Locomotive accessory cleaning system

Abstract

The embodiment of the utility model provides a locomotive accessory cleaning system. The locomotive accessory cleaning system comprises a liquid carbon dioxide supply device; the ice making and cleaning all-in-one machine is connected with the liquid carbon dioxide supply device; a dry ice spray gun of the ice making and cleaning all-in-one machine is arranged at the tail end of the six-axis robot; the six-axis robot is arranged on the lifting mechanism, and the lifting mechanism is used for driving the six-axis robot to ascend and descend; and the lifting mechanism is arranged on the ground rail, and the ground rail is used for driving the lifting mechanism to slide on the ground rail. The problem that cleaning of stains on the surfaces of locomotive accessories pollutes the environment can be solved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of intelligent equipment, in particular to a locomotive accessory cleaning system. BACKGROUND

[0002] A large amount of dust is attached to the surface of a locomotive accessory, part of which is agglomerated and impregnated with lubricating oil. High-pressure water cleaning, boiling, sand blasting and other methods are usually used to complete the cleaning. Sand blasting and boiling both have serious environmental pollution and occupational health hazards, and are gradually being eliminated. High-pressure water cleaning also has the problem of chemical agent pollution of the environment, and also has the risk of occupational injury to the operator. Water medium cleaning also needs to be regularly treated with sewage, and chemical agent cleaning also needs to eliminate foam to avoid foam expansion and overflow. SUMMARY

[0003] To solve the problem of environmental pollution caused by cleaning of stains on the surface of a locomotive accessory, embodiments of the present application provide a locomotive accessory cleaning system.

[0004] A locomotive accessory cleaning system comprises:

[0005] A liquid carbon dioxide supply device;

[0006] An ice-making and cleaning all-in-one machine connected to the liquid carbon dioxide supply device;

[0007] A six-axis robot, the distal end of which is provided with a dry ice spray gun of the ice-making and cleaning all-in-one machine;

[0008] A lifting mechanism, the six-axis robot is arranged on the lifting mechanism, and the lifting mechanism is used to drive the six-axis robot to lift;

[0009] A ground rail, the lifting mechanism is arranged on the ground rail, and the ground rail is used to drive the lifting mechanism to slide on the ground rail;

[0010] An industrial camera for collecting images of locomotive accessories;

[0011] A control device for controlling the ground rail, the lifting mechanism, the six-axis robot, the liquid carbon dioxide supply device and the ice-making and cleaning all-in-one machine.

[0012] In a possible implementation, the lifting mechanism has a first tow chain, the ground rail has a second tow chain, and the first tow chain and the second tow chain are both used to fix the cables of the six-axis robot and the pipelines of the dry ice spray gun.

[0013] In a possible implementation, the number of the ground rail, the lifting mechanism and the six-axis robot is two; the two ground rails are oppositely arranged.

[0014] In one possible implementation, the dry ice spray gun and the end of the six-axis robot are at a preset angle, and the dry ice spray gun's pipeline is in a drop-pull configuration.

[0015] In one possible implementation, a soundproof enclosure is also included, which is mounted on a ground track, and the six-axis robot, the lifting mechanism, and the industrial camera are located inside the soundproof enclosure.

[0016] In one possible implementation, the soundproof room is equipped with an observation window, lighting, air intake, exhaust subsystem, and monitoring subsystem.

[0017] In one possible implementation, the air inlet is a fish-scale perforation, and a filter cotton is provided at the fish-scale perforation.

[0018] In one possible implementation, an industrial camera is also included, which is used to capture images of locomotive parts.

[0019] In one possible implementation, a control device is also included, which controls the ground rail, the lifting mechanism, the six-axis robot, the liquid carbon dioxide supply device, and the ice-making and cleaning integrated machine.

[0020] In the locomotive parts cleaning system provided in this application embodiment, dry ice is generated by a liquid carbon dioxide supply device and an integrated ice-making and cleaning machine. A six-axis robot moves in the horizontal and vertical directions under the coordinated control of the ground rail and lifting mechanism. The six-axis robot, equipped with a dry ice spray gun, cleans the workpiece, thereby solving the problem of environmental pollution caused by cleaning stains on the surface of locomotive parts.

[0021] It should be understood that the description in the Summary Section is not intended to limit the key or essential features of the embodiments of this application, nor is it intended to restrict the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0022] The above and other features, advantages, and aspects of the embodiments of this application will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0023] Figure 1 A structural diagram of a locomotive parts cleaning system according to an embodiment of this application is shown.

