Intelligent cleaning device and method for tunnel pipe wall

Abstract

The present invention discloses an intelligent tunnel pipe wall cleaning device and method. The device includes a vehicle frame, a traveling mechanism disposed on the vehicle frame, a lifting device, and a cleaning device. The lifting device includes an articulated seat, a support frame, and lifting legs. The vehicle frame is provided with a leg swinging oil cylinder for pushing the support frame to swing outward. The cleaning device includes a water supply tank, a sewage treatment tank, a spraying mechanism, and a sewage suction mechanism. The present invention utilizes the spraying mechanism to spray the tunnel pipe wall, utilizes the sewage suction mechanism to suction sewage on the inverted arch surface, and the suctioned sewage can be filtered and separated in the sewage treatment tank. The filtered and separated sewage can be recycled into the water supply tank, thus solving the problem of sewage generated during tunnel cleaning being difficult to collect. The lifting device can drive the vehicle frame to separate from the tunnel's internal track, so that the vehicle frame is lifted into the air, ensuring that construction vehicles can pass on the tunnel's internal track.

Description

Technical Field

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

[0002] With the acceleration of urbanization, the scale of tunnel facilities such as railways and subways continues to expand. During the construction of tunnel transportation, a large amount of construction dust will be left in the tunnel, adhering to the tunnel walls or accumulating in the drainage ditch. When a test vehicle is used for delivery testing, the airflow driven by the test vehicle gradually blows up this dust and diffuses it into the tunnel. Moreover, this dust can spread through the gaps of fans and shield doors due to the piston wind effect and spread throughout the station and even into the equipment room, causing electrical equipment short circuits and poor switch contact, seriously affecting driving safety and personnel health. Therefore, before the delivery test of tunnel transportation projects, the tunnel pipe wall needs to be fully cleaned. Currently, most of the methods are manual cleaning or by installing water nozzles and dust collection equipment on rail vehicles. However, in actual application, there are still shortcomings such as poor cleaning effect, inability to achieve comprehensive and thorough cleaning, high labor intensity, and untimely treatment of water supply pipes in the tunnel and sewage generated by cleaning, which will affect the normal passage of existing construction vehicles. Therefore, an intelligent tunnel pipe wall cleaning device and method are provided. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the deficiencies in the above-mentioned prior art and provide an intelligent tunnel pipe wall cleaning device and method. The device and method have a reasonable design, and a spray cleaning mechanism can be used to spray the tunnel pipe wall, and a sewage suction mechanism can be used to suction sewage on the arch surface. The sucked sewage can be filtered and separated through a sewage treatment tank, and the filtered and separated sewage can be recycled into a water supply tank and continued to be used for spraying the tunnel pipe wall, thereby solving the problem that sewage generated during the tunnel cleaning process is difficult to collect. The jacking device can be used to drive the frame to separate from the internal track of the tunnel, so that the frame can be lifted into the air, thereby ensuring that construction vehicles can pass on the internal track of the tunnel.

[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 walking mechanism arranged on the frame, a jacking device and a cleaning device, the walking mechanism includes walking wheels installed under the frame and cooperating with the inner track of the tunnel; the jacking device includes four hinged seats fixedly mounted on the four corners of the frame, a support frame hingedly mounted on the hinged seat and jacking legs vertically mounted 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 mounted 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 nozzle and a second nozzle are connected to the water hose, and the front ends of the first nozzle and the second nozzle are both connected to nozzles. The tail end of the first nozzle is hingedly mounted on the rotating oil cylinder through an articulated support, and a cleaning arm swing oil cylinder is installed between the mounting seat and the spray arm; the sewage suction mechanism includes a fixed crossbeam mounted on the frame, a telescopic oil cylinder vertically mounted on the fixed crossbeam and a crossbeam bracket fixedly mounted on the protruding end of the telescopic oil cylinder, as well as 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 nozzle is mounted on the crossbeam bracket; an ultrasonic distance sensor for real-time detection of the water level of sewage on the inverted arch surface is provided at the bottom end of the frame, and 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 sewage suction bell mouth is provided at the bottom end of the sewage suction pipe, and the top end of the sewage 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 tunnel pipe wall cleaning equipment is characterized in that: a centrifugal sand and gravel filter is provided in the sewage treatment tank, the water inlet of the centrifugal sand and gravel filter is connected with the water outlet pipe of the sewage suction pump, the water outlet of the centrifugal sand and gravel filter is connected with the water supply tank through a connecting pipe, an electromagnetic butterfly valve is installed on the sand and gravel outlet of the centrifugal sand and gravel filter, a sand and gravel weight detection sensor is provided inside the centrifugal sand and gravel filter, the sand and gravel weight detection sensor is connected to the controller, and the electromagnetic butterfly valve is controlled by the controller.

