CN117984295B - Inspection robot - Google Patents
Inspection robot Download PDFInfo
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- CN117984295B CN117984295B CN202410401757.5A CN202410401757A CN117984295B CN 117984295 B CN117984295 B CN 117984295B CN 202410401757 A CN202410401757 A CN 202410401757A CN 117984295 B CN117984295 B CN 117984295B
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- brush
- cleaning
- cleaning brush
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- plate
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- 238000007689 inspection Methods 0.000 title claims abstract description 21
- 238000004140 cleaning Methods 0.000 claims abstract description 148
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 238000013519 translation Methods 0.000 claims abstract description 20
- 238000013459 approach Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 56
- 230000002093 peripheral effect Effects 0.000 claims description 46
- 238000005192 partition Methods 0.000 claims description 22
- 210000004209 hair Anatomy 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 238000009736 wetting Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- 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
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a patrol robot, which belongs to the field of tunnel patrol equipment and comprises a bridge frame distributed along the trend of a tunnel and a robot body automatically walking along the bridge frame, wherein one side of the bridge frame is provided with a plurality of illuminating lamps distributed according to preset intervals, the robot body comprises a travelling mechanism and a connecting seat arranged outside the travelling mechanism, a cleaning assembly is arranged on the connecting seat, and at least one group of cleaning brushes which rotate through power drive are arranged in the cleaning assembly; the connecting seat is also provided with a translation mechanism for driving the cleaning brush to approach or be far away from the illuminating lamp; when the travelling mechanism moves to the position of the illuminating lamp which needs to be cleaned, the translation mechanism drives the cleaning brush to be close to the surface of the illuminating lamp for cleaning, and after the cleaning is finished, the translation mechanism drives the cleaning brush to reset, so that the automatic cleaning of the illuminating lamp is realized, and the work of inspection workers can be effectively relieved.
Description
Technical Field
The invention belongs to the technical field of tunnel inspection equipment, and particularly relates to an inspection robot.
Background
The tunnel inspection robot is an intelligent robot for tunnel inspection, and can realize intelligent inspection of the tunnel for 24 hours without dead angles. The system can detect various abnormal problems such as traffic, equipment, diseases, environment and the like in the tunnel in real time, improves the management and maintenance level, and improves the passing efficiency. The method has the advantages that the abnormal events in the tunnel are detected and early-warned quickly and treated quickly in an emergency mode, the accident rescue efficiency is improved, the occurrence of secondary accidents is reduced, and the loss of life and property is reduced.
At present, after the illuminating lamp in the tunnel is used for a long time, due to the pollution of the environment in the tunnel and the automobile exhaust, the illuminating lamp is polluted by dust and oil stains discharged by the automobile exhaust, the illuminating effect of the illuminating lamp is affected, workers are required to clean the illuminating lamp regularly, and a tunnel robot in the prior art lacks a cleaning function and cannot clean the illuminating lamp effectively.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a patrol robot capable of automatically cleaning lamps in a tunnel.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the inspection robot comprises a bridge frame distributed along the trend of a tunnel and a robot body automatically walking along the bridge frame, wherein one side of the bridge frame is provided with a plurality of illuminating lamps distributed according to preset intervals, the robot body comprises a walking mechanism and a connecting seat arranged outside the walking mechanism, a cleaning assembly is arranged on the connecting seat, and at least one group of cleaning brushes driven to rotate by power are arranged in the cleaning assembly; the connecting seat is also provided with a translation mechanism for driving the cleaning brush to approach or be far away from the illuminating lamp; when the travelling mechanism moves to the position of the illuminating lamp to be cleaned, the translation mechanism drives the cleaning brush to clean the surface, close to the illuminating lamp, of the cleaning brush, and after the cleaning is finished, the translation mechanism drives the cleaning brush to reset.
Preferably, the cleaning brush comprises a brush shaft and bristles which are uniformly distributed on the periphery of the brush shaft, the brush shaft is a hollow shaft with an opening at the top, and a plurality of water outlet holes which are communicated with the inside of the brush shaft are uniformly formed in the outer wall of the brush shaft; the end part of the brush shaft is rotationally connected with a water pipe, a water tank for supplying water for the water pipe is arranged on the connecting seat, and an electric control valve is arranged on the water pipe.
