Tunnel cleaning equipment capable of avoiding obstacles

Abstract

The invention belongs to the technical field of tunnel cleaning, and particularly relates to obstacle-avoiding tunnel cleaning equipment which comprises a vehicle-mounted platform, an obstacle-avoiding mechanism and a cleaning mechanism. The obstacle avoidance mechanism is composed of a telescopic obstacle avoidance module and a sliding obstacle avoidance module, and the position and angle of the cleaning mechanism can be dynamically adjusted according to the bending degree of the inner wall of the tunnel and the position of an obstacle. The cleaning mechanism is of a sectional structure, is divided into two sections and is connected with the rotating motor through the supporting piece, and the cleaning mechanism can better adapt to the bent shape of the inner wall of the tunnel. The cleaning mechanism further comprises a swing arm, a swing driving module, a cleaning driving module, a rolling brush and a cleaning shell. The swing driving module enables the swing arm to swing within a certain angle range, and the cleaning driving module adjusts the speed through a planetary gear and accurately controls the rotating speed of the rolling brush. The cleaning vehicle can efficiently and flexibly complete the cleaning task of the inner wall of the tunnel, meanwhile, obstacles are effectively avoided, safety and high efficiency in the cleaning process are ensured, and the cleaning vehicle has wide application prospects and market value.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of tunnel cleaning, and particularly relates to an obstacle-avoiding tunnel cleaning equipment. BACKGROUND

[0002] Tunnels are important transportation infrastructure, and the cleaning of their inner walls is crucial for ensuring driving safety and the service life of the tunnels. However, traditional tunnel cleaning equipment has many limitations when faced with the complex environment inside the tunnel. For example, the inner walls of the tunnel are often curved and uneven, and various obstacles (such as cables, ventilation ducts, etc.) may be attached to the inner walls. Most existing cleaning equipment is difficult to adapt to these complex shapes and is prone to collisions with obstacles, resulting in equipment damage or poor cleaning results. In addition, the cleaning range of traditional cleaning equipment is limited, making it difficult to fully cover the inner walls of the tunnel, especially for the cleaning of the top and bottom of the tunnel. Therefore, developing a cleaning equipment that can effectively avoid obstacles and adapt to the complex shape of the inner walls of the tunnel is of great significance for improving the efficiency and quality of tunnel cleaning. SUMMARY

[0003] In view of the technical problems existing in the above-mentioned traditional tunnel cleaning equipment, the present application provides an obstacle-avoiding tunnel cleaning equipment.

[0004] In order to solve the above technical problems, the technical scheme adopted by the present application is as follows: An obstacle-avoiding tunnel cleaning equipment, comprising a vehicle-mounted platform for carrying an overall cleaning device, an obstacle-avoiding mechanism, a cleaning mechanism, a rotary motor and a rotary motor housing; the obstacle-avoiding mechanism is fixedly installed on the upper surface of the vehicle-mounted platform, and the obstacle-avoiding mechanism comprises a telescopic obstacle-avoiding module and a sliding obstacle-avoiding module, the sliding obstacle-avoiding module is fixedly connected with the bottom of the telescopic obstacle-avoiding module; the cleaning mechanism is installed at the end of the obstacle-avoiding mechanism through the output end of the rotary motor, the rotary motor is integrally embedded in the rotary motor housing, and the rotary motor housing is fixedly connected with the end of the obstacle-avoiding mechanism.

[0005] The telescopic obstacle-avoiding module comprises two telescopic driving modules, two obstacle-avoiding bases, a first obstacle-avoiding arm for cleaning low places and a second obstacle-avoiding arm for cleaning high places, the two obstacle-avoiding bases are fixedly installed on the top of the sliding obstacle-avoiding module on both sides respectively, one telescopic driving module is installed on each obstacle-avoiding base correspondingly, and the first obstacle-avoiding arm and the second obstacle-avoiding arm are respectively rotatably connected with the two telescopic driving modules one by one.

