Intelligent cleaning equipment and method for tunnel pipe wall

Abstract

The invention discloses tunnel pipe wall intelligent cleaning equipment and method.The equipment comprises a vehicle frame, a walking mechanism arranged on the vehicle frame, a jacking device and a cleaning device, the jacking device comprises a hinge base, a supporting frame and jacking supporting legs, and the vehicle frame is provided with a supporting leg swing oil cylinder used for pushing the supporting frame to swing outwards; the cleaning device comprises a water supply tank, a sewage treatment tank, a spray-washing mechanism and a sewage suction mechanism. The tunnel pipe wall can be spray-washed through the spray-washing mechanism, sewage on the inverted arch surface can be sucked through the sewage suction mechanism, the sucked sewage can be filtered and separated through the sewage treatment tank, the filtered and separated sewage can be recycled into the water supply tank, and the water supply tank can supply water to the tunnel pipe wall. The problem that sewage generated in the tunnel cleaning process is difficult to collect is solved, the frame can be driven by the jacking device to be separated from the track in the tunnel, the frame is jacked into the air, and it can be guaranteed that a construction vehicle can pass on the track in the tunnel.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel cleaning equipment, and particularly relates to an intelligent tunnel wall cleaning equipment and method. Background Art

[0002] With the acceleration of the urbanization process, the scale of tunnel facilities such as railways and subways continues to expand. During the construction of tunnel traffic, a large amount of construction dust will remain on the tunnel walls or accumulate in the drainage ditches. When using a test vehicle for delivery tests, the airflow driven by the test vehicle gradually blows up this dust, filling the tunnel. Moreover, due to the piston wind effect, these dusts will spread to the entire station and even the equipment room through the gaps of the fans and shield doors, causing phenomena such as short circuits of electrical equipment and poor contact of switches, seriously affecting the driving safety and the physical health of personnel. Therefore, before the delivery test of the tunnel traffic project, it is necessary to comprehensively clean the tunnel walls. At present, mostly manual cleaning methods are used, or by installing water spray nozzles and dust suction devices on the rail vehicle. However, in actual applications, there are still defects such as poor cleaning effect, inability to achieve comprehensive and thorough cleaning, and high labor intensity. The untimely supply of water pipes in the tunnel and the treatment of sewage generated during cleaning will affect the normal passage of existing construction vehicles. Therefore, an intelligent tunnel wall cleaning equipment and method are provided. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent tunnel wall cleaning equipment and method in view of the deficiencies in the above-mentioned prior art. The design is reasonable. The spraying mechanism can be used to spray the tunnel walls, and the sewage suction mechanism can be used to suck the sewage on the invert surface. The sucked sewage can be filtered and separated through the sewage treatment tank, and the filtered and separated sewage can be recycled to the water supply tank and continue to be used for spraying the tunnel walls, solving the problem that the sewage generated during the tunnel cleaning process is difficult to collect. The lifting device can drive the vehicle frame to disengage from the internal tunnel track and lift the vehicle frame into the air, ensuring that construction vehicles can pass on the internal tunnel track.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: an intelligent tunnel pipe wall cleaning equipment, characterized in that it includes a frame, a traveling mechanism arranged on the frame, a jacking device and a cleaning device, the traveling mechanism includes a traveling wheel installed under the frame and matched with the internal track of the tunnel; the jacking device includes four hinged seats respectively fixedly installed at the four corners of the frame, a support frame hingedly installed on the hinged seat and a lifting leg vertically installed on the support frame, the frame is provided with a leg swinging cylinder for pushing the support frame to swing outward, the cleaning device includes a water supply tank and a sewage treatment tank installed on the frame, and a spraying mechanism and a sewage suction mechanism arranged at the rear of the frame, the spraying mechanism includes a mounting seat, a spraying arm hingedly installed on the mounting seat, a rotating cylinder installed at the top of the spraying arm and a high-pressure water pump connected to the water supply tank, the outlet of the high-pressure water pump A first spray pipe and a second spray pipe are connected to the water hose, the front ends of the first spray pipe and the second spray pipe are both connected to nozzles, the tail end of the first spray pipe is hingedly mounted on the rotating cylinder through a hinged support, and a washing arm swing cylinder is installed between the mounting seat and the spray arm; the sewage suction mechanism comprises a fixed crossbeam mounted on the frame, a telescopic cylinder vertically mounted on the fixed crossbeam and a crossbeam bracket fixedly mounted on the protruding end of the telescopic cylinder, a sewage suction pump connected to the sewage treatment tank and a sewage suction pipe connected to the water inlet pipe of the sewage suction pump, the sewage suction pipe is fixedly mounted on the crossbeam bracket; the second spray pipe is mounted on the crossbeam bracket; an ultrasonic distance sensor for real-time detection of the water level of sewage on the invert surface is provided at the bottom end of the frame, an ultrasonic obstacle avoidance sensor is provided at the front end of the frame, and both the ultrasonic distance sensor and the ultrasonic obstacle avoidance sensor are connected to a controller.

