Trackless cleaning device and cleaning method for carriage

Abstract

The present invention provides a trackless cleaning device and a cleaning method for a carriage, and belongs to the technical field of carriage cleaning. The trackless cleaning device for a carriage comprises a gantry assembly, a cleaning assembly, a detection device and a control center. The detection device is used to detect the distance between the gantry assembly and the side wall of the carriage, and the control center automatically adjusts the steering of the running wheels to realize the walking deviation correction of the gantry assembly. In the present invention, based on the settings of the running wheels, the detection device and the control center, the automatic walking deviation correction of the gantry assembly along the length direction of the carriage can be realized, thereby solving the problems of great difficulty in transferring traditional equipment, high requirements on the site and high equipment purchase cost.

Description

Technical Field

[0001] The invention belongs to the technical field of carriage cleaning, and in particular relates to a trackless carriage cleaning device and a cleaning method. Background Art

[0002] Train transportation has the advantages of large transportation volume, low cost, high efficiency, clean and environmental protection, and no restrictions on weather conditions. It is widely used in the transportation of raw materials such as ore and coal. It is the main mode of transportation in industries such as steel production, power generation, and mining and smelting. With the continuous improvement of environmental protection requirements, the application and development of operating equipment around train carriages have been popularized, such as samplers and carriage cleaning equipment. In the process of bulk material transportation, due to factors such as moisture in the transported materials and vibration during transportation, the transported materials will adhere to the carriages. The adhered transported materials cannot be unloaded during unloading, and the carriages need to be cleaned with carriage cleaning equipment after unloading.

[0003] In the related prior art, the carriage cleaning equipment mainly includes moving tracks, a gantry trolley, a mobile car, a lifting device and a cleaning device. The moving tracks are laid on both sides of the carriage. The gantry trolley is set on the moving tracks on both sides to realize walking along the length direction of the carriage. The mobile car is installed on the gantry trolley to realize movement and adjustment along the width direction of the carriage. The lifting device is installed on the mobile car and can be lifted and adjusted to enter and exit the carriage. The cleaning device is set at the lower end of the lifting device, mainly including a bottom brush, a side brush and a negative pressure discharge, which is used to clean the bottom and side walls of the carriage through the bottom brush and the side brush, and to discharge the material through the negative pressure discharge. Since the train has multiple carriages, this type of carriage cleaning equipment has high requirements for the site and the laying length of the moving tracks, high equipment cost, and the equipment is fixed, making it difficult to transfer. Summary of the invention

[0004] The present invention aims to solve at least one of the above-mentioned technical problems existing in the prior art. To this end, the present invention provides a carriage trackless cleaning device, which does not require the laying of mobile tracks and can solve the problems of difficult transfer, high site requirements and high costs.

[0005] A carriage trackless cleaning device according to an embodiment of the first aspect of the present invention comprises:

[0006] A gantry assembly, wherein a plurality of running wheels are arranged at the bottom of the gantry assembly, and the running wheels at at least one end can be steered and adjusted along the running direction of the gantry assembly;

[0007] A cleaning assembly, the cleaning assembly being mounted on the gantry assembly and being used for performing a carriage cleaning operation;

[0008] A detection device, the detection device is installed on the door frame assembly and is used to detect the distance between the door frame assembly and the side wall of the carriage;

[0009] A control center is connected to the running wheel and the detection device, and is used to control the steering correction of the running wheel when the detection device detects that the distance from the door frame assembly to the left side wall or the right side wall of the car is greater than or less than a set distance.

[0010] The carriage trackless cleaning device according to the embodiment of the present invention has at least the following beneficial effects: the carriage trackless cleaning device of the present invention is provided with running wheels at the bottom of the gantry assembly to support walking, and the running wheels at the end can be steered and adjusted along the walking direction, so that the gantry assembly can be steered and adjusted while walking, and then the gantry assembly can be moved and adjusted to one side. During operation, the detection device can be used to detect the distance between the gantry assembly and the side wall of the carriage. The distance can be used to determine whether the gantry assembly is offset to the left or right relative to the carriage, and then determine whether the cleaning assembly can contact the inner wall of the carriage to perform cleaning operations, and determine whether the gantry assembly will collide with the carriage as it moves forward. When it is detected that the distance is greater than or less than the set distance, the control center automatically adjusts the steering of the running wheels to achieve walking deviation correction of the gantry assembly, ensuring that the cleaning assembly can smoothly perform cleaning operations and avoid the gantry assembly from colliding with the carriage. Therefore, the carriage trackless cleaning equipment in the present invention does not need to lay mobile tracks. Based on the settings of the walking wheels, the detection device and the control center, it can realize the automatic walking and deviation correction of the gantry assembly along the length direction of the carriage, thereby solving the problems of the difficulty of transferring traditional equipment, high site requirements and high equipment purchase cost.

[0011] According to some embodiments of the present invention, the carriage trackless cleaning device further includes a travel input terminal, which is connected to the gantry assembly or the control center and is used to input a travel control signal.