Preferably, the cleaning assembly further comprises a brush frame and a shell, an opening part facing the cleaning lamp side is arranged on the side face of the shell, a motor bracket is arranged in the shell, a second motor is arranged on the motor bracket, the brush frame is connected with the second motor, and the cleaning brush is arranged at one end of the brush frame and revolves around the axis of the second motor under the drive of the second motor; in the first state, the cleaning brush is positioned at the inner side of the shell, and the water outlet holes are used for discharging water to clean the cleaning brush; in the second state, the cleaning brush is positioned outside the shell to clean the lighting lamp.
Preferably, an outer coaming is longitudinally arranged in the shell, the inner side surface of the outer coaming is configured to be a cambered surface, and the opening of the outer coaming is in the same direction as the opening of the shell; in the process that the cleaning brush rotates from the first state to the second state, the distance from the brush shaft to the intrados of the peripheral plate is gradually reduced, and the brush hair is extruded by being matched with the peripheral plate to contact the brush hair, so that moisture in the brush hair is extruded.
Preferably, a vertical partition plate is arranged at the opening of the peripheral plate, the vertical partition plate is fixedly arranged on the shell, and a channel for a cleaning brush to pass through is formed between two ends of the vertical partition plate and the peripheral plate; arc plates are arranged at the two ends of the vertical partition plate in a mirror image mode, and are C-shaped; at least two guide rods are transversely arranged at the inner side end of each arc-shaped plate, guide holes which are in sliding fit with the guide rods are formed in the end parts of the vertical partition plates, and springs are arranged in the guide holes and elastically abut against the corresponding guide rods; when the cleaning brush passes through the channel, the arc plate is extruded, so that the arc plate transversely moves to a position close to the vertical partition plate, and the cleaning brush is ensured to pass through the channel smoothly; then, the spring pushes the guide rod to enable the arc plate to reset and abut against the arc surface of the peripheral plate.
Preferably, the inner sides of the two ends of the peripheral plate are provided with cone thorn plates, the inner sides of the cone thorn plates are provided with a plurality of thorn points which are arranged in a staggered mode, and when the cleaning brush rotates from a first state to a second state, bristles pass through gaps formed between the adjacent thorn points.
Preferably, a group of cleaning brushes are arranged on the other side of the brush frame, and the two groups of cleaning brushes are oppositely arranged; wherein one set of cleaning brushes is in a first state and the other set of cleaning brushes is in a second state.
Preferably, each set of cleaning brushes comprises two cleaning brushes; two brush shafts in the same group of cleaning brushes are both rotationally connected to the brush frame, and the end parts of the two brush shafts are both coaxially provided with a pinion; the brush holder is provided with a first motor, an output shaft of the first motor is coaxially provided with a main gear, and the two auxiliary gears are both meshed with the main gear.
Preferably, the connecting seat is also provided with an angle adjusting mechanism; the angle adjusting mechanism comprises a sliding frame and a linear driving source; the shell is rotatably connected to the sliding frame through a rotating shaft, and the base and the output shaft of the linear driving source are respectively hinged to the sliding frame and the shell; the linear driving source operates to drive the shell to rotate so as to adjust the inclination angle of the cleaning brush.
Preferably, the translation mechanism comprises a screw rod sliding table structure, a linear sliding rail and a connecting rod which are longitudinally arranged in the connecting seat; the linear sliding rail is transversely arranged in the connecting seat, the sliding frame is provided with a linear sliding groove in sliding fit with the linear sliding rail, and two ends of the connecting rod are respectively hinged to the sliding frame and a sliding table part of the screw rod sliding table structure; when the sliding table part of the screw rod sliding table structure is lifted, the sliding frame is driven to transversely move through the connecting rod.