[0005] The above-mentioned intelligent tunnel pipe wall cleaning equipment is characterized in that a suction bell mouth is provided at the bottom end of the suction pipe, and the top end of the suction pipe is connected to the water inlet pipe through a telescopic hose.

[0006] The above-mentioned intelligent tunnel pipe wall cleaning equipment is characterized in that: the sewage suction pump is driven by a first motor, the high-pressure water pump is driven by a second motor, and the first motor and the second motor are both controlled by a controller.

[0007] The above-mentioned intelligent cleaning equipment for tunnel pipe walls is characterized in that: a centrifugal sand filter is arranged in the sewage treatment tank, the water inlet of the centrifugal sand filter is communicated with the water outlet pipe of the sewage suction pump, the water outlet of the centrifugal sand filter is communicated with the water supply tank through a connecting pipe, an electromagnetic butterfly valve is installed on the sand outlet of the centrifugal sand filter, a sand weight detection sensor is arranged inside the centrifugal sand filter, the sand weight detection sensor is connected with the controller, and the electromagnetic butterfly valve is controlled by the controller.

[0008] The above-mentioned intelligent cleaning equipment for tunnel pipe walls is characterized in that: the jacking leg includes a leg housing vertically installed on the support frame, a first column coaxially sleeved inside the leg housing, a second column coaxially sleeved inside the first column, and a third column coaxially sleeved inside the second column. A first jacking oil cylinder for driving the first column to extend is arranged on the outer side of the leg housing, a second jacking oil cylinder for driving the second column to extend is arranged on the outer side of the first column, and a third jacking oil cylinder for driving the third column to extend is arranged on the outer side of the second column.

[0009] The above-mentioned intelligent cleaning equipment for tunnel pipe walls is characterized in that: an absolute encoder is installed on the rotary oil cylinder, and the absolute encoder is connected with the controller.

[0010] The present invention also provides a method for intelligently cleaning a tunnel pipe wall by using the above-mentioned intelligent cleaning equipment for tunnel pipe walls, which is characterized by including the following steps: Step 1, adjusting the installation state of the intelligent cleaning equipment for tunnel pipe walls before walking on the internal track of the tunnel: The four leg swing oil cylinders and the four jacking legs are all in the retracted state, the telescopic oil cylinder extends, driving the crossbeam support and the sewage suction pipe to move downward simultaneously until a set sewage suction distance is maintained between the bottom end of the sewage suction pipe and the surface of the inverted arch; Step 2, driving the intelligent cleaning equipment for tunnel pipe walls to walk on the internal track of the tunnel and simultaneously cleaning the tunnel pipe walls: The traveling wheels drive the vehicle frame to travel along the internal track of the tunnel. The high-pressure water pump is turned on, and the clear water in the water supply tank is conveyed to the first spray pipe and the second spray pipe through the water outlet hose by the high-pressure water pump. The spray washing arm is driven to rotate and swing by the cleaning arm swing oil cylinder, and the first spray pipe is driven to rotate and swing by the rotary oil cylinder. It is sprayed on the tunnel pipe wall in a fan shape through the nozzles connected to the first spray pipe, and is sprayed on the surface of the inverted arch in a fan shape through the nozzles connected to the second spray pipe; When the water surface height of the sewage on the invert surface detected by the ultrasonic distance sensor exceeds the set maximum height of the sewage water surface, the controller controls the opening of the sewage suction pump, and the sewage suction pump sucks the sewage on the invert surface into the sewage treatment tank through the sewage suction pipe; When the distance between the construction vehicle running on the internal track of the tunnel and the intelligent cleaning equipment for the tunnel wall detected by the ultrasonic obstacle avoidance sensor is less than the obstacle avoidance safety distance, and the intelligent cleaning equipment for the tunnel wall needs to avoid the construction vehicle, the specific operation process includes the following steps: Step A: The cleaning arm swing oil cylinder retracts, driving the spray arm to retract to the vertical state, and the rotating oil cylinder drives the first spray pipe to retract to the vertical state, with the nozzle opening facing downwards; Step B: The telescopic oil cylinder retracts, driving the crossbeam support and the sewage suction pipe to move upwards simultaneously until the bottom end of the sewage suction pipe is higher than the center line of the traveling wheel; Step C: The four leg swing oil cylinders extend simultaneously, pushing the four support frames to swing outwards until the four support frames are perpendicular to the internal track of the tunnel; Step D: The four lifting legs lift simultaneously, driving the vehicle frame to lift upwards, and the traveling wheels are disengaged from the internal track of the tunnel, allowing the construction vehicle to pass on the internal track of the tunnel.

[0011] The above-mentioned intelligent cleaning method for the tunnel wall is characterized in that: in step one, the value range of the set sewage suction distance is 5 mm to 10 mm.

