CN109397315A - Tunnel illumination lamps and lanterns maintaining robot and maintaining method - Google Patents
Tunnel illumination lamps and lanterns maintaining robot and maintaining method Download PDFInfo
- Publication number
- CN109397315A CN109397315A CN201811576310.2A CN201811576310A CN109397315A CN 109397315 A CN109397315 A CN 109397315A CN 201811576310 A CN201811576310 A CN 201811576310A CN 109397315 A CN109397315 A CN 109397315A
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- China
- Prior art keywords
- lateral surface
- telescopic rod
- electric
- hydraulic
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 241001465382 Physalis alkekengi Species 0.000 title claims abstract description 42
- 238000005286 illumination Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004140 cleaning Methods 0.000 claims abstract description 73
- 230000008859 change Effects 0.000 claims abstract description 8
- 239000010720 hydraulic oil Substances 0.000 claims description 92
- 238000003860 storage Methods 0.000 claims description 62
- 239000012459 cleaning agent Substances 0.000 claims description 53
- 239000007788 liquid Substances 0.000 claims description 52
- 238000012545 processing Methods 0.000 claims description 49
- 238000012546 transfer Methods 0.000 claims description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 19
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 16
- 239000000741 silica gel Substances 0.000 claims description 16
- 229910002027 silica gel Inorganic materials 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 12
- 239000000428 dust Substances 0.000 claims description 6
- 239000006210 lotion Substances 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 6
- 230000009194 climbing Effects 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 4
- 238000005406 washing Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims 1
- 239000003292 glue Substances 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 229910052710 silicon Inorganic materials 0.000 claims 1
- 239000010703 silicon Substances 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 15
- 239000003921 oil Substances 0.000 description 4
- 238000007790 scraping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses tunnel illumination lamps and lanterns maintaining robot and maintaining methods, including electric vehicle, scrape cleaning device, change device, smear cleaning device and cleaning device, the lateral surface of the electric vehicle is uniformly distributed on peripheries with four electric capstans, hook is connected on the wirerope of electric capstan, rear and front end sets that there are two symmetrically arranged first positioning plates in front and back on the upside of the lateral surface left end of electric vehicle, the lower end surface of first positioning plate is equipped with the second electric telescopic rod, the lower end surface of second electric telescopic rod is equipped with the second anti-skidding supporting block, this tunnel cleaning robot, it is compact-sized, it is easy to operate, it occupies little space when use, clean and maintenance rapidly and efficiently can be carried out to the headlamp in tunnel, the setting of card slot facilitates the quick-replaceable of different work maintenance tool head, the setting of gripper combination jacking block facilitates the quick dismounting and change of illuminator , the setting of battery pack facilitates the mobile operation of electrical equipment.
Description
Technical field
The present invention relates to cleaning equipment technology fields, specially tunnel illumination lamps and lanterns maintaining robot and maintaining method.
Background technique
Tunnel illuminating lamp is distributed mainly on the two sidewalls and tunnel roof in tunnel at present, and traditional tunnel illumination lamps and lanterns are big
It is mostly by manually being safeguarded and being detected, staff is carried out by Gao Che and moveable scaffold equipment and related tool
Upkeep operation, working efficiency is low, safeguards since staff needs to climb up scaffold, there are certain safety for high altitude operation
Hidden danger, and scaffold also needs the auxiliary movement of special motor vehicle, when maintenance, need to occupy a lane, it is therefore desirable to road closure dimension
Shield influences the normal traffic operation in tunnel.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the existing defects, provides tunnel illumination lamps and lanterns maintaining robot, can
Very easily to carry out clean and maintenance to the headlamp in tunnel, convenience is brought to the maintenance use of headlamp, and can be with
It avoids staff from carrying out upkeep operation by Gao Che and moveable scaffold equipment and related tool, further improves this
The service efficiency of invention can effectively solve the problems in background technique.
To achieve the above object, the invention provides the following technical scheme: tunnel illumination lamps and lanterns maintaining robot, including it is electronic
Vehicle scrapes cleaning device, changes device, smearing cleaning device and cleaning device, the lateral surface of the electric vehicle be uniformly distributed on peripheries with four it is electronic
Capstan winch is connected with hook on the wirerope of electric capstan, and rear and front end sets that there are two front and backs on the upside of the lateral surface left end of electric vehicle
Symmetrically arranged first positioning plate, the lower end surface of the first positioning plate are equipped with the second electric telescopic rod, under the second electric telescopic rod
End face is equipped with the second anti-skidding supporting block, and right end front and rear sides set that there are two the symmetrically arranged electricity in front and back in the middle part of the lateral surface of electric vehicle
The lateral surface middle part left end front and rear sides of pond case, electric vehicle are set there are two the symmetrically arranged rectangular box in front and back, rectangular box
Inside is equipped with the first hydraulic pump, the second hydraulic pump, third hydraulic pump and hydraulic oil container, and the lateral surface rear upper side of electric vehicle is equipped with
Support frame, the upper surface of support frame are equipped with support plate, and support plate is electric by the second straight line for being disposed thereon surface rear and front end
Machine slidably connects movable plate, and movable plate slidably connects mobile station by being disposed thereon the first straight line motor on surface, moves
Dynamic platform is rotatably connected to shaft by being disposed thereon the bearing on surface, and the lateral surface of shaft is equipped with first gear, mobile station
Upper surface is equipped with motor, and the output shaft of motor is equipped with the second gear for the setting that is meshed with first gear, and the upper surface of shaft is solid
Surely it is connected with swivel plate, swivel plate is rotatably connected to first rotating arm, the first rotation by being disposed thereon the hinge of surface right end
The second hydraulic telescopic rod is equipped between the lateral surface right end of pivoted arm and the upper surface left end of swivel plate, first rotating arm passes through setting
The hinge of face left end is rotatably connected to the second rotating arm on the outside, the lateral surface left end of the second rotating arm and first rotating arm
The first hydraulic telescopic rod is equipped between in the middle part of lateral surface, the second rotating arm connects by the way that the hinge rotation of face right end on the outside is arranged
It is connected to third rotating arm, it is hydraulic to be equipped with third between the lateral surface right end of third rotating arm and the lateral surface middle part of the second rotating arm
Telescopic rod, the lateral surface left end of third rotating arm are rotatably connected to rotating electric machine, and the output shaft of rotating electric machine is connected with operation panel,
It is equipped with third electric telescopic rod between the lateral surface of rotating electric machine and the lateral surface of third rotating arm, the left side of operation panel is from upper
Be successively arranged range sensor, card slot and camera down, scrape cleaning device, change device, smear cleaning device and cleaning transfer roller with
Card slot clamping is correspondingly arranged, and operation panel slidably connects cylindrical slide by the sliding slot for the side left end that sets within it, and cylindricality is sliding
The lateral surface left and right ends of block are respectively equipped with pressing handle and reset spring, and cylindrical slide passes through the hinge that face on the outside is arranged
There are two the symmetrically arranged connecting rod in front and back, connecting rod is rotatably connected to arc folder by the way that the pin in face on the outside is arranged for rotation connection
Plate is held, the lower end surface of pin and the medial surface of operation panel are rotatablely connected, and pass through alignment pin in the middle part of the lateral surface of arc grip block
It is rotatablely connected with the medial surface of operation panel, it is symmetrically arranged flexible that the lateral surface right end front and rear sides of operation panel set that there are two front and backs
The lateral surface upper center of snap-gauge, electric vehicle is equipped with central processing unit, the input terminal of central processing unit and the output end of battery pack
Electrical connection, the output end of central processing unit respectively with the first electric telescopic rod, the second electric telescopic rod, motor, electric capstan, the
One linear motor, second straight line motor, third electric telescopic rod, the first hydraulic pump, the second hydraulic pump and third hydraulic pump it is defeated
Enter end electrical connection, central processing unit is bi-directionally connected with range sensor and camera respectively, and the lateral surface of electric vehicle is close to battery
The side of group is equipped with battery case charge port.
As a preferred technical solution of the present invention, the lateral surface upper center of the electric vehicle is equipped with positioning column, fixed
Position column is rotatably connected to seat board by being disposed thereon the hinge on surface, and the rotation that the setting of positioning column facilitates seat board is adjusted.
As a preferred technical solution of the present invention, the seat board is by being arranged in its lower surface left end front and rear sides
There are two the symmetrically arranged Y shaped bracket in front and back, the lower end surface of Y shaped bracket is connected with the lateral surface of electric vehicle for bayonet unit clamping,
The position of seat board can be fixed by Y shaped bracket.
As a preferred technical solution of the present invention, the electric vehicle holds the left and right sides by setting on its outer lateral surface
Auxiliary positioning frame be fixedly connected with that there are two the 4th electric telescopic rod that is symmetrical set, the lower end surfaces of the 4th electric telescopic rod
Equipped with load-bearing transfer roller, the input terminal of the 4th electric telescopic rod is electrically connected with the output end of central processing unit, the 4th electric telescopic rod
Setting facilitate the lift adjustment of load-bearing transfer roller, the setting of load-bearing transfer roller facilitates hanging operation of the invention.
As a preferred technical solution of the present invention, the lateral surface upper end of support frame as described above is equipped with the second positioning plate, the
The lower surface of two positioning plates is equipped with the first electric telescopic rod, and the lower end surface of the first electric telescopic rod is equipped with the first anti-skidding supporting block,
The setting of first electric telescopic rod facilitates the lift adjustment of the first anti-skidding supporting block, and the setting of the first anti-skidding supporting block can be right
Position of the invention is fixed.
