CN113445446B - Tunnel reflection of light ring cleaning machines people - Google Patents
Tunnel reflection of light ring cleaning machines people Download PDFInfo
- Publication number
- CN113445446B CN113445446B CN202110823419.7A CN202110823419A CN113445446B CN 113445446 B CN113445446 B CN 113445446B CN 202110823419 A CN202110823419 A CN 202110823419A CN 113445446 B CN113445446 B CN 113445446B
- Authority
- CN
- China
- Prior art keywords
- main board
- tunnel
- walking
- wheel
- cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/604—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings
- E01F9/619—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings with reflectors; with means for keeping reflectors clean
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
- Road Signs Or Road Markings (AREA)
Abstract
The invention discloses a tunnel reflective ring cleaning robot, which comprises a first main board and a second main board which are arranged oppositely, wherein a cleaning part is arranged on the first main board and/or the second main board, and a side board is fixedly arranged at one side edge of the first main board and one side edge of the second main board to form an n-shaped frame; the first main board and the second main board are respectively provided with a first walking wheel or a second walking wheel, and at least one of the first walking wheel and the second walking wheel is arranged on the first main board or the second main board through an elastic device so that the first walking wheel and the second walking wheel have a tendency of approaching each other to clamp the tunnel reflective ring. According to the invention, the side plate, the first main plate and the second main plate are arranged into the n-shaped frame, so that the occupied space on the side surface of the n-shaped frame is small and narrow enough, and the side surface of the n-shaped frame can smoothly pass through the position between the wire groove and the side, far away from the wall, of the light reflecting ring; through setting up resilient means to the condition that adaptation tunnel reflection of light ring thickness changed, so that cleaning machines people has fine shock attenuation and hinders the function more.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a tunnel reflective ring cleaning robot.
Background
With the rapid development of economy and the continuous enhancement of comprehensive national force, the highway mileage of China is increasing day by day, and the construction of highway tunnels is accelerated in mountainous areas with complex terrains. The highway tunnel plays a great role in shortening the transportation distance, saving the transportation time, improving the transportation environment, reducing the environmental damage and the like, and has obvious social and economic benefits. However, the tunnel is used as the throat of highway traffic, so that the energy consumption is huge, serious traffic accidents are easily caused, and once the traffic accidents happen, the phenomena of group death and group injury are easily caused, so that the accident handling difficulty is increased, and the harm degree is increased. The safety of the tunnel therefore directly affects and limits the safety level of the whole road system.
In recent years, a passive light-emitting guided light-reflecting ring for a tunnel (hereinafter referred to as a tunnel light-reflecting ring) is gradually adopted as an effective measure for reducing the power consumption for tunnel illumination and inducing the driving effect of a driver, and is beginning to be applied to some long tunnels and extra-long tunnels. The tunnel reflective ring is installed in the tunnel inner contour, is usually made by aluminum plate or corrosion resistant plate, pastes high performance white or yellow reflection of light strip in the driving direction of meeting, and its theory of operation is: after the light that gets into the vehicle was accepted to the tunnel reflective ring, utilize its reflective stripe with the contrary reflection of light production light that illuminates the tunnel, can exert fabulous vehicle warning and induced effect, can strengthen the illuminating effect in the tunnel again, finally show in the tunnel as a semicircle arch light ring. According to experiments in provinces (districts) such as Guizhou, guangxi and the like, the driving induction effect in the tunnel is greatly improved by arranging the reflective ring in the tunnel, and good safety benefit and economic benefit are generated.
The reflective ring is arranged in the tunnel, so that although the vehicle can be induced to run, the safe running environment of the tunnel is improved, and the lighting power consumption of the tunnel is saved, the defects of high top cleaning difficulty, quick decline of a retroreflective coefficient in long-term operation and road space limitation occupation are overcome. The problem that the tunnel reflective ring is difficult to clean is only deeply researched and is not effectively solved all the time. In long-time use, the cover of fine granule such as dust leads to reflection of light ring reflection of light effect to descend or even not reflect light, consequently need regularly wash reflection of light ring, and the washing of present tunnel reflection of light ring is mainly blockaded the lane, and the manual work is taken the lift truck and is washd, leads to cleaning performance poor, inefficiency, with high costs, has aggravated the potential safety hazard in the tunnel.
In response to the problems of manual cleaning, some automatic cleaning devices are also gradually available. For example, chinese patent application CN110882957A discloses a self-cleaning device for a reflection ring of a highway tunnel and a cleaning method thereof, which perform fixing and auxiliary cleaning in an adsorption manner. However, the tunnel is wet and smooth, the side traveling surface of the reflective ring is relatively tortuous, the traveling surface is relatively rough, and the tunnel is difficult to fix and travel in an adsorption mode, and meanwhile, the surface of the reflective ring of the tunnel may have a rivet-like concave-convex surface and the like, so that the adsorption device is unrealistic to travel and fix. The Chinese patent application CN113073592A previously applied by the applicant discloses a cleaning device for a tunnel reflective ring, which comprises two main boards arranged in opposite directions, wherein the two main boards are hinged through a hinged support, the two main boards are respectively provided with an extension board on the hinged side, an elastic part is arranged between the two extension boards so that the two main boards have the tendency of rotating around the hinged support and approaching to each other, each main board is provided with a walking wheel, the walking direction of the walking wheels is the front-back direction of the main boards, at least one main board is provided with a cleaning part, and the cleaning part can be in contact with the tunnel reflective ring to clean the tunnel reflective ring.