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

[0009] The above-mentioned intelligent tunnel pipe wall cleaning equipment is characterized in that an absolute value encoder is installed on the rotating cylinder, and the absolute value encoder is connected to the controller.

[0010] The present invention also provides a method for intelligently cleaning a tunnel pipe wall using the above-mentioned intelligent tunnel pipe wall cleaning device, which is characterized by comprising the following steps:

[0011] Step 1: Adjust the installation status of the tunnel wall intelligent cleaning equipment before it moves on the tunnel internal track:

[0012] The four leg swing cylinders and the four jacking legs are all in a retracted state, and the telescopic cylinder is extended, driving the crossbeam support and the sewage suction pipe to move downward at the same time until the bottom end of the sewage suction pipe maintains a set sewage suction distance from the surface of the inverted arch;

[0013] Step 2: Drive the tunnel wall intelligent cleaning equipment to move on the internal track of the tunnel and clean the tunnel wall at the same time:

[0014] The traveling wheels drive the vehicle frame to travel along the internal track of the tunnel, and the high-pressure water pump is turned on. The high-pressure water pump delivers clean water in the water supply tank to the first nozzle and the second nozzle through the water outlet hose. The washing arm swing cylinder drives the spray arm to rotate and swing, and the rotating cylinder drives the first nozzle to rotate and swing. The nozzle connected to the first nozzle is sprayed in a fan-shaped manner on the tunnel wall, and the nozzle connected to the second nozzle is sprayed in a fan-shaped manner on the surface of the inverted arch.

[0015] When the ultrasonic distance sensor detects that the water level of the sewage on the inverted arch surface exceeds the set maximum height of the sewage water level, the controller controls the sewage suction pump to start, and the sewage suction pump sucks the sewage on the inverted arch surface into the sewage treatment tank through the sewage suction pipe;

[0016] When the ultrasonic obstacle avoidance sensor detects that the distance between the construction vehicle running on the tunnel internal track and the tunnel pipe wall intelligent cleaning device is less than the obstacle avoidance safety distance, the tunnel pipe wall intelligent cleaning device needs to avoid the construction vehicle, and the specific operation process includes the following steps:

[0017] Step A: The cleaning arm swing cylinder retracts, driving the spray arm to retract to a vertical state, and the rotating cylinder drives the first spray pipe to retract to a vertical state, with the nozzle opening facing downward;

[0018] Step B: The telescopic cylinder retracts, driving the crossbeam support and the sewage suction pipe to move upward simultaneously until the bottom end of the sewage suction pipe is higher than the center line of the travel wheel;

[0019] Step C: The four leg swing cylinders extend simultaneously to push the four support frames to swing outward until the four support frames are perpendicular to the inner track of the tunnel;

[0020] Step D: The four lifting legs are lifted simultaneously, driving the vehicle frame to lift upward, and the traveling wheels are disengaged from the inner track of the tunnel, so that the construction vehicle can pass on the inner track of the tunnel.

