CN216501290U - Scum cleaning robot for vertical shaft and scum cleaning device for shaft wall - Google Patents
Scum cleaning robot for vertical shaft and scum cleaning device for shaft wall Download PDFInfo
- Publication number
- CN216501290U CN216501290U CN202123309605.3U CN202123309605U CN216501290U CN 216501290 U CN216501290 U CN 216501290U CN 202123309605 U CN202123309605 U CN 202123309605U CN 216501290 U CN216501290 U CN 216501290U
- Authority
- CN
- China
- Prior art keywords
- shaft
- cleaning
- scum
- telescopic
- wall
- 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
Landscapes
- Cleaning In General (AREA)
Abstract
The utility model relates to a scum cleaning robot for a shaft and a shaft wall scum cleaning device, the scum cleaning robot for the shaft comprises a cleaning mechanism for cleaning scum on a shaft wall, a traveling mechanism for driving the cleaning mechanism to move in the shaft along the circumferential direction of the shaft, a vertical telescopic mechanism for vertically adjusting the position of the cleaning mechanism and a transverse telescopic mechanism for horizontally adjusting the position of the cleaning mechanism, wherein the traveling mechanism is movably arranged on an annular track in the shaft, a fixed part of the vertical telescopic mechanism is connected with the bottom of the traveling mechanism, a telescopic part of the vertical telescopic mechanism is connected with a fixed part of the transverse telescopic mechanism, and the cleaning mechanism is connected with a telescopic part of the transverse telescopic mechanism so as to drive the cleaning mechanism to move to a position contacted with the shaft wall. The utility model solves the technical problem of poor cleaning effect on the scum left on the wall of the vertical shaft well.
Description
Technical Field
The utility model relates to the technical field of shaft tunneling, in particular to a scum cleaning robot for a shaft and a shaft wall scum cleaning device.
Background
In the process of tunneling the vertical shaft, scum remained on the shaft wall can influence the descending stability of the tunneling machine. At present, although some cleaning mechanisms can clean the scum on the wall of the vertical shaft, the cleaning mechanisms are complex in structure and inconvenient to operate, cannot complete the cleaning work of the whole circle of inner wall along the circumferential direction of the vertical shaft while tunneling, and are not ideal in scum cleaning effect.
Aiming at the problem that the cleaning effect on the scum remained on the wall of the vertical shaft well in the related technology is not good, an effective solution is not provided at present.
Therefore, the inventor provides a scum cleaning robot for a vertical shaft and a scum cleaning device on a shaft wall by virtue of experience and practice of related industries for many years, so as to overcome the defects in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a scum cleaning robot for a vertical shaft and a shaft wall scum cleaning device, which can synchronously operate a vertical shaft excavator, complete the cleaning work of a shaft wall while completing the opening, and effectively improve the working efficiency.
Another object of the present invention is to provide a scum cleaning robot for a shaft and a scum cleaning apparatus for a shaft wall, which can adjust the cleaning position vertically and horizontally, and can adapt to the local convex-concave position of the shaft wall in the cleaning process, so that the scum can be thoroughly cleaned without causing damage to equipment due to stress between the scum and the shaft wall, and the scum cleaning robot and the scum cleaning apparatus for a shaft wall have good applicability.
The purpose of the utility model can be realized by adopting the following technical scheme:
the utility model provides a scum cleaning robot for a vertical shaft, which comprises a cleaning mechanism for cleaning scum on a shaft wall, a traveling mechanism for driving the cleaning mechanism to move in the shaft along the circumferential direction of the shaft, a vertical stretching mechanism for adjusting the position of the cleaning mechanism in the vertical direction and a horizontal stretching mechanism for adjusting the position of the cleaning mechanism in the horizontal direction, wherein:
the walking mechanism can be movably arranged on an annular track in the shaft, the fixed part of the vertical telescopic mechanism is connected with the bottom of the walking mechanism, the telescopic part of the vertical telescopic mechanism is connected with the fixed part of the transverse telescopic mechanism, and the cleaning mechanism is connected with the telescopic part of the transverse telescopic mechanism to drive the cleaning mechanism to move to a position where the well wall is contacted.