[0012] According to some embodiments of the present invention, the portal assembly comprises:

[0013] A left frame assembly, the left frame assembly can be raised and lowered, and a plurality of walking wheels are arranged at the bottom of the left frame assembly;

[0014] A right side frame assembly, the right side frame assembly can be raised and lowered, and a plurality of walking wheels are arranged at the bottom of the right side frame assembly;

[0015] A top frame assembly is connected between the upper end of the left frame assembly and the upper end of the right frame assembly.

[0016] According to some embodiments of the present invention, the door frame assembly also includes a left-side limiting assembly and a right-side limiting assembly, the left-side limiting assembly protrudes from one end of the left frame assembly close to the right frame assembly, the right-side limiting assembly protrudes from one end of the right frame assembly close to the left frame assembly, and the distance between the left-side limiting assembly and the right-side limiting assembly is greater than or equal to the width of two opposite outer side walls of the vehicle body.

[0017] According to some embodiments of the present invention, the left side limit assembly and / or the right side limit assembly can be moved and adjusted along the length direction of the top frame assembly, and limit wheels are provided at the ends of the left side limit assembly and the right side limit assembly that are close to each other.

[0018] According to some embodiments of the present invention, the cleaning assembly comprises:

[0019] A first mounting frame, wherein the first mounting frame is rotatably connected to the gantry assembly about a first axis, and the first axis is arranged horizontally and perpendicularly to a travel direction of the gantry assembly;

[0020] a second mounting frame, the second mounting frame being rotatably connected to the first mounting frame about a second axis, the second axis being perpendicular to the first axis;

[0021] The second cleaning component is connected to the second mounting frame, and is used for cleaning the inner wall and the bottom surface of the compartment and sweeping the cleaned materials to one side or both sides of the compartment.

[0022] According to some embodiments of the present invention, the second cleaning assembly comprises:

[0023] A scraper mechanism, the scraper mechanism is arranged parallel to the first axis and is used to sweep the cleaned objects to one side or both sides of the carriage through the scraper;

[0024] A first sweeping and brushing mechanism, wherein the first sweeping and brushing mechanism is rotatably provided with two first sweeping and brushing parts, the two first sweeping and brushing parts are close to two ends of the scraper mechanism and are at least used for sweeping the inner wall of the carriage;

[0025] A second sweeping and brushing mechanism, wherein the second sweeping and brushing mechanism is rotatably provided with two second sweeping and brushing parts, the two second sweeping and brushing parts are close to two ends of the scraper mechanism and are at least used for sweeping the bottom surface of the carriage;

[0026] Wherein, along the traveling direction of the gantry assembly, the first sweeping and brushing mechanism and the second sweeping and brushing mechanism are respectively arranged at the front end and the rear end of the scraper mechanism.

[0027] According to some embodiments of the present invention, the second cleaning assembly also includes a bottom brush mechanism, which has a rotatable bottom brush portion that extends along the first axis and along the traveling direction of the gantry assembly. The bottom brush mechanism is located at the front end and / or rear end of the scraper mechanism and is used to sweep the bottom surface of the carriage along the first axis.

[0028] According to some embodiments of the present invention, the cleaning assembly further includes a first cleaning component, which is connected to the first mounting frame and is used to sweep the upper end of the side wall of the compartment.

[0029] According to the second aspect of the present invention, the carriage trackless cleaning method of the embodiment uses the above-mentioned carriage trackless cleaning device for cleaning, comprising the following steps:

[0030] First, the gantry assembly is controlled to move to one end of the car, and the control center automatically corrects the gantry assembly during the movement. Then, the cleaning assembly is controlled to enter the car, and then the cleaning assembly is started and controlled to move to the other end of the car for cleaning. During the movement, the control center automatically corrects the position of the gantry assembly relative to the car. After completing the cleaning of one car, the cleaning assembly is controlled to exit the current car, and then the gantry assembly is controlled to move to the end of the next car, and the above steps are repeated until all cars are cleaned.

[0031] The carriage trackless cleaning method according to the embodiment of the present invention has at least the following beneficial effects: the carriage trackless cleaning method of the present invention, by applying the above-mentioned carriage trackless cleaning equipment, can automatically correct the deviation during the cleaning movement, realize trackless cleaning operations, and solve the problems of difficulty in transferring traditional equipment, high site requirements, and high equipment purchase costs.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description, and some additional aspects and advantages will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0034] Figure 1 It is a schematic diagram of the overall structure of the carriage trackless cleaning device in the present invention in a cleaning state;

[0035] Figure 2 A structural schematic diagram of a gantry assembly of the carriage trackless cleaning device of the present invention;

[0036] Figure 3 A front view of the door frame assembly of the carriage trackless cleaning device of the present invention;

[0037] Figure 4 It is a schematic diagram of a first state of the left-side limiting assembly and the right-side limiting assembly of the carriage trackless cleaning device of the present invention;

[0038] Figure 5 It is a schematic diagram of the second state of the left-side limiting assembly and the right-side limiting assembly of the carriage trackless cleaning device of the present invention;

[0039] Figure 6 A schematic diagram of an alignment state between the gantry assembly of the carriage trackless cleaning device of the present invention and the carriage;

[0040] Figure 7 A structural schematic diagram of a first mounting frame and a first cleaning assembly of the carriage trackless cleaning device of the present invention;

[0041] Figure 8 A structural schematic diagram of the second mounting frame and the second cleaning assembly of the carriage trackless cleaning device of the present invention;

[0042] Fig. 9 The figure is a flow chart of an embodiment of the method for cleaning a carriage trackless according to the present invention.