The above at least one technical scheme adopted by the embodiment of the invention can achieve the following beneficial effects:
Firstly, the illumination lamp is cleaned regularly through the cleaning brush, when the travelling mechanism moves to the position of the illumination lamp to be cleaned, the translation mechanism drives the cleaning brush to be close to the surface of the illumination lamp, the illumination lamp is cleaned by driving the cleaning brush to rotate through power, and after the illumination lamp is cleaned, the translation mechanism drives the cleaning brush to reset, so that the automatic cleaning of the illumination lamp is realized, and the workload of inspection staff can be effectively relieved;
Secondly, the water pipe can be arranged at the end part of the brush shaft through the rotary joint, the water tank supplies water to the end part of the brush shaft through the electric control valve and the water pipe, the water seeps out through the water outlet holes on the surface of the brush shaft and infiltrates the bristles, and the bristles are matched with the water, so that the cleaning effect of the cleaning brush on the lighting lamp is improved; meanwhile, a large amount of water is supplied to realize the function of cleaning the brush hair;
And thirdly, in the process that the cleaning brush is moved to the outer side of the peripheral plate from the inner side of the peripheral plate in a rotating way, most of water on the brush hair of the cleaning brush can be extruded and discharged by the peripheral plate by matching with the inner cambered surface of the peripheral plate, so that the damage of the electronic elements in the lighting lamp caused by excessive water remained on the cleaning brush can be avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a left side view of FIG. 1 with the bridge removed;
FIG. 3 is a partial perspective view of the present invention;
FIG. 4 is a cross-sectional view of the internal structure of the housing of the present invention;
FIG. 5 is a perspective cross-sectional view of the internal structure of the housing of the present invention;
FIG. 6 is a schematic diagram of a partial perspective view of the present invention;
FIG. 7 is a schematic view of a partial perspective view of a third embodiment of the present invention;
FIG. 8 is a schematic diagram of a partial perspective view of the present invention;
FIG. 9 is a top view of a cleaning brush, vertical partition, peripheral plate, arcuate plate and tapered plate of the present invention;
FIG. 10 is a schematic perspective view of a vertical separator plate and arcuate plate of the present invention;
FIG. 11 is a schematic perspective view of the housing, translation mechanism and angle adjustment mechanism of the present invention;
fig. 12 is a perspective cross-sectional view of the housing and the angle adjustment mechanism of the present invention.
In the figure: 1-a bridge frame; 11-an illuminating lamp; 2-a robot body; 21-a connecting seat; 22-a water tank; 3-cleaning assembly; 31-cleaning brush; 311-brushing the shaft; 312-bristles; 313-water outlet holes; 32-water pipes; 33-brush holder; 331-a pinion; 332-a first motor; 333-main gear; 34-a housing; 341-a motor bracket; 342-a second motor; 35-peripheral plate; 36-vertical partition plates; 361-a guide hole; 362-spring; 37-arc plate; 371-guide bar; 38-a cone-shaped thorn plate; 381-thorn points; 4-a translation mechanism; 41-a screw rod sliding table structure; 42-linear slide rail; 43-connecting rod; 5-an angle adjustment mechanism; 51-a carriage; 511-a spindle; 512-straight line chute; 52-linear drive source.
Detailed Description
In order to make the technical problems, technical solutions and advantageous technical effects to be solved by the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and a plurality of exemplary embodiments. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It should be appreciated that the expressions "first", "second", etc. are used herein for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular order of number of technical features indicated. Features defining "first", "second" or "first" may be expressed or implied as including at least one such feature.
