Truss type duct piece cleaning robot

Abstract

The utility model belongs to the technical field of duct piece production equipment, and particularly relates to a truss type duct piece cleaning robot. The cleaning device comprises a frame assembly, a rail assembly, a mechanical arm and a cleaning brush assembly, and the frame assembly is arranged on the periphery of a segment mold; the rail assembly is arranged on the frame assembly and located above the segment mold, and the rail assembly is arranged in the length direction of the segment mold; the mechanical arm is slidably connected to the rail assembly. The cleaning brush assembly is installed at the tail end of the mechanical arm and used for cleaning an inner cavity of the segment mold. The cleaning device is used for solving the problem that the inner cavity of the duct piece mold is inconvenient to clean. The mechanical arm is hoisted above the duct piece mold through the frame assembly located on the periphery of the duct piece mold, due to the fact that the upper portion of the duct piece mold is open, the cleaning brush assembly at the tail end of the mechanical arm can clean an inner cavity of the duct piece mold more conveniently from the upper portion, and the cleaning brush assembly conducts cleaning through a brush head; and compared with air blowing and manual work, the device is safer and higher in efficiency.

Description

Technical Field

[0001] This utility model belongs to the technical field of tunnel segment production equipment, specifically relating to a truss-type tunnel segment cleaning robot. Background Technology

[0002] Tunnel segments are the main assembly components in shield tunneling. They are the innermost barrier of the tunnel and bear the responsibility of resisting soil pressure, groundwater pressure, and some special loads.

[0003] The production of tunnel segments is usually accomplished by segment molds, which are special precast concrete molds made of mold steel and consisting of a base plate, four side plates, and two top covers.

[0004] After the production of tunnel segments is completed, the inner cavity of the tunnel segment mold needs to be cleaned. Traditional concrete tunnel segment production usually involves manual cleaning of the inner cavity of the mold, which is time-consuming and labor-intensive. Alternatively, manual cleaning can be carried out using gas, which uses high-speed gas to clean the surface. However, this method is inefficient, noisy, and can easily cause secondary damage to the surface of the inner cavity of the mold, affecting the surface precision of the mold. Moreover, gas cleaning can easily generate excessive dust, which can affect the environment and harm the health of personnel. Utility Model Content

[0005] To address the shortcomings of existing technologies, a truss-type segment cleaning robot is provided to solve the problem of inconvenient cleaning of the inner cavity of segment molds.

[0006] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A truss-type segment cleaning robot, comprising:

[0007] The frame assembly is located on the outer periphery of the segment mold;

[0008] A track assembly is disposed on the frame assembly and located above the segment mold, the track assembly being arranged along the length direction of the segment mold;

[0009] A robotic arm is slidably connected to the track assembly;

[0010] A cleaning brush assembly, installed at the end of the robotic arm, is used to clean the inner cavity of the segment mold.

[0011] Compared with existing technologies, the above technical solutions have the following beneficial effects:

[0012] The robotic arm is suspended above the segment mold by a frame assembly located on the outer periphery of the segment mold. Because the segment mold has an opening at the top, the cleaning brush assembly at the end of the robotic arm can clean the inner cavity of the segment mold more conveniently from above. The cleaning brush assembly uses a brush head for cleaning, which is not only safer but also more efficient than air blowing and manual cleaning.

[0013] Based on the above technical solution, the embodiments of this application can be further improved as follows:

[0014] In one embodiment, a dust collection bin is further included, disposed on one side of the segment mold, the dust collection bin comprising:

[0015] Dust hopper, used to collect dust from the cleaning brush assembly;

[0016] Several impact rods are spaced apart in the ash hopper for contacting the bristles of the cleaning brush assembly.

[0017] The dust collection bin collects the dust adhering to the cleaning brush assembly, preventing secondary pollution of the tube mold by the dust on the cleaning brush assembly. Moreover, the brush head's bristles contact the impact rod, and the impact of the bristles on the rotating brush head makes the dust fall off easily.

[0018] In one embodiment, the side wall of the ash hopper is provided with an opening for mounting an air pipe nozzle facing the inside of the ash hopper.

[0019] By using air nozzles installed on the side wall of the ash hopper, stubborn dust adhering to the inner wall of the ash hopper can be blown off, preventing dust from accumulating in the ash hopper.