However, in practical application, firstly, a lamp slot is arranged at the arc top of the tunnel, and the distance between the slot and the side, far away from the wall, of the reflective ring is only 5cm, so that the tunnel reflective ring cleaning device is required to pass through the slot of the lamp only if the tunnel reflective ring cleaning device is narrow enough through the side edge of the slot of the lamp, and continuous work can be realized; meanwhile, in order to ensure that the robot can be stably clamped on a tunnel reflective ring, the rigidity of a main body frame of the robot is required to be good enough and large deformation cannot be generated;
secondly, the reflecting ring of the tunnel is formed by splicing and installing one reflecting plate, each reflecting plate is fixed on the wall of the tunnel through two right-angle aluminum plates, and the right-angle aluminum plates and the reflecting plates are connected through a plurality of rivets, so that the thickness of the right-angle aluminum plates and the protrusions of the rivets cause the increase of the thickness of the back of the reflecting plate by about 8 mm; when the light reflecting plates are spliced and installed, the condition that two light reflecting plates are overlapped can be avoided due to construction problems, and the thickness of the whole light reflecting ring is changed; based on the above situation, in the process of walking, the clamping distance and the clamping force of the wheels are not constant, and a walking mechanism with the functions of shock absorption and obstacle crossing must be designed to deal with the situation that the thickness of the reflective ring changes.
Disclosure of Invention
In order to overcome the defects, the invention provides a tunnel reflective ring cleaning robot which can reduce the occupied space of the side edge of a rack, keep the main body of the rack not deformed and keep the function of obstacle crossing walking.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cleaning robot for a reflecting ring of a tunnel comprises a first main board and a second main board which are arranged oppositely, a cleaning part is arranged on the first main board and/or the second main board,
a side plate is fixedly arranged at one side edge of the first main plate and the second main plate, the side plate is positioned between the first main plate and the second main plate to form an n-shaped frame, and an opening for the tunnel reflective ring to enter is formed at the other side edge of the side plate;
one of the first main board and the second main board is provided with a first travelling wheel driven by a first travelling driving motor, and the periphery of the first travelling wheel part is positioned between the first main board and the second main board so as to be in contact with the tunnel reflective ring;
a second walking wheel driven by a second walking driving motor is arranged on the other one of the first main plate and the second main plate, and the periphery of the second walking wheel part is positioned between the first main plate and the second main plate so as to be in contact with the tunnel reflective ring;
and at least one of the first travelling wheel and the second travelling wheel is arranged on the first main plate or the second main plate through an elastic device so that the first travelling wheel and the second travelling wheel have the tendency of approaching each other to clamp the tunnel reflective ring.
Furthermore, the elastic device comprises a transverse shaft, a vertical shaft positioned at two ends of the transverse shaft, a pressure spring sleeved on the vertical shaft and a limiting part arranged on the vertical shaft;
the vertical shaft is fixedly arranged on the first main board or the second main board, the transverse shaft is provided with a through hole and is sleeved on the vertical shaft through the through hole, and the pressure spring is positioned between the transverse shaft and the limiting part so as to drive the transverse shaft to move towards the direction close to the first travelling wheel through the pressure spring;
when the first walking wheel or the second walking wheel is arranged on the first main board or the second main board through the elastic device, the first walking wheel or the second walking wheel is rotatably arranged on the transverse shaft.
Furthermore, a sliding groove is formed in the n-shaped frame, the extending direction of the sliding groove is the moving direction of a transverse shaft, and a sliding portion located in the sliding groove is arranged at the end portion of the transverse shaft.
Further, the number of the first travelling wheels is at least two, each first travelling wheel is independently provided with a first travelling driving motor, and the first travelling wheels are distributed side by side;
the number of the second walking wheels is at least two, each second walking wheel is independently provided with a second walking driving motor, and the second walking wheels are distributed in parallel;
and the first walking wheel and the second walking wheel are in a group in pairs and are arranged oppositely.
Furthermore, block-shaped patterns are arranged on the peripheral walking surfaces of the first walking wheel and the second walking wheel.
Further, the first walking wheel is fixedly installed on the first main board, the second walking wheel is installed on the second main board through an elastic device, and the cleaning part is installed on the first main board.
Furthermore, the cleaning part comprises a cleaning motor and a disc brush driven by the cleaning motor to rotate, the working face of the disc brush is in contact with the tunnel reflective ring, and an arc-shaped chamfer is arranged on the periphery of the disc brush, which is positioned on one side of the working face.
Furthermore, an elastic cleaning brush is arranged on one side, provided with the cleaning part, of the n-shaped frame, and comprises an installation rod, one end of the installation rod is rotatably connected with the n-shaped frame, a brush head is arranged at the other end of the installation rod, and a tension spring is arranged between the middle part of the installation rod and the n-shaped frame, so that the end, provided with the brush head, of the installation rod has a tendency of moving towards the middle direction of the first main board and the second main board; the brush head is positioned at the side close to the opening, and arc chamfers are arranged on the front side and the rear side of the working surface of the brush head.
Further, the first main board and the second main board are sleeved with a shell, and when the tunnel reflection ring is implemented, the front side and the rear side of the shell on one side of the back face of the tunnel reflection ring are cambered surfaces at positions close to the middle of the first main board and the second main board.
