Shield tunnel segment mold cleaning device

Abstract

This utility model discloses a shield tunnel segment mold cleaning device, belonging to the technical field of tunnel shield segment mold cleaning. It includes: a connecting support frame, an adaptive guidance mechanism, a rotating cleaning mechanism, an annular guide rail frame, and a handle frame. The adaptive guidance mechanism synchronously drives the driving and driven wheels to extend and retract radially, enabling the device to automatically adapt to and stably support the inner wall of segment molds of different diameters, and achieve autonomous movement. The rotating cleaning mechanism, driven by a motor, rotates the rotating drive frame along the annular guide rail frame, causing the circumferentially distributed cleaning parts to continuously and comprehensively clean the inner wall of the mold. This utility model integrates automatic centering, stable support, autonomous movement, and rotating cleaning functions, effectively solving the problems of low efficiency, high labor intensity, and blind spots in traditional manual cleaning, significantly improving cleaning quality and automation level.

Description

Technical Field

[0001] This utility model relates to the technical field of cleaning tunnel shield segment molds, and in particular to a device for cleaning tunnel shield segment molds. Background Technology

[0002] Tunnel boring machine (TBM) segments are key lining components in shield tunnel construction and are widely used in underground engineering projects such as subway and highway tunnels. These segments are typically cast from high-strength, impermeable concrete in specialized molds. The smoothness and cleanliness of their inner wall surfaces directly affect the forming quality, waterproofing performance, and overall tunnel structural safety. Therefore, after each round of segment demolding, the inner wall of the mold must be thoroughly cleaned to remove residual concrete residue, oil, and other contaminants.

[0003] Currently, the cleaning of tunnel segment molds is still mainly done manually. Operators need to use manual tools such as hammers, chisels, and wire brushes to enter the mold cavity for grinding and cleaning. This process is labor-intensive, inefficient, and generates a large amount of dust and noise, posing a serious threat to the health of the operators. Furthermore, manual cleaning makes it difficult to ensure uniformity and thoroughness, easily leading to damage to the mold surface or incomplete cleaning, affecting the quality of subsequent segment casting and even shortening the mold's lifespan.

[0004] To address the shortcomings of manual cleaning, automated cleaning devices have been gradually developed and applied. For example, Chinese patent document CN211761511U discloses a movable robotic arm track mechanism. This mechanism uses a sliding mounting base to mount a six-axis robotic arm, which moves along a fixed track to clean the mold. While this mechanism achieves a certain degree of mechanization in cleaning operations, its structure still has certain limitations: First, the track mechanism is a linear movement method, and the cleaning range is limited by the track length and layout, making it difficult to flexibly adapt to cleaning curved or complex pipe inner walls; second, the rigid connection between the robotic arm and the track may prevent the cleaning tool from fully conforming to the curved surface of the pipe inner wall, affecting the cleaning effect; in addition, the device requires pre-installation of a fixed track base, limiting its applicability and making it difficult to quickly deploy in various sizes of pipe segment molds.

[0005] In summary, there is currently no dedicated device in the technology capable of automatically conforming to the curved inner wall of the tunnel lining segment mold and achieving efficient and uniform cleaning. Therefore, there is an urgent need in this field for a novel cleaning device that is flexible in structure, autonomously mobile, and capable of thorough cleaning, in order to improve cleaning efficiency, protect the health of operators, and meet the needs of high-quality production of tunnel lining segments. Utility Model Content

[0006] Therefore, it is necessary to provide a shield tunnel segment mold cleaning device to address the technical problem of how to achieve automated, high-precision, and force-controlled shield tunnel segment mold cleaning.

[0007] A shield tunnel segment mold cleaning device includes: a connecting support frame, an adaptive guidance mechanism, a rotating cleaning mechanism, an annular guide rail frame, and a handle frame; the adaptive guidance mechanism is disposed on the connecting support frame, the rotating cleaning mechanism is disposed below the connecting support frame, and the annular guide rail frame connects the rotating cleaning mechanism and the connecting support frame respectively; the handle frame is disposed on the adaptive guidance mechanism.

[0008] Furthermore, the adaptive guidance mechanism includes a guidance body, an active guidance structure, a driven guidance structure, and an adaptive mechanism; the guidance body is disposed on the connecting support frame, and a plurality of active guidance structures and a plurality of driven guidance structures are alternately arranged around the periphery of the guidance body; the adaptive mechanism is disposed in the guidance body, and the adaptive mechanism is drivenly connected to each of the active guidance structures and each of the driven guidance structures respectively.

[0009] Furthermore, each of the aforementioned active guidance structures includes an active wheel frame, an active shaft, an active wheel, and a guidance drive motor.

