Wall-climbing freight train carriage cleaning robot

Abstract

The present application relates to a kind of wall-climbing freight train carriage cleaning robot, including: walking body, auxiliary transition body and cleaning device.The wall-climbing freight train carriage cleaning robot provided by the present application can clean train carriage by remote control or automatically.In addition to the conventional negative pressure adsorption, a thrust auxiliary is also provided, and the air pipe can use the output airflow thrust of negative pressure with the three-axis rotating support.When the robot slides down due to insufficient adsorption force between the robot and the wall, the output airflow thrust of the negative pressure adsorption device is directly used to keep the robot stable on the wall, improve the energy utilization efficiency, save the cost, and meet the actual application requirements.

Description

Technical Field

[0001] This invention relates to a wall-climbing freight train carriage cleaning robot, belonging to the field of special vehicle equipment technology. Background Technology

[0002] Port operators, power plants, and mining and smelting enterprises often purchase large quantities of lumpy or powdered mineral resources, such as coal, as raw materials for production. These bulk raw materials are primarily transported by train. After unloading at the destination, some material inevitably remains, usually adhering to the bottom or side walls of the carriages, requiring manual cleaning. Traditional manual coal cleaning methods are time-consuming and labor-intensive, severely impacting unloading efficiency, resulting in significant train delay costs and greatly increasing transportation costs, causing economic losses for coal-using enterprises. Furthermore, the process of loading and unloading personnel also poses safety risks. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the above-mentioned technologies and provide a freight train carriage cleaning robot that can be wirelessly remotely controlled or automatically operated.

[0004] To solve the above-mentioned technical problems, the technical solution proposed by the present invention is: a wall-climbing freight train carriage cleaning robot, comprising: a walking body, an auxiliary transition body, and a cleaning device;

[0005] The walking machine body includes: a first track arranged on both sides of the walking machine body, a walking motor, and a first negative pressure adsorption component arranged at the bottom of the walking machine body;

[0006] The first track is supported by a front drive sprocket and a rear drive sprocket. The walking motor is mounted on the walking body and drives the front drive sprocket and the rear drive sprocket respectively through two drive boxes.

[0007] The first negative pressure adsorption component includes a high-speed motor and a plurality of centrifugal fans driven by the high-speed motor; the air inlets of the centrifugal fans face the bottom of the walking body; the auxiliary transition body is located in front of the walking body, and the two are connected by a rotatable mechanical arm;

[0008] The auxiliary transition body includes a second track arranged on both sides of the auxiliary transition body and a second negative pressure adsorption assembly at the bottom of the auxiliary transition body; the second track is supported by two sprockets; the sprockets are driven to rotate by a servo motor, thereby driving the second track;

[0009] The second negative pressure adsorption component includes an auxiliary high-speed motor and an auxiliary centrifugal fan driven by the auxiliary high-speed motor; the air inlet of the auxiliary centrifugal fan faces the bottom of the auxiliary transition body;

[0010] The cleaning device includes a negative pressure collection component, a spray dust suppression component, and a cleaning brush roller; the negative pressure collection component includes a negative pressure centrifugal fan and a hopper installed on the walking machine body, the negative pressure centrifugal fan and the hopper are connected by a filter pipe, and the hopper has a suction pipe extending towards the cleaning brush roller; the air outlet of the negative pressure centrifugal fan is connected to an air outlet pipe located at the top of the walking machine body through a pipe; the air outlet pipe is installed at the top of the walking machine body through a three-axis rotating bracket, and the air outlet pipe can be oriented in any direction by rotating the three-axis rotating bracket;

[0011] The dust suppression spray assembly includes a high-pressure air-water atomizing nozzle and a water tank; the high-pressure air-water atomizing nozzle is arranged above the sweeping brush roller and connected to the water tank through a pipe; the water tank is installed on the walking machine body; the water outlet of the water tank is controlled by a switch valve.

[0012] The cleaning brush roller is mounted at the rear of the walking machine body via a connecting plate and can rotate under the drive of a servo motor.

[0013] A further improvement to the above scheme is that a number of pressure rollers for auxiliary support of the first track are arranged between the front drive sprocket and the rear drive sprocket.