Referring to fig. 1 to 12, the embodiment of the invention provides a patrol robot, which comprises a bridge 1 distributed along the trend of a tunnel and a robot body 2 automatically walking along the bridge 1, wherein one side of the bridge 1 is provided with a plurality of illuminating lamps 11 distributed according to preset intervals, and the design scheme of combining the bridge 1 and a robot guide rail is adopted, so that the normal use of the cable bridge 1 is considered, the space is reserved for a later loading robot, the engineering quantity of the installation of the tunnel robot guide rail is reduced, and the construction difficulty and cost of the guide rail installation are reduced;
Examples
The robot body 2 comprises a travelling mechanism and a connecting seat 21 arranged outside the travelling mechanism, wherein the travelling mechanism is of the prior art and is not shown in the figure, a cleaning assembly 3 is arranged on the connecting seat 21, and at least one group of cleaning brushes 31 which rotate through power drive are arranged in the cleaning assembly 3; the connecting seat 21 is also provided with a translation mechanism 4 for driving the cleaning brush 31 to approach or depart from the illuminating lamp 11;
In this embodiment, the translation mechanism 4 can drive the cleaning brush 31 to shrink on the connection seat 21, when the robot body 2 moves on the bridge frame 1, the cleaning brush 31 shrinks into the connection seat 21, so that the volume of the inspection robot can be reduced, the movement of the robot body 2 is facilitated, and the cleaning brush 31 can be prevented from being polluted by dust due to long-term exposure of the cleaning brush 31 to air;
The inspection robot cleans the illuminating lamp 11 regularly through the cleaning brush 31, when the travelling mechanism moves to the position of the illuminating lamp 11 to be cleaned, the translation mechanism 4 drives the cleaning brush 31 to be close to the surface of the illuminating lamp 11, the illuminating lamp 11 is cleaned by driving the cleaning brush 31 to rotate through power, and after the illuminating lamp 11 is cleaned, the translation mechanism 4 drives the cleaning brush 31 to reset, so that the automatic cleaning of the illuminating lamp 11 is realized, and the workload of inspection personnel can be effectively relieved;
By matching with the design layout of the bridge frame 1, the equipment such as the illuminating lamp 11 group, the guiding lamp group, the fixed-point snapshot machine, the fixed-point cloud platform, the tunnel inspection robot and the like can be compatible on the bridge frame 1, and the functions such as daily inspection, emergency command management and the like of the inspection robot can be achieved, and the functions such as cleaning of the lamps of the inspection route, fixed-point scaring in the tunnel, real-time fixed-point monitoring and the like can also be achieved. The traditional using equipment in the tunnel is integrated on the bridge frame 1, so that the workload of installing and wiring is reduced. The lamp has the advantages of realizing the functions of daily lighting, fixed-point monitoring and snapshot of the lamp, and providing convenience for later-period tube maintenance.
Examples
Specifically, the cleaning brush 31 includes a brush shaft 311, and bristles 312 uniformly distributed around the brush shaft 311, where the brush shaft 311 is a hollow shaft with an opening at the top, and a plurality of water outlet holes 313 communicating with the inside of the brush shaft 311 are uniformly formed on the outer wall of the brush shaft 311; the end part of the brush shaft 311 is rotatably connected with a water pipe 32, the connecting seat 21 is provided with a water tank 22 for supplying water for the water pipe 32, and the water pipe 32 is provided with an electric control valve;
In this embodiment, the water pipe 32 may be installed at the end of the brush shaft 311 through a rotary joint, the water tank 22 supplies water to the end of the brush shaft 311 through the electric control valve and the water pipe 32, the water seeps out through the water outlet 313 on the surface of the brush shaft 311 and wets the brush hair 312, and the brush hair 312 cooperates with the water to improve the cleaning effect of the cleaning brush 31 on the lighting lamp 11; meanwhile, a large amount of water is supplied to realize the function of cleaning the brush hair 312;
When the water level in the water tank 22 exceeds the minimum level, the water tank automatically moves into the water reservoir at the tunnel entrance to perform water adding work. The reservoir is used for storing and filtering rainwater in daily life.