[0010] Furthermore, the drive wheel frame is connected to the edge of the guide body, the drive shaft is movably disposed within the drive wheel frame, the drive wheel is connected to the drive shaft, the guide drive motor is disposed on the side of the drive wheel frame, and the guide drive motor is drively connected to the drive shaft.

[0011] Furthermore, each of the described driven guide structures has a driven wheel frame, a driven shaft, and a driven wheel.

[0012] Furthermore, the driven wheel frame is connected to the edge of the guide body, the driven shaft is disposed in the driven wheel frame, and the driven wheel is connected to the driven shaft.

[0013] Furthermore, the adaptive mechanism includes an adaptive motor, an adaptive output shaft, an adaptive drive gear, and several adaptive racks.

[0014] Furthermore, the adaptive motor is mounted on the guide body and is driven by the adaptive output shaft. The adaptive drive gear is movably mounted in the guide body and meshes with each of the adaptive racks. Several adaptive racks are movably mounted in the guide body, and each adaptive rack is driven by a drive wheel frame or a driven wheel frame.

[0015] Furthermore, the rotary cleaning mechanism includes a rotary cleaning motor, a rotary cleaning output shaft, a rotary drive frame, and several rotary cleaning parts; the rotary cleaning motor is connected to the connecting support frame, the rotary cleaning motor is drivenly connected to the rotary cleaning output shaft, the rotary cleaning output shaft is drivenly connected to the rotary drive frame, the rotary drive frame is movably connected to the annular guide rail frame, and several rotary cleaning parts are evenly distributed around the periphery of the rotary drive frame.

[0016] In summary, this utility model discloses a shield tunnel segment mold cleaning device, which includes a connecting support frame, an adaptive guidance mechanism, a rotating cleaning mechanism, an annular guide rail frame, and a handle frame. The adaptive guidance mechanism synchronously drives the driving and driven wheels to extend and retract radially through its adaptive mechanism, enabling the device to automatically adapt to and stably support itself on the inner wall of segment molds of different diameters, and achieve autonomous movement. The rotating cleaning mechanism, driven by a motor, rotates the rotating drive frame along the annular guide rail frame, causing the circumferentially distributed cleaning parts to continuously and comprehensively clean the inner wall of the mold. This utility model integrates automatic centering, stable support, autonomous movement, and rotating cleaning functions, effectively solving the problems of low efficiency, high labor intensity, and blind spots in traditional manual cleaning, significantly improving cleaning quality and automation level. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the shield tunnel segment mold cleaning device of this utility model; Figure 2 This is a schematic diagram of the exploded structure of the shield tunnel segment mold cleaning device of this utility model from another direction; Figure 3 This is a schematic diagram of the shield tunnel segment mold cleaning device from another direction. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0019] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0021] In this utility model, unless otherwise explicitly 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0022] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0023] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0024] Please refer to the following: Figures 1 to 3 The shield tunnel segment mold cleaning device of this utility model includes: a connecting support frame 1, an adaptive guidance mechanism 2, a rotating cleaning mechanism 3, an annular guide rail frame 4, and a handle frame 5; the adaptive guidance mechanism 2 is arranged on the connecting support frame 1, the rotating cleaning mechanism 3 is arranged below the connecting support frame 1, and the annular guide rail frame 4 connects the rotating cleaning mechanism 3 and the connecting support frame 1 respectively; the handle frame 5 is arranged on the adaptive guidance mechanism 2.

[0025] Specifically, when the shield tunnel segment mold cleaning device of this utility model is in operation, the user can use an external turnover mechanism or robotic arm to lower the shield tunnel segment mold cleaning device into the mold to be cleaned via the handle 5. At this time, the adaptive guiding mechanism 2, under the control of the control program or the external controller set by the user, automatically adapts to the size of the inner wall of the cylindrical shield tunnel segment mold and supports the entire shield tunnel segment mold cleaning device within the inner wall of the tube. Subsequently, the adaptive guiding mechanism 2 can guide the main body of the device forward, while the rotating cleaning mechanism 3 operates synchronously to perform scraping and other cleaning work on the inner tube wall of the mold. At this time, the adaptive guiding mechanism 2 can move forward while the rotating cleaning mechanism 3 continuously cleans until the entire inner wall of the tubular mold is completely cleaned. Then, the main body of the device can be rotated or removed from the mold via the handle 5.

[0026] Furthermore, the adaptive guidance mechanism 2 includes a guidance body 201, an active guidance structure 202, a driven guidance structure 203, and an adaptive mechanism 204; the guidance body 201 is disposed on the connecting support frame 1, and a plurality of active guidance structures 202 and a plurality of driven guidance structures 203 are alternately arranged around the periphery of the guidance body 201; the adaptive mechanism 204 is disposed in the guidance body 201, and the adaptive mechanism 204 is drivenly connected to each active guidance structure 202 and each driven guidance structure 203 respectively.

