Freight train car cleaning robot

Abstract

The present application relates to a kind of freight train carriage cleaning robot, comprising: walking body, auxiliary transition body and cleaning device.The freight train carriage cleaning robot provided by the present application can clean train carriage by remote control or automatically.In addition to the traditional magnetic adsorption, push force assistance is also provided, and the air pipe can use the output airflow of negative pressure of three-axis rotating support, when the robot slides down due to insufficient adsorption force between the robot and wall, directly use the output airflow of negative pressure adsorption device to generate push force, so that the robot remains stable on the wall, improve the energy utilization efficiency, save cost, meet the actual application requirements.

Description

Technical Field

[0001] This invention relates to a cleaning robot for freight train carriages, 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 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 and a walking motor arranged on both sides 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. The track plate of the first track is composed of a magnet mounting plate and a rectangular magnet fixed on the magnet mounting plate.

[0007] 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 second tracks arranged on both sides of the auxiliary transition body and an adjustable magnetic component in the middle of the auxiliary transition body; the second tracks are supported by two sprockets; the sprockets are driven to rotate by a servo motor, thereby driving the second tracks;

[0009] The adjustable magnetic component includes a brass cover and a rotatable permanent magnet whose bottom is covered by the brass cover; the permanent magnet is driven to rotate by a servo motor, and as the permanent magnet rotates, the area of ​​the bottom surface of the permanent magnet covered by the brass cover changes.

[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 toward the cleaning brush roller;

[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 freight train carriage cleaning robot is controlled by a main control box, and the freight train carriage cleaning robot has several distance sensors facing forward, backward, left, and right that are connected to the main control box; the main control box is also connected to an inertial measurement module.

[0021] The freight train carriage cleaning robot provided by this invention can clean train carriages remotely or automatically. In addition to traditional magnetic adsorption, it also features thrust assistance. The air duct and three-axis rotating support utilize negative pressure output airflow 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 top-view structural diagram.

[0024] Figure 3 yes Figure 1 A schematic diagram of the adjustable magnetic component structure.

[0025] Figure 4 yes Figure 1 A schematic diagram of the track plate structure. Detailed Implementation

[0026] Example

[0027] The freight train carriage cleaning robot of this embodiment, such as Figures 1 to 4 As shown, it includes: a walking body, an auxiliary transition body 18, and a cleaning device;

[0028] The frame 38 of the mobile machine is welded from steel plates and square steel tubes. The front cavity 34 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 37 of the frame is used to install the corresponding cleaning device.

[0029] The walking machine body includes: a first track and a walking motor arranged on both sides of the walking machine body.

[0030] The first track 14 is supported by a front drive sprocket 15 and a rear drive sprocket 8. 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 16 and the rear drive housing 32, respectively. Several auxiliary support rollers 10 for the first track 14 are arranged between the front drive sprocket 15 and the rear drive sprocket 9. The front drive sprocket 15, the rear drive sprocket 8, and the pressure rollers 10 are supported by the track support frame 11. When encountering the connecting ribs of the carriage during travel, preload is applied to tighten the first track 14.

[0031] The first track 14 includes a track chain 13 and a track plate mounted on the track chain 13; the track plate is composed of a magnet mounting plate 47 and a rectangular magnet 46 fixed on the magnet mounting plate 47; the magnet mounting plate 47 is made of high-quality stainless steel and the rectangular magnet 46 is fitted to the magnet mounting plate 47 without gap.

[0032] The auxiliary transition body 18 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 26 mounted on the walking body, a horizontal arm 23 hinged to the base 26, and a vertical arm 20 connected to the horizontal arm 23 via a first rotary joint 21; the bottom end of the vertical arm 20 is connected to the auxiliary transition body 18 via a second rotary joint 42; the first rotary joint 21 can drive the vertical arm 20 to rotate; the second rotary joint 42 can drive the auxiliary transition body 18 to rotate; the rotation of the horizontal arm 23 relative to the base 26 is driven by a variable-amplitude electric cylinder 24. The auxiliary transition body 18 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 18 includes: a second track arranged on both sides of the auxiliary transition body and an adjustable magnetic component 19 at the bottom of the auxiliary transition body; the second track is supported by two sprockets; the sprockets on both sides are driven to rotate by servo motors 17 and 40 respectively, thereby driving the second track to move.