[0006] The telescopic drive module comprises a hydraulic motor, a motor shell and a fulcrum bearing; the motor shell is integrally sleeved outside the hydraulic motor, and the bottom of the motor shell is fixedly connected with the upper surface of the sliding block in the sliding obstacle avoidance module; the fulcrum bearing is used for controlling the rotation angle of the first obstacle avoidance arm and the second obstacle avoidance arm, the inner ring of the fulcrum bearing is in transmission connection with the output end of the hydraulic motor through a spline, and the outer ring of the fulcrum bearing is detachably fixed on the side wall of the obstacle avoidance base through bolts; the end of the first obstacle avoidance arm and the end of the second obstacle avoidance arm are fixedly connected with the outer ring of the fulcrum bearing in the telescopic drive module corresponding to each of them respectively.

[0007] The first obstacle avoidance arm comprises a first connecting plate, a first connecting arm, a first hydraulic rod, a second hydraulic rod, a triangular connecting plate, a second connecting arm, a second connecting plate, a third connecting plate, a third connecting arm and a third hydraulic rod; one end of the first connecting plate is rotatably connected with the top of the obstacle avoidance base through a pin shaft, and the other end of the first connecting plate is fixedly welded with one end of the first connecting arm; one end of the first hydraulic rod is hingedly connected with the middle side wall of the first connecting arm through a hinged seat, and the other end of the first hydraulic rod is hingedly connected with the side wall of the obstacle avoidance base through a hinged seat, which is used for adjusting the included angle between the first connecting arm and the vehicle-mounted platform; one end of the second hydraulic rod is hingedly connected with the end side wall of the first connecting arm away from the first connecting plate through a hinged seat, and the other end of the second hydraulic rod is hingedly connected with one corner of the triangular connecting plate through a hinged seat, which is used for adjusting the included angle between the second connecting arm and the first connecting arm; the other corner of the triangular connecting plate is rotatably connected with one end of the second connecting arm through a pin shaft, the other end of the second connecting arm is rotatably connected with one end of the third connecting arm through the second connecting plate, and the two ends of the second connecting plate are hingedly connected with the second connecting arm and the third connecting arm through pin shafts; one end of the third hydraulic rod is hingedly connected with the middle side wall of the second connecting arm through a hinged seat, and the other end of the third hydraulic rod is connected with the middle side wall of the third connecting arm through the third connecting plate, one end of the third connecting plate is hingedly connected with the third hydraulic rod, and the other end of the third connecting plate is fixedly welded with the third connecting arm, which is used for adjusting the included angle between the cleaning mechanism and the second connecting arm; the end of the third connecting arm away from the second connecting plate is fixedly welded with the outer side wall of the rotary motor shell.

[0008] The sliding obstacle avoidance module comprises a sliding rail, a sliding block and a sliding motor; the sliding rail is fixed on the upper surface of the vehicle-mounted platform, the sliding block is adaptively sleeved on the sliding rail, and the sliding motor is fixed on the vehicle-mounted platform; the sliding motor is located on one side of the sliding rail, the output end of the sliding motor is in transmission connection with the sliding block, and the sliding motor is used for driving the sliding block to move on the sliding rail, thereby adjusting the position of the cleaning mechanism laterally.

[0009] The cleaning mechanism adopts a segmented structure and includes a swing arm, a swing drive module, a cleaning drive module, a roller brush, and a cleaning housing. One end of the swing drive module is fixed to the segmented connection structure of the cleaning mechanism, and the other end is driven to the swing arm. The end of the swing arm away from the swing drive module is fixedly connected to the cleaning housing. The cleaning drive module is embedded inside the cleaning housing. The roller brush is driven to the output end of the cleaning drive module and partially extends out of the cleaning housing.

[0010] The swing drive module includes a swing motor, a coupling, a swing shaft, an angle sensor, a swing end cover, and a swing housing. The swing motor is detachably fixed to the upper surface of a platform at one end of a support member by bolts. The output shaft of the swing motor is connected to one end of the swing shaft via a coupling to transmit power to the swing shaft. The swing shaft is rotatably connected to the inside of the swing housing via a deep groove ball bearing. The swing housing has a hollow cylindrical structure, and the end of the swing shaft away from the coupling is detachably fixed to one end of the swing arm via a shaft end flange, allowing the swing arm to rotate between -45° and 45°. The swing arm oscillates around the axis of the swing shaft within an angular range; the angle sensor is coaxially sleeved on the outer side of the middle part of the swing shaft, and the fixed end of the angle sensor is fixedly connected to the inner wall of the swing housing, for real-time detection of the swing angle of the swing shaft; the swing end cover is a circular cover structure, which is detachably connected to the inner wall of one end of the swing housing by threads, and the other end of the swing housing is detachably fixed to the side wall of the support by bolts. The swing end cover and the swing housing together form a closed protective cavity to protect the internal components of the swing drive module; the end of the swing arm away from the swing shaft is detachably fixedly connected to the outer wall of the cleaning housing by bolts to drive the cleaning mechanism to swing synchronously with the swing arm.

