Multi-degree-of-freedom tunnel cleaning mechanical arm device

Abstract

The utility model relates to the technical field of tunnel cleaning devices, in particular to a multi-degree-of-freedom tunnel cleaning mechanical arm device which comprises a mounting base plate. Two first multi-stage telescopic air cylinders are fixedly connected to the upper end of the mounting base plate, a U-shaped frame is fixedly connected to the output ends of the first multi-stage telescopic air cylinders, two bases are arranged on the inner side of the U-shaped frame, a second multi-stage telescopic air cylinder is fixedly connected to the upper end of each base, and the rectangular frame is fixedly connected to the output ends of the second multi-stage telescopic air cylinders; a plurality of arrangement plates distributed in a row are arranged above the rectangular frame; according to the tunnel cleaning device, the independent arrangement plates are arranged, under the compression action of the springs, each scraper blade and each cleaning brush head can make good contact with the arc face of the top of a tunnel, the mechanical arm moves along with the vehicle body and is matched with the communicating pipe and the spray head, and the tasks of flushing water and pre-washing, scraping stubborn attachments, further fine washing and final thorough washing are completed; and the tunnel top wall can be effectively cleaned, the effect is good, efficiency is high, and good practical value is achieved.

Description

Technical Field

[0001] This utility model relates to the technical field of tunnel cleaning devices, and in particular to a multi-degree-of-freedom tunnel cleaning robotic arm device. Background Technology

[0002] A tunnel is a man-made underground passage structure, primarily used to traverse obstacles (such as mountains, bodies of water, urban building complexes, or transportation routes), significantly shortening the detour distance between two locations. It enables shorter routes for travel, transportation, or pipeline laying, improving the efficiency of traffic flow between the two areas. Therefore, tunnels are a crucial facility in highway construction. When a tunnel is put into use, due to poor ventilation and heavy vehicle traffic, dust accumulates and adheres to the tunnel walls, necessitating regular cleaning.

[0003] In existing technologies, high-pressure spray guns are often used to directly spray high-pressure water onto the walls for tunnel cleaning. However, this method is difficult to remove stubborn mud and other debris, and the cleaning effect is generally poor. Some engineering vehicles are equipped with special cleaning robotic arms, with water guns and cleaning brushes used for cleaning. However, the brush structure of such robotic arms works well for cleaning vertical walls, but it is not effective for cleaning the curved surfaces of the tunnel ceiling due to improper fit, resulting in low efficiency. Therefore, there is an urgent need for a special robotic arm that can efficiently clean the curved surfaces of tunnels to meet the needs of tunnel cleaning.

[0004] Therefore, in order to address the existing problems of incomplete cleaning, poor cleaning effect, and low work efficiency caused by the lack of efficient cleaning methods for the curved surface of the tunnel top, a cleaning robotic arm suitable for the curved surface of the tunnel top can be designed to improve the cleaning effect and speed of the tunnel. Utility Model Content

[0005] In order to overcome the current lack of efficient cleaning methods for the curved surface at the top of tunnels, which leads to incomplete tunnel cleaning, poor cleaning effect, and low work efficiency.

[0006] The technical solution of this utility model is as follows: a multi-degree-of-freedom tunnel cleaning robotic arm device, including a mounting base; and a rectangular frame. Two multi-stage telescopic cylinders are fixedly connected to the upper end of the mounting base. A U-shaped frame is fixedly connected to the output end of the multi-stage telescopic cylinder. Two bases are provided on the inner side of the U-shaped frame. A multi-stage telescopic cylinder is fixedly connected to the upper end of each base. A rectangular frame is fixedly connected to the output end of the multi-stage telescopic cylinder. Multiple arrangement plates arranged in a row are provided above the rectangular frame. A scraper and a cleaning brush head are fixedly connected to the front and rear sides of the upper end of each arrangement plate, respectively. Two springs are fixedly connected between each arrangement plate and the corresponding rectangular frame. A connecting pipe is arranged around the outer side of the rectangular frame. Spray nozzles distributed on both sides of the rectangular frame are fixedly connected to the upper end of the connecting pipe.

[0007] Preferably, the entire robotic arm is connected to the vehicle body via a mounting base plate, and the connecting pipe is connected to the vehicle body's water tank pump. Activating the first multi-stage telescopic cylinder raises the device to a suitable height, then using two bases to extend the two rectangular frames to the sides at a certain angle. Activating the second multi-stage telescopic cylinder pushes the rectangular frames further up, causing the two rows of scrapers and cleaning brush heads on the two arrangement plates to contact the tunnel ceiling. Because the tunnel ceiling has a certain curvature, and each arrangement plate is independent, the compression of each spring results in an approximately arc-shaped end face at the contact surface, ensuring good contact between each scraper and cleaning brush head. As the robotic arm moves with the vehicle body, the vehicle body's water pump is activated, and water is sprayed onto the tunnel ceiling through the nozzles via the connecting pipe. The scrapers first remove stubborn dirt, and the cleaning brush heads scrape and clean the tunnel walls. Then, after another round of spraying water, the tunnel ceiling is effectively cleaned.