[0024] Figure 2 A structural diagram of a lifting mechanism according to an embodiment of this application is shown.

[0025] Figure 3 A structural diagram of a ground track according to an embodiment of this application is shown.

[0026] in:

[0027] 11. Liquid carbon dioxide supply device;

[0028] 12. Ice maker and cleaning integrated machine;

[0029] 13. Six-axis robot;

[0030] 14. Lifting mechanism; 141. First frame; 143. Lifting platform; 147. First cable chain;

[0031] 15. Ground rail; 151. Second frame; 152. Sliding platform; 153. Servo motor; 154. Second cable chain. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0033] In this embodiment of the application, the locomotive parts can be the parts obtained after disassembling a certain component of the locomotive. For example, taking the frame as an example, as shown in Table 1.

[0034] Table 1

[0035]

[0036] Because locomotive parts are covered with a large amount of dust, some of which is even clump-like or soaked in lubricating oil, surface cleaning is necessary. Common cleaning methods include high-pressure water cleaning, boiling, and sandblasting. High-pressure water cleaning is divided into manual cleaning and automated robotic cleaning. Both methods require the initial spraying of a cleaning agent, followed by a 5-minute wait to allow the agent and dirt to fully react, and then rinsing the dirt and cleaning machine off with high-pressure water. Boiling typically involves high-temperature boiling, followed by a rinse with clean water after the alkaline boiling. Sandblasting involves directly pushing the frame into the sandblasting chamber and manually sandblasting to remove paint and achieve the desired surface cleanliness.

[0037] Sandblasting and boiling both pose serious environmental pollution and occupational health hazards, while high-pressure water cleaning also poses the problem of chemical pollution and occupational injury risks to workers. Therefore, this application proposes a locomotive parts cleaning system that can solve the problem of environmental pollution during the cleaning process.

[0038] Figure 1 A structural diagram of a locomotive parts cleaning system according to an embodiment of this application is shown. See also Figure 1The system includes a liquid carbon dioxide supply device 11, an ice-making and cleaning integrated machine 12, a six-axis robot 13, a lifting mechanism 14, and a ground rail 15.

[0039] A liquid carbon dioxide supply device 11 is connected to an ice-making and cleaning integrated machine 12 to provide carbon dioxide to the machine. In one possible implementation, the liquid carbon dioxide supply device 11 may consist of multiple Dewar flasks connected in series. The ice-making and cleaning integrated machine 12 can produce dry ice in real time and automatically replenish it, with dry ice automatically sprayed by a dry ice spray gun to achieve the cleaning operation.

[0040] The lifting mechanism 14 is mounted on the ground rail 15 and can slide on the ground rail 15 under the drive of the ground rail 15. The six-axis robot 13 is mounted on the lifting mechanism 14 and can move up and down on the lifting mechanism 14 under the drive of the lifting mechanism 14. The dry ice spray gun on the ice making and cleaning integrated machine 12 is located at the end of the six-axis robot 13. This enables the six-axis robot 13 to move in the horizontal and vertical directions, thereby facilitating the cleaning operation.

[0041] See Figure 2 and Figure 3 The lifting mechanism 14 includes a first frame 141, a reduction motor fixedly mounted on the first frame 141, and a lifting platform 143 slidably mounted on the first frame 141. A lead screw is mounted on the output end of the reduction motor, and a nut is fitted onto the lead screw. The nut is fixedly connected to the lifting platform 143, and a six-axis robot 13 is mounted on the lifting platform 143. With the reduction motor driving the lead screw to rotate, the nut drives the lifting platform 143, thereby driving the six-axis robot 13 to lift and lower.

[0042] For example, the nut is equipped with an oil injection hole, which, when used with an automatic lubrication pump, enables automatic lubrication.

[0043] For example, both the top and bottom ends of the lead screw are covered with accordion covers, which not only protect the lead screw but also prevent it from getting caught in other objects and causing accidents.

[0044] For example, two nuts can be provided: one is a lifting load-bearing nut, and the other is a safety nut. The safety nut activates when the load-bearing nut fails, preventing a sudden fall accident.