[0020] In one embodiment, the track assembly includes:

[0021] A track frame is connected to the frame assembly along the length of the segment mold;

[0022] A linear guide rail is provided at the bottom of the track frame;

[0023] The slide plate is slidably connected to the linear guide rail;

[0024] A drive motor is mounted on the slide plate, and the drive motor is used to drive the slide plate to reciprocate along the linear guide rail.

[0025] In one embodiment, limit brackets are provided at both ends of the linear guide rail, and anti-collision blocks are provided on the limit brackets.

[0026] In one embodiment, the cleaning brush assembly includes:

[0027] A buffer assembly is installed at the end of the robotic arm;

[0028] A cleaning motor is installed at the end of the buffer assembly away from the robotic arm, and the output end of the cleaning motor is connected to a brush head for contacting the inner cavity of the tube segment mold.

[0029] In one embodiment, the buffer component includes:

[0030] A first mounting plate is connected to the end of the robotic arm;

[0031] Several guide rods, one end of which is fixedly connected to the first mounting plate, and the other end of the guide rod is formed with a stop;

[0032] The second mounting plate is slidably connected to the guide rod;

[0033] Several reset components are sleeved on the guide rod, and the two ends of the reset components abut against the first mounting plate and the second mounting plate, respectively.

[0034] In one embodiment, the cleaning brush assembly further includes:

[0035] A fixed arm, one end of which is connected to the end of the buffer assembly away from the robotic arm;

[0036] The L-shaped bracket has a horizontal section connected to the other end of the fixed arm, and a vertical section for mounting the sweeping motor.

[0037] In one embodiment, the brush head is a disc brush head or a roller brush head. Attached Figure Description

[0038] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0040] Figure 2 for Figure 1 A schematic diagram of the structure of the mold for removing segments.

[0041] Figure 3 for Figure 2 A schematic diagram of the intermediate buffer component.

[0042] Figure 4 This is a top view of the hopper structure in this utility model.

[0043] Figure 5 This is a schematic diagram of another cleaning brush assembly in this utility model.

[0044] Figure label:

[0045] 1. Frame assembly; 2. Track assembly; 3. Robotic arm; 4. Cleaning brush assembly; 5. Ash collection bin; 6. Limiting bracket; 7. Anti-collision block; 8. Segment mold;

[0046] 201. Track frame; 202. Linear track; 203. Slide plate; 204. Drive motor; 205. Rack and pinion;

[0047] 401. Buffer assembly; 402. Sweeping motor; 403. Brush head; 404. Fixing arm; 405. L-shaped bracket;

[0048] 4011, First mounting plate; 4012, Second mounting plate; 4013, Guide rod; 4014, Stop block; 4015, Reset component;

[0049] 501. Ash hopper; 502. Bumper bar; 503. Opening. Detailed Implementation

[0050] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0051] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this utility model pertains.

[0052] In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0053] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly defined.

[0054] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0055] like Figure 1-5 As shown, the truss-type segment cleaning robot provided by this utility model includes: a frame assembly 1, a track assembly 2, a robotic arm 3, and a cleaning brush assembly 4.

[0056] The frame assembly 1 is located on the outer periphery of the segment mold 8, and the top of the frame assembly 1 is higher than the segment mold 8, which facilitates the suspension of the robotic arm 3. Specifically, the frame assembly 1 includes columns, which are respectively located at the four corners of the mold, and the tops of the columns are connected by trusses to form the frame assembly 1.

[0057] The track assembly 2 is disposed on the frame assembly 1 and located above the segment mold 8. The track assembly 2 is disposed along the length direction of the segment mold 8. The robotic arm 3 is slidably connected to the track assembly 2, so that the robotic arm 3 can reciprocate along the length direction, so that the range of motion of the robotic arm 3 can cover the entire segment mold 8. The cleaning brush assembly 4 is installed at the end of the robotic arm 3 and is used to clean the inner cavity of the segment mold 8.

[0058] The robotic arm 3 is hoisted above the segment mold 8 by the frame assembly 1 located on the outer periphery of the segment mold 8. Since the segment mold 8 has an opening 503 on top, the cleaning brush assembly 4 at the end of the robotic arm 3 can clean the inner cavity of the segment mold 8 more conveniently from above. The cleaning brush assembly 4 uses the brush head 403 for cleaning, which is not only safer but also more efficient than air blowing and manual cleaning.

[0059] To prevent dust on the cleaning brush assembly 4 from causing secondary pollution to the inside of the segment mold 8, a dust collection bucket 5 is also provided on one side of the segment mold 8. The dust collection bucket 5 collects the dust on the cleaning brush assembly 4. The dust collection bucket 5 includes a dust hopper 501 and several impact rods 502.

[0060] The dust hopper 501 is mounted on the ground via a frame. Specifically, the dust hopper 501 is located on one side of the tube mold 8 and is used to collect dust from the cleaning brush assembly 4. The bottom opening 503 of the dust hopper 501 can be equipped with a pull-out latch or connected to a dust collection bag. Several impact rods 502 are spaced apart in the dust hopper 501 and are used to contact the bristles of the cleaning brush assembly 4. The impact rods 502 can be set vertically or horizontally depending on the direction of the bristles of the cleaning brush assembly 4. It is only necessary to facilitate vertical contact with the bristles of the cleaning brush. The rotating bristles strike the impact rods 502 to dislodge the dust.

[0061] The dust attached to the cleaning brush assembly 4 is collected by the dust collection bucket 5 to prevent the dust on the cleaning brush assembly 4 from causing secondary pollution to the inside of the tube mold 8. Moreover, the dust can be easily removed by the contact between the bristles and the impact bar 502, and the impact of the bristles on the rotating brush head 403 with the impact bar 502.

[0062] To prevent dust accumulation in the ash hopper 501, an opening 503 is provided on the side wall of the ash hopper 501. An air nozzle facing the inside of the ash hopper 501 is installed on the opening 503, which is to install an industrial air knife to blow air into the ash hopper 501 and prevent dust from accumulating in the ash hopper 501. The air nozzle provided on the side wall of the ash hopper 501 can blow off the stubborn dust attached to the inner wall of the ash hopper 501, preventing dust from accumulating in the ash hopper 501 and causing it to be unable to be discharged from the bottom of the ash hopper 501.

[0063] In this embodiment, the track assembly 2 includes: a track frame 201, a linear guide rail 202, a sliding plate 203, and a drive motor 204.

[0064] The track frame 201 is connected to the frame assembly 1 along the length of the segment mold 8. Specifically, the track frame 201 is suspended and fixed on the top truss in the frame assembly 1. The linear guide rail 202 is set at the bottom of the track frame 201. The slide plate 203 is slidably connected to the linear guide rail 202. The track frame 201 is provided with a rack 205 along the direction of the linear guide rail 202, which cooperates with the drive motor 204. The drive motor 204 is installed on the slide plate 203. The output end of the drive motor 204 is meshed with the rack 205 to drive the slide plate 203 to reciprocate along the linear guide rail 202. The robotic arm 3 is installed on the slide plate 203, thereby driving the robotic arm 3 to reciprocate along the length of the segment mold 8.

[0065] Limiting brackets 6 are provided at both ends of the linear guide rail 202, and anti-collision blocks 7 are provided on the limiting brackets 6. The anti-collision blocks 7 can prevent the slide plate 203 from sliding out of the end of the linear guide rail 202.

[0066] In this embodiment, the cleaning brush assembly 4 includes: a buffer assembly 401 and a cleaning motor 402.

[0067] A buffer assembly 401 is installed at the end of the robotic arm 3, and the buffer assembly 401 can provide a certain buffer margin; a cleaning motor 402 is installed at the end of the buffer assembly 401 away from the robotic arm 3, and the output end of the cleaning motor 402 is connected to a brush head 403 for contacting the inner cavity of the tube mold 8, which drives the cleaning motor 402 and the brush head 403 at its output end to press against the inner wall of the mold and provide a certain amount of clamping.

[0068] The buffer assembly 401 includes: a first mounting plate 4011, a second mounting plate 4012, four guide rods 4013 and four reset members 4015, wherein the reset members 4015 can be implemented by springs.