As a preferred technical solution of the present invention, the hydraulic oil input terminal of first hydraulic pump passes through conduit and liquid
The hydraulic oil output end of pressure oil case is connected, and the hydraulic oil output end of the first hydraulic pump passes through the liquid of conduit and the first hydraulic telescopic rod
Pressure oil input terminal is connected, and the hydraulic oil input terminal of the second hydraulic pump is connected by conduit with the hydraulic oil output end of hydraulic oil container,
The hydraulic oil output end of second hydraulic pump is connected by conduit with the hydraulic oil input terminal of the second hydraulic telescopic rod, third hydraulic pump
Hydraulic oil input terminal be connected with the hydraulic oil output end of hydraulic oil container by conduit, the hydraulic oil output end of third hydraulic pump leads to
It crosses conduit to be connected with the hydraulic oil input terminal of third hydraulic telescopic rod, the first hydraulic telescopic rod, the second hydraulic telescopic rod combine the
The setting of three hydraulic telescopic rods facilitates the multi-angle regulation of motion arm.
As a preferred technical solution of the present invention, the cleaning device includes the first flexible snap-gauge, the first flexible card
Plate slidably connects clean plate by being disposed thereon the third linear motor on surface, and the upper surface left and right ends of clean plate are equipped with
Two the first cleaning agent storage bins being symmetrical set, the upper surface of the first cleaning agent storage bin are equipped with filling opening, and first is clear
Lotion storage bin is rotatably connected to electric roller brush by the way that the bearing in face on the outside is arranged, and the quantity of electric roller brush is three, and three
A electric roller brush is evenly distributed on the lateral surface of the first cleaning agent storage bin from front to back, and the lateral surface of electric roller brush is equipped with spray
Head, the medial surface bottom of the first cleaning agent storage bin are equipped with liquid pump, and the liquid outlet of liquid pump passes through the outside of conduit and electric roller brush
Face is connected, and the input terminal of third linear motor and liquid pump is electrically connected with the output end of central processing unit, the first flexible snap-gauge
Right side rear and front end is set there are two symmetrically arranged 4th clamping jaw in front and back, and the lateral surface of the first flexible snap-gauge is equipped with waterproof power supply
Plug, the lateral surface of the 4th clamping jaw are equipped with anti-slip rubber layer, the first flexible snap-gauge, third linear motor, clean plate, the first cleaning
Agent storage bin, the 4th clamping jaw, filling opening, electric roller brush and liquid pump form cleaning device, pass through the setting side of third linear motor
The position of clean plate adjust, the setting of filling opening facilitates the filling of liquid, and the setting of liquid pump combination spray head facilitates clearly
The sprinkling of washing lotion.
As a preferred technical solution of the present invention, the cleaning device of scraping includes spatula mounting plate, Miniature liquid pump, second
Cleaning agent storage bin, atomizer and silica gel scraper plate, the right side rear and front end of spatula mounting plate is set symmetrically to be set there are two front and back
The third clamping jaw set, the lateral surface of third clamping jaw are equipped with anti-slip layer, and the lateral surface of spatula mounting plate is equipped with waterproof attaching plug, scrapes
By being connected in the middle part of linear motor and the lower surface of the second cleaning agent storage bin, Miniature liquid pump setting exists for the upper surface of shovel mounting plate
The upper surface middle part of the second cleaning agent storage bin is arranged in the medial surface bottom of second cleaning agent storage bin, silica gel scraper plate, atomization
The upper surface of the second cleaning agent storage bin is arranged in close to one end of silica gel scraper plate in nozzle, and the liquid outlet of Miniature liquid pump passes through conduit
It is connected with the inlet of atomizer, the input terminal of Miniature liquid pump is electrically connected with the output end of central processing unit, atomizer
Cleaning solution can be atomized by setting, facilitate the scouring of lamp group, can be to the ash assisted in lamp group outer surface by silica gel scraper plate
Dirt is scraped.
As a preferred technical solution of the present invention, it is described change device include device for quickly disassembling mounting plate, it is the 5th electronic
Telescopic rod, jacking block and gripper, all around two sides set that there are two be symmetrical set for the upper surface of device for quickly disassembling mounting plate
Second positioning clamping jaw, the lateral surface of the second positioning clamping jaw are equipped with anti-slip layer, and the lateral surface of device for quickly disassembling mounting plate is equipped with anti-water cutting
The medial surface bottom of device for quickly disassembling mounting plate is arranged in head, the 5th electric telescopic rod, and jacking block is connected to the 5th electric telescopic rod
The upper surface left and right ends of device for quickly disassembling mounting plate are arranged in upper surface, gripper, and the input terminal of the 5th electric telescopic rod is in
The output end of central processor is electrically connected, and the setting of jacking block facilitates the disassembly of lamp group, and the setting of gripper facilitates grabbing for lamp group
It takes, the setting of the 5th electric telescopic rod facilitates the lift adjustment of jacking block.
As a preferred technical solution of the present invention, the cleaning device of smearing includes smearing to wash flexible snap-gauge, the 4th straight-line electric
Machine, supporting plate, third cleaning agent storage bin, water pump, waterproof machine and atomizer, smear and wash flexible snap-gauge by being disposed thereon table
4th linear motor in face is slidably connected with supporting plate, and the upper surface of supporting plate is arranged in waterproof machine, third cleaning agent storage bin
Lower surface is connected with the output shaft of waterproof machine, and the medial surface of third cleaning agent storage bin, the storage of third cleaning agent is arranged in water pump
The upper surface rear and front end for depositing case is equipped with atomizer, and the liquid outlet of water pump passes through the inlet phase of conduit and atomizer
Even, the upper surface middle part of storage third cleaning agent storage bin is connected with rag mounting plate, and the upper surface of rag mounting plate is equipped with rag,
It smears and washes the right side rear and front end of flexible snap-gauge and set that there are two the symmetrically arranged first positioning clamping jaw in front and back, the first positioning clamping jaws
Lateral surface is equipped with anti-slip layer, smears the lateral surface for washing flexible snap-gauge equipped with waterproof power connector, the input terminal of water pump and waterproof machine
It is electrically connected with the output end of central processing unit, the setting of storage third cleaning agent storage bin facilitates the storage of cleaning solution, water pump
The sprinkling of cleaning solution is facilitated in conjunction with the setting of atomizer.
The method that tunnel illumination lamps and lanterns are safeguarded using tunnel illumination lamps and lanterns maintaining robot:
When tunnel illumination lamps and lanterns maintaining robot is in normal road, load-bearing transfer roller, the second anti-skidding supporting block and
One anti-skidding supporting block is withdrawn, and tunnel illumination lamps and lanterns maintaining robot passes through the front and back wheel normally travel of electric vehicle, works as tunnel illumination
When lamps and lanterns maintaining robot needs to climb cable duct, the 4th electric telescopic rod elongation being arranged by electric vehicle front end turns load-bearing
Roller, which is raised, to be put on cable duct, and another 4th electric telescopic rod elongation being arranged by electric vehicle rear end will be arranged after electric vehicle
The load-bearing transfer roller at end is placed on cable duct, and the wheel of electric vehicle is lifted, while worker controls electric vehicle and walks forward, thus
Climbing is completed, after the completion of climbing, is shunk by the 4th electric telescopic rod of control and lifts load-bearing transfer roller, the wheel contact of electric vehicle
To ground, so as to normally travel, when tunnel illumination lamps and lanterns maintaining robot reaches operation in tunnel, by tunnel illuminating lamp
Tool maintaining robot is moved in tunnel, controls the first electric telescopic rod by central processing unit and the second electric telescopic rod is stretched
It is long, by the first electric telescopic rod and the second electric telescopic rod by below the first anti-skidding supporting block and the second anti-skidding supporting block to cable
Electric vehicle is propped in ditch two sides, while the elongation of the 4th electric telescopic rod send load-bearing transfer roller to the upper surface of cable duct, will link up with
It pulls out, then will be hung on the lateral surface of cable channel cover plate, then start seat board, so that operating mechanism is transportable
It is farther, the first hydraulic telescopic rod, the second hydraulic telescopic rod and third hydraulic telescopic rod are controlled by central processing unit and worked, will be grasped
It is sent near headlamp as plate, the camera by operation panel lateral surface is arranged in carries out position observation to headlamp, is passed by distance
Sensor prevents tunnel illumination lamps and lanterns maintaining robot from bumping against headlamp at work, when the lateral surface of headlamp has more dust
When, the inside of card slot the positioning wedged block for scraping cleaning device lateral surface lower end will be set is snapped fit onto, by stretching on operation panel is arranged in
Contracting snap-gauge is inserted into from lower to upper on rear side of headlamp, and the positioning clamping jaw by spatula mounting plate lateral surface is arranged in is inserted into photograph from lower to upper
On front side of bright lamp, the linear motor by shovel mounting plate upper surface is arranged in drives silica gel scraper plate to move left and right, will be attached by silica gel scraper plate
Headlamp lateral surface dust spatula it is clean, while the cleaning solution in the second cleaning agent storage bin being pumped by Miniature liquid pump
Internal contrast bright lamp to atomizer carries out hydro-peening, when needing to clean headlamp, by the flexible card being arranged on operation panel
Plate is inserted into from lower to upper on rear side of headlamp, is inserted on front side of headlamp from lower to upper by the positioning clamping jaw being arranged on cleaning device,
Cleaning device is installed to the lateral surface of operation panel, the cleaning solution in the first cleaning agent storage bin is pumped into electronic rolling by liquid pump
It is injected in the lateral surface of headlamp after in brush, while headlamp is wiped by electric roller brush, washes flexible snap-gauge general by smearing
The lateral surface that cleaning device snaps fit onto operation panel is smeared, cleaning solution is ejected into the lateral surface of headlamp by water pump, by waterproof machine band
Dynamic rag rotation drives rag along headlamp to wipe to the lateral surface of headlamp by the 4th linear motor
Lateral surface is mobile, when need repairing replace headlamp when, operation panel is snapped fit onto for device is changed by device for quickly disassembling mounting plate
Lateral surface is inserted on rear side of headlamp from lower to upper by the flexible snap-gauge being arranged on operation panel, is changed on device by being arranged in
Positioning clamping jaw is inserted into from lower to upper on front side of headlamp, is released jacking block by the 5th electric telescopic rod, is blocked lamps and lanterns from it by jacking block
Ejection in slot, meanwhile, the lamps and lanterns removed are grabbed by gripper, when dismantling different lamps, by corresponding top
Block is mounted on the upper surface of the 5th electric telescopic rod.
