Control method for blowing mechanism, blowing mechanism and blowing cleaning device

Abstract

The invention relates to a control method for a purging mechanism, the purging mechanism and a blowing cleaning device. The control method comprises the steps that the size of a compartment, the thickness of coal attached to the surface, the size of the purging mechanism and the moving range are obtained; according to the size of one surface of the carriage, the blowing range of the blowing mechanism and the movement range of the blowing mechanism, a preset movement track of the blowing mechanism is generated; generating a corner motion track of the purging mechanism on the surface; generating a target motion trail according to the predetermined motion trail of each surface and the corner motion trail of each surface; and controlling the mechanical arm to drive the purging mechanism to move according to the target movement track. The blowing mechanism is driven by the mechanical arm to move according to the target motion trail, the blowing mechanism does not need to be held by hands, time and labor are saved, the service life of the blowing mechanism is prolonged, and the blowing efficiency of the blowing mechanism is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle compartment cleaning, and in particular to a control method for a purge mechanism, a purge mechanism and an air blowing cleaning device. Background Art

[0002] During the transportation process of coal mines, coal is supplied by vehicles (such as trains). After unloading coal, there is a lot of coal dust on the vehicle body. If the coal dust on the vehicle body is not cleaned in time, it is easy to cause pollution to the transportation road and the surrounding environment. When the humidity of coal is too high, the coal dust will adhere to the surface of the carriage, which is difficult to remove by conventional cleaning.

[0003] In the related art, the surface of the carriage is generally cleaned by spraying high-pressure gas through an air knife. However, the air knife is generally large in size and has a small sweeping area. When in use, the air knife needs to be manually controlled to move to clean various positions in the carriage, which is time-consuming and labor-intensive to use. In addition, the air knife is prone to accidentally touching the surface of the carriage during movement, especially when the air knife is transferred from one surface of the carriage to another. It is easy to accidentally touch the corner, causing the attached coal to be blocked in the air jet hole of the air knife or the air knife is damaged, thereby affecting the subsequent cleaning process of the carriage surface. Summary of the invention

[0004] The purpose of the present disclosure is to provide a control method for a purge mechanism, a purge mechanism and an air blowing and cleaning device, so as to at least partially solve the problems existing in the related art.

[0005] In order to achieve the above-mentioned object, the present disclosure provides a control method for a purge mechanism, which is used to purge the surface of a vehicle compartment. The control method includes: Obtaining the size of the carriage, the thickness of the coal attached to the surface of the carriage, the outline size of the purge mechanism itself, and the range of movement of the purge mechanism; generating a predetermined motion trajectory of the purge mechanism according to a size of a surface of the carriage, a purge range of the purge mechanism, and a movable range of the purge mechanism; The angular motion trajectory of the purging mechanism on the one surface is generated according to the outline size of the purging mechanism, the size of the carriage, and the thickness of the coal attached to the surface of the carriage, so that the purging mechanism rotates from one side facing the carriage to the other side facing the carriage according to the angular motion trajectory; Generate a target motion trajectory according to the predetermined motion trajectory of each surface and the corner motion trajectory of each surface; The robot arm is controlled to drive the purge mechanism to move along the target motion trajectory.

[0006] Optionally, it also includes: Obtaining the humidity of the coal attached to the surface of the carriage, and The predetermined air pressure required by the purge mechanism at different positions when it moves is generated according to the thickness and humidity of the coal attached to the surface of the carriage and the distance of the purge mechanism relative to the surface of the carriage when it moves. In the step of controlling the mechanical arm to drive the purge mechanism to move along the target motion trajectory, the control method further includes: The output pressure of the purge mechanism is adjusted in real time according to the predetermined air pressure.

[0007] Optionally, in the step of generating the predetermined air pressure required by the purging mechanism at different positions when moving according to the thickness and humidity of the coal attached to the surface of the carriage and the distance of the purging mechanism relative to the surface of the carriage when moving, the control method further includes: According to the thickness and humidity of the coal attached to the surface of the carriage, the impact force required by the purge mechanism to clean different positions on the surface of the carriage is obtained; and The predetermined air pressure required by the blowing mechanism at different positions when it moves is generated according to the impact force required at the different positions and the distance of the blowing mechanism relative to the surface of the vehicle compartment when it moves.