Furthermore, at least two edge detection sensors are arranged on the side edge of the n-shaped frame far away from the opening and distributed at the front end and the rear end of the n-shaped frame;
end part detection sensors are respectively arranged at the front end and the rear end of the n-shaped frame;
the n-shaped frame is also provided with a controller, and the controller is connected with the edge detection sensor, the end detection sensor, the first walking driving motor and the second walking driving motor.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a tunnel reflective ring cleaning robot, which is characterized in that a side plate, a first main board and a second main board are arranged into an n-shaped frame, the side surface of the n-shaped frame occupies a small space which is narrow enough, so that the side surface of the n-shaped frame can smoothly pass through a position between a wire groove and one side of a reflective ring, which is far away from a wall;
2. the distance between the first main board and the second main board can be effectively kept unchanged due to the structural form of the n-shaped frame, and the rigidity of the main body frame of the robot is enough to ensure that the main body frame of the robot cannot deform, so that the main body frame of the robot is favorable for clamping a tunnel reflective ring;
3. by arranging the elastic device, on the basis that the distance between the first main board and the second main board is not changed, the distance between the first travelling wheel and the second travelling wheel can be changed to adapt to the condition that the thickness of the reflective ring of the tunnel is changed, so that the cleaning robot has good shock absorption and obstacle crossing functions;
4. the design of the blocky patterns on the first travelling wheel and the second travelling wheel is beneficial to increasing the friction force, and the rivets are sunk into the pattern grooves on the surface of the travelling wheel when the travelling wheel rolls the rivets, so that the robot can stably cross the rivets on the back of the reflector;
5. the periphery of the disc brush of the cleaning part, which is positioned on one side of the working surface, is provided with an arc-shaped chamfer so as to form a radian at the bottom edge of the working surface of the disc, so that the disc brush can smoothly pass through the overlapped position of the two light reflecting plates and is not blocked;
6. the elastic cleaning brush is arranged, so that the place where the disc brush cannot be cleaned can be cleaned, the tunnel light reflecting ring can be completely cleaned, arc-shaped chamfers are arranged on the front side and the rear side of the working face of the brush head, and the two arc-shaped chamfers can smoothly pass through the overlapped position of the two light reflecting plates by matching with the tension spring and the rotatably arranged mounting rod, so that the two light reflecting plates cannot be clamped;
7. the n-shaped frame is sleeved with the shell, the front side and the rear side of the shell positioned on one side of the back face of the tunnel reflective ring are cambered surfaces at positions close to the middle of the first main plate and the second main plate, a shape similar to a horn mouth is formed, and stable transition of the cleaning robot at the step-shaped reflective ring with the tilting condition is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention from a perspective view;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention from a perspective view;
FIG. 3 is a schematic front view of an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a pi-shaped frame in an embodiment of the invention;
FIG. 5 is a schematic view of the embodiment of the present invention from a perspective view with the housing removed;
FIG. 6 is a schematic view of the embodiment of the present invention from a perspective with the housing removed;
fig. 7 is an assembly schematic diagram of a travelling wheel mounted on a n-shaped frame in an embodiment of the invention;
FIG. 8 is a schematic view of the assembly of the elastic means in the embodiment of the present invention;
FIG. 9 is a schematic view of a first traveling wheel according to an embodiment of the present invention;
FIG. 10 is a schematic view of the assembly of the reflective ring of the tunnel with aluminum plates and rivets;
FIG. 11 is a schematic view of a first travel wheel passing a rivet in accordance with an embodiment of the present invention;
FIG. 12 is a schematic view of the reflector at the overlapping position;
FIG. 13 is a schematic diagram of an embodiment of the present invention.
Wherein the labels shown in the figures are: 1-a first main board; 2-a second main board; 3-a second travel drive motor; 4-a second road wheel; 5-a first travel drive motor; 6-a first travelling wheel; 7-a chute; 81-horizontal axis; 82-vertical shaft; 83-pressure spring; 84-a limiting part; 85-a sliding part; 91-cleaning the motor; 92-a disc brush; 10-side plate; 12-a mounting bar; 13-a brush head; 14-a tension spring; 15-a housing; 16-opening; 17-reinforcing ribs; 18-block shaped patterns; 19-a synchronous belt; 20-mounting the shaft; a 21-pi frame; 22-end detection sensor; 23-an edge detection sensor; 24-tunnel reflective ring; 25-an aluminum plate; 26-rivet.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 7, a cleaning robot for a reflective ring of a tunnel according to a preferred embodiment of the present invention is provided. The tunnel reflective ring cleaning robot comprises a first main board 1 and a second main board 2 which are arranged oppositely, the main body subsections of the first main board 1 and the second main board 2 are straight plate-shaped structures, the first main board 1 and the second main board 2 are parallel to each other, a side plate 10 is fixedly arranged at one side edge of the first main board 1 and the second main board 2, the side plate 10 is also of a straight plate-shaped structure, the side plate 10 is positioned between the first main board 1 and the second main board 2 to form an n-shaped frame, and an opening 16 used for entering a tunnel reflective ring is formed at the other side edge.
By arranging the side plate 10 between the first main plate 1 and the second main plate 2, an n-shaped frame 21 is formed, and the occupied space of the side plate 10 on the side surface (the side far away from the opening 16) of the main structure of the n-shaped frame 21 is small and narrow enough, so that the side plate can smoothly pass through the position between the side, away from the wall, of the wire groove and the light reflecting ring to realize continuous work on the tunnel light reflecting ring. Meanwhile, the distance between the first main board 1 and the second main board 2 can be kept unchanged by the arrangement of the n-shaped frame 21, and the rigidity of the robot main body frame is enough to ensure that the robot main body frame cannot deform, so that clamping is facilitated.
In order to improve the strength of the main body structure, the first main plate 1, the second main plate 2 and the side plate 10 are respectively provided with a reinforcing rib 17, and the reinforcing ribs 17 may be disposed on the first main plate 1, the second main plate 2 and the side plate 10, between the first main plate 1 and the side plate 10 and between the second main plate 2 and the side plate 10.
Referring to fig. 1 to 9, a first traveling wheel 6 driven by a first traveling driving motor 5 is disposed on a first main board 1, the first traveling driving motor 5 is mounted on one side of the first main board 1 away from a second main board 2 through a motor base, a synchronizing wheel is mounted on an output shaft of the first traveling driving motor 5, a synchronizing wheel is coaxially disposed on a side surface of the corresponding first traveling wheel 6, and a synchronizing belt 19 is sleeved on the two synchronizing wheels, so that the first traveling driving motor 5 correspondingly drives the first traveling wheel 6 to travel in a synchronous belt transmission manner, a traveling direction of the first traveling wheel 6 is a front-back direction of the first main board 1, and a partial periphery of the first traveling wheel 6 is located between the first main board 1 and the second main board 2 so as to be in contact with a reflective ring of a tunnel. The first walking wheels 6 are two, each first walking wheel 6 is independently provided with a first walking driving motor 5, so that each first walking wheel 6 can have different rotating speeds, the two first walking wheels 6 are arranged on one installation shaft 20 in a side-by-side rotating mode, the installation shafts 20 are transversely arranged and are parallel to the first main plate 1, and the first walking wheels are fixedly installed on the first main plate 1.