[0069] The first mounting plate 4011 is connected to the end of the robotic arm 3. One end of the guide rod 4013 is fixedly connected to the first mounting plate 4011, and the other end of the guide rod 4013 forms a stop 4014. The second mounting plate 4012 is slidably connected to the guide rod 4013, and the second mounting plate 4012 is limited within the stop 4014 to prevent the second mounting part from sliding out from the end of the guide rod 4013. The reset member 4015 is sleeved on the guide rod 4013, and the two ends of the reset member 4015 abut against the first mounting plate 4011 and the second mounting plate 4012 respectively. The cleaning motor 402 and its brush head 403 are mounted on the second mounting plate 4012 and can provide a certain amount of compression through the reset member 4015.

[0070] The brush head 403 connected to the drive end of the sweeping motor 402 includes a disc brush head 403 and a roller brush head 403;

[0071] The disc brush head 403 can contact the bottom surface of the mold, and the roller brush head 403 can contact the inner wall surface of the mold. The actual use of the brush head 403 is not limited by these two types. The robotic arm 3 can rotate freely to drive the brush head 403 to adjust the angle.

[0072] In another embodiment, the cleaning brush assembly 4 further includes a fixed arm 404 and an L-shaped bracket 405.

[0073] One end of the fixed arm 404 is connected to the end of the buffer assembly 401 away from the robotic arm 3. The horizontal section of the L-shaped bracket 405 is connected to the other end of the fixed arm 404. The vertical section of the L-shaped bracket 405 is used to install the sweeping motor 402. The sweeping motor 402 is placed horizontally through the L-shaped bracket 405 to facilitate the cleaning of the roller brush.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A truss-type segment cleaning robot, characterized in that, include: The frame assembly is located on the outer periphery of the segment mold; A track assembly is disposed on the frame assembly and located above the segment mold, the track assembly being arranged along the length direction of the segment mold; A robotic arm is slidably connected to the track assembly; A cleaning brush assembly, installed at the end of the robotic arm, is used to clean the inner cavity of the segment mold.

2. The truss-type segment cleaning robot according to claim 1, characterized in that, It also includes a dust collection bin disposed on one side of the segment mold, the dust collection bin comprising: Dust hopper, used to collect dust from the cleaning brush assembly; Several impact rods are spaced apart in the ash hopper for contacting the bristles of the cleaning brush assembly.

3. The truss-type segment cleaning robot according to claim 2, characterized in that, The side wall of the ash hopper is provided with an opening, and the opening is used to install an air pipe nozzle facing the inside of the ash hopper.

4. The truss-type segment cleaning robot according to claim 1, characterized in that, The track assembly includes: A track frame is connected to the frame assembly along the length of the segment mold; A linear guide rail is provided at the bottom of the track frame; The slide plate is slidably connected to the linear guide rail; A drive motor is mounted on the slide plate, and the drive motor is used to drive the slide plate to reciprocate along the linear guide rail.

5. The truss-type segment cleaning robot according to claim 4, characterized in that, The linear guide rail is provided with limit brackets at both ends, and anti-collision blocks are provided on the limit brackets.

6. The truss-type segment cleaning robot according to claim 1, characterized in that, The cleaning brush assembly includes: A buffer assembly is installed at the end of the robotic arm; A cleaning motor is installed at the end of the buffer assembly away from the robotic arm, and the output end of the cleaning motor is connected to a brush head for contacting the inner cavity of the tube segment mold.

7. The truss-type segment cleaning robot according to claim 6, characterized in that, The buffer component includes: A first mounting plate is connected to the end of the robotic arm; Several guide rods, one end of which is fixedly connected to the first mounting plate, and the other end of the guide rod is formed with a stop; The second mounting plate is slidably connected to the guide rod; Several reset components are sleeved on the guide rod, and the two ends of the reset components abut against the first mounting plate and the second mounting plate, respectively.

8. The truss-type segment cleaning robot according to claim 6, characterized in that, The cleaning brush assembly also includes: A fixed arm, one end of which is connected to the end of the buffer assembly away from the robotic arm; The L-shaped bracket has a horizontal section connected to the other end of the fixed arm, and a vertical section for mounting the sweeping motor.

9. The truss-type segment cleaning robot according to claim 6, characterized in that, The brush head is either a disc brush head or a roller brush head.

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