Examples
Specifically, the cleaning assembly 3 further includes a brush holder 33 and a housing 34, an opening facing the cleaning lamp is provided on a side surface of the housing 34, a motor bracket 341 is provided in the housing 34, a second motor 342 is provided on the motor bracket 341, the brush holder 33 is connected with the second motor 342, and the cleaning brush 31 is disposed at one end of the brush holder 33 and revolves around an axis of the second motor 342 under the driving of the second motor 342;
When the cleaning brush 31 is positioned outside the shell 34 and faces the illuminating lamp 11 to be cleaned, the cleaning brush 31 is in a second state when the cleaning brush 31 is in the working position and is driven by the second motor 342, and the cleaning brush 31 is positioned outside the shell 34 and is in a second state for cleaning the illuminating lamp 11;
In this embodiment, the water pipe 32 is a flexible pipe and a certain active space is reserved, and the second motor 342 drives the cleaning brush 31 to reciprocally rotate between the working position and the cleaning position, so that a large amount of winding of the flexible pipe can be avoided;
after the cleaning brush 31 rotates one hundred eighty degrees from the working position, the cleaning brush 31 is completely moved into the shell 34, and the cleaning brush 31 is positioned at the inner side of the shell 34 and the water outlet holes 313 are used for discharging water to clean the cleaning brush 31 in a first state;
a peripheral plate 35 is longitudinally arranged in the shell 34, the inner side surface of the peripheral plate 35 is configured into an arc surface, and the opening of the peripheral plate 35 is in the same direction as the opening of the shell 34; in the process of rotating the cleaning brush 31 from the first state to the second state, the distance from the brush shaft 311 to the intrados of the peripheral plate 35 is gradually reduced and the brush bristles 312 are contacted and extruded by the peripheral plate 35, so that the moisture in the brush bristles 312 is extruded;
In summary, in the process that the cleaning brush 31 is rotationally moved to the outer side of the peripheral plate 35 from the peripheral plate 35, most of the moisture on the bristles 312 of the cleaning brush 31 is extruded and discharged by the peripheral plate 35 in cooperation with the intrados of the peripheral plate 35, so that the damage of the electronic components in the lighting lamp 11 caused by excessive residual moisture on the cleaning brush 31 can be avoided.
Examples
Specifically, a vertical partition plate 36 is arranged at the opening of the peripheral plate 35, the vertical partition plate 36 is fixedly arranged on the shell 34, and a channel for the cleaning brush 31 to pass through is formed between two ends of the vertical partition plate 36 and the peripheral plate 35; arc plates 37 are arranged at the two ends of the vertical partition plate 36 in a mirror image mode, and the arc plates 37 are C-shaped; at least two guide rods 371 are transversely arranged at the inner side end of each arc-shaped plate 37, guide holes 361 which are in sliding fit with the guide rods 371 are formed in the end parts of the vertical partition plates 36, and springs 362 are arranged in the guide holes 361 and elastically abut against the corresponding guide rods 371;
When the cleaning brush 31 is positioned in the peripheral plate 35 or outside the peripheral plate 35, the arc plates 37 at the two sides of the vertical partition plate 36 are abutted against the peripheral plate 35 under the action of the springs 362, and the two arc plates 37 and the vertical partition plate 36 just completely shield the opening of the peripheral plate 35, so that when the cleaning brush 31 is positioned in the peripheral plate 35 for cleaning, water is sprayed out of the brush shaft 311 of the cleaning brush 31, the water stain is prevented from splashing on the illuminating lamp 11 to cause the wetting of the illuminating lamp 11, and even the damage of electronic elements in the illuminating lamp is caused;
When the cleaning brush 31 rotates from the outer peripheral plate 35 to the outside of the outer peripheral plate 35, the arc plate 37 is extruded when the cleaning brush 31 passes through the channel, so that the arc plate 37 transversely moves to a position close to the vertical partition plate 36, and the cleaning brush 31 is ensured to pass through the channel smoothly; then, the spring 362 pushes the guide rod 371 to reset the arc plate 37 and press against the arc surface of the peripheral plate 35, so that smooth rotation of the cleaning brush 31 can be ensured;
The both ends of peripheral board 35 still are equipped with outside turn-ups, can make cleaning brush 31 by the outside rotation of peripheral board 35 to the inside entering peripheral board 35 that can be smooth of peripheral board 35, simultaneously, the bottom of casing 34 still can be equipped with a plurality of water holes, can make the inside washing of peripheral board 35 discharged moisture by the water hole normal discharge.