[0008] Optionally, it also includes: When the thickness of the attached coal in any area of ​​the carriage surface exceeds a threshold value, the reciprocating motion trajectory of the purging mechanism is increased in the any area, and the predetermined air pressure of the purging mechanism is increased during the reciprocating motion.

[0009] Optionally, in the step of generating a predetermined motion trajectory of the purge mechanism according to the size of a surface of the carriage, the purge range of the purge mechanism, and the activity range of the purge mechanism, the control method further comprises: Obtaining a safe range of movement of the purge mechanism according to the size of the carriage and the thickness of the coal attached to the surface of the carriage; and A predetermined motion trajectory of the purge mechanism is generated according to the purge range of the purge mechanism, the activity range of the purge mechanism and the safe activity range of the purge mechanism.

[0010] Optionally, in the step of generating an angular motion trajectory of the purging mechanism on the one surface according to the contour size of the purging mechanism, the size of the carriage, and the thickness of the coal attached to the surface of the carriage, so that the purging mechanism rotates from one side facing the carriage to the other side facing the carriage according to the angular motion trajectory, the control method further includes: generating the shortest distance between the purge mechanism and the surface of the carriage when the purge mechanism rotates without contact according to the outline size of the purge mechanism and the size of the carriage; and The angular motion trajectory of the surface is generated according to the shortest distance of the purge mechanism relative to the surface of the carriage when the purge mechanism rotates without contact and the predetermined motion trajectory of the surface.

[0011] According to a second aspect of the present disclosure, a purge mechanism applied to the aforementioned control method is provided, the purge mechanism comprising a first part and a second part that are engaged with each other to form a cavity, a gap is left at a portion between the first part and the second part to form an air jet opening, The jet opening is arc-shaped, connected to the cavity, and the purge mechanism also has an air inlet connected to the cavity.

[0012] Optionally, a plurality of the air inlets are arranged on the first part, and along the direction in which the first part and the second part are interlocked, the thickness of the first part is greater than that of the second part. The first part is provided with a first slot body, the second part is provided with a second slot body, the first slot body and the second slot body are arranged to form the cavity, and the plurality of air inlets are connected to the first slot body.

[0013] Optionally, the purge mechanism further includes a gasket disposed between the first portion and the second portion at a side away from the air jet opening.

[0014] Optionally, the first part is provided with a first gas port end surface and a first connection end surface, and the second part is provided with a second gas port end surface and a second connection end surface. The gap between the first air port end face and the second air port end face forms the jet opening, the gasket is arranged between the first connection end face and the second connection end face, the first air port end face and the first connection end face are in the same plane, the second air port end face and the second connection end face are in the same plane, and the thickness of the gasket is equal to the width of the jet opening.

[0015] Optionally, it also includes a connecting piece that passes through the first part, the gasket and the second part in sequence to fix the first part and the second part together.

[0016] According to a third aspect of the present disclosure, there is provided an air blowing cleaning device, comprising a robotic arm and the above-mentioned blowing mechanism, wherein the blowing mechanism is mounted on a moving end of the robotic arm, and the robotic arm is used to control the movement of the blowing mechanism.

[0017] Optionally, the center of the air jet opening is located within the base of the robotic arm.

[0018] Through the above technical scheme, the predetermined motion trajectory and angular motion trajectory of the purge mechanism on each surface of the carriage are generated according to the size of the carriage, the thickness of the coal attached to the surface of the carriage, the contour size of the purge mechanism itself and the activity range of the purge mechanism, so as to obtain the target motion trajectory of the purge mechanism when blowing the surface of the carriage. The purge mechanism is then driven by a robotic arm to move according to the target motion trajectory, and there is no need for manual hand-held purge mechanism, which saves time and effort. In addition, operation by a robotic arm can avoid the problem of collision between the purge mechanism and the carriage or attached coal due to errors caused by manual hand-held operation, thereby improving the service life and purge efficiency of the purge mechanism.

[0019] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 is a flow chart of a control method exemplarily shown according to the present disclosure; Figure 2 is a schematic diagram of a purge mechanism exemplarily shown according to the present disclosure; Figure 3 yes Figure 2 A cross-sectional view of the purge mechanism shown in FIG. Figure 4 Schematic diagram of an air blowing cleaning device exemplarily shown in the present disclosure.