In a preferred embodiment of the present invention, the traveling mechanism includes a traveling wheel and a first driving device for driving the traveling wheel to rotate, the traveling wheel is slidably connected to the track, and an output shaft of the first driving device is connected to a central shaft of the traveling wheel.
In a preferred embodiment of the present invention, the output shaft of the first driving device is connected to the central shaft of the road wheel through a gear transmission structure.
In a preferred embodiment of the present invention, the vertical telescopic mechanism includes a first oil cylinder vertically disposed, a cylinder body of the first oil cylinder is connected to the bottom of the traveling mechanism, a piston rod of the first oil cylinder extends vertically downward, and the piston rod of the first oil cylinder is connected to the horizontal telescopic mechanism.
In a preferred embodiment of the present invention, the vertical telescopic mechanism further includes a pull sensor, and the pull sensor is connected between the cylinder body of the first oil cylinder and the piston rod of the first oil cylinder.
In a preferred embodiment of the present invention, the horizontal telescopic mechanism includes a second oil cylinder disposed along the horizontal direction, the top of a cylinder body of the second oil cylinder is connected to the telescopic portion of the vertical telescopic mechanism, a piston rod of the second oil cylinder extends out along the horizontal direction, and the piston rod of the second oil cylinder is connected to the cleaning mechanism.
In a preferred embodiment of the present invention, a mounting plate is disposed at the bottom of the second cylinder, and a first distance measuring device and a second distance measuring device are disposed on the mounting plate and cooperate to measure a moving distance of the cleaning mechanism in a horizontal direction.
In a preferred embodiment of the present invention, a counterweight is disposed on a side of the cylinder body of the second cylinder, which is far away from the cleaning mechanism.
In a preferred embodiment of the present invention, the cleaning mechanism includes a cleaning brush, a protective cover, a second driving device, and a floating housing, the floating housing is connected to the telescopic portion of the transverse telescopic mechanism, the second driving device is disposed inside the floating housing, the cleaning brush is located outside the floating housing, the central shaft of the cleaning brush is connected to the output shaft of the second driving device, the protective cover is connected to the outer wall of the floating housing, the protective cover is disposed outside the cleaning brush, and the brush head portion of the cleaning brush extends to the outside of the protective cover and contacts with the well wall.
In a preferred embodiment of the present invention, an adaptive floating mechanism is disposed between the sweeping mechanism and the telescopic portion of the transverse telescopic mechanism;
the self-adaptive floating mechanism comprises a plurality of sliding rods, one end of each sliding rod is connected with the telescopic part of the transverse telescopic mechanism respectively, the floating shell is connected with each sliding rod in a sliding mode, nuts for limiting the sliding distance of the floating shell are arranged at the other end of each sliding rod respectively, a spring is sleeved on each sliding rod respectively, and two ends of each spring are abutted to the telescopic part of the transverse telescopic mechanism and the outer wall of the floating shell respectively.
The utility model provides a shaft wall scum cleaning device which comprises a track and the scum cleaning robot for a shaft, wherein the track is an annular track which is positioned in the shaft and is arranged along the circumferential direction of the shaft, the scum cleaning robot for the shaft is positioned below the track, and the scum cleaning robot for the shaft is movably connected with the track through a traveling mechanism at the top of the scum cleaning robot.
In a preferred embodiment of the present invention, a shaft excavator is disposed in the shaft, and the rail is disposed at a bottom of a support beam of the shaft excavator.
In a preferred embodiment of the present invention, the shaft-use scum-cleaning robot is located above a cutterhead of the shaft excavator.
