaning process smooth and efficient.

[0030] At the same time, when the nozzle group near the side wall of the culvert is working, the other nozzle group at the same end provides pressure to the side wall of the culvert. For example, when nozzle group C cleans the bottom, top or side, the recoil force of another nozzle group D at the front end (the group at the back) can press the device against the side wall of the culvert. This feature is very helpful for cleaning any position on the top and two side walls of the culvert. Since the nozzle group at the back can always provide a pressing force, the device is attached to the inner wall of the culvert to avoid the drift of the cleaning device caused by the fast water flow in the culvert. The high-pressure jet is not limited to the type and state of the attachments on the inner wall of the culvert, and can be moved and cleaned in a full-coverage manner. While cleaning, the entire device will move forward or backward with the walking wheel 19.

[0031] like Figure 8In the embodiment, the swing driving assembly 4 includes a connecting rod 41, a pull rod 42, a guide rod 43, a guide sleeve 44 and an electric push rod 45. The connecting rod 41 is connected to the top and bottom of the outer frame 34 respectively, the rear section of the connecting rod 41 is connected to the pull rod 42, and the rear section of the pull rod 42 is connected to the guide rod 43. Guide sleeves 44 are respectively arranged at the middle positions of the upper and lower sides of the box body 31, and the corresponding guide rod 43 is sleeved in each guide sleeve 44. At the same time, an electric push rod 45 fixedly installed with the top and bottom of the box body 31 is arranged on the rear side of each guide sleeve 44, and the push rod of each electric push rod 45 is fixedly connected to the inner end of the guide sleeve 44. When one electric push rod 45 is controlled to extend and the other electric push rod 45 is retracted, the outer frame 34 can be controlled to swing upward or downward with the swing rod 33 as the support. The swing drive assembly can adjust the swing angle of the outer frame through the design of pull rods, guide rods and electric push rods. After the side nozzle group moves outward, the component of the force perpendicular to the wall of the back nozzle group is greater than the component of the force perpendicular to the wall of the inner nozzle group, so the pressure of the back nozzle group is greater than that of the inner nozzle group. This pressure difference can make the device fit the wall surface, and thus can flexibly adapt to different cleaning needs. The multi-angle cleaning high-pressure nozzle layout, combined with the wall-adhering ability, enables the device to perform full coverage cleaning on the top, side walls and bottom of the culvert, without being restricted by the location, shape and type of attachments, to achieve efficient and thorough cleaning.

[0032] When installing an activity, you can also use Fig.11 The electromagnetic swing driving mechanism 6 shown in FIG. Fig.11 In the embodiment, the electromagnetic swing mechanism 6 includes an electromagnetic pin 61, a telescopic rod 62, a wedge-shaped head 63 and a wedge-shaped groove 64. An electromagnetic pin 61 is transversely fixed to the edge of the top plate 13 or the bottom plate 12 of the box body 31, and a telescopic rod 62 is sleeved inside the electromagnetic pin 61. A spring is sleeved between the inner end magnetic stop of the telescopic rod 62 and the front end of the electromagnetic pin 61, and an electromagnet is sleeved outside the front end of the electromagnetic pin 61. A wedge-shaped head 63 is provided at the front end of the telescopic rod 62, and a wedge-shaped groove 64 is provided on the inner end side wall of the guide rod 43, and the width of the wedge-shaped groove 64 is greater than the telescopic rod 62. In the natural state, under the action of the spring, each telescopic rod 62 is in a retracted state, but when the controller controls the telescopic rod 62 of one of the electromagnetic pins 61 to extend, the wedge-shaped head 63 can be used to drive the corresponding wedge-shaped groove 64, thereby causing the corresponding guide rod 43 to be pulled backward (the other guide rod 43 is not pulled). When the swing direction of the outer frame 34 needs to be changed, the controller cuts off the power to retract the telescopic rod 62 that was originally extended, and then controls the telescopic rod 62 of another electromagnetic pin 61 to extend, thereby changing the swing direction of the guide rod 43.

[0033] The push component 7 located at the rear side of the two boxes 31 can be an ordinary support pad or an air bag. In this case, the electric push rod 45 is changed to an air cylinder, and the air bag is used to supply air to the front chamber of the cylinder through the air pipe. At the same time, an electromagnetic valve is installed on the air pipe. The controller controls the opening and closing timing of the electromagnetic valve, and then selects the upper or lower side of the swing drive assembly 4 to pull backward. At this time, as long as the backs of the two boxes 31 are connected, they can immediately press against the side wall of the culvert to avoid problems such as being carried away or drifted by the water flow due to the increase in volume caused by the unfolding of the two boxes 31.

