Tunnel dust removal robot

Abstract

The utility model provides a tunnel dust removal robot which comprises a moving body, a dust removal unit and an electrical control unit, wherein the dust removal unit and the electrical control unit are arranged on the moving body. The dust removal unit comprises a rotatable folding arm, a sprinkler head arranged at the front end of the folding arm, a water supply mechanism and a rotation driving mechanism which are arranged in the moving main body and used for driving the folding arm to rotate, and the water supply mechanism is connected with the sprinkler head; and the electrical control unit comprises an air scanning sensor, a radar sensor, a memory and a central processing module connected with the air scanning sensor, the radar sensor and the memory. Air dust concentration information and geographical road condition information are collected through the sensor and are stored and fed back to the central processing module through the memory, and the central processing module controls the mobile main body and the dust removal unit through the control unit, so that intelligent and accurate dust removal is realized; air dust concentration information is analyzed through the central processing module, the rotary driving mechanism is controlled, and automatic dust removal is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnels, in particular to a robot used in tunnels. Background Art

[0002] With the rapid development of transportation construction in my country, tunnel construction is increasing. To improve tunnel excavation efficiency and reduce construction period, the drilling and blasting method is often widely used in tunnel face blasting projects. However, due to the large amount of explosives used in tunnel blasting construction and the relatively closed tunnel space, the dust generated after blasting is difficult to convect and discharge with the outside air. At the same time, the dust contains a large amount of fine particles. The traditional single-tube pressure-type ventilation and dust removal method can only remove dust from a certain area. A large amount of dust still diffuses in the tunnel and cannot be discharged outside the tunnel through the single-tube pressure-type ventilation. This will have a serious impact on the health of construction workers who spend a long time in the tunnel and easily increase the incidence of occupational diseases among construction workers. Therefore, the design of an automated tunnel dust removal robot is of great significance for tunnel blasting and excavation dust removal.

[0003] A Chinese invention patent, published on February 22, 2019, and numbered CN 106761899 A, discloses a tunnel dust collector comprising a suction duct, a telescopic device, a power system, a platform, a traveling device, and a dust removal fan. The upper portion of the suction duct is connected to the telescopic device, and the rear end of the suction duct is connected to the dust removal fan. The bottom of the telescopic device is mounted on the top surface of the platform, and the telescopic device adjusts the length or shortening of the suction duct. The platform is mounted on the power system, and the power system and dust removal fan are mounted on the traveling device. The traveling device, powered by the power system, enables the tunnel dust collector to move forward, backward, and turn. The tunnel dust collector of the present invention has independent travel capabilities, and the suction duct is telescopic. The operator can move the dust removal equipment and adjust the suction duct without the assistance of other equipment. However, this tunnel dust collector fails to achieve the goal of intelligent and precise dust removal. Summary of the Invention

[0004] In response to the above-mentioned technical problems, the present invention proposes a tunnel dust removal robot, which is used to solve the problem that the water spray dust removal device in the prior art cannot achieve intelligent and precise dust removal.

[0005] In order to achieve the above object, the technical solution of the utility model is achieved as follows:

[0006] A tunnel dust removal robot comprises a mobile body, a dust removal unit arranged on the mobile body, and an electrical control unit; the dust removal unit comprises a rotatable folding arm arranged on the mobile body, a sprinkler nozzle arranged at the front end of the folding arm, a water supply mechanism arranged in the mobile body, and a rotary drive mechanism arranged in the mobile body for driving the rotation of the folding arm, wherein the water supply mechanism is connected to the sprinkler nozzle; the electrical control unit comprises an air scanning sensor, a radar sensor, a memory, and a central processing module arranged on the mobile body or the dust removal unit, wherein the air scanning sensor, the radar sensor, the memory, and the rotary drive mechanism are electrically connected to the central processing module.

[0007] Furthermore, the rotation drive mechanism includes a motor three arranged in the mobile body, the output end of the motor three is connected to a driving gear, and the lower end of the folding arm is provided with a rotating gear engaged with the driving gear.

[0008] Furthermore, the folding arm includes a lower arm and an upper arm that are hinged to each other, and an electric push rod is hinged between the lower arm and the upper arm, or the upper arm is connected to the lower arm through a steering gear to push the upper arm to swing up and down.

[0009] Furthermore, the folding arm also includes a rotating support body, the rotating gear is arranged on the rotating support body, and the lower arm is connected to the rotating support body through a second servo.

[0010] Furthermore, the second servo and the electric push rod or the first servo are electrically connected to the central processing module.