[0021] The above-mentioned intelligent tunnel pipe wall cleaning method is characterized in that: in step 1, the value range of the set suction distance is 5mm~10mm.

[0022] The above-mentioned intelligent cleaning method for tunnel pipe walls is characterized in that: in step 2, the speed of the intelligent cleaning equipment for tunnel pipe walls on the internal track of the tunnel does not exceed 3 km / h, the maximum height of the sewage water surface is set to 50 mm, and the obstacle avoidance safety distance has a value range of 3m~5m.

[0023] The above-mentioned intelligent tunnel pipe wall cleaning method is characterized in that: when the gravel weight detection sensor detects that the weight of the gravel inside the centrifugal gravel filter exceeds the set weight value, the gravel inside the centrifugal gravel filter needs to be discharged. The specific operation process includes the following steps:

[0024] Step a: Adjust the tunnel wall intelligent cleaning equipment to a working state for avoiding construction vehicles;

[0025] Step b: Park the slag truck below the tunnel pipe wall intelligent cleaning equipment, open the electromagnetic butterfly valve, and discharge the sand and gravel in the centrifugal sand and gravel filter directly into the hopper of the slag truck.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] The present invention arranges a traveling mechanism and a cleaning device on a vehicle frame, wherein the cleaning device includes a water supply tank, a sewage treatment tank, a spraying mechanism and a sewage suction mechanism. In actual use, during the movement or braking of the vehicle frame, the water supply tank can be synchronized with the vehicle frame, and there is no need to lay a water supply pipe in the tunnel, which will not affect the normal passage of existing construction vehicles. The spraying mechanism can be used to spray and wash the tunnel pipe wall, and the sewage suction mechanism can be used to suck the sewage on the surface of the inverted arch to avoid excessive residual water on the surface of the inverted arch. By connecting the sewage suction mechanism with the sewage treatment tank, the sucked sewage can be filtered and separated by the sewage treatment tank. The filtered and separated sewage can be recycled into the water supply tank and continued to be used for spraying and washing the tunnel pipe wall, thereby solving the problem that the sewage generated during the tunnel cleaning process is difficult to collect. The use effect is good and energy is saved. 2. The present invention provides a jacking device on the vehicle frame, which includes a hinged seat, a support frame and jacking legs. The vehicle frame is provided with a leg swinging oil cylinder for pushing the support frame to swing outward. In actual use, when the vehicle frame moves along the inner track of the tunnel, the entire jacking device is in a retracted state, that is, the leg swinging oil cylinder is in a retracted state, the support frame and the inner track of the tunnel are in a horizontal state, the jacking legs are in a retracted state, and the horizontal height of the bottom end of the jacking legs is higher than the top surface of the inner track of the tunnel, that is, the jacking legs will not collide with the inner track of the tunnel; when the tunnel pipe wall intelligent cleaning equipment needs to avoid the construction vehicle, it is necessary to adjust the jacking device so that the entire jacking device is in an expanded state, the leg swinging oil cylinder is extended, and drives the support frame to swing to a state perpendicular to the inner track of the tunnel, the jacking legs are extended, and drives the vehicle frame to separate from the inner track of the tunnel. At this time, the vehicle frame is jacked into the air, and the four jacking legs are placed on the surface of the inverted arch, which can ensure that the construction vehicle can pass on the inner track of the tunnel.

[0028] 3. The spraying mechanism of the present invention includes a mounting base, a spraying arm, a washing arm swing cylinder, a rotating cylinder and a high-pressure water pump. The water outlet hose of the high-pressure water pump is connected to a first nozzle and a second nozzle. In actual use, the high-pressure water pump is used to transport the clean water in the water supply tank to the first nozzle and the second nozzle through the water outlet hose. The front ends of the first nozzle and the second nozzle are both connected to nozzles, and fan-shaped water columns are sprayed through the nozzles. Under the joint action of the washing arm swing cylinder and the rotating cylinder, the spraying height, angle and spraying range of the first nozzle can be adjusted, and the second nozzle is used to spray the sediment on the surface of the inverted arch, so that the sewage suction mechanism can suck the sewage on the surface of the inverted arch.