[0034] This device not only improves the efficiency and effect of cleaning the inner wall of the culvert, but also enhances the adaptability and safety of the device in complex environments, solving the problem that traditional cleaning devices are difficult to work efficiently and stably in deep-water culverts. The following is the specific use process of the deep-water culvert cleaning device.

[0035] Before entering the culvert, the device is retracted by using the tension spring or electromagnetic lock (between the docking surfaces of the two moving vehicles). By retracting the extension rod and the box synchronous wheel, the left and right moving vehicles are fitted together, reducing the size of the device, making it easier to pass through the narrow culvert entrance, while reducing the resistance of the water flow and the risk of collision. The device is slowly placed in the water and moved into the culvert. At this time, the device mainly relies on the propulsion vane to control the forward, backward or rotation to ensure that the device enters and moves to the cleaning area safely. The tilted rotor provides precise direction control in the culvert, which facilitates the flexible positioning of the device. After reaching the target cleaning area, when the front and rear high-pressure water is sprayed, the box bodies at the front and rear ends can be driven to shrink inward and close together, and finally the moving vehicle is separated from the left and right. During the cleaning process, the swing drive assembly or the electromagnetic swing drive mechanism can adjust the swing angle of the outer frame, so that the spray angle of the high-pressure cleaning assembly can be flexibly adjusted. Since the back-facing wall-attached nozzle group provides a reverse water pressure difference, the device can be adjusted under the pressure difference of the front and rear high-pressure water, and can be both high-pressure flushing and slow movement, so as to fully cover the inner wall of the culvert. Start the high-pressure cleaning assembly, and set different directions and pressures of the nozzle group as needed. The back-side wall-attached nozzle group provides continuous reverse impulse to ensure that the device is always close to the inner wall of the culvert during the cleaning process to achieve effective cleaning. The device is fixed to the side wall of the culvert by the action of the wall-attaching force, providing stable support for the subsequent cleaning process and avoiding drift caused by water flow disturbance. As the cleaning proceeds, the device uses the pressure difference of the spray water to drive itself to move slowly. By gradually adjusting the pressure of the high-pressure nozzle, the inner wall of the culvert is fully covered and cleaned to ensure that there are no dead corners in each area. The walking wheel auxiliary device moves forward and backward smoothly, so that the device moves along the predetermined path, and the cleaning effect is uniform. After the cleaning is completed, stop the high-pressure cleaning assembly, control the synchronous telescopic mechanism to retract the device, reduce the volume, and ensure smooth exit from the culvert. When retracting, it still relies on the propulsion of the rotary blade and the contracted state to ensure that the device returns to the ground safely. Through these steps, the device achieves efficient and all-round culvert cleaning, and ensures the thoroughness and stability of the cleaning through measures such as stable wall attachment and angle adjustment.

[0036] The above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modification, equivalent substitution, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention.

Claims

1. A device for cleaning the inner wall of a deepwater culvert, characterized in that: The invention comprises two left and right moving carriers (1) and two sets of synchronous telescopic mechanisms (2) in the middle, wherein a synchronous telescopic mechanism (2) is respectively installed on the inner side of each moving carrier (1), a box frame assembly (3) is installed on each synchronous telescopic mechanism (2), and a high-pressure cleaning assembly (5) is installed on each box frame assembly (3), wherein the synchronous telescopic mechanism (2) comprises a U-shaped shaft frame (21), a lower gear (22) and an upper gear (24), wherein the upper and lower wing plates of the U-shaped shaft frame (21) are respectively fixed to the inner middle part of the moving carrier (1), a pair or more pairs of fixed core shafts (25) are fixed in parallel between the upper and lower wing plates, an axle tube (23) is sleeved on the outer side of each fixed core shaft (25), and the axle tube (23) is rotatable, a lower gear (22) is fixed on the lower part of each axle tube (23), and an upper gear (24) is fixed on the upper part, and each adjacent gear is meshed with each other, and the lower gear (22) located at the outermost end is meshed with each other. The upper gear (24) and the lower gear (24) are respectively fixed with extension rods (26), and the outer end of each extension rod (26) is fixed with a box synchronous wheel (27); the box frame assembly (3) includes a box body (31) and an outer frame (34), and a pair of box fixed shafts (28) are respectively fixed on the outer sides of the top and bottom of the box body (31), and each box synchronous wheel (27) is respectively sleeved on the corresponding box fixed shaft (28) and can rotate, and the pair of box synchronous wheels (27) at the top or bottom of the same box body (31) are meshed with each other, and the outer frame (34) is fixedly or movably installed on the front side of the box body (31); the high-pressure cleaning assembly (5) includes a high-pressure pump and a high-pressure nozzle (57), and a high-pressure chamber (58) is respectively fixed on the upper part and the lower part of the outer frame (34), and each high-pressure nozzle (57) is sealed and installed at the front end of the high-pressure chamber (57), and the output end of the high-pressure pump is connected to each high-pressure nozzle (57).