[0027] Furthermore, each of the active guidance structures 202 includes an active wheel frame 202a, an active shaft 202b, an active wheel 202c, and a guidance drive motor 202d; the active wheel frame 202a is connected to the edge of the guidance body 201, the active shaft 202b is movably disposed within the active wheel frame 202a, the active wheel 202c is connected to the active shaft 202b, and the guidance drive motor 202d is disposed on the side of the active wheel frame 202a, and the guidance drive motor 202d is drivenly connected to the active shaft 202b.

[0028] Furthermore, each of the driven guide structures 203 has a driven wheel frame 203a, a driven shaft 203b, and a driven wheel 203c; the driven wheel frame 203a is connected to the edge of the guide body 201, the driven shaft 203b is disposed in the driven wheel frame 203b, and the driven wheel 203c is connected to the driven shaft 203b.

[0029] Furthermore, the adaptive mechanism 204 includes an adaptive motor 204a, an adaptive output shaft 204b, an adaptive drive gear 204c, and a plurality of adaptive racks 204d. The adaptive motor 204a is disposed on the guide body 201 and is drivenly connected to the adaptive output shaft 204b. The adaptive drive gear 204c is movably disposed within the guide body 201 and meshes with each of the adaptive racks 204d. The plurality of adaptive racks 204d are movably disposed within the guide body 201, and each of the adaptive racks 204d is correspondingly driven and connected to a drive wheel frame 202a or a driven wheel frame 203a.

[0030] Furthermore, the rotary cleaning mechanism 3 includes a rotary cleaning motor 301, a rotary cleaning output shaft 302, a rotary drive frame 303, and a plurality of rotary cleaning parts 304; the rotary cleaning motor 301 is connected to the connecting support frame 1, the rotary cleaning motor 301 is drivenly connected to the rotary cleaning output shaft 302, the rotary cleaning output shaft 302 is drivenly connected to the rotary drive frame 303, the rotary drive frame 303 is movably connected to the annular guide rail frame 4, and the plurality of rotary cleaning parts 304 are evenly distributed around the periphery of the rotary drive frame 303.

[0031] Compared with existing technologies, the shield tunnel segment mold cleaning device provided by this utility model achieves automated, efficient, and thorough cleaning of the mold inner wall through the ingenious cooperation and coordinated operation of its various components. The specific technical effects are reflected in the following aspects: 1. Achieved adaptive positioning and stable support: Through the core function of the adaptive guidance mechanism 2, this invention can automatically adapt to shield tunnel segment molds of different diameters. Specifically, the adaptive mechanism 204, driven by a motor and a rack and pinion, synchronously controls the radial extension and retraction of all active wheel frames 202a and driven wheel frames 203a, ensuring that the circumferentially distributed active wheels 202c and driven wheels 203c press firmly against the inner wall of the tunnel, forming a stable support structure. This design not only enables the device to quickly center itself within the tunnel but also provides a stable base for subsequent movement and cleaning operations, preventing shaking during operation and ensuring cleaning accuracy.

[0032] 2. Possesses autonomous movement and full coverage capability: The device no longer relies on external tracks, achieving true autonomous movement. The guide drive motor 202d drives the drive wheel 202c to rotate, thereby propelling the entire device along the inner wall of the pipe. Simultaneously, the rotary cleaning mechanism 3, driven by the rotary cleaning motor 301, drives multiple rotary cleaning units 304 to revolve along the annular guide rail frame 4 via the rotary drive frame 303. This combined linear movement and circular cleaning motion allows the cleaning tools to cover every point on the inner wall of the mold, eliminating cleaning dead zones and ensuring comprehensive and uniform cleaning.

[0033] 3. Optimized coordination and stability of cleaning actions: The connecting support frame 1, as the core load-bearing structure, integrates the upper traveling mechanism and the lower cleaning mechanism, ensuring power transmission and structural rigidity. The circular guide rail frame 4 not only provides a precise circular motion trajectory for the rotating components but also further enhances the stability of the overall structure. This design allows the two core actions of the device—traveling and cleaning—to be controlled independently yet precisely synchronized through the control system, ensuring the continuity and stability of the cleaning work during travel and greatly improving cleaning efficiency.

[0034] 4. Improved ease of operation and automation: The handle frame 5 on the top of the device facilitates rapid hoisting and removal by external robotic arms or transfer equipment, enabling rapid transfer of the device between multiple molds and reducing manual intervention. The entire workflow, from placement, self-adaptive tensioning, autonomous cleaning, to removal, can be automated, fundamentally solving the technical problems of high labor intensity, harsh environment, and low efficiency associated with traditional manual cleaning.