[0012] The above-mentioned intelligent cleaning method for the tunnel wall is characterized in that: in step two, the traveling speed of the intelligent cleaning equipment for the tunnel wall on the internal track of the tunnel does not exceed 3 km / h, the set maximum height of the sewage water surface is 50 mm, and the value range of the obstacle avoidance safety distance is 3 m to 5 m.

[0013] The above-mentioned intelligent cleaning method for the tunnel wall is characterized in that: when the sand and gravel weight detection sensor detects that the weight of the sand and gravel inside the centrifugal sand and gravel filter exceeds the set weight value, it is necessary to discharge the sand and gravel inside the centrifugal sand and gravel filter, and the specific operation process includes the following steps: Step a: Adjust the intelligent cleaning equipment for the tunnel wall to the working state when avoiding the construction vehicle; Step b: Park the slag transport vehicle below the intelligent cleaning equipment for the tunnel wall, open the electromagnetic butterfly valve, and directly discharge the sand and gravel in the centrifugal sand and gravel filter into the hopper of the slag transport vehicle.

[0014] The present invention has the following advantages compared with the prior art: The present invention is provided with a traveling mechanism and a cleaning device on the vehicle frame. The cleaning device includes a water supply tank, a sewage treatment tank, a spray washing mechanism, and a sewage suction mechanism. During actual use, during the process of the vehicle frame traveling or braking, the water supply tank can move synchronously with the vehicle frame, eliminating the need to lay water supply pipes in the tunnel, which will not affect the normal passage of existing construction vehicles. The spray washing mechanism can be used to spray wash the tunnel wall, and the sewage suction mechanism can be used to suck the sewage on the invert surface, avoiding excessive accumulated water remaining on the invert surface. By connecting the sewage suction mechanism to the sewage treatment tank, the sucked sewage can be filtered and separated through the sewage treatment tank, and the filtered and separated sewage can be recycled back to the water supply tank and continue to be used for spraying the tunnel wall, solving the problem that it is difficult to collect the sewage generated during the tunnel cleaning process, with good use effect and energy conservation. 2. The present invention is provided with a lifting device on the vehicle frame. The lifting device includes a hinge seat, a support frame, and lifting legs. The vehicle frame is provided with a leg swing oil cylinder for pushing the support frame to swing outward. During actual use, during the process of the vehicle frame traveling along the internal track of the tunnel, the entire lifting device is in a contracted state, that is, the leg swing oil cylinder is in a retracted state, the support frame is in a horizontal state with the internal track of the tunnel, the lifting legs are in a retracted state, and the horizontal height of the bottom end of the lifting legs is higher than the top surface of the internal track of the tunnel, that is, the lifting legs will not collide with the internal track of the tunnel; when the intelligent tunnel wall cleaning equipment needs to avoid construction vehicles, it is necessary to adjust the lifting device to make the entire lifting device in an extended state. The leg swing oil cylinder extends and drives the support frame to swing to a state perpendicular to the internal track of the tunnel, and the lifting legs extend, driving the vehicle frame to disengage from the internal track of the tunnel. At this time, the vehicle frame is lifted into the air, and the four lifting legs are placed on the invert surface, ensuring that construction vehicles can pass on the internal track of the tunnel.

[0015] 3. The spray washing mechanism of the present invention includes a mounting seat, a spray washing arm, a cleaning arm swing oil cylinder, a rotary oil cylinder, and a high-pressure water pump. A first spray pipe and a second spray pipe are connected to the water outlet hose of the high-pressure water pump. During actual use, the high-pressure water pump transports the clear water in the water supply tank to the first spray pipe and the second spray pipe through the water outlet hose. Nozzles are connected to the front ends of the first spray pipe and the second spray pipe. Fan-shaped water columns are ejected through the nozzles. Under the combined action of the cleaning arm swing oil cylinder and the rotary oil cylinder, the spraying height, angle, and spraying range of the first spray pipe can be adjusted, and the second spray pipe is used to spray wash the sediment on the invert surface, facilitating the sewage suction mechanism to suck the sewage on the invert surface.

[0016] 4. The cleaning method of the present invention is reasonably designed, highly automated, and convenient for popularization and application.

[0017] In summary, the design of the present invention is reasonable. The spraying and washing mechanism can be used to spray and wash the tunnel wall, and the sewage suction mechanism can be used to suck the sewage on the invert surface. The sucked sewage can be filtered and separated by the sewage treatment tank, and the filtered and separated sewage can be recycled to the water supply tank and continue to be used for spraying and washing the tunnel wall, solving the problem that it is difficult to collect the sewage generated during the tunnel cleaning process. The lifting device can drive the vehicle frame to disengage from the internal track of the tunnel and lift the vehicle frame into the air, ensuring that construction vehicles can pass on the internal track of the tunnel.

[0018] The following will further describe the present invention in detail through the accompanying drawings and embodiments. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of the present invention.

[0020] Figure 2 It is a schematic connection structural diagram of the vehicle frame, spraying and washing mechanism, sewage suction mechanism and lifting device of the present invention.