[0011] Furthermore, the water supply mechanism includes a water tank and a high-pressure water pump arranged in the mobile body, the high-pressure water pump is connected to the water tank, and the high-pressure water pump is connected to the sprinkler head through a water pipe.

[0012] Furthermore, the sprinkler head is connected to the front end of the folding arm through a telescopic rod.

[0013] Furthermore, the electrical control unit also includes a 5G communication module arranged in the mobile body, the memory includes memory 2, and the radar sensor is connected to memory 2 through the 5G communication module.

[0014] Furthermore, the memory includes memory one, and the air scanning sensor is connected to memory one via a 5G communication module.

[0015] Furthermore, the mobile body includes a protection box and a crawler mechanism connected to both sides of the protection box.

[0016] Beneficial effects of the utility model:

[0017] 1. The utility model collects air dust concentration information and geographical road condition information through sensors, stores it in memory and feeds it back to the central processing module. The central processing module control unit controls the mobile unit and the dust removal unit to achieve intelligent and precise dust removal;

[0018] 2. The utility model uses a central processing module to analyze the air dust concentration information in memory 1, control the steering of motor 3 and the extension and retraction of the telescopic rod, and realize automatic dust removal. When the air dust density in a certain area reaches the target, the central processing module will combine the ground road condition information in memory 2 to autonomously control motors 1 and 2 to carry out dust removal work in the next area;

[0019] 3. Compared with the traditional single-duct push-in ventilation and dust removal method, the utility model has the advantages of highly intelligent, precise, and large-scale dust removal. It conforms to the future trend of intelligent engineering construction and is of great significance to improving tunnel construction efficiency and ensuring the personal safety of construction workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a structural diagram of the utility model;

[0022] Figure 2 It is a side view of the utility model;

[0023] Figure 3 It is a top view of the utility model;

[0024] Figure 4 It is a front view of the utility model;

[0025] Figure 5 for Figure 4 AA section view in;

[0026] Figure 6 for Figure 4 BB cross-section in;

[0027] Figure 7 for Figure 4 CC cross-section diagram in .

[0028] Reference numerals in the figures:

[0029] 1-Protective box; 2-Frame rod; 3-Fixed plate; 4-Track; 5-Drive wheel; 6-Driven wheel; 8-Rotating shaft; 9-Motor 1; 10-Motor 2; 11-Air scanning sensor; 12-Radar sensor; 13-5G communication module; 14-Memory 1; 15-Memory 2; 16-Central processing module; 17-Power supply; 18-Rotating gear; 19-Folding arm; 20-Telescopic rod; 21-Water tank; 22-Water pump; 23-Sprinkler head; 24-Motor 3. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figure 1 As shown, a tunnel dust removal robot according to Example 1 of the present invention includes a mobile body, a dust removal unit disposed on the mobile body, and an electrical control unit disposed within the mobile body. The dust removal unit includes a rotatable folding arm 19 disposed on the mobile body, a sprinkler head 23 disposed at the front end of the folding arm 19, a water supply mechanism disposed within the mobile body, and a rotary drive mechanism disposed within the mobile body for driving the rotation of the folding arm 19. The water supply mechanism is connected to the sprinkler head 23 for supplying water to the sprinkler head 23; the rotary drive mechanism is connected to the lower end of the folding arm 19 for driving the rotation of the folding arm 19. The electrical control unit includes an air scanning sensor 11, a radar sensor 12, a memory, and a central processing module 16. The air scanning sensor 11, the radar sensor 12, the memory, and the central processing module 16 are disposed on the mobile body or the dust removal unit. The air scanning sensor 11, the radar sensor 12, and the memory are all electrically connected to the central processing module 16 for inputting or storing information on dust concentration in the air after tunnel blasting and information on tunnel ground conditions. The output end of the central processing module 16 is connected to the rotary drive mechanism, the drive mechanism in the water supply mechanism, and the drive mechanism of the mobile body. The central processing module 16 controls the movement of the tunnel dust removal robot and the automatic water spraying and dust removal based on the dust concentration information and tunnel ground conditions. In addition, Figure 5 and Figure 6 As shown, a power supply 17 and a central processing module 16 are provided in the mobile body to supply power to various driving mechanisms.

[0032] Furthermore, the electrical control unit further includes a 5G communication module 13 provided in the mobile body, the memory includes a second memory 15, the radar sensor 12 collects tunnel ground road condition information, the radar sensor 12 is connected to the second memory 15 via the 5G communication module 13, and the second memory 15 transmits the information to the central processing module. Figure 7 As shown, the 5G communication module 13, the central processing module 16 and the memory 2 15 are arranged inside the mobile body. The radar sensor 12 is arranged on the front side of the lower end of the folding arm 19.

[0033] Furthermore, the memory includes a memory 14, and the air scanning sensor 11 is connected to the memory 14 via a 5G communication module 13. The air scanning sensor 11 obtains dust concentration information in the air after tunnel blasting and transmits it to the memory 14 via the 5G communication module 13, and then the memory 14 transmits it to the central processing module 16. Figure 7 As shown, the memory 14 is set inside the mobile body. Figure 1 and Figure 2 As shown, the air scanning sensor 11 is arranged on the upper part of the folding arm 19.

[0034] Example 2 is different from Example 1 in that Figure 4 and Figure 5 As shown, the rotation drive mechanism includes a third motor 24 disposed within the mobile body. The output end of the third motor 24 is connected to a driving gear. The lower end of the folding arm 19 is provided with a rotating gear 18 that meshes with the driving gear. The rotation of the driving gear driven by the third motor 24 drives the rotation of the rotating gear 18, thereby driving the entire rotation of the folding arm 19.

[0035] Furthermore, if Figure 1 and Figure 2 As shown, the folding arm 19 also includes a rotating support body, the rotating gear 18 is disposed on the rotating support body, and the lower arm is connected to the rotating support body via a second servo. This allows the folding arm 19 to rotate with the rotating support body while also swinging vertically relative to the rotating support body to adjust the direction of water spraying. The second servo is electrically connected to the central processing module 16, so that the central processing module 16 controls the second servo based on the acquired information to drive the folding arm 19 to swing, causing the sprinkler head 23 to spray water toward the dust location.

[0036] Embodiment 3 is different from embodiment 2 in that the folding arm 19 comprises a lower arm and an upper arm which are hinged to each other, and a telescopic mechanism, i.e., an electric push rod or an upper arm connected to the lower arm through a steering gear, is hinged between the lower arm and the upper arm to drive the upper arm to swing up and down. Figure 1 and Figure 2As shown, the upper arm is connected to the lower arm via servo 1, which controls the upper arm's upward and downward swinging relative to the lower arm to adjust its angle. Servo 1 is also electrically connected to central processing module 16, enabling central processing module 16 to control servo 1 based on acquired information, driving the upper arm's swing relative to the lower arm, thereby enabling sprinkler head 23 to spray water and remove dust more accurately. In another embodiment, a telescopic mechanism can be hinged between the lower and upper arms. Specifically, the telescopic mechanism, i.e., the telescopic end and fixed end of the electric push rod, are hinged to the lower and upper arms, respectively, to drive the upper arm's upward and downward swinging relative to the lower arm.

[0037] Example 4 is different from Example 3 in that Figure 5 As shown, the water supply mechanism includes a water tank 21 and a high-pressure water pump 22 provided in the mobile body. The high-pressure water pump 22 is connected to the water tank 21 and is connected to the sprinkler head 23 through a water pipe.

[0038] Example 5 is different from Example 4 in that Figure 1 and Figure 2 As shown, the sprinkler head 23 is connected to the front end of the folding arm 19 via a telescopic rod 21. In a preferred embodiment, the rear portion of the telescopic rod 20 is slidably connected to the upper arm, with the telescopic rod 20 and the upper arm being slidably sealed. A water pipe passes through the upper arm and is connected to the telescopic rod 20, and the water pipe and the upper arm are sealed. A micro air pump is provided in the upper arm to control the amount of air in the upper arm, causing the telescopic rod 20 to slide relative to the upper arm to achieve telescopic and retractable functions. The micro air pump is connected to the central processing module 16, which controls the telescopic rod 20's extension and retraction. In another embodiment, the telescopic rod 20 can be connected to the upper arm of the folding arm 19 using a waterproof electric cylinder to achieve telescopic and retractable functions. The water pipe passes through the telescopic rod 20 and is connected to the sprinkler head 23. The waterproof electric cylinder is connected to the central processing module 16, which controls the telescopic and retractable functions of the telescopic rod 20.

[0039] Example 6 is different from Example 1 in that Figure 5 As shown, the mobile body includes a protective box 1 and a crawler mechanism connected to both sides of the protective box 1. Particularly, fixed plates 3 are provided on both sides of the protective box 1, and the crawler mechanism is arranged on the fixed plates 3. The protective box 1 is made of high-strength composite material, and the internal space layout of the protective box 1 includes a motor placement area, an electrical placement area, and a water tank placement area. The protective box 1 includes a frame rod 2 and a protective plate arranged on the frame rod 2. The frame rod 2 is a hollow steel material, which reduces the weight of the dust removal device itself and provides structural rigidity support for the protective box 1.

[0040] Furthermore, if Figure 1 and Figure 2 As shown, the crawler mechanism is a dual-motor crawler mechanism. A horizontal rotating shaft 8 is provided on the fixed plate 3, and the inner side of the rotating shaft 8 is connected to the motor 1 9 or the motor 2 10. Figure 5As shown, motor 1 9 and motor 2 10 are disposed within protective housing 1. The outer end of rotating shaft 8 is connected to a wheel frame, which is rotatably connected to the wheel frame. Rotating shaft 8 is fixedly connected to drive wheel 5 to drive the rotation of drive wheel 5. The wheel frame is provided with a plurality of driven wheels 6. Tracks 4 are sheathed around the wheel frame, driven wheels 6, and drive wheel 5. Motor 1 9 or motor 2 10 drives rotating shaft 8 and drive wheel 5, thereby driving the reciprocating motion of track 4, thereby moving the mobile body forward. Motor 1 9 and motor 2 10 are connected to a central processing module 16, which controls the movement of the mobile body.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that any modification to the technical solutions described in the aforementioned embodiments, or any equivalent replacement of some or all of the technical features thereof, within the spirit and principles of the present invention, does not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A tunnel dust removal robot, characterized by: The invention comprises a mobile body, a dust removal unit arranged on the mobile body, and an electrical control unit; the dust removal unit comprises a rotatable folding arm (19) arranged on the mobile body, a sprinkler head (23) arranged at the front end of the folding arm (19), a water supply mechanism arranged in the mobile body, and a rotary drive mechanism arranged in the mobile body for driving the rotation of the folding arm (19), wherein the water supply mechanism is connected to the sprinkler head (23); the electrical control unit comprises an air scanning sensor (11), a radar sensor (12), a memory, and a central processing module (16) arranged on the mobile body or the dust removal unit, wherein the air scanning sensor (11), the radar sensor (12), the memory, and the rotary drive mechanism are electrically connected to the central processing module (16).

2. The tunnel dust removal robot according to claim 1, characterized in that: The rotary drive mechanism includes a motor 3 (24) arranged in the mobile body, the output end of the motor 3 (24) is connected to a driving gear, and the lower end of the folding arm (19) is provided with a rotating gear (18) meshing with the driving gear.

3. The tunnel dust removal robot according to claim 2, characterized in that: The folding arm (19) comprises a lower arm and an upper arm that are hinged to each other, and an electric push rod is hinged between the lower arm and the upper arm, or the upper arm is connected to the lower arm through a steering gear to push the upper arm to swing up and down.

4. The tunnel dust removal robot according to claim 3, characterized in that: The folding arm (19) further includes a rotating support body, the rotating gear (18) is arranged on the rotating support body, and the lower arm is connected to the rotating support body via a second steering gear.

5. The tunnel dust removal robot according to claim 4, characterized in that: The second servo and the electric push rod or the first servo are electrically connected to the central processing module (16).

6. The tunnel dust removal robot according to any one of claims 1 to 5, characterized in that: The water supply mechanism comprises a water tank (21) and a high-pressure water pump (22) arranged in the mobile body, the high-pressure water pump (22) being connected to the water tank (21), and the high-pressure water pump (22) being connected to the sprinkler head (23) via a water pipe.

7. The tunnel dust removal robot according to claim 6, characterized in that: The sprinkler head (23) is connected to the front end of the folding arm (19) via a telescopic rod (20).

8. The tunnel dust removal robot according to any one of claims 1 to 5 or 7, characterized in that: The electrical control unit further includes a 5G communication module (13) disposed in the mobile body, the memory includes a second memory (15), and the radar sensor (12) is connected to the second memory (15) via the 5G communication module (13).

9. The tunnel dust removal robot according to any one of claims 1 to 5 or 7, characterized in that: The memory includes a memory 1 (14), and the air scanning sensor (11) is connected to the memory 1 (14) via a 5G communication module (13).

10. The tunnel dust removal robot according to any one of claims 1 to 5 or 7, characterized in that: The mobile body comprises a protection box (1) and a crawler mechanism connected to both sides of the protection box (1).

Images