[0034] The adjustable magnetic assembly 19 includes a brass cover 45 and a rotatable permanent magnet 43 whose bottom is covered by the brass cover 45. The permanent magnet 43 is driven to rotate by a servo motor 41. As the permanent magnet 43 rotates, the area of ​​the bottom surface of the permanent magnet 43 covered by the brass cover 45 changes, thereby changing the attraction force of the permanent magnet 43 relative to the carriage. The brass cover 45 is mounted on the auxiliary transition body 18 via a support rod 44.

[0035] The cleaning device includes a negative pressure collection component, a spray dust suppression component, and a cleaning brush roller 5. The negative pressure collection component includes a negative pressure centrifugal fan 31 and a hopper 27 mounted on the walking body. The negative pressure centrifugal fan 31 and the hopper 27 are connected by a filter pipe. A suction pipe 3 extends from the hopper 27 toward the cleaning brush roller 4. A dust cover is installed inside the hopper 27, and residual material settles by gravity. The hopper 27 has a discharge port. 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 detected pressure is matched with a database to adjust the suction volume and save energy. The air outlet of the negative pressure centrifugal fan 31 is connected to the air outlet pipe 53 located on the top of the walking body through a pipe; the air outlet pipe 53 is installed on the top of the walking body through 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 air 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. The high-pressure air-water atomizing nozzle 2 is positioned above the cleaning brush roller 4 and connected to the water tank via a pipe. The water tank is mounted on the mobile body. The water output from the water tank is controlled by a switching valve 33. 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 33 opens, and the high-pressure air-water atomizing nozzle 2 sprays high-pressure water mist for dust suppression.

[0037] The cleaning brush roller 5 is mounted at the rear of the walking machine body via a connecting plate and can rotate under the drive of the servo motor 6. Simultaneously, its height can be adjusted under the drive of the servo motor 9.

[0038] The walking robot is also equipped with a sensing module and a main control box 12. The sensing module includes laser distance sensors 4, 7, 22, 25, and 39. The main control box 12 includes a robot onboard control module 28, an information processing module 29, and a drive module 30. After the robot enters the carriage, the sensing module detects the distance information of the carriage surface and transmits it to the main control box 12 for information processing, forming a feedback mechanism. When necessary, this mechanism enables the robot to perform avoidance maneuvers to prevent collisions with the carriage walls. The sensor group not only performs initial cleaning positioning to ensure that the cleaning brush roller 4 properly conforms to the surface of the carriage to be cleaned, but also controls the cleaning device to lift and rotate during the cleaning process if the carriage deforms excessively, preventing damage to the robot. The main control box 12 is also connected to an IMU inertial measurement module 51. The IMU (Inertial Measurement Unit) module 51 is used to detect changes in the human's acceleration and relative positioning information. It can calculate the angle of the robot's rotation in the air during the fall and transmit this information to the onboard control module 28. The onboard control module 28 transmits the information to the drive module 30, which controls the three-axis rotating support to rotate by the corresponding angle, thereby changing the direction of the 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 31 flows out through the duct 53. When the robot slides down due to insufficient positive pressure against the wall, the IMU (Inertial Measurement Unit) detects the acceleration caused by the sudden sliding and triggers the onboard control module 28 to start the drive module 30. 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 inertial measurement module 51 detects a sudden increase in acceleration and triggers the onboard control module 28 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 28. The onboard control module 28 controls the drive module 30 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 robot's fall speed, 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] The specific usage process is as follows: the sensing module detects the robot entering the carriage along the wooden track. First, it cleans the inner wall of the carriage. The rectangular magnet 46 in the track is attracted to the side of the carriage. The onboard control module 28 sends a command to the drive module 30. The drive module 30 drives the servo motor 6 and servo motor 9 to rotate, and the cleaning brush roller 5 descends. At the same time, the laser distance sensor 7 continuously detects the distance information of the carriage and feeds it back to the information processing module 29. When the cleaning brush roller 5 descends to the preset distance value, the information processing module 29 transmits the information to the onboard control module 28.

[0041] The onboard control module 28 sends instructions to the drive module 30, which controls the first drive box 16, the second drive box 32, the negative pressure centrifugal motor 31, and the servo motors 17 and 40, thereby driving the robot to walk along the side wall and perform residual material cleaning and adsorption operations.