[0043] In the figure:

[0044] 100-gantry assembly, 101-left frame assembly, 102-right frame assembly, 103-top frame assembly, 104-travel wheel, 105-left limit assembly, 106-right limit assembly;

[0045] 1051-limiting mounting seat, 1052-limiting bracket, 1053-limiting cylinder, 1054-non-contact distance sensor, 1055-limiting wheel;

[0046] 200-cleaning assembly, 201-first mounting frame, 202-second mounting frame;

[0047] 2011-top brush, 2021-first sweeping brush part, 2022-second sweeping brush part, 2023-scraper mechanism, 2024-bottom brush mechanism;

[0048] 300-carriage;

[0049] 400-Power module. DETAILED DESCRIPTION

[0050] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0051] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0052] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0053] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0054] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0055] The present invention provides a carriage trackless cleaning device which does not require the laying of moving tracks and can solve the problems of great difficulty in site transfer, high requirements on the site and high cost.

[0056] Reference Figure 1A trackless car cleaning device according to an embodiment of the present invention comprises a gantry assembly 100, a cleaning assembly 200, a detection device and a control center. A plurality of running wheels 104 are arranged at the bottom of the gantry assembly 100, and along the traveling direction of the gantry assembly 100, the running wheels 104 at at least one end can be steered and adjusted. That is, at least one of the running wheels 104 at the front end and the running wheels 104 at the rear end can be steered and adjusted, so that the traveling direction of the gantry assembly 100 can be changed by the steering of the running wheels 104 during the traveling process, thereby changing the position relative to the car 300. The cleaning assembly 200 is mounted on the gantry assembly 100 and is used to perform the cleaning operation of the car 300. The detection device is mounted on the gantry assembly 100 and is used to detect the distance between the gantry assembly 100 and the side wall of the car 300. The control center connects the running wheel 104 and the detection device, and is used to control the running wheel 104 to turn and correct when the detection device detects that the distance from the door frame assembly 100 to the left wall or right wall of the carriage 300 is greater than or less than the set distance.

[0057] Specifically, the gantry assembly 100 is erected from both sides of the carriage 300 to the top of the carriage 300 for movement, and the cleaning assembly 200 enters the carriage 300 from the upper end of the carriage 300 to clean the inner wall and bottom surface of the carriage 300. Therefore, when the detection device is performing detection and judgment, it can detect the distance of the inner wall of the carriage 300 from the inner side of the carriage 300 to judge whether the gantry assembly 100 is offset to the left or right relative to the carriage 300. If the detection result shows that the distance from the detection point to the left wall of the carriage 300 increases to exceed the set value, it is judged that If the gantry assembly 100 is offset to the right, the distance from the outer wall of the carriage 300 can be detected from the outside of the carriage 300 to determine whether the gantry assembly 100 is offset to the left or right relative to the carriage 300. If the detection result shows that the distance from the detection point to the left wall of the carriage 300 is less than the set range, it is determined that the gantry assembly 100 is offset to the right. Those skilled in the art can flexibly set the detection device to detect from the inside of the carriage 300 or from the outside of the carriage 300, as well as the corresponding judgment mode according to the actual installation situation. When the control center detects that the gantry assembly 100 is offset to the left or right relative to the carriage 300, it controls the steering of the running wheel 104 so that the gantry assembly 100 automatically corrects its position as it walks, thereby achieving walking deviation correction.

[0058] Since the gantry assembly 100 is moving relative to the carriage 300 during the cleaning process of the carriage 300, the detection device preferably adopts a non-contact detection structure, such as a distance sensor, to achieve real-time distance detection. In addition, multiple distance sensors can be set along the length direction of the carriage 300 to determine whether the gantry assembly 100 is angularly deflected relative to the length direction of the carriage 300 (i.e., along the length direction of the carriage 300, the distances from two or more distance sensors to the same side wall of the carriage 300 are different) or translated (i.e., along the length direction of the carriage 300, the distances from two or more distance sensors to the same side wall of the carriage 300 are the same, and the distance value exceeds or is less than the set value), so as to facilitate deviation correction and adjustment.

