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CN-122013702-A - Tunnel attachment recycling robot suitable for uneven ground

CN122013702ACN 122013702 ACN122013702 ACN 122013702ACN-122013702-A

Abstract

The invention discloses a tunnel attachment recovery robot suitable for uneven ground, relates to a recovery robot, and belongs to the field of cleaning and recovery of attachments on the side wall of a tunnel. The invention aims to solve the technical problems that the prior art has great difficulty in processing the attachment of the shell vegetable, low safety of manual operation, insufficient operation efficiency in the water cut-off period and incapability of adapting to uneven ground of a tunnel and the attachment transfer requirement of conventional equipment, and comprises a front-end recovery mechanism, a lifting mechanism, a conveying mechanism, a vehicle body and a moving platform; the front end recovery mechanism is used for recovering attachments of the tunnel, the front end recovery mechanism is installed on the mobile platform through the lifting mechanism, the mobile platform is installed on the vehicle body, the conveying mechanism is installed on the mobile platform close to the front end recovery mechanism, the conveying mechanism is used for transferring the attachments recovered by the front end recovery mechanism, and the mobile platform controls the front end recovery mechanism, the lifting mechanism, the conveying mechanism and the vehicle body to work.

Inventors

  • WANG WEIDONG
  • LIANG HENGBIN
  • PENG XINLEI
  • WANG CHONG

Assignees

  • 哈尔滨工业大学

Dates

Publication Date
20260512
Application Date
20260324

Claims (10)

  1. 1. A tunnel attachment recovery robot suitable for uneven ground is characterized by comprising a front end recovery mechanism (100), a lifting mechanism (200), a conveying mechanism (300), a vehicle body (400) and a moving platform (500); Front end recovery mechanism (100) are used for retrieving tunnel attachments, and front end recovery mechanism (100) are installed on mobile platform (500) through hoist mechanism (200), and mobile platform (500) are installed on automobile body (400), and conveying mechanism (300) are close to front end recovery mechanism (100) and install on mobile platform (500), and conveying mechanism (300) are used for transporting the attachments that front end recovery mechanism (100) was retrieved, and mobile platform (500) control front end recovery mechanism (100), hoist mechanism (200), conveying mechanism (300) and automobile body (400) work.
  2. 2. The tunnel attachment recycling robot adapting to uneven ground according to claim 1, wherein the front end recycling mechanism (100) comprises a bucket mechanism (1100), an obstacle surmounting mechanism (1200), a front rolling brush mechanism (1300), two gathering mechanisms (1400) and two side rolling brush mechanisms (1500); Front rolling brush mechanism (1300) is installed on scraper bowl mechanism (1100), scraper bowl mechanism (1100) are used for shoveling tunnel attachment, front rolling brush mechanism (1300) are used for sweeping tunnel attachment to scraper bowl mechanism (1100) in, obstacle crossing mechanism (1200) are installed on scraper bowl mechanism (1100), obstacle crossing mechanism (1200) are used for crossing tunnel bottom protrusion thing, two draw-in mechanisms (1400) are installed in scraper bowl mechanism (1100) export symmetrically, draw-in mechanism (1400) are used for pushing scraper bowl inside attachment to conveying mechanism (300), two side rolling brush mechanisms (1500) are installed at scraper bowl mechanism (1100) both ends symmetrically, side rolling brush mechanism (1500) are used for gathering both sides deposit to centre.
  3. 3. The tunnel attachment recovery robot adapted to uneven ground according to claim 2, wherein the bucket mechanism (1100) includes a bidirectional auger (1101), an arc-shaped bucket (1102), an auger driving motor unit (1104), a bucket discharging cylinder, and two bucket side plates (1103); Two bucket side plates (1103) are symmetrically arranged at two ends of an arc bucket (1102), two ends of a bidirectional auger (1101) are rotatably connected and arranged on the two bucket side plates (1103), an auger driving motor unit (1104) is arranged on the bucket side plates (1103), the auger driving motor unit (1104) drives the bidirectional auger (1101) to rotate and convey tunnel attachments into the arc bucket (1102), the two bucket side plates (1103) and the arc bucket (1102) are fixedly arranged on a bucket discharging cylinder, The auger driving motor unit (1104) comprises an auger driving motor, an auger motor fixing seat, a motor conveying belt and two auger belt pulleys; Auger driving motor passes through auger motor fixing base fixed mounting on scraper bowl curb plate (1103), and fixed mounting has auger belt pulley on auger driving motor output shaft, and the one end fixed mounting of two-way auger (1101) has auger belt pulley, and two auger belt pulleys pass through motor conveyor belt transmission and connect.
  4. 4. The tunnel attachment recycling robot adapting to uneven ground according to claim 2, wherein the obstacle surmounting mechanism (1200) comprises an obstacle surmounting buffer plate (1201), an obstacle surmounting buffer seat (1202), an obstacle surmounting connecting rod (1203), an obstacle surmounting connecting driving bent rod (1204), an obstacle surmounting buffer spring (1205), a buffer spring limiting pin (1206), an elastic cushion block (1207), a fixed seat flexible connecting plate (1208), an obstacle surmounting fixed seat (1210) and a plurality of connecting pins (1209); The obstacle crossing buffer plate (1201) is fixedly provided with an obstacle crossing buffer seat (1202), one end of the obstacle crossing connecting rod (1203) and one end of the obstacle crossing connecting driving bent rod (1204) are rotationally connected with the obstacle crossing buffer seat (1202) through a connecting pin shaft (1209), the other end of the obstacle crossing connecting rod (1203) and the middle part of the obstacle crossing connecting driving bent rod (1204) are rotationally connected with a bracket of the obstacle crossing fixed seat (1210) through the connecting pin shaft (1209), the other end of the obstacle crossing connecting driving bent rod (1204) is rotationally connected with one end of a buffer spring limiting pin (1206) through the connecting pin shaft (1209), the other end of the buffer spring limiting pin (1206) passes through the obstacle crossing fixed seat (1210) to be arranged, the obstacle crossing buffer spring (1205) is arranged between the other end of the buffer spring limiting pin (1206) and the obstacle crossing fixed seat (1210), the fixed seat flexible connecting plate (1208) is fixedly arranged at the top of the obstacle crossing buffer plate (1201) and is contacted with the bracket of the obstacle crossing fixed seat (1210), the elastic cushion block (1207) is embedded in the obstacle crossing buffer plate (1210), and the other end of the obstacle crossing fixed seat (1201) is arranged on the discharging cylinder.
  5. 5. A tunnel attachment recovery robot adapted to uneven ground according to claim 3, wherein the front rolling brush mechanism (1300) comprises nylon bristles and steel wire bristles which are fixedly mounted on the bidirectional auger (1101) in the radial direction, The side rolling brush mechanism (1500) comprises a side rolling brush head (1501), a side brush fixing seat (1502), a transmission connecting shaft (1503), a detachable adjusting bracket (1504), an elastic buffer damping cylinder (1505), a side scraping plate (1506) and a transmission (1507); The side rolling brush head (1501) is rotatably connected and installed on the side brush fixing seat (1502), the side brush fixing seat (1502) is installed on the bucket side plate (1103) through the detachable adjusting bracket (1504), the side rolling brush head (1501) is connected with the output end of the transmission (1507) through the transmission connecting shaft (1503), the input end of the transmission (1507) is connected with the bidirectional auger (1101), the side scraper (1506) is detachably installed on the bucket side plate (1103), and the elastic buffer damping cylinder (1505) is installed on the bucket side plate (1103) and the side scraper (1506).
  6. 6. The tunnel attachment recycling robot adapting to uneven ground according to claim 2, wherein the folding mechanism (1400) comprises a folding motor (1401), a folding fixing frame (1402), a folding driving rod (1403), a folding connecting rod (1404), a folding pushing plate (1405), a folding pushing stop block (1406), a folding pushing bent plate (1407) and two rotary connecting pairs (1408); The folding fixed frame (1402) is fixedly mounted on the bucket discharging cylinder, the folding motor (1401) is fixedly mounted on the folding fixed frame (1402), an output shaft of the folding motor (1401) is fixedly connected with one end of the folding driving rod (1403), the other end of the folding driving rod (1403) is connected with one end of the folding connecting rod (1404) and drives the folding connecting rod (1404) to rotate, the other end of the folding connecting rod (1404) is rotatably connected with the folding push plate (1405), one end of the folding push plate (1405) is rotatably connected with the folding fixed frame (1402), the folding push plate (1405) rotates around the folding fixed frame (1402), the top end of the folding push plate (1407) is rotatably connected with the folding push plate (1405) through two rotary connecting pairs (1408), the folding push stop (1406) is fixedly mounted on the folding push plate (1405), the folding push stop (1406) is in contact with the bottom end of the folding push plate (1407), and the bending direction of the folding push plate (1407) is arranged towards the discharging cylinder, and the discharging cylinder is used for conveying attachments in the bucket conveying mechanism (300).
  7. 7. A tunnel attachment recovery robot adapted to uneven ground according to claim 2 or 3, characterized in that the lifting mechanism (200) comprises a lifting bottom fixing base (2010), a lifting power cylinder (2020), a lifting driving bent rod (2030), a lifting frame (2050), a lifting swivel connection pair (2070) and two lifting passive links (2040); Lifting bottom fixing base (2010) fixed mounting is on mobile platform (500), lifting drive curved bar (2030) one end rotates to be connected and installs on lifting bottom fixing base (2010) top, lifting drive curved bar (2030) the other end through lifting rotation connection pair (2070) with lifting frame (2050) lifting end rotate to be connected, lifting power cylinder (2020) bottom and lifting bottom fixing base (2010) rotate to be connected, lifting power cylinder (2020) top and lifting drive curved bar (2030) rotate to be connected, lifting frame (2050) auxiliary link rotate to be connected with two lifting passive connecting rods (2040), and two lifting passive connecting rods (2040) rotate with lifting bottom fixing base (2010) both sides respectively to be connected, lifting frame (2050) lifting link and bucket ejection of compact section of thick bamboo rotate to be connected, lifting bottom fixing base (2010) front end link (2011) and bucket ejection of compact section of thick bamboo rotate to be connected.
  8. 8. The tunnel attachment recycling robot adapting to uneven ground according to claim 1, wherein the conveying mechanism (300) is a bendable conveying belt or a negative pressure recycling device with a reamer; the bendable conveyor belt comprises a conveying fixed frame (3010), a conveying bending frame (3020), a bending frame driving assembly (3030), a bending frame connecting assembly (3040), a conveyor belt driving assembly (3050), a conveying fixed base (3060) and a skirt conveyor belt (3070); Conveying mount (3010) fixed mounting is on conveying unable adjustment base (3060), conveying kink frame (3020) is connected with conveying mount (3010) rotation through kink frame coupling assembling (3040), kink frame drive assembly (3030) fixed mounting is on conveying unable adjustment base (3060) to drive conveying kink frame (3020) to expand and buckle on conveying mount (3010) through kink frame drive assembly (3030), shirt rim conveyer belt (3070) suit is on conveying structure of conveying mount (3010) and conveying structure of conveying kink frame (3020), conveyer belt drive assembly (3050) are installed on conveying kink frame (3020) and are driven shirt rim conveyer belt (3070) work.
  9. 9. The tunnel attachment recovery robot adapted to uneven ground according to claim 7, wherein the bending frame driving assembly (3030) includes a first bending driving lever (3031), a second bending driving lever (3032) and a bending driving cylinder (3033); The shell of the bending driving cylinder (3033) is fixedly arranged on the conveying fixed base (3060), the telescopic rod of the bending driving cylinder (3033) is rotationally connected with one end of the second bending driving rod (3032), the other end of the second bending driving rod (3032) is rotationally connected with the frame body of the conveying bending frame (3020), one end of the first bending driving rod (3031) is rotationally connected with the frame body of the conveying fixed frame (3010), the other end of the first bending driving rod (3031) is rotationally connected with the second bending driving rod (3032), The bending frame connecting assembly (3040) comprises a conveying transfer roller (3042), two arc-shaped guide connecting plates (3041) and two positioning locking pins (3043); Two arc direction connecting plates (3041) are symmetrically arranged on a frame body of a conveying fixed frame (3010), two ends of a conveying transfer roller (3042) are rotatably connected and arranged on connecting plates of the two arc direction connecting plates (3041), two positioning locking pins (3043) are respectively arranged on two sides of the frame body of the conveying bending frame (3020) through sliding sleeves, the sliding sleeves are respectively sleeved on arc-shaped guide plates of the arc-shaped guide connecting plates (3041), and the positions of the arc-shaped guide plates on the arc-shaped guide connecting plates (3041) are locked through the positioning locking pins (3043).
  10. 10. The tunnel attachment recycling robot adaptable to uneven ground according to claim 1, wherein the mobile platform (500) comprises a platform body, a laser radar, a positioning navigator, a controller, a power supply and a plurality of height-adjustable industrial cameras; The platform frame body is arranged on the vehicle body (400), the laser radar, the positioning navigator, the controller, the power supply and the plurality of height-adjustable industrial cameras are all arranged on the platform frame body, the power supply supplies power to the vehicle body (400), the controller, the laser radar, the positioning navigator and the plurality of height-adjustable industrial cameras, the laser radar, the positioning navigator and the height-adjustable industrial cameras are all connected with the controller, and the controller controls the front-end recovery mechanism (100), the lifting mechanism (200), the conveying mechanism (300) and the vehicle body (400) to work.

Description

Tunnel attachment recycling robot suitable for uneven ground Technical Field The invention relates to a recycling robot, in particular to a tunnel attachment recycling robot suitable for uneven ground, and belongs to the field of cleaning and recycling of attachments on the side wall of a tunnel. Background After the water supply tunnel is filled with water for a certain time, a living organism named as a shell vegetable is attached to the inner wall of the tunnel, the living organism has certain corrosiveness to the inner wall of the tunnel, and the thickness of the shell vegetable is thickened along with the time. In the current treatment of the situation, workers enter the tunnel to clean and recover attachments during the water cut-off period of the tunnel, but because the shellfishes die rapidly after being separated from fresh water, toxic gas is generated, difficulty is brought to cleaning and recovery of the workers, and the water cut-off period is short. Due to the presence of the protrusions on the tunnel floor, a collision occurs with a general bulldozer. The recovery robot system is suitable for uneven ground, can collect, recover and transport objects at the bottom of the tunnel, and is suitable for long-distance tunnels. The water supply tunnel is used as a core infrastructure of the urban water supply system and bears important responsibility for guaranteeing the stable transportation of urban production and domestic water. However, after the water supply tunnel is operated by water for a long time, aquatic organisms called shell vegetables are easy to adhere to the inner wall of the water supply tunnel, corrosive metabolites are generated in the growth process of the aquatic organisms, the inner wall of the tunnel can be continuously eroded under the long-term effect, the integrity and the service life of the tunnel structure are reduced, meanwhile, as the operation time is prolonged, the adhering thickness of the shell vegetables is continuously increased, the water flow section of the tunnel is reduced, the water supply flow and the conveying efficiency are influenced, and the water supply potential safety hazard is possibly caused because attachments fall off to form blockage. At present, aiming at the treatment of the shell vegetable attachments on the inner wall of a water supply tunnel, the method generally adopted in the industry is that workers enter the tunnel during the water cut-off maintenance of the tunnel to manually finish the cleaning and recycling operation of the attachments. On the one hand, the shellfishes can die quickly after being separated from a fresh water environment, toxic gas can be released in the process of decomposing remains, the personal safety of on-site operators is seriously threatened, meanwhile, the operation difficulty of removing and recycling attachments is increased, on the other hand, the water supply period of a water supply tunnel is usually strictly limited by urban water supply requirements, the water supply time is shorter, the manual operation efficiency is low, the complete removal and recycling of the shellfishes attachments in a long-distance and large-area tunnel are difficult to complete in a limited water supply period, the treatment effect is poor, and the attachment residue problem is outstanding. In addition, the inside ground of water supply tunnel is not level and smooth structure, exists a great deal of protruding thing like pipeline bracket, ground seam arch, debris pile up protruding etc. if adopt conventional bulldozing equipment or transfer equipment auxiliary operation, the equipment walking in-process is liable to collide with ground protruding thing, not only can cause equipment damage, still probably scrape tunnel ground and inner wall, further destroy tunnel structure, also can't realize simultaneously that the high efficiency of attachment gathers together, retrieve and transport, be difficult to adapt to the special operation environment demand of water supply tunnel. Aiming at the technical problems that the prior art has great difficulty in processing the shell vegetable attachments, low safety of manual operation, insufficient operation efficiency in the water cut-off period, incapability of adapting to uneven ground of a tunnel and the attachment transfer requirement and the like, the development of special equipment capable of adapting to the operation of uneven ground of a water supply tunnel and efficiently completing gathering, recycling and transferring of shell vegetable attachments at the bottom of the tunnel and a corresponding long-distance tunnel recycling scheme is urgently needed. Disclosure of Invention The invention aims to solve the technical problems that the prior art is high in processing difficulty of the shell vegetable attachments, low in safety of manual operation, insufficient in operation efficiency in a water cut-off period and incapable of adapting to the uneven ground of a tunnel and the a