Referring to fig. 1 to 9, a second traveling wheel 4 driven by a second traveling driving motor 3 is disposed on the second main board 2, the second traveling driving motor 3 is mounted on one side of the second main board 2 away from the first main board 1 through a motor base, a traveling direction of the second traveling wheel 4 is a front-back direction of the second main board 2, a part of an outer periphery of the second traveling wheel 4 is located between the first main board 1 and the second main board 2 so as to be capable of contacting with a tunnel reflective ring, and the second traveling wheel 4 is mounted on the second main board 2 through an elastic device so as to enable the first traveling wheel 6 and the second traveling wheel 4 to have a tendency of approaching each other to clamp the tunnel reflective ring. Specifically, the elastic device comprises a transverse shaft 81, a vertical shaft 82 positioned at two ends of the transverse shaft 81, a pressure spring 83 sleeved on the vertical shaft 82, and a limiting part 84 arranged on the vertical shaft 82; two vertical shafts 82 are fixedly arranged on the second main board 2, through holes are formed in the two ends of the transverse shaft 81 and are sleeved on the vertical shafts 82 through the through holes, external threads are arranged at the free end portions of the vertical shafts 82, the limiting portions 84 are nuts and are installed on the parts, provided with the external threads, of the vertical shafts 82 in a matching mode, the pressure springs 83 are located between the transverse shafts 81 and the limiting portions 84 so as to drive the transverse shafts 81 to move towards the direction close to the first travelling wheels 6 through the pressure springs 83, the positions of the pressure springs 83 can be adjusted by adjusting the positions of the limiting portions 84 on the vertical shafts 82, and the adjustment of the clamping force of the tunnel reflective rings between the first travelling wheels 6 and the second travelling wheels 4 is achieved; the number of the second traveling wheels 4 is two, and the two second traveling wheels 4 are rotatably installed side by side on the transverse shaft 81, so that the second traveling wheels 4 can have a tendency to move toward the first traveling wheel 6 along with the transverse shaft 81. And the first walking wheel 6 and the second walking wheel 4 are in a group two by two and are arranged oppositely to realize the stable clamping of the tunnel reflective ring. Be equipped with the synchronizing wheel on second walking driving motor 3's the output shaft, the coaxial synchronizing wheel that is provided with in side of corresponding second walking wheel 4, the cover is equipped with hold-in range 19 on two synchronizing wheels to realize that a second walking driving motor 3 corresponds 4 walks of a second walking wheel of drive through synchronous belt drive's mode, thereby realize that each second walking wheel 4 can have different rotational speeds.
Referring to fig. 7 and 8, the sliding groove 7 is disposed on the pi-shaped frame 21, in the preferred embodiment, one sliding groove 7 is disposed on each of the second main plate 2 and the side plate 10, an extending direction of the sliding groove 7 is a moving direction of the horizontal shaft 81, that is, an extending direction of the vertical shaft 82, sliding portions 85 disposed in the sliding groove 7 are disposed on two end portions of the horizontal shaft 81, the two sliding portions 85 are disposed in the two sliding grooves 7, the sliding portions 85 are two planes formed by two opposite sides of the outer periphery of the horizontal shaft 81, and the two planes are located in the sliding groove 7, and have a distance equal to an ultra-wide distance of the sliding groove 7.
The first main board 1 and the second main board 2 are partially hollowed in order to reduce weight, and at positions corresponding to the first travelling wheels 6 and the second travelling wheels 4, the first main board 1 and the second main board 2 are provided with hollowed through holes, so that part of peripheries of the first travelling wheels 6 and the second travelling wheels 4 can penetrate through the hollowed through holes and be located between the first main board 1 and the second main board 2, and the tunnel reflective ring can be clamped and can travel on the tunnel reflective ring.
With continued reference to fig. 5 to 9, in a preferred embodiment, the first road wheel 6 and the second road wheel 4 are made of rubber, and have a certain shock absorption and obstacle crossing function. The peripheral walking surfaces of the first walking wheel 6 and the second walking wheel 4 are provided with block-shaped patterns 18, the block-shaped patterns 18 are provided with a plurality of block-shaped structures which are uniformly distributed, pattern grooves are formed among the block-shaped structures, through the arrangement of the block-shaped patterns 18, on one hand, the friction force between the first walking wheel 6 and the second walking wheel 4 and the tunnel reflective ring can be increased, on the other hand, when the first walking wheel 6 and the second walking wheel 4 roll the rivet 26 on the tunnel reflective ring 24, the rivet 26 is completely or partially sunk into the pattern grooves on the surface of the block-shaped patterns 18 (please refer to fig. 10 and 11), and the robot is ensured to stably cross the rivet 26 on the tunnel reflective ring 24.
Further, the first main board 1 and the second main board 2 are sleeved with the housing 15, that is, the n-shaped frame 21 is sleeved with the housing 15, so as to prevent dust and protect the first main board 1 and the second main board 2 and components thereon, and the tunnel is examined and known on the spot, due to problems such as construction, at the overlapping position of the two reflective boards, the back surface of the reflective ring (the front surface of which is attached with the reflective film, which cannot be caused) may also have a tilting condition (as shown in fig. 12).
