A robot with frost-clearing function for railway tunnels

Abstract

The present invention discloses a robot with a railway tunnel frost cleaning function, which relates to a railway tunnel cleaning machine, comprising a chassis, the chassis is rotatably connected to a hydraulic cylinder symmetrically distributed along the chassis, the chassis is rotatably connected to a rotating frame, the piston rod of the hydraulic cylinder is rotatably connected to the rotating frame, the rotating frame is slidably connected to a sliding frame, at least one cylinder is fixedly connected in the rotating frame, the telescopic end of the cylinder is fixedly connected to the sliding frame, the sliding frame is slidably connected to a measuring frame, and the measuring frame is rotatably connected to a roller on the side away from the cylinder. The present invention automatically adjusts the through hole size of the ball valve through the roller and the frost surface extrusion fit, thereby adjusting the speed at which the rotating frame drives the sliding frame and the cleaning roller to rotate along the frost surface of the inner wall of the tunnel, so as to adjust the cleaning speed according to the thickness of the frost, which can avoid excessive defrosting in thin areas and insufficient defrosting in thick areas, and has low operation difficulty and low cost.

Description

Technical Field

[0001] The invention relates to a machine for cleaning railway tunnels, in particular to a robot with a railway tunnel frost cleaning function. Background Art

[0002] In cold seasons or low-temperature areas, frost easily forms on the inner wall of railway tunnels, affecting the safety of tunnel structures and train travel.

[0003] The patent with publication number CN118207757A discloses a railway tunnel laser deicing robot, including a mounting assembly, a zoom assembly and a deicing assembly; the deicing assembly includes a laser and a camera, the laser is installed in the laser cavity and can emit laser toward the lens cavity, and the camera is installed in the lens barrel. This solution can adjust the distance between the laser and the ice cone, and can emit lasers of different spot sizes to ice cones of different distances and thicknesses. However, the laser deicing equipment itself is expensive, and the supporting equipment (such as cooling system, control system, etc.) also requires a high investment, and the laser and its ancillary equipment need regular maintenance, and the maintenance cost is high. In addition, the operation of laser deicing technology is difficult and requires professional personnel to operate and maintain, which increases the threshold for use.

[0004] In order to balance the reduction of cost and difficulty of operation, and to adaptively adjust the cleaning speed according to the thickness of frost during cleaning, the present invention proposes a robot with a railway tunnel frost cleaning function. Summary of the invention

[0005] In order to overcome the shortcomings of laser frost cleaning, which is difficult and costly, the present invention provides a robot with a railway tunnel frost cleaning function.

[0006] A robot with a railway tunnel frost cleaning function comprises a chassis, the chassis is rotatably connected to hydraulic cylinders symmetrically distributed along the chassis, the chassis is rotatably connected to a rotating frame, the piston rod of the hydraulic cylinder is rotatably connected to the rotating frame, the rotating frame is slidably connected to a sliding frame, at least one cylinder is fixedly connected in the rotating frame, the telescopic end of the cylinder is fixedly connected to the sliding frame, the sliding frame is slidably connected to a measuring frame, the measuring frame is rotatably connected to a roller on a side away from the cylinder, the sliding frame is fixedly connected to an exhaust roller on a side close to the roller, the sliding frame is rotatably connected to a cleaning roller on a side close to the roller, and the exhaust roller is located inside the cleaning roller. A motor is fixedly connected to the side of the sliding frame close to the drum, the output shaft of the motor is fixedly connected to the cleaning roller, an oil pump is fixedly connected to the chassis, the oil pump is connected to the symmetrically distributed hydraulic cylinders through a first hose, a ball valve is installed on the first hose, at least one pressure sensor is fixedly connected to the inside of the sliding frame close to the cleaning roller, the pressure sensor is fixedly connected to a rubber ring, a ball is rotatably connected to the rubber ring, the ball rolls on the frost surface, the exhaust roller has an air outlet, the sliding frame is provided with an adjusting component for adaptively adjusting the size of the ball valve through hole according to the thickness of the frost, and the rotating frame is provided with a blowing component for ventilating the exhaust roller.

