A system for cleaning the walls of an inclined shaft tunnel

Abstract

This utility model provides a inclined shaft tunnel wall cleaning system, relating to the technical field of building cleaning. It includes a track module and a track vehicle module. The track vehicle module comprises a vehicle body, wheels, a gravel cleaning robotic arm, and a dust removal robotic arm. Both the gravel cleaning robotic arm and the dust removal robotic arm include a swing drive assembly and a telescopic drive assembly. This solution utilizes a track vehicle to clean the inclined shaft tunnel wall. The gravel cleaning robotic arm removes loose gravel from the inclined shaft tunnel wall, while the dust removal robotic arm blows or sucks air to remove dust from the areas on the inclined shaft tunnel wall that require dust removal. This system offers high cleaning efficiency, saves labor costs, and avoids the safety hazards associated with manual cleaning.

Description

Technical Field

[0001] This utility model relates to the field of building cleaning technology, and in particular to a system for cleaning the walls of inclined shaft tunnels. Background Technology

[0002] In the construction of inclined shaft tunnels, cleaning the tunnel walls is a crucial step in ensuring construction safety and quality. After the inclined shaft is excavated, due to geological conditions, blasting vibrations, and mechanical operations, the tunnel surface often accumulates a large amount of dust, mud, and loose gravel. These loose gravel particles have extremely poor stability and are prone to sudden detachment under construction vibrations or changes in ambient temperature. This can lead to minor issues such as clogging the drainage system and damaging construction equipment, or even serious collapses, severely threatening the safety of personnel working underground.

[0003] Currently, the industry commonly uses manual suspended operation to clean the walls of inclined shaft tunnels: workers are suspended from the shaft wall by safety ropes, use manual tools (such as steel chisels and hammers) to knock down loose rocks, and sweep away dust with brooms. This method has several drawbacks: 1. The inclined shaft has a large slope, and workers are prone to falling due to physical exhaustion or equipment failure during long-term suspended operation; at the same time, knocking down rocks may trigger a chain reaction of falling rocks, causing secondary injuries; 2. The speed of manual cleaning is limited by the physical strength of the workers, and on average, only 10-15 meters of shaft wall can be processed per shift, which is difficult to match the daily excavation progress of more than 50 meters in large-scale projects; 3. The dust concentration is consistently above the standard, and even if workers wear protective equipment, they still face occupational health risks such as pneumoconiosis.

[0004] Therefore, there is an urgent need for a machine that can replace manual labor in cleaning debris and dust from the walls of inclined shaft tunnels. In response to the above needs, this application is proposed. Utility Model Content

[0005] The purpose of this invention is to provide a system for cleaning the walls of inclined shaft tunnels, which solves the problems of high safety hazards and low cleaning efficiency caused by manual cleaning of inclined shaft tunnel walls at present.

[0006] To address the aforementioned problems, this utility model provides an inclined shaft tunnel wall cleaning system, comprising a track module and a track vehicle module. The track vehicle module includes a vehicle body, wheels, a gravel cleaning robotic arm, and a dust removal robotic arm. Both the gravel cleaning robotic arm and the dust removal robotic arm include a swing drive assembly and a telescopic drive assembly. The gravel cleaning robotic arm also includes a gravel cleaning component, which is connected to the swing drive assembly and the telescopic drive assembly. The position of the gravel cleaning component is controlled by swinging and telescopic movement. The gravel cleaning component includes a cleaning section and a cleaning drive assembly, with the cleaning section connected to the cleaning drive assembly. The dust removal robotic arm also includes an airflow dust removal module.

[0007] According to one embodiment of the present invention, the inclined shaft tunnel wall cleaning system further includes a transmission belt assembly. Two sets of the transmission belt assembly are respectively arranged on both sides of the track module. The transmission belt assembly is used to transport crushed stone.

[0008] According to one embodiment of the present invention, the stone cleaning robot arm and the dust removal robot arm are respectively equipped with a swing drive assembly or share a set of swing drive assemblies.

[0009] According to one embodiment of the present invention, the airflow dust removal module includes an air blowing nozzle.

[0010] According to one embodiment of the present invention, the airflow dust removal module includes a dust collection component.

[0011] According to one embodiment of the present invention, the rock-clearing robotic arm further includes a camera assembly.

[0012] According to one embodiment of the present invention, the railcar module further includes a wheel drive motor, which is connected to the wheel drive motor.

[0013] According to one embodiment of the present invention, the railcar module further includes a braking assembly.

[0014] According to one embodiment of the present invention, the cleaning unit is a gripping component, and the cleaning driving component is used to drive the gripping component to perform a gripping action.

[0015] According to one embodiment of the present invention, the telescopic drive assembly includes a fixed arm, an extended arm, a telescopic drive motor, and a lead screw. The extended arm is installed inside the fixed arm, the lead screw is connected to the extended arm, and the telescopic drive motor is used to drive the lead screw to rotate.