Specifically, the inner sides of the two ends of the peripheral plate 35 are respectively provided with a tapered plate 38, the inner sides of the tapered plates 38 are provided with a plurality of staggered thorns 381, and when the cleaning brush 31 rotates from the first state to the second state, the bristles 312 pass through the gaps formed between the adjacent thorns 381, so that residual stains on the bristles 312 can be removed.
Specifically, a set of cleaning brushes 31 is also disposed on the other side of the brush frame 33, and the two sets of cleaning brushes 31 are disposed opposite to each other; when one group of cleaning brushes 31 is in the first state and the other group of cleaning brushes 31 is in the second state, the two groups of cleaning brushes 31 are replaced, so that the continuous cleaning work can be ensured.
Specifically, each set of cleaning brushes 31 includes two cleaning brushes; two brush shafts 311 in the same group of cleaning brushes are both rotatably connected to the brush holder 33, and the end parts of the two brush shafts 311 are both coaxially provided with a pinion 331; the brush holder 33 is provided with a first motor 332, an output shaft of the first motor 332 is coaxially provided with a main gear 333, two auxiliary gears 331 are meshed with the main gear 333, the first motor 332 can operate to match the main gear 333 and the auxiliary gears 331 to realize synchronous rotation of the two cleaning brushes 31, when the cleaning brushes 31 revolve around and pass through the cone-shaped plate 38, the cleaning brushes 31 rotate, so that impurities can be removed from the cleaning brushes 31 by the cone-shaped plate 38 in one circle, and meanwhile, the cleaning brushes 31 rotate while revolving themselves, so that one circle of the cleaning brushes 31 is extruded by the peripheral plate 35, and the water extrusion effect of the cleaning brushes 31 is improved.
Specifically, the connecting seat 21 is further provided with an angle adjusting mechanism 5; the angle adjusting mechanism 5 includes a carriage 51 and a linear driving source 52; the shell 34 is rotatably connected to the sliding frame 51 through a rotating shaft 511, and the base and the output shaft of the linear driving source 52 are respectively hinged to the sliding frame 51 and the shell 34; the linear driving source 52 operates to drive the housing 34 to rotate, so as to adjust the inclination of the cleaning brush 31, and adapt to the inclination of the illumination lamp 11, so as to improve the cleaning effect of the cleaning brush 31 on the illumination lamp 11.
Specifically, the translation mechanism 4 includes a screw rod sliding table structure 41, a linear sliding rail 42 and a connecting rod 43 longitudinally disposed in the connecting seat 21; the linear sliding rail 42 is transversely arranged in the connecting seat 21, the sliding frame 51 is provided with a linear sliding groove 512 in sliding fit with the linear sliding rail 42, and two ends of the connecting rod 43 are respectively hinged to the sliding frame 51 and a sliding table part of the screw rod sliding table structure 41; when the sliding table part of the screw rod sliding table structure 41 is lifted, the sliding frame 51 is driven by the connecting rod 43 to move transversely, so that the cleaning brush 31 is stretched out or contracted.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the upper, lower, left, right, inner, outer, one end, the other end, etc. are based on the orientations or positional relationships shown in the drawings, and are merely for the purpose of more clearly describing the technical solution of the present invention, and are not meant to indicate or imply that the device or element to be referred to must be provided with a specific direction, be configured and operated in a specific orientation, and should not be construed as limiting the present invention.
Although specific embodiments of the invention have been described in detail herein, they are presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications can be made without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a robot patrols and examines, includes along crane span structure (1) that tunnel trend distributes, along crane span structure (1) automatic walking's robot body (2), one side of crane span structure (1) is equipped with a plurality of light (11) according to predetermineeing the interval distribution, its characterized in that:
the robot body (2) comprises a travelling mechanism and a connecting seat (21) arranged outside the travelling mechanism, a cleaning assembly (3) is arranged on the connecting seat (21), and at least one group of cleaning brushes (31) driven to rotate by power are arranged in the cleaning assembly (3);
The connecting seat (21) is also provided with a translation mechanism (4) for driving the cleaning brush (31) to approach or depart from the illuminating lamp (11);
when the travelling mechanism moves to the position of the illuminating lamp (11) to be cleaned, the translation mechanism (4) drives the cleaning brush (31) to be close to the surface of the illuminating lamp (11) for cleaning, and after the cleaning is finished, the translation mechanism (4) drives the cleaning brush (31) to reset;
The cleaning brush (31) comprises a brush shaft (311) and brush hairs (312) which are uniformly distributed on the periphery of the brush shaft (311), the brush shaft (311) is a hollow shaft with an opening at the top, and a plurality of water outlet holes (313) which are communicated with the inside of the brush shaft are uniformly formed in the outer wall of the brush shaft (311);
the end part of the brush shaft (311) is rotationally connected with a water pipe (32), the connecting seat (21) is provided with a water tank (22) for supplying water to the water pipe (32), and the water pipe (32) is provided with an electric control valve;
The cleaning assembly (3) further comprises a brush holder (33) and a shell (34), an opening part facing the cleaning lamp side is formed in the side face of the shell (34), a motor bracket (341) is arranged in the shell (34), a second motor (342) is arranged on the motor bracket (341), the brush holder (33) is connected with the second motor (342), and the cleaning brush (31) is arranged at one end of the brush holder (33) and revolves around the axis of the second motor (342) under the drive of the second motor (342);
in the first state, the cleaning brush (31) is positioned at the inner side of the shell (34), and the water outlet hole (313) is used for discharging water to clean the cleaning brush (31);
in the second state, the cleaning brush (31) is positioned outside the shell (34) to clean the illuminating lamp (11).
2. The inspection robot according to claim 1, wherein a peripheral plate (35) is longitudinally installed in the housing (34), an inner side surface of the peripheral plate (35) is configured as an arc surface, and an opening of the peripheral plate (35) is in the same direction as an opening of the housing (34);
in the process that the cleaning brush (31) rotates from the first state to the second state, the distance from the brush shaft (311) to the intrados of the peripheral plate (35) is gradually reduced and matched with the peripheral plate (35) to contact and squeeze the brush hair (312), so that moisture in the brush hair (312) is squeezed out.
3. The inspection robot according to claim 2, wherein a vertical partition plate (36) is arranged at the opening of the peripheral plate (35), the vertical partition plate (36) is fixedly arranged on the shell (34), and a channel for the cleaning brush (31) to pass through is formed between two ends of the vertical partition plate (36) and the peripheral plate (35);
Arc plates (37) are arranged at the two ends of the vertical partition plate (36) in a mirror image mode, and the arc plates (37) are C-shaped; at least two guide rods (371) are transversely arranged at the inner side end of each arc-shaped plate (37), guide holes (361) which are in sliding fit with the guide rods (371) are formed in the end parts of the vertical partition plates (36), and springs (362) are arranged in the guide holes (361) and elastically abut against the corresponding guide rods (371);
when the cleaning brush (31) passes through the channel, the arc-shaped plate (37) is extruded, so that the arc-shaped plate (37) transversely moves to a position close to the vertical partition plate (36), and the cleaning brush (31) is ensured to pass through the channel smoothly; then, the spring (362) pushes the guide rod (371) so that the arc plate (37) is restored and abuts on the arc surface of the peripheral plate (35).
4. A robot as claimed in claim 3, wherein the inner sides of the two ends of the peripheral plate (35) are provided with tapered plates (38), the inner sides of the tapered plates (38) are provided with a plurality of staggered thorn points (381), and the bristles (312) pass through gaps formed between adjacent thorn points (381) when the cleaning brush (31) rotates from the first state to the second state.
5. A patrol robot according to claim 1 or 2 or 3 or 4, wherein the other side of the brush holder (33) is also provided with a set of cleaning brushes (31), the two sets of cleaning brushes (31) being arranged opposite;
Wherein one set of cleaning brushes (31) is in a first state and the other set of cleaning brushes (31) is in a second state.
6. A patrol robot according to claim 5, wherein each set of cleaning brushes (31) comprises two cleaning brushes; two brush shafts (311) in the same group of cleaning brushes are both rotationally connected to the brush frame (33), and the end parts of the two brush shafts (311) are both coaxially provided with a pinion (331);
The brush holder (33) is provided with a first motor (332), an output shaft of the first motor (332) is coaxially provided with a main gear (333), and two auxiliary gears (331) are meshed with the main gear (333).
7. The inspection robot according to claim 1, wherein the connection base (21) is further provided with an angle adjusting mechanism (5);
The angle adjusting mechanism (5) comprises a sliding frame (51) and a linear driving source (52); the shell (34) is rotatably connected to the sliding frame (51) through a rotating shaft (511), and a base and an output shaft of the linear driving source (52) are respectively hinged to the sliding frame (51) and the shell (34);
the linear driving source (52) operates to drive the shell (34) to rotate so as to adjust the inclination angle of the cleaning brush (31).
8. The inspection robot according to claim 7, wherein the translation mechanism (4) comprises a screw rod sliding table structure (41), a linear sliding rail (42) and a connecting rod (43) longitudinally arranged in the connecting seat (21);
The linear sliding rail (42) is transversely arranged in the connecting seat (21), the sliding frame (51) is provided with a linear sliding groove (512) which is in sliding fit with the linear sliding rail (42), and two ends of the connecting rod (43) are respectively hinged to the sliding frame (51) and a sliding table part of the screw rod sliding table structure (41); when the sliding table part of the screw rod sliding table structure (41) is lifted, the sliding frame (51) is driven to transversely move through the connecting rod (43).
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| CN117984295B true CN117984295B (en) | 2024-06-11 |
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| JPH0892928A (en) * | 1994-09-21 | 1996-04-09 | Shinko Electric Co Ltd | Automatic cleaning device for illuminator installed in tunnel |
| CN208303313U (en) * | 2018-04-13 | 2019-01-01 | 黄河科技学院 | Robot cleaning arm cleaning roller |
| CN209095572U (en) * | 2018-11-12 | 2019-07-12 | 山西省交通科学研究院 | A kind of highway tunnel maintenance robot |
| CN114289363A (en) * | 2022-01-06 | 2022-04-08 | 浙江交通职业技术学院 | Rail type tunnel lamp cleaning robot and using method thereof |
| CN217292311U (en) * | 2022-01-24 | 2022-08-26 | 深圳高力特通用电气有限公司 | Inspection robot for inspecting LED lamp in tunnel |
| CN116116769A (en) * | 2023-02-23 | 2023-05-16 | 招商局重庆公路工程检测中心有限公司 | Rail-fixing type tunnel lamp cleaning device |
| CN220678753U (en) * | 2023-08-24 | 2024-03-29 | 北京中瑞方兴科技有限公司 | Quick spray cleaning device of lamps and lanterns in tunnel |
-
2024
- 2024-04-03 CN CN202410401757.5A patent/CN117984295B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0892928A (en) * | 1994-09-21 | 1996-04-09 | Shinko Electric Co Ltd | Automatic cleaning device for illuminator installed in tunnel |
| CN208303313U (en) * | 2018-04-13 | 2019-01-01 | 黄河科技学院 | Robot cleaning arm cleaning roller |
| CN209095572U (en) * | 2018-11-12 | 2019-07-12 | 山西省交通科学研究院 | A kind of highway tunnel maintenance robot |
| CN114289363A (en) * | 2022-01-06 | 2022-04-08 | 浙江交通职业技术学院 | Rail type tunnel lamp cleaning robot and using method thereof |
| CN217292311U (en) * | 2022-01-24 | 2022-08-26 | 深圳高力特通用电气有限公司 | Inspection robot for inspecting LED lamp in tunnel |
| CN116116769A (en) * | 2023-02-23 | 2023-05-16 | 招商局重庆公路工程检测中心有限公司 | Rail-fixing type tunnel lamp cleaning device |
| CN220678753U (en) * | 2023-08-24 | 2024-03-29 | 北京中瑞方兴科技有限公司 | Quick spray cleaning device of lamps and lanterns in tunnel |
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| CN117984295A (en) | 2024-05-07 |
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