Waterless cleaning system for locomotive accessories

Abstract

The invention discloses a locomotive accessory water-free cleaning system which comprises a carbon dioxide liquid storage tank, a dry ice making device, a cleaning room, a turnover device, a dry ice spraying device, a mobile robot, an oil mist purifying device and a control center. The cleaning device is used for cleaning locomotive accessories; the mobile robot is used for clamping and moving the dry ice spraying device so that the dry ice spraying device can conduct multi-angle cleaning on the locomotive accessories. A dry ice cleaning technology is adopted, granular dry ice and compressed air are mixed to generate high-speed airflow for cleaning, the dry ice is converted into a gas state from a solid state, micro-explosive impact force is directly generated, and dirt on the surfaces of locomotive accessories is crushed and removed. In the cleaning process, dry ice is instantly sublimated into gaseous carbon dioxide to be volatilized into the air, no residual matter exists, and secondary pollution cannot be generated.

Description

Technical Field

[0001] The present invention belongs to the technical field of locomotive parts cleaning, and particularly relates to a waterless cleaning system for locomotive parts. Background Art

[0002] During the long-term use of locomotives, various dusts, oils, and fumes are likely to deposit on the surface of locomotive parts and form dirt, which may affect the normal operation of locomotive parts. Therefore, it is necessary to clean the locomotive parts to remove the dirt attached to their surfaces.

[0003] Chinese Patent Document CN213287876U discloses a flushing machine for cleaning locomotive parts, including a flushing tank. A placement plate is provided inside the flushing tank. A water inlet pipe and a water outlet pipe are provided on the side wall of the flushing tank. A plurality of branch pipes are provided on the side wall of the water inlet pipe. Nozzles are sleeved at one ends of the plurality of branch pipes away from the water inlet pipe. A collection box is fixedly connected to the inner bottom of the flushing tank. A water collection cover is fixedly connected to the inside of the flushing tank. The water collection cover is communicated with the collection box, and the collection box is communicated with the water outlet pipe. A moving mechanism for moving the nozzles is provided inside the flushing tank. This solution has the following advantages and effects: it can make the nozzles swing back and forth, and at the same time the parts rotate, greatly increasing the contact area between water and the parts, enabling water to fully clean the parts and ensuring the cleaning effect.

[0004] The existing locomotive parts cleaning technology mainly adopts mechanical water washing method, which has the problems of insufficient and incomplete cleaning, and water washing is relatively water-consuming, which is not conducive to saving water resources. Summary of the Invention

[0005] The purpose of the present invention is to provide a waterless cleaning system for locomotive parts to solve the above problems existing in the prior art.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions: A waterless cleaning system for locomotive parts, including:

[0007] A carbon dioxide liquid storage tank for storing and supplying liquid carbon dioxide;

[0008] A dry ice making device for converting liquid carbon dioxide into granular dry ice;

[0009] A cleaning room for providing a cleaning operation space;

[0010] A flipping device arranged in the cleaning room for fixing and flipping the locomotive parts to be cleaned;

[0011] A dry ice spraying device for mixing granular dry ice and compressed air and spraying them onto the locomotive parts to be cleaned to clean the locomotive parts;

[0012] A mobile robot for clamping and moving a dry ice spraying device to enable the dry ice spraying device to clean locomotive fittings from multiple angles; and

[0013] A control center for controlling the working states of a dry ice making device, a flipping device, a dry ice spraying device and a mobile robot.

[0014] As an optional implementation of the above technical solution, the dry ice making device includes a dry ice making box, a granule forming machine and a collecting device. A carbon dioxide delivery pipe is connected between the dry ice making box and a carbon dioxide liquid storage tank. A throttle valve is provided at one end of the carbon dioxide delivery pipe close to the dry ice making box. The throttle valve is used to reduce the pressure of liquid carbon dioxide, so that part of the liquid carbon dioxide vaporizes by absorbing heat in the dry ice making box, and the other part of the liquid carbon dioxide cools and solidifies into block dry ice in the dry ice making box. The granule forming machine is used to crush the block dry ice to obtain granular dry ice, and the collecting device is used to collect the granular dry ice.

[0015] As an optional implementation of the above technical solution, the granule forming machine includes a hydraulic device, a compression oil cylinder and a crushing mechanism. The hydraulic device is connected to the compression oil cylinder. The movable end of the compression oil cylinder is connected to the crushing mechanism. The crushing mechanism extends into the dry ice making box to crush the block dry ice.

[0016] As an optional implementation of the above technical solution, the crushing mechanism includes a stamping head. The stamping head is connected to the movable end of the compression oil cylinder. The compression oil cylinder is used to drive the stamping head to reciprocate to stamp the block dry ice into granular dry ice.

[0017] As an optional implementation of the above technical solution, the cleaning room is provided with a ventilation device, a lighting device, a warning device and a carbon dioxide concentration detection device. The ventilation device, the lighting device, the warning device and the carbon dioxide concentration detection device are all connected to the control center.