[0007] As an improvement of the above solution, the air outlet is located at the bottom of the exhaust roller.

[0008] As an improvement of the above solution, a guide groove for guiding the gas to the gas outlet is opened in the exhaust roller.

[0009] As an improvement of the above scheme, the adjustment assembly includes a first piston cylinder, the first piston cylinder is fixedly connected to the sliding frame, the measuring frame is fixedly connected to the piston rod of the first piston cylinder, a spring is fixedly connected between the first piston cylinder and the piston rod, the housing of the oil pump is fixedly connected to the second piston cylinder, a second hose is connected between the first piston cylinder and the second piston cylinder, the piston rod of the second piston cylinder is fixedly connected to a push rod, the push rod has a movable groove, and the push rod is movably connected to the valve stem of the ball valve through the movable groove.

[0010] As an improvement of the above solution, the blowing assembly includes an air pump, the air pump is fixedly connected to the rotating frame, the exhaust roller is connected to a fixed pipe, and the fixed pipe is connected to the air pipe of the air pump.

[0011] As an improvement of the above scheme, a heating plate is also included, which is fixed to the outer wall of the exhaust roller, the heating plate is located between the exhaust roller and the cleaning roller, and the heating plate is configured as an unclosed ring, and the notch of the heating plate is located at the position of the air outlet.

[0012] As an improvement of the above solution, the motor, the cylinder, the air pump, the heating plate and the oil pump are all electrically connected to the pressure sensor through a control module.

[0013] As an improvement of the above scheme, it also includes a fixed frame, which is fixedly connected to a side of the rotating frame close to the sliding frame, and the fixed frame is slidably connected to a sliding frame for shielding the periphery of the sliding frame. The sliding frame is fixedly connected to the sliding frame, and channels are provided inside the fixed frame and the sliding frame, and both ends of the fixed frame and the sliding frame are open.

[0014] As an improvement of the above solution, the air outlet blows air toward the channel of the sliding frame.

[0015] As an improvement of the above solution, it also includes sliding wheels symmetrically distributed along the sliding frame, the sliding wheels are rotatably connected to the end surface of the sliding frame, and are used to reduce the friction between the sliding frame and the frosted surface during defrosting.

[0016] The beneficial effects of the present invention are:

[0017] 1. The present invention automatically adjusts the size of the through hole of the ball valve by squeezing the roller and the frost surface, thereby adjusting the speed at which the rotating frame drives the sliding frame and the cleaning roller to rotate along the frost surface of the inner wall of the tunnel, so as to adjust the cleaning speed according to the thickness of the frost, thereby avoiding excessive defrosting in thin areas and insufficient defrosting in thick areas, with low operation difficulty and low cost.

[0018] 2. The air pump of the present invention delivers air to the exhaust roller through a fixed pipe, so that the gas is blown toward the cleaning roller through the air outlet, thereby blowing off the frost attached to the cleaning sheet of the cleaning roller, and the heating plate can heat and melt the frost on the cleaning roller in time. In this way, each cleaning sheet can be cleaned and melted in real time to prevent frost from condensing on the surface of the cleaning sheet, thereby improving the efficiency and effect of defrosting the cleaning roller.

[0019] 3. The present invention shields the periphery of the sliding frame through the sliding frame, and can guide the scraped frost to prevent the frost from splashing around during defrosting. At the same time, the exhaust roller is located at the bottom with the air outlet facing the sliding frame. By blowing high-pressure air into the channels of the sliding frame and the fixed frame, the channels inside the sliding frame and the fixed frame are prevented from being blocked by frost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the chassis, hydraulic cylinder, rotating frame and other components of the present invention.

[0021] Figure 2 It is a three-dimensional structural schematic diagram of the oil pump, ball valve, first hose and other components of the present invention.

