Tunnel attachment recovery robot adapting to uneven ground

Abstract

The invention discloses a tunnel attachment recovery robot adapting to uneven ground, relates to a recovery robot, and belongs to the field of tunnel side wall attachment removal and recovery. In order to solve the technical problems that in the prior art, the treatment difficulty of shell vegetable attachments is large, the manual operation safety is low, the operation efficiency in the water cut-off period is insufficient, and conventional equipment cannot adapt to the uneven ground of a tunnel and the transfer requirement of the attachments, the device comprises a front end recycling mechanism, a lifting mechanism, a conveying mechanism, a vehicle body and a moving platform; the front-end recycling mechanism is used for recycling tunnel attachments and installed on the moving platform through the lifting mechanism, the moving platform is installed on the vehicle body, the conveying mechanism is close to the front-end recycling mechanism and installed on the moving platform, and the conveying mechanism is used for transferring the attachments recycled by the front-end recycling mechanism. The moving platform controls the front-end recycling mechanism, the lifting mechanism, the conveying mechanism and the vehicle body to work.

Description

Technical Field

[0001] This invention relates to a recycling robot, specifically a tunnel attachment recycling robot adapted to uneven ground, and belongs to the field of tunnel sidewall attachment removal and recycling. Background Technology

[0002] After a water supply tunnel has been in operation for a certain period, a type of organism called "shellweed" will adhere to its inner wall. This organism is corrosive to the tunnel wall, and its thickness increases over time. Currently, this situation is handled by workers entering the tunnel during the water outage period to remove and recycle the deposits. However, because the shellweed dies rapidly after being removed from fresh water, producing toxic gases, manual removal and recycling are difficult, and the water outage period is relatively short. Furthermore, the presence of protrusions on the tunnel surface causes collisions with ordinary bulldozers. This paper proposes a recycling robot system that can adapt to uneven ground and can gather, collect, and transport objects from the bottom of tunnels. A recycling scheme suitable for long-distance tunnels is also proposed.

[0003] As a core infrastructure of urban water supply systems, water supply tunnels bear the important responsibility of ensuring a stable supply of water for urban production and daily life. However, after long-term operation, the inner walls of water supply tunnels are prone to the adhesion of an aquatic organism called *Gnaphalium affine*. This organism produces corrosive metabolic products during its growth, which continuously erode the tunnel walls over time, reducing the integrity and lifespan of the tunnel structure. Furthermore, as operating time increases, the thickness of the *Gnaphalium affine* deposits not only reduces the tunnel's cross-sectional area, affecting water flow and delivery efficiency, but may also cause blockages due to the shedding of the deposits, posing a threat to water supply safety.

[0004] Currently, the common practice in the industry for dealing with the vegetative shells adhering to the inner walls of water supply tunnels is for workers to manually remove and recycle them during tunnel maintenance shutdowns. However, this manual method has several insurmountable technical drawbacks: Firstly, vegetative shells die rapidly after being removed from the freshwater environment, releasing toxic gases during decomposition, seriously threatening the safety of on-site workers and increasing the difficulty of removal and recycling. Secondly, water supply tunnel shutdowns are usually strictly limited by urban water demand, resulting in short shutdown periods. Manual labor is inefficient, making it difficult to completely remove and recycle vegetative shells over long distances and large areas within the limited shutdown time, leading to poor treatment results and significant residue problems.

[0005] In addition, the ground inside the water supply tunnel is not a flat structure, with many protrusions such as pipe supports, ground joint protrusions, and debris accumulation protrusions. If conventional bulldozing or transport equipment is used to assist in the operation, the equipment is prone to collision with ground protrusions during the movement of the equipment, which will not only cause equipment damage, but may also scratch the tunnel ground and inner wall, further damaging the tunnel structure. At the same time, it is impossible to achieve efficient collection, recycling and transfer of attached materials, which is difficult to adapt to the special operating environment requirements of the water supply tunnel.

[0006] In response to the technical problems existing in the above-mentioned technologies, such as the difficulty in handling vegetable shell attachments, low safety of manual operation, insufficient operation efficiency during water outages, and the inability of conventional equipment to adapt to the uneven ground of tunnels and the needs of attachment transportation, there is an urgent need to develop a special equipment that can adapt to operation on uneven ground in water supply tunnels and can efficiently complete the collection, recycling, and transportation of vegetable shell attachments at the bottom of the tunnel, as well as a corresponding long-distance tunnel recycling solution. Summary of the Invention

[0007] The present invention aims to solve the technical problems existing in the prior art, such as the difficulty in handling shellfish attachments, low safety of manual operation, insufficient operation efficiency during water outages, and the inability of conventional equipment to adapt to the uneven ground of tunnels and the needs of attachment transportation, and thus provides a tunnel attachment recycling robot adapted to uneven ground.

[0008] To address the aforementioned problems, this application provides the following technical solution:

[0009] A tunnel attachment recovery robot adapted to uneven ground includes a front-end recovery mechanism, a lifting mechanism, a conveying mechanism, a vehicle body, and a mobile platform;

[0010] The front-end recovery mechanism is used to recover tunnel attachments. The front-end recovery mechanism is installed on a mobile platform via a lifting mechanism. The mobile platform is installed on the vehicle body. The conveying mechanism is installed on the mobile platform near the front-end recovery mechanism. The conveying mechanism is used to transfer the attachments recovered by the front-end recovery mechanism. The mobile platform controls the operation of the front-end recovery mechanism, the lifting mechanism, the conveying mechanism, and the vehicle body.

[0011] Furthermore, the front-end recovery mechanism includes a bucket mechanism, an obstacle-crossing mechanism, a front roller brush mechanism, two gathering mechanisms, and two side roller brush mechanisms;

[0012] The front roller brush mechanism is installed on the bucket mechanism, which is used to remove tunnel attachments. The front roller brush mechanism is used to sweep the tunnel attachments into the bucket mechanism. The obstacle-crossing mechanism is installed on the bucket mechanism and is used to cross over protrusions at the bottom of the tunnel. Two retracting mechanisms are symmetrically installed at the outlet of the bucket mechanism and are used to push the attachments inside the bucket to the conveying mechanism. Two side roller brush mechanisms are symmetrically installed at both ends of the bucket mechanism and are used to gather the silt on both sides towards the middle.

[0013] Furthermore, the bucket mechanism includes a two-way auger, an arc-shaped bucket, an auger drive motor unit, a bucket discharge cylinder, and two bucket side plates;

[0014] Two bucket side plates are symmetrically installed at both ends of the arc-shaped bucket, and the two ends of the bidirectional auger are rotatably connected to the two bucket side plates. The auger drive motor is installed on the bucket side plates, driving the bidirectional auger to rotate and conveying the tunnel deposits into the arc-shaped bucket. The two bucket side plates and the arc-shaped bucket are all fixedly installed on the bucket discharge cylinder.

[0015] The auger drive motor unit includes an auger drive motor, an auger motor mounting base, a motor transmission belt, and two auger pulleys;

[0016] The auger drive motor is fixedly mounted on the side plate of the bucket via an auger motor mounting bracket. An auger pulley is fixedly mounted on the output shaft of the auger drive motor. An auger pulley is fixedly mounted on one end of the bidirectional auger. The two auger pulleys are connected by a motor drive belt.

[0017] Furthermore, the obstacle-crossing mechanism includes an obstacle-crossing buffer plate, an obstacle-crossing buffer seat, an obstacle-crossing connecting rod, an obstacle-crossing connecting drive bent rod, an obstacle-crossing buffer spring, a buffer spring limit pin, an elastic pad, a fixed seat flexible connecting plate, an obstacle-crossing fixed seat, and multiple connecting pins.