[0014] A further improvement to the above solution is that: the rotatable robotic arm includes a base mounted on the walking body, a horizontal arm hinged to the base, and a vertical arm connected to the horizontal arm via a first rotary joint; the bottom end of the vertical arm is connected to the auxiliary transition body via a second rotary joint; the first rotary joint can drive the vertical arm to rotate; the second rotary joint can drive the auxiliary transition body to rotate; the rotation of the horizontal arm relative to the base is driven by a variable amplitude electric cylinder.

[0015] A further improvement to the above solution is that: a dust cover is installed inside the hopper, and residual material is settled by gravity; the hopper has a discharge port; and a static pressure sensor is installed in the suction pipe to detect the pressure generated on the pipe wall after the residual material enters the suction pipe.

[0016] A further improvement to the above solution is that a dust concentration detection sensor is installed on the high-pressure air water atomizing nozzle.

[0017] A further improvement to the above scheme is that both the walking body and the auxiliary transition body are equipped with upward-facing, motor-driven spiral fans.

[0018] A further improvement to the above solution is that the height of the cleaning brush roller can be adjusted.

[0019] A further improvement to the above solution is that the cleaning brush roller is equipped with a distance sensor facing the bottom.

[0020] A further improvement to the above solution is that the wall-climbing freight train car cleaning robot is controlled by a main control box, and the wall-climbing freight train car cleaning robot has several distance sensors facing forward, backward, left, and right, which are connected to the main control box; the main control box is also connected to an inertial measurement module.

[0021] The wall-climbing freight train carriage cleaning robot provided by this invention can clean train carriages remotely or automatically. In addition to traditional negative pressure adsorption, it also features thrust assistance. The air duct and three-axis rotating support utilize the output airflow from the negative pressure to propel the robot. When the robot slides down due to insufficient adhesion to the wall, the negative pressure adsorption device directly outputs airflow to generate thrust, keeping the robot stable on the wall. This improves energy utilization efficiency, saves costs, and meets practical application needs. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a preferred embodiment of the present invention.

[0023] Figure 2 yes Figure 1 A schematic diagram of the structure viewed from below.

[0024] Figure 3 yes Figure 1 A frontal view of the structure.

[0025] Figure 4 This is a schematic diagram of another embodiment. Detailed Implementation

[0026] Example

[0027] The wall-climbing freight train carriage cleaning robot of this embodiment, such as Figures 1 to 3 As shown, it includes: a walking body, an auxiliary transition body 14, and a cleaning device;

[0028] The frame of the mobile machine is welded from steel plates and square steel tubes. The front cavity 27 of the frame is used to install the power system, the middle cavity 36 of the frame is used to install the main control box, and the rear cavity 31 of the frame is used to install the corresponding cleaning device. The frame base plate includes an upper base plate 29 and a lower base plate 30. The upper base plate 29 covers the lower base plate 30, and the lower base plate 30 is suspended below the upper base plate 29 by a support column. The lower base plate 30 has an air inlet hole in the center. The edges of the lower base plate 30 are not connected to the edges of the upper base plate 29, leaving a gap. A guide cavity is formed between the upper and lower base plates.

[0029] The walking machine body includes: first tracks 12 arranged on both sides of the walking machine body, walking motor, and first negative pressure adsorption component arranged at the bottom of the walking machine body.

[0030] The first track 12 is supported by a front drive sprocket 11 and a rear drive sprocket 6. The travel motor is mounted on the traveling body and drives the front drive sprocket 11 and the rear drive sprocket 6 through the front drive housing 41 and the rear drive housing 32, respectively. Several auxiliary support rollers 8 for the first track 12 are arranged between the front drive sprocket 11 and the rear drive sprocket 6. The front drive sprocket 11, the rear drive sprocket 6, and the pressure rollers 8 are supported by the track support frame 9. When encountering the connecting ribs of the carriage during travel, preload is applied to tighten the first track 12.

[0031] The first negative pressure adsorption component includes a high-speed motor 40 and several centrifugal fans 35 driven by the high-speed motor 40. The high-speed motor 40 is connected to the centrifugal fans 35 by a shaft and is mounted on the lower base plate 29 of the walking machine body by screws. The air inlets of the upper base plate 30 correspond one-to-one with the air inlets of the centrifugal fans 35 for air intake, so that the air inlets of the centrifugal fans 35 face the bottom of the walking machine body.