[0008] Preferably, a limiting rod is fixedly connected to the bottom of each arrangement plate, and a guide post corresponding to the position of each limiting rod is fixedly connected to the upper inner side of the rectangular frame. Each guide post and the upper end of the rectangular frame are connected by a through hole, and the bottom of the limiting rod passes through the corresponding through hole and is fixedly connected to a limiting plate.

[0009] Preferably, two fixing seats are fixedly connected to the outer side of the rectangular frame, and fixing rings are fixedly connected to the surface of the fixing seats. The two fixing rings are fixedly sleeved on the outer side of the corresponding connecting pipe.

[0010] Preferably, a water inlet pipe is fixedly connected to the bottom of the connecting pipe, and an external threaded connector is fixedly connected to the bottom of the water inlet pipe.

[0011] Preferably, the inner side of the U-shaped frame is rotatably connected to two rotating rods, and two bases are fixedly sleeved on the outer side of the two rotating rods, with the two bases being staggered one in front of the other.

[0012] Preferably, two meshing gears are rotatably connected to the outer side of one end of the U-shaped frame, and the two gears are fixedly connected to two rotating rods via rotating shafts.

[0013] Preferably, a drive motor is fixedly connected to the outer side of the other end of the U-shaped frame, and the output shaft of the drive motor is fixedly connected to one of the rotating rods.

[0014] The beneficial effects of this utility model are:

[0015] 1. This device is equipped with a multi-stage telescopic cylinder, a rectangular frame, arrangement plates, scrapers, cleaning brush heads, springs, etc. Because each arrangement plate is independent, the compression of each spring ensures that each scraper and cleaning brush head can make good contact with the curved surface of the tunnel top, fitting perfectly to the curved surface of the tunnel. When the robotic arm moves with the vehicle, the vehicle's water pump is activated, and water is sprayed onto the tunnel top wall through the connecting pipe. The scrapers first scrape off stubborn dirt, and the cleaning brush heads scrape and clean the tunnel walls. Then, after another round of spraying water, the device completes the tasks of pre-washing with water, scraping off stubborn dirt, further fine scrubbing, and finally thorough rinsing. It can effectively clean the tunnel top wall, with good results and high efficiency, and has good practical value.

[0016] 2. This device, through the installation of multi-stage telescopic cylinders, U-shaped frame, base, rotating rod, gears, drive motor, etc., can adapt to the height of the tunnel top by adjusting the height accordingly. It can also open two rectangular frames at a certain angle, so that the scrapers and cleaning brush heads on the two rows of plates can work simultaneously on the two curved surfaces of the tunnel top, thereby expanding the cleaning area of ​​the tunnel and improving work efficiency. Attached Figure Description

[0017] Figure 1 The diagram shown is a three-dimensional structural schematic of the present invention.

[0018] Figure 2 The diagram shown is a partial disassembly of the present invention.

[0019] Figure 3 The diagram shown is a three-dimensional representation of the rectangular frame of this utility model. Figure 1 ;

[0020] Figure 4 The diagram shown is a three-dimensional representation of the rectangular frame of this utility model. Figure 2 ;

[0021] Figure 5 The diagram shown is a three-dimensional structural schematic of the arrangement plate of this utility model;

[0022] Figure 6 The diagram shown is a three-dimensional representation of the U-shaped frame of this utility model. Figure 1 ;

[0023] Figure 7 The diagram shown is a three-dimensional representation of the U-shaped frame of this utility model. Figure 2 .