Compared with prior art, the beneficial effects of the present invention are: this tunnel cleaning robot, high altitude operation is become
Ground Operation eliminates the security risk of high altitude operation；According to different maintenance contamination control demands, the setting of card slot is facilitated
The quick-replaceable of different work maintenance tool head carries out corresponding maintenance cleaning operation；Maintenance cleaning can be completed on cable duct
Operation avoids the current bottleneck of tunnel environment formed by upkeep operation bring traffic control.It is compact-sized, operation
It is convenient, it occupies little space, clean and maintenance rapidly and efficiently can be carried out to the headlamp in tunnel, gripper adds anti-slip layer to combine
The setting of jacking block facilitates the quick, safe and reliable of illuminator, cleaning, disassembly and replacement, the setting of battery pack and facilitates use
The mobile operation of electric equipment, the setting of charging interface can also be matched in addition to it can be achieved to the charging normal of battery pack by tunnel wall
Electronic box power supply realizes the supplementary functions in operation process to battery pack electric energy.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is main view of the present invention；
Fig. 3 is left view of the present invention；
Fig. 4 is top view of the present invention；
Fig. 5 is that the present invention scrapes cleaning device main view；
Fig. 6 is that the present invention changes device main view；
Fig. 7 is that the present invention smears cleaning device main view；
Fig. 8 is cleaning device structural schematic diagram of the present invention；
Fig. 9 is cleaning device main view of the present invention；
Figure 10 is that the present invention smears cleaning device structural schematic diagram；
Figure 11 is operation panel schematic diagram of internal structure.
In figure: 1 shaft, 2 rectangular box, 3 rotating electric machines, 4 central processing units, 5 support plates, 6 first electric telescopic rods, 7
First anti-skidding supporting block, 8 battery cases, 9 electric vehicles, 10 second anti-skidding supporting blocks, 11 second electric telescopic rods, 12 first positioning
Plate, 13 positioning columns, 14 seat boards, 15 swivel plates, 16 support frames, 17 electric capstans, 18 operation panels, 19 range sensors, 20 cards
Slot, 21 cameras, 22 first hydraulic telescopic rods, 23 second hydraulic telescopic rods, 24 movable plates, 25 mobile stations, 26 first straight lines electricity
Machine, 27 battery packs, 28Y shape bracket, 29 second straight line motors, 30 third electric telescopic rods, 31 first rotating arms, the rotation of 32 thirds
Pivoted arm, 33 third hydraulic telescopic rods, 34 second positioning plates, 35 hooks, 36 load-bearing transfer rollers, 37 second rotating arms, 38 auxiliary positionings
Frame, 39 the 4th electric telescopic rods, 40 first hydraulic pumps, 41 second hydraulic pumps, 42 third hydraulic pumps, 43 hydraulic oil containers, 44 motors,
45 first lotion storage bins, 46 electric roller brush, 47 filling openings, 48 third linear motors, 49 clean plates, 50 first flexible snap-gauges,
51 liquid pumps, 52 spatula mounting plates, 53 Miniature liquid pumps, 54 second cleaning agent storage bins, 55 atomizers, 56 silica gel scraper plates, 57
Device for quickly disassembling mounting plate, 58 the 5th electric telescopic rods, 59 jacking blocks, 60 grippers, 61, which are smeared, washes flexible snap-gauge, 62 the 4th straight-line electrics
Machine, 63 water pumps, 64 rag mounting plates, 65 atomizers, 66 third cleaning agent storage bins, 67 supporting plates, 68 flexible snap-gauges, 69 scrape
Device, 70 change device, 71 smear cleaning device, 72 cleaning devices, 73 waterproof machines, 74 battery case charge ports, 75 reset springs,
76 alignment pins, 77 pins, 78 sliding slots, 79 pressing handles, 80 cylindrical slides, 81 arc grip blocks, 82 connecting rods.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-11 is please referred to, the present invention provides a kind of technical solution:
Embodiment 1: tunnel illumination lamps and lanterns maintaining robot, including electric vehicle 9 and cleaning device 69 is scraped, scraping cleaning device 69 includes
Spatula mounting plate 52, Miniature liquid pump 53, the second cleaning agent storage bin 54, atomizer 55 and silica gel scraper plate 56, spatula mounting plate
52 right side rear and front end is set there are two the symmetrically arranged third clamping jaw in front and back, and the lateral surface of third clamping jaw is equipped with anti-slip layer,
The lateral surface of spatula mounting plate 52 is equipped with waterproof attaching plug, and the upper surface of spatula mounting plate 52 is clear by linear motor and second
It is connected in the middle part of the lower surface of lotion storage bin 54, the medial surface bottom of the second cleaning agent storage bin 54 is arranged in Miniature liquid pump 53,
The upper surface middle part of the second cleaning agent storage bin 54 is arranged in silica gel scraper plate 56, and the setting of atomizer 55 is stored up in the second cleaning agent
The upper surface of case 54 is deposited close to one end of silica gel scraper plate 56, the liquid outlet of Miniature liquid pump 53 by conduit and atomizer 55 into
Liquid mouth is connected, and the input terminal of Miniature liquid pump 53 is electrically connected with the output end of central processing unit 4, in the lateral surface upper end of electric vehicle 9
Portion is equipped with positioning column 13, and positioning column 13 is rotatably connected to seat board 14 by being disposed thereon the hinge on surface, and seat board 14 is by setting
Set the symmetrically arranged Y shaped bracket 28 in front and back there are two being clamped in the bayonet unit of its lower surface left end front and rear sides, Y shaped bracket 28
Lower end surface be connected with the lateral surface of electric vehicle 9, the lateral surface of electric vehicle 9 is uniformly distributed on peripheries with four electric capstans 17, electric mincing
Hook 35 is connected on the wirerope of disk 17, rear and front end is set on the upside of the lateral surface left end of electric vehicle 9 symmetrically sets there are two front and back
The lower end surface of the first positioning plate 12 set, the first positioning plate 12 is equipped with the second electric telescopic rod 11, the second electric telescopic rod 11
Lower end surface is equipped with the second anti-skidding supporting block 10, and right end front and rear sides are set in the middle part of the lateral surface of electric vehicle 9 symmetrically sets there are two front and back
The battery case 8 set, left end front and rear sides set that there are two the symmetrically arranged rectangular box 2 in front and back, squares in the middle part of the lateral surface of electric vehicle 9
The inside of shape cabinet 2 is equipped with the first hydraulic pump 40, the second hydraulic pump 41, third hydraulic pump 42 and hydraulic oil container 43, electric vehicle 9
Lateral surface rear upper side is equipped with support frame 16, and the upper surface of support frame 16 is equipped with support plate 5, and support plate 5 is by being disposed thereon
The second straight line motor 29 of surface rear and front end slidably connects movable plate 24, and movable plate 24 is by being disposed thereon the of surface
One linear motor 26 slidably connects mobile station 25, and mobile station 25 is rotatably connected to shaft by being disposed thereon the bearing on surface
1, the lateral surface of shaft 1 is equipped with first gear, and the upper surface of mobile station 25 is equipped with motor 44, and the output shaft of motor 44 is equipped with and the
One gear is meshed the second gear of setting, and the upper surface of shaft 1 is fixedly connected with swivel plate 15, and swivel plate 15 passes through setting
The hinge of surface right end is rotatably connected to first rotating arm 31, the lateral surface right end and swivel plate 15 of first rotating arm 31 on it
Upper surface left end between be equipped with the second hydraulic telescopic rod 23, the hinge that first rotating arm 31 passes through setting face left end on the outside
It is rotatably connected to the second rotating arm 37, between the lateral surface left end of the second rotating arm 37 and the lateral surface middle part of first rotating arm 31
Equipped with the first hydraulic telescopic rod 22, the second rotating arm 37 is rotatably connected to third rotation by the way that the hinge of face right end on the outside is arranged
It is equipped with that third is hydraulic to stretch between in the middle part of the lateral surface of pivoted arm 32, the lateral surface right end of third rotating arm 32 and the second rotating arm 43
Contracting bar 33, the lateral surface left end of third rotating arm 32 are rotatably connected to rotating electric machine 3, and the output shaft of rotating electric machine 3 is connected with behaviour
Make plate 18, third electric telescopic rod 30, operation panel are equipped between the lateral surface of rotating electric machine 3 and the lateral surface of third rotating arm 32
18 left side is successively arranged range sensor 19, card slot 20 and camera 21 from top to bottom, scrapes cleaning device 69 and card slot 20 blocks
It connects and is correspondingly arranged, the lateral surface right end front and rear sides of operation panel 18 are set there are two the symmetrically arranged flexible snap-gauge 68 in front and back, electronic
The lateral surface upper center of vehicle 9 is equipped with central processing unit 4, and electric vehicle 9 passes through auxiliary at left and right sides of setting on its outer lateral surface end
Helping locating rack 38 to be fixedly connected, there are two the 4th electric telescopic rod 39 being symmetrical set, the lower ends of the 4th electric telescopic rod 39
Face is equipped with load-bearing transfer roller 36, and the input terminal of the 4th electric telescopic rod 39 is electrically connected with the output end of central processing unit 4, support frame
16 lateral surface upper end is equipped with the second positioning plate 34, and the lower surface of the second positioning plate 34 is equipped with the first electric telescopic rod 6, the first electricity
The lower end surface of dynamic telescopic rod 6 is equipped with the first anti-skidding supporting block 7, the input terminal of central processing unit 4 and the output end electricity of battery pack 27
Connection, the output end of central processing unit 4 respectively with the first electric telescopic rod 6, the second electric telescopic rod 11, motor 44, electric mincing
Disk 17, first straight line motor 26, second straight line motor 29, third electric telescopic rod 30, the first hydraulic pump 40, the second hydraulic pump
41 and third hydraulic pump 42 input terminal electrical connection, central processing unit 4 respectively with range sensor 19 and the two-way company of camera 21
It connects, the lateral surface of electric vehicle 9 is equipped with battery case charge port 74, the hydraulic oil of the first hydraulic pump 40 close to the side of battery pack 27
Input terminal is connected by conduit with the hydraulic oil output end of hydraulic oil container 43, and the hydraulic oil output end of the first hydraulic pump 40 is by leading
Pipe is connected with the hydraulic oil input terminal of the first hydraulic telescopic rod 22, and the hydraulic oil input terminal of the second hydraulic pump 41 passes through conduit and liquid
The hydraulic oil output end of pressure oil case 43 is connected, and the hydraulic oil output end of the second hydraulic pump 41 passes through conduit and the second hydraulic telescopic rod
23 hydraulic oil input terminal is connected, and the hydraulic oil input terminal of third hydraulic pump 42 is defeated by the hydraulic oil of conduit and hydraulic oil container 43
Outlet is connected, and the hydraulic oil output end of third hydraulic pump 42 passes through the hydraulic oil input terminal phase of conduit and third hydraulic telescopic rod 33
Even, operation panel 18 slidably connects cylindrical slide 80 by the sliding slot 78 for the side left end that sets within it, cylindrical slide 80 it is outer
Side left and right ends are respectively equipped with pressing handle 79 and reset spring 75, and cylindrical slide 80 passes through the hinge that face on the outside is arranged
There are two the symmetrically arranged connecting rod 82 in front and back, connecting rod 82 is rotatably connected to by the way that the pin 77 in face on the outside is arranged for rotation connection
Arc grip block 81, the lower end surface of pin 77 and the medial surface of operation panel 18 are rotatablely connected, in the lateral surface of arc grip block 81
Portion is rotatablely connected by the medial surface of alignment pin 76 and operation panel 18, this tunnel cleaning robot is compact-sized, operation
Conveniently, it occupies little space when use, clean and maintenance, central processing unit 4 rapidly and efficiently can be carried out to the headlamp in tunnel
It is straight to control the first electric telescopic rod 6, the second electric telescopic rod 11, motor 44, electric capstan 17, first straight line motor 26, second
Line motor 29, third electric telescopic rod 30, the first hydraulic pump 40, the second hydraulic pump 41 and third hydraulic pump 42 are all made of existing
Common method in technology.