[0042] During operation, when the train encounters the connecting ribs of the carriage, the clamping wheel 10 provides pre-pressure to press the first track, thereby making the track close to the carriage wall. When the dust concentration detection sensor 1 detects that the dust exceeds the standard, the information processing module 29 transmits the information to the airborne control module 28. The airborne control module 28 controls the switch valve 33 to open, and the water in the water tank is sprayed out through the water outlet pipe by the high-pressure air water atomizing nozzle 2 to atomize and suppress dust.

[0043] The sensing module detects the distance information of different sides of the carriage and transmits it to the information processing module 29 for information processing, forming a feedback mechanism that enables the robot to perform avoidance actions when necessary to prevent collision with the carriage wall.

[0044] When the laser distance sensor 22 detects that the preset distance value has been reached, the information processing module 29 transmits the information to the airborne control module 28. The airborne control module 28 sends a command to the drive module 30 to control the extension of the luffing cylinder 24 and the rotation of the first rotary joint 21, which drives the auxiliary transition body 18 to rotate vertically. At the same time, the walking body continues to move forward. When the auxiliary transition body 18 rotates to the set angle, that is, just touches the other transition surface of the inner side wall of the carriage, the airborne control module 28 sends a command to the drive module 30. The drive module 30 controls the servo motor 41 to rotate, which rotates the permanent magnet 43 inside the brass cover 45 to the outside, increasing the magnetic force of crawling on the transition surface and preventing the robot from tipping over and falling onto the carriage wall. After completing the crawling on the transition surface, the remaining inner side walls of the carriage are cleaned of residual material according to the above process.

[0045] Once the remaining material on the inner wall of the carriage is cleaned, the information processing module 29 transmits the information to the onboard control module 28. The onboard control module 28 sends a command to the drive module 30 to control the second rotary joint 42 to rotate, causing the auxiliary transition body 18 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 27.

[0046] After completing the cleaning of the carriage, the robot moves along a wooden track to a fixed position to unload the material through the unloading port. The entire process requires no human intervention, is highly intelligent, has high cleaning efficiency, good cleaning effect, and a low failure rate.

[0047] In addition to the advantages described in the invention, the robot uses permanent magnet adsorption to climb the wall and clean the carriage walls, which is safe and reliable. The use of wooden tracks also facilitates the separation of the robot from the carriage after the work is completed.

[0048] In this embodiment, the permanent magnet can be replaced with an electromagnetic armature (the electromagnetic armature can be powered by a cable, and the change in the electromagnet's magnetism can be controlled in real time by adjusting the current). Using electromagnetic adsorption to clean the carriage walls allows for real-time control of the electromagnet's magnetism by adjusting the current, enabling easy adsorption and detachment from the wall surface.

[0049] 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 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 and a walking motor arranged on both sides 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 track plate of the first track is composed of a magnet mounting plate and a rectangular magnet fixed on the magnet mounting plate. 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 second tracks arranged on both sides of the auxiliary transition body and an adjustable magnetic component in the middle of the auxiliary transition body; the second tracks are supported by two sprockets; the sprockets are driven to rotate by a servo motor, thereby driving the second tracks; The adjustable magnetic component includes a brass cover and a rotatable permanent magnet whose bottom is covered by the brass cover; the permanent magnet is driven to rotate by a servo motor, and as the permanent magnet rotates, the area of ​​the bottom surface of the permanent magnet covered by the brass cover changes. 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 toward the cleaning brush roller; The air outlet of the negative pressure centrifugal fan is connected to the air outlet pipe located on the top of the walking machine body through a pipe; the air outlet pipe is installed on the top of the walking machine body through a three-axis rotating bracket. The three-axis rotating bracket has three servo motors with rotating axes perpendicular to each other. By rotating the three-axis rotating bracket, the air outlet pipe can be oriented in any direction. 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 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 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 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 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 freight train carriage cleaning robot according to claim 1, characterized in that: The cleaning brush roller is height adjustable.

7. The 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 freight train carriage cleaning robot according to claim 1, characterized in that: The freight train carriage cleaning robot is controlled by a main control box. The 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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