From the above, the scum cleaning robot for the vertical shaft and the scum cleaning device on the wall of the shaft have the characteristics and advantages that: a traveling mechanism is arranged on an annular track in the shaft, a vertical telescopic mechanism and a transverse telescopic mechanism which are connected with the cleaning mechanism are arranged below the traveling mechanism, and the position of the cleaning mechanism can be adjusted in the vertical direction and the transverse direction respectively through the vertical telescopic mechanism and the transverse telescopic mechanism, so that the cleaning mechanism can accurately move to a position to be cleaned on the well wall and can be in full contact with the well wall, and scum on the well wall can be thoroughly cleaned; in addition, running gear can drive and clean the mechanism and remove along the track to can realize cleaning the automation of the wall of a well a week, need not staff's manual movement and clean the position of mechanism, degree of automation is higher, and the material resources of using manpower sparingly effectively improve scarfing cinder efficiency.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
FIG. 1: the utility model is a schematic structural diagram of a scum cleaning robot for a vertical shaft.
FIG. 2: which is a partial enlarged view of the position B in fig. 1.
FIG. 3: which is a partial enlargement of the position a in fig. 1.
FIG. 4: the schematic view of the installation position of the device for cleaning the scum on the well wall is shown.
FIG. 5: the utility model is a structural schematic diagram of a track in the device for cleaning the scum on the well wall.
The reference numbers in the utility model are:
1. a shaft excavator; 101. A cutter head;
102. a support beam; 103. A track; 2. The floating slag cleaning robot for the vertical shaft;
201. a traveling mechanism; 2011. A first driving device;
2012. a traveling wheel; 2013. A gear transmission structure;
202. a vertical telescopic mechanism; 2021. A first oil cylinder;
2022. a pull wire sensor; 203. A transverse telescoping mechanism;
2031. a second cylinder; 2032. A first distance measuring device;
2033. a second distance measuring device; 2034. A balancing weight;
2035. mounting a plate; 204. A cleaning mechanism;
2041. cleaning with a brush; 2042. A protective cover;
2043. a second driving device; 2044. A floating housing;
205. a self-adaptive floating mechanism; 2051. A slide bar;
2052. a nut; 2053. A spring;
3. the well wall.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
Implementation mode one
As shown in fig. 1 to 5, the utility model provides a scum cleaning robot for a shaft, which includes a cleaning mechanism 204, a traveling mechanism 201, a vertical telescopic mechanism 202 and a horizontal telescopic mechanism 203, wherein the cleaning mechanism 204 is used for cleaning scum on a shaft wall 3, the traveling mechanism 201 is used for driving the cleaning mechanism 204 to move in the circumferential direction of the shaft in the shaft so that the cleaning mechanism 204 can clean a circle of the shaft wall 3, the vertical telescopic mechanism 202 is used for adjusting the position of the cleaning mechanism 204 in the vertical direction, and the horizontal telescopic mechanism 203 is used for adjusting the position of the cleaning mechanism 204 in the horizontal direction. Wherein: the traveling mechanism 201 is movably arranged on the annular track 103 in the shaft, the fixed part of the vertical telescopic mechanism 202 is connected with the bottom of the traveling mechanism 201, the telescopic part of the vertical telescopic mechanism 202 is connected with the fixed part of the transverse telescopic mechanism 203, and the cleaning mechanism 204 is connected with the telescopic part of the transverse telescopic mechanism 203 so as to drive the cleaning mechanism 204 to move to the position contacting with the shaft wall 3.
According to the utility model, the traveling mechanism 201 is arranged on the annular track 103 in the shaft, the vertical telescopic mechanism 202 is arranged below the traveling mechanism 201, the horizontal telescopic mechanism 203 is arranged below the vertical telescopic mechanism 202, the cleaning mechanism 204 is connected to the horizontal telescopic mechanism 203, the position of the cleaning mechanism 204 can be adjusted in the vertical direction through the vertical telescopic mechanism 202, the position of the cleaning mechanism 204 can be adjusted in the horizontal direction (namely, the horizontal direction) through the horizontal telescopic mechanism 203, and further, through the cooperation of the vertical telescopic mechanism 202 and the horizontal telescopic mechanism 203, the cleaning mechanism 204 can be controlled to accurately move to the position to be cleaned on the well wall 3, the cleaning mechanism 204 is enabled to be fully contacted with the well wall 3, and scum on the well wall 3 can be thoroughly cleaned; in addition, the walking mechanism 201 can drive the cleaning mechanism 204 to move along the rail 103, so that the well wall can be automatically cleaned for 3 circles, workers do not need to manually move the cleaning mechanism 204, the automation degree is higher, manpower and material resources are saved, and the slag removal efficiency is effectively improved.