[0024] Explanation of reference numerals in the attached drawings: 1. Mounting base plate; 2. Multi-stage telescopic cylinder one; 3. U-shaped frame; 4. Base; 5. Multi-stage telescopic cylinder two; 6. Rectangular frame; 7. Arrangement plate; 8. Scraper; 9. Cleaning brush head; 10. Spring; 11. Connecting pipe; 12. Nozzle; 13. Limiting rod; 14. Guide post; 15. Perforation; 16. Limiting plate; 17. Fixing seat; 18. Fixing ring; 19. Water inlet pipe; 20. External threaded connector; 21. Rotating rod; 22. Gear; 23. Drive motor. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Please see Figures 1-7 This utility model provides an embodiment of a multi-degree-of-freedom tunnel cleaning robotic arm device, including a mounting base plate 1 and a rectangular frame 6. Two multi-stage telescopic cylinders 2 are fixedly connected to the upper end of the mounting base plate 1. A U-shaped frame 3 is fixedly connected to the output end of each multi-stage telescopic cylinder 2. Two bases 4 are arranged inside the U-shaped frame 3. A multi-stage telescopic cylinder 5 is fixedly connected to the upper end of each base 4. The rectangular frame 6 is fixedly connected to the output end of each multi-stage telescopic cylinder 5. Multiple arranged plates 7 are arranged in a row above the rectangular frame 6. A scraper 8 and a cleaning brush head 9 are fixedly connected to the front and rear sides of the upper end of each arranged plate 7, respectively. Two springs 10 are fixedly connected between each arranged plate 7 and the corresponding rectangular frame 6. A connecting pipe 11 is arranged around the outer side of the rectangular frame 6. Nozzles 12 distributed on both sides of the rectangular frame 6 are fixedly connected to the upper end of the connecting pipe 11. The entire robotic arm is connected via the mounting base plate. 1. Connected to the vehicle body, the connecting pipe 11 is connected to the vehicle body's water tank pump. The multi-stage telescopic cylinder 12 is activated to raise the device to a suitable height. Then, the two rectangular frames 6 are spread to the sides at a certain angle through the two bases 4. The two multi-stage telescopic cylinders 25 are activated to push the rectangular frames 6 to rise further, so that the two rows of scrapers 8 and cleaning brush heads 9 on the two arrangement plates 7 contact the tunnel top. At this time, because the tunnel top surface has a certain curvature, and each arrangement plate 7 is independent, it presents an approximately arc-shaped end face on the contact surface after being compressed by each spring 10. Each scraper 8 and cleaning brush head 9 can make good contact with the top surface. When the entire robotic arm moves with the vehicle body, the vehicle body water pump is activated. The connecting pipe 11 sprays water onto the tunnel top wall through the nozzle 12. The scraper 8 first scrapes away the stubborn attached dirt, and the cleaning brush head 9 scrapes and cleans the tunnel wall. Then, after another round of water spraying by the nozzle 12, the tunnel top wall is effectively cleaned.

[0027] Please see Figures 2-5In this embodiment, a limiting rod 13 is fixedly connected to the bottom of each arrangement plate 7. A guide post 14 corresponding to the position of each limiting rod 13 is fixedly connected to the upper inner side of the rectangular frame 6. Each guide post 14 and the upper end of the rectangular frame 6 are connected by a through hole 15. The bottom of the limiting rod 13 passes through the corresponding through hole 15 and is fixedly connected to a limiting plate 16. The limiting rod 13 and the guide post 14 cooperate to make the arrangement plate 7 move straight up and down. The spring 10 is compressed and stabilized. The limiting plate 16 prevents the spring 10 from being stretched outward and causing the arrangement plate 7 to detach. Two fixing seats 17 are fixedly connected to the outside of the rectangular frame 6. Fixing rings 18 are fixedly connected to the surface of the fixing seats 17. The two fixing rings 18 are fixedly sleeved on the outside of the corresponding connecting pipe 11. The connecting pipe 11 is fixed to the outside of the rectangular frame 6 by the fixing seats 17 and fixing rings 18. A water filling pipe 19 is fixedly connected to the bottom of the connecting pipe 11. An external threaded connector 20 is fixedly connected to the bottom of the water filling pipe 19. The external threaded connector 20 is used to connect to the output end of the vehicle body water pump and deliver water to the connecting pipe 11 through the water filling pipe 19.

[0028] Please see Figures 6-7 In this embodiment, two rotating rods 21 are rotatably connected to the inner side of the U-shaped frame 3. Two bases 4 are fixedly sleeved on the outer side of the two rotating rods 21, and the two bases 4 are staggered one in front of the other. The rotation of the rotating rods 21 can open the two bases 4 to the outside at an appropriate angle. At the same time, the staggered arrangement of the two bases 4 also prevents the operation of the two rectangular frames 6 and other components from affecting each other. Two meshing gears 22 are rotatably connected to the outer side of one end of the U-shaped frame 3. The two gears 22 are fixedly connected to the two rotating rods 21 through rotating shafts. Rotating one gear 22 will drive the other gear 22 to rotate, thereby causing the two rotating rods 21 to rotate in opposite directions. A drive motor 23 is fixedly connected to the outer side of the other end of the U-shaped frame 3. The output shaft of the drive motor 23 is fixedly connected to one of the rotating rods 21. Starting the drive motor 23 drives one rotating rod 21 to rotate, and then through the transmission action of the two meshing gears 22, drives the other rotating rod 21 to rotate in the opposite direction.