[0029] 4. The cleaning method of the present invention is reasonably designed, highly automated, and easy to promote and apply.

[0030] In summary, the present invention has a reasonable design. The spraying mechanism can be used to spray the tunnel wall, and the sewage suction mechanism can be used to suck the sewage on the arch surface. The sucked sewage can be filtered and separated through a sewage treatment tank. The sewage after filtration and separation can be recycled into the water supply tank and continued to be used for spraying the tunnel wall, thereby solving the problem that the sewage generated during the tunnel cleaning process is difficult to collect. The jacking device can be used to drive the frame to separate from the internal track of the tunnel, so that the frame can be jacked into the air, which can ensure that the construction vehicle can pass on the internal track of the tunnel.

[0031] The present invention is further described in detail below through the accompanying drawings and examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the present invention.

[0033] Figure 2 It is a schematic diagram of the connection structure of the vehicle frame, spray washing mechanism, sewage suction mechanism and jacking device of the present invention.

[0034] Figure 3 It is a schematic diagram of the working state of the jacking device of the present invention.

[0035] Figure 4 It is a structural schematic diagram of the spray cleaning mechanism of the present invention.

[0036] Figure 5 It is a structural schematic diagram of the sewage suction mechanism of the present invention.

[0037] Figure 6 It is a schematic diagram of the connection structure between the sewage treatment tank and the centrifugal sand and gravel filter of the present invention.

[0038] Description of the accompanying drawings:

[0039] 1—frame; 1-1—travel wheel; 2-1—articulated seat;

[0040] 2-2—support frame; 2-3—lifting leg; 2-3-1 leg housing;

[0041] 2-3-2 first column; 2-3-3 second column; 2-3-4 third column;

[0042] 2-4-1—first lifting cylinder; 2-4-2—second lifting cylinder; 2-4-3—third lifting cylinder;

[0043] 2-5—Outrigger swing cylinder; 3—Protection box; 4—Water supply tank;

[0044] 5—Sewage treatment tank; 6-1—Sewage suction pump; 6-1-1—Water inlet pipe;

[0045] 6-2—first motor; 6-3—sewage suction pipe; 6-4—telescopic hose;

[0046] 6-5—Fixed beam; 6-6—Telescopic cylinder; 6-7—Beam support;

[0047] 7—Centrifugal sand and gravel filter; 7-1—Water inlet; 7-2—Water outlet;

[0048] 7-3—Connecting pipe; 7-4—Sand and gravel outlet; 7-5—Sand discharge electromagnetic butterfly valve;

[0049] 8-1—High-pressure water pump; 8-1-1—Water outlet hose; 8-2—Second motor;

[0050] 9-1—Mounting seat; 9-2—Spray arm; 9-2—Spray arm;

[0051] 9-3—Cleaning arm swing cylinder; 9-4—Rotation cylinder; 9-5—First nozzle;

[0052] 9-6—Nozzle; 9-7—Absolute encoder; 9-8—Second nozzle. DETAILED DESCRIPTION

[0053] like 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 cooperating with the internal track of the tunnel; the lifting device includes four articulated seats 2-1 fixedly installed at the four corners of the frame 1, a support frame 2-2 articulatedly installed on the articulated 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 tail 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 nozzle 9-5 and the second nozzle 9-8 are both connected with nozzles 9-6. The tail end of the first nozzle 9-5 is hingedly mounted on the rotating cylinder 9-4 through a hinged support. 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 beam 6-5 mounted on the frame 1, a telescopic cylinder 6-6 vertically mounted on the fixed beam 6-5, and a beam bracket 6-7 fixedly mounted on the protruding end of the telescopic cylinder 6-6, as well as a bracket 6-7 connected to the frame 1. The sewage treatment tank 5 is connected to a sewage suction pump 6-1 and a sewage suction pipe 6-3 connected to the water inlet pipe 6-1-1 of the sewage suction pump 6-1, and 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, and the bottom end of the frame 1 is provided with an ultrasonic distance sensor for real-time detection of the water level height of sewage on the inverted arch surface, and 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.