In an alternative embodiment of the present invention, as shown in fig. 1, 4, and 5, the traveling mechanism 201 includes a traveling wheel 2012 and a first driving device 2011 for driving the traveling wheel 2012 to rotate, the traveling wheel 2012 is slidably connected to the rail 103, and an output shaft of the first driving device 2011 is connected to a central shaft of the traveling wheel 2012. The traveling wheels 2012 are driven to rotate by the first driving device 2011, so that the traveling mechanism 201 can move along the rail 103.
Further, the first driving device 2011 includes, but is not limited to, a driving motor.
Further, as shown in fig. 1, an output shaft of the first driving device 2011 is connected with a central shaft of the road wheel 2012 through a gear transmission structure 2013. The driving gear can be arranged on an output shaft of the first driving device 2011, the driven gear is arranged on a central shaft of the walking wheel 2012, and the driving gear is meshed with the driven gear, so that power output by the first driving device 2011 is transmitted to the walking wheel 2012 through the gear transmission structure 2013 to drive the walking wheel 2012 to rotate.
In an alternative embodiment of the present invention, as shown in fig. 1, the vertical telescopic mechanism 202 includes a first oil cylinder 2021 arranged in a vertical direction (i.e., a piston rod of the oil cylinder is arranged in the vertical direction), a cylinder body of the first oil cylinder 2021 is connected to the bottom of the traveling mechanism 201 through a connecting member (not shown), a piston rod of the first oil cylinder 2021 extends downward in the vertical direction, and an end of the piston rod of the first oil cylinder 2021 is connected to the horizontal telescopic mechanism 203, and by controlling the extending length of the piston rod of the first oil cylinder 2021, the moving distance of the sweeping mechanism 204 in the vertical direction can be controlled. Wherein, walking wheel 2012 and first drive arrangement 2011 all can set up on the connecting piece, hoist and mount vertical telescopic machanism 202 in the below of running gear 201 through the connecting piece.
Further, as shown in fig. 1, the vertical telescopic mechanism 202 further includes a cable sensor 2022, and the cable sensor 2022 is connected between the cylinder body of the first oil cylinder 2021 and the end of the piston rod of the first oil cylinder 2021. The extension length of the piston rod of the first cylinder 2021 is detected in real time by the pull sensor 2022, and the moving distance of the cleaning mechanism 204 in the vertical direction can be obtained.
In an alternative embodiment of the present invention, as shown in fig. 1, the lateral expansion and contraction mechanism 203 includes a second cylinder 2031 arranged along the horizontal direction (i.e., the piston rod of the cylinder is arranged along the horizontal direction), the top of the cylinder body of the second cylinder 2031 is connected to the expansion and contraction part of the vertical expansion and contraction mechanism 202 (i.e., the end of the piston rod of the first cylinder 2021), the piston rod of the second cylinder 2031 extends along the horizontal direction, and the end of the piston rod of the second cylinder 2031 is connected to the cleaning mechanism 204, and the moving distance of the cleaning mechanism 204 in the horizontal direction can be controlled by controlling the extending length of the piston rod of the second cylinder 2031.
