CN110093886B - Tunnel cleaning machine - Google Patents
Tunnel cleaning machine Download PDFInfo
- Publication number
- CN110093886B CN110093886B CN201810092213.XA CN201810092213A CN110093886B CN 110093886 B CN110093886 B CN 110093886B CN 201810092213 A CN201810092213 A CN 201810092213A CN 110093886 B CN110093886 B CN 110093886B
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- CN
- China
- Prior art keywords
- arm
- driving mechanism
- tunnel
- telescoping
- cleaning machine
- 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
- 238000004140 cleaning Methods 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000011086 high cleaning Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
Abstract
The invention provides a tunnel cleaning machine which comprises a main support arm and mechanical arms respectively arranged on two opposite sides of the main support arm, wherein the mechanical arms comprise a first arm and a first rotary driving mechanism, the first rotary driving mechanism is fixed on the main support arm, the output end of the first rotary driving mechanism is connected with one end of the first arm and drives the first arm to swing around the central axis of the output end of the first rotary driving mechanism, and the central axes of the output ends of the two first rotary driving mechanisms are the same in direction. According to the tunnel cleaning machine, double-arm operation is realized on two symmetrical sides, so that the stress balance on two sides of the main support arm is ensured, rollover and deformation are not easy to occur, and the structure is kept stable; in addition, through the symmetrical operation of both arms, clear up the cambered surface of both sides of tunnel simultaneously, effectively improved cleaning efficiency.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a tunnel cleaning machine.
Background
The existing arc tunnel cleaning mechanical arm is usually single-arm operation, and when the mechanical arm stretches out to be longer and the load is heavier, the single-arm operation is not beneficial to the stability of the vehicle body, the vehicle body is easy to roll over, and the safety problem exists; in addition, the existing arc tunnel cleaning mechanical arm can only carry one cleaning actuator due to single-arm operation, so that the cleaning efficiency is low and the universality is poor.
Therefore, a tunnel cleaning machine with balanced stress, stable structure and high cleaning efficiency is needed.
Disclosure of Invention
The invention aims to provide a tunnel cleaning machine with balanced stress, stable structure and high cleaning efficiency.
In order to achieve the above object, the invention provides a tunnel cleaning machine, which comprises a main supporting arm and mechanical arms respectively arranged at two opposite sides of the main supporting arm, wherein the mechanical arms comprise a first arm and a first rotation driving mechanism, the first rotation driving mechanism is fixed on the main supporting arm, the output end of the first rotation driving mechanism is connected with one end of the first arm and drives the first arm to swing around the central axis of the output end of the first rotation driving mechanism, and the central axes of the output ends of the two first rotation driving mechanisms are the same in direction.
Preferably, the central axes of the output ends of the two first rotation driving mechanisms coincide.
Preferably, the output ends of the two first rotation driving mechanisms are oppositely arranged.
Preferably, the sum of the swinging angles of the two first arms is greater than or equal to 180 degrees.
Preferably, the main support arm is provided with a first fixing seat, and the first rotation driving mechanism is fixed on the first fixing seat.
Preferably, the first arm is provided with a second fixing seat, and the first telescopic driving mechanism is pivoted with the second fixing seat.
Preferably, the mechanical arm further comprises a second arm and a first telescopic driving mechanism, one end of the second arm is pivoted with the other end of the first arm, the first telescopic driving mechanism is pivoted on the first arm, and the output end of the first telescopic driving mechanism is pivoted with the other end of the second arm and drives the second arm to swing.
Preferably, the central axis of the second arm pivoted to the first arm is the same as the central axis of the output end of the first rotation driving mechanism.
Preferably, a pressure sensor and/or a displacement sensor is/are arranged in the first telescopic driving mechanism.
Preferably, the mechanical arm further comprises a telescopic arm, and the telescopic arm is arranged at the tail end of the second arm.
Preferably, the telescopic direction of the telescopic arm is perpendicular to the central axis of the output end of the first rotation driving mechanism.
Preferably, the mechanical arm further comprises a second rotary driving mechanism, and the second rotary driving mechanism is arranged at the telescopic end of the telescopic arm.