[0059] The carriage trackless cleaning device of the present invention is provided with a running wheel 104 at the bottom of the gantry assembly 100 to support walking, and the running wheel 104 at the end can be steered and adjusted along the walking direction, so that the gantry assembly 100 can be steered and adjusted while walking, and then the gantry assembly 100 can be moved and adjusted to one side. During operation, the detection device can be used to detect the distance between the gantry assembly 100 and the side wall of the carriage 300. By this distance, it can be judged whether the gantry assembly 100 is offset to the left or to the right relative to the carriage 300, and then it can be judged whether the cleaning assembly 200 can contact the inner wall of the carriage 300 to achieve the cleaning operation, and whether the gantry assembly 100 will collide with the carriage 300 as it moves forward. When it is detected that the distance is greater than or less than the set distance, the control center automatically adjusts the steering of the running wheel 104 to achieve walking deviation correction of the gantry assembly 100, ensure that the cleaning assembly 200 can smoothly perform the cleaning operation, and avoid the gantry assembly 100 from colliding with the carriage 300. Therefore, the carriage trackless cleaning equipment in the present invention does not need to lay mobile tracks. Based on the settings of the walking wheels 104, the detection device and the control center, it can realize the automatic walking and deviation correction of the gantry assembly 100 along the length direction of the carriage 300, thereby solving the problems of the difficulty of transferring traditional equipment, high site requirements and high equipment purchase cost.

[0060] In some embodiments of the present invention, the carriage trackless cleaning device further includes a travel input terminal, which is connected to the gantry assembly 100 or the control center for inputting a travel control signal. The setting of the travel input terminal facilitates the staff to control the movement of the gantry assembly 100 and realize the travel control of the gantry assembly 100. Specifically, the travel input terminal is set as a handheld control terminal, and the staff can set the travel distance and direction of the gantry assembly 100 through the handheld control terminal, thereby realizing the rapid transition of the gantry assembly 100 and the rapid positioning of the carriage 300. The handheld control terminal can be connected by communication or by wire.

[0061] Reference Figures 1 to 3 and Figure 6 In some embodiments of the present invention, the gantry assembly 100 includes a left frame assembly 101, a right frame assembly 102 and a top frame assembly 103. The left frame assembly 101 can be raised and lowered, and a plurality of running wheels 104 are provided at the bottom of the left frame assembly 101. The right frame assembly 102 can be raised and lowered, and a plurality of running wheels 104 are provided at the bottom of the right frame assembly 102. The top frame assembly 103 is connected between the upper end of the left frame assembly 101 and the upper end of the right frame assembly 102, thereby forming a gantry frame. With the structural arrangement of this embodiment, the gantry assembly 100 can be raised and lowered by the left frame assembly 101 and the right frame assembly 102, and the height can be lowered during transportation to improve the convenience of transportation. And in the case of limited height of the work site, it can be adapted by raising and lowering the left frame assembly 101 and the right frame assembly 102, thereby improving the versatility and applicable scenarios of the equipment. Furthermore, based on the lifting and lowering adjustment of the gantry assembly 100 , the lifting and lowering function of the cleaning assembly 200 can be cancelled, so as to simplify the structural composition, reduce the weight of the cleaning assembly 200 , and reduce the cost of the cleaning assembly 200 .

[0062] Reference Figures 1 to 6 In some embodiments of the present invention, the door frame assembly 100 further includes a left-side limiting assembly 105 and a right-side limiting assembly 106, wherein the left-side limiting assembly 105 protrudes from one end of the left frame assembly 101 close to the right frame assembly 102, and the right-side limiting assembly 106 protrudes from one end of the right frame assembly 102 close to the left frame assembly 101, and the distance between the left-side limiting assembly 105 and the right-side limiting assembly 106 is greater than or equal to the width of the two opposite outer side walls of the carriage 300. In this embodiment, the left limit assembly 105 and the right limit assembly 106 can be installed on the top frame assembly 103, or on the left frame assembly 101 and the right frame assembly 102 respectively. It is only necessary to ensure that the left limit assembly 105 protrudes to the right relative to the left frame assembly 101, and the right limit assembly 106 protrudes to the left relative to the right frame assembly 102. In this way, the left limit assembly 105 and the right limit assembly 106 can cooperate to achieve mechanical limitation of the offset of the door frame assembly 100 relative to the car 300, thereby avoiding the situation where the door frame assembly 100 directly hits the car 300 when the detection device fails and the control center cannot automatically correct the deviation effectively.

[0063] The carriage 300 is generally provided with two upper and lower end beams along the length direction of the outer side wall, and a plurality of vertical beams are provided between the two end beams for reinforcement. In some embodiments, the left stopper assembly 105 and the right stopper assembly 106 are provided at positions corresponding to the end beams, so as to abut against the end beams on the outer side of the carriage 300 when necessary to prevent the left frame assembly 101 and the right frame assembly 102 from directly hitting the carriage 300. It is understandable that due to long-term transportation operations, the side wall of the carriage 300 is prone to deformation to a certain extent, resulting in the end beams of the carriage 300 not being regular straight lines. Therefore, the spacing between the left stopper assembly 105 and the right stopper assembly 106 is preferably greater than the width of the carriage 300, so as to avoid the situation where the left stopper assembly 105 and the right stopper assembly 106 abut against the end beams of the carriage 300 when the carriage 300 is deformed, causing jamming, and also reserving adjustment space for the automatic deviation correction adjustment of the door frame assembly 100.