[0032] The auxiliary transition body 14 is located in front of the walking body, and the two are connected by a rotatable robotic arm. The rotatable robotic arm includes: a base 20 mounted on the walking body, a horizontal arm 18 hinged to the base 20, and a vertical arm 15 connected to the horizontal arm 18 via a first rotary joint 16; the bottom end of the vertical arm 15 is connected to the auxiliary transition body 14 via a second rotary joint; the first rotary joint can drive the vertical arm to rotate; the second rotary joint can drive the auxiliary transition body 14 to rotate; the rotation of the horizontal arm 18 relative to the base 20 is driven by a variable-amplitude electric cylinder. The auxiliary transition body 14 can achieve horizontal and vertical rotation under the action of the rotatable robotic arm, that is, maintain a set deflection angle to complete the robot's transition walking and turning on different vehicle surfaces.

[0033] The auxiliary transition body 14 includes: a second track arranged on both sides of the auxiliary transition body 14 and a second negative pressure adsorption assembly 42 at the bottom of the auxiliary transition body 14; the second track is supported by two sprockets; the sprockets on both sides are driven to rotate by servo motors 13 and 38 respectively, thereby driving the second track to move.

[0034] The second negative pressure adsorption component 42 includes an auxiliary high-speed motor and an auxiliary centrifugal fan 39 driven by the auxiliary high-speed motor; the air inlet of the auxiliary centrifugal fan faces the bottom of the auxiliary transition body 14.

[0035] The cleaning device includes a negative pressure collection component, a spray dust suppression component, and a cleaning brush roller 4. The negative pressure collection component includes a negative pressure centrifugal fan and a hopper 21 mounted on the walking machine body. The negative pressure centrifugal fan and the hopper 21 are connected by a filter pipe. A suction pipe 3 extends from the hopper 21 toward the cleaning brush roller 4. A dust cover is installed inside the hopper 21, and residual material settles by gravity. The hopper 21 has a discharge port 45. A static pressure sensor is installed in the suction pipe 3 to detect the pressure generated on the pipe wall after residual material enters the suction pipe 3. The suction volume is adjusted based on the detected pressure and matched with a database to save energy. The outlet of the negative pressure centrifugal fan is connected to an outlet pipe 53 located at the top of the walking machine body through a pipe. The outlet pipe 53 is mounted on the top of the walking machine body via a three-axis rotating bracket 52. The three-axis rotating bracket 52 has three servo motors 48, 49, and 50 with mutually perpendicular rotating axes. By rotating the three-axis rotating bracket, the outlet pipe 53 can be oriented in any direction.

[0036] The dust suppression spray assembly includes a high-pressure air-water atomizing nozzle 2 and a water tank 47. The high-pressure air-water atomizing nozzle 2 is positioned above the cleaning brush roller 4 and connected to the water tank 47 via a pipe. The water tank 47 is mounted on the mobile body. The water output from the water tank 47 is controlled by a switching valve 26. A dust concentration detection sensor 1 is installed on the high-pressure air-water atomizing nozzle 2. When the dust concentration detection sensor 1 detects excessive dust levels, the switching valve 26 opens, and the high-pressure air-water atomizing nozzle 2 sprays high-pressure water mist for dust suppression.

[0037] The cleaning brush roller 4 is mounted at the rear of the walking machine body via a connecting plate and can rotate under the drive of the servo motor 5. Simultaneously, its height can be adjusted under the drive of the servo motor 7.