Preferably, a central shaft of the output end of the second rotation driving mechanism is arranged along the telescopic direction of the telescopic arm.
Preferably, the tunnel cleaner further comprises a second telescopic driving mechanism, and the telescopic end of the second telescopic driving mechanism is pivoted with the main supporting arm.
Preferably, the tunnel cleaner further comprises a movable carrier, the main support arm is pivoted on the movable carrier, and the bottom of the second telescopic driving mechanism is pivoted with the movable carrier.
Compared with the prior art, the first arm and the first rotary driving mechanism are symmetrically arranged on the main support arm, and the first arm is driven to swing through the first rotary driving mechanism, so that the two symmetrical sides of the tunnel cleaning machine realize double-arm operation, the torque generated by the swinging of the two first arms on the main support is counteracted, and the torque generated by the dead weights of the two first arms are counteracted, therefore, the stress balance of the two sides of the main support arm is ensured, rollover and deformation are not easy to occur, and the structure is stable; in addition, through the symmetrical operation of both arms, clear up the cambered surface of both sides of tunnel simultaneously, effectively improved cleaning efficiency.
Drawings
Fig. 1 is a schematic structural view of a tunnel cleaner of the present invention.
Fig. 2 is a top view of the tunnel cleaner of the present invention.
FIG. 3 is a schematic view of the mechanism of the tunnel cleaner of the present invention for working in a tunnel by moving a carrier.
Fig. 4 is a left side view of the tunnel cleaner shown in fig. 3.
Detailed Description
In order to describe the technical content and constructional features of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 and 2, a tunnel cleaning machine 100 of the present invention includes a main support arm 1 and mechanical arms respectively disposed on opposite sides of the main support arm 1, wherein the mechanical arms include a first arm 2 and a first rotation driving mechanism 3, the first rotation driving mechanism 3 is fixed on the main support arm 1, specifically, a first fixing seat 11 is disposed on the main support arm 1, and the first rotation driving mechanism 3 is fixed on the first fixing seat 11; the output end of the first rotation driving mechanism 3 is connected with one end of the first arm 2 and drives the first arm 2 to swing around the central axis of the output end of the first rotation driving mechanism 3, in this embodiment, the first rotation driving mechanism 3 is a rotation hydraulic cylinder, and of course, the first rotation driving mechanism 3 may also drive the first arm 2 to swing around the central axis of the output end of the first rotation driving mechanism 3 through a servo motor and a speed reducer, which is not limited thereto; the central axes of the output ends of the two first rotation driving mechanisms 3 are the same in direction, and specifically, the central axes of the output ends of the two first rotation driving mechanisms 3 are coincident; the output ends of the two first rotation driving mechanisms 3 are oppositely arranged, and of course, the output ends of the two first rotation driving mechanisms 3 can also be arranged in the same direction, not limited to the arrangement; in order to improve the cleaning capability of the tunnel cleaner 100, the sum of the swinging angles of the two first arms 2 is greater than or equal to 180 degrees; in order to avoid the collision of the mechanical arm to the main support arm 1 when the mechanical arm swings on the main support arm 1 and improve the swinging range of the mechanical arm, the position of the mechanical arm on the main support arm 1 is designed into a Z shape or an S shape, so that the opposite sides of the main support arm 1 are respectively provided with an opening for accommodating the mechanical arm.
As shown in fig. 1, the mechanical arm further includes a second arm 4 and a first telescopic driving mechanism 5, one end of the second arm 4 is pivoted with the other end of the first arm 2, the first telescopic driving mechanism 5 is pivoted on the first arm 2, specifically, a second fixing seat 21 is provided on the first arm 2, and the first telescopic driving mechanism 5 is pivoted with the second fixing seat 21; the output end of the first telescopic driving mechanism 5 is pivoted with the other end of the second arm 4 and drives the second arm 4 to swing, in this embodiment, the first telescopic driving mechanism 5 is a telescopic hydraulic cylinder, and of course, the first telescopic driving mechanism 5 can also drive the second arm 4 to swing through the telescopic cylinder; specifically, the central axis of the second arm 4 pivoted to the first arm 2 is the same as the central axis of the output end of the first rotary driving mechanism 3.