[0021] Description of Reference Numerals 10-purge mechanism; 20-mechanical arm; 30-carriage; 100-first part; 100A-first tank body; 100B-air inlet; 110-first air inlet end surface; 120-first connecting end surface; 200-second part; 200A-second tank body; 210-second gas port end surface; 220-second connection end surface; 300-gasket; 400-connector; A- cavity; B- jet opening. DETAILED DESCRIPTION

[0022] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0023] In the present disclosure, the terms "first", "second", etc. are used to distinguish one element from another element, and do not have order and importance. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0024] Reference Figure 1 The present disclosure exemplarily shows a control method for a purge mechanism, which is used to purge the surface of the compartment 30. The control method includes the following steps (unless there is an absolute logical relationship, there is no order difference, and the numbers are only for the convenience of description): S100 : Acquire the size of the carriage 30 , the thickness of the coal attached to the surface of the carriage 30 , the outline size of the purge mechanism 10 , and the range of movement of the purge mechanism 10 .

[0025] Specifically, various sensors, such as optical sensors, thickness sensors, and humidity sensors, can be installed inside the carriage 30 to monitor the coal attached to the surface of the carriage in real time. These sensors can detect the thickness, humidity, and area of ​​the attachment. A camera can also be installed inside the carriage 30, and the surface of the carriage can be analyzed and identified using image processing technology to determine the area that needs to be cleaned and the thickness and humidity of the attachment. The image recognition algorithm can identify the degree and type of dirt in different areas. When the automated recognition fails, the operator can also manually input or perform manual inspection to determine the area that needs to be cleaned and the condition of the attachment. This method may not be as accurate as the automated method, but it can still be used as a supplement or verification method in some cases. The size of the carriage 30 and the outline size of the purge mechanism 10 can also be obtained through measuring equipment, and the range of activity of the purge mechanism 10 can be obtained based on the range of the attached coal that needs to be cleaned in the carriage 30 (it is sufficient to clean the attached coal in all positions).

[0026] S200 : generating a predetermined motion trajectory of the purge mechanism 10 according to the size of a surface of the vehicle compartment 30 , the purge range of the purge mechanism 10 , and the movable range of the purge mechanism 10 .

[0027] S300: Generate an angular motion trajectory of the purging mechanism 10 on the surface according to the contour dimensions of the purging mechanism 10, the dimensions of the carriage 30 and the thickness of the coal attached to the surface of the carriage 30, so that the purging mechanism 10 rotates from one side facing the carriage 30 to the other side facing the carriage 30 according to the angular motion trajectory.

[0028] S400: Generate a target motion trajectory according to the predetermined motion trajectory of each surface and the corner motion trajectory of each surface.

[0029] S500: Control the robot arm 20 to drive the purge mechanism 10 to move along a target motion trajectory.

[0030] Here, it should be noted that the above-mentioned commonly used path planning algorithms may include A* algorithm, Dijkstra algorithm, etc., which can be adaptively adjusted according to the actual needs of purging. Since the principles and usage of the path planning algorithm are well known to those skilled in the art, they will not be introduced in detail here.

[0031] Through the above technical scheme, the predetermined motion trajectory and the angular motion trajectory of the purge mechanism 10 on each surface of the carriage 30 are generated according to the size of the carriage 30, the thickness of the coal attached to the surface of the carriage 30, the contour size of the purge mechanism 10 itself and the activity range of the purge mechanism 10, so as to obtain the target motion trajectory of the purge mechanism 10 when blowing the surface of the carriage 30. Then, the robotic arm 20 drives the purge mechanism 10 to move according to the target motion trajectory. There is no need to manually hold the purge mechanism, which saves time and effort. In addition, the operation by the robotic arm 20 can avoid the problem of collision between the purge mechanism 10 and the carriage 30 or the attached coal due to errors caused by manual holding, thereby improving the service life and purge efficiency of the purge mechanism 10.

[0032] In an embodiment of the present disclosure, the control method for the purge mechanism may further include: obtaining the humidity of the coal attached to the surface of the carriage 30, the specific acquisition method can be found above, and generating the predetermined air pressure required by the purge mechanism 10 at different positions when moving according to the thickness and humidity of the coal attached to the surface of the carriage 30, and the distance of the purge mechanism 10 relative to the surface of the carriage 30 when moving. In the step of controlling the mechanical arm 20 to drive the purge mechanism 10 to move according to the target motion trajectory, the control method may also include: adjusting the output pressure of the purge mechanism 10 in real time according to the predetermined air pressure. With such a design, different pressures can be output at different positions, so that the attached coal of corresponding thickness can be cleaned adaptively, avoiding insufficient pressure for inadequate cleaning or excessive pressure for wasting energy.

[0033] Furthermore, in the step of generating the predetermined air pressure required for the purge mechanism 10 at different positions when moving according to the thickness and humidity of the coal attached to the surface of the carriage 30 and the distance of the purge mechanism 10 relative to the surface of the carriage 30 when moving, the control method may also include: obtaining the impact force required for the purge mechanism 10 to clean different positions of the surface of the carriage 30 according to the thickness and humidity of the coal attached to the surface of the carriage 30; and generating the predetermined air pressure required for the purge mechanism 10 at different positions when moving according to the impact force required at different positions and the distance of the purge mechanism 10 relative to the surface of the carriage 30 when moving.

[0034] Specifically, the required cleaning degree is determined according to the cleaning effect target, such as completely removing the attached coal, reducing the thickness of the attached coal, etc. According to the thickness and humidity of the attached coal, as well as the surface characteristics, the impact force required at different positions can be calculated, which can be determined by engineering experience, experimental data or numerical simulation.

[0035] Further, in an embodiment of the present disclosure, the control method for the purge mechanism may also include: When the thickness of the attached coal in any area on the surface of the carriage 30 exceeds a threshold value (the threshold value can be adaptively designed according to actual conditions), the reciprocating motion trajectory of the purging mechanism 10 is added to the arbitrary area, and the predetermined air pressure of the purging mechanism 10 is increased during the reciprocating motion; and the motion trajectory of the current surface is generated according to the predetermined motion trajectory and the reciprocating motion trajectory. With such a design, when the thickness of the attached coal is large at certain locations, the attached coal at thicker locations can be cleaned by increasing the purging air pressure and repeatedly purging. In addition, in some other embodiments, it can also be achieved by simply increasing the air pressure or increasing the reciprocating purging path, and the present disclosure does not limit this.

[0036] In order to further prevent the robot arm 20 from colliding with the attached coal or the surface of the carriage 30 when controlling the movement of the purging mechanism 10, in the embodiment of the present disclosure, in the step of generating the predetermined movement trajectory of the purging mechanism 10 according to the size of a surface of the carriage 30, the purging range of the purging mechanism 10, and the activity range of the purging mechanism 10, the control method may also include: obtaining the safe activity range of the purging mechanism 10 according to the size of the carriage 30 and the thickness of the attached coal on the surface of the carriage 30; and generating the predetermined movement trajectory of the purging mechanism 10 according to the purging range of the purging mechanism 10, the activity range of the purging mechanism 10, and the safe activity range of the purging mechanism 10. With such a design, the safe range of the carriage 30 can be known through the area of ​​the carriage 30 that needs to be cleaned, and the purging mechanism 10 is set to move only within the safe range of the carriage 30, which can prevent the purging mechanism 10 from touching the carriage 30; combined with the thickness of the attached coal on the surface, the purging mechanism 10 can be prevented from directly touching the attached coal, thereby preventing the purging mechanism from being damaged.

[0037] Specifically, in the embodiment of the present disclosure, the purge range of the purge mechanism 10 is analyzed to determine the cleaning area that it can cover, and the range of movement of the purge mechanism 10, that is, the range of movement within the carriage 30, is analyzed. This is limited by the installation position of the robot 20, the mechanical structure, and the coal attached to the carriage 30. Combined with the aforementioned purge range, range of movement, and safe range of movement, a predetermined motion trajectory of the purge mechanism 10 is generated. This can be achieved through a path planning algorithm, taking into account the cleaning target area, the range of movement of the equipment, and safety restrictions. As mentioned above, commonly used path planning algorithms include A* algorithm, Dijkstra algorithm, etc.

[0038] In an embodiment of the present disclosure, in the step of generating an angular motion trajectory of the purging mechanism 10 on one surface according to the contour dimensions of the purging mechanism 10 itself, the dimensions of the carriage 30 and the thickness of coal attached to the surface of the carriage 30, so that the purging mechanism 10 rotates from one side facing the carriage 30 to the other side facing the carriage 30 according to the angular motion trajectory, the control method may also include: generating the closest distance of the purging mechanism 10 relative to the surface of the carriage 30 when rotating without contact according to the contour dimensions of the purging mechanism 10 itself and the dimensions of the carriage 30 (the closest distance here refers to the closest distance between the purging mechanism 10 and the current purging surface and the corresponding purging surface after rotation); and generating the angular motion trajectory of the surface according to the closest distance of the purging mechanism 10 relative to the surface of the carriage 30 when rotating without contact and the predetermined motion trajectory of the surface.

[0039] Specifically, by establishing a mathematical model or a physical model, and then setting the rotation angle range of the purge mechanism 10, the shortest distance from the edge of the purge mechanism 10 to the surface of the carriage 30 is calculated for each angle, and the minimum value among all the calculation results is found, which is the closest distance of the purge mechanism 10 when it rotates without contact. Generally speaking, an accurate 3D model can be created by using simulation calculation software, and then the closest distance can be automatically calculated using the software's measurement tools or writing macro programs. Then, when calculating the angular motion trajectory, a suitable coordinate system can be determined first, usually with a fixed point of the carriage 30 or the purge mechanism 10 as the origin, and then based on the rotation center, rotation speed and trajectory of the purge mechanism 10, the relative position of the edge of the purge mechanism 10 to the surface of the carriage 30 at each time point is calculated. Ensure that at all time points, the closest distance between the purge mechanism 10 and the surface of the carriage 30 is not less than the known safe distance. The motion trajectory of the purge mechanism 10 and the motion trajectory of the surface of the carriage 30 are considered synchronously to ensure that the purge mechanism 10 maintains a safe distance from the surface of the carriage 30 at any given moment. Specifically, assuming that the purge mechanism purges from 90 degrees to -90 degrees from the front, the 180 degrees is the aforementioned rotation angle range, and there are many angle values ​​in this range. At each angle, the shortest distance from the edge of the purge mechanism 10 to the surface of the carriage is calculated. This can be achieved through the distance formula from a point to a plane or a point to a curve in three-dimensional space (simulation), the purpose of which is to ensure that the carriage surface is not hit at the closest position, and this process can be achieved through interference simulation.

[0040] In summary, the control method provided by the present disclosure can obtain information such as the area of ​​the carriage 30 that needs to be cleaned, the thickness of the coal attached to the surface of the carriage 30, and the humidity. This information helps to determine the cleaning target and cleaning parameters. According to the area of ​​the carriage 30 that needs to be cleaned, the purge range of the purge mechanism 10, and the range of movement of the purge mechanism 10, a predetermined motion trajectory of the purge mechanism 10 is generated. This ensures that the purge mechanism 10 can cover the area that needs to be cleaned and can clean evenly throughout the area. According to factors such as the thickness and humidity of the attached coal and the distance of the purge mechanism 10 relative to the surface of the carriage 30 when the purge mechanism 10 moves, the predetermined air pressure required for the purge mechanism 10 when moving is determined. This ensures that appropriate air pressure can be provided to clean the surface under different circumstances. At the same time, the size of the purge mechanism 10 and the thickness of the coal attached to the surface of the carriage 30 can prevent the purge mechanism 10 from colliding with the surface of the carriage 30 or the attached coal during rotation, thereby preventing the purge mechanism 10 from being damaged or the attached coal from being blocked in the jet opening, thereby facilitating the subsequent cleaning of the surface of the carriage 30 by the purge mechanism 10. Compared with traditional handheld methods, the purge mechanism 10 of this method can be easily transferred to various surfaces of the carriage 30, thereby improving the cleaning efficiency of the carriage.