Further, as shown in fig. 1 and fig. 2, a mounting plate 2035 is disposed at the bottom of the second oil cylinder 2031, the mounting plate 2035 is disposed along the vertical direction, the top of the mounting plate 2035 is connected to the bottom of the cylinder body of the second oil cylinder 2031, a first distance measuring device 2032 and a second distance measuring device 2033 are disposed on the mounting plate 2035 and on one side facing the cleaning mechanism 204, and the first distance measuring device 2032 and the second distance measuring device 2033 are matched to measure the moving distance of the cleaning mechanism 204 in the horizontal direction, so as to ensure that the cleaning mechanism 204 can contact with the well wall 3, and the purpose of thoroughly cleaning the scum is achieved. The first distance measuring device 2032 may be used to measure the distance between the first distance measuring device 2032 and the cleaning mechanism 204, the second distance measuring device 2033 may be used to measure the distance between the second distance measuring device 2033 and the borehole wall 3, and the extension distance of the piston rod of the second cylinder 2031 may be accurately obtained by calculating the difference, so as to obtain the moving distance of the cleaning mechanism 204 in the horizontal direction.
Further, the first distance measuring device 2032 and the second distance measuring device 2033 each include, but are not limited to, a laser distance measuring instrument.
Further, as shown in fig. 1, a counterweight 2034 is disposed on a cylinder body of the second oil cylinder 2031 and on a side far away from the cleaning mechanism 204, so as to ensure balanced stress on two sides of the second oil cylinder 2031 and improve stability of the cleaning mechanism 204.
In an alternative embodiment of the present invention, as shown in fig. 1, the cleaning mechanism 204 includes a cleaning brush 2041, a second driving device 2043 and a floating housing 2044, the floating housing 2044 is connected to the telescopic portion of the lateral telescopic mechanism 203 (i.e., the end of the piston rod of the second cylinder 2031), the second driving device 2043 is disposed inside the floating housing 2044, the cleaning brush 2041 is located outside the floating housing 2044, the central shaft of the cleaning brush 2041 is connected to the output shaft of the second driving device 2043, and the cleaning brush 2041 can be driven by the second driving device 2043 to rotate, so as to clean the scum attached to the borehole wall 3.
Further, as shown in fig. 1, the cleaning mechanism 204 further includes a protective cover 2042, the protective cover 2042 is connected to the outer wall of the floating housing 2044, the protective cover 2042 covers the outer side of the cleaning brush 2041, one side of the protective cover 2042, which is away from the floating housing 2044, is open, and the brush head portion of the cleaning brush 2041 extends out of the open to the outside of the protective cover 2042 and contacts with the well wall 3. The protective cover 2042 protects the structural components, and scum is prevented from splashing to damage the structural components.
Further, the second driving device 2043 includes, but is not limited to, a driving motor.
In an alternative embodiment of the present invention, as shown in fig. 1, an adaptive floating mechanism 205 is disposed between the cleaning mechanism 204 and the telescopic part of the lateral telescopic mechanism 203 (i.e., the end of the piston rod of the second cylinder 2031), and the position of the cleaning mechanism 204 can be adjusted within a small range by the adaptive floating mechanism 205, so that the cleaning mechanism 204 can adapt to the position of local unevenness on the well wall 3, and the cleaning brush 2041 is ensured to be fully contacted with the well wall 3 all the time; in addition, the arrangement of the adaptive floating mechanism 205 can also avoid the damage of the structural members caused by the stress between the sweeping brush 2041 and the well wall 3.
Specifically, as shown in fig. 1 and 3, the adaptive floating mechanism 205 includes a plurality of sliding rods 2051, one end of each sliding rod 2051 is connected to a telescopic portion of the horizontal telescopic mechanism 203 (i.e., an end of a piston rod of the second cylinder 2031), the floating housing 2044 is slidably connected to each sliding rod 2051, a nut 2052 is disposed at the other end of each sliding rod 2051, the sliding distance of the floating housing 2044 is limited by the nut 2052, a spring 2053 is sleeved on each sliding rod 2051, one end of the spring 2053 abuts against the telescopic portion of the horizontal telescopic mechanism 203, and the other end of the spring 2053 abuts against an outer wall of the floating housing 2044. When the cleaning brush 2041 moves to the uneven position on the well wall 3, the cleaning brush 2041 can drive the floating shell 2044 to move on the sliding rod 2051 according to the acting force of the well wall 3 on the cleaning brush 2041, so that the cleaning brush 2041 is adaptive to the uneven position of the well wall 3, and in the process that the floating shell 2044 is pressed, the spring 2053 always provides reverse elastic force for the floating shell 2044, so that the cleaning brush 2041 can be fully contacted with the well wall 3, and the purpose of self-adaptive adjustment of the cleaning brush 2041 is achieved.