Embodiment 2: tunnel illumination lamps and lanterns maintaining robot, including electric vehicle 9 and cleaning device 72, cleaning device 72 include
First flexible snap-gauge 50, the first flexible snap-gauge 50 slidably connect cleaning by being disposed thereon the third linear motor 48 on surface
Plate 49, the upper surface left and right ends of clean plate 49 set that there are two the first cleaning agent storage bin 45 for being symmetrical set, first is clear
The upper surface of lotion storage bin 45 is equipped with filling opening 47, and the first cleaning agent storage bin 45 is turned by the way that the bearing in face on the outside is arranged
Dynamic to be connected with electric roller brush 46, electric roller brush 46 is design for disassembly, that is, being replaced by hairbrush transfer roller can also turn with being changed to linen-cotton
Roller, the quantity of electric roller brush 46 are three, and three electric roller brush 46 are evenly distributed on the first cleaning agent storage bin 45 from front to back
Lateral surface, the lateral surface of electric roller brush 46 is equipped with spray head, and the medial surface bottom of the first cleaning agent storage bin 45 is equipped with liquid pump 51,
The liquid outlet of liquid pump 51 is connected by conduit with the lateral surface of electric roller brush 46, the input terminal of third linear motor 48 and liquid pump 51
Be electrically connected with the output end of central processing unit 4, the right side rear and front end of the first flexible snap-gauge 50 set there are two front and back it is symmetrical
The 4th clamping jaw being arranged, the first flexible snap-gauge 50, third linear motor 48, clean plate 49, the first cleaning agent storage bin 45, liquid feeding
Mouth 47, electric roller brush 46 and liquid pump 51 form cleaning device 72, and the lateral surface upper center of electric vehicle 9 is equipped with positioning column 13, fixed
Position column 13 is rotatably connected to seat board 14 by being disposed thereon the hinge on surface, and seat board 14 is by being arranged before its lower surface left end
There are two the symmetrically arranged Y shaped bracket 28 in front and back, the lower end surface of Y shaped bracket 28 and electric vehicles 9 for the bayonet unit clamping of two sides afterwards
Lateral surface be connected, the lateral surface of electric vehicle 9 is uniformly distributed on peripheries with four electric capstans 17, connects on the wirerope of electric capstan 17
There is hook 35, rear and front end is set there are two symmetrically arranged first positioning plate 12 in front and back on the upside of the lateral surface left end of electric vehicle 9, the
The lower end surface of one positioning plate 12 is equipped with the second electric telescopic rod 11, and the lower end surface of the second electric telescopic rod 11 is equipped with the second anti-skid support
Bracer 10, right end front and rear sides set that there are two the symmetrically arranged battery case 8 in front and back, electric vehicles 9 in the middle part of the lateral surface of electric vehicle 9
Lateral surface in the middle part of left end front and rear sides set there are two the symmetrically arranged rectangular box 2 in front and back, the inside of rectangular box 2 is equipped with
First hydraulic pump 40, the second hydraulic pump 41, third hydraulic pump 42 and hydraulic oil container 43, the lateral surface rear upper side of electric vehicle 9 are set
There is a support frame 16, the upper surface of support frame 16 is equipped with support plate 5, and support plate 5 is by being disposed thereon the of surface rear and front end
Two linear motors 29 slidably connect movable plate 24, and movable plate 24 is slided by being disposed thereon the first straight line motor 26 on surface
It is connected with mobile station 25, mobile station 25 is rotatably connected to shaft 1, the lateral surface of shaft 1 by being disposed thereon the bearing on surface
Equipped with first gear, the upper surface of mobile station 25 is equipped with motor 44, and the output shaft of motor 44, which is equipped with to be meshed with first gear, to be set
The second gear set, the upper surface of shaft 1 are fixedly connected with swivel plate 15, and swivel plate 15 is by being disposed thereon surface right end
Hinge is rotatably connected to first rotating arm 31, between the lateral surface right end of first rotating arm 31 and the upper surface left end of swivel plate 15
Equipped with the second hydraulic telescopic rod 23, first rotating arm 31 is rotatably connected to the second rotation by the way that the hinge of face left end on the outside is arranged
The first hydraulically extensible is equipped between in the middle part of pivoted arm 37, the lateral surface left end of the second rotating arm 37 and the lateral surface of first rotating arm 31
Bar 22, the second rotating arm 37 are rotatably connected to third rotating arm 32, third rotation by the way that the hinge of face right end on the outside is arranged
Third hydraulic telescopic rod 33, third rotating arm are equipped between in the middle part of the lateral surface of the lateral surface right end of arm 32 and the second rotating arm 43
32 lateral surface left end is rotatably connected to rotating electric machine 3, and the output shaft of rotating electric machine 3 is connected with operation panel 18, rotating electric machine 3
Lateral surface and third rotating arm 32 lateral surface between be equipped with third electric telescopic rod 30, the left side of operation panel 18 is from upper past
Under be successively arranged range sensor 19, card slot 20 and camera 21, cleaning device 72 is correspondingly arranged with the clamping of card slot 20, operation panel
18 slidably connect cylindrical slide 80, the lateral surface or so of cylindrical slide 80 by the sliding slot 78 for the side left end that sets within it
Both ends are respectively equipped with pressing handle 79 and reset spring 75, and cylindrical slide 80 rotates company by the way that the hinge in face on the outside is arranged
It connects there are two the symmetrically arranged connecting rod 82 in front and back, connecting rod 82 is rotatably connected to arc folder by the way that the pin 77 in face on the outside is arranged
Plate 81 is held, the lower end surface of pin 77 and the medial surface of operation panel 18 are rotatablely connected, pass through in the middle part of the lateral surface of arc grip block 81
The medial surface of alignment pin 76 and operation panel 18 is rotatablely connected, and the lateral surface right end front and rear sides of operation panel 18 set that there are two front and backs
Symmetrically arranged flexible snap-gauge 68, the lateral surface upper center of electric vehicle 9 are equipped with central processing unit 4, and electric vehicle 9 is existed by setting
Auxiliary positioning frame 38 at left and right sides of its lateral surface upper end is fixedly connected with that there are two the 4th electric telescopic rods that are symmetrical set
39, the lower end surface of the 4th electric telescopic rod 39 is equipped with load-bearing transfer roller 36, the input terminal and central processing of the 4th electric telescopic rod 39
The output end of device 4 is electrically connected, and the lateral surface upper end of support frame 16 is equipped with the second positioning plate 34, and the lower surface of the second positioning plate 34 is set
Have the first electric telescopic rod 6, the lower end surface of the first electric telescopic rod 6 is equipped with the first anti-skidding supporting block 7, central processing unit 4 it is defeated
Enter end to be electrically connected with the output end of battery pack 27, the output end of central processing unit 4 is electric with the first electric telescopic rod 6, second respectively
Dynamic telescopic rod 11, motor 44, electric capstan 17, first straight line motor 26, second straight line motor 29, third electric telescopic rod 30,
The input terminal of first hydraulic pump 40, the second hydraulic pump 41 and third hydraulic pump 42 is electrically connected, central processing unit 4 respectively with distance
Sensor 19 and camera 21 are bi-directionally connected, the lateral surface of electric vehicle 9 is equipped with battery case charge port close to the side of battery pack 27
74, the hydraulic oil input terminal of the first hydraulic pump 40 is connected by conduit with the hydraulic oil output end of hydraulic oil container 43, and first is hydraulic
The hydraulic oil output end of pump 40 is connected by conduit with the hydraulic oil input terminal of the first hydraulic telescopic rod 22, the second hydraulic pump 41
Hydraulic oil input terminal is connected by conduit with the hydraulic oil output end of hydraulic oil container 43, the hydraulic oil output end of the second hydraulic pump 41
It is connected by conduit with the hydraulic oil input terminal of the second hydraulic telescopic rod 23, the hydraulic oil input terminal of third hydraulic pump 42 is by leading
Pipe is connected with the hydraulic oil output end of hydraulic oil container 43, and the hydraulic oil output end of third hydraulic pump 42 is hydraulic by conduit and third
The hydraulic oil input terminal of telescopic rod 33 is connected, this tunnel cleaning robot is compact-sized, easy to operate, and when use occupies
Space is small, rapidly and efficiently can carry out clean and maintenance to the headlamp in tunnel, the control of central processing unit 4 first is electronic to stretch
Contracting bar 6, the second electric telescopic rod 11, motor 44, electric capstan 17, first straight line motor 26, second straight line motor 29, third electricity
Dynamic telescopic rod 30, the first hydraulic pump 40, the second hydraulic pump 41 and third hydraulic pump 42 are all made of side commonly used in the prior art
Method.
