WO2021129469A1 - 一种高速公路隧道反光环自清洗装置及其清洗方法 - Google Patents

一种高速公路隧道反光环自清洗装置及其清洗方法 Download PDF

Info

Publication number
WO2021129469A1
WO2021129469A1 PCT/CN2020/136638 CN2020136638W WO2021129469A1 WO 2021129469 A1 WO2021129469 A1 WO 2021129469A1 CN 2020136638 W CN2020136638 W CN 2020136638W WO 2021129469 A1 WO2021129469 A1 WO 2021129469A1
Authority
WO
WIPO (PCT)
Prior art keywords
suction cup
arm
frame
middle frame
end frame
Prior art date
Application number
PCT/CN2020/136638
Other languages
English (en)
French (fr)
Inventor
杨艳群
曹京秋
Original Assignee
福州大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 福州大学 filed Critical 福州大学
Priority to US17/357,189 priority Critical patent/US20210346917A1/en
Publication of WO2021129469A1 publication Critical patent/WO2021129469A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
    • B08B1/143—Wipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/40—Cleaning tools with integrated means for dispensing fluids, e.g. water, steam or detergents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/04—Cleaning involving contact with liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/04—Cleaning by suction, with or without auxiliary action
    • 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

Definitions

  • the invention relates to a self-cleaning device for a reflective ring of a highway tunnel and a cleaning method thereof.
  • the original manual cleaning method is used for the cleaning of the reflective ring plate, which has a significant impact on traffic safety and the consumption of manpower and material resources.
  • the technical problem to be solved by the present invention is to provide a self-cleaning device for the reflective ring of a highway tunnel and a cleaning method thereof, which is not only simple in structure, but also convenient and efficient.
  • a self-cleaning device for the reflective ring of a highway tunnel comprising an end frame suction cup arm, the end frame suction cup arm is provided with a middle frame suction cup arm, the end frame suction cup arm and the middle frame
  • the suction cup arms are respectively provided with an upper suction cup for sucking upwards on the top wall of the tunnel, and a lower suction cup for sucking the side wall of the reflective ring forward or backward respectively, and the end frame sucker arm and the middle frame sucker arm are driven by an electric mechanism Relative movement in the width direction of the tunnel;
  • the suction cup arm of the middle frame is provided with a wiping brush and a cleaning brush arranged in the moving direction on the side of the lower suction cup. Both the wiping brush and the cleaning brush are connected to the suction cup arm of the middle frame through a connecting rod.
  • the suction cup arm of the middle frame is provided with washing liquid.
  • the washing liquid tank is connected to the washing brush through the washing liquid pipe to spray liquid, and the washing liquid tank is provided with a liquid spraying pump.
  • the electric mechanism includes a main tooth girder fixed on the suction cup arm of the end frame, the main tooth girder extends in the width direction of the tunnel, the lower side of the main tooth girder has a rack, and the remaining three sides have wheel grooves.
  • the outer circumference of the main tooth girder is sleeved with a fixed auxiliary frame, the lower side of the fixed auxiliary frame is equipped with gears meshing with the rack, and the remaining three sides are equipped with pressure wheels that are embedded in the corresponding wheel grooves for rolling.
  • a fixed main frame is fixedly connected under the fixed auxiliary frame, a motor connected with an output shaft and a gear is installed on the fixed main frame, and the fixed main frame is connected with the suction cup arm of the middle frame.
  • the shape of the top wall of the tunnel and the light-reflecting ring are both arc-shaped.
  • a first rotating shaft extending back and forth is fixed on the fixed main frame
  • a second rotating shaft extending back and forth is fixed in the middle of the suction cup arm of the middle frame
  • the first rotating shaft is coaxially inserted into the inside of the second rotating shaft for relative rotation.
  • a torsion spring is sleeved coaxially on the outer circumference of the first rotating shaft and the second rotating shaft, one end of the torsion spring is fixed to the first rotating shaft, and the other end is fixed to the second rotating shaft.
  • both the upper suction cup and the lower suction cup are connected with a vacuum generator, and the suction cup arm of the end frame is provided with an equal-length motor touch switch lever, the suction cup touch switch lever of the end frame, and the suction cup touch switch lever of the middle frame.
  • the motor touch switch lever and the suction cup touch switch lever of the end frame, and the suction cup touch switch lever of the middle frame extend in the width direction of the tunnel. Both ends are used to touch the end frame when the suction cup arm of the end frame and the suction cup arm of the middle frame move relative to each other.
  • Suction cup arm the suction cup arm of the end frame is provided with contacts that are used to touch the switch rod with the motor, the suction cup of the end frame touches the switch rod, and the suction cup of the middle frame touches the switch rod.
  • the two ends of the suction cup arm of the middle frame are connected. Equipped with a controller, the controller is electrically connected with the motor, the vacuum generator, the motor touch switch lever, the suction cup touch switch lever of the end frame, the suction cup touch switch lever of the middle frame, the contacts, and the liquid spray pump.
  • the rear end of the connecting rod of the wiping brush and the cleaning brush are fixed on the same pressure plate
  • the middle frame sucker arm is fixedly provided with a spring installation cavity beside the pressure plate
  • the opening of the spring installation cavity faces the pressure plate
  • the pressure plate is embedded in the spring installation cavity
  • the inside is connected with the inner cavity bottom of the spring installation cavity through a spring; the shape of the pressure plate is adapted to the shape of the spring installation cavity, so that the pressure plate is compressed and guided forward and backward in the spring installation cavity.
  • a method for cleaning the reflective ring self-cleaning device of a highway tunnel is carried out according to the following steps: when in use, the suction cup of the suction cup arm of the end frame and the suction cup of the suction cup arm of the middle frame do not generate adsorption force at the same time, that is: the suction cup of the suction cup arm of the end frame When the suction cup of the middle frame suction cup arm is not working, the suction cup arm of the middle frame moves relative to the suction cup arm of the end frame under the drive of the electric mechanism. When moving, the wiping brush and cleaning brush close to the reflective ring wall to scrub; the suction cup arm of the middle frame moves to the limit.