Both ends are provided with a clean portion respectively around first mainboard 1, clean portion is including clean motor 91 and by clean motor 91 drive pivoted disc brush 92, clean motor 91 passes through motor cabinet fixed mounting in one side that second mainboard 2 was kept away from to first mainboard 1, disc brush 92's working face towards the reflection of light ring of tunnel and contacts with the reflection of light ring of tunnel, drives disc brush 92 through clean motor 91 and rotates in order to realize the cleanness of the reflection of light ring of tunnel. The periphery of the disc brush 92 on one side of the working face is provided with an arc-shaped chamfer so as to form a radian at the edge of the bottom of the working face of the disc, so that the disc can smoothly pass through the overlapped positions of the two reflectors and is not blocked. Because the edge of the working face of the disc brush 92 is provided with the arc-shaped chamfer, the place corresponding to the projection of the arc-shaped chamfer on the light reflection ring cannot be cleaned, namely the disc brush 92 has the defect of self coverage area, so that the position close to the wall of the tunnel cannot be cleaned, and the cleaning of the whole light reflection ring without dead angles cannot be realized. In this respect, the pi-shaped frame 21 is provided with an elastic cleaning brush on the side where the cleaning portions are mounted, and in the preferred embodiment, the elastic cleaning brush is mounted on the housing 15 of the pi-shaped frame 21, the housing 15 is a housing which is sleeved on the first main board 1, namely the elastic cleaning brush is mounted on the side of the first main board 1, and the number of the elastic cleaning brushes is two and is respectively located near the two cleaning portions. The elastic cleaning brush comprises a mounting rod 12, the mounting rod 12 is arc-shaped, one concave side faces the second main board 2, one end of the mounting rod 12 is rotatably connected with a shell 15, the other end of the mounting rod is provided with a brush head 13, a tension spring 14 is arranged between the middle part of the mounting rod 12 and the shell 15, so that one end of the mounting rod 12, provided with the brush head 13, has a tendency of moving towards the middle direction of the first main board 1 and the second main board 2, the brush head 13 can be pressed on a tunnel reflective ring during implementation, and cleaning is performed when the cleaning robot walks; brush head 13 is located the side department that first mainboard 1 is close to opening 16, this side is the side that tunnel reflection of light ring is close to the tunnel wall, thereby can realize cleaning the place that disc brush 92 can not reach, in order to realize the comprehensive clearance to tunnel reflection of light ring, and both sides have the arc chamfer around the working face of brush head 13, and through cooperation extension spring 14 and the installation pole 12 that rotates the setting, thereby can realize passing through two reflector panel overlap positions smoothly, be unlikely to block.
The following is a detailed implementation of the preferred embodiment:
referring to fig. 13, the cleaning robot is clamped into the reflective ring 24 of the tunnel through the opening 16 between the first main board 1 and the second main board 2, the first main board 1 is located on the side of the reflective ring 24 having the reflective surface, that is, the side provided with the reflective film, and the second main board 2 is located on the side of the reflective ring 24 having the reflective surface, that is, the side opposite to the reflective surface, that is, the side departing from the reflective film, since the second traveling wheels 4 are mounted on the second main board 2 through elastic devices, that is, the second traveling wheels 4 can adjust positions and adjust distances from the first traveling wheels 6, and through the adjustable second traveling wheels 4, the tunnel reflective ring 24 can be clamped between the first traveling wheels 6 and the second traveling wheels 4, that is, the first traveling wheels 6 and the second traveling wheels 4 clamp the tunnel reflective ring 24, and at this time, the disk brush 92 of the cleaning part and the brush head 13 of the elastic cleaning brush are located on the side of the reflective surface clamping the reflective ring of the tunnel, and abut against the reflective surface of the reflective ring 24 of the tunnel; the first walking driving motor 5 and the second walking driving motor 3 are started to respectively drive the first walking wheel 6 and the second walking wheel 4 to rotate, then the cleaning robot can walk on the tunnel reflective ring 24 under the rotating action of the first walking wheel 6 and the second walking wheel 4, and the cleaning motor 91 is started to drive the disc brush 92 to rotate and drive the brush head 13 to advance while walking, so that the reflective surface of the tunnel reflective ring 24 can be cleaned; when the lamp passes through the position provided with the lamp wire grooves, the side plate 10 is positioned between the first main plate 1 and the second main plate 2 to form an n-shaped frame 21, and the space occupied by the side plate 10 on the side surface of the main body structure is small enough to be narrow enough, so that the lamp can smoothly pass through the position between the wire grooves and the side, away from the wall, of the reflection ring of the tunnel, and the continuous work on the reflection ring 24 of the tunnel can be realized; the n-shaped frame 21 has enough rigidity, is not easy to deform, and can keep the distance between the first main board 1 and the second main board 2 to realize stable clamping so as to ensure stable walking; when the vehicle passes through a place where the reflectors are connected, namely, a place where the reflectors are overlapped and the aluminum plates 25 and the rivets 26 are arranged (refer to fig. 11 and 12), the thickness of the tunnel reflective ring 24 changes, because the second traveling wheels 4 are installed on the second main board 2 through elastic devices and can adjust the distance between the second traveling wheels and the first traveling wheels 6, the vehicle can realize obstacle crossing and has a shock absorption function, so that the vehicle can stably travel through the place where the reflectors are overlapped and the rivets 26 are arranged, the first traveling wheels 6 and the second traveling wheels 4 made of rubber have a certain shock absorption obstacle crossing function, meanwhile, through arranging the block-shaped patterns 18, the friction force between the vehicle and the tunnel reflective ring can be increased, and when the rivets 26 on the tunnel reflective ring are rolled, the rivets are sunk into the grooves on the surfaces of the block-shaped patterns 18, so that a robot can stably cross the rivets 26 of the tunnel reflective ring 24; when a place with a tilting position passes through the overlapping position of the two reflectors (see fig. 13), the smooth transition of the cambered surface can be realized by arranging the shell 15 with the cambered surface, so that the cleaning robot can realize the smooth transition at the stepped reflective ring with the tilting condition; the tunnel reflective ring 24 is cleaned through the disc brush 92 and the brush head 13, the disc brush 92 is a main cleaning component, the brush head 13 is a compensation component, and the four corners left by the disc brush 92 are cleaned, so that complete cleaning is realized; after the cleaning robot moves from one end of the tunnel reflective ring to the other end, the first walking driving motor 5 and the second walking driving motor 3 can be controlled to rotate reversely to drive the first walking wheel 6 and the second walking wheel 4 to rotate reversely, so that the tunnel reflective ring 24 can be cleaned again in the opposite direction, and the cleaning is finished after the cleaning robot walks repeatedly.
In the preferred embodiment, the first traveling wheels 6 and the second traveling wheels 4 are two, respectively, distributed side by side, in a pair of groups, and arranged opposite to each other (one first traveling wheel 6 and one second traveling wheel 4 arranged opposite to each other form a group of traveling wheels), and each first traveling wheel 6 and each second traveling wheel 4 are driven by an independent motor, that is, the rotating speeds of each first traveling wheel 6 and each second traveling wheel 4 are independent and adjustable. Considering that the tunnel reflective ring is of an arc-shaped structure, continuous and smooth walking on the tunnel reflective ring is difficult to realize in a straight-going mode. In the invention, the rotating speeds of the first walking driving motor 5 and the second walking driving motor 3 are adjusted, so that the rotating speeds of the first walking wheel 6 and the second walking wheel 4 can be actively adjusted in real time, namely, different rotating speeds of the groups of walking wheels which are oppositely arranged are controlled, so that differential operation is formed among the groups of walking wheels to realize steering, for example, the rotating speed of one group of walking wheels far away from the opening 16 is adjusted to be slower than that of the other group of walking wheels, so that the cleaning robot can steer to the outer arc edge (the side edge close to the opening 16) of the tunnel reflective ring, and the cleaning robot can continuously and smoothly walk on the arc tunnel reflective ring. The rotation speed of each group of walking wheels can be adjusted according to specific conditions, such as walking speed, radian of a tunnel reflective ring and the like. Utilize differential principle cleaning robot can realize turning to the function on tunnel reflection of light ring to can walk along tunnel reflection of light ring's pitch arc steadily, thereby realize more even, smooth and easy at tunnel reflection of light ring's walking, make cleaning robot's clean effect more excellent.
When cleaning machines people walked, if perhaps the too big condition of outside departure when the walking appears, if continue to walk toward outside too big walking of deviating from, then can cause first walking wheel 6 and second walking wheel 4 etc. to break away from the reflection of light ring of tunnel, finally cause whole cleaning machines people to break away from the reflection of light ring of tunnel, and the accident drops on following the reflection of light ring of tunnel. In a preferred embodiment, the pi-shaped frame 21 is provided with two edge detection sensors 23 at the side far away from the opening 16, and the two edge detection sensors 23 are distributed at the front end and the rear end of the pi-shaped frame 21; end detection sensors 22 are respectively arranged at the front end and the rear end of the n-shaped frame 21; in the preferred embodiment, the edge detection sensor 23 and the end detection sensor 22 are respectively disposed on the side plate 10, and the pi-shaped frame 21 is further provided with a controller (not shown in the figure), which is preferably in the form of a single chip microcomputer, and is connected to the edge detection sensor 23, the end detection sensor 22, the first travel driving motor 5, and the second travel driving motor 3 to control the above-mentioned connecting components. The edge detection sensor 23 is arranged at the side far away from the opening 16, the edge detection sensor 23 sends a signal to the controller, when the cleaning device normally walks, the edge detection sensor 23 at the front end in the walking direction overlaps with the side of the tunnel reflective ring in projection, the walking is normal, and if the cleaning device deviates from the walking towards the outside, the edge detection sensor 23 at the front end in the walking direction does not overlap with the side of the tunnel reflective ring in projection any more, the detection signal of the edge detection sensor 23 at the front end in the walking direction changes at the moment, the controller receives the signal, controls the first walking driving motor 5 and the second walking driving motor 3 to make the rotating speed of one group of walking wheels far away from the opening 16 faster than that of the other group of walking wheels, so that the cleaning robot can walk towards the inner side of the tunnel reflective ring until the edge detection sensor 23 at the front end in the walking direction overlaps with the side of the tunnel reflective ring in projection (certainly, the cleaning robot enters the normal walking route again, and the adjustment can be automatically realized to realize the continuous walking of the cleaning robot on the whole tunnel reflective ring. Edge detection sensors 23 are arranged at the front end and the rear end of the n-shaped frame 21 so as to adapt to the reciprocating walking of the cleaning device. The front end and the rear end of the n-shaped frame 21 are respectively provided with an end detection sensor 22, the end detection sensor 22 is connected with the controller and sends signals to the controller, when the cleaning device walks on the tunnel reflective ring, the end detection sensor 22 positioned at the front end in the walking direction is overlapped with the side surface of the tunnel reflective ring in projection, the first walking driving motor 5 and the second walking driving motor 3 can be controlled to drive the first walking wheel 6 and the second walking wheel 4 to rotate so as to drive the cleaning robot to continue to move forwards, when the cleaning robot reaches the tail end of the tunnel reflective ring, the end detection sensor 22 positioned at the front end in the walking direction is not overlapped with the side surface of the tunnel reflective ring in projection any more, the detection signals of the end detection sensor 22 positioned at the front end in the walking direction are changed, the controller receives the signals, the first walking driving motor 5 and the second walking driving motor 3 are controlled to rotate in reverse directions, at this time, the first walking wheel 6 and the second walking wheel 4 rotate in reverse directions so as to drive the cleaning robot to travel in reverse directions, and can automatically control the cleaning robot to realize the reciprocating walking on the tunnel reflective ring.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides a tunnel reflection of light ring cleaning machines people, is including two first mainboard (1) and second mainboard (2) that set up in opposite directions, be provided with clean portion, its characterized in that on first mainboard (1) and/or second mainboard (2):
a side plate (10) is fixedly arranged at one side edge of the first main plate (1) and the second main plate (2), the side plate (10) is positioned between the first main plate (1) and the second main plate (2) to form an n-shaped frame (21), and an opening (16) for a tunnel reflective ring to enter is formed at the other side edge;
one of the first main board (1) and the second main board (2) is provided with a first travelling wheel (6) driven by a first travelling driving motor (5), and the periphery of part of the first travelling wheel (6) is positioned between the first main board (1) and the second main board (2) so as to be in contact with the tunnel reflective ring;
a second walking wheel (4) driven by a second walking driving motor (3) is arranged on the other one of the first main board (1) and the second main board (2), and the periphery of part of the second walking wheel (4) is positioned between the first main board (1) and the second main board (2) so as to be in contact with a tunnel reflective ring;
at least one of the first travelling wheel (6) and the second travelling wheel (4) is arranged on the first main plate (1) or the second main plate (2) through an elastic device, so that the first travelling wheel (6) and the second travelling wheel (4) have the tendency of approaching each other to clamp the tunnel reflective ring;
the elastic device comprises a transverse shaft (81), a vertical shaft (82) positioned at two ends of the transverse shaft (81), a pressure spring (83) sleeved on the vertical shaft (82), and a limiting part (84) arranged on the vertical shaft (82);
the vertical shaft (82) is fixedly arranged on the first main plate (1) or the second main plate (2), the transverse shaft (81) is provided with a through hole and sleeved on the vertical shaft (82) through the through hole, and the pressure spring (83) is positioned between the transverse shaft (81) and the limiting part (84) to drive the transverse shaft (81) to move towards the direction close to the first travelling wheel (6) or the second travelling wheel (4) through the pressure spring (83);
when the first travelling wheel (6) or the second travelling wheel (4) is arranged on the first main plate (1) or the second main plate (2) through an elastic device, the first travelling wheel (6) or the second travelling wheel (4) is rotatably arranged on the transverse shaft (81).
2. The tunnel reflective ring cleaning robot of claim 1, wherein:
the n-shaped frame (21) is provided with a sliding groove (7), the extending direction of the sliding groove (7) is the moving direction of a transverse shaft (81), and the end part of the transverse shaft (81) is provided with a sliding part (85) positioned in the sliding groove (7).
3. The tunnel reflective ring cleaning robot of claim 1, wherein:
at least two first traveling wheels (6), wherein each first traveling wheel (6) is independently provided with a first traveling driving motor (5), and the first traveling wheels (6) are distributed side by side;
at least two second walking wheels (4) are provided, each second walking wheel (4) is independently provided with a second walking driving motor (3), and the second walking wheels (4) are distributed side by side;
and the first walking wheels (6) and the second walking wheels (4) are in a group two by two and are arranged oppositely.
4. The tunnel reflective ring cleaning robot of claim 1, wherein:
and block-shaped patterns (18) are distributed on the peripheral walking surfaces of the first walking wheel (6) and the second walking wheel (4).
5. The tunnel reflective ring cleaning robot of any one of claims 1 to 4, wherein:
the cleaning device is characterized in that the first walking wheels (6) are fixedly installed on the first main board (1), the second walking wheels (4) are installed on the second main board (2) through elastic devices, and the cleaning portion is installed on the first main board (1).
6. The tunnel reflective ring cleaning robot of claim 1, wherein:
the cleaning part comprises a cleaning motor (91) and a disc brush (92) driven by the cleaning motor (91) to rotate, the working face of the disc brush (92) is in contact with the tunnel reflective ring, and the periphery of the disc brush (92) on one side of the working face is provided with an arc-shaped chamfer.
7. The tunnel reflective ring cleaning robot of claim 6, wherein:
the n-shaped frame (21) is provided with an elastic cleaning brush on one side provided with the cleaning part, the elastic cleaning brush comprises an installation rod (12), one end of the installation rod (12) is rotatably connected with the n-shaped frame (21), the other end of the installation rod is provided with a brush head (13), and a tension spring (14) is arranged between the middle part of the installation rod (12) and the n-shaped frame (21) so that one end, provided with the brush head (13), of the installation rod (12) has a tendency of moving towards the middle direction of the first main board (1) and the second main board (2); the brush head (13) is positioned at the side close to the opening (16), and the front side and the rear side of the working surface of the brush head (13) are provided with arc chamfers.
8. The tunnel reflective ring cleaning robot of claim 1, wherein:
the first main board (1) and the second main board (2) are sleeved with the shell (15), and when the tunnel reflection ring is implemented, the front side and the rear side of the shell (15) on one side of the back face of the tunnel reflection ring are cambered surfaces at positions close to the middle of the first main board (1) and the second main board (2).
9. The tunnel reflective ring cleaning robot of claim 1, wherein:
the n-shaped frame (21) is provided with edge detection sensors (23) at the side edge far away from the opening (16), and at least two edge detection sensors (23) are distributed at the front end and the rear end of the n-shaped frame (21);
end detection sensors (22) are respectively arranged at the front end and the rear end of the n-shaped frame (21);
the n-shaped frame (21) is further provided with a controller, and the controller is connected with the edge detection sensor (23), the end detection sensor (22), the first walking driving motor (5) and the second walking driving motor (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110823419.7A CN113445446B (en) | 2021-07-21 | 2021-07-21 | Tunnel reflection of light ring cleaning machines people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110823419.7A CN113445446B (en) | 2021-07-21 | 2021-07-21 | Tunnel reflection of light ring cleaning machines people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113445446A CN113445446A (en) | 2021-09-28 |
| CN113445446B true CN113445446B (en) | 2022-11-22 |
Family
ID=77816909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110823419.7A Active CN113445446B (en) | 2021-07-21 | 2021-07-21 | Tunnel reflection of light ring cleaning machines people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113445446B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997000358A1 (en) * | 1995-06-19 | 1997-01-03 | Trimatic International As | Device for cleaning of road posts |
| CN205463283U (en) * | 2016-01-15 | 2016-08-17 | 广州达意隆包装机械股份有限公司 | Cleaning device |
| CN107589744A (en) * | 2017-09-21 | 2018-01-16 | 沈阳工业大学 | The unmanned platform method of Omni-mobile based on freeway tunnel Crack Detection |
| CN207749900U (en) * | 2017-05-31 | 2018-08-21 | 冯海涛 | A kind of wind-force automatically cleaning construction of the highway enclosing |
| CN209810748U (en) * | 2018-12-20 | 2019-12-20 | 湖州吴兴云海钢铁贸易有限公司 | Steel plate cleaning machine |
| CN110700159A (en) * | 2019-10-09 | 2020-01-17 | 王美平 | Municipal works road guardrail belt cleaning device |
| CN110882957A (en) * | 2019-12-23 | 2020-03-17 | 福州大学 | Self-cleaning device and cleaning method for reflecting ring of expressway tunnel |
| CN211408885U (en) * | 2019-06-25 | 2020-09-04 | 四川新威环境服务股份有限公司 | Dust removal structure of cleaning robot |
| CN211660959U (en) * | 2020-01-15 | 2020-10-13 | 上海鸣士工业科技有限公司 | Straightener is used in wire rope production |
| CN212243749U (en) * | 2020-09-16 | 2020-12-29 | 未来海工智能装备(山东)有限公司 | Ship bottom cleaning brush cleaning robot |
| CN212468977U (en) * | 2020-05-22 | 2021-02-05 | 重庆理工大学 | Reflective ring cleaning system and device |
| CN212597647U (en) * | 2020-06-11 | 2021-02-26 | 马振刚 | Novel petroleum pipeline inner wall clearance device |
| CN213287845U (en) * | 2020-08-12 | 2021-05-28 | 河南腾浪清洗技术有限公司 | Work protective tool for high-pressure hot water cleaning machine |
| CN113073592A (en) * | 2021-04-22 | 2021-07-06 | 贵州省公路开发有限责任公司黔南营运管理中心 | Tunnel reflection of light ring cleaning device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011080340A1 (en) * | 2011-08-03 | 2013-02-07 | Siemens Aktiengesellschaft | cleaning robot |
| DE102012103381A1 (en) * | 2012-04-18 | 2013-10-24 | Rodinia Technologies Ltd. | Device for cleaning wall or floor surfaces |
| CN211815870U (en) * | 2019-12-23 | 2020-10-30 | 福州大学 | Highway tunnel reflection of light ring washs from running gear |
| CN213613060U (en) * | 2020-10-19 | 2021-07-06 | 苏州卡斯琳机械有限公司 | Continuous tunnel type workpiece dust removal device |
| CN112572475A (en) * | 2020-12-29 | 2021-03-30 | 上海市东方海事工程技术有限公司 | Suspension type tunnel inspection walking mechanism and system |
-
2021
- 2021-07-21 CN CN202110823419.7A patent/CN113445446B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997000358A1 (en) * | 1995-06-19 | 1997-01-03 | Trimatic International As | Device for cleaning of road posts |
| CN205463283U (en) * | 2016-01-15 | 2016-08-17 | 广州达意隆包装机械股份有限公司 | Cleaning device |
| CN207749900U (en) * | 2017-05-31 | 2018-08-21 | 冯海涛 | A kind of wind-force automatically cleaning construction of the highway enclosing |
| CN107589744A (en) * | 2017-09-21 | 2018-01-16 | 沈阳工业大学 | The unmanned platform method of Omni-mobile based on freeway tunnel Crack Detection |
| CN209810748U (en) * | 2018-12-20 | 2019-12-20 | 湖州吴兴云海钢铁贸易有限公司 | Steel plate cleaning machine |
| CN211408885U (en) * | 2019-06-25 | 2020-09-04 | 四川新威环境服务股份有限公司 | Dust removal structure of cleaning robot |
| CN110700159A (en) * | 2019-10-09 | 2020-01-17 | 王美平 | Municipal works road guardrail belt cleaning device |
| CN110882957A (en) * | 2019-12-23 | 2020-03-17 | 福州大学 | Self-cleaning device and cleaning method for reflecting ring of expressway tunnel |
| LU500384B1 (en) * | 2019-12-23 | 2021-07-06 | Univ Fuzhou | Self-cleaning Device and Cleaning Method for Highway Tunnel Retro-reflective Arch |
| CN211660959U (en) * | 2020-01-15 | 2020-10-13 | 上海鸣士工业科技有限公司 | Straightener is used in wire rope production |
| CN212468977U (en) * | 2020-05-22 | 2021-02-05 | 重庆理工大学 | Reflective ring cleaning system and device |
| CN212597647U (en) * | 2020-06-11 | 2021-02-26 | 马振刚 | Novel petroleum pipeline inner wall clearance device |
| CN213287845U (en) * | 2020-08-12 | 2021-05-28 | 河南腾浪清洗技术有限公司 | Work protective tool for high-pressure hot water cleaning machine |
| CN212243749U (en) * | 2020-09-16 | 2020-12-29 | 未来海工智能装备(山东)有限公司 | Ship bottom cleaning brush cleaning robot |
| CN113073592A (en) * | 2021-04-22 | 2021-07-06 | 贵州省公路开发有限责任公司黔南营运管理中心 | Tunnel reflection of light ring cleaning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113445446A (en) | 2021-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113445446B (en) | Tunnel reflection of light ring cleaning machines people | |
| CN113073592B (en) | Tunnel reflective ring cleaning device | |
| CN209194384U (en) | A kind of Novel deceleration strip | |
| CN205586567U (en) | Tyre | |
| CN205627063U (en) | Toy car subassembly, track toy car and track car toy | |
| CN204398973U (en) | Crashproofly show wide device | |
| CN215562107U (en) | Warning device of highway bridge tunnel portal | |
| CN113152341B (en) | Tunnel reflective ring running gear | |
| CN220615997U (en) | Autonomous mobile robot | |
| CN217649519U (en) | Obstacle-crossing bridge type inspection robot line control chassis and robot | |
| JPH11173319A (en) | Reflecting bolt | |
| CN218453369U (en) | Coupling mechanism, connection control system and rail vehicle | |
| CN107940397A (en) | A kind of automobile LED light source headlamp distance-light switching shade | |
| CN108944839B (en) | Front wheel driven automobile transverse moving parking auxiliary device | |
| JPH11323857A (en) | Turning-posture correcting device for service car in tunnel | |
| CN213272489U (en) | Automobile tail lamp lampshade capable of adjusting shading rate | |
| CN214688912U (en) | Automatic drive automobile chassis | |
| JPH0215683Y2 (en) | ||
| CN212477483U (en) | Limiting device, deceleration strip segment and deceleration strip | |
| JPH046704A (en) | Illumination method for road | |
| CN209456916U (en) | A kind of traffic slow-down device | |
| JP4103162B2 (en) | Work vehicle for light fixture in tunnel | |
| CN205640629U (en) | Signal lamp for vehicle of two light sources | |
| CN2388072Y (en) | Traction-type vehicle synchronous steering lighting device | |
| JPH0521523Y2 (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |