CN220027926U

CN220027926U - Intelligent cleaning equipment for tunnel high-altitude cameras

Info

Publication number: CN220027926U
Application number: CN202320084748.9U
Authority: CN
Inventors: 边艳妮; 刘晓娜; 高张浩; 张军; 王超; 杨雨升; 叶敏
Original assignee: Shaanxi Highway Construction Group Electronic Engineering Co ltd
Current assignee: Shaanxi Highway Construction Group Electronic Engineering Co ltd
Priority date: 2023-01-29
Filing date: 2023-01-29
Publication date: 2023-11-17
Anticipated expiration: 2033-01-29

Abstract

The utility model discloses intelligent cleaning equipment for a tunnel high-altitude camera, which relates to the field of camera cleaning and comprises a lifting platform, a transverse sliding joint, a stand column, an electric cylinder and a tunnel camera, wherein the transverse sliding joint is horizontally arranged on the top surface of the lifting platform, the stand column is vertically arranged on the top surface of the transverse sliding joint, a pitching joint is arranged at the top end of the stand column, a pitching arm is fixedly arranged on the side edge of the pitching joint, the electric cylinder is arranged at one end of the pitching arm, a yaw joint is arranged at one end of the electric rod, which is far away from the pitching arm, a transverse swing arm is arranged at one end, which is far away from the yaw joint, of the yaw joint, the sewage recovery device recovers cleaned sewage, so that the direct pollution of the sewage to the environment is avoided, the possibility that the sewage is scattered onto a road in winter is frozen is also reduced, and the road safety is improved.

Description

Intelligent cleaning equipment for tunnel high-altitude cameras

Technical Field

The utility model relates to intelligent cleaning equipment for a tunnel high-altitude camera, in particular to six-degree-of-freedom mechanical arm type cleaning equipment with three telescopic degrees of freedom and three rotary degrees of freedom, and belongs to the field of cleaning equipment.

Background

In recent years, the number and total mileage of highway tunnels in China are obviously increased, the construction period is gradually changed into the operation period, solid particles in tail gas exhausted by vehicles which shuttle back and forth and flying dust floating in the tunnels can adhere to the mirror surface of a camera due to the relative sealing of the tunnel space, so that images are blurred, the functions of monitoring road safety and information detection and acquisition are lost, and a lot of inconvenience is brought to road safety operation and work.

According to the on-site investigation of tunnels around the management station of Yijun county jade Hua Gong in copper, shaanxi province, the road maintenance department adopts a mode that a cleaner stands on a scaffold or a high-altitude operation platform to hold high-pressure water or rag to clean cameras at present, the tunnel cameras are arranged at a position above 6m from the ground, the spacing distance between the two cameras is about 150m, the pose is various, the shooting direction is the same as the driving direction, and the mirror surface of the cameras is smaller (the area is less than 50 cm) ² ) The cleaning effect of this kind of mode is poor, inefficiency, consuming time and consuming effort, the security is poor, the cost of labor is higher, brings very big difficulty for daily cleaning maintenance operation. The currently published cleaning device for tunnel cameras mainly comprises a manual or semi-automatic cleaning device, a full-automatic cleaning device and a fixed cleaning device, wherein the manual or semi-automatic cleaning device needs to be manually pushed to a designated position and adjustedThe cleaning equipment is cleaned after the pose of the section cleaning equipment reaches the optimal cleaning position, and the optimal cleaning pose depends on human experiences, so that the time and the labor are consumed, the efficiency is low, the consistency is poor, and the maintenance cost is high; the structure of the existing full-automatic cleaning equipment is mainly a full-rotation degree-of-freedom mechanical arm, and because the camera is positioned on the right side of a lane and very close to a right white solid line, the cleaning equipment is usually positioned in the middle of the lane when fixed on an operation vehicle, and the transverse distance between the cleaning equipment and a tunnel camera is about 1m, the arm support of the cleaning equipment with the full-rotation degree-of-freedom mechanical arm structure is longer, the operation is complex, the working range is smaller, the positioning is difficult, and certain structural defects exist; the fixed cleaning device is required to be installed on the camera one by one, the cost is high, the wiper strip type cleaning device is easy to age and poor in cleaning effect, cleaning liquid is required to be added irregularly, and the safety requirement for installation and fixation is high.

In the prior art, full-automatic cleaning equipment for high-altitude street lamps is also available, but street lamps and cameras are different in size, characteristics and the like, so that the street lamp cleaning equipment is difficult to apply to the cameras.

Therefore, the existing cleaning equipment cannot meet the cleaning working condition of the tunnel camera, and research on the intelligent cleaning equipment aiming at the tunnel camera is urgently needed, and the intelligent cleaning equipment is compact in structure, light in weight, high in intelligent degree, high in positioning accuracy, simple to operate, high in cleaning efficiency and high in safety.

Disclosure of Invention

Aiming at the defects, the utility model provides intelligent cleaning equipment for a tunnel high-altitude camera.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides an intelligent cleaning equipment of tunnel high altitude camera, includes lift platform, horizontal slip joint, stand, electronic jar and tunnel camera, lift platform's top surface level is provided with horizontal slip joint, horizontal slip joint's top surface is vertical to being provided with the stand, the top of stand is provided with every single move joint, and every single move articulated side is fixed to be provided with every single move arm, every single move arm's one end is provided with electronic jar, electronic jar is provided with the yaw joint in the one end of keeping away from every single move arm, the yaw joint is provided with the horizontal swing arm in the one end of keeping away from the yaw joint, the one end of keeping away from horizontal swing arm is provided with terminal every single move arm, terminal every single move arm's side is provided with the cleaning support, cleaning support side is provided with the camera, cleaning support side is provided with the pressurized-water nozzle, cleaning support side is provided with sewage recovery unit.

As a preferred embodiment of the present utility model: the lifting platform is fixed at the top surface of a girder of an operation vehicle through a U-shaped holding seat, a bottom plate of a transverse sliding joint is fixedly arranged at the top surface central line of the lifting platform through bolts, the transverse sliding joint is composed of a bottom plate, a limit switch fixing plate, a left limit switch, a zero limit switch, a right limit switch, a sliding rail, a sliding block, a sliding table, a poking bar, a screw rod sleeve, a connecting block, a fixing boss, a motor flange A, a coupling A and a motor A, the three limit switch fixing plates are fixedly arranged at one side edge of the bottom plate through bolts, and the left limit switch, the zero limit switch and the right limit switch are respectively fixed at the top surface of one limit switch fixing plate through bolts.

As a preferred embodiment of the present utility model: the fixed boss passes through the bolt fastening and sets up in one side of bottom plate, and motor flange A passes through the bolt fastening and sets up in motor flange A's side through the bolt fastening, and the left side step shaft of lead screw passes through the bearing and cooperates with fixed boss, and the right side step shaft of lead screw passes through the bearing and cooperates with motor flange A, and the right side step shaft of lead screw is fixed with shaft coupling A's left side, and motor A's output shaft is fixed with shaft coupling A's right side.

As a preferred embodiment of the present utility model: the screw rod sleeve is in spiral fit with the screw rod, the connecting block is fixed with the screw rod sleeve through bolts, the sliding table is fixed with the connecting block through bolts, the two sliding rails are fixed with the front side through bolts and the rear side of the bottom plate respectively, the four sliding blocks are in sliding fit with the two sliding rails through balls respectively, the four sliding blocks are fixed with the sliding table through bolts, the sliding table is fixedly connected with the bottom end of the upright post through bolts, and the poking bar is fixed on the rear side of the sliding table.

As a preferred embodiment of the present utility model: the pitch joint consists of rolling bearings A, a stepped shaft A, an axial retainer ring A, bearing end covers A, an encoder support A, an encoder A, a motor flange B and a motor B, wherein the outer rings of the two rolling bearings A are fixedly connected with connecting holes at the top ends of the stand columns, the stepped shaft A is matched with the inner rings of the two rolling bearings A, the axial retainer ring A is coaxially matched with the stepped shaft A, the two bearing end covers A are coaxially matched with the connecting holes above the stand columns and fixedly connected with the side surfaces of the stand columns through bolts, the encoder support A is fixedly connected with the left side surfaces of the stand columns through bolts, the encoder A is fixedly connected with the encoder support A through bolts, an output shaft of the encoder A is inserted into the stepped shaft A and is fixedly connected with the right side surfaces of the stand columns through set screws, the motor flange B is fixedly connected with the motor flange B through bolts, the output shaft of the motor B is connected with the stepped shaft A through keys, and the pitch arm is coaxially connected with the middle parts of the stepped shaft A through keys.

As a preferred embodiment of the present utility model: the pitching arm comprises a connecting slot, the electric cylinder comprises a tail connecting block and a head connecting block, the connecting slot of the pitching arm is fixedly connected with the tail connecting block of the electric cylinder through bolts, and the head connecting block of the electric cylinder is fixedly connected with the left side of the yaw joint through bolts.

As a preferred embodiment of the present utility model: the yaw joint is composed of a yaw connecting block, rolling bearings B, a stepped shaft B, an axial check ring B, a bearing check ring B, an encoder support B, an encoder B, a motor flange C, a shaft coupling B and a motor C, wherein outer rings of the two rolling bearings B are fixedly connected with a connecting hole of the yaw connecting block, the stepped shaft B is matched with inner rings of the two rolling bearings B, the axial check ring B is coaxially matched with the stepped shaft B, two bearing end covers B are coaxially matched with the connecting hole of the yaw connecting block and are fixedly connected with the top surface and the bottom surface of the yaw connecting block through bolts, the encoder support B is fixedly connected with the bottom surface of the yaw connecting block through bolts, the encoder B is fixedly connected with the encoder support B through bolts, an output shaft of the encoder B is inserted into the stepped shaft B and is fixedly connected with the top surface of the yaw connecting block through bolts, the motor flange C is fixedly connected with the motor flange C through bolts, the output shaft of the motor C is connected with the stepped shaft B through the shaft coupling B, and the middle part of the yaw arm is coaxially connected with the stepped shaft B through keys.

As a preferred embodiment of the present utility model: the tail end pitch joint comprises a tail end pitch connecting block, rolling bearings C, a stepped shaft C, an axial check ring C, a bearing check ring C, an encoder support C, an encoder C, a motor flange D, a shaft coupler C and a motor D, wherein the left side of the tail end pitch connecting block is fixedly connected with the right side of the transverse swing arm through bolts, the outer rings of the two rolling bearings C are fixedly connected with connecting holes of the tail end pitch connecting block, the stepped shaft C is matched with inner rings of the two rolling bearings C, the axial check ring C is coaxially matched with the stepped shaft C, two bearing end covers C are coaxially matched with the connecting holes of the tail end pitch connecting block, the left side and the right side of the tail end pitch connecting block are fixedly connected through bolts, the encoder support C is fixedly connected with the right side of the tail end pitch connecting block through bolts, an output shaft of the encoder C is inserted into the stepped shaft C and is fixedly connected with the right side of the tail end pitch connecting block through fastening screws, the motor flange D is fixedly connected with the right side of the tail end pitch connecting block through bolts, the motor flange D is fixedly connected with the motor flange D through bolts, the output shaft of the motor D is connected with the stepped shaft C through the shaft coupler C, and the middle part of the tail end pitch connecting block and the stepped shaft C is coaxially connected with the middle part of the tail end pitch connecting block through keys.

As a preferred embodiment of the present utility model: the cleaning support comprises a camera placing table, a nozzle placing table, a left plug and a right plug, wherein the left plug of the cleaning support is fixedly connected with the right side of a tail end pitching arm through bolts, the camera placing table is positioned at the top end of the cleaning support, the two nozzle placing tables are positioned at the middle part of the cleaning support, the right plug is positioned at the bottom end of the cleaning support, the camera is fixed on the camera placing table, the high-pressure water nozzle is fixed on the nozzle placing table through a binding belt, the left end of a fixing rod of the sewage recovery device is fixedly connected with the right plug through bolts, the right end of the fixing rod is fixedly connected with a telescopic rod through bolts, and the recovery groove is fixed at the tail end of the telescopic rod and is positioned under the tunnel camera.

As a preferred embodiment of the present utility model: the working range of the transverse sliding joint is-500 mm, the working range of the pitching joint is 0-90 degrees, the working range of the electric cylinder is 0-500 mm, the working range of the yaw joint is-90 degrees, and the working range of the tail end pitching joint is-90 degrees.

The utility model has the advantages that: 1) The machine is adopted to replace manual cleaning, so that potential safety hazards caused by high-altitude operation are reduced, the cleaning efficiency is improved, and the labor cost is reduced; 2) The mechanical arm structure of three telescopic degrees of freedom and three rotary degrees of freedom is adopted, so that the operation difficulty is reduced, the positioning precision is improved, and the structure is compact and lighter; 3) The sewage recovery device recovers the cleaned sewage, avoids direct pollution of the sewage to the environment, reduces the possibility of the sewage falling on the road to freeze in winter, and improves the road safety.

Drawings

Fig. 1 is a side view of the entire camera cleaning device according to the present utility model.

Fig. 2 is a schematic view of a lateral sliding joint according to the present utility model.

Fig. 3 is a schematic view of a pitch joint according to the present utility model.

Fig. 4 is a schematic illustration of the connection of the yaw joint to the end pitch joint of the present utility model.

Fig. 5 is a schematic view of the tip pitch joint of the present utility model.

FIG. 6 is a schematic view of a cleaning rack and a wastewater recovery device according to the present utility model.

In the figure, 1, a lifting platform, 2, a transverse sliding joint, 201, a bottom plate, 202, a limit switch fixing plate, 203, a left limit switch, 204, a zero limit switch, 205, a right limit switch, 206, a slide rail, 207, a slide block, 208, a slide table, 209, a poking bar, 2010, a screw rod, 2011, a screw rod sleeve, 2012, a connecting block, 2013, a fixing boss, 2014, a motor flange A,2015, a coupling A,2016, a motor A,3, a stand column, 4, a pitch joint, 401, a rolling bearing A,402, a stepped shaft A,403, an axial retainer A,404, a bearing end cover A,405, an encoder bracket A,406, an encoder A,407, a motor flange B,408, a motor B,5, a pitch arm, 501 connecting slot, 6, an electric cylinder, 601, a tail connecting block, 602, a head connecting block, 7, a yaw joint 701, a yaw connecting block 702, a rolling bearing B,703, stepped shafts B,704, axial collars B,705, bearing collars B,706, encoder brackets B,707, encoders B,708, motor flanges C,709, couplings B,7010, motors C,8, yaw arms, 9, tip pitch joints, 901, tip pitch connection blocks, 902, rolling bearings C,903, stepped shafts C,904, axial collars C,905, bearing collars C,906, encoder brackets C,907, encoders C,908, motor flanges D,909, couplings C,9010, motors D,10, tip pitch arms, 11, cleaning brackets, 1101, camera placement stages, 1102, nozzle placement stages, 1103, left plugs, 1104, right plugs, 12, cameras, 13, high-pressure water nozzles, 14, sewage recovery devices, 1401, fixing rods, 1402, telescoping rods, 1403, recovery tanks, 15, tunnel cameras.

Detailed Description

Referring to fig. 1-2, in the embodiment of the utility model, an intelligent cleaning device for a tunnel high-altitude camera comprises a lifting platform 1, a transverse sliding joint 2, a column 3, an electric cylinder 6 and a tunnel camera 15, wherein the transverse sliding joint 2 is horizontally arranged on the top surface of the lifting platform 1, the lifting platform 1 is fixed on the top surface of a girder of an operation vehicle through a U-shaped holding seat, a bottom plate of the transverse sliding joint 2 is fixedly arranged on the center line of the top surface of the lifting platform 1 through bolts, the transverse sliding joint 2 is composed of a bottom plate 201, a limit switch fixing plate 202, a left limit switch 203, a zero limit switch 204, a right limit switch 205, a sliding rail 206, a sliding block 207, a sliding table 208, a poking bar 209, a screw 2010, a screw rod sleeve 2011, a connecting block 2012, a fixing boss 2013, a motor flange a2014, a coupler a2015 and a motor a2016, the three limit switch fixing plates 202 are fixedly arranged on one side of the bottom plate 201 through bolts, the left limit switch 203, the zero limit switch 204 and the right limit switch 205 are respectively fixed at the top surface of one limit switch fixing plate 202 through bolts, a fixing boss 2013 is fixedly arranged at one side of the bottom plate 201 through bolts, a motor flange A2014 is fixedly arranged at the other side of the bottom plate 201 through bolts, a motor A2016 is fixedly arranged at the side of the motor flange A2014 through bolts, a left stepped shaft of a screw rod 2010 is matched with the fixing boss 2013 through a bearing, a right stepped shaft of the screw rod 2010 is matched with the motor flange A2014 through a bearing, a right stepped shaft of the screw rod 2010 is fixed with the left side of a coupler A2015, an output shaft of the motor A2016 is fixed with the right side of the coupler A2015, a screw rod sleeve 2011 is in spiral fit with the screw rod 2010, a connecting block 2012 is fixed with the screw rod sleeve 2011 through bolts, a sliding table 208 is fixed with a connecting block 2012 through bolts, the two sliding rails 206 are respectively fixed with the rear side and the front side of the bottom plate 201 through bolts, the four sliding blocks 207 are respectively in sliding fit with the two sliding rails 206 through balls, the four sliding blocks 207 are respectively fixed with the sliding table 208 through bolts, the sliding table 208 is fixedly connected with the bottom end of the upright post 3 through bolts, and the poking bar 209 is fixed on the rear side of the sliding table 208;

referring to fig. 3-4, in the embodiment of the present utility model, a post 3 is vertically disposed on a top surface of a horizontal sliding joint 2, a pitch joint 4 is disposed on a top end of the post 3, a pitch arm 5 is fixedly disposed on a side edge of the pitch joint 4, the pitch joint 4 is composed of a rolling bearing a401, a stepped shaft a402, an axial retainer ring a403, a bearing end cap a404, an encoder bracket a405, an encoder a406, a motor flange B407 and a motor B408, outer rings of the two rolling bearings a401 are fixedly connected with a connecting hole on the top end of the post 3, the stepped shaft a402 is matched with inner rings of the two rolling bearings a401, the axial retainer ring a403 is coaxially matched with the stepped shaft a402, the two bearing end caps a404 are coaxially matched with the connecting hole above the post 3, and fixedly connected with a side surface of the post 3 through bolts, the encoder bracket a405 is fixedly connected with a left side surface of the post 3 through bolts, the encoder A406 is fixedly connected with the encoder bracket A405 through bolts, the output shaft of the encoder A406 is inserted into the stepped shaft A402 and is fixed through a set screw, the motor flange B407 is fixedly connected with the right side surface of the upright post 3 through bolts, the motor B408 is fixedly connected with the motor flange B407 through bolts, the output shaft of the motor B408 is connected with the stepped shaft A402 through keys, the pitching arm 5 is coaxially connected with the middle part of the stepped shaft A402 through keys, one end of the pitching arm 5 is provided with an electric cylinder 6, the pitching arm 5 comprises a connecting slot 501, the electric cylinder 6 comprises a tail connecting block 601 and a head connecting block 602, the connecting slot of the pitching arm 5 is fixedly connected with the tail connecting block 601 of the electric cylinder 6 through bolts, the head connecting block 602 of the electric cylinder 6 is fixedly connected with the left side of the yaw joint 7 through bolts, the electric cylinder 6 is provided with a yaw joint 7 at one end far away from the pitching arm 5, the yaw joint 7 is provided with a yaw arm 8 at one end far away from the electric cylinder 6, the yaw joint 7 is composed of a yaw connecting block 701, a rolling bearing B702, a stepped shaft B703, an axial check ring B704, a bearing check ring B705, an encoder bracket B706, an encoder B707, a motor flange C708, a coupling B709 and a motor C7010, the outer rings of the two rolling bearings B702 are fixedly connected with a connecting hole of the yaw connecting block 701, the stepped shaft B703 is matched with the inner rings of the two rolling bearings B702, the axial check ring B704 is coaxially matched with the stepped shaft B703, the two bearing end covers B are coaxially matched with the connecting hole of the yaw connecting block 701 and are fixedly connected with the top surface and the bottom surface of the yaw connecting block through bolts, the encoder bracket B706 is fixedly connected with the bottom surface of the yaw connecting block 701 through bolts, the encoder B707 is fixedly connected with the encoder bracket B706 through bolts, the output shaft of the encoder B707 is inserted into the stepped shaft B703 and is fixed through a set screw, the motor flange C708 is fixedly connected with the top surface of the yaw connecting block 701 through bolts, the motor C7010 is fixedly connected with the motor flange C708 through bolts, the output shaft of the motor C7010 is connected with the stepped shaft B703 through the coupler B709, the yaw arm 8 is coaxially connected with the middle part of the stepped shaft B703 through a key, the end of the yaw arm 8 far away from the yaw joint 7 is provided with the tail end pitch joint 9, the end pitch joint 9 is provided with the tail end pitch arm 10 far away from the end of the yaw arm 8, the tail end pitch joint 9 consists of a tail end pitch connecting block 901, a rolling bearing C902, a stepped shaft C903, an axial check ring C904, a bearing check ring C905, an encoder bracket C906, an encoder C907, a motor flange D908, a coupler C909 and a motor D9010, the left side of the tail end pitch connecting block 901 is fixedly connected with the right side of the yaw arm 8 through bolts, the outer rings of the two rolling bearings C902 are fixedly connected with the connecting holes of the tail end pitch connecting block 901, the stepped shaft C903 is matched with the inner rings of the two rolling bearings C902, the axial retainer ring C904 is coaxially matched with the stepped shaft C903, the two bearing end covers C are coaxially matched with the connecting holes of the tail end pitching connecting block 901 and fixedly connected with the left side surface and the right side surface of the tail end pitching connecting block 901 through bolts, the encoder bracket C906 is fixedly connected with the right side surface of the tail end pitching connecting block 901 through bolts, the encoder C907 is fixedly connected with the encoder bracket C906 through bolts, the output shaft of the encoder C907 is inserted into the stepped shaft C903 and is fixed through a set screw, the motor flange D908 is fixedly connected with the right side surface of the tail end pitching connecting block 901 through bolts, the motor D9010 is fixedly connected with the motor flange D908 through bolts, the output shaft of the motor D9010 is fixedly connected with the stepped shaft C903 through a coupler C909, and the middle part of the tail end pitching arm 10 is coaxially connected with the stepped shaft C903 through a key;

referring to fig. 5-6, in the embodiment of the present utility model, a cleaning support 11 is disposed on a side of a pitching arm 10 at a terminal, a camera 12 is disposed on a side of the cleaning support 11, a water pressing nozzle 13 is disposed on a side of the cleaning support 11, a sewage recovery device 14 is disposed on a side of the cleaning support 11, the cleaning support 11 is composed of a camera placing table 1101, a nozzle placing table 1102, a left plug 1103 and a right plug 1104, the left plug of the cleaning support 11 is fixedly connected with the right side of the pitching arm 10 at the terminal through bolts, the camera placing table 1101 is disposed at a top end of the cleaning support 11, the two nozzle placing tables 1102 are disposed at a middle portion of the cleaning support 11, the right plug 1104 is disposed at a bottom end of the cleaning support 11, the camera 12 is fixed on the camera placing table 1101, the high-pressure water nozzle 13 is fixed on the nozzle placing table 1102 through a binding belt, the left end of a fixed rod of the sewage recovery device 14 is fixedly connected with the right plug 1104 through a bolt, the right end of the fixed rod 1401 is fixedly connected with the telescopic rod 1402 through a bolt, the recovery groove 1403 is fixed at the tail end of the telescopic rod 1402, the recovery groove 1403 is positioned under the tunnel camera 15, the working range of the transverse sliding joint 2 is-500 mm, the working range of the pitching joint 4 is 0-90 degrees, the working range of the electric cylinder 6 is 0-500 mm, the working range of the yaw joint 7 is-90 degrees, and the working range of the tail end pitching joint 9 is-90 degrees.

The working principle of the utility model is as follows:

firstly, lifting a lifting platform 1 to enable the height of the top end of a stand column 3 to be similar to that of a tunnel camera 15;

in the second working step, the motor A2016 drives the screw 2010 to rotate, so that the sliding table 208 and the upright post 3 transversely slide, and further the cleaning equipment is transversely slid;

step three, a motor B408 drives a stepped shaft A402 to rotate, so that a pitching arm 5 is pitching;

step four, the electric cylinder 6 is lengthened or shortened;

step five, a motor C7010 drives a stepped shaft B703 to rotate, so that the transverse swing arm 8 rotates;

step six, a motor D9010 drives a stepped shaft C903 to rotate, so that the tail end pitching arm 10 rotates, and the high-pressure water nozzle 13 is aligned to the tunnel camera 15;

and a working step seven, observing and judging the alignment condition of the high-pressure water nozzle 13 according to the shooting visual angle of the camera 12, flushing the tunnel camera 15 if the high-pressure water nozzle 13 is aligned, and repeating one or more steps from the first step to the sixth step for fine adjustment if the high-pressure water nozzle 13 is not aligned, so that the high-pressure water nozzle 13 can be flushed after being aligned with the tunnel camera 15.

Alterations, modifications, substitutions and variations of the embodiments herein will be apparent to those of ordinary skill in the art in light of the teachings of the present utility model without departing from the spirit and principles of the utility model.

Claims

1. The utility model provides an intelligent cleaning equipment of tunnel high altitude camera, includes lift platform (1), horizontal slip joint (2), stand (3), electronic jar (6) and tunnel camera (15), a serial communication port, the top surface level of lift platform (1) is provided with horizontal slip joint (2), the top surface of horizontal slip joint (2) is vertical to being provided with stand (3), the top of stand (3) is provided with every single move joint (4), and the side of every single move joint (4) is fixed to be provided with every single move arm (5), the one end of every single move arm (5) is provided with electronic jar (6), electronic jar (6) are being kept away from the one end of every single move arm (5) and are being provided with yaw joint (7), yaw joint (7) are being kept away from the one end of yaw joint (7) and are being provided with terminal every single move joint (9), terminal every single move joint (9) are being provided with terminal every single move arm (10) in the one end of keeping away from yaw joint (8), the side of terminal every single move arm (10) is being provided with every single move arm (11), the side of every single move arm (11) is being provided with cleaning support (11), the side of washing support (11) is provided with washing side (11), the side of the cleaning support (11) is provided with a sewage recovery device (14).

2. The intelligent cleaning device for the tunnel high-altitude camera according to claim 1, wherein the lifting platform (1) is fixed at the top surface position of a girder of an operation vehicle through a U-shaped holding seat, the bottom plate of the transverse sliding joint (2) is fixedly arranged at the top surface center line position of the lifting platform (1) through bolts, the transverse sliding joint (2) is formed by a bottom plate (201), a limit switch fixing plate (202), a left limit switch (203), a zero limit switch (204), a right limit switch (205), a sliding rail (206), a sliding block (207), a sliding table (208), a stirring bar (209), a screw rod (2010), a screw rod sleeve (2011), a connecting block (2012), a fixing boss (2013), a motor flange A (2014), a coupler A (2015) and a motor A (2016), the three limit switch fixing plates (202) are fixedly arranged at one side of the bottom plate (201) through bolts, and the left limit switch (203), the zero limit switch (204) and the right limit switch (205) are respectively fixed at the top surface position of the limit switch fixing plate (202) through bolts.

3. The intelligent cleaning device for the tunnel high-altitude camera according to claim 2, wherein the fixing boss (2013) is fixedly arranged on one side of the bottom plate (201) through a bolt, the motor flange a (2014) is fixedly arranged on the other side of the bottom plate (201) through a bolt, the motor a (2016) is fixedly arranged on the side of the motor flange a (2014) through a bolt, the left stepped shaft of the screw rod (2010) is matched with the fixing boss (2013) through a bearing, the right stepped shaft of the screw rod (2010) is matched with the motor flange a (2014) through a bearing, the right stepped shaft of the screw rod (2010) is fixed with the left side of the coupler a (2015), and the output shaft of the motor a (2016) is fixed with the right side of the coupler a (2015).

4. The intelligent cleaning device for the tunnel high-altitude camera according to claim 2, wherein the screw rod sleeve (2011) is in screw fit with the screw rod (2010), the connecting block (2012) is fixed with the screw rod sleeve (2011) through bolts, the sliding table (208) is fixed with the connecting block (2012) through bolts, the two sliding rails (206) are respectively fixed with the rear side and the front side of the bottom plate (201) through bolts, the four sliding blocks (207) are respectively in sliding fit with the two sliding rails (206) through balls, the four sliding blocks (207) are respectively fixed with the sliding table (208) through bolts, the sliding table (208) is fixedly connected with the bottom end of the upright post (3) through bolts, and the poking bar (209) is fixed at the rear side of the sliding table (208).

5. The intelligent cleaning equipment for the tunnel high-altitude camera according to claim 1, wherein the pitching joint (4) consists of a rolling bearing A (401), a stepped shaft A (402), an axial retainer ring A (403), a bearing end cover A (404), an encoder bracket A (405), an encoder A (406), a motor flange B (407) and a motor B (408), wherein the outer rings of the two rolling bearings A (401) are fixedly connected with connecting holes at the top ends of the upright post (3), the stepped shaft A (402) is matched with the inner rings of the two rolling bearings A (401), the axial retainer ring A (403) is coaxially matched with the stepped shaft A (402), the two bearing end covers A (404) are coaxially matched with connecting holes above the upright post (3) and are fixedly connected with the side surface of the upright post (3) through bolts, the encoder bracket A (405) is fixedly connected with the left side surface of the upright post (3) through bolts, the output shaft of the encoder A (406) is fixedly connected with the encoder bracket A (405) through bolts, the output shaft of the encoder A (406) is inserted into the stepped shaft A (402) and is fixedly connected with the motor (408) through the flange B (408) through the fixing flange B fixedly connected with the right side surface of the upright post (3) through bolts, the pitching arm (5) is coaxially connected with the middle part of the stepped shaft A (402) through a key.

6. The intelligent cleaning device for the tunnel high-altitude camera according to claim 1, wherein the pitching arm (5) comprises a connecting slot (501), the electric cylinder (6) comprises a tail connecting block (601) and a head connecting block (602), the connecting slot of the pitching arm (5) is fixedly connected with the tail connecting block (601) of the electric cylinder (6) through bolts, and the head connecting block (602) of the electric cylinder (6) is fixedly connected with the left side of the yaw joint (7) through bolts.

7. The intelligent cleaning equipment for the tunnel high-altitude cameras according to claim 1, wherein the yaw joint (7) consists of a yaw connection block (701), a rolling bearing B (702), a stepped shaft B (703), an axial retainer B (704), a bearing retainer B (705), an encoder bracket B (706), an encoder B (707), a motor flange C (708), a coupling B (709) and a motor C (7010), outer rings of the two rolling bearings B (702) are fixedly connected with a connecting hole of the yaw connection block (701), the stepped shaft B (703) is matched with inner rings of the two rolling bearings B (702), the axial retainer B (704) is coaxially matched with the stepped shaft B (703), the two bearing end covers B are coaxially matched with the connecting hole of the yaw connection block (701) and are fixedly connected with the top surface and the bottom surface of the yaw connection block (701) through bolts, the encoder bracket B (706) is fixedly connected with the bottom surface of the yaw connection block (701) through bolts, the encoder B (706) is fixedly connected with the encoder bracket B (706) through bolts, an output shaft B (707) is inserted into the motor flange B (703) and is fixedly connected with the motor (708) through bolts (708) through the flange C fixedly connected with the top surface of the motor (708), the output shaft of the motor C (7010) is connected with the stepped shaft B (703) through a coupling B (709), and the yaw arm (8) is coaxially connected with the middle part of the stepped shaft B (703) through a key.

8. The intelligent cleaning equipment for the tunnel aerial camera according to claim 1, wherein the tail end pitching joint (9) is composed of a tail end pitching connecting block (901), a rolling bearing C (902), a stepped shaft C (903), an axial retainer ring C (904), a bearing retainer ring C (905), an encoder bracket C (906), an encoder C (907), a motor flange D (908), a coupling C (909) and a motor D (9010), the left side of the tail end pitching connecting block (901) is fixedly connected with the right side of a yaw arm (8) through bolts, the outer rings of the two rolling bearings C (902) are fixedly connected with the connecting holes of the tail end pitching connecting block (901), the stepped shaft C (903) is matched with the inner rings of the two rolling bearings C (902), the axial retainer ring C (904) is coaxially matched with the stepped shaft C (903), the two bearing end covers C are coaxially matched with the connecting holes of the tail end pitching connecting block (901) and are fixedly connected with the left side and right side of the tail end connecting block (901) through bolts, the encoder bracket C (906) is fixedly connected with the right side of the tail end pitching connecting block (901) through bolts, the outer rings of the two bearing end covers C (903) are fixedly connected with the right side of the tail end pitching connecting block (901) through bolts, the outer rings C (903) are fixedly connected with the output shaft C (907) through bolts, and fixedly inserted into the encoder bracket C (907) through the encoding shaft C is fixedly connected with the output shaft C, the right side face of motor flange D (908) and terminal every single move connecting block (901) is through bolt fixed connection, and motor D (9010) and motor flange D (908) are through bolt fixed connection, and the output shaft of motor D (9010) and step axle C (903) are through shaft coupling C (909) connection, and terminal every single move arm (10) and step axle C (903) middle part pass through key coaxial coupling.

9. The intelligent cleaning device for the tunnel high-altitude cameras according to claim 1, wherein the cleaning support (11) is composed of a camera placing table (1101), a nozzle placing table (1102), a left plug (1103) and a right plug (1104), the left plug of the cleaning support (11) is fixedly connected with the right side of the tail end pitching arm (10) through bolts, the camera placing table (1101) is located at the top end of the cleaning support (11), the two nozzle placing tables (1102) are located at the middle part of the cleaning support (11), the right plug (1104) is located at the bottom end of the cleaning support (11), the camera (12) is fixed on the camera placing table (1101), the high-pressure water nozzle (13) is fixed on the nozzle placing table (1102) through a binding belt, the left end of a fixing rod of the sewage recovery device (14) is fixedly connected with the right plug (1104) through bolts, the right end of the fixing rod (1401) is fixedly connected with the telescopic rod (1402), the recovery groove (1403) is fixed at the tail end of the telescopic rod (1402), and the recovery groove (1403) is located under the camera (15).

10. The intelligent cleaning equipment for the tunnel high-altitude cameras according to claim 1, wherein the working range of the transverse sliding joint (2) is-500 mm, the working range of the pitching joint (4) is 0-90 degrees, the working range of the electric cylinder (6) is 0-500 mm, the working range of the yaw joint (7) is-90 degrees, and the working range of the tail pitching joint (9) is-90 degrees.