Full-automatic cleaning equipment for rail transit train wheel set

Abstract

The invention provides rail transit train wheel set full-automatic cleaning equipment which comprises a multi-degree-of-freedom mechanical arm installed on a cleaning protection room, and a spray gun of a shot blasting and liquid spraying cleaning module is installed at the output end of the multi-degree-of-freedom mechanical arm; the ground rails are arranged on the ground and penetrate through the cleaning protection room, and the two pairs of ground rails are arranged in parallel and used for wheel pair walking; the rotating wheel module is arranged in the cleaning protection room and used for driving a to-be-cleaned wheel pair to rotate; the wheel pushing module is arranged outside the cleaning protection room and used for pushing a wheel pair to the wheel rotating module; and the visual identification module is used for scanning the to-be-cleaned wheel set and judging the cleaning degree of the wheel set so as to control the shot blasting and liquid spraying cleaning module and the laser cleaning module to be started correspondingly. The wheel set cleaning degree is recognized through the visual recognition module, a proper cleaning mode is selected in a self-adaptive mode, so that the degreasing cleaning and rust removal cleaning requirements of different wheel sets are met, the cleaning efficiency is high, and the environmental protection reliability is high.

Description

Technical Field

[0001] The present application relates to the technical field of locomotive vehicle operation and maintenance, and in particular to a fully automatic cleaning device for rail transit train wheelsets. Background Art

[0002] As an important part of the running gear of rail vehicles, wheelsets are used in harsh environments and often have residual dirt such as sludge and flying insects. Before daily maintenance and repair, the surface of the wheelsets needs to be cleaned to ensure the normal progress of subsequent measurement, repair, and flaw detection processes. Therefore, the cleaning effect of wheelsets greatly restricts the efficiency of locomotive maintenance operations.

[0003] The current wheelset cleaning methods mostly use manual cleaning and laser cleaning. The manual cleaning method involves adding cleaning agents to water and using a handheld spray device for cleaning. This method has the following main problems: 1. Low efficiency: Manual cleaning usually consumes a lot of manpower and material resources. Cleaning key parts and stubborn stains requires repeated manual scrubbing, which is time-consuming and labor-intensive. 2. Harsh environment: Manual handheld spray equipment will generate a large amount of dust and wastewater when cleaning locomotive wheelsets. Long-term work may affect the health of operators and pollute the environment.

[0004] The laser cleaning method mainly uses high-energy laser to burn the cleaning area to achieve the cleaning effect. This method mainly has the following advantages and disadvantages; its disadvantages are: the cleaning range is limited, laser cleaning is destructive cleaning, and the cleaning effect on the rusted parts of the wheelset is better, but the rust often has mud attached to the surface, and the simple laser cleaning method cannot remove dirt such as mud; its advantages are: the structures of different wheelsets are different, and the irregular shapes vary greatly. The laser can penetrate into small gaps to burn and remove the rust in them, which is suitable for the rust removal and paint stripping cleaning requirements of different wheelsets. Summary of the invention

[0005] In order to ensure the efficiency and quality of wheel set cleaning of locomotives and vehicles, liberate labor, optimize the working environment and improve the adaptability of different wheel sets, the present application provides a fully automatic wheel set cleaning equipment for rail transit trains.

[0006] The present application provides a fully automatic cleaning device for rail transit train wheels, which adopts the following technical solutions: A fully automatic cleaning device for rail transit train wheels, comprising a cleaning protection room, a shot peening and liquid spraying cleaning module and a laser cleaning module, and also comprising: A multi-degree-of-freedom manipulator is installed on the cleaning and protection room, and the spray gun of the shot peening and liquid spray cleaning module is installed on the output end of the multi-degree-of-freedom manipulator; Ground rails, arranged on the ground and passing through the cleaning and protection room, arranged in two parallel pairs for the wheelset to travel; A rotating wheel module is arranged in the cleaning protection room and is used to drive the wheel pair to be cleaned to rotate; A wheel pusher module is provided outside the cleaning and protection room and is used to push the wheel pair onto the rotating wheel module; and The visual recognition module is used to scan the wheelset to be cleaned and determine the degree of cleanliness of the wheelset, so as to control the start-up of the corresponding shot peening and liquid spray cleaning modules and the laser cleaning modules.

[0007] Furthermore, the wheelset surface cleanliness is divided into 10 levels, and when the visual recognition module recognizes that the wheelset to be cleaned has a cleanliness level of level 1, no cleaning is required; When the visual recognition module recognizes that the cleanliness level of the wheelset to be cleaned is level 2-5, the laser cleaning module is controlled to start and clean the wheelset; When the visual recognition module recognizes that the cleanliness level of the wheelset to be cleaned is level 6-10, the shot peening and liquid spraying cleaning module is controlled to start and clean the wheelset.

[0008] Furthermore, after the shot peening and liquid spraying cleaning module or the laser cleaning module performs the cleaning action, when the visual recognition module recognizes that the cleanliness level of the wheelset during cleaning is level 1, the cleaning is stopped.

[0009] Furthermore, the push wheel module includes: A movable process rail, embedded in the portion of the floor rail outside the cleaning and protection room, and hinged to the floor rail at the bottom near one end of the cleaning and protection room; The first hydraulic cylinder is arranged below the movable process rail, and the piston rod of the first hydraulic cylinder is hinged to the lower end surface of the movable process rail.

[0010] Furthermore, the wheel module includes: A mounting seat, embedded on the ground rail; A rotating wheel is rotatably mounted on the mounting seat, and two rotating wheels are horizontally arranged on one mounting seat; The rotating wheel driving assembly is arranged on the mounting seat and is used for driving at least one of the two rotating wheels to rotate.

[0011] Furthermore, a top wheel rod is vertically penetrated on the mounting seat, and a second hydraulic cylinder for driving the top wheel rod to rise and fall is arranged on the mounting seat. The extension line of the top wheel rod in the length direction intersects with the walking track of the wheelset on the mounting seat, and the top wheel rod is arranged on the side of the mounting seat close to the push wheel module.

[0012] Furthermore, the multi-degree-of-freedom manipulator comprises: A Y-axis moving device is installed on the cleaning and protection room, and two groups are arranged in parallel; A supporting base, mounted on the two Y-axis moving devices; An X-axis slide rail is installed on the support base; An X-axis slider, slidably disposed on the X-axis slide rail; An X-axis driving assembly, used for driving the X-axis slider to slide on the X-axis slide rail; A rotary cylinder, rotatably mounted on the X-axis slider; A rotary drive assembly, used for driving the rotary cylinder to rotate horizontally on the X-axis slider; The Z-axis driving assembly is installed on the rotary drum, and the spray gun of the shot blasting and liquid spraying cleaning module is installed on the output end thereof.

[0013] Furthermore, the rotary drive assembly includes: A driven gear ring is coaxially fixed to the outer peripheral wall of the rotating cylinder; A driving gear, rotatably mounted on the X-axis slider; The M-axis motor is mounted on the X-axis slider and is used to drive the driving gear to rotate.

[0014] Furthermore, the X-axis drive assembly includes: Two rotating shafts are provided and are rotatably mounted at both ends of the support base in the length direction; A synchronous wheel, coaxially fixed to the rotating shaft; A synchronous belt is tensioned and wrapped around the two corresponding synchronous wheels on the two rotating shafts, and the X-axis slider is fixedly connected to the synchronous belt; The X-axis motor is installed on the supporting base and is used to drive the rotating shaft to rotate.

[0015] Furthermore, the cleaning and protection room is provided with a shell body communicated with its inner cavity, and a filter screen and a fan for maintaining the air pressure balance inside and outside the cleaning and protection room are provided in the shell body.

[0016] In summary, the present application includes at least one of the following beneficial technical effects: 1. When using the present application to automatically clean the wheelset, the operator first pushes the wheelset to the position of the wheel pusher module, and the wheel pusher module pushes the wheelset to be cleaned to the rotary wheel module in the cleaning protection room, and then the rotary wheel module drives the wheelset to be cleaned to rotate slowly, and the visual recognition module scans and identifies the cleanliness of the wheelset to be cleaned. If the cleanliness of the wheelset is identified as level 2-5, the laser cleaning module is controlled to start and clean the wheelset to efficiently remove rust on the surface of the wheelset; if the cleanliness of the wheelset is identified as level 6-10, the shot peening and liquid spraying cleaning module is controlled to start and clean the wheelset to efficiently remove oil stains, dust, rust and other impurities on the surface of the wheelset; after cleaning for a period of time, the visual recognition module identifies that the cleanliness of the wheelset is level 1, and the cleaning work is stopped; 2. This application can replace manual work, improve the standardization of cleaning operations, greatly improve the cleaning efficiency and quality of wheelsets, and realize intelligent management and control, and display the real-time cleaning status and abnormal alarm information. It can also reduce the number of operators, reduce the labor intensity of operators, effectively avoid harm to the human body, and have strong environmental reliability. It can also adaptively select the appropriate cleaning method according to the degree of cleanliness of the wheelset identified by the visual recognition module to achieve the degreasing cleaning and rust removal cleaning requirements of different wheelsets, and it is easy to clean irregularly shaped parts, with high cleaning efficiency and strong environmental reliability; 3. When the operator pushes the wheelset to be cleaned onto the movable process rail, the first hydraulic cylinders on the two ground rails work simultaneously and drive the movable process rails thereon to flip toward the direction close to the cleaning protection room, and transfer the wheelset to between the two rotating wheels. When the rotating wheels rotate, they can drive the wheelset to rotate smoothly, so as to facilitate the visual recognition module to scan and identify, and to facilitate the shot peening and liquid spray cleaning modules and laser cleaning modules to carry out comprehensive cleaning of the wheelset; when the cleaning is completed, the second hydraulic cylinder drives the top wheel rod to rise, and when the top wheel rod rises, it pushes on the side of the wheelset close to the push wheel module to transfer the wheelset out of the cleaning protection room; thereby, the fully automatic transfer of the wheelset during the cleaning process can be realized without manual participation, which greatly reduces the workload of the operators and ensures the safety of the operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2It is a schematic diagram of the structure of the push wheel module and the top wheel module of the embodiment of the present application; Figure 3 is a schematic structural diagram of a top wheel module according to an embodiment of the present application; Figure 4 is a schematic structural diagram of a multi-degree-of-freedom manipulator according to an embodiment of the present application; Figure 5 It is a schematic diagram of the Z-axis and X-axis structure of the multi-degree-of-freedom manipulator of an embodiment of the present application; Figure 6 is a schematic structural diagram of a Y-axis moving device according to an embodiment of the present application; Figure 7 It is a schematic diagram of the structure of the ventilation device of an embodiment of the present application.

[0019] Reference numerals: 1. Cleaning protection room; 11. Ground rail; 21. Shot peening and liquid spray cleaning module; 22. Laser cleaning module; 31. movable process rail; 32. first hydraulic cylinder; 41. mounting seat; 42. rotating wheel; 43. rotating wheel driving assembly; 51. top wheel rod; 52. second hydraulic cylinder; 61, Y-axis moving device; 611, bottom plate; 612, Y-axis motor; 613, Y-axis screw rod; 614, Y-axis support; 615, Y-axis slide plate; 62, supporting base; 71. X-axis slide rail; 72. X-axis slider; 73. rotating shaft; 74. synchronous wheel; 75. synchronous belt; 76. X-axis motor; 81. Rotating drum; 82. Driven gear ring; 83. Driving gear; 84. M-axis motor; 85. Z-axis driving assembly; 91. housing; 92. filter; 93. fan; 10. Wheel set. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Reference Figure 1 The embodiment of the present application discloses a fully automatic cleaning device for a rail transit train wheel set, which includes a cleaning and protection room 1, a shot peening and liquid spraying cleaning module 21, and a laser cleaning module 22, and also includes: A multi-degree-of-freedom manipulator is installed on the cleaning and protection room 1, and the spray gun of the shot peening and liquid spray cleaning module 21 is installed on the output end of the multi-degree-of-freedom manipulator; Ground rails 11, arranged on the ground and passing through the cleaning and protection room 1, are arranged in two parallel pairs for the wheelset 10 to travel; The rotating wheel module is arranged in the cleaning and protection room 1 and is used to drive the wheel pair 10 to be cleaned to rotate; A wheel pusher module is provided outside the cleaning and protection room 1 and is used to push the wheel pair 10 onto the rotating wheel module; and The visual recognition module is used to scan the wheelset 10 to be cleaned and determine the cleaning degree of the wheelset 10, so as to control the start-up of the corresponding shot peening and liquid spraying cleaning modules 21 and laser cleaning modules 22.

[0022] Specifically, the cleanliness level of the surface of the wheelset 10 is divided into 10 levels. When the visual recognition module recognizes that the cleanliness level of the wheelset 10 to be cleaned is level 1, no cleaning is required. When the visual recognition module recognizes that the cleanliness level of the wheelset 10 to be cleaned is level 2-5, the laser cleaning module 22 is controlled to start and clean the wheelset 10; When the visual recognition module recognizes that the cleanliness level of the wheelset 10 to be cleaned is level 6-10, the shot peening and liquid spraying cleaning module 21 is controlled to start and clean the wheelset 10.

[0023] Furthermore, after the shot peening and liquid spraying cleaning module 21 or the laser cleaning module 22 performs the cleaning action, when the visual recognition module recognizes that the cleanliness level of the wheelset 10 during cleaning is level 1, the cleaning is stopped.

[0024] In addition, in order to improve the recognition accuracy of the visual recognition module, deep learning is also performed on the visual recognition module before formal cleaning. Specifically, when the wheelset 10 is pushed into the cleaning station by the wheel push module, the wheelset 10 is scanned by the visual recognition module. The visual recognition module is based on a deep learning architecture. The learning database stores 20,000 photos of wheelsets 10 with different degrees of cleanliness. The database is first divided into 10 levels according to the surface cleanliness of the wheelset 10, with 2,000 pictures in each level. The cleanest level is level 1, which reaches the factory level; level 5 is rust attached to the surface but no dust; level 10 is a wheelset 10 containing various impurities such as oil stains, dust, and rust.

[0025] Then, we annotate each level of images with level labels and shuffle their order. We divide the 20,000 images into training and test sets in a ratio of 7:3, and train the aforementioned deep learning architecture until the deep learning architecture can recognize the cleanliness level of wheel set 10 at a rate of more than 99%. We then implant the trained deep learning architecture model into the hardware of the visual recognition module to judge the cleanliness of wheel set 10.

[0026] When the visual recognition module identifies that the wheelset 10 to be cleaned has reached level 1 cleaning level, no cleaning work is required; when the visual recognition module identifies that the wheelset 10 to be cleaned is at level 2 to 5, the laser cleaning mode is started to grind and clean the rust on the wheelset 10; when the visual recognition module identifies that the wheelset 10 to be cleaned is at level 6 to 10, the shot peening cleaning mode is started to clean the dust on the surface of the wheelset 10; until all wheelsets 10 reach level 1 cleaning level, the cleaning work is completed.

[0027] In this way, when using the present application to automatically clean the wheelset 10, the operator first pushes the wheelset 10 to the position of the push-wheel module, and the push-wheel module pushes the wheelset 10 to be cleaned to the rotary wheel module in the cleaning protection room 1, and then the rotary wheel module drives the wheelset 10 to be cleaned to rotate slowly, and the visual recognition module scans and identifies the cleanliness level of the wheelset 10 to be cleaned. If it is identified that the cleanliness level of the wheelset 10 is at level 2-5, the laser cleaning module 22 is controlled to start and clean the wheelset 10 to efficiently remove rust on the surface of the wheelset 10; if it is identified that the cleanliness level of the wheelset 10 is at level 6-10, the shot peening and liquid spray cleaning module 21 is controlled to start and clean the wheelset 10 to efficiently remove various impurities such as oil stains, dust, rust, etc. on the surface of the wheelset 10; after cleaning for a period of time, the visual recognition module identifies that the cleanliness level of the wheelset 10 is level 1, and the cleaning work is stopped.

[0028] This can replace manual work, improve the standardization of cleaning operations, greatly improve the cleaning efficiency and quality of the wheelset 10, and realize intelligent management and control, display the real-time cleaning status and abnormal alarm information. It can also reduce the number of operators, reduce the labor intensity of operators, effectively avoid harm to the human body, and have strong environmental reliability. It can also adaptively select the appropriate cleaning method according to the degree of cleanliness of the wheelset 10 identified by the visual recognition module, easily realize the degreasing cleaning and rust removal cleaning requirements of different wheelsets 10, and easily clean irregularly shaped parts, with high cleaning efficiency and strong environmental reliability.

[0029] Specifically, the wheelset 10 to be cleaned can be accurately transferred inside and outside the cleaning protection room 1 .

[0030] Reference Figure 2 and Figure 3 , the push wheel module includes: The movable process rail 31 is embedded in the part of the ground rail 11 outside the cleaning and protection room 1, and its bottom near one end of the cleaning and protection room 1 is hinged on the ground rail 11. The movable process rail 31 has the same shape as the ground rail 11, and both can realize the smooth operation of the wheelset 10 thereon; The first hydraulic cylinder 32 is disposed below the movable process rail 31 , and its piston rod is hinged to the lower end surface of the movable process rail 31 .

[0031] The wheel module includes: A mounting seat 41, embedded on the ground rail 11; A rotating wheel 42 is rotatably mounted on the mounting seat 41, and two rotating wheels 42 are horizontally arranged on one mounting seat 41; The rotating wheel driving assembly 43 is arranged on the mounting seat 41 and is used to drive at least one of the two rotating wheels 42 to rotate. In this embodiment, in order to ensure the smoothness and accuracy of the rotation of the wheel pair 10, the rotating wheel driving assembly 43 is configured as a servo reduction motor, and one rotating wheel 42 corresponds to one servo reduction motor.

[0032] In addition, a top wheel rod 51 is vertically penetrated on the mounting seat 41, and a second hydraulic cylinder 52 for driving the top wheel rod 51 to rise and fall is provided on the mounting seat 41. The extension line of the top wheel rod 51 in the length direction intersects with the walking track of the wheelset 10 on the mounting seat 41, and the top wheel rod 51 is arranged on the side of the mounting seat 41 close to the push wheel module.

[0033] In this way, when the operator pushes the wheelset 10 to be cleaned onto the movable process rail 31, the first hydraulic cylinders 32 on the two ground rails 11 work simultaneously and drive the movable process rails 31 thereon to flip toward the direction close to the cleaning protection room 1, so that the wheelset 10 to be cleaned rolls toward the cleaning protection room 1 until it rolls between the two rotating wheels 42 on the two mounting seats 41, and the wheelset 10 to be cleaned is accurately positioned by the two rotating wheels 42. Then the rotating wheel drive assembly 43 is started, so that the wheelset 10 can rotate smoothly, so as to facilitate the visual recognition module to scan and identify, and to facilitate the shot peening and liquid spraying cleaning module 21 and the laser cleaning module 22 to fully clean the wheelset 10; when the cleaning is completed, the second hydraulic cylinder 52 drives the top wheel rod 51 to rise, and when the top wheel rod 51 rises, it pushes against the side of the wheelset 10 close to the push wheel module, so that the wheelset 10 rolls back to the ground rail 11, and rolls out from the side of the cleaning protection room 1 away from the push wheel module, so that the operator can dispose of the wheelset 10 after cleaning. Thus, the wheelset 10 can be fully automatically transferred during the cleaning process without human intervention, which greatly reduces the workload of operators and ensures the safety of operators.

[0034] Moreover, according to the cleaning requirements of the wheelset 10, the multi-degree-of-freedom manipulator can translate simultaneously on the X-axis, Y-axis and Z-axis, and freely rotate on the M-axis.

[0035] To this end, the specific settings of this application are: Reference Figure 4 , Figure 5 and Figure 6 , multi-DOF manipulators include: The Y-axis moving device 61 is installed on the cleaning protection room 1, and two groups are arranged in parallel; the Y-axis moving device 61 mainly includes a bottom plate 611, a Y-axis motor 612 installed on the bottom plate 611, a Y-axis screw rod 613 fixed to the output end of the Y-axis motor 612, a Y-axis support 614 threadedly sleeved on the Y-axis screw rod 613, and a Y-axis slide plate 615 fixed to the Y-axis support 614, and the Y-axis slide plate 615 is slidably arranged on the bottom plate 611 through a slider rail structure; The support base 62 is in the shape of a long plate and its two ends in the length direction are mounted on the Y-axis slide plates 615 of the two Y-axis moving devices 61; X-axis slide rail 71, mounted on the support base 62; An X-axis slider 72 is slidably disposed on the X-axis slide rail 71; An X-axis driving assembly 85 is used to drive the X-axis slider 72 to slide on the X-axis slide rail 71; The rotary cylinder 81 is rotatably mounted on the X-axis slider 72; A rotary drive assembly, used to drive the rotary drum 81 to rotate horizontally on the X-axis slider 72; and The Z-axis driving assembly 85 is installed on the rotary drum 81, and the spray gun of the shot peening and liquid spray cleaning module 21 is installed at its output end; the Z-axis driving assembly 85 can specifically be a linear driving component such as a linear motor and a hydraulic cylinder.

[0036] Among them, the slewing drive assembly includes: The driven ring gear 82 is coaxially fixed to the outer peripheral wall of the rotating cylinder 81; The driving gear 83 is rotatably mounted on the X-axis slider 72; The M-axis motor 84 is mounted on the X-axis slider 72 and is used to drive the driving gear 83 to rotate. It is mounted on the upper end surface of the X-axis slider 72 , and its output end passes through the X-axis slider 72 and is coaxially fixed to the driving gear 83 .

[0037] Wherein, the X-axis driving assembly 85 comprises: Two rotating shafts 73 are provided and are rotatably mounted at both ends of the supporting base 62 in the length direction; The synchronous wheel 74 is coaxially fixed to the rotating shaft 73, and the synchronous wheels 74 are arranged at both ends of the rotating shaft 73; The synchronous belt 75 is tensioned and wrapped around the two corresponding synchronous wheels 74 on the two rotating shafts 73, and the X-axis slider 72 is fixed between the two synchronous belts 75; The X-axis motor 76 is mounted on the supporting base 62 and is used to drive the rotating shaft 73 to rotate.

[0038] Therefore, when the spray gun of the shot peening and liquid spray cleaning module 21 needs to move in the X-axis, the X-axis motor 76 drives the rotating shaft 73 to rotate. When the rotating shaft 73 rotates, it drives the two synchronous wheels 74 thereon to rotate synchronously, and then drives the two synchronous belts 75 to convey synchronously. At this time, the X-axis slider 72 moves in the X-axis direction on the support base 62; when the Y-axis movement is required, the Y-axis motor 612 drives the Y-axis screw 613 to rotate, which can drive the Y-axis slide plate 615 to move along the Y-axis direction, and then the support base 62 moves in the Y-axis direction; when the Z-axis movement is required, the movement of the spray gun in the Z-axis direction can be achieved through the Z-axis drive assembly 85; when the spray gun needs to rotate, the M-axis motor 84 drives the driving gear 83 to rotate, and the driving gear 83 drives the driven gear ring 82 meshing with it to rotate, and then drives the rotating cylinder 81 to rotate on the support base 62, thereby realizing the rotation drive of the spray gun. Thus, by setting up a multi-degree-of-freedom manipulator, the spray gun of the shot blasting and liquid spray cleaning module 21 can be flexibly directed, so that the wheelset 10 can be cleaned comprehensively.

[0039] In addition, in order to prevent the water mist from escaping due to the increase of internal pressure in the cleaning protection room 1, refer to Figure 1 and Figure 7 A ventilation device is provided on the cleaning and protection room 1. The ventilation device is specifically a shell 91 connected to the inner cavity of the cleaning and protection room 1. The shell 91 is cylindrical. A filter 92 and a fan 93 for maintaining the air pressure balance inside and outside the cleaning and protection room 1 are provided in the shell 91. Therefore, with the ventilation effect of the fan 93, the air pressure in the cleaning and protection room 1 can be ensured to be consistent with the outside, preventing water mist from escaping.

[0040] Furthermore, in order to facilitate the control of the maintenance process of the wheelset 10, the cleaning equipment of the present application is also connected to a maintenance execution system, which is mainly composed of five parts: plan management, work order management, quality management, equipment management, and personnel management.

[0041] Planning management includes annual cleaning plan, production output statistics, and lineside warehouse material inventory. The annual cleaning plan is composed of annual plan number, production schedule number, and completed quantity. Production output statistics are composed of current output, monthly plan, and last month's output. The lineside warehouse material inventory is composed of current inventory, monthly plan, and remaining inventory. Through planning management, the workload of wheel set 10 cleaning operations can be effectively coordinated, human, material, and financial resources can be rationally deployed, and production efficiency can be improved.

[0042] Work order management consists of users, services and managers. Users submit work orders through application scenarios, fill in work order information according to preset content, and transfer them to the corresponding service departments and personnel through pre-set processes and rules to complete the reply and processing of work orders. After completion, managers can conduct statistical analysis on each work order for different customers, departments and service personnel.

[0043] Quality management consists of exception order number, work order number, machine model number, responsible department, responsible person, submission time, and problem classification. Workers submit exception information to the quality management module, which generates exception order numbers that are classified and summarized in the background. The processing progress is assigned to the responsible person until the problem is solved, forming a closed-loop quality management. Equipment management includes the cleaning medium temperature and flow rate of the shot peening and liquid spray cleaning module 21, nozzle pressure, peak pressure, pressure pulse, ambient pressure, real-time voltage and current monitoring of the equipment, nozzle operation curve, operation, standby, shutdown, and failure time statistics, equipment utilization calculation, failure number statistics, ambient temperature and humidity monitoring in the cleaning protection room 1, liquid level, system pressure, VOC concentration, dust index detection, and feeding system status, to achieve equipment status monitoring. At the same time, the cleaning status of the wheelset 10 is judged according to the monitoring data, and the shot peening and laser cleaning modes are switched back and forth to improve the cleaning quality.

[0044] Personnel management consists of name, team, work area, and work duration to achieve personnel control.

[0045] The implementation principle of the fully automatic cleaning device for rail transit train wheels in the embodiment of the present application is as follows: When using the present application to automatically clean the wheelset 10, the operator first pushes the wheelset 10 to the position of the push-wheel module, and the push-wheel module pushes the wheelset 10 to be cleaned to the rotary wheel module in the cleaning protection room 1, and then the rotary wheel module drives the wheelset 10 to be cleaned to rotate slowly, and the visual recognition module scans and identifies the cleanliness level of the wheelset 10 to be cleaned. If it is identified that the cleanliness level of the wheelset 10 is at level 2-5, the laser cleaning module 22 is controlled to start and clean the wheelset 10 to efficiently remove rust on the surface of the wheelset 10; if it is identified that the cleanliness level of the wheelset 10 is at level 6-10, the shot peening and liquid spray cleaning module 21 is controlled to start and clean the wheelset 10 to efficiently remove various impurities such as oil stains, dust, rust, etc. on the surface of the wheelset 10; after cleaning for a period of time, the visual recognition module identifies that the cleanliness level of the wheelset 10 is level 1, and the cleaning work is stopped.

[0046] This can replace manual work, improve the standardization of cleaning operations, greatly improve the cleaning efficiency and quality of the wheelset 10, and realize intelligent management and control, display the real-time cleaning status and abnormal alarm information. It can also reduce the number of operators, reduce the labor intensity of operators, effectively avoid harm to the human body, and have strong environmental reliability. It can also adaptively select the appropriate cleaning method according to the degree of cleanliness of the wheelset 10 identified by the visual recognition module, easily realize the degreasing cleaning and rust removal cleaning requirements of different wheelsets 10, and easily clean irregularly shaped parts, with high cleaning efficiency and strong environmental reliability.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully automatic cleaning device for rail transit train wheels, comprising a cleaning protection room, a shot peening and liquid spraying cleaning module and a laser cleaning module, characterized in that: Also includes: A multi-degree-of-freedom manipulator is installed on the cleaning and protection room, and the spray gun of the shot peening and liquid spray cleaning module is installed on the output end of the multi-degree-of-freedom manipulator; Ground rails, arranged on the ground and passing through the cleaning and protection room, arranged in two parallel pairs for the wheelset to travel; A rotating wheel module is arranged in the cleaning protection room and is used to drive the wheel pair to be cleaned to rotate; A wheel pusher module is arranged outside the cleaning and protection room and is used to push the wheel pair onto the rotating wheel module; as well as The visual recognition module is used to scan the wheelset to be cleaned and determine the degree of cleanliness of the wheelset, so as to control the start-up of the corresponding shot peening and liquid spray cleaning modules and the laser cleaning modules.

2. The fully automatic cleaning equipment for rail transit train wheels according to claim 1 is characterized in that: The wheelset surface cleanliness is divided into 10 levels, and when the visual recognition module recognizes that the wheelset to be cleaned has a cleanliness level of level 1, no cleaning is required; When the visual recognition module recognizes that the cleanliness level of the wheelset to be cleaned is level 2-5, the laser cleaning module is controlled to start and clean the wheelset; When the visual recognition module recognizes that the cleanliness level of the wheelset to be cleaned is level 6-10, the shot peening and liquid spraying cleaning module is controlled to start and clean the wheelset.

3. The fully automatic cleaning equipment for rail transit train wheels according to claim 2 is characterized in that: After the shot peening and liquid spraying cleaning module or the laser cleaning module performs the cleaning action, when the visual recognition module recognizes that the cleanliness level of the wheelset during cleaning is level 1, the cleaning is stopped.

4. The fully automatic cleaning equipment for rail transit train wheels according to claim 1 is characterized in that: The push wheel module comprises: A movable process rail, embedded in the portion of the floor rail outside the cleaning and protection room, and hinged to the floor rail at the bottom near one end of the cleaning and protection room; The first hydraulic cylinder is arranged below the movable process rail, and the piston rod of the first hydraulic cylinder is hinged to the lower end surface of the movable process rail.

5. The fully automatic cleaning equipment for rail transit train wheels according to claim 1 is characterized in that: The wheel module comprises: A mounting seat, embedded on the ground rail; A rotating wheel is rotatably mounted on the mounting seat, and two rotating wheels are horizontally arranged on one mounting seat; The rotating wheel driving assembly is arranged on the mounting seat and is used for driving at least one of the two rotating wheels to rotate.

6. The fully automatic cleaning equipment for rail transit train wheels according to claim 5 is characterized in that: A top wheel rod is also vertically penetrated on the mounting seat, and a second hydraulic cylinder for driving the top wheel rod to rise and fall is arranged on the mounting seat. The extension line of the top wheel rod in the length direction intersects with the walking track of the wheelset on the mounting seat, and the top wheel rod is arranged on the side of the mounting seat close to the push wheel module.

7. A fully automatic cleaning device for rail transit train wheels according to any one of claims 1 to 6, characterized in that: The multi-degree-of-freedom manipulator comprises: A Y-axis moving device is installed on the cleaning and protection room, and two groups are arranged in parallel; A supporting base, mounted on the two Y-axis moving devices; An X-axis slide rail is installed on the support base; An X-axis slider, slidably disposed on the X-axis slide rail; An X-axis driving assembly, used for driving the X-axis slider to slide on the X-axis slide rail; A rotary cylinder, rotatably mounted on the X-axis slider; A rotary drive assembly, used for driving the rotary cylinder to rotate horizontally on the X-axis slider; The Z-axis driving assembly is installed on the rotary drum, and the spray gun of the shot blasting and liquid spraying cleaning module is installed on the output end thereof.

8. The fully automatic cleaning equipment for rail transit train wheels according to claim 7 is characterized in that: The rotary drive assembly comprises: A driven gear ring is coaxially fixed to the outer peripheral wall of the rotating cylinder; A driving gear, rotatably mounted on the X-axis slider; The M-axis motor is mounted on the X-axis slider and is used to drive the driving gear to rotate.

9. The fully automatic cleaning equipment for rail transit train wheels according to claim 7 is characterized in that: The X-axis drive assembly includes: Two rotating shafts are provided and are rotatably mounted at both ends of the support base in the length direction; A synchronous wheel, coaxially fixed to the rotating shaft; A synchronous belt is tensioned and wrapped around the two corresponding synchronous wheels on the two rotating shafts, and the X-axis slider is fixedly connected to the synchronous belt; The X-axis motor is installed on the supporting base and is used to drive the rotating shaft to rotate.

10. The fully automatic cleaning equipment for rail transit train wheels according to claim 1, characterized in that: The cleaning and protection room is provided with a shell body communicated with its inner cavity, and the shell body is provided with a filter screen and a fan for maintaining the air pressure balance inside and outside the cleaning and protection room.

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