[0064] In some embodiments of the present invention, the left stopper assembly 105 and the right stopper assembly 106 can be moved and adjusted along the length direction of the top frame assembly 103 to adjust the width between the two and adapt to carriages 300 of different widths. In practical applications, only the left stopper assembly 105 or the right stopper assembly 106 can be moved and adjusted to achieve width adjustment.

[0065] Reference Figure 4 and Figure 5 In some embodiments of the present invention, the left limiting assembly 105 and the right limiting assembly 106 are provided with limiting wheels 1055 at their mutually adjacent ends. When the gantry assembly 100 deviates during travel, the left limiting assembly 105 or the right limiting assembly 106 abuts against the end beam of the carriage 300 through the limiting wheels 1055, and sliding abutment can be achieved. The rotation of the limiting wheels 1055 can unload the force and avoid collision damage.

[0066] In some embodiments of the present invention, the left limit assembly 105 and the right limit assembly 106 are relatively fixedly installed on the door frame assembly 100, and the limit wheel 1055 can be moved and adjusted along the length direction of the top frame assembly 103 to achieve width adjustment to match carriages 300 of different width sizes.

[0067] Reference Figures 1 to 6Specifically, in some embodiments of the present invention, the left limit assembly 105 is fixedly mounted on the left frame assembly 101, and the right limit assembly 106 is fixedly mounted on the top frame assembly 103. The left limit assembly 105 and the right limit assembly 106 are both provided with a limit mounting seat 1051, a limit bracket 1052, a limit oil cylinder 1053 and two limit wheels 1055. The limit bracket 1052 is slidably mounted on the limit mounting seat 1051 through two horizontally arranged guide pillars, so as to be horizontally moved and adjusted relative to the limit mounting seat 1051. The limit oil cylinder 1053 is installed between the limit mounting seat 1051 and the limit bracket 1052, so as to control the limit bracket 1052 to slide relative to the limit mounting seat 1051. The two limit wheels 1055 are installed at one end of the limit bracket 1052 away from the limit mounting seat 1051, and are separated at both ends of the limit bracket 1052. The rotating shaft of the limit wheel 1055 is vertically arranged. With the structural arrangement of this embodiment, the left limiting assembly 105 and the right limiting assembly 106 adjust the width between the limiting wheels 1055 on both sides through the limiting oil cylinder 1053, so as to adapt to the size of the carriage 300 of different widths. It can be understood that during installation, it is only necessary to install the limiting mounting seat 1051 on the door frame assembly 100.

[0068] like Figures 2 to 6 As shown, the left stopper assembly 105 is installed at the upper end of the left frame assembly 101 to align with the end beam of the left wall of the carriage 300, and the right stopper assembly 106 is installed at the position of the top frame assembly 103 close to the right frame assembly 102 to align with the end beam of the right wall of the carriage 300. In this embodiment, the detection device is provided with a non-contact distance sensor 1054 on the stopper brackets 1052 of the left stopper assembly 105 and the right stopper assembly 106, and the detection end of the non-contact distance sensor 1054 is in the opposite direction of the left stopper assembly 105 and the right stopper assembly 106.

[0069] Reference Figure 1 and Figure 7 , Figure 8In some embodiments of the present invention, the cleaning assembly 200 includes a first mounting frame 201, a second mounting frame 202 and a second cleaning component. Among them, the first mounting frame 201 can be rotatably mounted on the top frame assembly 103 around a first axis, and the first axis is horizontally perpendicular to the walking direction of the door frame assembly 100, that is, the first axis is consistent with the length direction of the top frame assembly 103, so that the first mounting frame 201 can be turned upside down. The second mounting frame 202 can be rotatably mounted on the first mounting frame 201 around a second axis, and the second axis is perpendicular to the first axis. And the second axis is located at the geometric center position of the first mounting frame 201, so when the first mounting frame 201 is horizontal, the second axis is in a vertical state, and the second mounting frame 202 can rotate horizontally. The second cleaning component is mounted on the second mounting frame 202, and the second cleaning component is used to clean the inner side wall and bottom surface of the carriage 300, and sweep the cleaned material to one side or both sides of the carriage 300. With the structural setting of this embodiment, the cleaning assembly 200 can be turned upside down based on the rotation of the first mounting frame 201, so as to achieve entry and exit of the carriage 300. Compared with the design of setting a lifting structure to achieve entry and exit of the carriage 300 in the traditional structure, the structure is simpler and the cost is lower. In addition, combined with the lifting and lowering adjustment of the left frame assembly 101 and the right frame assembly 102, the overall height of the equipment can be further reduced, and the convenience of transportation and the adaptability to application scenarios with limited space can be improved. In addition, the second cleaning assembly directly cleans and discharges the remaining materials to the outside of the carriage 300. Compared with the traditional solution of using negative pressure suction to discharge materials, the cost is lower and the cleaning efficiency is higher. It only needs to open the discharge baffles on both sides of the carriage 300.

[0070] In some embodiments of the present invention, the second cleaning assembly includes a scraper mechanism 2023, a first sweeping mechanism, and a second sweeping mechanism. Figure 8Taking the position of the cleaning assembly 200 in the cleaning working state as an example, the scraper mechanism 2023 is located at the bottom of the second mounting frame 202, and the scraper mechanism 2023 is extended along the first axis, and is used to sweep the cleaning material to one side or both sides of the carriage 300 through the scraper. Along the walking direction of the gantry assembly 100, the first sweeping brush mechanism is located at the front end of the second mounting frame 202, and the second sweeping brush mechanism is located at the rear end of the second mounting frame 202. The first sweeping brush mechanism is rotatably provided with two first sweeping brush parts 2021, the rotating shaft of the first sweeping brush part 2021 is vertically arranged, and the first sweeping brush part 2021 extends a certain length in the vertical direction, and the two first sweeping brush parts 2021 are close to the two ends of the scraper mechanism 2023, and are used to sweep the inner wall of the carriage 300. The second sweeping mechanism is rotatably provided with two second sweeping parts 2022, which are close to the two ends of the scraper mechanism 2023, and the rotating shaft is vertically provided, and is used to sweep the bottom surface of the carriage 300. With the structural setting of this embodiment, during the movement of the gantry assembly 100, the cleaning assembly 200 cleans the inner wall of the carriage 300 through the first sweeping part 2021, cleans the corners on both sides of the carriage 300 through the second sweeping part 2022, and pushes the materials on the bottom surface of the carriage 300 outward along the width direction of the carriage 300 through the scraper mechanism 2023. The rotation direction of the first sweeping part 2021 and the second sweeping part 2022 can be flexibly set according to actual conditions.

[0071] Furthermore, a sweeping structure similar to that of the second sweeping structure 2022 is also provided at the bottom of the first sweeping portion 2021 for cleaning the bottom surface of the carriage 300 .

[0072] Furthermore, the first sweeping brush part 2021 and the second sweeping brush part 2022 are both configured to be able to be folded upward and inward, so as to be folded when not in the cleaning working state, thereby reducing the volume, improving the convenience of transportation, and facilitating the first mounting frame 201 to avoid the side wall of the carriage 300 when flipping up and down, and then unfolding to the working state after the cleaning assembly 200 enters the carriage 300. Alternatively, only the function of folding inward is configured. It can be understood that folding inward means that the two first sweeping brush parts 2021 swing or move in a direction close to each other, and the two second sweeping brush parts 2022 swing or move in a direction close to each other. The specific swinging or moving function can be set using the swing arm rotation and translation transmission structure in the relevant prior art, which will not be described in detail here.

[0073] Reference Figure 8In some embodiments of the present invention, the second cleaning assembly further includes a bottom brush mechanism 2024, which is arranged at the bottom of the second mounting frame 202, and is located at the front end or rear end of the scraper mechanism 2023 along the walking direction of the gantry assembly 100. The bottom brush mechanism 2024 is rotatably arranged with a bottom brush portion, which extends along the first axis direction and is used to sweep the bottom surface of the carriage 300 along the first axis direction. It can be understood that a plurality of bottom brush portions can be arranged along the first axis direction, or the rotating shaft can be arranged horizontally and extended along the first axis direction for a certain length, so as to clean the bottom surface of the carriage 300 in the width direction. When a plurality of bottom brush portions are arranged along the first axis direction, the rotating shaft of the bottom brush portion is arranged vertically, and the bottom surface of the carriage 300 is swept and brushed by rotation. When the bottom brush portion is extended along the first axial direction for a certain length, the rotating shaft of the bottom brush portion is arranged horizontally, and the bottom surface of the carriage 300 is swept and brushed by rotation.

[0074] Reference Figure 7 In some embodiments of the present invention, the cleaning assembly 200 further includes a first cleaning component, which is connected to the first mounting frame 201 and is used to sweep the upper end of the side wall of the carriage 300. In this way, when working, as the gantry assembly 100 moves along the length direction of the carriage 300, the cleaning assembly 200 cleans the inner wall and the side area of ​​the bottom surface of the carriage 300 through the first sweeping brush part 2021, cleans the side area of ​​the bottom surface of the carriage 300 again through the second sweeping brush part 2022, cleans the bottom surface of the carriage 300 through the bottom brush mechanism 2024, pushes the cleaned materials to the outside of the carriage 300 through the scraper mechanism 2023, and cleans the upper end of the side wall of the carriage 300 through the first cleaning component, thereby achieving all-round cleaning of the interior of the carriage 300. It can be understood that when the first cleaning part, the second cleaning part and the bottom brush mechanism 2024 are cleaning, they all have the effect of pushing the material outward.

[0075] Specifically, refer to Figure 7 In some embodiments of the present invention, the first cleaning assembly includes an L-shaped top brush 2011. Taking the cleaning assembly 200 in working state as an example, the top brush 2011 is attached to the upper end surface of the side wall of the compartment 300 and the upper end position of the inner side wall, so as to clean the upper end area of ​​the side wall of the compartment 300. In addition, along the moving direction of the gantry assembly 100, the top brush 2011 and the first sweeping brush part 2021 are staggered front and back, and at the same time, along the vertical direction, the lower end of the top brush 2011 and the upper end of the first sweeping brush part 2021 have a cleaning area overlapped, so as to ensure the cleaning effect of the inner side wall of the compartment 300.

[0076] Reference Figures 1 to 3In some embodiments of the present invention, the carriage trackless cleaning device further includes a power module 400, which has a battery and a grid connection terminal and is compatible with battery power supply and grid power supply.

[0077] In some embodiments of the present invention, the walking input terminal is also provided with a control button for controlling the operation of the entire device, and the specific form thereof can be a physical button or a touch screen touch control.

[0078] Reference Fig. 9 The present invention also proposes a carriage trackless cleaning method, comprising the following steps:

[0079] S001 Equipment is ready: The operator first adjusts the gantry assembly 100 through the travel input end to a height at which the car 300 can pass from under the top frame assembly 103, and controls the first mounting frame 201 to swing upward to the highest position, keeping the left limit assembly 105 and the right limit assembly 106 in a non-limited state (i.e., keeping them away from each other), and then controls the gantry assembly 100 to move to one end of the car 300, and detects the distance between the two sides of the car 300 through the detection device to determine whether the current position of the gantry assembly 100 is offset relative to the car 300. When it is determined that there is an offset, it is further determined whether it is a rotational offset or a translational offset, and the control center adjusts the travel direction of the gantry assembly 100 according to the corresponding offset. The gantry assembly 100 is controlled to move along the length direction of the carriage 300 to actively correct the deviation, and then the gantry assembly 100 is controlled to retract to the end of the carriage 300, so that the gantry assembly 100 reaches the predetermined cleaning route. If it is determined that there is no deviation, it is assumed that the gantry assembly 100 has reached the predetermined cleaning route; then the first mounting frame 201 is controlled to swing downward until the cleaning assembly 200 enters the carriage 300, and then the first sweeping brush portion 2021 and the second sweeping brush portion 2022 are controlled to unfold until they contact their respective cleaning surfaces, so that the cleaning assembly 200 reaches the cleaning position, and the left limit assembly 105 and the right limit assembly 106 are controlled to move in the direction close to the carriage 300 to the left and right mechanical limit positions (with a certain distance from the carriage 300);

[0080] S002 Cleaning: The operator starts the relevant drive of the cleaning assembly 200 through the walking input terminal, and then controls the gantry assembly 100 to move along the length direction of the car 300. During the cleaning walking process, the detection device detects the distance of the car 300 in real time to determine whether the gantry assembly 100 is offset relative to the car 300. When it is determined that there is an offset, it is further determined whether it is a rotational offset or a translational offset. The control center adjusts the walking direction of the gantry assembly 100 according to the corresponding offset situation, so as to cooperate with the walking of the gantry assembly 100 to perform active deviation correction. When the offset is too large and the deviation correction is not timely, the left limit assembly 105 or the right limit assembly 106 abuts against the car 300 to achieve passive deviation correction; when the gantry assembly 100 walks to the other end of the car 300, the second mounting frame 202 is controlled to rotate 180°, and then the gantry assembly 100 is controlled to move in the opposite direction to the end of the car 300 to complete the cleaning of the car 300;

[0081] S003 Continue cleaning: The operator controls the cleaning assembly 200 to fold and swing upward to exit the cleaned carriage 300 through the walking input end, and then controls the gantry assembly 100 to move to the next carriage 300, and repeats the above steps to clean, thereby completing the cleaning of all carriages 300.

[0082] In the above cleaning process, the front and rear inner walls of the carriage 300 can be cleaned by the translation of the first sweeping brush 2021, that is, the two first sweeping brushes 2021 can be moved toward each other to achieve cleaning of the inner walls of the ends. At the same time, the scraper assembly can push materials to both sides of the carriage 300 on the basis of the 180° reversal of the cleaning assembly 200.

[0083] Furthermore, when there are workers in the carriage 300, the second mounting frame 202 can be controlled to rotate 90° for avoidance.

[0084] During the above cleaning process, the left and right position of the gantry assembly 100 relative to the carriage 300 is automatically corrected through automatic detection and judgment by the detection device and the control center.

[0085] The carriage trackless cleaning method of the present invention can automatically correct the deviation during the cleaning movement by applying the above-mentioned carriage trackless cleaning equipment, thereby realizing trackless cleaning operations and solving the problems of difficulty in transferring traditional equipment, high site requirements and high equipment purchase costs.