[0021] Figure 3 It is a schematic working state diagram of the lifting device of the present invention.

[0022] Figure 4 It is a schematic structural diagram of the spraying and washing mechanism of the present invention.

[0023] Figure 5 It is a schematic structural diagram of the sewage suction mechanism of the present invention.

[0024] Figure 6 It is a schematic connection structural diagram of the sewage treatment tank and the centrifugal sand and gravel filter of the present invention.

[0025] Description of the Reference Numerals: 1 - Vehicle frame; 1-1 - Traveling wheels; 2-1 - Hinge seat; 2-2 - Support frame; 2-3 - Lifting leg; 2-3-1 Leg housing; 2-3-2 First column; 2-3-3 Second column; 2-3-4 Third column; 2-4-1 - First lifting oil cylinder; 2-4-2 - Second lifting oil cylinder; 2-4-3 - Third lifting oil cylinder; 2-5 - Leg swing oil cylinder; 3 - Protection box; 4 - Water supply tank; 5 - Sewage treatment tank; 6-1 - Sewage suction pump; 6-1-1 - Inlet connecting pipe; 6-2 - First motor; 6-3 - Sewage suction pipe; 6-4 - Telescopic hose; 6-5 - Fixed cross beam; 6-6 - Telescopic oil cylinder; 6-7 - Cross beam support; 7 - Centrifugal sand filter; 7-1 - Inlet; 7-2 - Outlet; 7-3 - Connecting pipe; 7-4 - Sand outlet; 7-5 - Sand discharge electromagnetic butterfly valve; 8-1 - High-pressure water pump; 8-1-1 - Outlet hose; 8-2 - Second motor; 9-1 - Mounting seat; 9-2 - Spraying arm; 9-2 - Spraying arm; 9-3 - Cleaning arm swing oil cylinder; 9-4 - Rotary oil cylinder; 9-5 - First spray pipe; 9-6 - Nozzle; 9-7 - Absolute encoder; 9-8 - Second spray pipe. Specific implementation mode

[0026] Such as Figure 1 、 Figure 2 、 Figure 4 And Figure 5As shown, the present invention includes a frame 1, a traveling mechanism, a lifting device and a cleaning device arranged on the frame 1, the traveling mechanism includes a traveling wheel 1-1 installed under the frame 1 and matched with the internal track of the tunnel; the lifting device includes four hinged seats 2-1 fixedly installed at four corners of the frame 1, a support frame 2-2 hingedly installed on the hinged seat 2-1 and a lifting leg 2-3 vertically installed on the support frame 2-2, and the frame 1 is provided with a leg for pushing the support frame 2-2 to swing outward. Swing cylinder 2-5, the cleaning device includes a water supply tank 4 and a sewage treatment tank 5 installed on the frame 1, and a spraying mechanism and a sewage suction mechanism arranged at the rear of the frame 1, the spraying mechanism includes a mounting seat 9-1, a spraying arm 9-2 hingedly mounted on the mounting seat 9-1, a rotating cylinder 9-4 installed at the top of the spraying arm 9-2 and a high-pressure water pump 8-1 connected to the water supply tank 4, the water outlet hose 8-1-1 of the high-pressure water pump 8-1 is connected to a first nozzle 9-5 and a second nozzle 9-8, the The front ends of the first spray pipe 9-5 and the second spray pipe 9-8 are both connected with nozzles 9-6, the tail end of the first spray pipe 9-5 is hingedly mounted on the rotating cylinder 9-4 through a hinged support, and a washing arm swing cylinder 9-3 is installed between the mounting seat 9-1 and the spray arm 9-2; the sewage suction mechanism includes a fixed crossbeam 6-5 mounted on the frame 1, a telescopic cylinder 6-6 vertically mounted on the fixed crossbeam 6-5 and a crossbeam bracket 6-7 fixedly mounted on the protruding end of the telescopic cylinder 6-6, and a crossbeam bracket 6-7 connected to the frame 1. A sewage suction pump 6-1 connected to the sewage treatment tank 5 and a sewage suction pipe 6-3 connected to the water inlet pipe 6-1-1 of the sewage suction pump 6-1, the sewage suction pipe 6-3 is fixedly mounted on the crossbeam bracket 6-7; the second nozzle 9-8 is mounted on the crossbeam bracket 6-7, the bottom end of the frame 1 is provided with an ultrasonic distance sensor for real-time detection of the water level of sewage on the invert surface, the front end of the frame 1 is provided with an ultrasonic obstacle avoidance sensor, and the ultrasonic distance sensor and the ultrasonic obstacle avoidance sensor are both connected to the controller.