2. The surface cleaning device for inner wall attachments of deep water culvert according to claim 1 is characterized in that: When the box body (31) and the outer frame (34) are movably mounted, side shafts (32) are respectively mounted on the front of the left and right side walls of the box body (31) through shaft seats, and a swing rod (33) is hinged on each side shaft (32), and the front end of each swing rod (33) is fixed to the outer frame (34). At the same time, a swing driving assembly (4) is also provided for adjusting the swing angle of the outer frame (34).

3. The surface cleaning device for inner wall attachments of deep water culverts according to claim 2 is characterized in that: The swing driving assembly (4) comprises a connecting rod (41), a pull rod (42), a guide rod (43), a guide sleeve (44) and an electric push rod (45). The connecting rod (41) is connected to the top and bottom of the outer frame (34) respectively. The rear section of the connecting rod (41) is connected to the pull rod (42). The rear section of the pull rod (42) is connected to the guide rod (43). Guide sleeves (44) are respectively arranged at the middle positions of the upper side and the lower side of the box (31). Each guide sleeve (44) is sleeved with a corresponding guide rod (43). At the same time, an electric push rod (45) fixedly mounted on the top and bottom of the box (31) is arranged on the rear side of each guide sleeve (44). The push rod of each electric push rod (45) is fixedly connected to the inner end of the guide sleeve (44). When one electric push rod (45) is controlled to extend and the other electric push rod (45) is retracted, the outer frame (34) can be controlled to swing upward or downward with the swing rod (33) as support.

4. The surface cleaning device for inner wall attachments of deep water culverts according to claim 1 is characterized in that: The mobile carrier (1) comprises a side wall (11), a bottom plate (12) and a top plate (13); the bottom plate (12) and the top plate (13) are transversely fixed to the upper and lower parts of the inner side wall of the side wall (11), respectively; and propulsion rotors (14) are respectively installed at the front and rear ends of the front and rear flow passages of the bottom plate (12) and the top plate (13); vertical channels (15) are respectively arranged in the middle of the bottom plate (12) and the top plate (13), and a lifting and flipping rotor (16) is installed in each vertical channel (15).

5. The surface cleaning device for inner wall attachments of deep water culverts according to claim 4 is characterized in that: Posts (18) are respectively fixed on the outside of the front and rear ends of the side wall (11), and a running wheel (19) is respectively installed at the end of each post (18).

6. The surface cleaning device for inner wall attachments of deep water culverts according to claim 1 is characterized in that: The high-pressure pump of the high-pressure cleaning assembly (5) comprises a motor (52) and a threaded pump head (53). A high-pressure chamber (58) is fixed at the upper and lower parts of the outer frame (34), respectively. The motor (52) is fixed in the box (31), and the threaded pump head (53) is fixed on the front side wall of the box (31). The rotating shaft of the motor base (51) is drivingly connected to the rotating shaft of the threaded pump head (53). A water inlet (54) is provided on one side of the threaded pump head (53), and a drain pipe (55) is connected to the other side. The drain pipe (55) is connected to a collection pipe (56). The upper and lower collection pipes (56) are respectively connected to the inner cavity of the corresponding high-pressure chamber (58). Each high-pressure nozzle (57) is sealed and installed at the front end of the high-pressure chamber (57). The upper and lower collection pipes (56) are connected in series via a series pipe (59).

7. The surface cleaning device for inner wall attachments of deep water culverts according to claim 1 is characterized in that: The high-pressure chambers (58) are fixedly or movably mounted on the ends of the outer frame (34) and are inclined upward.

8. The surface cleaning device for inner wall attachments of deep water culverts according to claim 1 is characterized in that: When the box body (31) and the outer frame (34) are movably mounted, an electromagnetic swing drive mechanism (6) is used, which comprises an electromagnetic pin (61). The electromagnetic pin (61) is transversely fixed to the edge of the top plate (13) or the bottom plate (12) of the box body (31). A telescopic rod (62) is sleeved inside the electromagnetic pin (61). A spring is sleeved between the magnetic stop at the inner end of the telescopic rod (62) and the front end of the electromagnetic pin (61). An electromagnet is sleeved outside the front end of the electromagnetic pin (61). A wedge-shaped head (63) is provided at the front end of the telescopic rod (62). At the same time, a wedge-shaped groove (64) is provided on the inner end side wall of the guide rod (43). The width of the wedge-shaped groove (64) is greater than that of the telescopic rod (62).

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