[0086] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A carriage trackless cleaning device, characterized in that: include: A gantry assembly, wherein a plurality of running wheels are arranged at the bottom of the gantry assembly, and the running wheels at at least one end can be steered and adjusted along the running direction of the gantry assembly; A cleaning assembly, the cleaning assembly being mounted on the gantry assembly and being used for contacting and cleaning the inner wall of the carriage; A detection device, the detection device is installed on the door frame assembly and is used to detect the distance between the door frame assembly and the side wall of the carriage; a control center, wherein the control center is connected to the running wheel and the detection device, and is used to judge whether the gantry assembly is offset to the left or to the right relative to the carriage according to the distance detected by the detection device, and further judge whether the cleaning assembly can contact the inner wall of the carriage to perform the cleaning operation, and judge whether the gantry assembly will collide with the carriage as it moves forward, and when the detection device detects that the distance from the gantry assembly to the left side wall or the right side wall of the carriage is greater than or less than a set distance, control the running wheel to turn and correct the deviation, keep the cleaning assembly in contact with the inner side wall of the carriage, and prevent the gantry assembly from colliding with the carriage; The door frame assembly comprises: A left frame assembly, the left frame assembly can be raised and lowered, and a plurality of walking wheels are arranged at the bottom of the left frame assembly; A right side frame assembly, the right side frame assembly can be raised and lowered, and a plurality of walking wheels are arranged at the bottom of the right side frame assembly; A top frame assembly, the top frame assembly being connected between the upper end of the left frame assembly and the upper end of the right frame assembly; The door frame assembly further includes a left-side limiting assembly and a right-side limiting assembly, wherein the left-side limiting assembly protrudes from one end of the left-side frame assembly close to the right-side frame assembly, and the right-side limiting assembly protrudes from one end of the right-side frame assembly close to the left-side frame assembly, and the distance between the left-side limiting assembly and the right-side limiting assembly is greater than or equal to the width of two opposite outer side walls of the carriage; The left-side limiting assembly and / or the right-side limiting assembly can be moved and adjusted along the length direction of the top frame assembly, and limiting wheels are arranged at the mutually close ends of the left-side limiting assembly and the right-side limiting assembly; The cleaning assembly comprises: A first mounting frame, wherein the first mounting frame is rotatably connected to the gantry assembly about a first axis, and the first axis is arranged horizontally and perpendicularly to a travel direction of the gantry assembly; a second mounting frame, the second mounting frame being rotatably connected to the first mounting frame about a second axis, the second axis being perpendicular to the first axis; The second cleaning component is connected to the second mounting frame, and is used for cleaning the inner wall and the bottom surface of the compartment and sweeping the cleaned materials to one side or both sides of the compartment.

2. The carriage trackless cleaning device according to claim 1, characterized in that: The carriage trackless cleaning device also includes a travel input end, which is connected to the gantry assembly or the control center and is used to input a travel control signal.

3. The carriage trackless cleaning device according to claim 1, characterized in that: The second cleaning component comprises: A scraper mechanism, the scraper mechanism is arranged parallel to the first axis and is used to sweep the cleaned objects to one side or both sides of the carriage through the scraper; A first sweeping and brushing mechanism, wherein the first sweeping and brushing mechanism is rotatably provided with two first sweeping and brushing parts, the two first sweeping and brushing parts are close to two ends of the scraper mechanism and are at least used for sweeping the inner wall of the carriage; A second sweeping and brushing mechanism, wherein the second sweeping and brushing mechanism is rotatably provided with two second sweeping and brushing parts, the two second sweeping and brushing parts are close to two ends of the scraper mechanism and are at least used for sweeping the bottom surface of the carriage; Wherein, along the traveling direction of the gantry assembly, the first sweeping and brushing mechanism and the second sweeping and brushing mechanism are respectively arranged at the front end and the rear end of the scraper mechanism.

4. The carriage trackless cleaning device according to claim 3, characterized in that: The second cleaning component also includes a bottom brush mechanism, which has a rotatable bottom brush portion that extends along the first axis and along the traveling direction of the gantry assembly. The bottom brush mechanism is located at the front end and / or rear end of the scraper mechanism and is used to sweep the bottom surface of the carriage along the first axis.

5. The carriage trackless cleaning device according to claim 3, characterized in that: The cleaning assembly also includes a first cleaning component, which is connected to the first mounting frame and is used to sweep the upper end of the side wall of the compartment.

6. A method for cleaning a carriage trackless using the carriage trackless cleaning device according to claim 1, characterized in that: The following steps are involved: First, the gantry assembly is controlled to move to one end of the car, and the control center automatically corrects the gantry assembly during the movement. Then, the cleaning assembly is controlled to enter the car, and then the cleaning assembly is started and controlled to move to the other end of the car for cleaning. During the movement, the control center automatically corrects the position of the gantry assembly relative to the car. After completing the cleaning of one car, the cleaning assembly is controlled to exit the current car, and then the gantry assembly is controlled to move to the end of the next car, and the above steps are repeated until all cars are cleaned.

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