[0027] In this embodiment, a traveling mechanism and a cleaning device are provided on the vehicle frame 1. The cleaning device includes a water supply tank 4, a sewage treatment tank 5, a spray washing mechanism, and a sewage suction mechanism. During actual use, when the vehicle frame 1 is traveling or braking, the water supply tank 4 can move synchronously with the vehicle frame 1, eliminating the need to lay water supply pipes in the tunnel and preventing interference with the normal passage of existing construction vehicles. The spray washing mechanism can be used to spray wash the tunnel wall, and the sewage suction mechanism can be used to suck the sewage on the invert surface, avoiding excessive accumulation of water on the invert surface. By connecting the sewage suction mechanism to the sewage treatment tank 5, the sucked sewage can be filtered and separated by the sewage treatment tank 5, and the filtered and separated sewage can be recycled to the water supply tank 4 and continue to be used for spraying and washing the tunnel wall, solving the problem of difficult collection of sewage generated during tunnel cleaning, with good use effect and energy conservation.

[0028] In this embodiment, the spray washing mechanism includes a mounting base 9-1, a spray washing arm 9-2, a cleaning arm swing oil cylinder 9-3, a rotary oil cylinder 9-4, and a high-pressure water pump 8-1. A first spray pipe 9-5 and a second spray pipe 9-8 are connected to the water outlet hose 8-1-1 of the high-pressure water pump 8-1. During actual use, the high-pressure water pump 8-1 transports the clear water in the water supply tank 4 through the water outlet hose 8-1-1 to the first spray pipe 9-5 and the second spray pipe 9-8. Nozzles 9-6 are connected to the front ends of both the first spray pipe 9-5 and the second spray pipe 9-8. Fan-shaped water columns are ejected through the nozzles 9-6. Under the combined action of the cleaning arm swing oil cylinder 9-3 and the rotary oil cylinder 9-4, the spraying height, angle, and spraying range of the first spray pipe 9-5 can be adjusted. The second spray pipe 9-8 is used to spray wash the sediment on the invert surface, facilitating the sewage suction mechanism to suck the sewage on the invert surface.

[0029] In this embodiment, a jacking device is provided on the vehicle frame 1. The jacking device includes a hinge seat 2-1, a support frame 2-2, and a jacking leg 2-3. A leg swing oil cylinder 2-5 for pushing the support frame 2-2 to swing outward is provided on the vehicle frame 1. During actual use, when the vehicle frame 1 travels along the internal track of the tunnel, the entire jacking device is in a contracted state, that is, the leg swing oil cylinder 2-5 is in a retracted state, the support frame 2-2 is in a horizontal state with the internal track of the tunnel, the jacking leg 2-3 is in a retracted state, and the horizontal height of the bottom end of the jacking leg 2-3 is higher than the top surface of the internal track of the tunnel, that is, the jacking leg 2-3 will not collide with the internal track of the tunnel; when the intelligent tunnel wall cleaning equipment needs to avoid construction vehicles, it is necessary to adjust the jacking device to make the entire jacking device in an unfolded state. The leg swing oil cylinder 2-5 extends and drives the support frame 2-2 to swing to a state perpendicular to the internal track of the tunnel. The jacking leg 2-3 extends, driving the vehicle frame 1 to be separated from the internal track of the tunnel. At this time, the vehicle frame 1 is jacked into the air, and the four jacking legs 2-3 are placed on the invert surface, which can ensure that construction vehicles can pass on the internal track of the tunnel.

[0030] As Figure 5 shown, in this embodiment, a sewage suction bell mouth is provided at the bottom end of the sewage suction pipe 6-3, and the top end of the sewage suction pipe 6-3 is connected to the water inlet connecting pipe 6-1-1 through a telescopic hose 6-4.

[0031] As Figure 2 shown, in this embodiment, the sewage suction pump 6-1 is driven by a first motor 6-2, the high-pressure water pump 8-1 is driven by a second motor 8-2, and both the first motor 6-2 and the second motor 8-2 are controlled by a controller.

[0032] In this embodiment, the sewage suction pump 6-1, the first motor 6-2, the high-pressure water pump 8-1, and the second motor 8-2 are all arranged in the protection box 3, and the protection box 3 is detachably installed on the vehicle frame 1.

[0033] As Figure 6 shown, in this embodiment, a centrifugal sand and gravel filter 7 is provided in the sewage treatment tank 5. The water inlet 7-1 of the centrifugal sand and gravel filter 7 is communicated with the water outlet connecting pipe 6-1-2 of the sewage suction pump 6-1. The water outlet 7-2 of the centrifugal sand and gravel filter 7 is communicated with the water supply tank 4 through a connecting pipe 7-3. An electromagnetic butterfly valve 7-5 is installed on the sand and gravel outlet 7-4 of the centrifugal sand and gravel filter 7. A sand and gravel weight detection sensor is arranged inside the centrifugal sand and gravel filter 7. The sand and gravel weight detection sensor is connected to the controller, and the electromagnetic butterfly valve 7-5 is controlled by the controller.

[0034] In this embodiment, a water level sensor is disposed inside the water supply tank 4, and the water level sensor is connected to the controller. During actual use, the water level sensor can detect the water level height inside the water supply tank 4 in real time.

[0035] As Figure 3 shown, in this embodiment, the jacking leg 2-3 includes a leg housing 2-3-1 vertically installed on the support frame 2-2, a first column 2-3-2 coaxially sleeved inside the leg housing 2-3-1, a second column 2-3-3 coaxially sleeved inside the first column 2-3-2, and a third column 2-3-4 coaxially sleeved inside the second column 2-3-3. A first jacking oil cylinder 2-4-1 for driving the first column 2-3-2 to extend is disposed on the outer side of the leg housing 2-3-1, a second jacking oil cylinder 2-4-2 for driving the second column 2-3-3 to extend is disposed on the outer side of the first column 2-3-2, and a third jacking oil cylinder 2-4-3 for driving the third column 2-3-4 to extend is disposed on the outer side of the second column 2-3-3.

[0036] As Figure 4 shown, in this embodiment, an absolute encoder 9-7 is installed on the rotary oil cylinder 9-4, and the absolute encoder 9-7 is connected to the controller.

[0037] As Figures 1 to 6 shown, a method for intelligently cleaning a tunnel wall using a tunnel wall intelligent cleaning device includes the following steps: Step 1: Adjust the installation state of the tunnel wall intelligent cleaning device before it travels on the inner track of the tunnel: The four leg swing oil cylinders 2-5 and the four jacking legs 2-3 are both in the retracted state. The telescopic oil cylinder 6-6 extends, driving the crossbeam support 6-7 and the sewage suction pipe 6-3 to move downward simultaneously until a set sewage suction distance is maintained between the bottom end of the sewage suction pipe 6-3 and the invert surface. Step 2: Drive the tunnel wall intelligent cleaning device to travel on the inner track of the tunnel and clean the tunnel wall simultaneously: The traveling wheels 1-1 drive the vehicle frame 1 to travel along the inner track of the tunnel. The high-pressure water pump 8-1 is turned on, and the clear water in the water supply tank 4 is conveyed by the high-pressure water pump 8-1 through the water outlet hose 8-1-1 to the first spray pipe 9-5 and the second spray pipe 9-8. The cleaning arm swing oil cylinder 9-3 drives the spray arm 9-2 to rotate and swing, and the rotary oil cylinder 9-4 drives the first spray pipe 9-5 to rotate and swing. The nozzle 9-6 connected to the first spray pipe 9-5 sprays in a fan shape on the tunnel wall, and the nozzle 9-6 connected to the second spray pipe 9-8 sprays in a fan shape on the invert surface. When the water surface height of the sewage on the invert surface detected by the ultrasonic distance sensor exceeds the set maximum height of the sewage water surface, the controller controls to turn on the sewage suction pump 6-1, and the sewage suction pump 6-1 sucks the sewage on the invert surface through the sewage suction pipe 6-3 into the sewage treatment tank 5; When the distance between the construction vehicle running on the internal track of the tunnel and the intelligent cleaning equipment for the tunnel wall detected by the ultrasonic obstacle avoidance sensor is less than the obstacle avoidance safety distance, when the intelligent cleaning equipment for the tunnel wall needs to avoid the construction vehicle, the specific operation process includes the following steps: Step A: The cleaning arm swing oil cylinder 9-3 retracts, driving the spray cleaning arm 9-2 to retract to the vertical state, and the first spray pipe 9-5 is driven by the rotary oil cylinder 9-4 to retract to the vertical state, and the nozzle 9-6 faces downward; Step B: The telescopic oil cylinder 6-6 retracts, driving the crossbeam support 6-7 and the sewage suction pipe 6-3 to move upward simultaneously until the bottom end of the sewage suction pipe 6-3 is higher than the center line of the traveling wheel 1-1; Step C: The four leg swing oil cylinders 2-5 extend simultaneously, pushing the four support frames 2-2 to swing outward until the four support frames 2-2 are perpendicular to the internal track of the tunnel; Step D: The four jacking legs 2-3 jack up simultaneously, driving the vehicle frame 1 to jack up, and the traveling wheel 1-1 is disengaged from the internal track of the tunnel, allowing the construction vehicle to pass on the internal track of the tunnel.

[0038] In this embodiment, in step one, the value range of the set sewage suction distance is 5 mm to 10 mm.

[0039] In this embodiment, in step two, the traveling speed of the intelligent cleaning equipment for the tunnel wall on the internal track of the tunnel does not exceed 3 km / h, the set maximum height of the sewage water surface is 50 mm, and the value range of the obstacle avoidance safety distance is 3 m to 5 m.

[0040] In this embodiment, when the gravel weight detection sensor detects that the gravel weight inside the centrifugal gravel filter 7 exceeds the set weight value, it is necessary to discharge the gravel inside the centrifugal gravel filter 7, and the specific operation process includes the following steps: Step a: Adjust the intelligent cleaning equipment for the tunnel wall to the working state when avoiding the construction vehicle; Step b: Park the slag transport vehicle below the intelligent cleaning equipment for the tunnel wall, open the electromagnetic butterfly valve 7-5, and directly discharge the gravel in the centrifugal gravel filter 7 into the hopper of the slag transport vehicle.

[0041] The above are only the preferred embodiments of the present invention and do not impose any limitations on the present invention. Any simple modifications, changes, and equivalent structural changes made to the above embodiments based on the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. An intelligent cleaning device for tunnel pipe walls, characterized in that: It includes a vehicle frame (1), a traveling mechanism, a lifting device, and a cleaning device provided on the vehicle frame (1). The traveling mechanism includes traveling wheels (1-1) installed below the vehicle frame (1) and cooperating with the internal track of the tunnel. The lifting device includes four hinge seats (2-1) respectively fixedly installed at the four corners of the vehicle frame (1), a support frame (2-2) hinge-mounted on the hinge seats (2-1), and lifting legs (2-3) vertically installed on the support frame (2-2). A leg swing oil cylinder (2-5) for pushing the support frame (2-2) to swing outward is provided on the vehicle frame (1). The cleaning device includes a water supply tank (4) and a sewage treatment tank (5) installed on the vehicle frame (1), as well as a spray cleaning mechanism and a sewage suction mechanism provided at the tail of the vehicle frame (1). The spray cleaning mechanism includes a mounting seat (9-1), a spray cleaning arm (9-2) hinge-mounted on the mounting seat (9-1), a rotary oil cylinder (9-4) installed at the top of the spray cleaning arm (9-2), and a high-pressure water pump (8-1) communicated with the water supply tank (4). A first spray pipe (9-5) and a second spray pipe (9-8) are connected to the water outlet hose (8-1-1) of the high-pressure water pump (8-1). Nozzles (9-6) are connected to the front ends of both the first spray pipe (9-5) and the second spray pipe (9-8). The tail end of the first spray pipe (9-5) is hinge-mounted on the rotary oil cylinder (9-4) through a hinge support. A cleaning arm swing oil cylinder (9-3) is installed between the mounting seat (9-1) and the spray cleaning arm (9-2). The sewage suction mechanism includes a fixed cross beam (6-5) installed on the vehicle frame (1), a telescopic oil cylinder (6-6) vertically installed on the fixed cross beam (6-5), a cross beam support (6-7) fixedly installed at the extended end of the telescopic oil cylinder (6-6), a sewage suction pump (6-1) communicated with the sewage treatment tank (5), and a sewage suction pipe (6-3) connected to the water inlet connecting pipe (6-1-1) of the sewage suction pump (6-1). The sewage suction pipe (6-3) is fixedly installed on the cross beam support (6-7), and the second spray pipe (9-8) is installed on the cross beam support (6-7). An ultrasonic distance sensor for real-time detecting the water surface height of sewage on the invert surface is provided at the bottom end of the vehicle frame (1), and an ultrasonic obstacle avoidance sensor is provided at the front end of the vehicle frame (1). Both the ultrasonic distance sensor and the ultrasonic obstacle avoidance sensor are connected to a controller.

2. The intelligent cleaning device for the tunnel pipe wall according to claim 1, wherein: A sewage suction bell mouth is provided at the bottom end of the sewage suction pipe (6-3), and the top end of the sewage suction pipe (6-3) is connected to the water inlet connecting pipe (6-1-1) through a telescopic hose (6-4).

3. The intelligent cleaning device for tunnel pipe walls according to claim 1, characterized in that: The sewage suction pump (6-1) is driven by a first motor (6-2), the high-pressure water pump (8-1) is driven by a second motor (8-2), and both the first motor (6-2) and the second motor (8-2) are controlled by the controller.

4. The intelligent cleaning device for the tunnel pipe wall according to claim 1, wherein: A centrifugal sand and gravel filter (7) is arranged in the sewage treatment tank (5). The water inlet (7-1) of the centrifugal sand and gravel filter (7) is communicated with the water outlet connecting pipe (6-1-2) of the sewage suction pump (6-1). The water outlet (7-2) of the centrifugal sand and gravel filter (7) is communicated with the water supply tank (4) through a connecting pipe (7-3). An electromagnetic butterfly valve (7-5) is installed on the sand and gravel outlet (7-4) of the centrifugal sand and gravel filter (7). A sand and gravel weight detection sensor is arranged inside the centrifugal sand and gravel filter (7), and the sand and gravel weight detection sensor is connected to the controller. The electromagnetic butterfly valve (7-5) is controlled by the controller.

5. An intelligent cleaning device for the tunnel wall tube according to claim 1, characterized in that: The jacking leg (2-3) includes a leg housing (2-3-1) vertically installed on the support frame (2-2), a first upright column (2-3-2) coaxially sleeved inside the leg housing (2-3-1), a second upright column (2-3-3) coaxially sleeved inside the first upright column (2-3-2), and a third upright column (2-3-4) coaxially sleeved inside the second upright column (2-3-3). A first jacking oil cylinder (2-4-1) for driving the first upright column (2-3-2) to extend is arranged on the outer side of the leg housing (2-3-1). A second jacking oil cylinder (2-4-2) for driving the second upright column (2-3-3) to extend is arranged on the outer side of the first upright column (2-3-2). A third jacking oil cylinder (2-4-3) for driving the third upright column (2-3-4) to extend is arranged on the outer side of the second upright column (2-3-3).

6. The intelligent cleaning device for the tunnel pipe wall according to claim 3, characterized in that: An absolute encoder (9-7) is installed on the rotary oil cylinder (9-4), and the absolute encoder (9-7) is connected to the controller.

7. A method for intelligently cleaning a tunnel wall using the tunnel wall intelligent cleaning device as described in claim 1, characterized in that: It includes the following steps: Step 1: Adjust the installation state of the intelligent tunnel wall cleaning equipment before it moves on the internal track of the tunnel: The four leg swing oil cylinders (2-5) and the four jacking legs (2-3) are in the retracted state. The telescopic oil cylinder (6-6) extends, driving the crossbeam support (6-7) and the sewage suction pipe (6-3) to move downward simultaneously until a set sewage suction distance is maintained between the bottom end of the sewage suction pipe (6-3) and the invert surface. Step 2: Drive the intelligent tunnel wall cleaning equipment to move on the internal track of the tunnel and clean the tunnel wall simultaneously: The traveling wheels (1-1) drive the vehicle frame (1) to travel along the internal track of the tunnel. The high-pressure water pump (8-1) is turned on, and the high-pressure water pump (8-1) transports the clear water in the water supply tank (4) to the first spray pipe (9-5) and the second spray pipe (9-8) through the water outlet hose (8-1-1). The washing arm swing oil cylinder (9-3) drives the spray washing arm (9-2) to rotate and swing. The rotary oil cylinder (9-4) drives the first spray pipe (9-5) to rotate and swing. The nozzle (9-6) connected to the first spray pipe (9-5) sprays in a fan shape on the tunnel wall, and the nozzle (9-6) connected to the second spray pipe (9-8) sprays in a fan shape on the invert surface. When the water surface height of the sewage on the invert surface detected by the ultrasonic distance sensor exceeds the set maximum height of the sewage water surface, the controller controls the opening of the sewage suction pump (6-1), and the sewage suction pump (6-1) sucks the sewage on the invert surface into the sewage treatment tank (5) through the sewage suction pipe (6-3); When the distance between the construction vehicle running on the internal track of the tunnel and the intelligent cleaning equipment for the tunnel wall detected by the ultrasonic obstacle avoidance sensor is less than the obstacle avoidance safety distance, when the intelligent cleaning equipment for the tunnel wall needs to avoid the construction vehicle, the specific operation process includes the following steps: Step A: The cleaning arm swing oil cylinder (9-3) retracts, driving the spray washing arm (9-2) to retract to the vertical state, and the first spray pipe (9-5) is driven by the rotary oil cylinder (9-4) to retract to the vertical state, and the nozzle (9-6) faces downward; Step B: The telescopic oil cylinder (6-6) retracts, driving the cross beam support (6-7) and the sewage suction pipe (6-3) to move upward simultaneously until the bottom end of the sewage suction pipe (6-3) is higher than the center line of the traveling wheel (1-1); Step C: The four leg swing oil cylinders (2-5) extend simultaneously, pushing the four support frames (2-2) to swing outward until the four support frames (2-2) are perpendicular to the internal track of the tunnel; Step D: The four lifting legs (2-3) lift simultaneously, driving the vehicle frame (1) to lift upward, and the traveling wheels (1-1) are separated from the internal track of the tunnel, allowing the construction vehicle to pass on the internal track of the tunnel.

8. The intelligent cleaning method for the tunnel pipe wall according to claim 7, characterized in that: In step one, the value range of the set sewage suction distance is 5 mm to 10 mm.

9. The intelligent cleaning method for the tunnel pipe wall according to claim 7, characterized in that: In step two, the traveling speed of the intelligent cleaning equipment for the tunnel wall on the internal track of the tunnel does not exceed 3 km / h, the set maximum height of the sewage water surface is 50 mm, and the value range of the obstacle avoidance safety distance is 3 m to 5 m.

10. The intelligent cleaning method for the tunnel pipe wall according to claim 7, wherein: When the sand and gravel weight detection sensor detects that the weight of the sand and gravel inside the centrifugal sand and gravel filter (7) exceeds the set weight value, it is necessary to discharge the sand and gravel inside the centrifugal sand and gravel filter (7), and the specific operation process includes the following steps: Step a: Adjust the intelligent cleaning equipment for the tunnel wall to the working state when avoiding the construction vehicle; Step b: Park the slag transport vehicle below the intelligent cleaning equipment for the tunnel wall, open the electromagnetic butterfly valve (7-5), and directly discharge the sand and gravel in the centrifugal sand and gravel filter (7) into the hopper of the slag transport vehicle.

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