[0029] During operation, the entire robotic arm is connected to the vehicle body via mounting base plate 1. A water pump from the vehicle's water tank is connected to the connecting pipe 11. Activating the multi-stage telescopic cylinder 2 raises the device to a suitable height. Then, activating the drive motor 23 rotates one rotating rod 21. Through the transmission of two meshing gears 22, the other rotating rod 21 reverses. The two bases 4 unfold the two rectangular frames 6 to the sides at a certain angle. Activating the two multi-stage telescopic cylinders 5 further raises the rectangular frames 6, allowing the two rows of scrapers 8 on the two arrangement plates 7 to connect with the cleaning brush heads 9. Upon reaching the top of the tunnel, the tunnel top surface has a certain curvature, and each plate 7 is independent. After being compressed by each spring 10, the contact surface presents an approximately arc-shaped end face. Each scraper 8 and cleaning brush head 9 can make good contact with the top surface. As the entire robotic arm moves with the vehicle body, the vehicle body water pump is activated, and the connecting pipe 11 sprays water onto the tunnel top wall through the nozzle 12. The scraper 8 first scrapes away the stubborn attached dirt, and the cleaning brush head 9 scrapes and cleans the tunnel wall. Then, after another round of water spraying and rinsing by the nozzle 12, the tunnel top wall is effectively cleaned.

[0030] Through the above steps, each of the arrangement plates 7 in this device is independent. After compression by each spring 10, each scraper 8 and cleaning brush head 9 can make good contact with the curved surface of the tunnel top, fitting perfectly to the curved surface of the tunnel. When the robotic arm moves with the vehicle body, it works with the connecting pipe 11 and the nozzle 12 to complete the tasks of first rinsing with water, then scraping off stubborn deposits, then further fine scrubbing, and finally thorough rinsing. It can effectively clean the tunnel top wall, with good results and high efficiency, and has good practical value. It solves the problem of the lack of efficient cleaning methods for the curved surface of the tunnel top, which leads to incomplete tunnel cleaning, poor cleaning effect, and low work efficiency.

Claims

1. A multi-degree-of-freedom tunnel cleaning robotic arm device, comprising a mounting base plate (1); characterized in that: It also includes a rectangular frame (6), and two multi-stage telescopic cylinders (2) are fixedly connected to the upper end of the mounting base (1). A U-shaped frame (3) is fixedly connected to the output end of the multi-stage telescopic cylinder (2). Two bases (4) are provided on the inner side of the U-shaped frame (3). A multi-stage telescopic cylinder (5) is fixedly connected to the upper end of each base (4). A rectangular frame (6) is fixedly connected to the output end of the multi-stage telescopic cylinder (5). A row of arrangement plates (7) is provided above the rectangular frame (6). A scraper (8) and a cleaning brush head (9) are fixedly connected to the front and rear sides of the upper end of each arrangement plate (7). Two springs (10) are fixedly connected between each arrangement plate (7) and the corresponding rectangular frame (6). A connecting pipe (11) is arranged around the outer side of the rectangular frame (6). A nozzle (12) distributed on both sides of the rectangular frame (6) is fixedly connected to the upper end of the connecting pipe (11).

2. The multi-degree-of-freedom tunnel cleaning robotic arm device according to claim 1, characterized in that: Each arrangement plate (7) has a fixed limit rod (13) at its bottom. The upper inner side of the rectangular frame (6) is fixedly connected to a guide post (14) corresponding to the position of each limit rod (13). Each guide post (14) and the upper end of the rectangular frame (6) are connected by a through hole (15). The bottom of the limit rod (13) passes through the corresponding through hole (15) and is fixedly connected to a limit plate (16).

3. The multi-degree-of-freedom tunnel cleaning robotic arm device according to claim 1, characterized in that: Two fixing seats (17) are fixedly connected to the outside of the rectangular frame (6). Fixing rings (18) are fixedly connected to the surface of the fixing seats (17). The two fixing rings (18) are fixedly sleeved on the outside of the corresponding connecting pipe (11).

4. The multi-degree-of-freedom tunnel cleaning robotic arm device according to claim 1, characterized in that: A water inlet pipe (19) is fixedly connected to the bottom of the connecting pipe (11), and an external threaded connector (20) is fixedly connected to the bottom of the water inlet pipe (19).

5. The multi-degree-of-freedom tunnel cleaning robotic arm device according to claim 1, characterized in that: The inner side of the U-shaped frame (3) is rotatably connected to two rotating rods (21), and two bases (4) are fixedly sleeved on the outer side of the two rotating rods (21), and the two bases (4) are staggered one in front of the other.

6. The multi-degree-of-freedom tunnel cleaning robotic arm device according to claim 5, characterized in that: Two meshing gears (22) are rotatably connected to one end of the U-shaped frame (3), and the two gears (22) are fixedly connected to two rotating rods (21) through rotating shafts respectively.

7. The multi-degree-of-freedom tunnel cleaning robotic arm device according to claim 6, characterized in that: A drive motor (23) is fixedly connected to the outer side of the other end of the U-shaped frame (3), and the output shaft of the drive motor (23) is fixedly connected to one of the rotating rods (21).

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