[0041] Reference Figure 2 and Figure 3 According to the second aspect of the present disclosure, a purge mechanism applied to the above control method is provided, the purge mechanism 10 includes a first part 100 and a second part 200 that are interlocked to form a cavity A, and a gap is left at a part of the position between the first part 100 and the second part 200 to form a jet opening B. Among them, the jet opening B is arc-shaped, and the jet opening B is connected to the cavity A. The purge mechanism 10 also has an air inlet 100B connected to the cavity A. With such a design, the purge gas can enter the cavity A from the air inlet 100B and blow to the attached coal through the jet opening B. Since the jet opening B is arc-shaped, the cleaning area of ​​the purge mechanism 10 will actually be fan-shaped, which is larger than the cleaning area of ​​the original straight jet opening, and it can also be easy to move, and can clean as much as possible the area that the straight jet cannot clean, and the first part 100 and the second part 200 that are interlocked can facilitate the disassembly and cleaning of the purge mechanism 10 in the event of blockage. Since the purge mechanism 10 has all the beneficial effects of the above control method, it will not be repeated here.

[0042] Reference Figure 2 and Figure 3In the embodiment of the present disclosure, a plurality of air inlets 100B may be provided on the first part 100, and the thickness of the first part 100 is greater than that of the second part 200 along the direction in which the first part 100 and the second part 200 are interlocked. Among them, a first slot body 100A may be provided on the first part 100, and a second slot body 200A may be opened on the second part 200. The first slot body 100A and the second slot body 200A may be surrounded to form a cavity A, and a plurality of air inlets 100B may be connected to the first slot body 100A. In this design, by providing a plurality of air inlets 100B on the first part 100 and ensuring that the thickness of the first part 100 is greater than that of the second part 200, such a design can effectively increase the air intake volume and pressure of the airflow. At the same time, the first part 100 is provided with a first slot 100A, the second part 200 is provided with a second slot 200A, the two slots enclose a cavity A, and the air inlet 100B is connected to the first slot 100A, and this design enables the pressure and flow rate of the airflow in the cavity A to be further enhanced. Therefore, this improvement can significantly improve the injection efficiency and cleaning effect of the purge mechanism 10, making it more reliable and efficient in practical applications.

[0043] Reference Figure 2 and Figure 3 In the embodiment of the present disclosure, the purge mechanism 10 may further include a gasket 300 disposed between the first part 100 and the second part 200 at a side away from the jet opening B. In this solution, the gasket 300 can effectively increase the stability and sealing of the purge mechanism 10, ensuring that the airflow in the cavity A will not leak or be disturbed due to the gap between the first part 100 and the second part 200. Therefore, by introducing the gasket 300, the performance and reliability of the purge mechanism 10 are further improved. The present disclosure does not limit the specific structure of the first part 100 and the second part 200 and the matching form between the two. Figure 3In the embodiment of the present disclosure, the first part 100 may be provided with a first gas port end surface 110 and a first connection end surface 120, and the second part 200 may be provided with a second gas port end surface 210 and a second connection end surface 220. The gap between the first gas port end surface 110 and the second gas port end surface 210 may form an air jet opening B, the gasket 300 may be provided between the first connection end surface 120 and the second connection end surface 220, the first gas port end surface 110 and the first connection end surface 120 may be in the same plane, the second gas port end surface 210 and the second connection end surface 220 may be in the same plane, and the thickness of the gasket 300 is equal to the width of the air jet opening B. Designed in this way, in this solution, by arranging the gasket 300 between the first connecting end face 120 and the second connecting end face 220, when the gasket 300 and the first connecting end face 120 and the second connecting end face 220 are sufficiently smooth, the sealing of the gasket 300 side can be achieved by pressing the first part 100 and the second part 200 with the connecting member 400 mentioned below. Since the first air port end face 110 and the first connecting end face 120 are in the same plane, and the second air port end face 210 and the second connecting end face 220 are in the same plane, the thickness of the gasket 300 is the width of the jet opening B. When it is necessary to adjust the width of the jet opening B to meet the needs under different working conditions, it can be achieved by replacing gaskets 300 with different thicknesses.

[0044] In order to achieve a tight connection between the first part 100 and the second part 200, a gap is left only at some positions for the air jet opening B, referring to Figure 2 In an embodiment of the present disclosure, the purge mechanism may further include a connector 400 that sequentially passes through the first portion 100, the gasket 300, and the second portion 200 to fix the first portion 100 and the second portion 200 together, and the number of the connector 400 may be multiple.

[0045] exist Figure 2 and Figure 3 In the illustrated embodiment, the first part 100 and the second part 200 may both be arc-shaped, the air inlet 100B may be located at the inner edge surface of the first part 100, the gasket 300 and the connector 400 are disposed close to the inner edge surfaces of the first part 100 and the second part 200, and the jet opening B may be disposed close to the outer edge surfaces of the first part 100 and the second part 200. In this solution, the first part 100 and the second part 200 are arc-shaped, respectively, matching the shape of the jet opening B, and the jet opening B is disposed close to the outer edge surfaces of the first part 100 and the second part 200, ensuring that the airflow in the cavity A is sprayed from the spray opening B toward the outer edge surface.

[0046] According to the third aspect of the present disclosure, there is provided an air blowing cleaning device, comprising a robot arm 20 and the above-mentioned blowing mechanism 10, the blowing mechanism 10 can be installed on the moving end of the robot arm 20, and the robot arm 20 can be used to control the movement of the blowing mechanism 10. In this scheme, since the blowing mechanism 10 is installed on the robot arm 20, the robot arm 20 can accurately control the position and direction of the blowing mechanism 10. This means that the injection angle and position of the airflow can be adjusted according to the position of the carriage 30, thereby improving the accuracy and efficiency of the work. The robot arm 20 can move in three-dimensional space as needed, so that the blowing mechanism 10 can cover every corner of the working area and difficult-to-reach areas. The robot arm 20 can be automatically operated according to a predetermined motion trajectory without manual intervention. Automated control reduces the possibility of human error and ensures the accuracy and consistency of operation. Since the air blowing cleaning device has all the beneficial effects of the above-mentioned blowing mechanism, they are not repeated here.

[0047] Furthermore, in the embodiment of the present disclosure, the center of the air jet opening B may be located within the base of the robot arm 20, thereby increasing the range of movement of the purge mechanism 10 as much as possible, thereby increasing the purge range of the air purge device.

[0048] In another embodiment of the present invention, the air blowing and cleaning device may further include: a state acquisition module (not shown in the figure), which is used to obtain the range of the carriage 30, the thickness and humidity of the coal attached to the surface of the carriage 30, and the pressure of the blowing mechanism 10; a processing module (not shown in the figure), which is used to generate a movement trajectory of the blowing mechanism 10 according to the thickness and humidity of the attached coal, the blowing range of the blowing mechanism 10, and the activity range of the blowing mechanism 10; and to generate a predetermined air pressure required for the blowing mechanism 10 when moving according to the distance of the blowing mechanism 10 relative to the surface of the carriage 30 and the maximum pressure of the blowing mechanism 10; an air supply module (not shown in the figure), which is connected to the blowing mechanism 10, and is used to supply air to the blowing mechanism 10 and adjust the air pressure of the blowing mechanism 10.

[0049] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0050] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0051] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A control method for a purge mechanism, used for purge the surface of a vehicle compartment, characterized in that: The control method comprises: Obtaining the size of the carriage, the thickness of the coal attached to the surface of the carriage, the outline size of the purge mechanism itself, and the range of movement of the purge mechanism; generating a predetermined motion trajectory of the purge mechanism according to a size of a surface of the carriage, a purge range of the purge mechanism, and a movable range of the purge mechanism; The angular motion trajectory of the purging mechanism on the one surface is generated according to the outline size of the purging mechanism, the size of the carriage, and the thickness of the coal attached to the surface of the carriage, so that the purging mechanism rotates from one side facing the carriage to the other side facing the carriage according to the angular motion trajectory; Generate a target motion trajectory according to the predetermined motion trajectory of each surface and the corner motion trajectory of each surface; The robot arm is controlled to drive the purge mechanism to move along the target motion trajectory.

2. The control method for a purge mechanism according to claim 1, characterized in that: Also includes: Obtaining the humidity of the coal attached to the surface of the carriage, and The predetermined air pressure required by the purge mechanism at different positions when it moves is generated according to the thickness and humidity of the coal attached to the surface of the carriage and the distance of the purge mechanism relative to the surface of the carriage when it moves. In the step of controlling the mechanical arm to drive the purge mechanism to move along the target motion trajectory, the control method further includes: The output pressure of the purge mechanism is adjusted in real time according to the predetermined air pressure.

3. The control method for a purge mechanism according to claim 2, characterized in that: In the step of generating the predetermined air pressure required by the purging mechanism at different positions when moving according to the thickness and humidity of the coal attached to the surface of the carriage and the distance of the purging mechanism relative to the surface of the carriage when moving, the control method further includes: According to the thickness and humidity of the coal attached to the surface of the carriage, the impact force required by the purge mechanism to clean different positions of the surface of the carriage is obtained; and The predetermined air pressure required by the blowing mechanism at different positions when it moves is generated according to the impact force required at the different positions and the distance of the blowing mechanism relative to the surface of the vehicle compartment when it moves.

4. The control method for a purge mechanism according to claim 2, characterized in that: Also includes: When the thickness of the attached coal in any area of ​​the carriage surface exceeds a threshold value, the reciprocating motion trajectory of the purging mechanism is increased in the any area, and the predetermined air pressure of the purging mechanism is increased during the reciprocating motion.

5. The control method for a purge mechanism according to claim 1, characterized in that: In the step of generating a predetermined motion trajectory of the purge mechanism according to the size of a surface of the carriage, the purge range of the purge mechanism, and the activity range of the purge mechanism, the control method further includes: Obtaining a safe range of movement of the purge mechanism according to the size of the carriage and the thickness of the coal attached to the surface of the carriage; and A predetermined motion trajectory of the purge mechanism is generated according to the purge range of the purge mechanism, the activity range of the purge mechanism and the safe activity range of the purge mechanism.

6. The control method for a purge mechanism according to claim 1, characterized in that: In the step of generating the angular motion trajectory of the purging mechanism on the one surface according to the contour size of the purging mechanism, the size of the carriage, and the thickness of the coal attached to the surface of the carriage, so that the purging mechanism rotates from one side facing the carriage to the other side facing the carriage according to the angular motion trajectory, the control method further includes: generating the shortest distance between the purge mechanism and the surface of the carriage when the purge mechanism rotates without contact according to the outline size of the purge mechanism and the size of the carriage; and The angular motion trajectory of the surface is generated according to the shortest distance of the purge mechanism relative to the surface of the carriage when the purge mechanism rotates without contact and the predetermined motion trajectory of the surface.

7. A purge mechanism applied to the control method according to any one of claims 1 to 6, characterized in that: The purge mechanism comprises a first part and a second part which are engaged with each other to form a cavity, and a gap is left at a part of a position between the first part and the second part to form an air jet opening. The jet opening is arc-shaped, connected to the cavity, and the purge mechanism also has an air inlet connected to the cavity.

8. The purging mechanism according to claim 7, characterized in that: The first part is provided with a plurality of the air inlets, and in the direction in which the first part and the second part are interlocked with each other, the thickness of the first part is greater than that of the second part, The first part is provided with a first slot body, the second part is provided with a second slot body, the first slot body and the second slot body are arranged to form the cavity, and the plurality of air inlets are connected to the first slot body.

9. The purging mechanism according to claim 7, characterized in that: The invention also includes a gasket which is arranged between the first part and the second part and is located at a side away from the air injection opening.

10. The purging mechanism according to claim 9, characterized in that: The first part is provided with a first gas port end surface and a first connection end surface, and the second part is provided with a second gas port end surface and a second connection end surface. The gap between the first air port end face and the second air port end face forms the jet opening, the gasket is arranged between the first connection end face and the second connection end face, the first air port end face and the first connection end face are in the same plane, the second air port end face and the second connection end face are in the same plane, and the thickness of the gasket is equal to the width of the jet opening.

11. The purging mechanism according to claim 9, characterized in that: It also includes a connecting piece which passes through the first part, the gasket and the second part in sequence to fix the first part and the second part together.

12. An air blowing cleaning device, characterized in that: It comprises a robotic arm and the purging mechanism described in any one of claims 7 to 11, wherein the purging mechanism is mounted on the moving end of the robotic arm, and the robotic arm is used to control the movement of the purging mechanism.

13. The air blowing cleaning device according to claim 12, characterized in that: The center of the air jet opening is located in the base of the mechanical arm.

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