[0022] Figure 3 It is a three-dimensional structural schematic diagram of the rotating frame, sliding frame, cylinder and other components of the present invention.

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the exhaust roller, the cleaning roller and the motor of the present invention.

[0024] Figure 5 It is a three-dimensional structural cross-sectional view of the exhaust roller of the present invention.

[0025] Figure 6 It is a schematic diagram of the three-dimensional structure of the pressure sensor and the ball of the present invention.

[0026] Figure 7 It is a three-dimensional structural schematic diagram of components such as the spring, the second piston cylinder and the second hose of the present invention.

[0027] Figure 8 It is a three-dimensional structural schematic diagram of the second piston cylinder, the hose, the push rod and other components of the present invention.

[0028] Fig. 9 It is a schematic diagram of the three-dimensional structure of the second piston cylinder and the push rod of the present invention.

[0029] Fig.10 It is a three-dimensional structural schematic diagram of the sliding frame, air pump, fixed pipe and other components of the present invention.

[0030] Fig.11 It is a three-dimensional structural schematic diagram of the cleaning roller, motor, fixed tube and other components of the present invention.

[0031] Fig.12 It is a three-dimensional structural schematic diagram of the sliding frame, fixed frame, sliding frame and other components of the present invention.

[0032] Fig.13 It is a three-dimensional structural schematic diagram of the exhaust roller, fixed frame, sliding frame and other components of the present invention.

[0033] Fig.14 It is a three-dimensional structural schematic diagram of the fixed frame, sliding frame, sliding wheels and other components of the present invention.

[0034] Wherein: 101: chassis, 102: hydraulic cylinder, 103: rotating frame, 104: sliding frame, 105: cylinder, 106: measuring frame, 107: roller, 108: exhaust roller, 109: cleaning roller, 110: motor, 111: oil pump, 112: ball valve, 113: first hose, 114: pressure sensor, 115: ball, 116: air outlet, 201: first piston cylinder, 202: spring, 203: second piston cylinder, 204: second hose, 205: push rod, 301: air pump, 302: fixed pipe, 303: heating plate, 401: fixed frame, 402: sliding frame, 501: sliding wheel. DETAILED DESCRIPTION

[0035] The above scheme is further described below in conjunction with specific examples. It should be understood that these examples are used to illustrate the present application and are not limited to the scope of the present application. The implementation conditions adopted in the examples can be further adjusted according to the conditions of the specific manufacturer, and the implementation conditions not specified are usually the conditions in conventional experiments.

[0036] Embodiment 1: A robot with railway tunnel frost cleaning function, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Fig.11 , Fig.13 and Fig.14 As shown, it includes a chassis 101, the chassis 101 is rotatably connected to hydraulic cylinders 102 symmetrically distributed along the front and rear of the chassis 101, the upper part of the chassis 101 is rotatably connected to a rotating frame 103, the piston rod of the hydraulic cylinder 102 is rotatably connected to the rotating frame 103, the rotating frame 103 is slidably connected to a sliding frame 104 along the left and right directions, two cylinders 105 are fixedly connected inside the rotating frame 103, the telescopic ends of the cylinders 105 are fixedly connected to the sliding frame 104, the sliding frame 104 is slidably connected to a measuring frame 106 along the left and right directions, the left side of the measuring frame 106 is rotatably connected to a roller 107, the left side of the sliding frame 104 is fixedly connected to an exhaust roller 108, the left side of the sliding frame 104 is rotatably connected to a cleaning roller 109, the exhaust roller 108 is located inside the cleaning roller 109, and the sliding frame 10 A motor 110 is fixedly connected to the left rear part of 4, and the output shaft of the motor 110 is fixedly connected to the cleaning roller 109. An oil pump 111 is fixedly connected to the middle of the chassis 101. The oil pump 111 is connected to the hydraulic cylinder 102 symmetrically distributed in the front and rear through a first hose 113. A ball valve 112 is installed on the first hose 113. A pressure sensor 114 is fixedly connected to the left inner part of the sliding frame 104. The motor 110, the cylinder 105, and the oil pump 111 are all electrically connected to the pressure sensor 114 through a control module. The pressure sensor 114 is fixedly connected to a rubber ring, and a ball 115 is rotatably connected inside the rubber ring. The ball 115 rolls on the frost surface. An air outlet 116 is provided at the bottom of the exhaust roller 108, and a guide groove for guiding gas to the air outlet 116 is provided in the exhaust roller 108.

[0037] like Figures 7 to 9As shown, it also includes a first piston cylinder 201, the first piston cylinder 201 is fixedly connected to the top of the sliding frame 104, the measuring frame 106 is fixedly connected to the piston rod of the first piston cylinder 201, a spring 202 is fixedly connected between the first piston cylinder 201 and the piston rod, the shell of the oil pump 111 is fixedly connected to the second piston cylinder 203, a second hose 204 is connected between the first piston cylinder 201 and the second piston cylinder 203, the piston rod of the second piston cylinder 203 is fixedly connected to a push rod 205, the push rod 205 has a movable groove, and the push rod 205 is movably connected to the valve stem of the ball valve 112 through the movable groove.

[0038] like Fig.10 and Fig.11 As shown, it also includes an air pump 301, which is fixedly connected to the rotating frame 103. A fixed pipe 302 is connected to the right side of the exhaust roller 108, and the fixed pipe 302 is connected to the air pipe of the air pump 301. A heating plate 303 is fixedly connected to the outer wall of the exhaust roller 108. The heating plate 303 is located between the exhaust roller 108 and the cleaning roller 109, and the heating plate 303 is configured as an unclosed ring. The notch of the heating plate 303 is located at the position of the air outlet 116. The air pump 301 and the heating plate 303 are both electrically connected to the pressure sensor 114 through the control module.

[0039] First, the robot is moved to a railway tunnel that needs to be defrosted, and the telescopic rod of the air cylinder 105 is controlled to extend, pushing the sliding frame 104 to slide outward along the rotating frame 103, thereby driving the measuring frame 106, the roller 107, the exhaust roller 108, the cleaning roller 109, the motor 110, the pressure sensor 114 and the ball 115 to move synchronously, so that the ball 115 contacts the frosted surface and is pressurized, and the pressure is transmitted to the pressure sensor 114. When the pressure on the pressure sensor 114 reaches a preset value, the pressure sensor 114 sends an electrical signal, and the control module receives the electrical signal, controls the telescopic rod of the air cylinder 105 to stop extending, and controls the motor 110, the air pump 301, the heating plate 303 and the oil pump 111 to start, and the output of the motor 110 The shaft drives the cleaning roller 109 to start rotating to scrape off the frost. The hydraulic oil in the oil pump 111 is supplied to the hydraulic cylinder 102 through the first hose 113 and the ball valve 112, driving the rotating frame 103 to rotate at a certain speed, so that the cleaning roller 109 cleans the frost along the arc of the inner wall of the tunnel. The air pump 301 sends air to the exhaust roller 108 through the fixed pipe 302, and the gas is blown to the cleaning roller 109 through the air outlet 116 at the bottom, so that the frost attached to the cleaning sheet of the cleaning roller 109 is blown off, and the heating plate 303 can heat and melt the frost on the cleaning roller 109 in time. In this way, each cleaning sheet can be cleaned and melted in real time to prevent frost from condensing on the surface of the cleaning sheet, thereby improving the efficiency and effect of defrosting the cleaning roller 109.

[0040] In addition, during the frost cleaning process, the measuring frame 106 and the roller 107 rotate synchronously with the rotating frame 103. The roller 107 and the spring 202 cooperate with each other to make the roller 107 always fit the surface of the frost, so as to adapt to frost areas of different thicknesses. When the roller 107 rotates from the thin frost area to the thick frost area, the roller 107 pushes the measuring frame 106 to slide to the side close to the first piston cylinder 201, and the spring 202 is adaptively compressed. The measuring frame 106 squeezes the piston rod of the first piston cylinder 201, so that the gas in the first piston cylinder 201 enters the second piston cylinder 203 through the second hose 204. The piston rod of the second piston cylinder 203 drives the push rod 205 to move to the side away from the second piston cylinder 203, thereby pushing the valve stem of the ball valve 112 to rotate, and then driving the ball of the ball valve 112 to rotate, so as to reduce the through hole of the ball and the first hose 113, thereby reducing the amount of hydraulic oil entering the hydraulic cylinder 102, and then slowing down the swinging speed of the rotating frame 103, extending the cleaning time of the cleaning roller 109 in the thick area. On the contrary, when the roller 107 rotates and transitions from the thick frost area to the thin area, the spring 202 adaptively rebounds, causing the measuring frame 106 to slide to the side away from the first piston cylinder 201. Under the action of negative pressure, the piston rod of the second piston cylinder 203 pulls the push rod 205 to move to the side close to the second piston cylinder 203, thereby pushing the valve stem of the ball valve 112 to rotate in the opposite direction, and then driving the ball of the ball valve 112 to rotate in the opposite direction, so as to increase the area connected between the through hole of the ball and the first hose 113, shortening the cleaning time of the cleaning roller 109 in the thin area. In this way, the cleaning speed can be adjusted according to the thickness of the frost, which can avoid excessive defrosting in the thin area and insufficient defrosting in the thick area.

[0041] Embodiment 2: Based on embodiment 1, Fig.12 and Fig.13 As shown, a fixed frame 401 is also included. The fixed frame 401 is fixedly connected to one side of the rotating frame 103 close to the sliding frame 104. The fixed frame 401 is slidably connected to a sliding frame 402 for shielding the periphery of the sliding frame 104. The sliding frame 402 is fixedly connected to the sliding frame 104. Channels are provided inside the fixed frame 401 and the sliding frame 402. The air outlet 116 blows air into the channel, and both ends of the fixed frame 401 and the sliding frame 402 are open.

[0042] The rotating frame 103 drives the fixed frame 401 to rotate synchronously, and the sliding frame 104 drives the sliding frame 402 to rotate and slide synchronously. The sliding frame 402 covers the periphery of the sliding frame 104, so that the scraped frost can be guided to prevent the frost from splashing everywhere during defrosting. At the same time, the exhaust roller 108 has an air outlet 116 at the bottom facing the sliding frame 402, and blows high-pressure air into the channels of the sliding frame 402 and the fixed frame 401 to prevent the channels inside the sliding frame 402 and the fixed frame 401 from being blocked by frost. In addition, when the fixed frame 401 and the sliding frame 402 rotate to a high position, the frost in the channel automatically falls out under the action of gravity.

[0043] like Fig.14 As shown, there are also sliding wheels 501 symmetrically distributed along the sliding frame 104, with a total of four sliding wheels 501. The four sliding wheels 501 are all rotatably connected to the end surface of the sliding frame 104 to reduce the friction between the sliding frame 104 and the frosted surface during defrosting.

[0044] While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. A robot with railway tunnel frost cleaning function, characterized in that: The invention comprises a chassis (101), the chassis (101) being rotatably connected to hydraulic cylinders (102) symmetrically distributed along the chassis (101), the chassis (101) being rotatably connected to a rotating frame (103), the piston rod of the hydraulic cylinder (102) being rotatably connected to the rotating frame (103), the rotating frame (103) being slidably connected to a sliding frame (104), at least one cylinder (105) being fixedly connected to the rotating frame (103), the telescopic end of the cylinder (105) being rotatably connected to the sliding frame (104), The sliding frame (104) is fixedly connected to the measuring frame (106), the measuring frame (106) is slidably connected to a roller (107) on a side away from the cylinder (105), the sliding frame (104) is fixedly connected to an exhaust roller (108) on a side close to the roller (107), the sliding frame (104) is slidably connected to a cleaning roller (109), the exhaust roller (108) is located inside the cleaning roller (109), and the A motor (110) is fixedly connected to one side of the sliding frame (104) close to the roller (107), and an output shaft of the motor (110) is fixedly connected to the cleaning roller (109). An oil pump (111) is fixedly connected to the chassis (101), and the oil pump (111) is connected to the symmetrically distributed hydraulic cylinders (102) via a first hose (113). A ball valve (112) is installed in the first hose (113). The sliding frame (104) is fixedly connected to the inside of the cleaning roller (109). There is at least one pressure sensor (114), the pressure sensor (114) is fixedly connected to a rubber ring, the rubber ring is rotatably connected to a ball (115), the ball (115) rolls on the frost surface, the exhaust roller (108) is provided with an air outlet (116), the sliding frame (104) is provided with an adjustment component for adaptively adjusting the size of the through hole of the ball valve (112) according to the thickness of the frost, and the rotating frame (103) is provided with a blowing component for ventilating the exhaust roller (108); The regulating assembly comprises a first piston cylinder (201), the first piston cylinder (201) being fixedly connected to the sliding frame (104), the measuring frame (106) being fixedly connected to the piston rod of the first piston cylinder (201), a spring (202) being fixedly connected between the first piston cylinder (201) and the piston rod, a second piston cylinder (203) being fixedly connected to the housing of the oil pump (111), a second hose (204) being connected between the first piston cylinder (201) and the second piston cylinder (203), a push rod (205) being fixedly connected to the piston rod of the second piston cylinder (203), the push rod (205) being provided with a movable groove, and the push rod (205) being movably connected to the valve stem of the ball valve (112) via the movable groove; The air blowing component comprises an air pump (301), the air pump (301) is fixedly connected to the rotating frame (103), the exhaust roller (108) is connected to a fixed pipe (302), and the fixed pipe (302) is connected to the air pipe of the air pump (301); It also includes a heating plate (303), the heating plate (303) being fixedly connected to the outer wall of the exhaust roller (108), the heating plate (303) being located between the exhaust roller (108) and the cleaning roller (109), and the heating plate (303) being arranged in an open ring shape, and a notch of the heating plate (303) being located at the position of the exhaust port (116).

2. A robot with railway tunnel frost cleaning function according to claim 1, characterized in that: The air outlet (116) is located at the bottom of the exhaust roller (108).

3. A robot with railway tunnel frost cleaning function according to claim 2, characterized in that: The exhaust roller (108) is provided with a guide groove for directing gas to the gas outlet (116).

4. A robot with railway tunnel frost cleaning function according to claim 3, characterized in that: The motor (110), the cylinder (105), the air pump (301), the heating plate (303) and the oil pump (111) are all electrically connected to the pressure sensor (114) via a control module.

5. A robot with railway tunnel frost cleaning function according to claim 4, characterized in that: The invention also comprises a fixed frame (401), wherein the fixed frame (401) is fixedly connected to a side of the rotating frame (103) close to the sliding frame (104), the fixed frame (401) is slidably connected to a sliding frame (402) for shielding the periphery of the sliding frame (104), the sliding frame (402) is fixedly connected to the sliding frame (104), and channels are provided inside the fixed frame (401) and the sliding frame (402), and both ends of the fixed frame (401) and the sliding frame (402) are open.

6. A robot with railway tunnel frost cleaning function according to claim 5, characterized in that: The air outlet (116) blows air toward the channel of the sliding frame (402).

7. A robot with railway tunnel frost cleaning function according to claim 6, characterized in that: It also includes sliding wheels (501) symmetrically distributed along the sliding frame (104), wherein the sliding wheels (501) are rotatably connected to the end surface of the sliding frame (104) and are used to reduce the friction between the sliding frame (104) and the frosted surface during defrosting.

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