As shown in fig. 1 and 2, the mechanical arm further includes a telescopic arm 6 and a second rotary driving mechanism 7, the telescopic arm 6 is disposed at the end of the second arm 4, the telescopic direction of the telescopic arm 6 is perpendicular to the central axis of the output end of the first rotary driving mechanism 3, and specifically, the telescopic arm 6 is a telescopic hydraulic cylinder. The second rotary driving mechanism 7 is disposed at the telescopic end of the telescopic arm 6, and the central axis of the output end of the second rotary driving mechanism 7 is disposed along the telescopic direction of the telescopic arm 6, in this embodiment, the second rotary driving mechanism 7 is a rotary hydraulic cylinder, and of course, the second rotary driving mechanism 7 can pass through a servo motor and a speed reducer.
It should be noted that, in other embodiments, the mechanical arm of the tunnel cleaning machine 100 of the present invention may include one or two of the second arm 4, the telescopic arm 6 and the second rotation driving mechanism 7 according to actual needs, so the above examples are not limited thereto; in addition, the end of the mechanical arm can be connected with a cleaning actuator (not shown in the figure), and the first arm 2, the second arm 4, the telescopic arm 6 and the second rotary driving mechanism 7 are controlled to obtain the optimal pose or generate certain specific motion of the mechanical arm, so that the cleaning of the cleaning actuator positioned at the end can achieve the expected effect.
As shown in fig. 3 and 4, the tunnel cleaning machine 100 further includes a second telescopic driving mechanism 8 and a moving carrier 200, wherein a telescopic end of the second telescopic driving mechanism 8 is pivoted with the main supporting arm 1, the main supporting arm 1 is pivoted on the moving carrier 200, and a bottom of the second telescopic driving mechanism 8 is pivoted with the moving carrier 200; the movable carrier 200 can drive the main support arm 1 to walk in the tunnel 300 and clean the inner wall of the tunnel 300 in the walking process, and the second telescopic driving mechanism 8 can be controlled to drive the main support arm 1 to swing, so that the height of the mechanical arm in the tunnel 300 is adjusted, the mechanical arm is ensured to obtain the optimal pose, and the inner wall of the tunnel 300 is cleaned through the tail end cleaning actuator. In addition, in order to accurately control the pose of the main support arm 1 and the mechanical arm, the first telescopic driving mechanism 5, the telescopic arm 6, the second rotary driving mechanism 7 and the second telescopic driving mechanism 8 are provided with a pressure sensor (not shown) and a displacement sensor (not shown), and of course, only one of the pressure sensor and the displacement sensor may be provided, not limited thereto.
Referring to fig. 3 and 4 in combination with fig. 1, when the moving carrier 200 moves left and right during the running process of the tunnel 300, the telescopic arms 6 on the left and right sides of the tunnel cleaning machine 100 can be adjusted to stretch to compensate the deviation generated by the left and right moving carrier 200, so as to adjust the pose of the cleaning actuator, and obtain the optimal cleaning effect. For example, when the moving carrier 200 is deviated to one side of the tunnel 300, the telescopic arm 6 near the one side is controlled to be retracted inwards, and the telescopic arm 6 at the other side is controlled to be extended outwards, thereby compensating for deviation caused by the deviation of the moving carrier 200. When the moving carrier 200 tilts forward and backward due to uneven ground during the running of the tunnel 300, the heights of the front end and the rear end of the cleaning actuator are inconsistent, which affects the cleaning effect, so that the cleaning actuator can be driven to rotate by the second rotary driving mechanism 7, and the heights of the front end and the rear end of the cleaning actuator are kept consistent. For example, when the front end of the moving carrier 200 is higher than the rear end, the front ends of the cleaning actuators on both sides are also higher than the rear end, and at this time, the cleaning actuators on the left side of the tunnel cleaner 100 drive the cleaning actuators to rotate clockwise through the second rotary driving mechanism 7, so that the front ends of the cleaning actuators rotate downward, and the rear ends of the cleaning actuators rotate upward, so that the heights of the front and rear ends of the cleaning actuators are kept consistent, and similarly, the cleaning actuators on the right side of the tunnel cleaner 100 drive the cleaning actuators to rotate counterclockwise through the second rotary driving mechanism 7, so that the heights of the front and rear ends of the cleaning actuators are kept consistent, and further the cleaning effect of the mechanical arms of the tunnel cleaner 100 is improved.
Compared with the prior art, the tunnel cleaner 100 of the invention has the advantages that the first arms 2 and the first rotary driving mechanism 3 are symmetrically arranged on the main supporting arm 1, and the first arms 2 are driven to swing through the first rotary driving mechanism 3, so that the two symmetrical sides of the tunnel cleaner 100 realize double-arm operation, the torque generated by the swinging of the two first arms 2 on the main supporting arm is counteracted, and the torque generated by the dead weights of the two first arms 2 are counteracted, therefore, the stress balance of the two sides of the main supporting arm 1 is ensured, rollover and deformation are not easy to occur, and the structure is kept stable; in addition, through the double-arm symmetrical operation, the cambered surfaces on two sides of the tunnel 300 are cleaned simultaneously, and the cleaning efficiency is effectively improved.
The foregoing disclosure is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (15)
1. The utility model provides a tunnel descaling machine, its characterized in that includes the main tributary arm and set up respectively in the arm of the opposite both sides of main tributary arm, the arm includes first arm and first rotary driving mechanism, first rotary driving mechanism is fixed in on the main tributary arm, first rotary driving mechanism's output with the one end of first arm is connected and is driven first arm is around the center pin swing of first rotary driving mechanism's output, two the center pin direction of first rotary driving mechanism's output is the same.
2. The tunnel cleaning machine of claim 1 wherein the central axes of the output ends of the two first rotary drive mechanisms coincide.
3. The tunnel cleaner of claim 1, wherein the output ends of the two first rotary drive mechanisms are disposed in opposition.
4. The tunnel boring machine of claim 1, wherein the sum of the angles at which the two first arms swing is greater than or equal to 180 degrees.
5. The tunnel cleaning machine of claim 1 wherein the primary support arm is provided with a first mount and the first rotary drive mechanism is secured to the first mount.
6. The tunnel cleaner of claim 1, wherein the mechanical arm further comprises a second arm and a first telescopic driving mechanism, one end of the second arm is pivoted to the other end of the first arm, the first telescopic driving mechanism is pivoted to the first arm, and an output end of the first telescopic driving mechanism is pivoted to the other end of the second arm and drives the second arm to swing.
7. The tunnel cleaning machine of claim 6, wherein the first arm is provided with a second fixed seat, and the first telescopic driving mechanism is pivotally connected to the second fixed seat.
8. The tunnel cleaner of claim 6, wherein the second arm is pivotally connected to the first arm with a central axis in the same direction as a central axis of the output end of the first rotary drive mechanism.
9. The tunnel cleaning machine according to claim 6, wherein the first telescopic driving mechanism is internally provided with a pressure sensor and/or a displacement sensor.
10. The tunnel boring machine of claim 6, wherein the robotic arm further comprises a telescoping arm disposed at the second arm end.
11. The tunnel cleaning machine of claim 10 wherein the telescoping arm is telescoping in a direction perpendicular to the central axis of the output end of the first rotary drive mechanism.
12. The tunnel boring machine of claim 10, wherein the robotic arm further comprises a second rotary drive mechanism disposed at the telescoping end of the telescoping arm.
13. The tunnel cleaner of claim 12 wherein a central axis of the output end of the second rotary drive mechanism is disposed along the telescoping direction of the telescoping arm.
14. The tunnel cleaning machine of any one of claims 1-13 further comprising a second telescoping drive mechanism having a telescoping end pivotally connected to the main support arm.