[0011] The cleaning drive module includes a roller brush motor, planetary gears, a roller brush shaft, a motor housing, a gear housing, a roller brush end cap, and a roller brush inner shell. The roller brush motor is integrally embedded inside the motor housing, which is a cylindrical structure open at one end. The roller brush motor is bolted to the lower end of the cleaning drive module, and the motor housing is fixedly connected to the inner wall of the cleaning housing. The output shaft of the roller brush motor is coaxially fixedly connected to the input end of the planetary gears, and the output end of the planetary gears is coaxially fixedly connected to one end of the roller brush shaft. The planetary gears are used to adjust the rotational speed of the roller brush shaft by adjusting the gear ratio. The other end of the roller brush shaft is detachably fixedly connected to one end of the roller brush inner shell via a shaft end flange, so as to drive the roller brush inner shell and the roller brush to rotate synchronously. The gear housing is a hollow shell structure open at one end. The drive chamber is formed by a structure that covers the outer side of the planetary gear. The open end of the gear housing and the open end of the motor housing are detachably fixed by a threaded connection or a snap-fit ​​structure, together forming a sealed drive chamber. The roller brush end cover is a circular cover structure that covers the opening at the end of the gear housing away from the motor housing, and is used to seal the drive chamber. The roller brush end cover is detachably fixed to the end face of the gear housing by screws, and a rubber sealing ring is provided at the connection between the roller brush end cover and the gear housing to ensure the sealing performance of the drive chamber. A circular through hole adapted to the roller brush shaft is opened at the center of the roller brush end cover. The end of the roller brush shaft away from the planetary gear passes through the through hole and extends to the outside of the gear housing, connecting with the inner shell of the roller brush. The inner shell of the roller brush is a hollow cylindrical structure, and its outer surface is evenly distributed with roller brushes.

[0012] The cleaning housing is a hollow semi-cylindrical structure with its opening facing the inner wall of the tunnel to be cleaned. Four nozzles are symmetrically arranged on the left and right ends of the front side of the cleaning housing. All four nozzles are connected to the inside of the cleaning housing. The water inlet of each nozzle is connected to the outlet of the vehicle-mounted water tank through a hose. This is used to spray cleaning fluid or clean water onto the inner wall of the tunnel to assist the roller brush in cleaning operations.

[0013] The cleaning mechanism has a segmented structure of two sections, with the two sections located on either side of the rotary motor. The two sections are connected to the rotary motor via a support member. The middle part of the support member is fixedly connected to the output end of the rotary motor, and the two ends of the support member are fixedly connected to the swing housing in the two sections of the cleaning mechanism, so that the two sections of the cleaning mechanism can be driven to rotate synchronously with the rotary motor through the support member to adapt to the curved shape of the tunnel wall.

[0014] Compared with the prior art, the beneficial effects of this invention are: 1. Highly efficient obstacle avoidance capability: Through the synergistic effect of the telescopic obstacle avoidance module and the sliding obstacle avoidance module, this invention can flexibly adjust the position and angle of the cleaning mechanism according to the curvature of the tunnel wall and the position of the obstacle, effectively avoiding collisions and ensuring the safety and stability of the cleaning process.

[0015] 2. Comprehensive cleaning coverage: The cleaning mechanism of this invention adopts a segmented structure and is equipped with a swing drive module, which can swing between -45° and 45° to achieve all-round coverage of the tunnel inner wall, including the top and bottom, significantly improving the cleaning effect.

[0016] 3. Flexible cleaning adjustment: The cleaning drive module of this invention realizes the speed adjustment function through planetary gears, which can accurately control the speed of the roller brush according to different cleaning needs and adapt to various cleaning scenarios.

[0017] 4. Enhanced durability: The sealing design between the brush end cap and the gear housing of this invention effectively prevents dust and liquid from entering the drive chamber, extending the service life of the equipment and reducing maintenance costs.