Embodiment 3: tunnel illumination lamps and lanterns maintaining robot, including electric vehicle 9 and device 70 is changed, changeing device 70 includes
Device for quickly disassembling mounting plate 57, the 5th electric telescopic rod 58, jacking block 59 and gripper 60, before the upper surface of device for quickly disassembling mounting plate 57
The left and right sides is set there are two second be symmetrical set positioning clamping jaw afterwards, and the setting of the 5th electric telescopic rod 58 is pacified in device for quickly disassembling
The upper surface middle part of loading board 57, jacking block 59 are connected to the upper surface of the 5th electric telescopic rod 58, and the setting of gripper 60 is dismounting fastly
The upper surface left and right ends of mounting plate 57 are set, the output end of the input terminal and central processing unit 4 of the 5th electric telescopic rod 58 is electrically connected
It connects, the lateral surface upper center of electric vehicle 9 is equipped with positioning column 13, and positioning column 13 is connected by being disposed thereon the hinge on surface and rotating
It is connected to seat board 14, seat board 14 is symmetrically set by the way that the bayonet unit clamping of its lower surface left end front and rear sides is arranged in there are two front and back
The lower end surface of the Y shaped bracket 28 set, Y shaped bracket 28 is connected with the lateral surface of electric vehicle 9, and the lateral surface surrounding of electric vehicle 9 is uniformly distributed
There are four electric capstan 17, hook 35, front and back on the upside of the lateral surface left end of electric vehicle 9 are connected on the wirerope of electric capstan 17
Both ends are set there are two symmetrically arranged first positioning plate 12 in front and back, and the lower end surface of the first positioning plate 12 is equipped with the second electric telescopic rod
11, the lower end surface of the second electric telescopic rod 11 is equipped with the second anti-skidding supporting block 10, in the middle part of the lateral surface of electric vehicle 9 two before and after right end
Side is set there are two the symmetrically arranged battery case 8 in front and back, and left end front and rear sides set that there are two front and back is right in the middle part of the lateral surface of electric vehicle 9
Claim the rectangular box 2 of setting, the inside of rectangular box 2 is equipped with the first hydraulic pump 40, the second hydraulic pump 41,42 and of third hydraulic pump
Hydraulic oil container 43, the lateral surface rear upper side of electric vehicle 9 are equipped with support frame 16, and the upper surface of support frame 16 is equipped with support plate 5,
Support plate 5 slidably connects movable plate 24, movable plate 24 by being disposed thereon the second straight line motor 29 of surface rear and front end
First straight line motor 26 by being disposed thereon surface slidably connects mobile station 25, and mobile station 25 is by being disposed thereon table
The bearing in face is rotatably connected to shaft 1, and the lateral surface of shaft 1 is equipped with first gear, and the upper surface of mobile station 25 is equipped with motor
44, the output shaft of motor 44 is equipped with the second gear for the setting that is meshed with first gear, and the upper surface of shaft 1 is fixedly connected with rotation
Rotating plate 15, swivel plate 15 are rotatably connected to first rotating arm 31, first rotating arm by being disposed thereon the hinge of surface right end
The second hydraulic telescopic rod 23 is equipped between 31 lateral surface right end and the upper surface left end of swivel plate 15, first rotating arm 31 passes through
The hinge that face left end on the outside is arranged is rotatably connected to the second rotating arm 37, the lateral surface left end and first of the second rotating arm 37
The first hydraulic telescopic rod 22 is equipped between in the middle part of the lateral surface of rotating arm 31, face is right on the outside by setting for the second rotating arm 37
The hinge at end is rotatably connected to third rotating arm 32, the lateral surface of the lateral surface right end of third rotating arm 32 and the second rotating arm 43
Third hydraulic telescopic rod 33 is equipped between middle part, the lateral surface left end of third rotating arm 32 is rotatably connected to rotating electric machine 3, rotates
The output shaft of motor 3 is connected with operation panel 18, and the is equipped between the lateral surface of rotating electric machine 3 and the lateral surface of third rotating arm 32
Three electric telescopic rods 30, the left side of operation panel 18 are successively arranged range sensor 19, card slot 20 and camera 21 from top to bottom,
It changes device 70 to be correspondingly arranged with the clamping of card slot 20, the lateral surface right end front and rear sides of operation panel 18 are set symmetrically to be set there are two front and back
The flexible snap-gauge 68 set, the lateral surface upper center of electric vehicle 9 are equipped with central processing unit 4, and electric vehicle 9 is by being arranged on the outside
Auxiliary positioning frame 38 at left and right sides of the upper end of face is fixedly connected there are two the 4th electric telescopic rod 39 being symmetrical set, the
The lower end surface of four electric telescopic rods 39 is equipped with load-bearing transfer roller 36, input terminal and the central processing unit 4 of the 4th electric telescopic rod 39
Output end electrical connection, the lateral surface upper end of support frame 16 are equipped with the second positioning plate 34, and the lower surface of the second positioning plate 34 is equipped with the
The lower end surface of one electric telescopic rod 6, the first electric telescopic rod 6 is equipped with the first anti-skidding supporting block 7, the input terminal of central processing unit 4
Be electrically connected with the output end of battery pack 27, the output end of central processing unit 4 respectively with the first electric telescopic rod 6, second is electronic stretches
Contracting bar 11, motor 44, electric capstan 17, first straight line motor 26, second straight line motor 29, third electric telescopic rod 30, first
The input terminal of hydraulic pump 40, the second hydraulic pump 41 and third hydraulic pump 42 is electrically connected, central processing unit 4 respectively with range sensor
19 and camera 21 be bi-directionally connected, the lateral surface of electric vehicle 9 is equipped with battery case charge port 74 close to the side of battery pack 27, first
The hydraulic oil input terminal of hydraulic pump 40 is connected by conduit with the hydraulic oil output end of hydraulic oil container 43, the first hydraulic pump 40
Hydraulic oil output end is connected by conduit with the hydraulic oil input terminal of the first hydraulic telescopic rod 22, the hydraulic oil of the second hydraulic pump 41
Input terminal is connected by conduit with the hydraulic oil output end of hydraulic oil container 43, and the hydraulic oil output end of the second hydraulic pump 41 is by leading
Pipe is connected with the hydraulic oil input terminal of the second hydraulic telescopic rod 23, and the hydraulic oil input terminal of third hydraulic pump 42 passes through conduit and liquid
The hydraulic oil output end of pressure oil case 43 is connected, and the hydraulic oil output end of third hydraulic pump 42 passes through conduit and third hydraulic telescopic rod
33 hydraulic oil input terminal is connected, and operation panel 18 slidably connects cylindrical slide by the sliding slot 78 for the side left end that sets within it
80, the lateral surface left and right ends of cylindrical slide 80 are respectively equipped with pressing handle 79 and reset spring 75, and cylindrical slide 80 is by setting
The hinge rotation connection in face on the outside is set there are two the symmetrically arranged connecting rod 82 in front and back, connecting rod 82 passes through setting face on the outside
Pin 77 be rotatably connected to arc grip block 81, the lower end surface of pin 77 and the medial surface of operation panel 18 are rotatablely connected, arc
It is rotatablely connected in the middle part of the lateral surface of grip block 81 by the medial surface of alignment pin 76 and operation panel 18, this tunnel cleaning machine
Device people, compact-sized, easy to operate, when use, occupies little space, and can rapidly and efficiently carry out to the headlamp in tunnel clear
Maintenance is washed, central processing unit 4 controls the first electric telescopic rod 6, the second electric telescopic rod 11, motor 44, electric capstan 17, first
Linear motor 26, second straight line motor 29, third electric telescopic rod 30, the first hydraulic pump 40, the second hydraulic pump 41 and third liquid
Press pump 42 is all made of method commonly used in the prior art.
Embodiment 4: tunnel illumination lamps and lanterns maintaining robot, including electric vehicle 9 and cleaning device 71 is smeared, smearing cleaning device 71 includes
It smears and washes flexible snap-gauge 61, the 4th linear motor 62, supporting plate 67, storage third cleaning agent storage bin 66, water pump 63,73 and of waterproof machine
Atomizer 65 is smeared and washes flexible snap-gauge 61 and be slidably connected by being disposed thereon the 4th linear motor 62 on surface with supporting plate 67,
The upper surface of supporting plate 67 is arranged in waterproof machine 73, stores up the lower surface of third cleaning agent storage bin 66 and the output of waterproof machine 73
Axis is connected, and the medial surface of storage third cleaning agent storage bin 66 is arranged in water pump 63, stores up the upper surface of third cleaning agent storage bin 66
Rear and front end is equipped with atomizer 65, and the liquid outlet of water pump 63 is connected by conduit with the inlet of atomizer 65, stores up the
The upper surface middle part of three cleaning agent storage bins 66 is connected with rag mounting plate 64, and the upper surface of rag mounting plate 64 is equipped with rag,
It smears and washes the right side rear and front end of flexible snap-gauge 61 and set that there are two the symmetrically arranged first positioning clamping jaw in front and back, water pump 63 and waterproofs
The input terminal of motor 73 is electrically connected with the output end of central processing unit 4, and the lateral surface upper center of electric vehicle 9 is equipped with positioning column
13, positioning column 13 is rotatably connected to seat board 14 by being disposed thereon the hinge on surface, and seat board 14 is by being arranged in its lower surface
There are two the symmetrically arranged Y shaped bracket 28 in front and back, the lower end surface of Y shaped bracket 28 and electricity for the bayonet unit clamping of left end front and rear sides
The lateral surface of motor-car 9 is connected, and the lateral surface of electric vehicle 9 is uniformly distributed on peripheries with four electric capstans 17, the wirerope of electric capstan 17
On be connected with hook 35, rear and front end sets that there are two symmetrically arranged first positioning in front and back on the upside of the lateral surface left end of electric vehicle 9
Plate 12, the lower end surface of the first positioning plate 12 are equipped with the second electric telescopic rod 11, and the lower end surface of the second electric telescopic rod 11 is equipped with the
The lateral surface middle part right end front and rear sides of two anti-skidding supporting blocks 10, electric vehicle 9 are set there are two the symmetrically arranged battery case 8 in front and back,
Left end front and rear sides are set there are two the symmetrically arranged rectangular box 2 in front and back in the middle part of the lateral surface of electric vehicle 9, rectangular box 2 it is interior
Portion is equipped with the first hydraulic pump 40, the second hydraulic pump 41, third hydraulic pump 42 and hydraulic oil container 43, the outside surface rear end of electric vehicle 9
Upside is equipped with support frame 16, and the upper surface of support frame 16 is equipped with support plate 5, and support plate 5 is by being disposed thereon surface front and back two
The second straight line motor 29 at end slidably connects movable plate 24, and movable plate 24 is by being disposed thereon the first straight line motor on surface
26 slidably connect mobile station 25, and mobile station 25 is rotatably connected to shaft 1 by being disposed thereon the bearing on surface, shaft 1
Lateral surface is equipped with first gear, and the upper surface of mobile station 25 is equipped with motor 44, and the output shaft of motor 44 is equipped with and first gear phase
The second gear being engaged, the upper surface of shaft 1 are fixedly connected with swivel plate 15, and swivel plate 15 is by being disposed thereon surface
The hinge of right end is rotatably connected to first rotating arm 31, and the lateral surface right end of first rotating arm 31 and the upper surface of swivel plate 15 are left
The second hydraulic telescopic rod 23 is equipped between end, first rotating arm 31 is rotatably connected to by the way that the hinge of face left end on the outside is arranged
The first liquid is equipped between in the middle part of second rotating arm 37, the lateral surface left end of the second rotating arm 37 and the lateral surface of first rotating arm 31
Telescopic rod 22 is pressed, the second rotating arm 37 is rotatably connected to third rotating arm 32 by the way that the hinge of face right end on the outside is arranged, the
Third hydraulic telescopic rod 33 is equipped between in the middle part of the lateral surface of the lateral surface right end of three rotating arms 32 and the second rotating arm 43, the
The lateral surface left end of three rotating arms 32 is rotatably connected to rotating electric machine 3, and the output shaft of rotating electric machine 3 is connected with operation panel 18, rotation
Third electric telescopic rod 30, the left side of operation panel 18 are equipped between the lateral surface of rotating motor 3 and the lateral surface of third rotating arm 32
Face is successively arranged range sensor 19, card slot 20 and camera 21 from top to bottom, smears that cleaning device 71 is corresponding with the clamping of card slot 20 to be set
It sets, the lateral surface right end front and rear sides of operation panel 18 are set there are two the symmetrically arranged flexible snap-gauge 68 in front and back, the outside of electric vehicle 9
Face upper center is equipped with central processing unit 4, and electric vehicle 9 passes through the auxiliary positioning frame 38 at left and right sides of setting on its outer lateral surface end
It is fixedly connected there are two the 4th electric telescopic rod 39 being symmetrical set, the lower end surface of the 4th electric telescopic rod 39 is equipped with load-bearing
The input terminal of transfer roller 36, the 4th electric telescopic rod 39 is electrically connected with the output end of central processing unit 4, on the lateral surface of support frame 16
End is equipped with the second positioning plate 34, and the lower surface of the second positioning plate 34 is equipped with the first electric telescopic rod 6, the first electric telescopic rod 6
Lower end surface is equipped with the first anti-skidding supporting block 7, and the input terminal of central processing unit 4 is electrically connected with the output end of battery pack 27, centre
The output end for managing device 4 is straight with the first electric telescopic rod 6, the second electric telescopic rod 11, motor 44, electric capstan 17, first respectively
Line motor 26, second straight line motor 29, third electric telescopic rod 30, the first hydraulic pump 40, the second hydraulic pump 41 and third are hydraulic
The input terminal electrical connection of pump 42, central processing unit 4 are bi-directionally connected with range sensor 19 and camera 21 respectively, electric vehicle 9
Lateral surface is equipped with battery case charge port 74 close to the side of battery pack 27, and the hydraulic oil input terminal of the first hydraulic pump 40 passes through conduit
It is connected with the hydraulic oil output end of hydraulic oil container 43, the hydraulic oil output end of the first hydraulic pump 40 hydraulic is stretched by conduit with first
The hydraulic oil input terminal of contracting bar 22 is connected, and the hydraulic oil input terminal of the second hydraulic pump 41 is hydraulic by conduit and hydraulic oil container 43
Oily output end is connected, and the hydraulic oil output end of the second hydraulic pump 41 is inputted by conduit and the hydraulic oil of the second hydraulic telescopic rod 23
End is connected, and the hydraulic oil input terminal of third hydraulic pump 42 is connected by conduit with the hydraulic oil output end of hydraulic oil container 43, third
The hydraulic oil output end of hydraulic pump 42 is connected by conduit with the hydraulic oil input terminal of third hydraulic telescopic rod 33, and operation panel 18 is logical
The sliding slot 78 for crossing the side left end that sets within it slidably connects cylindrical slide 80, the lateral surface left and right ends point of cylindrical slide 80
Handle 79 and reset spring 75 She You not be pressed, cylindrical slide 80 passes through there are two the hinge rotation connections that face on the outside is arranged
The symmetrically arranged connecting rod 82 in front and back, connecting rod 82 are rotatably connected to arc grip block 81 by the way that the pin 77 in face on the outside is arranged,
The lower end surface of pin 77 and the medial surface of operation panel 18 are rotatablely connected, and pass through alignment pin in the middle part of the lateral surface of arc grip block 81
76 are rotatablely connected with the medial surface of operation panel 18, this tunnel cleaning robot is compact-sized, easy to operate, and when use accounts for
It is small with space, clean and maintenance rapidly and efficiently can be carried out to the headlamp in tunnel, the control of central processing unit 4 first is electronic to stretch
Contracting bar 6, the second electric telescopic rod 11, motor 44, electric capstan 17, first straight line motor 26, second straight line motor 29, third electricity
Dynamic telescopic rod 30, the first hydraulic pump 40, the second hydraulic pump 41 and third hydraulic pump 42 are all made of method commonly used in the prior art.
Using the method that tunnel illumination lamps and lanterns maintaining robot safeguards tunnel illumination lamps and lanterns: when the present invention is normal
When road traveling, load-bearing transfer roller 36, the second anti-skidding supporting block 10 and the first anti-skidding supporting block 7 are withdrawn, and the present invention passes through electric vehicle 9
Front and back wheel normally travel, when the present invention needs to climb slope, pass through 9 front end of electric vehicle be arranged the 4th electric telescopic rod 39
Load-bearing transfer roller 36 is raised in elongation is put into the high face of step, is stretched by another 4th electric telescopic rod 39 that 9 rear end of electric vehicle is arranged
The load-bearing transfer roller 36 that 9 rear end of electric vehicle is arranged in is placed on step by length, and the wheel of electric vehicle 9 is lifted, while worker is controlled
Electric vehicle 9 processed is walked forward, to complete to climb, after the completion of climbing, is shunk by the 4th electric telescopic rod 39 of control by load-bearing
Transfer roller 36 lifts, and the wheel of electric vehicle 9 touches ground, so as to normally travel, when the present invention reaches operation in tunnel,
The present invention is moved in tunnel, the first electric telescopic rod 6 is controlled by central processing unit 4 and the second electric telescopic rod 11 is stretched
It is long, it will be below the first anti-skidding supporting block 7 and the second anti-skidding supporting block 10 by the first electric telescopic rod 6 and the second electric telescopic rod 11
Electric vehicle 9 is propped to cable duct two sides, at the same the elongation of the 4th electric telescopic rod 39 load-bearing transfer roller 36 is sent it is upper to cable duct
Surface pulls out hook 35, then hook 35 is hung on to the lateral surface of cable channel cover plate, then starts seat board 14, so that
Operating mechanism is transportable farther, controls the first hydraulic telescopic rod 22, the second hydraulic telescopic rod 23 by central processing unit 4
It works, operation panel 18 is sent near headlamp, by the camera shooting that 18 lateral surface of operation panel is arranged in third hydraulic telescopic rod 33
First 21 pairs of headlamps carry out position observation, prevent the present invention from bumping against headlamp at work by range sensor 19, work as headlamp
Lateral surface when having more dust, the positioning wedged block for scraping 69 lateral surface lower end of cleaning device will be set and snap fit onto card slot 20
Inside is inserted on rear side of headlamp, from lower to upper by spatula mounting plate is arranged in by the flexible snap-gauge 68 being arranged on operation panel 18
The positioning clamping jaw of 52 lateral surfaces is inserted into from lower to upper on front side of headlamp, by the linear motor band that shovel 52 upper surface of mounting plate is arranged in
Dynamic silica gel scraper plate 56 moves left and right, by silica gel scraper plate 56 that the dust spatula for being attached to headlamp lateral surface is clean, while by micro-
The internal contrast bright lamp that cleaning solution in second cleaning agent storage bin 54 pumps to atomizer 55 is carried out hydro-peening by type liquid pump 53,
When needing to clean headlamp, it is inserted on rear side of headlamp from lower to upper by the flexible snap-gauge 68 being arranged on operation panel 18, by setting
The positioning clamping jaw set on cleaning device 72 is inserted on front side of headlamp from lower to upper, and cleaning device 72 is installed to operation panel 18
Lateral surface is injected in headlamp after being pumped to the cleaning solution in the first cleaning agent storage bin 45 in electric roller brush 46 by liquid pump 51
Lateral surface, while headlamp is wiped by electric roller brush 46, is clamped by smearing to wash flexible snap-gauge 61 and will smear cleaning device 71
To the lateral surface of operation panel 18, cleaning solution is ejected into the lateral surface of headlamp by water pump 62, rag is driven by waterproof machine 73
Rotation drives rag along the outside of headlamp to wipe to the lateral surface of headlamp by the 4th linear motor 62
Face is mobile, when need repairing replace headlamp when, device 70 will be changed by device for quickly disassembling mounting plate 57 and snap fit onto operation panel 18
Lateral surface, be inserted on rear side of headlamp from lower to upper by the flexible snap-gauge 68 being arranged on operation panel 18, change dress by being arranged in
It sets the positioning clamping jaw on 70 to be inserted into from lower to upper on front side of headlamp, be released jacking block 59 by the 5th electric telescopic rod 58, by jacking block
59 eject lamps and lanterns out of its card slot, meanwhile, the lamps and lanterns removed are grabbed by gripper 60, when dismantling different lamps,
Corresponding jacking block is mounted on to the upper surface of the 5th electric telescopic rod 58.
What the present invention can be convenient operates, and occupied space is few when use, easy to operate and use；It can be very easily
Clean and maintenance is carried out to the headlamp in tunnel, improves ease of use；The setting of gripper 60 facilitates headlamp more
It changes, improves ease of use.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. tunnel illumination lamps and lanterns maintaining robot, including electric vehicle (9), cleaning device (69) is scraped, device (70) is changed, smears cleaning device
(71) and cleaning device (72), it is characterised in that: the lateral surface of the electric vehicle (9) is uniformly distributed on peripheries with four electric capstans
(17), it is connected with hook (35) on the wirerope of electric capstan (17), rear and front end is set on the upside of the lateral surface left end of electric vehicle (9)
There are two symmetrically arranged first positioning plate (12) in front and back, the lower end surface of the first positioning plate (12) is equipped with the second electric telescopic rod
(11), the lower end surface of the second electric telescopic rod (11) is equipped with the second anti-skidding supporting block (10), the right side in the middle part of the lateral surface of electric vehicle (9)
End front and rear sides are set there are two the symmetrically arranged battery case in front and back (8), and the lateral surface middle part left end front and rear sides of electric vehicle (9) are set
There are two the symmetrically arranged rectangular box in front and back (2), the inside of rectangular box (2) is equipped with the first hydraulic pump (40), second hydraulic
(41), third hydraulic pump (42) and hydraulic oil container (43) are pumped, the lateral surface rear upper side of electric vehicle (9) is equipped with support frame (16),
The upper surface of support frame (16) is equipped with support plate (5), and support plate (5) is by being disposed thereon the second straight line of surface rear and front end
Motor (29) slidably connects movable plate (24), and movable plate (24) is sliding by the first straight line motor (26) for being disposed thereon surface
Dynamic to be connected with mobile station (25), mobile station (25) is rotatably connected to shaft (1), shaft by being disposed thereon the bearing on surface
(1) lateral surface is equipped with first gear, and the upper surface of mobile station (25) is equipped with motor (44), the output shaft of motor (44) be equipped with
First gear is meshed the second gear of setting, and the upper surface of shaft (1) is fixedly connected with swivel plate (15), and swivel plate (15) is logical
It crosses and is disposed thereon the hinge of surface right end and is rotatably connected to first rotating arm (31), the lateral surface right end of first rotating arm (31)
The second hydraulic telescopic rod (23) are equipped between the upper surface left end of swivel plate (15), first rotating arm (31) is by being arranged at it
The hinge of lateral surface left end is rotatably connected to the second rotating arm (37), the lateral surface left end of the second rotating arm (37) and the first rotation
The first hydraulic telescopic rod (22) are equipped between in the middle part of the lateral surface of arm (31), the second rotating arm (37) is by being arranged face on the outside
The hinge of right end is rotatably connected to third rotating arm (32), the lateral surface right end and the second rotating arm (43) of third rotating arm (32)
Lateral surface in the middle part of between be equipped with third hydraulic telescopic rod (33), the lateral surface left end of third rotating arm (32) is rotatably connected to rotation
Rotating motor (3), the output shaft of rotating electric machine (3) are connected with operation panel (18), the lateral surface and third rotating arm of rotating electric machine (3)
(32) third electric telescopic rod (30) are equipped between lateral surface, the left side of operation panel (18) is successively arranged distance from top to bottom
Sensor (19), card slot (20) and camera (21) scrape cleaning device (69), change device (70), smear cleaning device (71) and clean
Transfer roller (72) is correspondingly arranged with card slot (20) clamping, and operation panel (18) is sliding by the sliding slot (78) for the side left end that sets within it
Dynamic to be connected with cylindrical slide (80), the lateral surface left and right ends of cylindrical slide (80) are respectively equipped with pressing handle (79) and reset bullet
Spring (75), there are two the symmetrically arranged connecting rods in front and back by the way that the hinge rotation connection in face on the outside is arranged for cylindrical slide (80)
(82), connecting rod (82) is rotatably connected to arc grip block (81) by the way that the pin (77) in face on the outside is arranged, pin (77)
The medial surface of lower end surface and operation panel (18) is rotatablely connected, and passes through alignment pin (76) in the middle part of the lateral surface of arc grip block (81)
It is rotatablely connected with the medial surface of operation panel (18), the lateral surface right end front and rear sides of operation panel (18) are set symmetrically to be set there are two front and back
The flexible snap-gauge (68) set, the lateral surface upper center of electric vehicle (9) are equipped with central processing unit (4), central processing unit (4) it is defeated
Enter end to be electrically connected with the output end of battery pack (27), the output end of central processing unit (4) respectively with the first electric telescopic rod (6),
Second electric telescopic rod (11), motor (44), electric capstan (17), first straight line motor (26), second straight line motor (29),
The input terminal electrical connection of three electric telescopic rods (30), the first hydraulic pump (40), the second hydraulic pump (41) and third hydraulic pump (42),
Central processing unit (4) is bi-directionally connected with range sensor (19) and camera (21) respectively, and the lateral surface of electric vehicle (9) is close to electricity
The side of pond group (27) is equipped with battery case charge port (74).
2. tunnel illumination lamps and lanterns maintaining robot according to claim 1, it is characterised in that: outside the electric vehicle (9)
Side upper center is equipped with positioning column (13), and positioning column (13) is rotatably connected to seat board by being disposed thereon the hinge on surface
(14)；The seat board (14) is symmetrically set by the way that the bayonet unit clamping of its lower surface left end front and rear sides is arranged in there are two front and back
The lower end surface of the Y shaped bracket (28) set, Y shaped bracket (28) is connected with the lateral surface of electric vehicle (9).
3. tunnel illumination lamps and lanterns maintaining robot according to claim 2, it is characterised in that: the electric vehicle (9) passes through
Be arranged on its outer lateral surface end the left and right sides auxiliary positioning frame (38) be fixedly connected there are two be symmetrical set the 4th electricity
The lower end surface of dynamic telescopic rod (39), the 4th electric telescopic rod (39) is equipped with load-bearing transfer roller (36), the 4th electric telescopic rod (39)
Input terminal is electrically connected with the output end of central processing unit (4).
4. tunnel illumination lamps and lanterns maintaining robot according to claim 3, it is characterised in that: outside support frame as described above (16)
Side upper end is equipped with the second positioning plate (34), and the lower surface of the second positioning plate (34) is equipped with the first electric telescopic rod (6), the first electricity
The lower end surface of dynamic telescopic rod (6) is equipped with the first anti-skidding supporting block (7).
5. tunnel illumination lamps and lanterns maintaining robot according to claim 4, it is characterised in that: first hydraulic pump (40)
Hydraulic oil input terminal be connected with the hydraulic oil output end of hydraulic oil container (43) by conduit, the hydraulic oil of the first hydraulic pump (40)
Output end is connected by conduit with the hydraulic oil input terminal of the first hydraulic telescopic rod (22), and the hydraulic oil of the second hydraulic pump (41) is defeated
Enter end to be connected by conduit with the hydraulic oil output end of hydraulic oil container (43), the hydraulic oil output end of the second hydraulic pump (41) passes through
Conduit is connected with the hydraulic oil input terminal of the second hydraulic telescopic rod (23), and the hydraulic oil input terminal of third hydraulic pump (42) is by leading
Pipe is connected with the hydraulic oil output end of hydraulic oil container (43), and the hydraulic oil output end of third hydraulic pump (42) passes through conduit and third
The hydraulic oil input terminal of hydraulic telescopic rod (33) is connected.
6. tunnel illumination lamps and lanterns maintaining robot according to claim 5, it is characterised in that: cleaning device (72) packet
The first flexible snap-gauge (50) is included, the first flexible snap-gauge (50) connects by being disposed thereon the third linear motor (48) on surface and sliding
Be connected to clean plate (49), the upper surface left and right ends of clean plate (49) set there are two be symmetrical set the first cleaning agent storage
The upper surface of case (45), the first cleaning agent storage bin (45) is equipped with filling opening (47), and the first cleaning agent storage bin (45) is by setting
The bearing for setting face on the outside is rotatably connected to electric roller brush (46), and the quantity of electric roller brush (46) is three, three electronic rollings
Brush (46) is evenly distributed on the lateral surface of the first cleaning agent storage bin (45) from front to back, and the lateral surface of electric roller brush (46) is equipped with
Spray head, the medial surface bottom of the first cleaning agent storage bin (45) are equipped with liquid pump (51), the liquid outlet of liquid pump (51) by conduit with
The lateral surface of electric roller brush (46) is connected, the input terminal of third linear motor (48) and liquid pump (51) with central processing unit (4)
Output end electrical connection, the right side rear and front end of the first flexible snap-gauge (50) set there are two front and back it is symmetrically arranged 4th folder
Pawl, the lateral surface of the first flexible snap-gauge (50) are equipped with waterproof attaching plug, and the lateral surface of the 4th clamping jaw is equipped with anti-slip rubber layer, the
One flexible snap-gauge (50), third linear motor (48), clean plate (49), the first cleaning agent storage bin (45), the 4th clamping jaw, liquid feeding
Mouth (47), electric roller brush (46) and liquid pump (51) composition cleaning device (72).