[0018] An obstacle-crossing buffer seat is fixedly installed on the obstacle-crossing buffer plate. One end of the obstacle-crossing connecting rod and one end of the obstacle-crossing connecting drive bent rod are rotatably connected to the obstacle-crossing buffer seat via a connecting pin. The other end of the obstacle-crossing connecting rod and the middle part of the obstacle-crossing connecting drive bent rod are rotatably connected to the bracket of the obstacle-crossing fixed seat via a connecting pin. The other end of the obstacle-crossing connecting drive bent rod is rotatably connected to one end of the buffer spring limiting pin via a connecting pin. The other end of the buffer spring limiting pin passes through the obstacle-crossing fixed seat and is fitted with an obstacle-crossing buffer spring. The obstacle-crossing buffer spring is located between the other end of the buffer spring limiting pin and the obstacle-crossing fixed seat. The flexible connecting plate of the fixed seat is fixedly installed on the top of the obstacle-crossing buffer plate and contacts the obstacle-crossing fixed seat. An elastic pad is embedded in the bottom end of the obstacle-crossing buffer plate. The obstacle-crossing fixed seat is fixedly installed on the bucket discharge cylinder.

[0019] Furthermore, the front roller brush mechanism includes nylon bristles and steel wire bristles, which are radially fixedly mounted on the bidirectional auger.

[0020] The side roller brush mechanism includes a side roller brush head, a side brush fixing seat, a transmission connecting shaft, a detachable adjustable bracket, an elastic buffer damping cylinder, a side scraper, and a transmission gearbox;

[0021] The side roller brush head is rotatably connected to the side brush mounting base, which is mounted on the bucket side plate via a detachable adjustable bracket. The side roller brush head is connected to the output end of the transmission gearbox via a transmission connecting shaft, and the input end of the transmission gearbox is connected to the bidirectional auger. The side scraper is detachably mounted on the bucket side plate, and elastic buffer damping cylinders are installed on the bucket side plate and the side scraper.

[0022] Furthermore, the retracting mechanism includes a retracting motor, a retracting fixing frame, a retracting drive rod, a retracting connecting rod, a retracting push plate, a retracting push stop, a retracting push bent plate, and two rotating connecting pairs;

[0023] The gathering and fixing frame is fixedly installed on the bucket discharge cylinder. The gathering motor is fixedly installed on the gathering and fixing frame. The output shaft of the gathering motor is fixedly connected to one end of the gathering drive rod. The other end of the gathering drive rod is connected to one end of the gathering connecting rod and drives the gathering connecting rod to rotate. The other end of the gathering connecting rod is rotatably connected to the gathering push plate. One end of the gathering push plate is rotatably connected to the gathering fixing frame. The gathering push plate rotates around the gathering fixing frame. The top end of the gathering push bending plate is rotatably connected to the gathering push plate through two rotating connecting pairs. The gathering push stop is fixedly installed on the gathering push plate. The gathering push stop is in contact with the bottom end of the gathering push bending plate, and the bending direction of the gathering push bending plate is set towards the upper outlet of the bucket discharge cylinder. It is used to convey the attached material in the bucket discharge cylinder to the conveying mechanism.

[0024] Furthermore, the lifting mechanism includes a lifting bottom fixed seat, a lifting power cylinder, a lifting drive bend rod, a lifting frame, a lifting rotating connection pair, and two lifting passive connecting rods;

[0025] The bottom mounting base is fixedly installed on the mobile platform. One end of the lifting drive rod is rotatably connected to the top of the bottom mounting base, and the other end of the lifting drive rod is rotatably connected to the lifting end of the lifting frame through a lifting rotatable connector. The bottom end of the lifting power cylinder is rotatably connected to the bottom mounting base, and the top end of the lifting power cylinder is rotatably connected to the lifting drive rod. The auxiliary connecting end of the lifting frame is rotatably connected to two lifting passive connecting rods, and the two lifting passive connecting rods are respectively rotatably connected to the two sides of the top of the bottom mounting base. The lifting connecting end of the lifting frame is rotatably connected to the bucket discharge cylinder, and the front connecting frame of the bottom mounting base is rotatably connected to the bucket discharge cylinder.

[0026] Furthermore, the conveying mechanism is a bendable conveyor belt or a negative pressure recovery device with a scissor;

[0027] The bendable conveyor belt includes a conveyor fixing frame, a conveyor bending frame, a bending frame drive assembly, a bending frame connecting assembly, a conveyor belt drive assembly, a conveyor fixing base, and a skirted conveyor belt;

[0028] The conveyor frame is fixedly installed on the conveyor base. The conveyor bending frame is rotatably connected to the conveyor frame through the bending frame connecting assembly. The bending frame drive assembly is fixedly installed on the conveyor base and drives the conveyor bending frame to unfold and bend on the conveyor frame. The skirt conveyor belt is fitted onto the conveyor structure of the conveyor frame and the conveyor structure of the conveyor bending frame. The conveyor belt drive assembly is installed on the conveyor bending frame and drives the skirt conveyor belt to work.

[0029] Furthermore, the bending frame drive assembly includes a first bending drive rod, a second bending drive rod, and a bending drive cylinder;

[0030] The housing of the bending drive cylinder is fixedly mounted on the conveyor base. The telescopic rod of the bending drive cylinder is rotatably connected to one end of the second bending drive rod, and the other end of the second bending drive rod is rotatably connected to the conveyor bending frame. One end of the first bending drive rod is rotatably connected to the conveyor base, and the other end of the first bending drive rod is rotatably connected and mounted on the second bending drive rod.

[0031] The bending frame connecting assembly includes a transfer roller, two arc-shaped guide connecting plates, and two positioning locking pins;

[0032] Two arc-shaped guide connecting plates are symmetrically installed on the conveyor fixed frame, and the two ends of the conveyor transfer roller are rotatably connected to the connecting plates of the two arc-shaped guide connecting plates. Two positioning locking pins are respectively installed on both sides of the conveyor bending frame through sliding sleeves. The sliding sleeves are respectively sleeved on the arc-shaped guide plates of the arc-shaped guide connecting plates, and the position of the sliding sleeves on the arc-shaped guide plates of the arc-shaped guide connecting plates is locked by the positioning locking pins.

[0033] Furthermore, the mobile platform includes a platform frame, LiDAR, positioning and navigator, controller, power supply, and multiple height-adjustable industrial cameras;

[0034] The platform frame is mounted on the vehicle body. The LiDAR, positioning navigator, controller, power supply, and multiple height-adjustable industrial cameras are all mounted on the platform frame. The power supply provides power to the vehicle body, controller, LiDAR, positioning navigator, and multiple height-adjustable industrial cameras. The LiDAR, positioning navigator, and height-adjustable industrial cameras are all connected to the controller. The controller controls the front-end recycling mechanism, lifting mechanism, conveying mechanism, and vehicle body operation.

[0035] The technical advantages of this application compared to existing technologies are as follows:

[0036] 1. This application uses a robotic system to replace manual labor in entering tunnels to collect, recycle, and transport the attached materials of seaweed, completely avoiding the exposure of workers to toxic gases released after the seaweed dies, thus fundamentally ensuring the personal safety of workers. At the same time, the front-end recycling mechanism 100 can accurately connect to the attached materials on the inner wall and bottom of the tunnel, and the lifting mechanism 200 can flexibly adjust the height and angle of the front-end recycling mechanism 100, so that the attachment materials can be efficiently removed without close manual operation, greatly reducing the difficulty of the attached material recycling operation and solving the problem of inconvenience caused by toxic gases during manual handling.

[0037] 2. This application utilizes a mobile platform 500 to control the coordinated operation of the front-end recycling mechanism 100, lifting mechanism 200, conveying mechanism 300, and vehicle body 400, achieving integrated continuous operation of "gathering-recycling-transferring" of attached materials. Compared with manual processing, the operational efficiency is improved by tens of times. At the same time, combined with a long-distance tunnel recycling solution, it can achieve continuous processing of long-distance and large-area attached materials in tunnels. It can complete the removal and recycling of all attached materials within the limited water supply tunnel maintenance period, completely solving the problems of residual attached materials and poor treatment effect caused by low manual efficiency, ensuring the smooth flow of water in the tunnel cross section, and avoiding water supply safety hazards caused by residual attached materials.