15. The tunnel boring machine of claim 14, further comprising a mobile carrier, the main support arm being pivotally connected to the mobile carrier, the bottom of the second telescoping drive mechanism being pivotally connected to the mobile carrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810092213.XA CN110093886B (en) | 2018-01-30 | 2018-01-30 | Tunnel cleaning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810092213.XA CN110093886B (en) | 2018-01-30 | 2018-01-30 | Tunnel cleaning machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110093886A CN110093886A (en) | 2019-08-06 |
| CN110093886B true CN110093886B (en) | 2024-01-19 |
Family
ID=67442842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810092213.XA Active CN110093886B (en) | 2018-01-30 | 2018-01-30 | Tunnel cleaning machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110093886B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3775798A (en) * | 1971-04-13 | 1973-12-04 | Trump W Thornton | High level washing and dusting apparatus for aircraft and the like |
| WO1989011435A1 (en) * | 1988-05-24 | 1989-11-30 | Lars Bohman | A crane |
| JPH0681324A (en) * | 1992-08-28 | 1994-03-22 | Howa Mach Ltd | Sweeping brush device for road surface cleaning vehicle |
| JP2001327938A (en) * | 2000-05-22 | 2001-11-27 | Marunaka Kogyo Kk | Seat cleaning device for vehicle |
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| JP2017013189A (en) * | 2015-07-02 | 2017-01-19 | パスカルエンジニアリング株式会社 | Balancer mechanism for robot arm |
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| CN206581198U (en) * | 2017-02-22 | 2017-10-24 | 北京泽通顺达机械有限公司 | Tunnel wall cleaning vehicle |
| CN207933951U (en) * | 2018-01-30 | 2018-10-02 | 台山核电合营有限公司 | Tunnel descaling machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2308921B1 (en) * | 2007-05-17 | 2009-10-27 | Jose Antonio Villanueva Sautu | TUNNEL, WALL AND SIMILAR CLEANING MACHINE. |
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2018
- 2018-01-30 CN CN201810092213.XA patent/CN110093886B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3775798A (en) * | 1971-04-13 | 1973-12-04 | Trump W Thornton | High level washing and dusting apparatus for aircraft and the like |
| WO1989011435A1 (en) * | 1988-05-24 | 1989-11-30 | Lars Bohman | A crane |
| JPH0681324A (en) * | 1992-08-28 | 1994-03-22 | Howa Mach Ltd | Sweeping brush device for road surface cleaning vehicle |
| JP2001327938A (en) * | 2000-05-22 | 2001-11-27 | Marunaka Kogyo Kk | Seat cleaning device for vehicle |
| CN101985829A (en) * | 2010-07-06 | 2011-03-16 | 湖南恒润高科有限公司 | Rotary cleaning device of tunnel cleaning vehicle |
| CN107000201A (en) * | 2014-12-26 | 2017-08-01 | 川崎重工业株式会社 | Tow-armed robot |
| CN204450583U (en) * | 2015-01-27 | 2015-07-08 | 浙江理工大学 | A kind of symmetrical extension type mechanical arm |
| JP2016147340A (en) * | 2015-02-12 | 2016-08-18 | トヨタ自動車株式会社 | Holding robot and control method of holding robot |
| CN104775379A (en) * | 2015-03-30 | 2015-07-15 | 徐州海伦哲专用车辆股份有限公司 | High-altitude bridge wall surface cleaning vehicle |
| CN204799626U (en) * | 2015-04-24 | 2015-11-25 | 西南大学 | Glass roof belt cleaning device |
| JP2017013189A (en) * | 2015-07-02 | 2017-01-19 | パスカルエンジニアリング株式会社 | Balancer mechanism for robot arm |
| CN106625601A (en) * | 2016-12-27 | 2017-05-10 | 嘉兴高维智控有限公司 | Double-arm feeding and discharging manipulator |
| CN206581198U (en) * | 2017-02-22 | 2017-10-24 | 北京泽通顺达机械有限公司 | Tunnel wall cleaning vehicle |
| CN207933951U (en) * | 2018-01-30 | 2018-10-02 | 台山核电合营有限公司 | Tunnel descaling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110093886A (en) | 2019-08-06 |
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