  • the suction cup of the suction cup arm of the middle frame When the position, the suction cup of the suction cup arm of the middle frame sucks and stops scrubbing, the suction cup of the suction cup arm of the end frame does not work, and the suction cup arm of the lower end frame is driven by the electric mechanism to move in the same direction toward the suction cup arm of the middle frame; when the suction cup arm of the end frame moves toward the middle When the frame sucker arm moves to the limit position in the same direction, the sucker of the end frame sucker arm sucks, and the sucker of the middle frame sucker arm does not work.
  • the middle frame sucker arm continues to move relative to the end frame sucker arm, and sticks tightly when moving
  • the wiping brush and the cleaning brush of the reflective ring wall continue to scrub, so that self-propelled scrubbing is realized by reciprocating.
  • the upper suction cup is adsorbed on the top wall of the tunnel and the lower suction cup is adsorbed on the side wall of the reflective ring;
  • the suction cup of the suction cup arm of the end frame is suctioned, the suction cup of the suction cup arm of the middle frame is not
  • the middle frame sucker arm moves to the limit position when the middle frame sucker arm moves to the limit position when the middle frame sucker arm moves relative to the end frame sucker arm under the drive of the electric mechanism, the sucker of the sucker arm of the middle frame sucks, the sucker of the sucker arm of the end frame Not working, the motor is reversed when the suction cup arm of the lower end frame is driven by the electric mechanism to move in the same direction toward the suction cup arm of the middle frame;
  • the motor touches the switch lever and the end frame The suction cup touches the switch lever, and the suction cup of the middle frame touches the switch lever.
  • One end of the switch lever touches the contact on the suction cup arm of the end frame of the same side, so that the motor is changed from positive to reverse, and the suction cup of the middle frame becomes the suction cup of the end frame. It becomes non-adsorption; when the suction cup arm of the end frame moves to the limit position in the same direction toward the suction cup arm of the middle frame, the motor touches the switch lever, the suction cup of the end frame touches the switch lever, and the suction cup of the middle frame touches the other end of the switch lever. Touch the contact on the suction cup arm of the other end frame on the same side to make the motor change from reverse to forward rotation, the suction cup of the middle frame becomes non-adsorbing, and the suction cup of the end frame becomes suction, and so on.
  • the torsion spring When the end frame sucker arm moves, the torsion spring resets, and the end frame sucker arm is twisted by the torsion spring during the movement of the end frame sucker arm. Twist to the same swing position as the suction cup arm of the middle frame to adapt to the changes in the arc of the tunnel wall, and so on.
  • the present invention has the following beneficial effects: the structure of the self-cleaning device for the reflective ring of the highway tunnel is simple.
  • the suction cup of the suction cup arm of the end frame and the suction cup of the suction cup arm of the middle frame do not generate adsorption force at the same time, namely :
  • the suction cup of the suction cup arm of the end frame is sucked, the suction cup of the middle frame suction cup arm is not working, and the suction cup arm of the middle frame moves relative to the suction cup arm of the end frame under the drive of the electric mechanism.
  • Fig. 1 is a bottom view of an embodiment of the present invention.
  • Figure 2 is a side view of an embodiment of the present invention.
  • Figure 3 is a side view of the electric mechanism.
  • Figure 4 is a schematic diagram of the self-propelled principle.
  • Figure 5 is the second schematic diagram of the self-propelled principle.
  • Figure 6 is the third schematic diagram of the self-propelled principle.
  • Figure 7 is a schematic diagram four of the principle of self-propelled.
  • Fig. 8 is a schematic diagram of the structure of the wiping brush and the cleaning brush.
  • a self-cleaning device for the reflective ring of a highway tunnel includes an end frame suction cup arm 1.
  • a middle frame suction cup arm 2 is arranged inside the end frame suction cup arm.
  • the end frame suction cup arm and the middle frame suction cup arm are Each is provided with an upper suction cup 3 for sucking the top wall of the tunnel upward, and a lower suction cup 4 for sucking the side wall of the reflective ring toward the front or rear, respectively.
  • the end frame sucker arm and the middle frame sucker arm are driven by an electric mechanism. Relative movement in the direction of the tunnel width;
  • the suction cup arm of the middle frame is provided with a wiper 23 and a cleaning brush 22 arranged in the moving direction on the side of the lower suction cup. Both the wiper and the cleaning brush are connected to the suction cup arm of the middle frame via a connecting rod 24.
  • the sucker arm of the middle frame is provided with a wiper 23 and a cleaning brush 22.
  • the electric mechanism includes a main tooth girder 5 fixed on the suction cup arm of the end frame.
  • the main tooth girder extends in the width direction of the tunnel.
  • the lower side of the main tooth girder has a rack 6 and the remaining three sides have wheel grooves 7. .
  • a fixed auxiliary frame 8 is sleeved on the outer circumference of the main tooth girder, the lower side of the fixed auxiliary frame is installed with a gear 9 meshing with the rack, and the remaining three sides are installed to be embedded in the corresponding wheel grooves for rolling ⁇ 10 ⁇ The pressure wheel 10.
  • a fixed main frame 11 is fixedly connected under the fixed auxiliary frame, a motor 12 with an output shaft connected to a gear is installed on the fixed main frame, and the fixed main frame is connected with the suction cup arm of the middle frame.
  • the shape of the top wall of the tunnel and the light reflecting ring are both arc shapes.
  • a first rotating shaft 13 extending forward and backward is fixed on the fixed main frame
  • a second rotating shaft 14 extending forward and backward is fixed in the middle of the suction cup arm of the middle frame
  • the first rotating shaft is coaxially inserted into the inside of the second rotating shaft. Perform relative rotation.
  • a torsion spring 15 is sleeved coaxially on the outer circumference of the first rotating shaft and the second rotating shaft. One end of the torsion spring is fixed to the first rotating shaft and the other end is fixed to the second rotating shaft.
  • both the upper suction cup and the lower suction cup are connected with a vacuum generator 16, and the suction cup arm of the end frame is provided with an equal-length motor touch switch lever 17, the suction cup touch switch lever 18 of the end frame, and the middle frame
  • the suction cup touches the switch lever 19
  • the motor touches the switch lever and the suction cup of the end frame touches the switch lever
  • the suction cup of the middle frame touches the switch lever.
  • Both extend in the width direction of the tunnel, and both ends are used for the suction cup arm of the end frame and the suction cup of the middle frame. When the arms move relative to each other, they touch the suction cup arm of the end frame.
  • the suction cup arm of the end frame is provided with a switch lever for touching the motor, the suction cup of the end frame, and the suction cup of the middle frame.
  • Contacts, the middle frame sucker arm is equipped with a controller, the controllers are all connected with the motor, vacuum generator, motor touch switch lever, end frame sucker touch switch lever, middle frame sucker touch switch lever, contact,
  • the spray pump is electrically connected.
  • the rear ends of the connecting rods of the wiping brush and the cleaning brush are fixed on the same pressure plate 27, the middle frame sucker arm is fixedly provided with a spring mounting cavity 28 on the side of the pressure plate, and the opening of the spring mounting cavity faces the pressure plate ,
  • the pressure plate is embedded in the spring installation cavity and is connected to the inner cavity bottom of the spring installation cavity through the spring 29; the shape of the pressure plate is adapted to the shape of the spring installation cavity, so that the pressure plate is compressed and guided forward and backward in the spring installation cavity.
  • the wiping brush and the cleaning brush with a spring are assembled on a self-propelled basis, so that the wiping brush and the cleaning brush can be attached to the side wall of the reflective ring, and the scrubbing effect is improved.
  • the end of the spring is fixedly connected with the pressure plate and the inner cavity bottom of the spring installation cavity.
  • a method for cleaning the reflective ring self-cleaning device of a highway tunnel is carried out according to the following steps: when in use, the suction cup of the suction cup arm of the end frame and the suction cup of the suction cup arm of the middle frame do not generate adsorption force at the same time, that is: the suction cup of the suction cup arm of the end frame When the suction cup of the middle frame suction cup arm is not working, the suction cup arm of the middle frame moves relative to the suction cup arm of the end frame under the drive of the electric mechanism. When moving, the wiping brush and cleaning brush close to the reflective ring wall to scrub; the suction cup arm of the middle frame moves to the limit.
  • the suction cup of the suction cup arm of the middle frame When the position, the suction cup of the suction cup arm of the middle frame sucks and stops scrubbing, the suction cup of the suction cup arm of the end frame does not work, and the suction cup arm of the lower end frame is driven by the electric mechanism to move in the same direction toward the suction cup arm of the middle frame; when the suction cup arm of the end frame moves toward the middle When the frame sucker arm moves to the limit position in the same direction, the sucker of the end frame sucker arm sucks, and the sucker of the middle frame sucker arm does not work.
  • the middle frame sucker arm continues to move relative to the end frame sucker arm, and sticks tightly when moving
  • the wiping brush and the cleaning brush of the reflective ring wall continue to scrub, so that self-propelled scrubbing is realized by reciprocating.
  • the upper suction cup is adsorbed on the top wall 20 of the tunnel during adsorption, and the lower suction cup is adsorbed on the side wall of the reflective ring 21;
  • the suction cup of the end frame suction cup arm is adsorbed, the suction cup of the middle frame The suction cup is not working.
  • the suction cup arm of the middle frame moves forward relative to the suction cup arm of the end frame.
  • the motor rotates forward, when the suction cup arm of the middle frame moves to the limit position, the suction cup of the suction cup arm of the middle frame absorbs, and the suction cup arm of the end frame The suction cup is not working, and the motor is reversed when the suction cup arm of the lower end frame moves in the same direction toward the suction cup arm of the middle frame when the electric mechanism drives; (3) When the suction cup arm of the middle frame moves to the limit position, the motor touches the switch lever and the end The suction cup of the frame touches the switch lever, and the suction cup of the middle frame touches the switch lever.
  • One end of the switch lever touches the contact on the suction cup arm of the end frame on the same side, so that the motor changes from positive to reverse, and the suction cup of the middle frame becomes suction and end frame.
  • the suction cup becomes non-adsorbing; when the suction cup arm of the end frame moves to the limit position in the same direction as the suction cup arm of the middle frame, the motor touches the switch lever, the suction cup of the end frame touches the switch lever, and the suction cup of the middle frame touches the switch lever
  • the other end touches the contact on the suction cup arm of the other end frame on the same side, so that the motor changes from reverse to forward rotation, the suction cup of the middle frame becomes non-adsorbing, and the suction cup of the end frame becomes suction, and so on.
  • the torsion spring is twisted to accumulate the force; the middle frame sucker arm becomes immobile, when the end frame sucker arm moves, the torsion spring resets, the end frame sucker arm is twisted by the torsion spring during the movement, so that the end frame The sucker arm is twisted to the same swing position as the middle frame sucker arm, so as to adapt to the change of the tunnel wall arc, and so on.
  • the present invention is not limited to the above-mentioned best embodiments.
  • anyone can derive other various forms of self-cleaning devices and cleaning methods for the reflective ring of highway tunnels under the enlightenment of the present invention. All equal changes and modifications made in accordance with the scope of the patent application of the present invention shall fall within the scope of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Cleaning In General (AREA)
  • Road Signs Or Road Markings (AREA)

Abstract

一种高速公路隧道反光环自清洗装置及其清洗方法，包括端框架吸盘臂（1），端框架吸盘臂（1）的内部设有中框架吸盘臂（2），端框架吸盘臂（1）与中框架吸盘臂（2）上分别设有用以朝上吸附隧道顶壁的上吸盘（3）、分别设有用以朝前或朝后吸附反光环侧壁的下吸盘（4），端框架吸盘臂（1）与中框架吸盘臂（2）之间经电动机构驱动在隧道宽度方向进行相对移动；中框架吸盘臂（2）在其下吸盘（4）的旁侧设有沿移动方向依次设置的擦拭刷（23）、清洗刷（22），擦拭刷（23）与清洗刷（22）均经连杆（24）与中框架吸盘臂（2）连接，中框架吸盘臂（2）上设有洗液箱（25），洗液箱（25）经洗液管（26）连通往清洗刷（22）进行喷液，洗液箱（25）内部设有喷液泵。该高速公路隧道反光环自清洗装置结构简单，使用时通过行走机构在隧道顶壁与反光环侧壁自行走，自行走过程中同时擦洗反光环。

Description

一种高速公路隧道反光环自清洗装置及其清洗方法 技术领域
本发明涉及一种高速公路隧道反光环自清洗装置及其清洗方法。
背景技术
目前，随着我国高速公路建设的发展，隧道数量及长度不断增多增长，而隧道内的反光环板在汽车尾气等各种因素的影响下被污染，使反光环板效果大打折扣。
现阶段，反光环板的清理工作采用的是原始手动方法清洁，对交通安全和人力物力的消耗产生重大影响。
基于此，有必要设计一款自清洗装置，用于自动行走与清洗反光环。
发明内容
鉴于现有技术的不足，本发明所要解决的技术问题是提供一种高速公路隧道反光环自清洗装置及其清洗方法，不仅结构简单，而且便捷高效。
为了解决上述技术问题，本发明的技术方案是：一种高速公路隧道反光环自清洗装置，包括端框架吸盘臂，端框架吸盘臂的内部设有中框架吸盘臂，端框架吸盘臂与中框架吸盘臂上分别设有用以朝上吸附隧道顶壁的上吸盘、分别设有用以朝前或朝后吸附反光环侧壁的下吸盘，端框架吸盘臂与中框架吸盘臂之间经电动机构驱动在隧道宽度方向进行相对移动；
中框架吸盘臂在其下吸盘的旁侧设有沿移动方向依次设置的擦拭刷、清洗刷，擦拭刷与清洗刷均经连杆与中框架吸盘臂连接，中框架吸盘臂上设有洗液箱，洗液箱经洗液管连通往清洗刷进行喷液，洗液箱内部设有喷液泵。
优选的，电动机构包括端框架吸盘臂上固设的主齿大梁，主齿大梁沿隧道宽度方向延伸，主齿大梁的下侧面具有齿条、其余三侧面具有轮槽。
优选的，主齿大梁的外周套设有固定辅架，固定辅架的下侧部安装有与齿条啮合的齿轮、其余三侧部安装有嵌入对应轮槽中进行滚动的压轮。
优选的，固定辅架的下方固连有固定主架，固定主架上安装有输出轴与齿轮连接的电机，固定主架与中框架吸盘臂相连接。
优选的，隧道顶壁与反光环的形状均为弧形。
优选的，固定主架上固设有前后延伸的第一转轴，中框架吸盘臂的中部固设有前后延伸的第二转轴，第一转轴同轴插入第二转轴的内部进行相对旋转。
优选的，第一转轴与第二转轴的外周部同轴套设有一扭转弹簧，扭转弹簧的一端与第一转轴固定、另一端与第二转轴固定。
优选的，上吸盘与下吸盘上均连接有真空发生器，端框架吸盘臂上设有等长的电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆，电机触碰开关杆与端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆均沿隧道宽度方向延伸，两端用于端框架吸盘臂与中框架吸盘臂相对移动时触碰端框架吸盘臂，端框架吸盘臂上设有用以与电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆两端触碰导通的触点，中框架吸盘臂上设有控制器，控制器均与电机、真空发生器、电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆、触点、喷液泵电性连接。
优选的，擦拭刷与清洗刷的连杆后端固设在同一压板上，中框架吸盘臂在压板的旁侧固设有一弹簧安装腔，弹簧安装腔的腔口朝向压板，压板嵌入弹簧安装腔内部且经弹簧与弹簧安装腔的内腔底连接；压板形状与弹簧安装腔的形状相适应，以使压板在弹簧安装腔内进行压缩且前后导向。
一种高速公路隧道反光环自清洗装置的清洗方法，按以下步骤进行：使用时，端框架吸盘臂的吸盘与中框架吸盘臂的吸盘不同时产生吸附力，即：端框架吸盘臂的吸盘吸附时，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂移动，移动时贴紧反光环壁的擦拭刷、清洗刷进行擦洗；当中框架吸盘臂移动到限位位置时，中框架吸盘臂的吸盘吸附，停止擦洗，端框架吸盘臂的吸盘未工作，在电动机构驱动下端框架吸盘臂朝着中框架吸盘臂同向移动；当端框架吸盘臂朝着中框架吸盘臂同向移动到限位位置时，端框架吸盘臂的吸盘吸附，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂继续移动，移动时贴紧反光环壁的擦拭刷、清洗刷继续进行擦洗，如此往复实现自行走擦洗。
优选的，在以上步骤中：(1)吸附时上吸盘吸附在隧道顶壁，下吸盘吸附在反光环侧壁；(2)在端框架吸盘臂的吸盘吸附时，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂移动中如果电机为正转，则当中框架吸盘臂移动到限位位置时，中框架吸盘臂的吸盘吸附，端框架吸盘臂的吸盘未工作，在电动机构驱动下端框架吸盘臂朝着中框架吸盘臂同向移动时的电机为反转；(3)当中框架吸盘臂移动到限位位置时，电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆一端触碰该同侧端框架吸盘臂上的触点，使电机由正转变为反转、中间框架的吸盘变为吸附、端框架的吸盘变为不吸附；当端框架吸盘臂朝着中框架吸盘臂同向移动到限位位置时，电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆另一端触碰另一同侧端框架吸盘臂上的触点，使电机由反转变为正转、 中间框架的吸盘变为不吸附、端框架的吸盘变为吸附，如此循环往复；(4)当隧道顶壁与反光环的形状均为弧形时，经第一转轴、扭转弹簧、第二转轴的设置实现自旋转，具体为：端框架吸盘臂与中框架吸盘臂只有一个是处于吸附状态，另一个处于移动状态，当端框架吸盘臂不动，中框架吸盘臂移动时，中框架吸盘臂的吸盘移动过程中与隧道顶壁接触迫使中框架吸盘臂沿第一转轴、第二转轴自旋转来适应隧道壁的弧度变化，扭转弹簧扭转蓄力；当中框架吸盘臂变为不动，端框架吸盘臂移动时，扭转弹簧复位，端框架吸盘臂移动过程中受扭转弹簧的扭转，使端框架吸盘臂扭转到与中框架吸盘臂同摆转位置，以此来适应隧道壁弧度变化，如此循环往复。
与现有技术相比，本发明具有以下有益效果：该高速公路隧道反光环自清洗装置的结构简单，使用时，端框架吸盘臂的吸盘与中框架吸盘臂的吸盘不同时产生吸附力，即：端框架吸盘臂的吸盘吸附时，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂移动，移动时贴紧反光环壁的擦拭刷、清洗刷进行擦洗；当中框架吸盘臂移动到限位位置时，中框架吸盘臂的吸盘吸附，停止擦洗，端框架吸盘臂的吸盘未工作，在电动机构驱动下端框架吸盘臂朝着中框架吸盘臂同向移动；当端框架吸盘臂朝着中框架吸盘臂同向移动到限位位置时，端框架吸盘臂的吸盘吸附，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂继续移动，移动时贴紧反光环壁的擦拭刷、清洗刷继续进行擦洗，如此往复实现自行走擦洗。
下面结合附图和具体实施方式对本发明做进一步详细的说明。
附图说明
图1为本发明实施例的仰视图。
图2为本发明实施例的侧视图。
图3为电动机构的侧视图。
图4为自行走的原理简图一。
图5为自行走的原理简图二。
图6为自行走的原理简图三。
图7为自行走的原理简图四。
图8为擦拭刷与清洗刷的构造示意图。
具体实施方式
为让本发明的上述特征和优点能更明显易懂，下文特举实施例，并配合附图，作详细说明如下。
如图1～8所示，一种高速公路隧道反光环自清洗装置，包括端框架吸盘臂1，端框架吸盘臂 的内部设有中框架吸盘臂2，端框架吸盘臂与中框架吸盘臂上分别设有用以朝上吸附隧道顶壁的上吸盘3、分别设有用以朝前或朝后吸附反光环侧壁的下吸盘4，端框架吸盘臂与中框架吸盘臂之间经电动机构驱动在隧道宽度方向进行相对移动；
中框架吸盘臂在其下吸盘的旁侧设有沿移动方向依次设置的擦拭刷23、清洗刷22，擦拭刷与清洗刷均经连杆24与中框架吸盘臂连接，中框架吸盘臂上设有洗液箱25，洗液箱经洗液管26连通往清洗刷进行喷液，洗液箱内部设有喷液泵。喷液泵将清洗液喷往清洗刷处用于刷洗，清洗刷先刷洗，而后经过的擦拭刷擦拭。
在本发明实施例中，电动机构包括端框架吸盘臂上固设的主齿大梁5，主齿大梁沿隧道宽度方向延伸，主齿大梁的下侧面具有齿条6、其余三侧面具有轮槽7。
在本发明实施例中，主齿大梁的外周套设有固定辅架8，固定辅架的下侧部安装有与齿条啮合的齿轮9、其余三侧部安装有嵌入对应轮槽中进行滚动的压轮10。
在本发明实施例中，固定辅架的下方固连有固定主架11，固定主架上安装有输出轴与齿轮连接的电机12，固定主架与中框架吸盘臂相连接。
在本发明实施例中，隧道顶壁与反光环的形状均为弧形。
在本发明实施例中，固定主架上固设有前后延伸的第一转轴13，中框架吸盘臂的中部固设有前后延伸的第二转轴14，第一转轴同轴插入第二转轴的内部进行相对旋转。
在本发明实施例中，第一转轴与第二转轴的外周部同轴套设有一扭转弹簧15，扭转弹簧的一端与第一转轴固定、另一端与第二转轴固定。
在本发明实施例中，上吸盘与下吸盘上均连接有真空发生器16，端框架吸盘臂上设有等长的电机触碰开关杆17、端框架的吸盘触碰开关杆18、中间框架的吸盘触碰开关杆19，电机触碰开关杆与端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆均沿隧道宽度方向延伸，两端用于端框架吸盘臂与中框架吸盘臂相对移动时触碰端框架吸盘臂，端框架吸盘臂上设有用以与电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆两端触碰导通的触点，中框架吸盘臂上设有控制器，控制器均与电机、真空发生器、电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆、触点、喷液泵电性连接。
在本发明实施例中，擦拭刷与清洗刷的连杆后端固设在同一压板27上，中框架吸盘臂在压板的旁侧固设有一弹簧安装腔28，弹簧安装腔的腔口朝向压板，压板嵌入弹簧安装腔内部且经弹簧29与弹簧安装腔的内腔底连接；压板形状与弹簧安装腔的形状相适应，以使压板在弹簧安装腔内进行压缩且前后导向。
在本发明实施例中，通过在自行走基础上集合带弹簧的擦拭刷与清洗刷，使擦拭刷与清洗 刷能够贴紧在反光环侧壁上，提高擦洗效果。弹簧端部与压板、弹簧安装腔的内腔底固定连接。
一种高速公路隧道反光环自清洗装置的清洗方法，按以下步骤进行：使用时，端框架吸盘臂的吸盘与中框架吸盘臂的吸盘不同时产生吸附力，即：端框架吸盘臂的吸盘吸附时，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂移动，移动时贴紧反光环壁的擦拭刷、清洗刷进行擦洗；当中框架吸盘臂移动到限位位置时，中框架吸盘臂的吸盘吸附，停止擦洗，端框架吸盘臂的吸盘未工作，在电动机构驱动下端框架吸盘臂朝着中框架吸盘臂同向移动；当端框架吸盘臂朝着中框架吸盘臂同向移动到限位位置时，端框架吸盘臂的吸盘吸附，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂继续移动，移动时贴紧反光环壁的擦拭刷、清洗刷继续进行擦洗，如此往复实现自行走擦洗。
优选的，在以上步骤中：(1)吸附时上吸盘吸附在隧道顶壁20，下吸盘吸附在反光环21侧壁；(2)在端框架吸盘臂的吸盘吸附时，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂移动中如果电机为正转，则当中框架吸盘臂移动到限位位置时，中框架吸盘臂的吸盘吸附，端框架吸盘臂的吸盘未工作，在电动机构驱动下端框架吸盘臂朝着中框架吸盘臂同向移动时的电机为反转；(3)当中框架吸盘臂移动到限位位置时，电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆一端触碰该同侧端框架吸盘臂上的触点，使电机由正转变为反转、中间框架的吸盘变为吸附、端框架的吸盘变为不吸附；当端框架吸盘臂朝着中框架吸盘臂同向移动到限位位置时，电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆另一端触碰另一同侧端框架吸盘臂上的触点，使电机由反转变为正转、中间框架的吸盘变为不吸附、端框架的吸盘变为吸附，如此循环往复；(4)当隧道顶壁与反光环的形状均为弧形时，经第一转轴、扭转弹簧、第二转轴的设置实现自旋转，具体为：端框架吸盘臂与中框架吸盘臂只有一个是处于吸附状态，另一个处于移动状态，当端框架吸盘臂不动，中框架吸盘臂移动时，中框架吸盘臂的吸盘移动过程中与隧道顶壁接触迫使中框架吸盘臂沿第一转轴、第二转轴自旋转来适应隧道壁的弧度变化，扭转弹簧扭转蓄力；当中框架吸盘臂变为不动，端框架吸盘臂移动时，扭转弹簧复位，端框架吸盘臂移动过程中受扭转弹簧的扭转，使端框架吸盘臂扭转到与中框架吸盘臂同摆转位置，以此来适应隧道壁弧度变化，如此循环往复。
本发明不局限于上述最佳实施方式，任何人在本发明的启示下都可以得出其他各种形式的高速公路隧道反光环自清洗装置及其清洗方法。凡依本发明申请专利范围所做的均等变化与修饰，皆应属本发明的涵盖范围。

Claims (10)

  1. 一种高速公路隧道反光环自清洗装置，其特征在于：包括端框架吸盘臂，端框架吸盘臂的内部设有中框架吸盘臂，端框架吸盘臂与中框架吸盘臂上分别设有用以朝上吸附隧道顶壁的上吸盘、分别设有用以朝前或朝后吸附反光环侧壁的下吸盘，端框架吸盘臂与中框架吸盘臂之间经电动机构驱动在隧道宽度方向进行相对移动；
    中框架吸盘臂在其下吸盘的旁侧设有沿移动方向依次设置的擦拭刷、清洗刷，擦拭刷与清洗刷均经连杆与中框架吸盘臂连接，中框架吸盘臂上设有洗液箱，洗液箱经洗液管连通往清洗刷进行喷液，洗液箱内部设有喷液泵。
  2. 根据权利要求1所述的高速公路隧道反光环自清洗装置，其特征在于：电动机构包括端框架吸盘臂上固设的主齿大梁，主齿大梁沿隧道宽度方向延伸，主齿大梁的下侧面具有齿条、其余三侧面具有轮槽。
  3. 根据权利要求2所述的高速公路隧道反光环自清洗装置，其特征在于：主齿大梁的外周套设有固定辅架，固定辅架的下侧部安装有与齿条啮合的齿轮、其余三侧部安装有嵌入对应轮槽中进行滚动的压轮。
  4. 根据权利要求3所述的高速公路隧道反光环自清洗装置，其特征在于：固定辅架的下方固连有固定主架，固定主架上安装有输出轴与齿轮连接的电机，固定主架与中框架吸盘臂相连接。
  5. 根据权利要求4所述的高速公路隧道反光环自清洗装置，其特征在于：隧道顶壁与反光环的形状均为弧形。
  6. 根据权利要求5所述的高速公路隧道反光环自清洗装置，其特征在于：固定主架上固设有前后延伸的第一转轴，中框架吸盘臂的中部固设有前后延伸的第二转轴，第一转轴同轴插入第二转轴的内部进行相对旋转。
  7. 根据权利要求6所述的高速公路隧道反光环自清洗装置，其特征在于：第一转轴与第二转轴的外周部同轴套设有一扭转弹簧，扭转弹簧的一端与第一转轴固定、另一端与第二转轴固定；上吸盘与下吸盘上均连接有真空发生器，端框架吸盘臂上设有等长的电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆，电机触碰开关杆与端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆均沿隧道宽度方向延伸，两端用于端框架吸盘臂与中框架吸盘臂相对移动时触碰端框架吸盘臂，端框架吸盘臂上设有用以与电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆两端触碰 导通的触点，中框架吸盘臂上设有控制器，控制器均与电机、真空发生器、电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆、触点、喷液泵电性连接。
  8. 根据权利要求1所述的高速公路隧道反光环自清洗装置，其特征在于：擦拭刷与清洗刷的连杆后端固设在同一压板上，中框架吸盘臂在压板的旁侧固设有一弹簧安装腔，弹簧安装腔的腔口朝向压板，压板嵌入弹簧安装腔内部且经弹簧与弹簧安装腔的内腔底连接；压板形状与弹簧安装腔的形状相适应，以使压板在弹簧安装腔内进行压缩且前后导向。
  9. 一种如权利要求1-8任一所述的高速公路隧道反光环自清洗装置的清洗方法，其特征在于，按以下步骤进行：使用时，端框架吸盘臂的吸盘与中框架吸盘臂的吸盘不同时产生吸附力，即：端框架吸盘臂的吸盘吸附时，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂移动，移动时贴紧反光环壁的擦拭刷、清洗刷进行擦洗；当中框架吸盘臂移动到限位位置时，中框架吸盘臂的吸盘吸附，停止擦洗，端框架吸盘臂的吸盘未工作，在电动机构驱动下端框架吸盘臂朝着中框架吸盘臂同向移动；当端框架吸盘臂朝着中框架吸盘臂同向移动到限位位置时，端框架吸盘臂的吸盘吸附，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂继续移动，移动时贴紧反光环壁的擦拭刷、清洗刷继续进行擦洗，如此往复实现自行走擦洗。
  10. 根据权利要求9所述的高速公路隧道反光环自清洗装置的清洗方法，其特征在于：在以上步骤中：(1)吸附时上吸盘吸附在隧道顶壁，下吸盘吸附在反光环侧壁；(2)在端框架吸盘臂的吸盘吸附时，中框架吸盘臂的吸盘未工作，在电动机构驱动下中框架吸盘臂相对端框架吸盘臂移动中如果电机为正转，则当中框架吸盘臂移动到限位位置时，中框架吸盘臂的吸盘吸附，端框架吸盘臂的吸盘未工作，在电动机构驱动下端框架吸盘臂朝着中框架吸盘臂同向移动时的电机为反转；(3)当中框架吸盘臂移动到限位位置时，电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆一端触碰该同侧端框架吸盘臂上的触点，使电机由正转变为反转、中间框架的吸盘变为吸附、端框架的吸盘变为不吸附；当端框架吸盘臂朝着中框架吸盘臂同向移动到限位位置时，电机触碰开关杆、端框架的吸盘触碰开关杆、中间框架的吸盘触碰开关杆另一端触碰另一同侧端框架吸盘臂上的触点，使电机由反转变为正转、中间框架的吸盘变为不吸附、端框架的吸盘变为吸附，如此循环往复；(4)当隧道顶壁与反光环的形状均为弧形时，经第一转轴、扭转弹簧、第二转轴的设置实现自旋转，具体为：端框架吸盘臂与中框架吸盘臂只有一个是处于吸附状态，另一个处于移动状态，当端框架吸盘臂不动，中框架吸盘 臂移动时，中框架吸盘臂的吸盘移动过程中与隧道顶壁接触迫使中框架吸盘臂沿第一转轴、第二转轴自旋转来适应隧道壁的弧度变化，扭转弹簧扭转蓄力；当中框架吸盘臂变为不动，端框架吸盘臂移动时，扭转弹簧复位，端框架吸盘臂移动过程中受扭转弹簧的扭转，使端框架吸盘臂扭转到与中框架吸盘臂同摆转位置，以此来适应隧道壁弧度变化，如此循环往复。
PCT/CN2020/136638 2019-12-23 2020-12-16 一种高速公路隧道反光环自清洗装置及其清洗方法 WO2021129469A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/357,189 US20210346917A1 (en) 2019-12-23 2021-06-24 Self-cleaning Device and Cleaning Method for Highway Tunnel Retro-reflective Arch

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201911332989.5 2019-12-23
CN201911332989.5A CN110882957B (zh) 2019-12-23 2019-12-23 一种高速公路隧道反光环自清洗装置及其清洗方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/357,189 Continuation US20210346917A1 (en) 2019-12-23 2021-06-24 Self-cleaning Device and Cleaning Method for Highway Tunnel Retro-reflective Arch

Publications (1)

Publication Number Publication Date
WO2021129469A1 true WO2021129469A1 (zh) 2021-07-01

Family

ID=69752715

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/136638 WO2021129469A1 (zh) 2019-12-23 2020-12-16 一种高速公路隧道反光环自清洗装置及其清洗方法

Country Status (4)

Country Link
US (1) US20210346917A1 (zh)
CN (1) CN110882957B (zh)
LU (1) LU500384B1 (zh)
WO (1) WO2021129469A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114158991A (zh) * 2021-12-17 2022-03-11 杭州电子科技大学 一种墙面清洗机器人及其在墙面进行清洁与移动的方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110882957B (zh) * 2019-12-23 2023-07-14 福州大学 一种高速公路隧道反光环自清洗装置及其清洗方法
CN113445446B (zh) * 2021-07-21 2022-11-22 贵州省公路开发有限责任公司黔南营运管理中心 一种隧道反光环清洁机器人
CN114606890A (zh) * 2022-03-17 2022-06-10 重庆交通大学 一种隧道高漫反射的侧壁清洗装置及方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07166519A (ja) * 1993-12-16 1995-06-27 Mitsubishi Heavy Ind Ltd トンネル内壁面の清掃装置
CN108856014A (zh) * 2018-06-29 2018-11-23 平顶山平煤机煤矿机械装备有限公司 隧道衬砌台车模板清洗机
EP3418450A1 (de) * 2017-06-21 2018-12-26 Brügger HTB GmbH Tunnelreinigungsvorrichtung
CN109365339A (zh) * 2018-11-28 2019-02-22 中建隧道建设有限公司 大断面隧道衬砌台车模板环向自动清理涂膜施工装置及方法
CN110080139A (zh) * 2019-05-08 2019-08-02 机械科学研究总院海西（福建）分院有限公司 一种高速公路轮廓带自动清洁装置
CN110882957A (zh) * 2019-12-23 2020-03-17 福州大学 一种高速公路隧道反光环自清洗装置及其清洗方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3051437U (ja) * 1997-10-03 1998-08-25 柏 齡 徐 高層ビル外壁の自動洗浄機
CN2542350Y (zh) * 2002-05-14 2003-04-02 吕阿平 吸附式外墙清洗装置
PL394570A1 (pl) * 2011-04-15 2012-10-22 Robotics Inventions Spólka Z Ograniczona Odpowiedzialnoscia Robot do podlóg podniesionych i sposób serwisowania podlóg podniesionych
CN102657492A (zh) * 2012-05-01 2012-09-12 成都理工大学 一种自动化玻璃擦洗器
KR20170110199A (ko) * 2016-03-22 2017-10-11 세메스 주식회사 기판 처리 장치 및 방법
US9891389B1 (en) * 2016-10-14 2018-02-13 Corning Optical Communications LLC Cleaning nozzle, apparatus, nozzle assembly, and methods for optical fiber connectors
CN108324197A (zh) * 2017-12-29 2018-07-27 陈玉玲 一种高层楼寓外墙擦洗喷涂机器人
CN108188115A (zh) * 2017-12-29 2018-06-22 宁波高新区新柯保汽车科技有限公司 汽车用管件清洗装置
CN208204756U (zh) * 2018-04-10 2018-12-07 陈朝彬 一种嵌入式led隧道灯
CN211385908U (zh) * 2019-12-23 2020-09-01 福州大学 一种高速公路隧道反光环自清洗装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07166519A (ja) * 1993-12-16 1995-06-27 Mitsubishi Heavy Ind Ltd トンネル内壁面の清掃装置
EP3418450A1 (de) * 2017-06-21 2018-12-26 Brügger HTB GmbH Tunnelreinigungsvorrichtung
CN108856014A (zh) * 2018-06-29 2018-11-23 平顶山平煤机煤矿机械装备有限公司 隧道衬砌台车模板清洗机
CN109365339A (zh) * 2018-11-28 2019-02-22 中建隧道建设有限公司 大断面隧道衬砌台车模板环向自动清理涂膜施工装置及方法
CN110080139A (zh) * 2019-05-08 2019-08-02 机械科学研究总院海西（福建）分院有限公司 一种高速公路轮廓带自动清洁装置
CN110882957A (zh) * 2019-12-23 2020-03-17 福州大学 一种高速公路隧道反光环自清洗装置及其清洗方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114158991A (zh) * 2021-12-17 2022-03-11 杭州电子科技大学 一种墙面清洗机器人及其在墙面进行清洁与移动的方法

Also Published As

Publication number Publication date
LU500384B1 (en) 2021-07-06
CN110882957B (zh) 2023-07-14
CN110882957A (zh) 2020-03-17
US20210346917A1 (en) 2021-11-11

Similar Documents

Publication Publication Date Title
WO2021129469A1 (zh) 一种高速公路隧道反光环自清洗装置及其清洗方法
CN208396336U (zh) 一种高楼玻璃幕墙清洗机器人
CN205758441U (zh) 一种基于负压吸附的玻璃清洁机器人
CN111350153B (zh) 一种节能型环保市政道路清扫装置
CN102578958A (zh) 带有工作件升降装置的机器人
WO2014000683A1 (zh) 擦玻璃机器人
CN108338733A (zh) 一种可越障的小型玻璃擦洗机器人
CN203379066U (zh) 自动擦窗机器人
CN105919502A (zh) 一种平行四边形擦玻璃装置及其行走方法
CN106889957A (zh) 一种爬墙清扫机器人
CN211385908U (zh) 一种高速公路隧道反光环自清洗装置
CN204636198U (zh) 往复伸缩式擦玻璃机器人
CN204813683U (zh) 大展臂高空玻璃擦洗机器人
CN211865908U (zh) 一种线缆清洁机器人的往复式清洁头和线缆清洁机器人
CN209203124U (zh) 一种玻璃幕墙清洁机器人的清洁机构
CN2475366Y (zh) 吊篮式自动擦窗机
CN211815870U (zh) 一种高速公路隧道反光环清洗自行走机构
CN116231109A (zh) 全自动铅酸电池柔性装配生产线
CN110918514A (zh) 一种线缆清洁机器人的往复式清洁头和线缆清洁机器人
CN215745264U (zh) 一种管件喷漆修复用除漆装置
CN113974477B (zh) 一种基于物联网的家居机器人
CN112369954A (zh) 一种擦窗机
CN108078480A (zh) 大展臂高空玻璃擦洗机器人
CN110404864A (zh) 一种汽车轮胎清洗装置
CN214073130U (zh) 一种擦窗机

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20905669

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20905669

Country of ref document: EP

Kind code of ref document: A1