[0018] 5. Auxiliary cleaning function: The nozzle on the cleaning housing of this invention can spray water to assist the roller brush in cleaning, further improving the cleaning effect, especially suitable for cleaning stubborn stains. Attached Figure Description

[0019] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0020] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the obstacle avoidance mechanism in this invention; Figure 3 This is a schematic diagram of the cleaning mechanism structure in this invention; Figure 4 This is a schematic diagram of the swing arm and swing drive module in this invention; Figure 5 This is a schematic diagram of the cleaning drive module structure in this invention; Figure 6 for Figure 5 Diagram of the roller brush shaft structure at point A.

[0022] Wherein: 1 is the vehicle platform, 2 is the obstacle avoidance mechanism, 3 is the cleaning mechanism, 4 is the rotary motor, 5 is the rotary motor housing, 21 is the telescopic obstacle avoidance module, 211 is the telescopic drive module, 2111 is the hydraulic motor, 2112 is the motor housing, 2113 is the fulcrum bearing, 212 is the obstacle avoidance base, 213 is the first obstacle avoidance arm, 2131 is the first connecting plate, 2132 is the first connecting arm, 2133 is the first hydraulic rod, 2134 is the second hydraulic rod, 2135 is the triangular connecting plate, 2136 is the second connecting arm, 2137 is the second connecting plate, 2138 is the third connecting plate, 2139 is the third connecting arm, and 2130 is the third hydraulic rod. The components are as follows: pressure rod, second obstacle avoidance arm, sliding obstacle avoidance module, slide rail, slider, sliding motor, swing arm, swing drive module, swing motor, coupling, swing shaft, angle sensor, swing end cap, swing housing, cleaning drive module, roller brush motor, planetary gear, roller brush shaft, motor housing, gear housing, roller brush end cap, inner shell of roller brush, brush roller, cleaning housing, nozzle, and support component. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. These descriptions are only for further illustrating the features and advantages of the present invention, and not for limiting the claims of the present invention. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0025] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] This embodiment provides an obstacle-avoiding tunnel cleaning device, such as... Figure 1 As shown, the system includes a vehicle-mounted platform 1, an obstacle avoidance mechanism 2, a cleaning mechanism 3, a rotary motor 4, and a rotary motor housing 5. The vehicle-mounted platform 1, as the core load-bearing component, stably supports the entire cleaning equipment, including the obstacle avoidance mechanism 2, the rotary motor housing 5, and the cleaning mechanism 3, allowing it to move with the vehicle to perform cleaning operations within the tunnel. The obstacle avoidance mechanism 2, through a fixed connection between its bottom and the upper surface of the vehicle-mounted platform 1, provides a basic support for the position adjustment of the cleaning mechanism 3. The rotary motor 4 is embedded inside the rotary motor housing 5, and the rotary motor housing 5 is fixed to the end of the obstacle avoidance mechanism 2. When the rotary motor 4 is started, its output end can drive the cleaning mechanism 3 to rotate around its output shaft axis, initially adjusting the circumferential angle of the cleaning mechanism 3 to ensure that the cleaning mechanism 3 can initially adapt to the curved contour of the tunnel wall, laying the foundation for subsequent precise obstacle avoidance and comprehensive cleaning.

[0028] Furthermore, such as Figure 2As shown, the two obstacle avoidance bases 212 of the telescopic obstacle avoidance module 21 are fixed to the top sides of the slider 222, and each obstacle avoidance base 212 is equipped with a corresponding telescopic drive module 211; the first obstacle avoidance arm 213 and the second obstacle avoidance arm 214 are rotatably connected to the two telescopic drive modules 211 respectively. The hydraulic motor 2111 of the telescopic drive module 211 drives the inner ring of the fulcrum bearing 2113 to rotate through the spline. The outer ring of the fulcrum bearing 2113 is fixed to the side wall of the obstacle avoidance base 212 and to the end of the obstacle avoidance arm, thereby driving the first obstacle avoidance arm 213 and the second obstacle avoidance arm 214 to rotate as a whole. The first hydraulic rod 2133, second hydraulic rod 2134, and third hydraulic rod 2130 of the first obstacle avoidance arm 213 are respectively hinged to adjust the angles between the first connecting arm 2132 and the vehicle platform 1, the second connecting arm 2136 and the first connecting arm 2132, and the cleaning mechanism 3 and the second connecting arm 2136. The second obstacle avoidance arm 214, due to its identical structure (only the second connecting arm is longer), can adjust its height and angle synchronously, ultimately achieving precise adjustment of the cleaning mechanism 3 in the vertical and horizontal directions and in the front and rear angles, avoiding obstacles at the top and bottom of the tunnel. The slide rail 221 of the sliding obstacle avoidance module 22 is fixed to the upper surface of the vehicle platform 1, and the slider 222 is fitted and can slide along the slide rail 221. When the sliding motor 223 is started, its output end drives the slider 222 to move laterally along the slide rail 221 through the transmission structure, thereby driving the telescopic obstacle avoidance module 21, which is fixed to the upper surface of the slider 222, to move laterally synchronously, realizing the lateral position adjustment of the cleaning mechanism 3, avoiding obstacles distributed laterally on the inner wall of the tunnel.

[0029] Furthermore, such as Figure 3 As shown, the cleaning mechanism 3 adopts a two-section segmented structure. The two sections are located on both sides of the rotary motor 4 and are fixedly connected to the output end of the rotary motor 4 through the support member 36. When the rotary motor 4 drives the support member 36 to rotate, the two sections of the cleaning mechanism 3 can rotate synchronously with the support member 36, so that the cleaning mechanism 3 can conform to the curvature of the tunnel inner wall, such as the tunnel arch and the arc-shaped sidewall, avoiding cleaning blind spots caused by the curvature of the tunnel inner wall. At the same time, the swing arm 31 drives the cleaning housing 35 to swing. The opening of the cleaning housing 35 faces the tunnel inner wall. The cleaning drive module 33 embedded inside drives the roller brush 34 to rotate and partially extend out of the housing to physically scrub the tunnel inner wall. The four nozzles 351 on the left and right sides of the front of the cleaning housing 35 are connected to the vehicle water tank through hoses to spray cleaning liquid or clean water to assist the roller brush 34 in softening stubborn stains, achieving comprehensive cleaning coverage with the synergy of brushing and rinsing.

[0030] Furthermore, such as Figure 4As shown, the swing motor 321 of the swing drive module 32 is fixed to one end platform of the support 36 by bolts. When the swing motor 321 starts, its output shaft transmits power to the swing shaft 323 through the coupling 322. The swing shaft 323 is rotatably connected to the hollow cylindrical swing housing 326 through a deep groove ball bearing, and the end of the swing shaft 323 away from the coupling 322 is fixed to one end of the swing arm 31 through a shaft end flange, thereby driving the swing arm 31 to swing around the axis of the swing shaft 323. The angle sensor 324 is coaxially sleeved on the outer side of the middle of the swing shaft 323, and its fixed end is fixed to the inner wall of the swing housing 326. It can detect the swing angle of the swing shaft 323 in real time to ensure that the swing arm 31 is accurately controlled within the swing shaft 323. Within an angle range of 45° to 45°; the other end of the swing housing 326 is fixed to the side wall of the support 36, and the swing end cap 325 is connected to one end of the swing housing 326 by threads to form a closed protective cavity to prevent dust and water from entering and affecting the internal components; the other end of the swing arm 31 is fixed to the outer wall of the cleaning housing 35, which ultimately drives the cleaning housing 35 and the roller brush 34 to swing within a set angle, further expanding the cleaning coverage area and adapting to the local protrusions or depressions of the tunnel inner wall.

[0031] Furthermore, such as Figure 5 As shown, the roller brush motor 331 of the cleaning drive module 33 is embedded inside the motor housing 334, and the motor housing 334 is fixed to the inner wall of the cleaning housing 35. When the roller brush motor 331 is started, its output shaft is coaxially fixed with the sun gear at the input end of the planetary gear 332. The planetary gear 332 transmits power to one end of the roller brush shaft 333 by adjusting the gear transmission ratio, thereby achieving precise adjustment of the rotation speed of the roller brush shaft 333. The other end of the roller brush shaft 333 is fixed to one end of the inner shell 337 of the roller brush through the shaft end flange, thereby driving the inner shell 337 of the roller brush and the roller brush 34 on the outer surface to rotate synchronously, completing the brushing operation of the inner wall of the tunnel. The gear housing 335 covers the planetary gear 332, and its open end is fixed to the motor housing 334 by threads or snaps to form a sealed drive chamber; the roller brush end cap 336 covers the other end opening of the gear housing 335, is fixed by screws, and a rubber sealing ring is provided at the connection to prevent cleaning water and dust from entering the chamber and affecting the operation of the motor and gear; at the same time, the nozzle 351 on the cleaning housing 35 sprays cleaning fluid into the contact area between the roller brush 34 and the tunnel inner wall, and works with the rotating roller brush 34 to achieve efficient decontamination.

[0032] Furthermore, such as Figure 6As shown, the roller brush shaft 333 is a key component for power transmission in the cleaning drive module 33. One end of it is coaxially fixed to the output end of the planetary gear 332, and the other end passes through the adapter through hole in the center of the roller brush end cover 336 and extends to the outside of the gear housing 335. The end of the roller brush shaft 333 is fixed to the annular connection part inside the inner shell of the roller brush 337 through the shaft end flange. When the roller brush shaft 333 rotates under the drive of the planetary gear 332, it can stably transmit torque to the inner shell of the roller brush 337, causing the roller brushes 34 evenly distributed on the outer surface of the inner shell of the roller brush 337 to rotate synchronously. The coaxiality and connection stability design of the roller brush shaft 333 ensures that the contact pressure between the roller brushes 34 and the inner wall of the tunnel is uniform during the rotation process, avoiding equipment damage or uneven cleaning caused by excessive local pressure, and ensuring the stability and consistency of the cleaning operation.

[0033] The above description only illustrates the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention, and all such changes should be included within the protection scope of the present invention.

Claims

1. A tunnel cleaning equipment capable of obstacle avoidance, characterized in that: The system includes a vehicle platform (1) for carrying the overall cleaning equipment, an obstacle avoidance mechanism (2), a cleaning mechanism (3), a rotary motor (4), and a rotary motor housing (5); the obstacle avoidance mechanism (2) is fixedly installed on the upper surface of the vehicle platform (1), and the obstacle avoidance mechanism (2) includes a telescopic obstacle avoidance module (21) and a sliding obstacle avoidance module (22), the sliding obstacle avoidance module (22) being fixedly connected to the bottom of the telescopic obstacle avoidance module (21); the cleaning mechanism (3) is installed at the end of the obstacle avoidance mechanism (2) through the output end of the rotary motor (4), the rotary motor (4) is integrally embedded inside the rotary motor housing (5), and the rotary motor housing (5) is fixedly connected to the end of the obstacle avoidance mechanism (2).

2. The obstacle-avoiding tunnel cleaning equipment according to claim 1, characterized in that: The telescopic obstacle avoidance module (21) includes two telescopic drive modules (211), two obstacle avoidance bases (212), a first obstacle avoidance arm (213) for cleaning low areas and a second obstacle avoidance arm (214) for cleaning high areas. The two obstacle avoidance bases (212) are respectively fixed on the top two sides of the sliding obstacle avoidance module (22). Each obstacle avoidance base (212) is equipped with a corresponding telescopic drive module (211). The first obstacle avoidance arm (213) and the second obstacle avoidance arm (214) are respectively rotatably connected to the two telescopic drive modules (211) in a one-to-one correspondence.

3. The obstacle-avoiding tunnel cleaning equipment according to claim 2, characterized in that: The telescopic drive module (211) includes a hydraulic motor (2111), a motor housing (2112), and a pivot bearing (2113). The motor housing (2112) is fitted over the hydraulic motor (2111), and the bottom of the motor housing (2112) is fixedly connected to the upper surface of the slider (222) in the sliding obstacle avoidance module (22). The pivot bearing (2113) is used to control the rotation angle of the first obstacle avoidance arm (213) and the second obstacle avoidance arm (214). The inner ring of the pivot bearing (2113) is connected to the output end of the hydraulic motor (2111) via a spline. The outer ring of the pivot bearing (2113) is detachably fixed to the side wall of the obstacle avoidance base (212) by bolts. The ends of the first obstacle avoidance arm (213) and the second obstacle avoidance arm (214) are respectively fixedly connected to the outer ring of the pivot bearing (2113) in their respective telescopic drive modules (211).

4. The obstacle-avoiding tunnel cleaning equipment according to claim 3, characterized in that: The first obstacle avoidance arm (213) includes a first connecting plate (2131), a first connecting arm (2132), a first hydraulic rod (2133), a second hydraulic rod (2134), a triangular connecting plate (2135), a second connecting arm (2136), a second connecting plate (2137), a third connecting plate (2138), a third connecting arm (2139), and a third hydraulic rod (2130); one end of the first connecting plate (2131) is rotatably connected to the top of the obstacle avoidance base (212) via a pin, and the other end of the first connecting plate (2131) is connected to the first connecting arm (2132). One end is welded and fixed; one end of the first hydraulic rod (2133) is hinged to the middle side wall of the first connecting arm (2132) through a hinge seat, and the other end of the first hydraulic rod (2133) is hinged to the side wall of the obstacle avoidance base (212) through a hinge seat, for adjusting the angle between the first connecting arm (2132) and the vehicle platform (1); one end of the second hydraulic rod (2134) is hinged to the side wall of the first connecting arm (2132) away from the first connecting plate (2131) through a hinge seat, and the other end of the second hydraulic rod (2134) is hinged to the triangular connecting plate (2132) through a hinge seat. 35) One corner is hinged for adjusting the angle between the second connecting arm (2136) and the first connecting arm (2132); the other corner of the triangular connecting plate (2135) is rotatably connected to one end of the second connecting arm (2136) via a pin, and the other end of the second connecting arm (2136) is rotatably connected to one end of the third connecting arm (2139) via a second connecting plate (2137), and both ends of the second connecting plate (2137) are respectively hinged to the second connecting arm (2136) and the third connecting arm (2139) via pins; the third hydraulic rod (2130) One end is hinged to the middle side wall of the second connecting arm (2136) via a hinge seat, and the other end of the third hydraulic rod (2130) is connected to the middle side wall of the third connecting arm (2139) via a third connecting plate (2138). One end of the third connecting plate (2138) is hinged to the third hydraulic rod (2130), and the other end is welded to the third connecting arm (2139) for adjusting the angle between the cleaning mechanism (3) and the second connecting arm (2136). The end of the third connecting arm (2139) away from the second connecting plate (2137) is welded to the outer side wall of the rotary motor housing (5).

5. The obstacle-avoiding tunnel cleaning equipment according to claim 2, characterized in that: The sliding obstacle avoidance module (22) includes a slide rail (221), a slider (222), and a sliding motor (223). The slide rail (221) is fixed on the upper surface of the vehicle platform (1). The slider (222) is adapted to be mounted on the slide rail (221). The sliding motor (223) is fixed on the vehicle platform (1). The sliding motor (223) is located on one side of the slide rail (221). The output end of the sliding motor (223) is connected to the slider (222) for driving the slider (222) to move on the slide rail (221) and thereby adjust the position of the cleaning mechanism (3) laterally.

6. The obstacle-avoiding tunnel cleaning equipment according to claim 1, characterized in that: The cleaning mechanism (3) adopts a segmented structure and includes a swing arm (31), a swing drive module (32), a cleaning drive module (33), a roller brush (34), and a cleaning housing (35). One end of the swing drive module (32) is fixed to the segmented connection structure of the cleaning mechanism (3), and the other end is connected to the swing arm (31). The end of the swing arm (31) away from the swing drive module (32) is fixedly connected to the cleaning housing (35). The cleaning drive module (33) is embedded inside the cleaning housing (35). The roller brush (34) is connected to the output end of the cleaning drive module (33) and partially extends out of the outside of the cleaning housing (35).

7. The obstacle-avoiding tunnel cleaning equipment according to claim 6, characterized in that: The swing drive module (32) includes a swing motor (321), a coupling (322), a swing shaft (323), an angle sensor (324), a swing end cover (325), and a swing housing (326). The swing motor (321) is detachably fixed to the upper surface of the platform at one end of the support (36) by bolts. The output shaft of the swing motor (321) is connected to one end of the swing shaft (323) through the coupling (322) to transmit power to the swing shaft (323). The swing shaft (323) is rotatably connected to the inside of the swing housing (326) through a deep groove ball bearing. The swing housing (326) is a hollow cylindrical structure. The end of the swing shaft (323) away from the coupling (322) is detachably fixed to one end of the swing arm (31) through a shaft end flange, so that the swing arm (31) can rotate between -45° and 45°. The swinging mechanism (323) swings around the axis of the swing shaft (323) within the angle range; the angle sensor (324) is coaxially sleeved on the outer side of the middle part of the swing shaft (323), and the fixed end of the angle sensor (324) is fixedly connected to the inner wall of the swing housing (326) for real-time detection of the swing angle of the swing shaft (323); the swing end cover (325) is a circular cover structure, which is detachably connected to the inner wall of one end of the swing housing (326) by threads, and the other end of the swing housing (326) is detachably fixed to the side wall of the support (36) by bolts. The swing end cover (325) and the swing housing (326) together form a closed protective cavity to protect the internal components of the swing drive module (32); the end of the swing arm (31) away from the swing shaft (323) is detachably fixedly connected to the outer wall of the cleaning housing (35) by bolts to drive the cleaning mechanism (3) to swing synchronously with the swing arm (31).

8. The obstacle-avoiding tunnel cleaning equipment according to claim 6, characterized in that: The cleaning drive module (33) includes a roller brush motor (331), a planetary gear (332), a roller brush shaft (333), a motor housing (334), a gear housing (335), a roller brush end cap (336), and a roller brush inner shell (337). The roller brush motor (331) is integrally embedded inside the motor housing (334), which is a cylindrical structure with one open end. The roller brush motor (331) is fixed to the lower end of the cleaning drive module (33) by bolts. The motor housing (334) and the cleaning housing (35) are connected. The inner wall of the roller brush motor (331) is fixedly connected; the output shaft of the roller brush motor (331) is coaxially fixedly connected to the input end of the planetary gear (332), and the output end of the planetary gear (332) is coaxially fixedly connected to one end of the roller brush shaft (333). The planetary gear (332) is used to adjust the rotational speed of the roller brush shaft (333) by adjusting the gear transmission ratio; the other end of the roller brush shaft (333) is detachably fixedly connected to one end of the roller brush inner shell (337) through the shaft end flange, so as to drive the roller brush inner shell (337) and the roller brush (34) to rotate synchronously; the gear The gear housing (335) is a hollow shell structure with one open end, which covers the outside of the planetary gear (332). The open end of the gear housing (335) and the open end of the motor housing (334) are detachably fixed by a threaded connection or a snap-fit ​​structure, forming a sealed drive chamber together. The roller brush end cap (336) is a circular cover structure, which covers the opening of the gear housing (335) away from the motor housing (334), and is used to seal the drive chamber. The roller brush end cap (336) is screwed to the end face of the gear housing (335). The fixed connection is disassembled, and a rubber sealing ring is provided at the connection between the roller brush end cap (336) and the gear housing (335) to ensure the sealing performance of the drive chamber; a circular through hole adapted to the roller brush shaft (333) is opened at the center of the roller brush end cap (336), and the end of the roller brush shaft (333) away from the planetary gear (332) passes through the through hole and extends to the outside of the gear housing (335) to connect with the inner shell of the roller brush (337); the inner shell of the roller brush (337) is a hollow cylindrical structure, and the outer surface of the shell is evenly distributed with roller brushes (34).

9. The obstacle-avoiding tunnel cleaning equipment according to claim 6, characterized in that: The cleaning housing (35) is a hollow semi-cylindrical structure. The opening of the cleaning housing (35) faces the inner wall of the tunnel to be cleaned. Four nozzles (351) are symmetrically arranged on the left and right ends of the front side of the cleaning housing (35). All four nozzles (351) are connected to the inside of the cleaning housing (35). The water inlet of each nozzle (351) is connected to the outlet of the vehicle water tank through a hose. It is used to spray cleaning liquid or clean water onto the inner wall of the tunnel to assist the roller brush (34) in cleaning operations.

10. The obstacle-avoiding tunnel cleaning equipment according to claim 6, characterized in that: The segmented structure of the cleaning mechanism (3) is a two-section structure, with the two cleaning mechanisms (3) located on both sides of the rotary motor (4). The two cleaning mechanisms (3) are connected to the rotary motor (4) via a support member (36). The middle part of the support member (36) is fixedly connected to the output end of the rotary motor (4), and the two ends of the support member (36) are fixedly connected to the swing shell (326) in the two cleaning mechanisms (3) respectively, so that the two cleaning mechanisms (3) can be driven to rotate synchronously with the rotary motor (4) through the support member (36) to adapt to the curved shape of the tunnel wall.

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