[0018] As an optional implementation of the above technical solution, the flipping device includes a flipping base, a flipping frame and a rotation driving device. The flipping frame is rotatably arranged on the flipping base. The flipping frame is used to fix the locomotive fitting to be cleaned. The rotation driving device is used to drive the flipping frame to rotate on the flipping base.

[0019] As an optional implementation of the above technical solution, the flipping frame includes a first flipping ring, a second flipping ring and a support frame. Both the first flipping ring and the second flipping ring are rotationally matched with the flipping base. Two ends of the support frame are respectively connected to the first flipping ring and the second flipping ring. A positioning device and a clamping device are provided on the support frame. The positioning device is used to position the locomotive fitting to be cleaned, and the clamping device is used to clamp and fix the locomotive fitting to be cleaned.

[0020] As an alternative implementation of the above technical solution, the rotation driving device is connected to the control center, and the control center is used to control the flipping angle and flipping speed of the flipping frame, and according to the working state of the flipping frame, use the mobile robot to accurately control the movement trajectory and spraying parameters of the dry ice spraying device to perform all-direction cleaning on locomotive accessories.

[0021] As an alternative implementation of the above technical solution, the dry ice spraying device includes a dry ice spray gun and a feeding mechanism. The dry ice spray gun is arranged on the mobile robot. The output end of the feeding mechanism is communicated with the dry ice spray gun. One input end of the feeding mechanism is communicated with the dry ice ice-making device, and the other input end of the feeding mechanism is connected with a compressed air input pipe.

[0022] As an alternative implementation of the above technical solution, the mobile robot includes a six-axis robot, a linear moving device and a spray gun fixture. The six-axis robot is arranged on the linear moving device. The linear moving device is used to drive the six-axis robot to move along the length direction of the flipping device. The spray gun fixture is arranged on the six-axis robot and is used to clamp the dry ice spraying device.

[0023] As an alternative implementation of the above technical solution, it further includes an oil mist purification device for purifying the waste gas in the cleaning room.

[0024] As an alternative implementation of the above technical solution, the oil mist purification device includes a purification box body. Inside the purification box body, a mechanical filtration mechanism, an electrostatic adsorption mechanism and an activated carbon adsorption mechanism are sequentially arranged. An air inlet and an air outlet are arranged outside the purification box body. The air inlet is connected with a collection hood through a pipeline, and the collection hood is arranged inside the cleaning room.

[0025] As an alternative implementation of the above technical solution, the air outlet is connected with an exhaust pipe. An exhaust fan is arranged on the exhaust pipe, and a rain cap is arranged at the end of the exhaust pipe.

[0026] The beneficial effects of the present invention are as follows:

[0027] The present invention adopts dry ice cleaning technology, uses a high-speed air flow generated by mixing granular dry ice and compressed air for cleaning. The dry ice changes from a solid state to a gaseous state, directly generating a micro-explosive impact force to break and remove the dirt on the surface of locomotive accessories. During the cleaning process, the dry ice instantly sublimes into gaseous carbon dioxide and volatilizes into the air without any residual substances and will not cause secondary pollution; moreover, combined with the linkage cleaning operation mode of the mobile robot and the flipping device, the waterless and automated cleaning operation of locomotive accessories can be realized. Description of the Drawings

[0028] Figure 1It is a schematic structural diagram of a waterless cleaning system for locomotive parts in an embodiment of the present invention;

[0029] Figure 2 It is a flow chart of a waterless cleaning system for locomotive parts in an embodiment of the present invention;

[0030] Figure 3 It is a schematic structural diagram of a dry ice making device in an embodiment of the present invention;

[0031] Figure 4 It is a schematic structural diagram of a cleaning room in an embodiment of the present invention;

[0032] Figure 5 It is a schematic structural diagram of a flipping device in an embodiment of the present invention;

[0033] Figure 6 It is a schematic structural diagram of a mobile robot in an embodiment of the present invention;

[0034] Figure 7 It is a schematic structural diagram of an oil mist purification device in an embodiment of the present invention.

[0035] In the figure: 1 - carbon dioxide liquid storage tank; 2 - dry ice making device; 3 - cleaning room; 4 - flipping device; 5 - dry ice spraying device; 6 - mobile robot; 7 - control center; 8 - oil mist purification device;

[0036] 21 - dry ice making box; 22 - particle forming machine; 23 - collection device; 24 - throttle valve; 25 - integrated housing; 26 - dry ice making room;

[0037] 31 - ventilation device;

[0038] 41 - flipping base; 42 - flipping frame; 43 - slide rail;

[0039] 51 - dry ice spray gun; 52 - feeding mechanism;

[0040] 61 - six - axis robot; 62 - linear moving device; 63 - spray gun fixture;

[0041] 81 - purification box body; 82 - collection hood; 83 - exhaust equipment; 84 - exhaust pipe; 85 - rain cap. Specific embodiments

[0042] As Figures 1 - 7 shown, this embodiment provides a waterless cleaning system for locomotive parts, including: a carbon dioxide liquid storage tank 1, a dry ice making device 2, a cleaning room 3, a flipping device 4, a dry ice spraying device 5, a mobile robot 6, an oil mist purification device 8 and a control center 7.

[0043] Among them, the carbon dioxide liquid storage tank 1 is used to store and supply liquid carbon dioxide. The carbon dioxide liquid storage tank 1 is a pressure vessel for storing cryogenic liquid carbon dioxide medium. The carbon dioxide liquid storage tank 1 is connected to the dry ice making device 2 through a carbon dioxide delivery pipe, and can supply dry ice making raw materials for the dry ice making device 2.

[0044] The dry ice making device 2 is used to convert liquid carbon dioxide into granular dry ice. The dry ice making device 2 has an ice making function. The system includes two dry ice making devices 2, and the maximum ice making capacity can reach 300 kg / h, which can meet the dry ice supply demand for cleaning operations.

[0045] The cleaning room 3 is used to provide a cleaning operation space. The cleaning room 3 can be designed as a fixed structure or a telescopic structure, and can be telescoped through system control. During the cleaning operation, the cleaning room 3 extends and covers the cleaning operation area, providing an independent sealed space for the cleaning operation; after the operation is completed, the cleaning room 3 retracts to the fixed area without affecting other operations. The cleaning room 3 has functions such as ventilation, lighting, and carbon dioxide concentration alarm.

[0046] The flipping device 4 is arranged in the cleaning room 3 and is used to fix and flip the locomotive parts to be cleaned. Before the cleaning operation, first transfer the locomotive parts to the cleaning room 3 by a flat car, and then fix the locomotive parts to the flipping device 4. During the cleaning operation, in order to better cooperate with the mobile robot 6 to complete the cleaning operation, the locomotive parts are rotated to different angles by the flipping device 4 for cleaning.

[0047] The dry ice spraying device 5 is used to mix granular dry ice and compressed air and spray them onto the locomotive parts to be cleaned for cleaning the locomotive parts. The dry ice spraying device 5 has a cleaning operation function. The system includes 2 dry ice spraying devices 5, which can clean both sides of the locomotive parts simultaneously.

[0048] The mobile robot 6 is used to hold and move the dry ice spraying device 5 so that the dry ice spraying device 5 can clean the locomotive parts from multiple angles.

[0049] The oil mist purification device 8 is used to purify the exhaust gas in the cleaning room 3. The oil mist purification device 8 is connected to the cleaning room 3 through a pipeline, and can collect and filter the oil mist generated during the cleaning operation of the cleaning room 3, ensuring a clean and tidy working environment in the cleaning room 3, and meeting the national industrial emission standards after the exhaust gas is treated.

[0050] The control center 7 is used to control the working states of the dry ice making device 2, the flipping device 4, the dry ice spraying device 5, and the mobile robot 6. All device signals are connected to the control center 7 to achieve centralized control of the system. The operator starts the operation program on the console to realize the automatic cleaning operation of the locomotive parts.

[0051] The system adopts dry ice cleaning technology, using a high-speed air flow generated by mixing granular dry ice and compressed air for cleaning. The dry ice changes from solid state to gaseous state, directly generating a micro-explosive impact force, which shatters and removes the dirt on the surface of locomotive parts. During the cleaning process, the dry ice instantly sublimes into gaseous carbon dioxide and volatilizes into the air without any residual substances, and no secondary pollution will be generated.

[0052] Principle of dry ice cleaning:

[0053] 1. Impact effect: Granular dry ice impacts the dirt at a high speed (up to 150 m / s) through compressed air, which can quickly break the adhesion between the dirt and the substrate, achieving efficient peeling of the dirt.

[0054] 2. Sublimation micro-explosion effect: When dry ice particles at -78 degrees Celsius come into contact with the dirt surface, they will quickly sublime into gas, and the volume expands 700 - 800 times instantly, generating a micro-explosion effect, strongly peeling the pollutants from the substrate surface without causing any damage.

[0055] 3. Low-temperature effect: The extremely low temperature of dry ice (-79 degrees Celsius) can trigger a temperature difference reaction, resulting in different contraction speeds of different materials, thus promoting the detachment between the pollutants and the substrate and further enhancing the cleaning effect.

[0056] The present invention adopts dry ice cleaning technology, combines the linkage cleaning operation mode of the mobile robot 6 and the flipping device 4, and realizes the waterless and automated cleaning operation of locomotive parts. At the same time, the system has a synchronous purification function, which can collect and purify the oil mist generated during the cleaning operation to avoid air pollution.

[0057] As Figure 2 and Figure 3 shown, in this embodiment, the dry ice making device 2 includes a dry ice making box 21, a particle forming machine 22 and a collecting device 23. The dry ice making box 21, the particle forming machine 22 and the collecting device 23 are all arranged inside an integrated housing 25, and this integrated housing is arranged in a dry ice making room 26. A carbon dioxide delivery pipe is connected between the dry ice making box 21 and the carbon dioxide liquid storage tank 1, and a throttle valve 24 is provided at one end of the carbon dioxide delivery pipe close to the dry ice making box 21. The throttle valve 24 is used to reduce the pressure of the liquid carbon dioxide, so that a part of the liquid carbon dioxide vaporizes by absorbing heat in the dry ice making box 21, and another part of the liquid carbon dioxide cools and solidifies into block dry ice in the dry ice making box 21; the particle forming machine 22 is used to crush the block dry ice to obtain granular dry ice, and the collecting device 23 is used to collect the granular dry ice.