[0038] The walking robot is also equipped with a sensing module and a main control box. The sensing module includes laser distance sensors 17, 19, 33, 34, 37, and 46. The main control box includes an onboard control module 22, an information processing module 24, and a drive module 25. After the robot enters the carriage, the sensing module transmits information to the onboard control module 22, which sends commands to the drive module 25. The drive module 25 drives the high-speed motor 40 to rotate the centrifugal fan 35. Gas flows in from the inlet of the centrifugal fan 35 and is ejected through the outlet under the action of rotation. The gas flows through the guide cavity and creates convection with the gas at the inlet, forming a negative pressure zone at the bottom of the robot. The sensing module detects the distance information of the carriage surface and transmits it to the main control box for information processing, forming a feedback mechanism. When necessary, the climbing robot performs an avoidance action to prevent collision with the carriage wall. The sensor array not only performs initial cleaning positioning, ensuring proper contact between the cleaning brush roller 4 and the surface of the cleaning compartment, but also controls the cleaning device to lift and rotate during cleaning operations if the compartment deforms excessively, preventing damage to the robot. The main control box is also connected to an IMU (Inertial Measurement Unit) module 51. The IMU module 51 detects changes in the robot's acceleration and relative positioning information, calculating the robot's rotation angle during the fall and transmitting this information to the onboard control module 22. The onboard control module 22 then transmits this information to the drive module 25, which controls the three-axis rotating support to rotate by a corresponding angle, thereby changing the direction of thrust.

[0039] The duct 53 can rotate in three degrees of freedom (X, Y, Z) with the three-axis rotating support 52. The exhaust air from the negative pressure centrifugal fan flows out through the duct 53. When the robot slides down due to insufficient positive pressure against the wall, the IMU (Inertial Measurement Unit) module detects the acceleration caused by the sudden sliding and triggers the onboard control module 22 to start the drive module 25. The drive module drives servo motors 48, 49, and 50. The three-axis rotating support 52 moves the duct 53 to make it perpendicular to the bottom of the robot, generating thrust to keep the robot stable on the wall. When the robot begins to fall from the wall of the carriage, the IMU... The velocity measurement module 51 detects a sudden increase in acceleration and triggers the onboard control module 22 to activate the three-axis rotating frame 52. The IMU inertial measurement module 51 calculates the angle of rotation of the robot in the air during the fall and transmits this information to the onboard control module 22. The onboard control module 22 controls the drive module 25 to drive the servo motors 48, 49, and 50. The three-degree-of-freedom rotating frame 52 rotates by the corresponding angle, and the air duct 53 faces the bottom of the carriage at the corresponding angle, thereby changing the direction of thrust, adjusting the robot's fall posture, reducing the fall speed of the wall-climbing robot, and achieving a buffer protection function. When no malfunction or accident occurs, the three-degree-of-freedom rotating frame 52 can be rotated and folded to keep the air duct 53 vertical, perpendicular to the upper surface of the robot frame, saving workspace.

[0040] During the cleaning of the carriage, the laser distance sensor 17 detects that the preset distance value has been reached. The information processing module 24 transmits the information to the onboard control module 22. The onboard control module 22 sends a command to the drive module 25 to control the extension of the luffing cylinder. The first rotating joint 16 rotates, driving the auxiliary transition body 14 to rotate vertically. At the same time, the walking body continues to move forward. When the auxiliary transition body 14 rotates to the set angle, that is, just touches the other transition surface of the inner wall of the carriage, the onboard control module 22 sends a command to the drive module 25 to assist the centrifugal fan 39 to rotate at high speed. A negative pressure zone is generated in this area to increase the negative pressure adsorption force of crawling on the transition surface and prevent the robot from tipping over and falling. After completing the crawling on the transition surface, the remaining inner walls of the carriage are cleaned of residual material in the same way as described above.

[0041] After cleaning the remaining material on the inner wall of the carriage, the information processing module 24 transmits the information to the onboard control module 22. The onboard control module 22 sends a command to the drive module 25 to control the rotation of the second rotary joint, which drives the auxiliary transition body 14 to rotate horizontally. Under the action of the overall driving force, the robot faces the bottom of the carriage and then crawls on the transition surface to enter the bottom of the carriage for cleaning. The remaining material is temporarily stored in the hopper 21.

[0042] like Figure 4As shown, the negative pressure adsorption is replaced with a positive pressure device, that is, the first negative pressure adsorption component and the second negative pressure adsorption component 42 on the walking body and the auxiliary transition body 14 are replaced with a spiral fan 44 driven by several high-speed motors 43 blowing air upwards towards the robot.

[0043] This invention is not limited to the embodiments described above. All technical solutions formed by equivalent substitutions fall within the scope of protection claimed by this invention.

Claims

1. A wall-climbing freight train carriage cleaning robot, characterized in that, include: Walking body, auxiliary transition body and cleaning device; The walking machine body includes: a first track arranged on both sides of the walking machine body, a walking motor, and a first negative pressure adsorption component arranged at the bottom of the walking machine body; The first track is supported by a front drive sprocket and a rear drive sprocket. The walking motor is mounted on the walking body and drives the front drive sprocket and the rear drive sprocket respectively through two drive boxes. The first negative pressure adsorption component includes a high-speed motor and a plurality of centrifugal fans driven by the high-speed motor; the air inlets of the centrifugal fans face the bottom of the walking machine body; The auxiliary transition body is located in front of the walking body, and the two are connected by a rotatable mechanical arm; The auxiliary transition body includes a second track arranged on both sides of the auxiliary transition body and a second negative pressure adsorption assembly at the bottom of the auxiliary transition body; the second track is supported by two sprockets; the sprockets are driven to rotate by a servo motor, thereby driving the second track; The second negative pressure adsorption component includes an auxiliary high-speed motor and an auxiliary centrifugal fan driven by the auxiliary high-speed motor; the air inlet of the auxiliary centrifugal fan faces the bottom of the auxiliary transition body; The cleaning device includes a negative pressure collection component, a spray dust suppression component, and a cleaning brush roller; the negative pressure collection component includes a negative pressure centrifugal fan and a hopper installed on the walking machine body, the negative pressure centrifugal fan and the hopper are connected by a filter pipe, and the hopper has a suction pipe extending towards the cleaning brush roller; the air outlet of the negative pressure centrifugal fan is connected to an air outlet pipe located at the top of the walking machine body through a pipe; the air outlet pipe is installed at the top of the walking machine body through a three-axis rotating bracket, and the air outlet pipe can be oriented in any direction by rotating the three-axis rotating bracket; The dust suppression spray assembly includes a high-pressure air-water atomizing nozzle and a water tank; the high-pressure air-water atomizing nozzle is arranged above the sweeping brush roller and connected to the water tank through a pipe; the water tank is installed on the walking machine body; the water outlet of the water tank is controlled by a switch valve. The cleaning brush roller is mounted at the rear of the walking machine body via a connecting plate and can rotate under the drive of a servo motor.

2. The wall-climbing freight train carriage cleaning robot according to claim 1, characterized in that: Several pressure rollers that assist in supporting the first track are arranged between the front drive sprocket and the rear drive sprocket.

3. The wall-climbing freight train carriage cleaning robot according to claim 1, characterized in that: The rotatable robotic arm includes a base mounted on the walking body, a horizontal arm hinged to the base, and a vertical arm connected to the horizontal arm via a first rotary joint; the bottom end of the vertical arm is connected to the auxiliary transition body via a second rotary joint; the first rotary joint can drive the vertical arm to rotate; the second rotary joint can drive the auxiliary transition body to rotate; the rotation of the horizontal arm relative to the base is driven by a variable amplitude electric cylinder.

4. The wall-climbing freight train carriage cleaning robot according to claim 1, characterized in that: The hopper is equipped with a dust cover and the residual material settles by gravity. The hopper has a discharge port. The suction pipe is equipped with a static pressure sensor to detect the pressure generated on the pipe wall after the residual material enters the suction pipe.

5. The wall-climbing freight train carriage cleaning robot according to claim 1, characterized in that: The high-pressure air water atomizing nozzle is equipped with a dust concentration detection sensor.

6. The wall-climbing freight train carriage cleaning robot according to claim 1, characterized in that: The cleaning brush roller is height adjustable.

7. The wall-climbing freight train carriage cleaning robot according to claim 6, characterized in that: The cleaning brush roller is equipped with a distance sensor facing downwards.

8. The wall-climbing freight train carriage cleaning robot according to claim 1, characterized in that: The wall-climbing freight train carriage cleaning robot is controlled by a main control box. The wall-climbing freight train carriage cleaning robot has several distance sensors facing forward, backward, left, and right, which are connected to the main control box. The main control box is also connected to an inertial measurement module.

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