[0016] The beneficial effects of this utility model are that the railcar is used to clean the inclined shaft tunnel wall, the loose gravel is removed by the gravel cleaning robot arm, and the dust removal robot arm blows or sucks air to remove dust from the areas on the inclined shaft tunnel wall that need dust removal. The cleaning efficiency is high, labor costs are saved, and the safety hazards caused by manual cleaning are avoided. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 This is a schematic diagram of the overall inclined shaft tunnel wall cleaning system;

[0019] Figure 2 This is a schematic diagram of the railcar module;

[0020] Figure 3 This is a structural diagram of the vehicle body;

[0021] Figure 4 This is a schematic diagram of the structure of the rock-clearing robotic arm;

[0022] Figure 5 This is a schematic diagram of the structure of a dust removal robotic arm. Detailed Implementation

[0023] The following description is only intended to disclose the present invention so that those skilled in the art can implement it. The embodiments in the following description are merely examples, and those skilled in the art will conceive of other obvious modifications. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other solutions that do not depart from the spirit and scope of the present invention.

[0024] Example 1:

[0025] A type of inclined shaft tunnel wall cleaning system, such as Figures 1-5 It includes track module 1 and track vehicle module.

[0026] Track module 1 can be laid on the ground of the inclined shaft tunnel or on the side wall of the inclined shaft tunnel. Track module 1 can be single rail or double rail.

[0027] The railcar module includes a car body 23, wheels 4, a gravel cleaning robotic arm, and a dust removal robotic arm. The wheels 4 are mounted on the car body 23 to enable the railcar to move on the track. The railcar can optionally be equipped with a separate traction vehicle as its power source, or it can have its own power source. In this embodiment, the railcar module includes a wheel drive motor 5, which is preferably a geared motor. The wheel drive motor 5 is connected to the wheels 4 for transmission. Multiple sets of wheel drive motors 5 can be set to drive multiple pairs of wheels 4. The railcar module also includes a braking assembly 7, which can be a brake caliper module, a drum brake module, etc.

[0028] like Figure 2 The rock-clearing robotic arm includes a swing drive assembly, a telescopic drive assembly, and a rock-clearing assembly.

[0029] The swing drive assembly includes a swing drive motor 6, a coupling 13, and a connecting arm 8.

[0030] The telescopic drive assembly includes a fixed arm 9, an extendable arm 10, a telescopic drive motor 14, and a lead screw 16. The fixed arm 9 is cylindrical, and the extendable arm 10 is installed inside the fixed arm 9. An axial movement limiting structure is provided between the two, such as an axially oriented protrusion on the inner wall of the fixed arm 9 and an axially extending guide groove on the extendable arm 10 to accommodate the protrusion. Alternatively, the fixed arm 9 can be made non-cylindrical, allowing the extendable arm 10 to move along the axial direction of the fixed arm 9. The lead screw 16 is connected to the extendable arm 10, and the telescopic drive motor 14 is connected to the lead screw 16 through a coupling 15. The telescopic drive motor 14 drives the lead screw 16 to rotate, causing the extendable arm 10 to move along the axial direction of the fixed arm 9 to achieve telescopic movement. The fixed arm 9 is mounted on the connecting arm 8.

[0031] The gravel cleaning assembly is connected to the swing drive assembly and the telescopic drive assembly. The position of the gravel cleaning assembly is controlled by swinging and telescopic. The gravel cleaning assembly includes a cleaning part and a cleaning drive assembly 18, and the cleaning part is connected to the cleaning drive assembly 18.

[0032] In this embodiment, the cleaning unit is a gripping component, and the cleaning drive component 18 is used to drive the gripping component to perform a gripping action. Specifically, the cleaning unit includes a mechanical claw fixing frame 12 connected to the extension arm 10, a guide rod 19, a lead screw 20, and a clamping plate 21 mounted on the mechanical claw fixing frame 12. The cleaning drive component 18 includes a motor connected to the lead screw 20. Two sets of clamping plates 21 are provided, which can be set to one fixed and one movable, or both movable. The movable clamping plate 21 is mounted on the guide rod 19 and connected to the lead screw 20. After the motor starts, the two clamping plates 21 move closer to each other to achieve a gripping action. The surface of the clamping plate 21 can be provided with an anti-slip structure, such as anti-slip patterns, etc. The shape of the clamping plate 21 can be set as a flat plate or an arc plate, etc.

[0033] like Figure 3 The dust removal robotic arm includes a swing drive assembly, a telescopic drive assembly, and an airflow dust removal module 11. Optionally, the gravel cleaning robotic arm and the dust removal robotic arm are each equipped with a swing drive assembly or share a set of swing drive assemblies. In this embodiment, the swing drive assembly in the dust removal robotic arm and the swing drive assembly in the gravel cleaning robotic arm share the same swing drive motor 6, and the gravel cleaning robotic arm and the dust removal robotic arm swing synchronously.

[0034] The extended arm 10 of the dust removal robotic arm is provided with a fixed support 22, and the airflow dust removal module 11 is installed on the fixed support 22. The airflow dust removal module 11 can be a blowing nozzle and / or a dust suction assembly, which removes dust by blowing or suction.

[0035] Preferably, the rock-clearing robotic arm also includes a camera assembly 17, which is mounted on the rock-clearing robotic arm or dust removal robotic arm to acquire images. The images can be transmitted to the operator via a wireless communication module or a wired connection. The operator controls the robotic arm to perform cleaning based on the images, and controls the rock-clearing robotic arm to grab the rock fragments and make them fall off the tunnel wall.

[0036] This device can be powered by battery or wired connection.

[0037] Example 2:

[0038] Based on Embodiment 1, in this embodiment, the inclined shaft tunnel wall cleaning system also includes a transmission belt assembly 2. Two sets of transmission belt assemblies 2 are set on both sides of the track module 1. The transmission belt assembly 2 is used to transport gravel. The fallen gravel is transported to the flat area for centralized cleaning via the two side track conveyor belts.

[0039] Example 3:

[0040] Based on Embodiment 1 or 2, in this embodiment, the braking component 7 adopts an electromagnet component. The electromagnet component includes several electromagnets, which are installed on the vehicle body 23 and in contact with the track. Optionally, the electromagnets are elastically installed and attract to the track when they generate suction. The electromagnets are used to attract the track in the track module 1. When the electromagnets are energized, they generate suction to attract to the track, achieving a braking effect. This solution is suitable for operating conditions with speeds less than 15 km / h.

[0041] Example 4:

[0042] Unlike in Embodiment 1, in this embodiment, the cleaning part is a striking component. The motor of the cleaning drive component 18 drives the lead screw 20 in both forward and reverse directions. The clamping plate 21 is designed as a hammer, so that the clamping plate 21 reciprocates to achieve a striking effect.

[0043] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the stated principles, the implementation of the present invention may have any variations and modifications.

Claims

1. An inclined shaft tunnel wall cleaning system characterized by: The system includes a track module (1) and a track vehicle module. The track vehicle module includes a vehicle body (23), wheels (4), a gravel cleaning robot arm, and a dust removal robot arm. Both the gravel cleaning robot arm and the dust removal robot arm include a swing drive assembly and a telescopic drive assembly. The gravel cleaning robot arm also includes a gravel cleaning assembly. The gravel cleaning assembly is connected to the swing drive assembly and the telescopic drive assembly. The position of the gravel cleaning assembly is controlled by swinging and telescopic movement. The gravel cleaning assembly includes a cleaning part and a cleaning drive assembly (18). The cleaning part is connected to the cleaning drive assembly (18). The dust removal robot arm also includes an airflow dust removal module (11).

2. The inclined shaft tunnel wall cleaning system according to claim 1, characterized in that: The inclined shaft tunnel wall cleaning system also includes a transmission belt assembly (2), which is provided in two sets and is respectively set on both sides of the track module (1). The transmission belt assembly (2) is used to transport crushed stone.

3. The inclined shaft tunnel wall cleaning system according to claim 1, characterized in that: The stone cleaning robot arm and the dust removal robot arm are each equipped with a swing drive assembly or share a set of swing drive assemblies.

4. The inclined shaft tunnel wall cleaning system according to claim 1, characterized in that: The airflow dust removal module (11) includes an air blowing nozzle.

5. The inclined shaft tunnel wall cleaning system according to claim 1 or 4, characterized in that: The airflow dust removal module (11) includes a dust collection component.

6. The inclined shaft tunnel wall cleaning system according to any one of claims 1-4, characterized in that: The rock-clearing robotic arm also includes a camera assembly (17).

7. The inclined shaft tunnel wall cleaning system according to any one of claims 1-4, characterized in that: The railcar module also includes a wheel drive motor (5), which is connected to the wheel (4) in a transmission connection.

8. The inclined shaft tunnel wall cleaning system according to claim 7, characterized in that: The railcar module also includes a braking assembly (7).

9. The inclined shaft tunnel wall cleaning system according to claim 1, characterized in that: The cleaning unit is a gripping component, and the cleaning drive component (18) is used to drive the gripping component to perform gripping actions.

10. The inclined shaft tunnel wall cleaning system according to claim 1, characterized in that: The telescopic drive assembly includes a fixed arm (9), an extended arm (10), a telescopic drive motor (14), and a lead screw (16). The extended arm (10) is installed inside the fixed arm (9), and the lead screw (16) is connected to the extended arm (10). The telescopic drive motor (14) is used to drive the lead screw (16) to rotate.

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