[0045] For example, two sensors can be installed at the bearing nut position: one to monitor whether the connection between the bearing nut and the lifting platform is disconnected, and the other to monitor the wear of the bearing nut. When the wear reaches the limit, an alarm will be issued to remind the bearing nut to be replaced.

[0046] See Figure 3The ground rail 15 includes a second frame 151, a sliding platform 152 slidably mounted on the second frame 151, and a servo motor 153 connected to the second frame 151 via a gear and rack. The servo motor 153 is fixedly connected to the sliding platform 152, and a first frame 141 is mounted on the sliding platform 152. Driven by the servo motor 153, the sliding platform 152 can slide on the ground rail 15 via the gear and rack. With the cooperation of the ground rail 15 and the lifting mechanism 14, the six-axis robot 13 can move in both the horizontal and vertical directions.

[0047] For example, the second frame 151 can be made of high-quality profiles and steel plates with weld resistance. An adjustable foot positioning plate is set at the bottom of the second frame 151. After being welded to the foundation embedded plate, the foot can be quickly adjusted for leveling.

[0048] For example, the six-axis robot 13 can be an ABB six-axis I RB 4600-40 / 2.55 robot. This robot has a 2.55m reach, a 40kg payload, and an IP67 protection rating for its sixth axis, enabling it to withstand harsh environments such as casting and cleaning.

[0049] In one feasible approach, the ends of the dry ice spray gun and the six-axis robot 13 are at a preset angle, which facilitates the robot arm to perform hook-and-spray in small spaces. The dry ice spray gun's pipeline is designed to be pulled down (e.g., pulled by a balancer), which ensures that the pipeline will not be pulled or tangled with the robot arm's forearm when the robot arm is rotating in six axes, while also avoiding small-angle bending of the delivery pipe.

[0050] See Figure 2 and Figure 3 The lifting mechanism 14 has a first drag chain 147, and the ground rail 15 has a second drag chain 154. The cables of the six-axis robot 13 and the tubing of the dry ice spray gun are fixed on the first drag chain 147 and the second drag chain 153, which can ensure that the cables of the six-axis robot and the tubing of the dry ice spray gun will not be pulled or tangled when the robotic arm is working.

[0051] In some embodiments, the locomotive parts cleaning system further includes a soundproof enclosure mounted on a ground rail 15, with a six-axis robot 13 and a lifting mechanism 14 located inside the enclosure. The soundproof enclosure is equipped with an observation window, lighting, air intake, exhaust subsystem, and monitoring subsystem.

[0052] For example, a soundproof room should ensure that the noise level at a distance of two meters does not exceed 75 dB.

[0053] For example, waterproof LED lights can be used for lighting, with an illumination level of no less than 250 LX.

[0054] For example, the air velocity of the exhaust subsystem shall not be less than 0.35 m / s.

[0055] For example, a soundproof room can be constructed from a frame and prefabricated sound insulation panels. The frame is made of high-quality welded profiles, improving the overall rigidity of the room. The frame forms the main steel structure of the soundproof room, and the sound insulation panels, hinged doors, cable tracks, lighting, and 3D vision system are all installed on the frame structure. The frame structure is designed to be lightweight while ensuring structural strength, and is also designed to be suitable for on-site assembly.

[0056] For example, the main body of the building is assembled from prefabricated soundproof panels. Pedestrian safety doors and observation windows are installed on the side walls of the pedestrian walkway. The observation windows are W2000×H1200mm in size, facilitating the observation of the operation of the indoor equipment. Air inlets are located on the lower side of the observation windows, working in conjunction with the exhaust subsystem at the top to replace the indoor air.

[0057] For example, the air intake can be a fish scale pattern with a filter cotton inside for simple coarse filtration of the intake air.

[0058] For example, the exhaust subsystem can be positioned in the center of the soundproof room, effectively avoiding the working space of the robotic arm without increasing the height of the soundproof room. The exhaust subsystem is equipped with a filter that effectively filters 99.97% of suspended particles larger than 5μm, and the filter is cleaned regularly. The fan uses a system with a flow rate of 1560 m³ / h and an air velocity >0.35 m / s, achieving an overall air exchange rate of once every 15 minutes.

[0059] For example, the monitoring subsystem mainly consists of sensors for monitoring the entry and exit of workpieces and the opening and closing of pedestrian safety doors, sensors for detecting indoor CO2 concentration, electronic indicators for equipment operating status, and an indoor real-time monitoring subsystem.

[0060] Each door's opening / closing sensor is linked to the equipment's safety logic. If someone enters while the equipment is running, the system shuts down for safety. An indoor CO2 concentration sensor is installed at a height of 1 meter, strategically positioned in a blind spot in the gas flow field to monitor overall concentration safety. An electronic indicator sign is installed above the pedestrian safety door, displaying text indicating the equipment status: "Equipment running, entry prohibited"; "Equipment shut down, entry prohibited, caution advised," etc. The indoor real-time monitoring subsystem has human detection capabilities. If a human is detected during operation, a signal is sent to the equipment control system, triggering the safety logic to shut down for safety.

[0061] For example, soundproof rooms are equipped with ladders to facilitate the inspection and maintenance of roof fans and pipes.

[0062] For example, a soundproof room, as an independent and enclosed environment, is equipped with emergency exit indicator lights to provide exit location indication and lighting in the event of a power outage.

[0063] In some embodiments, the locomotive parts cleaning system further includes an industrial camera and a control device. The industrial camera is used to acquire images of the locomotive parts, and the control device is used to control the ground rail, lifting mechanism, six-axis robot, liquid carbon dioxide supply device, and ice-making and cleaning integrated machine. The industrial camera is housed in a soundproof room.

[0064] In this embodiment, dry ice is generated by a liquid carbon dioxide supply device and an integrated ice-making and cleaning machine. A six-axis robot moves horizontally and vertically under the coordinated control of a ground rail and a lifting mechanism. The six-axis robot, armed with a dry ice spray gun, cleans the workpiece, thereby solving the problem of environmental pollution caused by cleaning stains on the surface of locomotive parts.

[0065] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions claimed in this application.

Claims

1. A locomotive parts cleaning system, characterized in that, include: Liquid carbon dioxide supply device; An integrated ice-making and cleaning machine is connected to the liquid carbon dioxide supply device; A six-axis robot with a dry ice spray gun from the ice-making and cleaning integrated machine at its end; A lifting mechanism is provided, on which the six-axis robot is mounted, and the lifting mechanism is used to drive the six-axis robot to move up and down. A ground rail is provided, and the lifting mechanism is mounted on the ground rail, which is used to drive the lifting mechanism to slide on the ground rail.

2. The locomotive parts cleaning system according to claim 1, characterized in that, The lifting mechanism has a first drag chain, the ground rail has a second drag chain, and the cables of the six-axis robot and the pipeline of the dry ice spray gun are fixed to the first drag chain and the second drag chain.

3. The locomotive parts cleaning system according to claim 1, characterized in that, The dry ice spray gun and the end of the six-axis robot are at a preset angle, and the pipeline of the dry ice spray gun is set in a drop-pull configuration.

4. The locomotive parts cleaning system according to claim 1, characterized in that, The lifting mechanism includes a first frame, a reduction motor fixedly mounted on the first frame, and a lifting platform slidably mounted on the first frame. The output end of the reduction motor is provided with a lead screw, and a lead screw nut is sleeved on the lead screw. The lead screw nut is fixedly connected to the lifting platform, and the six-axis robot is mounted on the lifting platform.

5. The locomotive parts cleaning system according to claim 4, characterized in that, The ground rail includes a second frame, a sliding platform slidably mounted on the second frame, and a servo motor connected to the second frame via a gear and rack. The servo motor is fixedly connected to the sliding platform, and the first frame is mounted on the sliding platform.

6. The locomotive parts cleaning system according to claim 1, characterized in that, It also includes a soundproof room, which is mounted on a ground track, and the six-axis robot and the lifting mechanism are located inside the soundproof room.

7. The locomotive parts cleaning system according to claim 6, characterized in that, The soundproof room is equipped with an observation window, lighting, air intake, ventilation subsystem, and monitoring subsystem.

8. The locomotive parts cleaning system according to claim 7, characterized in that, The air inlet is a fish-scale pore, and a filter cotton is installed at the fish-scale pore.

9. The locomotive parts cleaning system according to claim 6, characterized in that, It also includes an industrial camera, which is located in the soundproof room and is used to capture images of locomotive parts.

10. The locomotive parts cleaning system according to claim 1, characterized in that, It also includes a control device for controlling the ground rail, the lifting mechanism, the six-axis robot, the liquid carbon dioxide supply device, and the ice-making and cleaning integrated machine.

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