[0035] In summary, this utility model, through the collaborative innovative design of the adaptive guidance mechanism 2 and the rotating cleaning mechanism 3, integrates automatic centering, stable support, autonomous movement and rotating cleaning functions into one. It has a compact and reasonable structure, coordinated and efficient operation, and can significantly improve the cleaning quality and operation efficiency of shield tunnel segment molds. It has good engineering application value and market promotion prospects.

[0036] In summary, a shield tunnel segment mold cleaning device is provided, comprising a rotary drive motor, a cleaning tool mounting plate, a pressure sensor, and a vision recognition module. The cleaning tool mounting plate can accommodate various cleaning tools, the pressure sensor provides real-time feedback on the cleaning force, and the vision recognition module guides the robotic arm to locate the cleaning area. Therefore, this utility model of shield tunnel segment mold cleaning device solves the technical problem of how to achieve automated, high-precision, and force-controlled shield tunnel segment mold cleaning.

[0037] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0038] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A shield tunnel segment mold cleaning device, characterized in that, It includes: connections The support frame (1), the adaptive guidance mechanism (2), the rotating cleaning mechanism (3), the annular guide rail frame (4), and the handle frame (5) are provided; the adaptive guidance mechanism (2) is provided on the connecting support frame (1), the rotating cleaning mechanism (3) is provided below the connecting support frame (1), and the annular guide rail frame (4) connects the rotating cleaning mechanism (3) and the connecting support frame (1) respectively; the handle frame (5) is provided on the adaptive guidance mechanism (2).

2. The shield tunnel segment mold cleaning device according to claim 1, characterized in that: The adaptive guidance mechanism (2) has a guidance body (201), an active guidance structure (202), a driven guidance structure (203), and an adaptive mechanism (204); the guidance body (201) is disposed on the connecting support frame (1), and a plurality of active guidance structures (202) and a plurality of driven guidance structures (203) are alternately disposed around the periphery of the guidance body (201); the adaptive mechanism (204) is disposed in the guidance body (201), and the adaptive mechanism (204) is drivenly connected to each of the active guidance structures (202) and each of the driven guidance structures (203).

3. The shield tunnel segment mold cleaning device according to claim 2, characterized in that: Each of the active guidance structures (202) has an active wheel frame (202a), an active shaft (202b), an active wheel (202c), and a guidance drive motor (202d).

4. The shield tunnel segment mold cleaning device according to claim 3, characterized in that: The drive wheel frame (202a) is connected to the edge of the guide body (201), the drive shaft (202b) is movably disposed in the drive wheel frame (202a), the drive wheel (202c) is connected to the drive shaft (202b), the guide drive motor (202d) is disposed on the side of the drive wheel frame (202a), and the guide drive motor (202d) is drivenly connected to the drive shaft (202b).

5. The shield tunnel segment mold cleaning device according to claim 4, characterized in that: Each of the driven guide structures (203) has a driven wheel frame (203a), a driven shaft (203b), and a driven wheel (203c).

6. The shield tunnel segment mold cleaning device according to claim 5, characterized in that: The driven wheel frame (203a) is connected to the edge of the guide body (201), the driven shaft (203b) is disposed in the driven wheel frame (203a), and the driven wheel (203c) is connected to the driven shaft (203b).

7. The shield tunnel segment mold cleaning device according to claim 6, characterized in that: The adaptive mechanism (204) includes an adaptive motor (204a), an adaptive output shaft (204b), an adaptive drive gear (204c), and several adaptive racks (204d).

8. The shield tunnel segment mold cleaning device according to claim 7, characterized in that: The adaptive motor (204a) is mounted on the guide body (201) and is driven by the adaptive output shaft (204b). The adaptive drive gear (204c) is movably mounted in the guide body (201) and meshes with each of the adaptive racks (204d). A plurality of the adaptive racks (204d) are movably mounted in the guide body (201), and each of the adaptive racks (204d) is driven by a drive wheel frame (202a) or a driven wheel frame (203a).

9. The shield tunnel segment mold cleaning device according to claim 8, characterized in that: The rotary cleaning mechanism (3) includes a rotary cleaning motor (301), a rotary cleaning output shaft (302), a rotary drive frame (303), and several rotary cleaning parts (304).

10. The shield tunnel segment mold cleaning device according to claim 9, characterized in that: The rotary cleaning motor (301) is connected below the connecting support frame (1). The rotary cleaning motor (301) is driven to the rotary cleaning output shaft (302). The rotary cleaning output shaft (302) is driven to the rotary drive frame (303). The rotary drive frame (303) is movably connected to the annular guide rail frame (4). A plurality of rotary cleaning parts (304) are evenly distributed around the periphery of the rotary drive frame (303).

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