[0058] Specifically, the granulator 22 includes a hydraulic device, a compression cylinder, and a crushing mechanism. The hydraulic device is connected to the compression cylinder, the movable end of the compression cylinder is connected to the crushing mechanism, and the crushing mechanism extends into the dry ice production box 21 to crush the block dry ice. Preferably, the crushing mechanism includes a stamping head, which is connected to the movable end of the compression cylinder. The compression cylinder is used to drive the stamping head to reciprocate to stamp the block dry ice into granular dry ice.

[0059] Dry ice production principle: In the dry ice production box 21, high-pressure liquid carbon dioxide is converted into solid dry ice and made into granular form by the granulator 22. The specific process is as follows:

[0060] 1. Carbon dioxide storage and supply: Liquid carbon dioxide is in a high-pressure and low-temperature state in the carbon dioxide liquid storage tank 1 to maintain its liquid state. When granular dry ice needs to be produced, the liquid carbon dioxide in the carbon dioxide liquid storage tank 1 is transported to the dry ice production box 21 through a pipeline.

[0061] 2. Throttling expansion: When liquid carbon dioxide flows from the carbon dioxide liquid storage tank 1 to the dry ice production box 21, it passes through a throttle valve 24. Due to the small aperture of the throttle valve 24, the liquid carbon dioxide will suddenly depressurize when passing through. According to the Joule-Thomson effect, the temperature of the liquid carbon dioxide will drop sharply. Part of the liquid carbon dioxide quickly vaporizes and absorbs heat, causing the remaining liquid carbon dioxide to rapidly cool and solidify into solid carbon dioxide, that is, dry ice.

[0062] 3. Granulation: In the dry ice production box 21, the solidified block dry ice is affected by the granulator 22 and is extruded, cut, or crushed into small particles. Common granulation methods include screw extrusion type and piston type. The screw extrusion type extrudes dry ice into particles through a rotating screw rod, while the piston type uses the reciprocating motion of the piston to stamp dry ice into particles. The size and shape of these particles can be controlled by adjusting the parameters of the granulator 22.

[0063] 4. Particle collection and output: The produced granular dry ice is discharged from the outlet of the dry ice production box 21 and enters the collection device 23. The collection device 23 usually includes a storage container and a conveying pipeline, and the granular dry ice can be collected for subsequent use or transportation.

[0064] In the present invention, dry ice is first produced in the dry ice production box 21 by the granulator 22, then the dry ice is transported to the collection device 23, and then mixed with compressed air to clean locomotive parts. During cleaning, the granular dry ice is accelerated by high-pressure air and sprayed onto the surface of the object to be cleaned. By using the combined action of three effects, the dirt is quickly and thoroughly removed from the surface of the object to achieve the purpose of cleaning.

[0065] Such as Figure 4As shown in the figure, in this embodiment, the cleaning room 3 is provided with a ventilation device 31, a lighting device, a warning device and a carbon dioxide concentration detection device, and the ventilation device 31, the lighting device, the warning device and the carbon dioxide concentration detection device are all connected to the control center 7. During the anhydrous cleaning of locomotive parts, the cleaning room 3 provides a closed working environment for the cleaning operation. Through system centralized control, automated dry ice cleaning operations can be achieved.

[0066] The ventilation device 31 includes a supply air fan and an air supply outlet. The supply air fan should have good performance and stability, be equipped with an efficient air supply function, and the air supply volume should not be less than 20000m 3 / h. The air supply outlets are arranged on the top of the cleaning room 3, and the supply air fan is arranged inside the air supply outlets.

[0067] The lighting device includes lighting lamps. The lighting lamps are arranged on both sides of the top of the fixed frame, and the light is evenly bright. The lighting tubes use LED tubes, which have stable performance, good safety, and long service life, so that the overall illuminance of the cleaning room 3 is not less than 300 Lux.

[0068] The warning device includes warning papers installed on the fixed frame and the movable frame, and also includes a "red, yellow, green" three-color audible and visual alarm light arranged on the movable frame. During normal operation, the green light is always on. When the cleaning room 3 unfolds or contracts, the yellow light flashes and a siren sounds. When there is a device failure, the red light flashes and a siren sounds.

[0069] A carbon dioxide concentration detection device is arranged inside the cleaning room 3 to detect whether the carbon dioxide concentration exceeds the standard, referring to the relevant requirements of the "Hygienic Standard for Carbon Dioxide in the Air of Workshops" GB16201-1996.

[0070] Such as Figure 5As shown, in this embodiment, the flipping device 4 includes a flipping base 41, a flipping frame 42 and a rotation driving device. The flipping frame 42 is rotatably arranged on the flipping base 41. The flipping frame 42 is used to fix the locomotive parts to be cleaned, and the rotation driving device is used to drive the flipping frame 42 to rotate on the flipping base 41. A slide rail 43 extending outside the cleaning room 3 is provided at the bottom of the flipping base 41, which facilitates the movement of the flipping base 41 along the slide rail 43 to convey the locomotive parts to be cleaned. The flipping frame 42 includes a first flipping ring, a second flipping ring and a support frame. Both the first flipping ring and the second flipping ring are rotationally matched with the flipping base 41. The two ends of the support frame are respectively connected to the first flipping ring and the second flipping ring. A positioning device and a clamping device are provided on the support frame. The positioning device is used to position the locomotive parts to be cleaned, and the clamping device is used to clamp and fix the locomotive parts to be cleaned. The rotation driving device is connected to the control center 7. The control center 7 is used to control the flipping angle and flipping speed of the flipping frame 42, and accurately control the movement trajectory and spraying parameters of the dry ice spraying device 5 according to the working state of the flipping frame 42 to perform all-round cleaning on the locomotive parts.

[0071] The flipping frame 42 is similar to a large frame made of high-strength metal materials to ensure that it can bear the weight of the diesel engine block. Rotating shafts are installed at both ends of the flipping frame 42, and the rotating shafts are connected to the flipping base 41 through bearings, enabling the flipping frame 42 to rotate around the shafts. The rotation driving device adopts a servo motor and a gear assembly. The servo motor has high-precision position control and speed control capabilities. The servo motor drives the flipping frame 42 to rotate, enabling the flipping frame 42 to smoothly drive the diesel engine block to flip.

[0072] Positioning and clamping of locomotive parts: First, place the locomotive parts (diesel engine block) on the workbench of the flipping frame 42. Positioning devices such as positioning pins or positioning blocks are provided on the workbench, which can accurately determine the position of the diesel engine block and ensure that the position is consistent each time it is placed. At the same time, the clamping device will automatically clamp the diesel engine block to prevent it from moving during the flipping process. The clamping device can adopt hydraulic or pneumatic fixtures, and sensors are used to detect whether the fixture is clamped in place and feed back the signal to the control center 7.

[0073] Angle control: When dry ice cleaning of the diesel engine block is required, the control center 7 controls the servo motor to rotate according to a preset program. The servo motor drives the speed reducer, and the speed reducer then drives the flipping frame 42 to rotate around the shaft. By accurately controlling the rotation angle of the servo motor, the diesel engine block can be flipped at different angles so that the mobile robot 6 can perform comprehensive and accurate dry ice cleaning. For example, in order to clean the internal cavity of the diesel engine block, the flipping frame 42 can flip the block to a specific angle so that the dry ice spray gun 51 can penetrate into the cavity of the locomotive parts for cleaning.

[0074] Speed adjustment: According to the requirements of the cleaning process, the flipping speed of the flipping frame 42 can be adjusted. When cleaning some key parts or areas that require delicate operations, the flipping frame 42 rotates at a slower speed so that the mobile robot 6 can more accurately control the spraying direction and intensity of dry ice. When cleaning some large surfaces, the flipping speed can be appropriately increased to improve the cleaning efficiency.

[0075] Safety protection: To ensure the safety of operators and equipment, the flipping frame 42 is equipped with a variety of safety protection devices. For example, light curtain sensors are set around the flipping frame 42. When an object enters the light curtain area, the system will immediately stop the movement of the flipping frame 42. In addition, an overload protection device is also provided. When the weight borne by the flipping frame 42 exceeds the set value, the flipping frame 42 will stop moving to prevent equipment damage.

[0076] Cooperative work between the flipping frame 42 and the mobile robot 6: The flipping frame 42 and the mobile robot 6 work together through the control center 7. The flipping frame 42 flips the diesel engine body to the appropriate position and angle according to the cleaning process and requirements of the mobile robot 6. The mobile robot 6 then accurately controls the movement trajectory and spraying parameters of the dry ice spray gun 51 according to the state of the flipping frame 42 to achieve efficient and precise automated dry ice cleaning. For example, when the flipping frame 42 flips the diesel engine body to a certain angle, the mobile robot 6 will receive a corresponding signal and then adjust the position and angle of the nozzle to clean a specific part of the body. After the cleaning is completed, the flipping frame 42 flips the body to the next position to be cleaned, and the mobile robot 6 continues the cleaning operation, and so on until the entire diesel engine body is cleaned.

[0077] As Figure 2 shown, in this embodiment, the dry ice spraying device 5 includes a dry ice spray gun 51 and a feeding mechanism 52. The dry ice spray gun 51 is arranged on the mobile robot 6. The output end of the feeding mechanism 52 is communicated with the dry ice spray gun 51. One input end of the feeding mechanism 52 is communicated with the dry ice ice-making device 2, and the other input end of the feeding mechanism 52 is connected with a compressed air input pipe. The feeding mechanism 52 uses a feeding pump, which mixes and transports granular dry ice and compressed air to the dry ice spray gun 51, and sprays through the dry ice spray gun 51 to clean locomotive parts.

[0078] As Figure 6As shown, in this embodiment, the mobile robot 6 includes a six-axis robot 61, a linear moving device 62 and a spray gun clamp 63. The six-axis robot 61 is arranged on the linear moving device 62, and the linear moving device 62 is arranged on the side wall of the cleaning room 3. The linear moving device 62 is used to drive the six-axis robot 61 to move along the length direction of the flipping device 4. The spray gun clamp 63 is arranged on the six-axis robot 61 and is used to clamp the dry ice blasting device 5.

[0079] The coordinated use of the six-axis robot 61 and the linear motion device 62 can not only expand the working range of the six-axis robot 61, but also improve its working flexibility and efficiency, thereby completing complex and diverse work tasks. In the waterless cleaning of locomotive parts, the dry ice spray gun 51 is fixed to the spray gun fixture 63. Through the remote centralized control of the system, the mobile robot 6 can cooperate with the flip frame 42 according to the predetermined cleaning program to realize the automated cleaning operation.

[0080] The six-axis robot 61 motion control principle: The six-axis robot 61 adopts the existing technology, which is usually composed of multiple joints, each of which is equipped with a servo motor and an encoder. The servo motor accurately controls the rotation angle and speed of the joint according to the instructions issued by the control center 7, and the encoder feeds back the actual position information of the joint in real time, forming a closed-loop control center 7, thereby realizing the precise motion positioning of the robot arm, so that it can accurately deliver the dry ice spray gun 51 to each part of the diesel engine body to be cleaned.

[0081] Principle of dry ice blasting: A dry ice blasting gun 51 is installed at the end of the six-axis robot 61. The granular dry ice is transported to the dry ice blasting gun 51 under the action of compressed air. In the dry ice blasting gun 51, the granular dry ice is mixed with the high-pressure gas and accelerated, and then sprayed onto the surface of the diesel engine body at high speed. The low-temperature characteristics of dry ice are used to quickly cool and embrittle the engine oil. At the same time, the granular dry ice sprayed at high speed has a certain impact force, which can peel off the embrittled engine oil layer from the body surface to achieve the purpose of cleaning.

[0082] Linear moving device 62: As the seventh axis of the six-axis robot 61, it includes a linear track and a corresponding walking mechanism. The linear track is fixed on the ground, and the six-axis robot 61 moves on the linear track through the walking mechanism installed at the bottom. The walking mechanism generally adopts a gear rack or chain transmission method and is driven by a motor. The motor drives the gear or sprocket to rotate through the reducer, and meshes with the rack or chain on the linear track, so that the six-axis robot 61 moves linearly along the linear track. This driving method can provide stable power and precise position control.

[0083] Positioning and limiting principle: A position sensor and a limit switch are installed on the linear track to precisely control the position of the six-axis robot 61 and prevent it from exceeding the range of the linear track. The position sensor can continuously monitor the position information of the six-axis robot 61 on the linear track and feed it back to the control center 7. When the six-axis robot 61 reaches the preset cleaning position, the control center 7 will control the six-axis robot 61 to stop moving and perform the cleaning operation according to the signal of the position sensor. The limit switch is triggered when the six-axis robot 61 approaches the extreme positions at both ends of the linear track, causing the six-axis robot 61 to stop moving, avoiding collision accidents, and ensuring the safety of equipment and personnel.

[0084] Linkage principle of the mobile robot 6 and the flipping frame 42: The six-axis robot 61, the linear moving device 62, and the flipping frame 42 are linked through the control center 7. During the cleaning process, the flipping frame 42 flips the diesel engine block to different angles, and the linear moving device 62 drives the six-axis robot 61 to move along the linear track to a suitable position according to the position of the six-axis robot 61 and the cleaning task, enabling the six-axis robot 61 to comprehensively clean different parts of the block. For example, when the flipping frame 42 flips the block to a certain angle so that one side of the block needs to be cleaned, the linear moving device 62 will drive the six-axis robot 61 to move to a suitable position on that side, and then the six-axis robot 61 will use its joint movement to aim the dry ice spray gun 51 at the part to be cleaned for cleaning. Through this linkage method, efficient and automated cleaning of the diesel engine block can be achieved.

[0085] This embodiment includes two sets of mobile robots 6. The mobile robot 6 is a mature existing technology. The six-axis robot 61 includes accessories such as a robot main body, a teach pendant, a control cabinet, and a protective suit. The six-axis robot 61 is composed of six rotating joints, and the rotation of each joint is driven by a motor to achieve the movement of the robot. These joints can move in three planes, which enables the six-axis robot 61 to perform various tasks in three-dimensional space. Teach pendant: A tool for robot programming. The movement, posture, speed, and other parameters of the robot can be directly controlled through the robot teach pendant. The teach pendant is equipped with a touch screen (10.7 inches) and buttons, and the movement of the robot is controlled through these operation methods. Control cabinet: Responsible for the electrical control and power drive of each joint of the robot, including components such as the motor drive module, sensor module, and power supply module of the robot, mainly responsible for controlling the movement and force control of each joint of the robot. Robot protective suit: A protective cover for the robot during cleaning operations, with oil and water-proof functions, strong and durable.

[0086] The linear motion device 62 controls the movement of the six-axis robot 61 through a program. The six-axis robot 61 is located on a linear track and can move along a specified route through the control center 7. The linear motion device 62, as an auxiliary walking mechanism of the six-axis robot 61, can move the six-axis robot 61 to different workstations, expanding the working range of the six-axis robot 61 and enabling high-intensity, high-precision, and all-round operations.

[0087] As Figure 7 shown, in this embodiment, the oil mist purification device 8 includes a purification box body 81. Inside the purification box body 81, a mechanical filtration mechanism, an electrostatic adsorption mechanism, and an activated carbon adsorption mechanism are sequentially arranged to respectively implement the functions of mechanical filtration, electrostatic adsorption, and activated carbon adsorption. An air inlet and an exhaust outlet are provided on the outer side of the purification box body 81. The air inlet is connected with a collection hood 82 through a pipeline, and the collection hood 82 is arranged inside the cleaning room 3; the exhaust outlet is connected with an exhaust pipe 84, an exhaust fan 83 is provided on the exhaust pipe 84, and a rain cap 85 is provided at the end of the exhaust pipe 84.

[0088] Mechanical filtration mechanism: The oil mist is preliminarily treated by mechanical filtration. A filter screen or filter element is arranged inside the device. When the air containing oil mist enters the device, larger oil droplets and impurities will be intercepted by the filter screen and attached to the filter screen, thereby separating a part of the oil mist from the air. This mechanical filtration method can effectively remove large-particle oil mist and protect the subsequent purification components.

[0089] Electrostatic adsorption mechanism: The air after mechanical filtration enters the electrostatic adsorption area. In this area, the device generates a strong electric field through a high-voltage electrode to make the oil mist particles carry charges. The charged oil mist particles will be adsorbed onto the collection plate with the opposite charge under the action of the electric field force. The electrostatic adsorption technology can efficiently capture tiny oil mist particles, and has a significant purification effect on the oil mist, which can greatly reduce the concentration of oil mist in the air.

[0090] Activated carbon adsorption mechanism: The air after electrostatic adsorption may still have some odors and a small amount of oil mist molecules remaining. At this time, the air will pass through the activated carbon adsorption layer. Activated carbon has a huge specific surface area and a rich microporous structure, and has a strong adsorption capacity. It can adsorb the remaining oil mist molecules and odor substances in the air, further purify the air, make the discharged air meet the environmental protection standards, and reduce environmental pollution.

[0091] In this embodiment, the collection hood 82 is arranged inside the cleaning room 3, and the cleaning room 3 is provided with a ventilation device 31, thereby forming a circulating air flow to ensure that the oil mist entering the device can fully pass through each purification link, improving the purification efficiency. At the same time, the ventilation device 31 can also adjust the air flow rate and velocity according to needs to adapt to different cleaning working conditions and oil mist concentrations.

[0092] Compared with the prior art, the present invention has the following advantages:

[0093] (1) Dry ice cleaning technology is used to clean the oil stains on the surface of locomotive parts without water under the action of a high-speed airflow mixed with granular dry ice and compressed air.

[0094] (2) The particle forming machine 22 can set the size of the granular dry ice according to the needs, and grind it into three particle sizes: coarse, fine, and powder according to the cleaning requirements. The collection device 23 is designed with an independent ice outlet, which can be used for other operations, realizing the function of one machine for multiple uses.

[0095] (3) The mobile robot 6 and the turning frame 42 are linked in a cleaning operation mode to realize the automated cleaning operation of locomotive parts.

[0096] (4) The oil mist generated by the cleaning operation is collected and filtered synchronously by the oil mist purification device 8 to ensure a clean and tidy working environment in the cleaning room 3, and the exhaust gas is treated to meet the national industrial emission standards.

[0097] In the description of the present invention, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, and may be fixedly connected, detachably connected, or integrated; may be mechanically connected or electrically connected; may be directly connected or indirectly connected through an intermediate medium, may be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood. In addition, the specific features, structures, etc. described in the embodiments are included in at least one embodiment. Under the condition that there is no contradiction, those skilled in the art may combine the features of different embodiments. The protection scope of the present invention is not limited to the above-mentioned specific embodiments. According to the basic technical concept of the present invention, the embodiments that can be associated with by ordinary technicians in this field without creative work all belong to the protection scope of the present invention.

Claims

1. The waterless cleaning system for motorcycle parts is characterized by: include: A carbon dioxide storage tank (1) for storing and supplying liquid carbon dioxide; A dry ice making device (2) for converting liquid carbon dioxide into granular dry ice; A cleaning room (3) is used to provide a cleaning operation space; A turning device (4), arranged in the cleaning room (3), for fixing and turning over the motorcycle parts to be cleaned; A dry ice blasting device (5) is used to mix granular dry ice and compressed air and spray the mixture onto a locomotive part to be cleaned, so as to clean the locomotive part; A mobile robot (6) is used to clamp and move the dry ice blasting device (5) so that the dry ice blasting device (5) can clean the motorcycle parts at multiple angles; as well as The control center (7) is used to control the working states of the dry ice making device (2), the turning device (4), the dry ice blasting device (5) and the mobile robot (6).

2. The waterless cleaning system for motorcycle parts according to claim 1, characterized in that: The dry ice making device (2) comprises a dry ice making box (21), a particle forming machine (22) and a collecting device (23); a carbon dioxide delivery pipe is connected between the dry ice making box (21) and the carbon dioxide storage tank (1); a throttle valve (24) is provided at one end of the carbon dioxide delivery pipe close to the dry ice making box (21); the throttle valve (24) is used to reduce the pressure of liquid carbon dioxide, so that a part of the liquid carbon dioxide absorbs heat and vaporizes in the dry ice making box (21), and another part of the liquid carbon dioxide is cooled and solidified into block dry ice in the dry ice making box (21); the particle forming machine (22) is used to crush the block dry ice and obtain granular dry ice; the collecting device (23) is used to collect granular dry ice.

3. The waterless cleaning system for motorcycle parts according to claim 2, characterized in that: The particle forming machine (22) comprises a hydraulic device, a compression cylinder and a crushing mechanism, wherein the hydraulic device is connected to the compression cylinder, the movable end of the compression cylinder is connected to the crushing mechanism, and the crushing mechanism extends into the dry ice making box (21) to crush the block dry ice; the crushing mechanism comprises a punching head, which is connected to the movable end of the compression cylinder, and the compression cylinder is used to drive the punching head to reciprocate to punch the block dry ice into granular dry ice.

4. The waterless cleaning system for motorcycle parts according to claim 1, characterized in that: The cleaning room (3) is provided with a ventilation device (31), a lighting device, a warning device and a carbon dioxide concentration detection device, and the ventilation device (31), the lighting device, the warning device and the carbon dioxide concentration detection device are connected to a control center (7).

5. The waterless cleaning system for motorcycle parts according to claim 1, characterized in that: The turning device (4) comprises a turning seat (41), a turning frame (42) and a rotation driving device. The turning frame (42) is rotatably arranged on the turning seat (41). The turning frame (42) is used to fix the motorcycle parts to be cleaned. The rotation driving device is used to drive the turning frame (42) to rotate on the turning seat (41).

6. The waterless cleaning system for motorcycle parts according to claim 5, characterized in that: The rotary drive device is connected to a control center (7), and the control center (7) is used to control the turning angle and turning speed of the turning frame (42), and according to the working state of the turning frame (42), the mobile robot (6) is used to control the motion trajectory and spraying parameters of the dry ice spraying device (5) to perform omnidirectional cleaning on the locomotive parts.

7. The waterless cleaning system for motorcycle parts according to claim 6, characterized in that: The turning frame (42) comprises a first turning ring, a second turning ring and a supporting frame. The first turning ring and the second turning ring are both rotatably matched with the turning seat (41). The two ends of the supporting frame are respectively connected to the first turning ring and the second turning ring. A positioning device and a clamping device are provided on the supporting frame. The positioning device is used to position the motorcycle parts to be cleaned, and the clamping device is used to clamp and fix the motorcycle parts to be cleaned.

8. The waterless cleaning system for motorcycle parts according to claim 1, characterized in that: The dry ice blasting device (5) comprises a dry ice blasting gun (51) and a feeding mechanism (52); the dry ice blasting gun (51) is arranged on the mobile robot (6); an output end of the feeding mechanism (52) is connected to the dry ice blasting gun (51); an input end of the feeding mechanism (52) is connected to the dry ice making device (2); and the other input end of the feeding mechanism (52) is connected to a compressed air input pipe.

9. The waterless cleaning system for motorcycle parts according to claim 1, characterized in that: The mobile robot (6) comprises a six-axis robot (61), a linear moving device (62) and a spray gun fixture (63); the six-axis robot (61) is arranged on the linear moving device (62); the linear moving device (62) is used to drive the six-axis robot (61) to move along the length direction of the flipping device (4); and the spray gun fixture (63) is arranged on the six-axis robot (61) and is used to clamp the dry ice blasting device (5).

10. The waterless cleaning system for motorcycle parts according to claim 1, characterized in that: It also includes an oil mist purification device (8) for purifying the waste gas in the clean room (3); the oil mist purification device (8) includes a purification box (81), the purification box (81) is provided with a mechanical filtering mechanism, an electrostatic adsorption mechanism and an activated carbon adsorption mechanism in sequence, the purification box (81) is provided with an air inlet and an exhaust port on the outside, the air inlet is connected to a collection hood (82) through a pipeline, and the collection hood (82) is arranged inside the clean room (3); the exhaust port is connected to a smoke exhaust pipe (84), the smoke exhaust pipe (84) is provided with an exhaust device (83), and the end of the smoke exhaust pipe (84) is provided with a rain cap (85).

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