[0038] 3. This application mounts the mobile platform 500 on the vehicle body 400. The mobile platform 500 can flexibly adjust the travel trajectory of the vehicle body 400 according to the distribution of protrusions on the tunnel surface. At the same time, the lifting mechanism 200 can flexibly adjust the height of the front-end recovery mechanism 100 to avoid collisions between the front-end recovery mechanism 100 and the conveying mechanism 300 and the protrusions on the ground. Compared with conventional bulldozers and other equipment, this system can perfectly adapt to the special working environment of uneven ground in water supply tunnels. It not only avoids damage to the equipment itself, but also prevents secondary damage to the tunnel surface and inner wall caused by equipment collisions, protects the integrity of the tunnel structure, and extends the service life of the tunnel.

[0039] 4. This application, through the synergistic action of the front-end recycling mechanism 100 and the conveying mechanism 300, can thoroughly remove and quickly transport the shell and vegetable attachments on the inner wall and bottom of the tunnel out of the tunnel, avoiding the long-term adhesion of shell and vegetable to the inner wall of the tunnel to produce corrosive metabolic products. This reduces the corrosion of the inner wall of the tunnel by shell and vegetable from the source, effectively protects the integrity of the tunnel structure, and extends the service life of the water supply tunnel. At the same time, the thorough recycling of the attachments also avoids the problem of detached materials clogging the tunnel, ensuring the water supply flow and conveying efficiency, and further improving the stability of the urban water supply system.

[0040] 5. The robot system of this application can achieve long-distance autonomous walking through the vehicle body 400. The collaborative control function of the mobile platform 500 can ensure the consistency and stability of the actions of each mechanism during long-distance operation. The conveying mechanism 300 can realize the continuous transfer of attached materials. Combined with the long-distance tunnel recycling scheme, it can break the limitation of low efficiency of conventional equipment in long-distance operation, realize the efficient and comprehensive treatment of attached materials in long-distance water supply tunnels, adapt to the operation needs of water supply tunnels of different lengths, and expand the scope of application of the scheme.

[0041] In summary, the technical solution of this application, through the collaborative design of various institutions, comprehensively solves various technical pain points in the existing process of treating shellfish attachments in water supply tunnels, such as safety, efficiency, and adaptability. It realizes the safe, efficient, and intelligent recycling of attachments, while protecting the integrity of the tunnel structure and ensuring water supply safety. It has significant practical value and promotional significance. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of this application. The conveying mechanism 300 in the figure is a working diagram of the flexible conveyor belt unfolding.

[0043] Figure 2 This is a schematic front view of the overall structure of this application, showing a bending diagram of the bendable conveyor belt;

[0044] Figure 3 This is a schematic front view of the overall structure of this application. The conveying mechanism 300 in the figure is a negative pressure recovery device with a reamer.

[0045] Figure 4 Schematic diagram of front-end recycling mechanism 100;

[0046] Figure 5 A schematic diagram of the front-end recycling mechanism 100's main view operation;

[0047] Figure 6 A schematic diagram showing the front view of the front-end recycling mechanism 100;

[0048] Figure 7 Schematic diagram of obstacle crossing mechanism 1200;

[0049] Figure 8 Schematic diagram of the side roller brush mechanism 1500;

[0050] Figure 9 Schematic diagram of the 1400-type retracting mechanism;

[0051] Figure 10 A schematic diagram of mechanism 200 is provided;

[0052] Figure 11 To enhance the main view diagram of the organization;

[0053] Figure 12 This is a schematic diagram showing the unfolding operation of a bendable conveyor belt.

[0054] Figure 13 Schematic diagram of locking pin 3043. Detailed Implementation

[0055] Combination Figures 1 to 3 This embodiment describes a tunnel attachment recovery robot adapted to uneven ground, which includes a front-end recovery mechanism 100, a lifting mechanism 200, a conveying mechanism 300, a vehicle body 400, and a mobile platform 500.

[0056] The front-end recovery mechanism 100 is used to recover tunnel attachments. The front-end recovery mechanism 100 is installed on the mobile platform 500 via the lifting mechanism 200. The mobile platform 500 is installed on the vehicle body 400. The conveying mechanism 300 is installed on the mobile platform 500 near the front-end recovery mechanism 100. The conveying mechanism 300 is used to transfer the attachments recovered by the front-end recovery mechanism 100. The mobile platform 500 controls the operation of the front-end recovery mechanism 100, the lifting mechanism 200, the conveying mechanism 300, and the vehicle body 400.

[0057] In this embodiment, the front-end retrieval mechanism removes and assists in the retrieval of debris at the bottom of the tunnel, enabling obstacle crossing of protrusions. During operation, the mobile platform 500 controls the lifting mechanism 200 to keep the front-end retrieval mechanism 100 close to the tunnel floor for debris removal and retrieval. An obstacle-crossing mechanism allows protrusions at designated locations to overcome obstacles. The front-end retrieval mechanism 100 is lifted by the lifting mechanism 200 and retracts to maintain a minimum structural state, allowing the robot to enter and exit the tunnel with minimal posture. The front-end retrieval mechanism 100 removes and assists in the retrieval of debris at the bottom of the tunnel, enabling obstacle crossing at protrusion locations. The vehicle body 400 moves the front-end retrieval mechanism 100, lifting mechanism 200, conveying mechanism 300, and mobile platform 500. The vehicle body 400 has a rubber track structure. The front-end retrieval mechanism 100 can monitor the contact between the bucket and the ground by incorporating a force feedback component, and rubber strips fixed to the front-end retrieval mechanism 100 reduce equipment damage, ensuring normal retrieval operations.

[0058] Combination Figure 4 As shown, the front-end recovery mechanism 100 includes a bucket mechanism 1100, an obstacle-crossing mechanism 1200, a front roller brush mechanism 1300, two gathering mechanisms 1400, and two side roller brush mechanisms 1500.

[0059] The front roller brush mechanism 1300 is installed on the bucket mechanism 1100. The bucket mechanism 1100 is used to remove tunnel attachments. The front roller brush mechanism 1300 is used to sweep the tunnel attachments into the bucket mechanism 1100. The obstacle-crossing mechanism 1200 is installed on the bucket mechanism 1100. The obstacle-crossing mechanism 1200 is used to cross over protrusions at the bottom of the tunnel. Two gathering mechanisms 1400 are symmetrically installed at the outlet of the bucket mechanism 1100. The gathering mechanism 1400 is used to push the attachments inside the bucket to the conveying mechanism 300. Two side roller brush mechanisms 1500 are symmetrically installed at both ends of the bucket mechanism 1100. The side roller brush mechanisms 1500 are used to gather the silt on both sides towards the middle.

[0060] In this embodiment, the side roller brush mechanisms 1500 are manually fixed and disassembled, allowing them to pass through the tunnel entrance and exit in a smaller form. Before the robot starts working, the manual operator loads the ton bag cart onto the back of the robot, which moves with it. The non-powered design reduces energy consumption. The material frame can hold ton bags, tools, etc., to ensure the continuous recycling and bagging process. The ton bag cart is an automatic bag-releasing mechanism using a tension spring. When the ton bag reaches a certain weight, the spring is stretched, causing the ton bag to fall automatically to the ground; this process requires manual intervention. The bucket mechanism 1100, front roller brush mechanism 1300, and side roller brush mechanism 1500 remove ground debris and collect it into the bucket. The collection mechanism 1400 pushes the debris inside the bucket to the conveying drop hole, and the conveying mechanism 300 transfers the debris into the ton bag cart, completing the tunnel bottom cleaning, recycling, and transfer work. The addition of side roller brush mechanisms 1500 at both ends of the bucket mechanism 1100 allows for the replacement of different operating modules depending on the scenario. On-site investigation revealed that the bottom corners of the tunnel had the most silt. Using only the side baffles was inefficient and had a low removal rate. Therefore, a side roller brush mechanism 1500 was installed. Its drive mechanism is the same as that of the front roller brush. During operation, it gathers the silt from both sides towards the middle.

[0061] Combination Figure 6 and Figure 8 As shown, the bucket mechanism 1100 includes a bidirectional auger 1101, an arc-shaped bucket 1102, an auger drive motor unit 1104, a bucket discharge cylinder, and two bucket side plates 1103.

[0062] Two bucket side plates 1103 are symmetrically installed at both ends of the arc-shaped bucket 1102, and the two ends of the bidirectional auger 1101 are rotatably connected to the two bucket side plates 1103. The auger drive motor unit 1104 is installed on the bucket side plates 1103, and the auger drive motor unit 1104 drives the bidirectional auger 1101 to rotate, conveying the tunnel attachment material into the arc-shaped bucket 1102. The two bucket side plates 1103 and the arc-shaped bucket 1102 are all fixedly installed on the bucket discharge cylinder.

[0063] The auger drive motor assembly 1104 includes an auger drive motor, an auger motor mounting base, a motor transmission belt, and two auger pulleys.

[0064] The auger drive motor is fixedly mounted on the bucket side plate 1103 via an auger motor mounting bracket. An auger pulley is fixedly mounted on the output shaft of the auger drive motor. An auger pulley is fixedly mounted on one end of the bidirectional auger 1101. The two auger pulleys are connected by a motor drive belt. During recovery operations, the auger drive motor drives the bidirectional auger 1101 and the roller brush to rotate. The front roller brush mechanism 1300 removes the attached material in front of the arc-shaped bucket 1102. The attached material enters the arc-shaped bucket 1102 due to its rotational inertia.

[0065] In this embodiment, the arc-shaped bucket 1102 of the bucket mechanism 1100 is in close contact with the ground when it is working, and it scoops up the objects attached to the tunnel ground into the bucket. The contact surface between the arc-shaped bucket 1102 and the ground is made of flexible rubber material. Even if the ground inside the tunnel is uneven, it can still be close to the ground, reducing the impact force of the bucket during the recovery operation and reducing the damage to the rubber parts of the bucket.

[0066] Combination Figures 4 to 7 As shown, the obstacle crossing mechanism 1200 includes an obstacle crossing buffer plate 1201, an obstacle crossing buffer seat 1202, an obstacle crossing connecting rod 1203, an obstacle crossing connecting drive bent rod 1204, an obstacle crossing buffer spring 1205, a buffer spring limiting pin 1206, an elastic pad 1207, a fixed seat flexible connecting plate 1208, an obstacle crossing fixed seat 1210, and multiple connecting pins 1209;

[0067] An obstacle-crossing buffer seat 1202 is fixedly installed on the obstacle-crossing buffer plate 1201. One end of the obstacle-crossing connecting rod 1203 and one end of the obstacle-crossing connecting drive bent rod 1204 are rotatably connected to the obstacle-crossing buffer seat 1202 via a connecting pin 1209. The other end of the obstacle-crossing connecting rod 1203 and the middle part of the obstacle-crossing connecting drive bent rod 1204 are rotatably connected to the bracket of the obstacle-crossing fixed seat 1210 via a connecting pin 1209. The other end of the obstacle-crossing connecting drive bent rod 1204 is rotatably connected to one end of the buffer spring limiting pin 1206 via a connecting pin 1209. The other end of the spring limiting pin 1206 passes through the obstacle-crossing fixing seat 1210. An obstacle-crossing buffer spring 1205 is sleeved on the buffer spring limiting pin 1206. The obstacle-crossing buffer spring 1205 is located between the other end of the buffer spring limiting pin 1206 and the obstacle-crossing fixing seat 1210. The flexible connecting plate 1208 of the fixing seat is fixedly installed on the top of the obstacle-crossing buffer plate 1201 and contacts the obstacle-crossing fixing seat 1210. The elastic pad 1207 is embedded in the bottom end of the obstacle-crossing buffer plate 1201. The obstacle-crossing fixing seat 1210 is fixedly installed on the bucket discharge cylinder.

[0068] In this embodiment, the obstacle-crossing mechanism 1200 is embedded in the arc-shaped bucket 1102. There may be one or two obstacle-crossing mechanisms 1200. When working on the ground under the action of the arc-shaped bucket 1102, the arc-shaped bucket 1102 collides with the protrusion and the vehicle body continues to move forward. The obstacle-crossing buffer spring 1205 lifts the obstacle-crossing buffer plate 1201. After passing the protrusion, the obstacle-crossing buffer spring 1205 causes the obstacle-crossing buffer plate 1201 to return to its initial state, thereby ensuring that the bucket mechanism 1100 can work smoothly and improving work efficiency.

[0069] Combination Figure 4 As shown, the front roller brush mechanism 1300 includes nylon bristles and steel wire bristles, which are radially fixedly mounted on the bidirectional auger 1101. Alternatively, the roller brush can be made of a combination of PP wire and spring steel wire or galvanized steel wire, and can pass over a 70mm high protrusion during rotation. Both ends of the mechanism are integrated into the bucket mechanism, and the roller brush can be easily replaced via the bucket cover.

[0070] The side roller brush mechanism 1500 includes a side roller brush head 1501, a side brush fixing seat 1502, a transmission connecting shaft 1503, a detachable adjustable bracket 1504, an elastic buffer damping cylinder 1505, a side scraper 1506, and a transmission gearbox 1507.

[0071] The side roller brush head 1501 is rotatably connected to the side brush fixing seat 1502. The side brush fixing seat 1502 is mounted on the bucket side plate 1103 via a detachable adjustable bracket 1504. The side roller brush head 1501 is connected to the output end of the transmission gearbox 1507 via the transmission connecting shaft 1503. The input end of the transmission gearbox 1507 is connected to the bidirectional auger 1101. The side scraper 1506 is detachably mounted on the bucket side plate 1103, and elastic buffer damping cylinders 1505 are installed on the bucket side plate 1103 and the side scraper 1506.

[0072] In this embodiment, a rubber plate is installed on the side scraper 1506. When not in operation, the rubber plate is removed, and the side scraper 1506 is fixed to the bucket with pins. When in operation, an elastic buffer damping cylinder 1505 needs to be manually installed on the arc-shaped bucket 1102 and the side scraper 1506. The spring needs to be compressed to ensure that the rubber plate is in contact with the tunnel wall. When the robot changes position during movement, the elastic buffer damping cylinder 1505 can still ensure that the rubber plate is in close contact with the tunnel wall. The bucket cover can be opened for easy replacement and inspection of damaged parts.

[0073] Combination Figure 9As shown, the folding mechanism 1400 includes a folding motor 1401, a folding fixing frame 1402, a folding drive rod 1403, a folding connecting rod 1404, a folding push plate 1405, a folding push block 1406, a folding push bent plate 1407, and two rotating connecting pairs 1408.

[0074] A gathering and fixing frame 1402 is fixedly installed on the bucket discharge cylinder. A gathering motor 1401 is fixedly installed on the gathering and fixing frame 1402. The output shaft of the gathering motor 1401 is fixedly connected to one end of the gathering drive rod 1403. The other end of the gathering drive rod 1403 is connected to one end of the gathering connecting rod 1404 and drives the gathering connecting rod 1404 to rotate. The other end of the gathering connecting rod 1404 is rotatably connected to the gathering push plate 1405. One end of the gathering push plate 1405 is rotatably connected to the gathering and fixing frame 1402. The gathering and pushing plate 1405 rotates around the gathering and fixing frame 1402. The top end of the gathering and pushing curved plate 1407 is rotatably connected to the gathering and pushing plate 1405 through two rotating connecting pairs 1408. The gathering and pushing block 1406 is fixedly installed on the gathering and pushing plate 1405. The gathering and pushing block 1406 is in contact with the bottom end of the gathering and pushing curved plate 1407, and the bending direction of the gathering and pushing curved plate 1407 is set towards the upper outlet of the bucket discharge cylinder, which is used to convey the attached material in the bucket discharge cylinder to the conveying mechanism 300.

[0075] In this embodiment, the gathering mechanism 1400 can quickly gather a large amount of attached material that has entered the bucket and transport it to the upper outlet of the bucket discharge cylinder. This mechanism is implemented by a connecting rod, with one on each side. The gathering mechanisms 1400 on the left and right sides have staggered swing arms with an angle greater than 110°. By using gathering baffles of different lengths, the gathering coverage area can be changed.

[0076] The 1400 retraction mechanism's swing arm has a two-stage push stroke and return stroke. To minimize the amount of debris pushed out of the bucket during the return stroke, a shaft is added at the connection point of the retraction push plate 1407. During the push stroke, a retraction push stop 1406 on one side of the retraction push plate 1407 limits the thrust, directing the thrust onto the debris. During the return stroke, the stop changes its angle with the bucket when it encounters an object, allowing it to "pass over" the debris on the bucket and return to its initial position. This repeated action achieves the retraction push operation.

[0077] Combination Figure 10 and Figure 11 As shown, the lifting mechanism 200 includes a lifting bottom fixed seat 2010, a lifting power cylinder 2020, a lifting drive bend rod 2030, a lifting frame 2050, a lifting rotation connection pair 2070, and two lifting passive connecting rods 2040.

[0078] The bottom mounting base 2010 is fixedly installed on the mobile platform 500. One end of the lifting drive bend rod 2030 is rotatably connected to the top of the bottom mounting base 2010. The other end of the lifting drive bend rod 2030 is rotatably connected to the lifting end of the lifting frame 2050 through the lifting rotatable connecting pair 2070. The bottom end of the lifting power cylinder 2020 is rotatably connected to the bottom mounting base 2010, and the top end of the lifting power cylinder 2020 is rotatably connected to the lifting drive bend rod 2030. Two lifting passive connecting rods 2040 are rotatably connected to the auxiliary connecting end of the lifting frame 2050, and the two lifting passive connecting rods 2040 are rotatably connected to the two sides of the top of the bottom mounting base 2010 respectively. The lifting connecting end of the lifting frame 2050 is rotatably connected to the bucket discharge cylinder. The front connecting frame 2011 of the bottom mounting base 2010 is rotatably connected to the bucket discharge cylinder.

[0079] In this embodiment, the lifting mechanism 200 is integrated into the mobile platform 500 to lift and control the front-end recycling mechanism 100, with a lifting load capacity greater than 1.2t. When entering or exiting confined spaces, the lifting mechanism works in conjunction with the conveying mechanism 300. When the conveying mechanism 300 uses a bendable conveyor belt, the belt can be folded, minimizing the size of the recycling robot. The lifting power cylinder 2020 of the lifting mechanism 200 is driven by an electric cylinder. During the operation or movement of the recycling robot, it can be fixed by a pin to prevent wear of the ball screw during operation, thus improving the robot's operational stability.

[0080] Combination Figure 12 As shown, the conveying mechanism 300 is a bendable conveyor belt or a negative pressure recovery device with a scissor.

[0081] The bendable conveyor belt includes a conveyor fixing frame 3010, a conveyor bending frame 3020, a bending frame drive assembly 3030, a bending frame connecting assembly 3040, a conveyor belt drive assembly 3050, a conveyor fixing base 3060, and a skirted conveyor belt 3070.

[0082] The conveyor frame 3010 is fixedly installed on the conveyor base 3060. The conveyor bending frame 3020 is rotatably connected to the conveyor frame 3010 through the bending frame connecting assembly 3040. The bending frame drive assembly 3030 is fixedly installed on the conveyor base 3060 and drives the conveyor bending frame 3020 to unfold and bend on the conveyor frame 3010. The skirt conveyor belt 3070 is fitted on the conveyor structure of the conveyor frame 3010 and the conveyor structure of the conveyor bending frame 3020. The conveyor belt drive assembly 3050 is installed on the conveyor bending frame 3020 and drives the skirt conveyor belt 3070 to work.

[0083] The flexible conveyor belt boasts high transmission efficiency and foldability, enabling the transfer of materials attached to the bucket to a transport vehicle. It can be integrated into a mobile platform, and the conveying speed can be adjusted according to the amount of attached material. The skirted conveyor belt 3070 features a baffle in the middle to facilitate upward transport of attached materials, reducing the risk of objects falling off during the ascent. The end of the skirted conveyor belt 3070 can be folded by adjusting the tensioning mechanism, reducing the size of the recovery robot when not in operation and facilitating entry and exit from confined spaces. The tensioning mechanism requires manual or electric cylinder-driven belt folding. Mechanical limits exist at both the bending and unfolding positions. During operation, the conveyor belt should be loosened first, and its shape adjusted after releasing the mechanical limit pins. When the flexible conveyor belt is bent, the lowest point is at least 70mm above the ground to prevent collisions with ground protrusions during robot operation.

[0084] Combination Figure 12 As shown, the bending frame drive assembly 3030 includes a first bending drive rod 3031, a second bending drive rod 3032, and a bending drive cylinder 3033;

[0085] The housing of the bending drive cylinder 3033 is fixedly mounted on the conveying fixed base 3060. The telescopic rod of the bending drive cylinder 3033 is rotatably connected to one end of the second bending drive rod 3032. The other end of the second bending drive rod 3032 is rotatably connected to the frame of the conveying bending frame 3020. One end of the first bending drive rod 3031 is rotatably connected to the frame of the conveying fixed frame 3010. The other end of the first bending drive rod 3031 is rotatably connected and mounted on the second bending drive rod 3032.

[0086] The bending frame connecting assembly 3040 includes a conveying transfer roller 3042, two arc-shaped guide connecting plates 3041, and two positioning locking pins 3043;

[0087] Two arc-shaped guide connecting plates 3041 are symmetrically installed on the frame of the conveying fixed frame 3010, and the two ends of the conveying transfer roller 3042 are rotatably connected to the connecting plates of the two arc-shaped guide connecting plates 3041. Two positioning locking pins 3043 are respectively installed on both sides of the frame of the conveying bending frame 3020 through sliding sleeves. The sliding sleeves are respectively sleeved on the arc-shaped guide plates of the arc-shaped guide connecting plates 3041, and the position of the sliding sleeves on the arc-shaped guide plates of the arc-shaped guide connecting plates 3041 is locked by the positioning locking pins 3043.

[0088] The curved guide plate is provided with positioning pin holes for locking with positioning locking pins 3043 corresponding to the bending and unfolding. The positioning locking pins 3043 are inserted into the corresponding positioning pin holes according to the corresponding state of the second bending drive rod 3032.

[0089] Combination Figure 13As shown, the positioning locking pin 3043 includes a positioning pin handle, a locking pin, a locking pin housing, and a locking spring;

[0090] The locking pin is connected to the positioning pin handle. The locking pin is inserted into the sliding sleeve and the locking pin housing. The locking pin elastically expands and contracts on the locking pin housing via a locking spring. The locking spring is sleeved on the connecting end of the locking pin, and its two ends contact the boss of the locking pin and the inner wall of the locking pin housing, respectively. The locking pin is pulled to its position in the locking pin housing by the positioning pin handle, and the locking pin is inserted into the corresponding positioning pin hole by the locking spring. This also assists in locking the second bending drive rod 3032 at the position of the first bending drive rod 3031 and the bending frame connecting assembly 3040.

[0091] When using a negative pressure recovery unit with a reamer, the attached material is passed through a crushing mechanism by the negative pressure equipment and then transported to a robotic carriage or ton bag trolley to complete the removal, recovery, and transfer of attached material at the bottom of the tunnel. The crushing mechanism consists of three blades and a disc, which begins to rotate when the negative pressure airflow accelerates, crushing the attached material passing through the mechanism for easy negative pressure recovery. The negative pressure power unit can adjust the air speed to control the recovery rate, and the negative pressure recovery unit with a reamer is equipped with a carriage for storing small amounts of attached material.

[0092] Combination Figures 1 to 3 As shown, the mobile platform 500 includes a platform frame, a lidar, a positioning navigator, a controller, a power supply, and multiple height-adjustable industrial cameras;

[0093] The platform frame is mounted on the vehicle body 400. The LiDAR, positioning navigator, controller, power supply, and multiple height-adjustable industrial cameras are all mounted on the platform frame. The power supply provides power to the vehicle body 400, controller, LiDAR, positioning navigator, and multiple height-adjustable industrial cameras. The LiDAR, positioning navigator, and height-adjustable industrial cameras are all connected to the controller. The controller controls the operation of the front-end recovery mechanism 100, lifting mechanism 200, conveying mechanism 300, and vehicle body 400.

[0094] In this embodiment, the vehicle body 400 adopts a tracked mobile structure, characterized by high load capacity and compact spatial structure. The mobile platform 500 increases the distance between the drive shaft and the ground, allowing it to traverse water pits up to 200mm deep. The tracks are made of rubber with embedded steel wires, reducing damage to the tunnel floor during robot movement. The robot is powered by an electrical supply instead of diesel or gasoline to prevent the generation of harmful gases in poorly ventilated environments, thus avoiding harm to construction personnel and environmental pollution. Given the high relative humidity and dripping conditions at the robot's operating location, the robot's electrical control components require an IP65 waterproof rating.

[0095] The vehicle body 400 is integrated on the mobile platform 500. LiDAR and multiple height-adjustable industrial cameras are used to adjust the robot's pose, enabling timely and precise adjustments to the pose changes of the vehicle body during robot movement. Multiple height-adjustable industrial cameras are installed on both sides of the vehicle body to detect the completion status of the front-end recycling mechanism. A wireless device system is installed on the vehicle body to ensure remote operation in unmanned mode, and wired communication can also be achieved through a cable mechanism.

[0096] Wired communication via a cable mechanism is used because wireless communication inside tunnels can result in significant delays or communication dead zones. To address potential issues with long-distance wired communication, an automatic release / retraction cable reel mechanism is designed.

[0097] The mobile platform 500 uses LiDAR and IMU positioning and navigation to ensure that the robot runs in a straight line in the pipeline; based on environmental perception, a robot positioning and navigation control algorithm is established to realize positioning and navigation in long-distance water transmission pipelines, ensuring that the mobile platform can run along the pipeline.

[0098] The recycling robot and the dredging robot maintain a certain operating distance. Real-time robot positioning and tracking of the preceding robot are required, necessitating communication between the two vehicles. Maintaining a constant distance between the two vehicles, and considering their use in underground pipelines, wireless communication can be employed to facilitate information exchange between multiple robots. Commonly used wireless communication systems are generally adaptable to short-range, complex, shielded environments. The robot's operating radius is 50m, which meets the requirements of this project.

[0099] The mobile platform uses lidar and IMU for positioning and navigation to ensure the robot moves in a straight line in the pipeline; based on environmental perception, a robot positioning and navigation control algorithm is established to achieve positioning and navigation in long-distance water pipelines.

[0100] The system utilizes point cloud data collected by LiDAR to create a 3D point cloud map of the pipe's internal surface, helping the robot accurately locate areas requiring cleaning. By comparing the scene models before and after cleaning and recycling, the system can evaluate the recycling effect and detect whether there are any uncleaned or recycled areas or residual contaminants.

[0101] The tunnel attachment recovery robot described in this application is used in freshwater transport tunnels, which are relatively long with a diameter between 4.5m and 7m. Ventilation openings are located at an average distance of 3 kilometers, and protrusions are present at designated locations on the tunnel floor. Tunnel recovery includes the tunnel floor and the curved surfaces at the corners on both sides of the floor.

[0102] The front-end recovery mechanism 100 includes a bucket mechanism 1100 and two side roller brush mechanisms 1500. The side scraper 1506 of each side roller brush mechanism 1500 is set at a certain angle to the two bucket side plates 1103 of the arc-shaped bucket 1102. The angle of the side scraper 1506 of the side roller brush mechanism 1500 can be adjusted to adapt to tunnels of different widths. The side scraper 1506 is equipped with a rubber plate, which can adhere to the arc-shaped surface at the bottom of the tunnel through grooves in the rubber plate. Its mechanism is adapted to the plane of the tunnel bottom, thereby scooping up the attached material on the bottom plane as the tunnel chassis moves forward. Simultaneously, through the cooperation of the front roller brush mechanism 1300 and the two side roller brush mechanisms 1500, the attached material in the forward direction of the chassis is concentrated and transported to the side opposite to the forward direction of the chassis. Further, the bidirectional auger 1101 of the bucket mechanism 1100 pushes the material inside the bucket body to the arc-shaped bucket 1102.

[0103] The front end of the curved bucket 1102 may accumulate debris. The front roller brush mechanism 1300 rotates and transports the accumulated debris into the main body of the curved bucket 1102 through centrifugal force. The rotation of the front roller brush can also clean some of the debris on the bottom surface, reducing the load when moving forward. Considering the use and replacement of the front roller brush mechanism 1300, it is designed for quick rotation and quick disassembly, and can be easily removed and replaced through the couplings at both ends.

[0104] The side scraper 1506 of the side roller brush mechanism 1500 is set at a certain angle to the two bucket side plates 1103 of the arc-shaped bucket 1102, and the side scraper 1506 of the side roller brush mechanism 1500 can be angled to achieve full coverage of the tunnel surface. The side roller brush mechanism 1500 needs to be disassembled before entering and exiting the tunnel to ensure that the minimum width of the robot is the width of the chassis. After entering the tunnel, it is manually assembled and the angle of the side roller brush mechanism 1500 is adjusted. The two side roller brush mechanisms 1500 and the front roller brush mechanism 1300 share a drive motor. Through the gear steering on both sides and the universal joint, the accumulated material on both sides can be gathered towards the direction of the chassis's movement and further collected into the bucket by the front roller brush mechanism 1300.

[0105] Two gathering mechanisms 1400 are installed on the rear side of the bucket body. The gathering mechanism 1400 is a linkage mechanism. As the chassis moves forward, the accumulated adhering material is collected into the bucket through the front roller brush mechanism 1300 and the side roller brush mechanisms 1500 on both sides. Although the adhering material can be made to enter the bucket discharge hole under the action of centrifugal force by adjusting the speed of the front roller brush, the adhering material collected into the bucket body still accumulates because the bucket is at a certain angle to the bottom surface. The two gathering mechanisms 1400 can quickly and in large quantities collect the adhering material into the bucket to the discharge port of the bucket discharge cylinder. The two gathering mechanisms 1400 have staggered swing arms on the left and right sides with an angle greater than 110°. By using gathering push plates 1407 of different lengths, the gathering coverage area can be changed.

[0106] Two obstacle-crossing mechanisms 1200 are also installed at the bottom of the bucket body. Because there are protrusions at the bottom of the tunnel, and these protrusions are located within a certain range at the bottom of the tunnel, as the chassis moves forward, the front baffle of the mechanism approaches the working ground and scoops up the objects on the working ground into the bucket. The mechanism is based on a linkage mechanism and adds a return pressure spring. When the mechanism baffle touches a rigid protrusion on the ground, the spring is compressed, and the baffle is lifted over the protrusion. After overcoming the protrusion, due to the reaction force of the spring compression, the mechanism automatically returns to the initial state and continues to scoop up ground attachments. When the ground inside the tunnel is relatively flat, a sleeve can be installed inside the spring to convert the flexible mechanism into a rigid mechanism.

[0107] Before entering the tunnel working area, the robot uses an elevator and a tunnel. Due to size limitations, and the need for the front-end recovery mechanism to detach from the ground during non-working or transport operations, the robot's overall size is a constraint. To ensure a 15° climbing ability, the front-end recovery mechanism must be at least 250mm off the ground. The lifting mechanism 200, through the lifting power cylinder 2020, enables the bucket mechanism 1100 to lift. After lifting to a certain height, a locking rod can be used to make the mechanism rigid, preventing the lifting power cylinder 2020 from being subjected to prolonged stress. A single-axis force sensor is installed at the front of the lifting power cylinder 2020, allowing real-time monitoring of the bucket's status based on feedback force data as the chassis moves forward.

[0108] The chassis is also equipped with a conveying mechanism 300. During operation, the discharge port of the bucket discharge cylinder is located directly above the lowest end of the conveying mechanism 300, and the attached material is transported to the designated position through the conveying mechanism 300.

[0109] The mobile platform 500 is equipped with a robot control box and a charger. Since the robot works in long-distance, well-sealed water supply tunnels, there is a ventilation opening every 3 kilometers to meet the robot's energy replenishment needs.

[0110] In addition, the recovered residue needs to be transported and processed in a unified manner, which can be done in two ways:

[0111] 1. The recycling robot can track the transport vehicle in real time. In a non-working state, the robot enters the tunnel via the freight elevator and through a tunnel entrance. It removes the fixing pin of the lifting mechanism 200, causing the front-end recycling mechanism 100 to lower and press against the ground. Two side roller brush mechanisms 1500 are manually installed, ensuring their rubber plates are pressed tightly against the tunnel wall. The front-end recycling mechanism 100 is then activated, and the transport vehicle operates simultaneously, maintaining a relatively constant speed with the recycling robot. The recycling system begins operation. When the transport vehicle is fully loaded, the recycling robot stops. After the transport vehicle becomes empty, both vehicles run at a constant speed. When the robot reaches a ventilation opening, both the recycling robot and the transport vehicle stop. After checking the condition of all mechanisms and vulnerable parts, the power source is replenished. If the robot has not reached a ventilation opening and the battery level is below 10%, it receives the information and immediately accelerates to the nearest ventilation opening to recharge.

[0112] 2. The recycling robot is equipped with a ton bag cart. Based on the actual situation, the water supply tunnel has a short water outage period. During the water outage period, it is necessary to complete the removal of attachments on the inner wall of the tunnel and the maintenance of the tunnel. Using a combination of recycling robots and transport vehicles may have a certain impact on the normal progress of tunnel maintenance work. It is better to use recycling robots and ton bag carts to complete the cleaning, recycling and loading work at the bottom of the tunnel.

[0113] The ton bag trolley uses a 3mm steel pipe welded main frame, which is divided into three parts: the ton bag fixing point, the material storage area, and the material guiding point. The ton bag fixing point uses a tension spring; once a certain weight is applied inside the ton bag, it can detach automatically, with the detachment point located on one side of the tunnel. The ton bag trolley is fixed to the recycling robot via two connecting rods and moves with the robot. The material frame can hold ton bags, tools, etc., to ensure the continuous recycling and bagging process. This recycling scheme is now described.

[0114] The recycling robot, in a non-working state, enters the tunnel via the freight elevator and a closed-end tunnel. It removes the fixing pins of the lifting mechanism 200, causing the front-end recycling mechanism 100 to lower and press against the ground. Two side roller brush mechanisms 1500 are then installed, ensuring the rubber plates on both sides are pressed tightly against the tunnel wall. The ton bag trolley is then fixed to the recycling robot. By adjusting the length of the connecting rod, a certain distance is maintained between the robot and the ground. The front-end recycling mechanism 100 is then controlled to begin operation, dragging the ton bag trolley to begin recycling and bagging. After periodically checking the condition of each mechanism and vulnerable parts, the power source is replenished. When the robot has not reached the ventilation opening and its battery level is below 10%, it receives information and, through feedback signals, manually disassembles the ton bag trolley. The robot then immediately accelerates to the nearest ventilation opening to recharge.

Claims

1. A tunnel attachment recovery robot adapted to uneven ground, characterized in that: It includes a front-end recycling mechanism (100), a lifting mechanism (200), a conveying mechanism (300), a vehicle body (400), and a mobile platform (500). The front-end recycling mechanism (100) is used to recycle tunnel attachments. The front-end recycling mechanism (100) is installed on the mobile platform (500) via the lifting mechanism (200). The mobile platform (500) is installed on the vehicle body (400). The conveying mechanism (300) is installed on the mobile platform (500) close to the front-end recycling mechanism (100). The conveying mechanism (300) is used to transfer the attachments recycled by the front-end recycling mechanism (100). The mobile platform (500) controls the operation of the front-end recycling mechanism (100), the lifting mechanism (200), the conveying mechanism (300) and the vehicle body (400).

2. The tunnel attachment recovery robot adapted to uneven ground according to claim 1, characterized in that: The front-end recovery mechanism (100) includes a bucket mechanism (1100), an obstacle-crossing mechanism (1200), a front roller brush mechanism (1300), two retraction mechanisms (1400) and two side roller brush mechanisms (1500). The front roller brush mechanism (1300) is installed on the bucket mechanism (1100). The bucket mechanism (1100) is used to remove tunnel attachments. The front roller brush mechanism (1300) is used to sweep the tunnel attachments into the bucket mechanism (1100). The obstacle crossing mechanism (1200) is installed on the bucket mechanism (1100). The obstacle crossing mechanism (1200) is used to cross over the protrusions at the bottom of the tunnel. Two gathering mechanisms (1400) are symmetrically installed at the outlet of the bucket mechanism (1100). The gathering mechanism (1400) is used to push the attachments inside the bucket to the conveying mechanism (300). Two side roller brush mechanisms (1500) are symmetrically installed at both ends of the bucket mechanism (1100). The side roller brush mechanisms (1500) are used to gather the silt on both sides towards the middle.

3. The tunnel attachment recovery robot adapted to uneven ground according to claim 2, characterized in that: The bucket mechanism (1100) includes a two-way auger (1101), an arc-shaped bucket (1102), an auger drive motor (1104), a bucket discharge cylinder, and two bucket side plates (1103). Two bucket side plates (1103) are symmetrically installed at both ends of the arc-shaped bucket (1102), and the two ends of the bidirectional auger (1101) are rotatably connected to the two bucket side plates (1103). The auger drive motor unit (1104) is installed on the bucket side plates (1103), and the auger drive motor unit (1104) drives the bidirectional auger (1101) to rotate and transport the tunnel attachment material into the arc-shaped bucket (1102). The two bucket side plates (1103) and the arc-shaped bucket (1102) are all fixedly installed on the bucket discharge cylinder. The auger drive motor assembly (1104) includes an auger drive motor, an auger motor mounting base, a motor transmission belt, and two auger pulleys; The auger drive motor is fixedly mounted on the side plate (1103) of the bucket via the auger motor mounting bracket. An auger pulley is fixedly mounted on the output shaft of the auger drive motor. An auger pulley is fixedly mounted on one end of the bidirectional auger (1101). The two auger pulleys are connected by the motor drive belt.

4. The tunnel attachment recovery robot adapted to uneven ground according to claim 2, characterized in that: The obstacle crossing mechanism (1200) includes an obstacle crossing buffer plate (1201), an obstacle crossing buffer seat (1202), an obstacle crossing connecting rod (1203), an obstacle crossing connecting drive bent rod (1204), an obstacle crossing buffer spring (1205), a buffer spring limiting pin (1206), an elastic pad (1207), a fixed seat flexible connecting plate (1208), an obstacle crossing fixed seat (1210), and multiple connecting pins (1209). An obstacle-crossing buffer seat (1202) is fixedly installed on the obstacle-crossing buffer plate (1201). One end of the obstacle-crossing connecting rod (1203) and one end of the obstacle-crossing connecting drive bent rod (1204) are rotatably connected to the obstacle-crossing buffer seat (1202) via a connecting pin (1209). The other end of the obstacle-crossing connecting rod (1203) and the middle part of the obstacle-crossing connecting drive bent rod (1204) are rotatably connected to the bracket of the obstacle-crossing fixed seat (1210) via a connecting pin (1209). The other end of the obstacle-crossing connecting drive bent rod (1204) is rotatably connected to one end of the buffer spring limiting pin (1206) via a connecting pin (1209). The other end of the spring limiting pin (1206) passes through the obstacle crossing fixing seat (1210). An obstacle crossing buffer spring (1205) is sleeved on the buffer spring limiting pin (1206). The obstacle crossing buffer spring (1205) is located between the other end of the buffer spring limiting pin (1206) and the obstacle crossing fixing seat (1210). The flexible connecting plate (1208) of the fixing seat is fixedly installed on the top of the obstacle crossing buffer plate (1201) and contacts the obstacle crossing fixing seat (1210). The elastic pad (1207) is embedded in the bottom end of the obstacle crossing buffer plate (1201). The obstacle crossing fixing seat (1210) is fixedly installed on the bucket discharge cylinder.

5. The tunnel attachment recovery robot adapted to uneven ground according to claim 3, characterized in that: The front roller brush mechanism (1300) includes nylon bristles and steel wire bristles, which are radially fixedly mounted on a two-way auger (1101). The side roller brush mechanism (1500) includes a side roller brush head (1501), a side brush fixing seat (1502), a transmission connecting shaft (1503), a detachable adjustable bracket (1504), an elastic buffer damping cylinder (1505), a side scraper (1506), and a transmission gearbox (1507). The side roller brush head (1501) is rotatably connected to the side brush fixing seat (1502). The side brush fixing seat (1502) is mounted on the bucket side plate (1103) via a detachable adjustable bracket (1504). The side roller brush head (1501) is connected to the output end of the transmission gearbox (1507) via the transmission connecting shaft (1503). The input end of the transmission gearbox (1507) is connected to the double-acting auger (1101). The side scraper (1506) is detachably mounted on the bucket side plate (1103). Elastic buffer damping cylinders (1505) are installed on the bucket side plate (1103) and the side scraper (1506).

6. The tunnel attachment recovery robot adapted to uneven ground according to claim 2, characterized in that: The folding mechanism (1400) includes a folding motor (1401), a folding fixing frame (1402), a folding drive rod (1403), a folding connecting rod (1404), a folding push plate (1405), a folding push stop (1406), a folding push bending plate (1407), and two rotating connecting pairs (1408). The gathering and fixing frame (1402) is fixedly installed on the bucket discharge cylinder. The gathering motor (1401) is fixedly installed on the gathering and fixing frame (1402). The output shaft of the gathering motor (1401) is fixedly connected to one end of the gathering drive rod (1403). The other end of the gathering drive rod (1403) is connected to one end of the gathering connecting rod (1404) and drives the gathering connecting rod (1404) to rotate. The other end of the gathering connecting rod (1404) is rotatably connected to the gathering push plate (1405). One end of the gathering push plate (1405) is rotatably connected to the gathering and fixing frame (1402). The gathering push plate (1405) rotates around the gathering fixing frame (1402). The top end of the gathering push bending plate (1407) is rotatably connected to the gathering push plate (1405) through two rotating connecting pairs (1408). The gathering push block (1406) is fixedly installed on the gathering push plate (1405). The gathering push block (1406) is in contact with the bottom end of the gathering push bending plate (1407), and the bending direction of the gathering push bending plate (1407) is set towards the upper outlet of the bucket discharge cylinder, which is used to convey the attached material in the bucket discharge cylinder to the conveying mechanism (300).

7. A tunnel attachment recovery robot adapted to uneven ground according to claim 2 or 3, characterized in that: The lifting mechanism (200) includes a lifting bottom fixed seat (2010), a lifting power cylinder (2020), a lifting drive bend rod (2030), a lifting frame (2050), a lifting rotating connection pair (2070), and two lifting passive connecting rods (2040). The bottom mounting base (2010) is fixedly installed on the mobile platform (500). One end of the lifting drive bend rod (2030) is rotatably connected to the top of the bottom mounting base (2010). The other end of the lifting drive bend rod (2030) is rotatably connected to the lifting end of the lifting frame (2050) through the lifting rotatable connecting pair (2070). The bottom end of the lifting power cylinder (2020) is rotatably connected to the bottom mounting base (2010). The top end of the lifting power cylinder (2020) is rotatably connected to the lifting drive bend rod (2030). The auxiliary connecting end of the lifting frame (2050) is rotatably connected to two lifting passive connecting rods (2040). The two lifting passive connecting rods (2040) are rotatably connected to the two sides of the top of the bottom mounting base (2010) respectively. The lifting connecting end of the lifting frame (2050) is rotatably connected to the bucket discharge cylinder. The front connecting frame (2011) of the bottom mounting base (2010) is rotatably connected to the bucket discharge cylinder.

8. The tunnel attachment recovery robot adapted to uneven ground according to claim 1, characterized in that: The conveying mechanism (300) is a flexible conveyor belt or a negative pressure recovery device with a scissor; The bendable conveyor belt includes a conveyor fixing frame (3010), a conveyor bending frame (3020), a bending frame drive assembly (3030), a bending frame connecting assembly (3040), a conveyor belt drive assembly (3050), a conveyor fixing base (3060), and a skirted conveyor belt (3070). The conveyor frame (3010) is fixedly installed on the conveyor base (3060). The conveyor bending frame (3020) is rotatably connected to the conveyor frame (3010) through the bending frame connecting assembly (3040). The bending frame drive assembly (3030) is fixedly installed on the conveyor base (3060) and drives the conveyor bending frame (3020) to unfold and bend on the conveyor frame (3010) through the bending frame drive assembly (3030). The skirt conveyor belt (3070) is fitted on the conveyor structure of the conveyor frame (3010) and the conveyor structure of the conveyor bending frame (3020). The conveyor belt drive assembly (3050) is installed on the conveyor bending frame (3020) and drives the skirt conveyor belt (3070) to work.

9. The tunnel attachment recovery robot adapted to uneven ground according to claim 7, characterized in that: The bending frame drive assembly (3030) includes a first bending drive rod (3031), a second bending drive rod (3032), and a bending drive cylinder (3033). The housing of the bending drive cylinder (3033) is fixedly mounted on the conveyor fixed base (3060). The telescopic rod of the bending drive cylinder (3033) is rotatably connected to one end of the second bending drive rod (3032). The other end of the second bending drive rod (3032) is rotatably connected to the frame of the conveyor bending frame (3020). One end of the first bending drive rod (3031) is rotatably connected to the frame of the conveyor fixed frame (3010). The other end of the first bending drive rod (3031) is rotatably connected and mounted on the second bending drive rod (3032). The bending frame connecting assembly (3040) includes a transfer roller (3042), two arc-shaped guide connecting plates (3041), and two positioning locking pins (3043). Two arc-shaped guide connecting plates (3041) are symmetrically installed on the frame of the conveyor fixing frame (3010), and the two ends of the conveyor transfer roller (3042) are rotatably connected to the connecting plates of the two arc-shaped guide connecting plates (3041). Two positioning locking pins (3043) are respectively installed on both sides of the frame of the conveyor bending frame (3020) through sliding sleeves. The sliding sleeves are respectively sleeved on the arc-shaped guide plates of the arc-shaped guide connecting plates (3041), and the position of the sliding sleeves on the arc-shaped guide plates of the arc-shaped guide connecting plates (3041) is locked by the positioning locking pins (3043).

10. The tunnel attachment recovery robot adapted to uneven ground according to claim 1, characterized in that: The mobile platform (500) includes a platform frame, a lidar, a positioning navigator, a controller, a power supply, and multiple height-adjustable industrial cameras; The platform frame is mounted on the vehicle body (400). The laser radar, positioning navigator, controller, power supply and multiple height-adjustable industrial cameras are all mounted on the platform frame. The power supply provides power to the vehicle body (400), controller, laser radar, positioning navigator and multiple height-adjustable industrial cameras. The laser radar, positioning navigator and height-adjustable industrial cameras are all connected to the controller. The controller controls the front-end recycling mechanism (100), lifting mechanism (200), conveying mechanism (300) and vehicle body (400) to work.

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