[0054] In this embodiment, a traveling mechanism and a cleaning device are provided on the vehicle frame 1, and the cleaning device includes a water supply tank 4, a sewage treatment tank 5, a spraying mechanism and a sewage suction mechanism. In actual use, during the movement or braking of the vehicle frame 1, the water supply tank 4 can be synchronized with the vehicle frame 1, and there is no need to lay a water supply pipe in the tunnel, which will not affect the normal passage of existing construction vehicles. The spraying mechanism can be used to spray the tunnel pipe wall, and the sewage suction mechanism can be used to suction the sewage on the surface of the inverted arch to avoid excessive water accumulation on the surface of the inverted arch. By connecting the sewage suction mechanism with the sewage treatment tank 5, the sucked sewage can be filtered and separated by the sewage treatment tank 5. The filtered and separated sewage can be recycled into the water supply tank 4 and continued to be used for spraying the tunnel pipe wall, which solves the problem that the sewage generated during the tunnel cleaning process is difficult to collect, has good use effect, and saves energy.

[0055] In this embodiment, the spraying mechanism includes a mounting seat 9-1, a spraying arm 9-2, a washing arm swing cylinder 9-3, a rotating cylinder 9-4 and a high-pressure water pump 8-1. The 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. In actual use, the high-pressure water pump 8-1 is used to transport the clean water in the water supply tank 4 to the first nozzle 9-5 and the second nozzle 9-8 through the outlet hose 8-1-1. The front ends of the first nozzle 9-5 and the second nozzle 9-8 are both connected to nozzles 9-6, and fan-shaped water columns are sprayed through the nozzles 9-6. Under the joint action of the washing arm swing cylinder 9-3 and the rotating cylinder 9-4, the spraying height, angle and spraying range of the first nozzle 9-5 can be adjusted, and the second nozzle 9-8 is used to spray the sediment on the surface of the inverted arch, so that the sewage suction mechanism can suck the sewage on the surface of the inverted arch.

[0056] In this embodiment, a jacking device is provided on the vehicle frame 1, the jacking device includes an articulated seat 2-1, a support frame 2-2 and a jacking leg 2-3, and a leg swinging cylinder 2-5 is provided on the vehicle frame 1 for pushing the support frame 2-2 to swing outward. In actual use, when the vehicle frame 1 moves along the internal track of the tunnel, the entire jacking device is in a retracted state, that is, the leg swinging 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 tunnel internal track, that is, the jacking legs 2-3 will not collide with the tunnel internal track; when the tunnel pipe wall intelligent cleaning equipment needs to avoid the construction vehicle, it is necessary to adjust the jacking device so that the entire jacking device is in an unfolded state, the leg swing cylinder 2-5 is extended, and drives the support frame 2-2 to swing to a state perpendicular to the tunnel internal track, the jacking legs 2-3 are extended, and drive the frame 1 to separate from the tunnel internal track. At this time, the frame 1 is lifted into the air, and the four jacking legs 2-3 are placed on the surface of the inverted arch, which can ensure that the construction vehicle can pass on the tunnel internal track.

[0057] like Figure 5 As shown, in this embodiment, the bottom end of the sewage suction pipe 6-3 is provided with a sewage suction bell mouth, and the top end of the sewage suction pipe 6-3 is connected to the water inlet pipe 6-1-1 through a telescopic hose 6-4.

[0058] like Figure 2 As shown, in this embodiment, the sewage suction pump 6-1 is driven by a first motor 6-2, and the high-pressure water pump 8-1 is driven by a second motor 8-2. Both the first motor 6-2 and the second motor 8-2 are controlled by a controller.

[0059] 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 inside the protection box 3 , and the protection box 3 is detachably mounted on the vehicle frame 1 .

[0060] like Figure 6 As 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 connected to the water outlet 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 connected to the water supply tank 4 through the connecting pipe 7-3, and 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 provided inside the centrifugal sand and gravel filter 7, and the sand and gravel weight detection sensor is connected to the controller, and the electromagnetic butterfly valve 7-5 is controlled by the controller.

[0061] In this embodiment, a water level sensor is provided 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 inside the water supply tank 4 in real time.

[0062] like Figure 3 As shown, in this embodiment, the jacking leg 2-3 includes a leg shell 2-3-1 vertically installed on the support frame 2-2, a first column 2-3-2 coaxially mounted in the leg shell 2-3-1, a second column 2-3-3 coaxially mounted in the first column 2-3-2 and a third column 2-3-4 coaxially mounted in the second column 2-3-3, a first jacking cylinder 2-4-1 for driving the first column 2-3-2 to extend is provided on the outer side of the leg shell 2-3-1, a second jacking cylinder 2-4-2 for driving the second column 2-3-3 to extend is provided on the outer side of the first column 2-3-2, and a third jacking cylinder 2-4-3 for driving the third column 2-3-4 to extend is provided on the outer side of the second column 2-3-3.

[0063] like Figure 4 As shown, in this embodiment, an absolute value encoder 9-7 is installed on the rotating cylinder 9-4, and the absolute value encoder 9-7 is connected to the controller.

[0064] like Figures 1 to 6 A method for intelligently cleaning a tunnel pipe wall using an intelligent tunnel pipe wall cleaning device is shown, comprising the following steps:

[0065] Step 1: Adjust the installation status of the tunnel wall intelligent cleaning equipment before it moves on the tunnel internal track:

[0066] The four leg swing cylinders 2-5 and the four lifting legs 2-3 are all in the retracted state, and the telescopic cylinder 6-6 extends, driving the crossbeam support 6-7 and the sewage suction pipe 6-3 to move downward at the same time until the bottom end of the sewage suction pipe 6-3 maintains the set sewage suction distance from the surface of the inverted arch;

[0067] Step 2: Drive the tunnel wall intelligent cleaning equipment to move on the internal track of the tunnel and clean the tunnel wall at the same time:

[0068] The traveling wheel 1-1 drives the vehicle frame 1 to travel along the internal track of the tunnel, and the high-pressure water pump 8-1 is turned on. The high-pressure water pump 8-1 delivers clean 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 cylinder 9-3 drives the spray arm 9-2 to rotate and swing, and the rotating 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 the water in a fan-shaped manner on the tunnel wall, and the nozzle 9-6 connected to the second spray pipe 9-8 sprays the water in a fan-shaped manner on the surface of the inverted arch.

[0069] When the ultrasonic distance sensor detects that the water level of the sewage on the inverted arch surface exceeds the set maximum height of the sewage water level, the controller controls the sewage suction pump 6-1 to start, and the sewage suction pump 6-1 sucks the sewage on the inverted arch surface into the sewage treatment tank 5 through the sewage suction pipe 6-3;

[0070] When the ultrasonic obstacle avoidance sensor detects that the distance between the construction vehicle running on the tunnel internal track and the tunnel pipe wall intelligent cleaning device is less than the obstacle avoidance safety distance, the tunnel pipe wall intelligent cleaning device needs to avoid the construction vehicle, and the specific operation process includes the following steps:

[0071] Step A: The cleaning arm swing cylinder 9-3 retracts, driving the spray arm 9-2 to retract to a vertical state, and the rotating cylinder 9-4 drives the first spray pipe 9-5 to retract to a vertical state, with the nozzle 9-6 opening downward;

[0072] Step B: The telescopic 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 walking wheel 1-1;

[0073] Step C: The four leg swing cylinders 2-5 extend simultaneously to push the four support frames 2-2 to swing outward until the four support frames 2-2 are perpendicular to the inner track of the tunnel;

[0074] Step D: The four lifting legs 2 - 3 are lifted simultaneously, driving the frame 1 to lift upward, and the traveling wheel 1 - 1 is separated from the inner track of the tunnel, so that the construction vehicle can pass on the inner track of the tunnel.

[0075] In this embodiment, in step 1, the value range of the set suction distance is 5 mm to 10 mm.

[0076] In this embodiment, in step 2, the speed of the tunnel wall intelligent cleaning equipment on the tunnel internal track does not exceed 3 km / h, the maximum height of the sewage water surface is set to 50 mm, and the obstacle avoidance safety distance is in the range of 3 m to 5 m.

[0077] In this embodiment, when the gravel weight detection sensor detects that the weight of the gravel inside the centrifugal gravel filter 7 exceeds the set weight value, the gravel inside the centrifugal gravel filter 7 needs to be discharged. The specific operation process includes the following steps:

[0078] Step a: Adjust the tunnel wall intelligent cleaning equipment to a working state for avoiding construction vehicles;

[0079] Step b: Park the slag truck below the tunnel pipe wall intelligent cleaning equipment, open the electromagnetic butterfly valve 7-5, and discharge the sand and gravel in the centrifugal sand and gravel filter 7 directly into the hopper of the slag truck.

[0080] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. An intelligent tunnel wall cleaning device, characterized by: The invention comprises a vehicle frame (1), a traveling mechanism arranged on the vehicle frame (1), a lifting device and a cleaning device, wherein the traveling mechanism comprises a traveling wheel (1-1) mounted below the vehicle frame (1) and matched with an internal track of a tunnel; the lifting device comprises four hinged seats (2-1) respectively fixedly mounted on the four corners of the vehicle frame (1), a support frame (2-2) hingedly mounted on the hinged seat (2-1) and a lifting leg (2-3) vertically mounted on the support frame (2-2); the vehicle frame (1) is provided with a leg swinging oil cylinder (2-3) for pushing the support frame (2-2) to swing outward. 5), the cleaning device comprises a water supply tank (4) and a sewage treatment tank (5) mounted on the vehicle frame (1), and a spraying mechanism and a sewage suction mechanism arranged at the rear of the vehicle frame (1), the spraying mechanism comprises a mounting seat (9-1), a spraying arm (9-2) hingedly mounted on the mounting seat (9-1), a rotating oil cylinder (9-4) mounted on the top of the spraying arm (9-2) and a high-pressure water pump (8-1) connected to the water supply tank (4), a 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 nozzle (9-5) and the second nozzle (9-8) are both connected to nozzles (9-6); the rear end of the first nozzle (9-5) is hingedly mounted on the rotating cylinder (9-4) via a hinged support; a washing arm swing cylinder (9-3) is mounted between the mounting seat (9-1) and the spray arm (9-2); the sewage suction mechanism comprises a fixed beam (6-5) mounted on the vehicle frame (1), a telescopic cylinder (6-6) vertically mounted on the fixed beam (6-5), and a beam bracket (6-7) fixedly mounted on the protruding end of the telescopic cylinder (6-6); and 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 pipe (6-1-1) of the sewage suction pump (6-1), the sewage suction pipe (6-3) being fixedly mounted on the crossbeam bracket (6-7), and the second nozzle (9-8) being mounted on the crossbeam bracket (6-7); an ultrasonic distance sensor for real-time detection of the water level of sewage on the inverted arch surface is provided at the bottom end of the vehicle frame (1), an ultrasonic obstacle avoidance sensor is provided at the front end of the vehicle frame (1), and both the ultrasonic distance sensor and the ultrasonic obstacle avoidance sensor are connected to a controller.

2. The intelligent tunnel wall cleaning device according to claim 1, characterized in that: The bottom end of the sewage suction pipe (6-3) is provided with a sewage suction bell mouth, and the top end of the sewage suction pipe (6-3) is connected to the water inlet pipe (6-1-1) via a telescopic hose (6-4).

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

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

5. The intelligent tunnel wall cleaning device according to claim 1, characterized in that: The jacking leg (2-3) comprises a leg shell (2-3-1) vertically mounted on the support frame (2-2), a first column (2-3-2) coaxially sleeved in the leg shell (2-3-1), a second column (2-3-3) coaxially sleeved in the first column (2-3-2), and a third column (2-3-4) coaxially sleeved in the second column (2-3-3); a first jacking cylinder (2-4-1) for driving the first column (2-3-2) to extend is provided on the outer side of the leg shell (2-3-1); a second jacking cylinder (2-4-2) for driving the second column (2-3-3) to extend is provided on the outer side of the first column (2-3-2); and a third jacking cylinder (2-4-3) for driving the third column (2-3-4) to extend is provided on the outer side of the second column (2-3-3).

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

7. A method for intelligently cleaning a tunnel pipe wall using the intelligent tunnel pipe wall cleaning device according to claim 1, characterized in that: The following steps are involved: Step 1: Adjust the installation status of the tunnel wall intelligent cleaning equipment before it moves on the tunnel internal track: The four leg swing cylinders (2-5) and the four lifting legs (2-3) are all in a retracted state, and the telescopic cylinder (6-6) is extended, 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 surface of the inverted arch; Step 2: Drive the tunnel wall intelligent cleaning equipment to move on the internal track of the tunnel and clean the tunnel wall at the same time: The traveling wheel (1-1) drives the vehicle frame (1) to travel along the inner track of the tunnel, and the high-pressure water pump (8-1) is turned on. The high-pressure water pump (8-1) delivers clean 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 cylinder (9-3) drives the spray arm (9-2) to rotate and swing, and the rotating 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 the water in a fan-shaped manner onto the tunnel wall, and the nozzle (9-6) connected to the second spray pipe (9-8) sprays the water in a fan-shaped manner onto the surface of the inverted arch. When the ultrasonic distance sensor detects that the water level of the sewage on the inverted arch surface exceeds the set maximum height of the sewage water level, the controller controls the sewage suction pump (6-1) to start, and the sewage suction pump (6-1) sucks the sewage on the inverted arch surface into the sewage treatment tank (5) through the sewage suction pipe (6-3); When the ultrasonic obstacle avoidance sensor detects that the distance between the construction vehicle running on the tunnel internal track and the tunnel pipe wall intelligent cleaning device is less than the obstacle avoidance safety distance, the tunnel pipe wall intelligent cleaning device needs to avoid the construction vehicle, and the specific operation process includes the following steps: Step A: The cleaning arm swing cylinder (9-3) retracts, driving the spray arm (9-2) to retract to a vertical state, and the rotating cylinder (9-4) drives the first spray pipe (9-5) to retract to a vertical state, with the nozzle (9-6) opening 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 walking wheel (1-1); Step C: The four leg swing 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 inner track of the tunnel; Step D: The four lifting legs (2-3) are lifted simultaneously, driving the vehicle frame (1) to lift upward, and the traveling wheels (1-1) are separated from the tunnel internal track, allowing the construction vehicle to pass on the tunnel internal track.

8. The intelligent tunnel wall cleaning method according to claim 7, characterized in that: In step 1, the value range of the set suction distance is 5mm~10mm.

9. The intelligent tunnel wall cleaning method according to claim 7, characterized in that: In step 2, the speed of the tunnel wall intelligent cleaning equipment on the tunnel internal track does not exceed 3 km / h, the maximum height of the sewage water surface is set to 50 mm, and the obstacle avoidance safety distance is in the range of 3 m to 5 m.

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

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