The scum cleaning robot for the vertical shaft has the characteristics and advantages that:
firstly, this dross cleans machine people for shaft can adjust and control respectively cleaning mechanism 204 in vertical direction and the ascending position of horizontal direction, makes cleaning mechanism 204 accurately find and waits to clean the position and make cleaning mechanism 204 and the wall of a well 3 abundant contact, guarantees to clean thoroughly the dross on the wall of a well 3.
Secondly, the scum cleaning robot for the shaft can detect the extension length of the piston rod of the first oil cylinder 2021 in real time through the stay wire sensor 2022, so that the moving distance of the cleaning mechanism 204 in the vertical direction can be known, and the accuracy of position regulation and control of the cleaning mechanism 204 in the vertical direction is improved.
Thirdly, the scum cleaning robot for the vertical shaft is matched with the second distance measuring device 2033 through the first distance measuring device 2032, so that the moving distance of the cleaning mechanism 204 in the horizontal direction can be obtained, and the accuracy of position regulation and control of the cleaning mechanism 204 in the horizontal direction is improved.
Fourthly, this dross cleans for shaft is provided with self-adaptation relocation mechanism 205 on the robot, can adjust the position of cleaning mechanism 204 in the minim, makes to clean mechanism 204 and can adapt to local unevenness's position on the wall of a well 3, ensures that cleaning brush 2041 fully contacts with the wall of a well 3 all the time, and self-adaptation relocation mechanism 205's setting can also avoid the stress between cleaning brush 2041 and the wall of a well 3 and cause the damage of structure spare moreover.
Second embodiment
As shown in fig. 4 and 5, the present invention provides a shaft wall scum cleaning device, which includes a rail 103 and the shaft scum cleaning robot 2, wherein the rail 103 is an annular rail disposed in and along the circumferential direction of the shaft, the shaft scum cleaning robot 2 is disposed below the rail 103, and the shaft scum cleaning robot 2 is movably connected to the rail 103 by a traveling mechanism 201 on the top of the shaft scum cleaning robot.
Further, as shown in fig. 4, the shaft excavator 1 is installed in the shaft, the rail 103 is installed at the bottom of the support beam 102 of the shaft excavator 1, and the shaft scum cleaning robot 2 is located above the cutter deck 101 of the shaft excavator 1.
The working process of the utility model is as follows: when the shaft excavator 1 is normally tunneling, the walking wheels 2012 of the shaft scum cleaning robot 2 walk on the annular rail 103 under the control of the first driving device 2011, the moving position of the cleaning brush 2041 is controlled through the cooperation of the vertical telescopic mechanism 202 and the transverse telescopic mechanism 203, so that the cleaning brush 2041 is made to be tightly attached to the well wall 3, the telescopic amount of the vertical telescopic mechanism 202 is measured and adjusted through the stay wire sensor 2022, the telescopic amount of the transverse telescopic mechanism 203 is measured through the first distance measuring device 2032 and the second distance measuring device 2033 and is adjusted according to the distance measuring difference, and the cleaning brush 2041 is driven to clean scum along with the circumferential movement of the walking mechanism 201 along the rail 103 to realize scum cleaning. After a circular cycle is cleaned, the vertical telescopic mechanism 202 is controlled to move the cleaning brush 2041 downwards, so that the next circle of the lower well wall 3 is cleaned. When a fault or a small range of rugged positions on the well wall 3 are met, scum cleaning of the rugged well wall 3 can be realized through extension or retraction of a piston rod of the transverse telescopic mechanism 203 and the self-adaptive floating mechanism 205. When the sweeper brush 2041 needs to be replaced, the piston rod of the transverse telescopic mechanism 203 retracts, the telescopic rod of the vertical telescopic mechanism 202 is lowered, and the worker can quickly replace the sweeper brush 2041.
The wall of a well dross cleaning device of the utility model has the characteristics and advantages that:
the shaft wall scum cleaning device can synchronously operate the shaft excavator, complete the cleaning work of the shaft wall while completing the opening, and effectively improve the working efficiency.
Secondly, this wall of a well dross cleaning device simple structure, degree of automation are high, clean thoroughly to the dross on the wall of a well 3, and the result of use is showing, can effectively improve the well-completion quality of shaft hole digger.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications that can be made by one skilled in the art without departing from the spirit and principles of the utility model should fall within the protection scope of the utility model.
Claims (13)
1. The utility model provides a dross cleans machine people for shaft which characterized in that, includes cleans the mechanism of cleaning of dross on the wall of a well, drives clean the running gear that the mechanism removed along its circumference in the pit shaft, vertically to clean the vertical telescopic machanism that the position of mechanism was adjusted and in the horizontal direction to clean the horizontal telescopic machanism that the position of mechanism was adjusted, wherein:
the walking mechanism can be movably arranged on an annular track in the shaft, the fixed part of the vertical telescopic mechanism is connected with the bottom of the walking mechanism, the telescopic part of the vertical telescopic mechanism is connected with the fixed part of the transverse telescopic mechanism, and the cleaning mechanism is connected with the telescopic part of the transverse telescopic mechanism to drive the cleaning mechanism to move to a position where the well wall is contacted.
2. A scum clearing robot for a shaft as claimed in claim 1, wherein the travelling mechanism comprises a travelling wheel and a first driving device for driving the travelling wheel to rotate, the travelling wheel is slidably connected with the track, and an output shaft of the first driving device is connected with a central shaft of the travelling wheel.
3. A scum clearing robot for a shaft as claimed in claim 2, wherein the output shaft of the first driving device is connected with the central shaft of the travelling wheel through a gear transmission structure.
4. A scum clearing robot for a shaft according to claim 1, wherein the vertical telescopic mechanism comprises a first oil cylinder which is vertically arranged, the cylinder body of the first oil cylinder is connected with the bottom of the travelling mechanism, the piston rod of the first oil cylinder vertically extends downwards, and the piston rod of the first oil cylinder is connected with the transverse telescopic mechanism.
5. The scum clearing robot for a shaft according to claim 4, wherein the vertical telescopic mechanism further comprises a pull wire sensor connected between the cylinder body of the first cylinder and the piston rod of the first cylinder.
6. A scum clearing robot for a shaft according to claim 1 or 4, wherein the transverse expansion mechanism comprises a second oil cylinder arranged in the horizontal direction, the top of the cylinder body of the second oil cylinder is connected with the expansion part of the vertical expansion mechanism, the piston rod of the second oil cylinder extends out in the horizontal direction, and the piston rod of the second oil cylinder is connected with the clearing mechanism.
7. A scum clearing robot for a shaft according to claim 6, wherein the bottom of the second oil cylinder is provided with a mounting plate, and the mounting plate is provided with a first distance measuring device and a second distance measuring device which are matched with each other to measure the moving distance of the clearing mechanism in the horizontal direction.
8. A scum cleaning robot for a shaft according to claim 6, wherein a counterweight is provided on the side of the cylinder body of the second cylinder which is away from the cleaning mechanism.
9. A scum cleaning robot for a shaft as defined in claim 1, wherein the cleaning mechanism comprises a cleaning brush, a shield, a second driving means and a floating housing, the floating housing is connected with the telescopic part of the transverse telescopic mechanism, the second driving means is provided inside the floating housing, the cleaning brush is positioned outside the floating housing and the central shaft of the cleaning brush is connected with the output shaft of the second driving means, the shield is connected with the outer wall of the floating housing and the shield is covered outside the cleaning brush, and the brush head part of the cleaning brush extends to the outside of the shield and contacts with the wall of the well.
10. A scum cleaning robot for a shaft according to claim 9, wherein an adaptive floating mechanism is arranged between the cleaning mechanism and the telescopic part of the transverse telescopic mechanism;
the self-adaptive floating mechanism comprises a plurality of sliding rods, one end of each sliding rod is connected with the telescopic part of the transverse telescopic mechanism respectively, the floating shell is connected with each sliding rod in a sliding mode, nuts for limiting the sliding distance of the floating shell are arranged at the other end of each sliding rod respectively, a spring is sleeved on each sliding rod respectively, and two ends of each spring are abutted to the telescopic part of the transverse telescopic mechanism and the outer wall of the floating shell respectively.
11. A shaft wall scum cleaning device, which is characterized by comprising a rail and the scum cleaning robot for the shaft of any one of claims 1 to 10, wherein the rail is an annular rail which is positioned in the shaft and arranged along the circumferential direction of the shaft, the scum cleaning robot for the shaft is positioned below the rail, and the scum cleaning robot for the shaft is movably connected with the rail through a traveling mechanism at the top of the scum cleaning robot.
12. The apparatus for cleaning scum on the well wall as claimed in claim 11, wherein a shaft excavator is arranged in the well, and the track is arranged at the bottom of the support beam of the shaft excavator.
13. The wall scum cleaning apparatus as claimed in claim 12, wherein said shaft scum cleaning robot is located above a cutterhead of said shaft excavator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123309605.3U CN216501290U (en) | 2021-12-27 | 2021-12-27 | Scum cleaning robot for vertical shaft and scum cleaning device for shaft wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123309605.3U CN216501290U (en) | 2021-12-27 | 2021-12-27 | Scum cleaning robot for vertical shaft and scum cleaning device for shaft wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216501290U true CN216501290U (en) | 2022-05-13 |
Family
ID=81505193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123309605.3U Active CN216501290U (en) | 2021-12-27 | 2021-12-27 | Scum cleaning robot for vertical shaft and scum cleaning device for shaft wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216501290U (en) |
-
2021
- 2021-12-27 CN CN202123309605.3U patent/CN216501290U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109244934B (en) | Ground wire suspension inspection robot | |
| US11731280B2 (en) | Cable trench inspection robot | |
| CN107167523A (en) | A kind of crack automatic flaw detection device of bridge concrete guardrail | |
| CN110805395B (en) | Drilling machine for geological engineering | |
| CN209911369U (en) | Soil pollution real-time detection device | |
| CN107104389B (en) | A kind of detection and the clearing apparatus of live detection and cleaning integrated robot | |
| CN216866930U (en) | Wind power tower cylinder cleaning equipment | |
| CN216501290U (en) | Scum cleaning robot for vertical shaft and scum cleaning device for shaft wall | |
| CN109760760A (en) | A kind of pylon climbing device | |
| CN116556186B (en) | Bridge crack measurement system and measurement method for bridge engineering | |
| KR100544405B1 (en) | Movable bridge scour monitoring device | |
| CN216305856U (en) | Drilling rig for geotechnical engineering investigation | |
| CN206947853U (en) | A kind of live detection and detection and the clearing apparatus for cleaning integrated robot | |
| CN115356395A (en) | Ultrasonic detection device for aero-engine blade | |
| CN215493468U (en) | Engineering geological crack measuring equipment | |
| CN115898258A (en) | Intelligent drilling device, mechanical arm and method for repairing underground tunnel crack | |
| CN113880000B (en) | Hoisting device based on inspection robot | |
| JP2005121586A (en) | Method of detecting concrete soundness, and apparatus | |
| CN213742410U (en) | Marking device for construction of single use | |
| CN114458554A (en) | Wind power tower cylinder cleaning equipment | |
| CN208418021U (en) | Come down monitor station traverse displacement unit | |
| CN208680041U (en) | A kind of laser automatic rust removing device of igneous rock cracks | |
| CN210375738U (en) | Coal planer planing simulation experiment device | |
| CN217687234U (en) | Engineering survey pay-off | |
| CN208379435U (en) | Ultrasonic detection device is used in a kind of detection of bridge steel structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |