CN106670148A - Large-scale tunnel adheres to marine organism clearance robot - Google Patents
Large-scale tunnel adheres to marine organism clearance robot Download PDFInfo
- Publication number
- CN106670148A CN106670148A CN201611087246.2A CN201611087246A CN106670148A CN 106670148 A CN106670148 A CN 106670148A CN 201611087246 A CN201611087246 A CN 201611087246A CN 106670148 A CN106670148 A CN 106670148A
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- cleaning
- tunnel
- robot
- support arm
- marine growth
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- 238000004140 cleaning Methods 0.000 claims abstract description 183
- 230000008859 change Effects 0.000 claims abstract description 16
- 230000000694 effects Effects 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 239000012535 impurity Substances 0.000 claims description 3
- 238000007790 scraping Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 241000196324 Embryophyta Species 0.000 description 66
- 230000009471 action Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000008654 plant damage Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
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
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- 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
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a large tunnel attached marine organism cleaning robot, which comprises: a vehicle body; a distance sensing device; cleaning the mechanical arm; cleaning device, wherein: the cleaning device includes: a drum-type cleaning device for clearing up the disc type cleaning device of tunnel roof and be used for clearing up the tunnel lateral wall, disc type cleaning device and drum-type cleaning device can be connected respectively on the compatible connector of clearance arm and can dismantle the change. The large tunnel marine organism attaching cleaning robot can sense the posture of the robot and the surrounding environment information in real time, and can adjust the posture of the robot in a self-adaptive manner under the condition of high-frequency micro-variation; the contact force between the cleaning device and the inner wall of the tunnel is accurately controlled, and the overload protection function is realized; the cleaning device has wide adaptability, and can realize safe, reliable, visual monitoring and efficient cleaning.
Description
Technical field
The present invention relates to tunnel robot field, more particularly to a kind of large-scale tunnel attachment marine growth cleaning robot.
Background technology
Large-scale tunnel attachment marine growth cleaning robot of the prior art is unreasonable because of structure design, is primarily present as follows
Technological deficiency：
1st, the performs device of existing large-scale tunnel attachment marine growth cleaning robot is imitative tunnel diameter design, for non-close mark
Quasi-circular tunnel is not simultaneously applied to, and when tunnel diameter change, for example：Tunnel diameter becomes hour, it may occur that stuck or broken
Bad tunnel surface；Or, when the change of tunnel diameter is big, cleaning effect can be greatly reduced.
2nd, the manner of cleaning up of existing large-scale tunnel attachment marine growth cleaning robot is generally：Car body movement drives rotation
Performs device cleans tunnel, and lifting platform moves up and down the relative position of adjustment performs device and tunnel, the freedom of whole robot
Degree is few, is difficult to obtain optimal cleaning effect in the case of car body sideslip.
3rd, existing large-scale tunnel attachment marine growth cleaning robot lacks protective measure to tunnel surface and executor itself,
There is certain potential safety hazard.
4th, additionally, the power for still having large-scale tunnel attachment marine growth cleaning robot adopts the transmission of long umbilical cables with communication
Mode, under the long tunnel operating mode of thousands of rice, wired mode power conveying cost is too high.
The content of the invention
The technical problem to be solved is, there is provided a kind of large-scale tunnel attachment marine growth cleaning robot, energy
The attitude and ambient condition information of enough real-time perception itself, under the situation of the micro- change of high frequency can self-adaptative adjustment itself attitude；
The contact force of cleaning plant and tunnel inwall is precisely controlled, with overload protection function；Cleaning plant wide adaptability, is capable of achieving peace
Complete reliable, visual monitoring and efficient cleaning.
In order to solve above-mentioned technical problem, The embodiment provides a kind of large-scale tunnel adheres to marine growth descaling machine
Device people, to substitute marine growth in labor cleaning's tunnel, mud and other impurity, it is characterised in that include：Moveable car
Body；It is arranged on car body, to the distance sensing devices for obtaining robot relative position information in tunnel；It is arranged on car body
On, can in pitching, wave, rotate and cleaning mechanical arm that telescopic direction is adjusted；It is connected on cleaning mechanical arm, uses
To clear up the cleaning plant of tunnel inwall, wherein：Cleaning plant includes：To clear up tunnel roof disc type cleaning plant and
To the drum-type cleaning plant for clearing up tunnel side wall, disc type cleaning plant and drum-type cleaning plant can be connected to clearly
Manage on the compatible connector of mechanical arm and can carry out dismounting and change.
Wherein, distance sensing devices are located at the front portion of line direction before car body, are arranged on the both sides of car body, and it includes multiple use
To measure the sensor with tunnel inwall wall distance.
Wherein, clearing up mechanical arm includes：Rotatable first support arm, has the first telescopic oil cylinder on the first supporting walls；
It is connected on the first support arm, and the second support arm that can be rotated relative to the first support arm；It is connected to second
The both ends of brace, and the 3rd support arm that can be rotated relative to the second support arm, have second to stretch on the 3rd support arm
Contracting oil cylinder, compatible connector is arranged on the 3rd support arm；The 3rd support arm end is connected to, and can be relative to the 3rd support arm
The 4th flexible support arm is carried out, wherein：Change the first support arm, the second support arm, the 3rd support arm and the 4th support arm
Between relative position with adjust cleaning mechanical arm attitude.
Wherein, compatible connector is flange-interface, and disc type cleaning plant and drum-type cleaning plant pass through respectively flange
Disk is connected on flange-interface.
Wherein, the rear portion that mechanical arm is arranged on line direction before car body is cleared up.
Wherein, clear up mechanical arm end arrange pressure transducer, according to pressure transducer obtain cleaning mechanical arm with
Difference between the contact force measured value and the compression force reference value of storage of tunnel inwall, the attitude of control and regulation cleaning mechanical arm,
Cleaning plant and the contact force of tunnel inwall is set to be maintained in stable scope.
Wherein, cleaning plant is provided with to compensate the little variable quantity and altofrequency eccentric offset of cleaning mechanical arm
Adjust oil cylinder；Cleaning plant is provided with limit assembly and anticollision component.
Wherein, disc type cleaning plant is provided with swivelling tool-holder, and swivelling tool-holder is provided with dismountable blade, adjacent two
Region between blade is provided with hard hair brush.
Wherein, drum-type cleaning plant is provided with rotary rolling brush, the dismountable blade of interval setting and hard on rotary rolling brush
Matter hairbrush；Also there is the hard scraping blade on the outside of rotary rolling brush on drum-type cleaning plant.
Wherein, also include：Be arranged on car body medium position and/or cleaning mechanical arm at the top of to detect tunnel inland sea give birth to
Thing growing state, and the video-unit that effect after cleaning can be evaluated.
Large-scale tunnel attachment marine growth cleaning robot provided by the present invention, has the advantages that：
Firstth, cleaning plant includes clearing up the disc type cleaning plant of tunnel roof and the cylinder to clear up tunnel side wall
Formula cleaning plant, disc type cleaning plant and drum-type cleaning plant can be connected on the compatible connector of cleaning plant and
Dismounting and change can be carried out, two kinds of cleaning plants are applied to cleaning major diameter standard circular or non-standard circular tunnel, can be to tunnel
The marine growth of inwall attachment carries out multiple cleaning, cleans adaptability higher；It is capable of the attitude and surrounding of real-time perception itself
Information, under the situation of the micro- change of high frequency can self-adaptative adjustment itself attitude.
Secondth, camera head and sensing device are set on car body and cleaning mechanical arm, can be according to the clear of sensor acquisition
Reason mechanical arm and the difference between the contact force measured value and the compression force reference value of storage of tunnel inwall, control and regulation cleaning machinery
The attitude of arm, makes cleaning plant and the contact force of tunnel inwall be maintained in stable scope, while solving asking for visual detection
Topic.
3rd, structure is simplified, and safe efficient and reliable cleaning is capable of achieving, with overload protection function.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation that the large-scale tunnel attachment marine growth of the embodiment of the present invention clears up robot.
Fig. 2 is that the structure of the disc type cleaning plant of the large-scale tunnel attachment marine growth cleaning robot of the embodiment of the present invention is shown
It is intended to.
Fig. 3 is the operation knot of the disc type cleaning plant of the large-scale tunnel attachment marine growth cleaning robot of the embodiment of the present invention
Structure schematic diagram.
Fig. 4 is that the structure of the drum-type cleaning plant of the large-scale tunnel attachment marine growth cleaning robot of the embodiment of the present invention is shown
It is intended to.
Fig. 5 is the operation knot of the drum-type cleaning plant of the large-scale tunnel attachment marine growth cleaning robot of the embodiment of the present invention
Structure schematic diagram.
Fig. 6 is the cleaning range of two kinds of cleaning plants of the large-scale tunnel attachment marine growth cleaning robot of the embodiment of the present invention
Schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is the embodiment one of large-scale tunnel attachment marine growth cleaning robot of the invention with reference to shown in referring to Fig. 1-Fig. 6.
In the present embodiment large-scale tunnel attachment marine growth cleaning robot 1, to substitute labor cleaning's anhydrous condition under
Major diameter tunnel in marine growth, mud and other impurity, so that marine growth collecting cart is collected, transport tunnel.Its bag
Include：Car body 11, distance sensing devices 12, cleaning mechanical arm 13, cleaning plant 14 and video-unit 15.
Specifically, car body 11 can be moved in tunnel, be by installing movement in the bottom of car body 11 in the present embodiment
Crawler belt is realized, in other embodiment, the shape for not limiting the 1 of car body and the concrete structure for moving it.
The effect of distance sensing devices 12 is the relative position information for obtaining robot in tunnel, by obtaining position letter
Breath can evaluate robot deviation theory position, the degree at the center of such as tunnel, then aid in clearing up what robot had
Control system is adjusted in time to the direction of motion of robot, prevents robot sideslip.Distance-sensing dress in the present embodiment
12 front portions for being located at line direction before car body 11 are put, the opposite sides of the front portion of car body 11 is arranged on, it includes multiple to measure
With the sensor of tunnel inwall wall distance.
Further, the effect for clearing up mechanical arm 13 is driven under the control of the control system that cleaning robot has
Cleaning plant 14 is moved, and such as pitching, is waved, is rotated and the action such as flexible, cleaning plant is mutually fitted with tunnel inwall
Should.
Cleaning mechanical arm 13 in the present embodiment is the multivariant mechanical arm configuration of folding telescopic, and it includes：Even
Car body 11 and the first support arm 131 that can be rotated relative to car body 11 are connected on, 131 is flexible with first on the first supporting walls
Oil cylinder 131a, can implement the rotation that the first support arm 131 is carried out relative to car body 11 in the presence of the first telescopic oil cylinder 131a
Turn；
It is connected on the end of the first support arm 131, and the second support arm that can be rotated relative to the first support arm 131
132；Wherein, the angular range that the second support arm 132 is rotated relative to the first support arm 131 is at 0-360 °；
It is connected to the both ends of the second support arm 132, and the 3rd support that can be rotated relative to the second support arm 132
Arm 133, has the second telescopic oil cylinder 133a on the 3rd support arm 133, the can be implemented in the presence of the second telescopic oil cylinder 133a
The rotation that three support arms 133 are carried out relative to the second support arm 132.
The 4th support arm 134 of the 3rd support arm end is connected to, there is the 3rd flexible oil on the 4th support arm 134
Cylinder so that the 4th support arm 134 carries out the change of certain displacement relative to the 3rd support arm 133.
When being embodied as, by changing the first support arm 131, the second support arm 132, the 3rd support arm 133 and the 4th
Relative position between support arm 134 just can adjust the attitude of cleaning mechanical arm 13.That is, can by said structure
The multivariant mechanical arm configuration of folding telescopic is realized, such as pitching is completed, is waved, rotates and the action such as flexible.Such as
This, it is also possible to is while compensating the larger mechanical arm offset of variable quantity, it is ensured that cleaning plant 14 reaches tunnel inwall position for clearance
Put, it is ensured that cleaning efficiency.It is understood that by arranging the first telescopic oil cylinder 131a, the second telescopic oil cylinder 133a and the
Three telescopic oil cylinder 134a so that cleaning mechanical arm has certain Telescopic so that tunnel of the cleaning robot in diameter change
Still can be suitable in hole.
Preferably, the rear portion that mechanical arm 13 is arranged on line direction before car body 11 is cleared up.Thus, the marine growth cleared up is not
Robot way forward can be hindered.
Further, clear up the end of mechanical arm 13 and pressure transducer is set, for example：It is arranged on the 3rd support arm 133 and clear
Between reason device 14.It is to obtain connecing for cleaning mechanical arm 13 and tunnel inwall according to the effect of above-mentioned pressure transducer during enforcement
Touch measured value, the control system that cleaning robot has is according to above-mentioned contact force measured value and the pressure of its own storage ginseng
Examine the difference between value, the attitude of control and regulation cleaning mechanical arm 13, that is, above-mentioned first support arm 131, the second support arm
132nd, the relative position between the 3rd support arm 133 and the 4th support arm 134, makes the contact of cleaning plant 14 and tunnel inwall
Power is maintained in stable scope.
Cleaning plant 14 is the device for clearing up the marine growth adhered on tunnel inwall.Cleaning plant in the present embodiment
14 are set to following two kind structure, and a kind of is to clear up the disc type cleaning plant 141 of tunnel roof and to clear up tunnel
The drum-type cleaning plant 142 of hole side wall.
Wall scope T1 of position substantially 0-30 ° of the tunnel roof of the cleaning of disc type cleaning plant 141, which is provided with rotation
Turret 1411, swivelling tool-holder 1411 is provided with dismountable blade 1412, and the region between adjacent two blade 1412 is provided with
Hard hair brush.When being embodied as, there is a plurality of band blade 1412 for being provided with certain radian, the present embodiment on swivelling tool-holder 1411
In be 4, and it is equidistantly uniformly arranged each other, uniform and stable to be formed in disc type 141 rotation of cleaning plant
Cleaning and crush that tunnel surface is hard, the marine growth that adhesive force is strong removing external force.Additionally, band blade 1412 is arranged because of it
Certain radian a so as to cambered surface, the radian of the cambered surface and tunnel top for clearance are formed in disc type 141 rotation of cleaning plant
The radian of wall is roughly the same, and effect is：Can realize carrying out the arc surface of tunnel roof large-area cleaning, lift cleaning effect
Rate.
Additionally, blade 1412 is set to detachably, in order to keeping in repair and safeguarding.Further, hairbrush is arranged on adjacent two
Region between bar blade 1412, the hairbrush in the present embodiment is the hard hair brush that remaining marine growth is scrubbed to depth.Specifically
During enforcement, blade 1412 can the strong obstinate marine growth of tunnel surface is hard, adhesive force cleared up or crushed, and hard
Hairbrush can be remaining to tunnel build is less, the easy-adhesion marine growth on tunnel surface carries out depth scrub, both complementations can
To the alternately multiple form cleaning of tunnel face, solve single cleaning element and various marine growth cleaning effects difference is produced
The uneven problem of cleaning effect, be capable of achieving the high-quality to tunnel inwall and clean.
The position substantially tunnel side wall of the cleaning of drum-type cleaning plant 142 is close to 150 ° of roof T1 of wall scope
T2, drum-type cleaning plant 142 is provided with rotary rolling brush 1421, the dismountable blade 1422 of interval setting on rotary rolling brush 1421
With hard hair brush 1423；Also there is the hard scraping blade 1424 on the outside of rotary rolling brush on drum-type cleaning plant 142.It is concrete real
Shi Shi, removable blade 1422 and hard hair brush 1423 are equidistantly uniformly arranged, and removable blade 1422 can be hard by tunnel surface
Firmly, the strong obstinate marine growth of adhesive force is cleared up or crushed, the build that hard hair brush 1423 can be remaining to tunnel is less,
The easy-adhesion marine growth on tunnel surface carries out depth scrub, and both are complementary to be capable of achieving to realize that high-quality is clear to tunnel sea water thing
Wash.
Further, disc type cleaning plant 141 and drum-type cleaning plant 142 can be connected to cleaning mechanical arm
On compatible connector and can carry out dismounting and change.When being embodied as, compatible connector is arranged on the 3rd support arm 133, compatible
Connector is flange-interface, and disc type cleaning plant 141 and drum-type cleaning plant 142 are connected to the method by ring flange respectively
On blue interface.It is arranged such, while simplifying structure, cleaning amplitude maximization can be made, improves cleaning efficiency.
Further, cleaning plant is provided with little variable quantity and the eccentric bias of altofrequency for compensating cleaning mechanical arm
The regulation oil cylinder of amount；Cleaning plant is provided with limit assembly and anticollision component.Thus, cleaning plant and tunnel inwall can be made
Contact force scope of contact force when being maintained at optimal cleaning effect, solve the problems, such as that force feedback is efficiently cleared up, and can prevent
Only cleaning plant damages tunnel inwall.
Further, also including video-unit 15：Video-unit 15 is arranged on car body medium position and/or cleaning mechanical arm
Top, its effect is marine growth situation in detection tunnel, and effect after cleaning can be evaluated.For example：Real-time monitoring
The cleaning situation of marine growth, the Real Time Observation to robot surrounding enviroment, and the relative position of calculating robot in tunnel etc..
In the specific implementation, cleaning robot steps to tunnel for the large-scale tunnel attachment marine growth cleaning robot of the present invention
Entrance, video-unit 15 monitors to working environment in the growing state and tunnel of tunnel inwall marine growth, preliminary to judge
The growing state of tunnel inwall marine growth.And then, disc type cleaning plant 141 is installed, launches cleaning mechanical arm 13, by disk
Formula cleaning plant 141 is resisted against on tunnel inwall, and keeps certain contact force.The cleaning action of mechanical arm 13, robot advances,
The rotation of disc type cleaning plant 141 simultaneously, band cutting blade 1412 and hairbrush rotate, by the marine growth of tunnel inwall top area T1
Clear up to T3 regions.
After disc type cleaning plant 141 has cleared up at tunnel top, quick change drum-type cleaning plant 142 clears up mechanical arm
13, in place, cleaning mechanical arm 13 advances and rotates drum-type cleaning plant 142, the rotary rolling brush of drum-type cleaning plant 142
1421 rotations, band cutting blade 1422 and hard hair brush 1423, the marine growth of region T2 on tunnel inwall is cleared up to bottom
Region T3, can be estimated by video-unit 15 after cleaning marine growth to the cleaning effect of tunnel inwall.
In the process, video-unit 15 can automatic video recording be preserved, the operation of control system can automatically generate journal file,
And it is wirelessly transmitted to the terminal outside tunnel.Meanwhile, above-mentioned flow process can select manual mode or automatic mode, automatic mold
Shi Xia robots can be according to the Automatic Program operation for pre-seting.Manual mode can be with driver behavior, it is also possible to depend on channel radio
News are in the outer Remote operation of tunnel.
Implement the large-scale tunnel attachment marine growth cleaning robot of the present invention, have the advantages that：
Firstth, cleaning plant includes clearing up the disc type cleaning plant of tunnel roof and the cylinder to clear up tunnel side wall
Formula cleaning plant, disc type cleaning plant and drum-type cleaning plant can be connected on the compatible connector of cleaning plant and
Dismounting and change can be carried out, two kinds of cleaning plants are applied to cleaning major diameter standard circular or non-standard circular tunnel, can be to tunnel
The marine growth of inwall attachment carries out multiple cleaning, cleans adaptability higher；It is capable of the attitude and surrounding of real-time perception itself
Information, under the situation of the micro- change of high frequency can self-adaptative adjustment itself attitude.
Secondth, camera head and sensing device are set on car body and cleaning mechanical arm, can be according to the clear of sensor acquisition
Reason mechanical arm and the difference between the contact force measured value and the compression force reference value of storage of tunnel inwall, control and regulation cleaning machinery
The attitude of arm, makes cleaning plant and the contact force of tunnel inwall be maintained in stable scope, while solving asking for visual detection
Topic.
3rd, structure is simplified, and safe efficient and reliable cleaning is capable of achieving, with overload protection function.
Claims (10)
1. a kind of large-scale tunnel attachment marine growth cleaning robot, to substitute marine growth in labor cleaning's tunnel, mud and its
Its impurity, it is characterised in that include：
Moveable car body；
It is arranged on the car body, to the distance sensing devices for obtaining robot relative position information in tunnel；
Be arranged on the car body, can in pitching, wave, rotate and cleaning mechanical arm that telescopic direction is adjusted；
It is connected on the cleaning mechanical arm, to the cleaning plant for clearing up tunnel inwall, wherein：
The cleaning plant includes：To the disc type cleaning plant and cylinder to clear up tunnel side wall of clearing up tunnel roof
Formula cleaning plant, the disc type cleaning plant and the drum-type cleaning plant can be connected to the cleaning mechanical arm
On compatible connector and can carry out dismounting and change.
2. large-scale tunnel attachment marine growth as claimed in claim 1 clears up robot, it is characterised in that the Distance-sensing dress
Setting in the front portion of line direction before the car body, the both sides of the car body are arranged on, it includes multiple to measure and tunnel
The sensor of inwall wall distance.
3. large-scale tunnel attachment marine growth as claimed in claim 1 clears up robot, it is characterised in that the cleaning mechanical arm
Including：
Rotatable first support arm, has the first telescopic oil cylinder on first supporting walls；
It is connected on first support arm, and the second support arm that can be rotated relative to first support arm；
It is connected to the both ends of second support arm, and the 3rd for being rotated relative to second support arm
Brace, has the second telescopic oil cylinder on the 3rd support arm, the compatible connector is arranged on the 3rd support arm；
The 3rd support arm end is connected to, and the 4th flexible support arm can be carried out relative to the 3rd support arm, wherein：
Change between first support arm, second support arm, the 3rd support arm and the 4th support arm
Relative position with adjust it is described cleaning mechanical arm attitude.
4. large-scale tunnel attachment marine growth as claimed in claim 3 clears up robot, it is characterised in that the compatible connector
For flange-interface, the disc type cleaning plant and the drum-type cleaning plant are connected to the flange by ring flange respectively
On interface.
5. large-scale tunnel attachment marine growth as claimed in claim 1 clears up robot, it is characterised in that the cleaning mechanical arm
It is arranged on the rear portion of line direction before the car body.
6. large-scale tunnel attachment marine growth as claimed in claim 5 clears up robot, it is characterised in that the cleaning mechanical arm
End pressure transducer is set, the contact force of the cleaning mechanical arm and the tunnel inwall that are obtained according to the pressure transducer
Difference between measured value and the compression force reference value of storage, controls to adjust the attitude of the cleaning mechanical arm, makes the cleaning dress
Put and be maintained in stable scope with the contact force of tunnel inwall.
7. large-scale tunnel attachment marine growth as claimed in claim 1 clears up robot, it is characterised in that on the cleaning plant
It is provided with to compensate the little variable quantity of the cleaning mechanical arm and the regulation oil cylinder of the eccentric offset of altofrequency；
The cleaning plant is provided with limit assembly and anticollision component.
8. large-scale tunnel attachment marine growth as claimed in claim 1 clears up robot, it is characterised in that the disc type cleaning
Device is provided with swivelling tool-holder, and the swivelling tool-holder is provided with dismountable blade, and the region between adjacent two blade is provided with
Hard hair brush.
9. large-scale tunnel attachment marine growth as claimed in claim 1 clears up robot, it is characterised in that the drum-type cleaning
Device is provided with rotary rolling brush, the dismountable blade of interval setting and hard hair brush on the rotary rolling brush；
Also there is the hard scraping blade on the outside of the rotary rolling brush on the drum-type cleaning plant.
10. large-scale tunnel attachment marine growth as claimed in claim 1 clears up robot, it is characterised in that also include：
Be arranged at the top of car body medium position and/or the cleaning mechanical arm to detect marine growth situation in tunnel,
And the video-unit that effect after cleaning can be evaluated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611087246.2A CN106670148B (en) | 2016-12-01 | 2016-12-01 | Large-scale tunnel adheres to marine organism clearance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611087246.2A CN106670148B (en) | 2016-12-01 | 2016-12-01 | Large-scale tunnel adheres to marine organism clearance robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106670148A true CN106670148A (en) | 2017-05-17 |
| CN106670148B CN106670148B (en) | 2023-01-06 |
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|---|---|---|---|
| CN201611087246.2A Active CN106670148B (en) | 2016-12-01 | 2016-12-01 | Large-scale tunnel adheres to marine organism clearance robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106802656A (en) * | 2016-12-01 | 2017-06-06 | 台山核电合营有限公司 | Cambered surface posture adjusting method of tunnel cleaning robot |
| CN109530359A (en) * | 2018-11-21 | 2019-03-29 | 中铝视拓智能科技有限公司 | It is a kind of to clear up the robot to scab and system |
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| CN110096049A (en) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | For the collecting robot people of tunnel, collecting robot people system and control method |
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| CN110369345A (en) * | 2019-07-10 | 2019-10-25 | 中广核研究院有限公司 | A kind of cambered surface foreign matter cleaning equipment |
| CN117283588A (en) * | 2023-11-27 | 2023-12-26 | 湖南千智机器人科技发展有限公司 | Opening and closing system and tunnel cleaning robot |
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| CN106802656A (en) * | 2016-12-01 | 2017-06-06 | 台山核电合营有限公司 | Cambered surface posture adjusting method of tunnel cleaning robot |
| CN106802656B (en) * | 2016-12-01 | 2020-01-21 | 台山核电合营有限公司 | Cambered surface posture adjusting method of tunnel cleaning robot |
| CN110093955A (en) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | Cleaning collection system and its control method for tunnel |
| CN110096049A (en) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | For the collecting robot people of tunnel, collecting robot people system and control method |
| WO2019148530A1 (en) * | 2018-01-30 | 2019-08-08 | 岭东核电有限公司 | Cleaning and collecting system for tunnel and control method therefor |
| CN109530359A (en) * | 2018-11-21 | 2019-03-29 | 中铝视拓智能科技有限公司 | It is a kind of to clear up the robot to scab and system |
| CN110280506A (en) * | 2019-07-10 | 2019-09-27 | 中广核研究院有限公司 | A kind of cambered surface foreign matter method for cleaning |
| CN110369345A (en) * | 2019-07-10 | 2019-10-25 | 中广核研究院有限公司 | A kind of cambered surface foreign matter cleaning equipment |
| WO2021004201A1 (en) * | 2019-07-10 | 2021-01-14 | 中广核研究院有限公司 | Foreign matter clearing method for cambered surface |
| WO2021004200A1 (en) * | 2019-07-10 | 2021-01-14 | 中广核研究院有限公司 | Curved surface foreign matter removal device |
| CN117283588A (en) * | 2023-11-27 | 2023-12-26 | 湖南千智机器人科技发展有限公司 | Opening and closing system and tunnel cleaning robot |
| CN117283588B (en) * | 2023-11-27 | 2024-01-26 | 湖南千智机器人科技发展有限公司 | Opening and closing system and tunnel cleaning robot |
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