7. tunnel illumination lamps and lanterns maintaining robot according to claim 6, it is characterised in that: described to scrape cleaning device (69) packet
Include spatula mounting plate (52), Miniature liquid pump (53), the second cleaning agent storage bin (54), atomizer (55) and silica gel scraper plate
(56), the right side rear and front end of spatula mounting plate (52) is set there are two the symmetrically arranged third clamping jaw in front and back, third clamping jaw
Lateral surface is equipped with anti-slip layer, and the lateral surface of spatula mounting plate (52) is equipped with waterproof attaching plug, the upper table of spatula mounting plate (52)
By being connected in the middle part of linear motor and the lower surface of the second cleaning agent storage bin (54), Miniature liquid pump (53) setting is clear second in face
The medial surface bottom of lotion storage bin (54), silica gel scraper plate (56) are arranged in the upper surface of the second cleaning agent storage bin (54)
Portion, atomizer (55) is arranged in the upper surface of the second cleaning agent storage bin (54) close to one end of silica gel scraper plate (56), miniature
The liquid outlet of liquid pump (53) is connected by conduit with the inlet of atomizer (55), the input terminal of Miniature liquid pump (53) and center
The output end of processor (4) is electrically connected.
8. tunnel illumination lamps and lanterns maintaining robot according to claim 7, it is characterised in that: described to change device (70) packet
Include device for quickly disassembling mounting plate (57), the 5th electric telescopic rod (58), jacking block (59) and gripper (60), device for quickly disassembling mounting plate
(57) all around two sides are set there are two second be symmetrical set positioning clamping jaw for upper surface, and second positions the outside of clamping jaw
Face is equipped with anti-slip layer, and the lateral surface of device for quickly disassembling mounting plate (57) is equipped with waterproof plug, and the setting of the 5th electric telescopic rod (58) exists
The medial surface bottom of device for quickly disassembling mounting plate (57), jacking block (59) are connected to the upper surface of the 5th electric telescopic rod (58), mechanical
Pawl (60) setting is in the upper surface left and right ends of device for quickly disassembling mounting plate (57), and the input terminal of the 5th electric telescopic rod (58) is in
The output end of central processor (4) is electrically connected.
9. tunnel illumination lamps and lanterns maintaining robot according to claim 8, it is characterised in that: described to smear cleaning device (71) packet
It includes to smear and washes flexible snap-gauge (61), the 4th linear motor (62), supporting plate (67), third cleaning agent storage bin (66), water pump (63), prevents
Hydroelectric machine (73) and atomizer (65) smear the 4th linear motor (62) for washing flexible snap-gauge (61) by being disposed thereon surface
It is slidably connected with supporting plate (67), waterproof machine (73) is arranged in the upper surface of supporting plate (67), third cleaning agent storage bin (66)
Lower surface is connected with the output shaft of waterproof machine (73), and the medial surface in third cleaning agent storage bin (66) is arranged in water pump (63),
The upper surface rear and front end of third cleaning agent storage bin (66) is equipped with atomizer (65), and the liquid outlet of water pump (63) is by leading
Pipe is connected with the inlet of atomizer (65), and the upper surface middle part of storage third cleaning agent storage bin (66) is connected with rag installation
The upper surface of plate (64), rag mounting plate (64) is equipped with rag, smears the right side rear and front end for washing flexible snap-gauge (61) equipped with two
A symmetrically arranged first positioning clamping jaw in front and back, the lateral surface of the first positioning clamping jaw are equipped with anti-slip layer, smear and wash flexible snap-gauge (61)
Lateral surface be equipped with waterproof power connector, the input terminal of water pump (63) and waterproof machine (73) is defeated with central processing unit (4)
Outlet electrical connection.
10. the method safeguarded using tunnel illumination lamps and lanterns maintaining robot to tunnel illumination lamps and lanterns, it is characterised in that:
When tunnel illumination lamps and lanterns maintaining robot is in normal road, load-bearing transfer roller (36), the second anti-skidding supporting block (10)
It being withdrawn with the first anti-skidding supporting block (7), tunnel illumination lamps and lanterns maintaining robot passes through the front and back wheel normally travel of electric vehicle (9),
When tunnel illumination lamps and lanterns maintaining robot needs to climb cable duct, pass through the 4th electric expansion of electric vehicle (9) front end setting
Load-bearing transfer roller (36) is raised in bar (39) elongation to be put on cable duct, electronic by the another 4th of the setting of electric vehicle (9) rear end the
Load-bearing transfer roller (36) of telescopic rod (39) elongation by setting in electric vehicle (9) rear end is placed on cable duct, the vehicle of electric vehicle (9)
Wheel is lifted, while worker controls electric vehicle (9) and walks forward, to complete to climb, after the completion of climbing, passes through the 4th electricity of control
Dynamic telescopic rod (39), which are shunk, lifts load-bearing transfer roller (36), and the wheel of electric vehicle (9) touches ground, so as to normal row
It sails, when tunnel illumination lamps and lanterns maintaining robot reaches operation in tunnel, tunnel illumination lamps and lanterns maintaining robot is moved to tunnel
It in road, is extended by central processing unit (4) control the first electric telescopic rod (6) and the second electric telescopic rod (11), by the first electricity
Dynamic telescopic rod (6) and the second electric telescopic rod (11) will arrive below the first anti-skidding supporting block (7) and the second anti-skidding supporting block (10)
Electric vehicle (9) are propped in cable duct two sides, while the elongation of the 4th electric telescopic rod (39) send load-bearing transfer roller (36) to cable duct
Upper surface, hook (35) are pulled out, (35) then will be linked up with and be hung on the lateral surface of cable channel cover plate, then by seat board (14)
It starts, so that operating mechanism is transportable farther, controls the first hydraulic telescopic rod (22), second by central processing unit (4)
Hydraulic telescopic rod (23) and third hydraulic telescopic rod (33) work, operation panel (18) is sent near headlamp, is grasped by being arranged in
The camera (21) for making plate (18) lateral surface carries out position observation to headlamp, prevents tunnel illuminating lamp by range sensor (19)
Tool maintaining robot bumps against headlamp at work, and when the lateral surface of headlamp has more dust, setting is being scraped dress
The positioning wedged block for setting (69) lateral surface lower end snaps fit onto the inside of card slot (20), by the flexible snap-gauge being arranged on operation panel (18)
(68) from lower to upper on rear side of insertion headlamp, the positioning clamping jaw by spatula mounting plate (52) lateral surface is arranged in is inserted into from lower to upper
On front side of headlamp, the linear motor by shovel mounting plate (52) upper surface is arranged in drives silica gel scraper plate (56) to move left and right, by silicon
Glue scraper plate (56) is clean by the dust spatula for being attached to headlamp lateral surface, while being stored up the second cleaning agent by Miniature liquid pump (53)
It deposits the cleaning solution in case (54) and pumps to the internal contrast bright lamp of atomizer (55) and carry out hydro-peening, when needing to clean headlamp
When, it is inserted on rear side of headlamp from lower to upper by the flexible snap-gauge (68) being arranged on operation panel (18), by cleaning device is arranged in
(72) the positioning clamping jaw on is inserted into from lower to upper on front side of headlamp, and cleaning device (72) is installed to the outside of operation panel (18)
Face is injected in illumination after being pumped to the cleaning solution in the first cleaning agent storage bin (45) in electric roller brush (46) by liquid pump (51)
The lateral surface of lamp, while being wiped by electric roller brush (46) to headlamp washes flexible snap-gauge (61) and will smear cleaning device by smearing
(71) cleaning solution is ejected into the lateral surface of headlamp by water pump (62), by anti-water power by the lateral surface for snapping fit onto operation panel (18)
Machine (73) drives rag rotation to wipe to the lateral surface of headlamp, while driving rag by the 4th linear motor (62)
Moved along the lateral surface of headlamp, when need repairing replace headlamp when, dress will be changed by device for quickly disassembling mounting plate (57)
The lateral surface that (70) snap fit onto operation panel (18) is set, is inserted into from lower to upper by the flexible snap-gauge (68) being arranged on operation panel (18)
On rear side of headlamp, it is inserted on front side of headlamp from lower to upper by the positioning clamping jaw changed on device (70) is arranged in, it is electronic by the 5th
Telescopic rod (58) releases jacking block (59), is ejected lamps and lanterns out of its card slot by jacking block (59), meanwhile, by gripper (60) to tearing open
Under lamps and lanterns grabbed, when dismantling different lamps, corresponding jacking block is mounted on the 5th electric telescopic rod (58)
Upper surface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811576310.2A CN109397315B (en) | 2018-12-22 | 2018-12-22 | Tunnel illumination lamp maintenance robot and maintenance method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811576310.2A CN109397315B (en) | 2018-12-22 | 2018-12-22 | Tunnel illumination lamp maintenance robot and maintenance method |
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| CN109397315B CN109397315B (en) | 2024-03-29 |
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| CN114434480A (en) * | 2022-02-11 | 2022-05-06 | 济南昊中自动化有限公司 | Automatic change press line end effector and change device |
| CN115054154A (en) * | 2022-06-28 | 2022-09-16 | 武汉大学 | Glass curtain wall cleaning machine capable of automatically replacing cleaning brush |
| CN117182864A (en) * | 2023-02-04 | 2023-12-08 | 浙江省交通运输科学研究院 | Rail mounted highway tunnel robot with lamps and lanterns clean function |
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| CN117182864B (en) * | 2023-02-04 | 2024-10-15 | 浙江省交通运输科学研究院 | Rail mounted highway tunnel robot with lamps and lanterns clean function |
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