Carriage excess material automatic cleaning device matched with car dumper

Abstract

The invention discloses an automatic carriage excess material cleaning device matched with a car dumper, which belongs to the technical field of car dumper unloading carriage cleaning and comprises the car dumper, a propelling device, a plurality of lifting devices and a plurality of execution devices. And a grid is arranged at the bottom of the car dumper. The propelling device comprises a guide rail and a bearing beam. And the plurality of lifting devices are arranged on the bearing cross beam. The execution device comprises a multi-degree-of-freedom mechanical arm and an end effector. After the car dumper inverts the compartment and completes unloading, the execution device is driven by the propelling device to enter the bottom of the car dumper, and the execution device is lifted into the compartment through the lifting device, so that the execution device has a stable cleaning space and sufficient cleaning time. The multi-degree-of-freedom mechanical arm can drive the end effector to clean all the areas in the compartment, can be matched with the visual recognition system to conduct fixed-point cleaning and conduct emphasized cleaning on hardened materials, binding materials, frozen materials and other areas which are difficult to treat, and the cleaning effect is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of cleaning a car compartment of a car tipping machine, and in particular is an automatic cleaning device for residual materials in a car compartment used in conjunction with a car tipping machine. Background Art

[0002] my country's railway carriages are responsible for the transportation of bulk materials such as coal, iron ore, and cement due to their large loading capacity and high transportation efficiency. However, during long-distance transportation, materials are easily adhered to the inner wall of the carriage due to the influence of various factors such as vibration, temperature, and humidity, and even freeze under low temperature conditions in winter. These adhered or frozen materials often remain in the carriage after the dumper unloads, making it impossible to clean the train carriage in time and put it into the next transportation. This not only reduces the turnover efficiency of the carriage, but also increases the cost of railway transportation.

[0003] The patent document with publication number CN114750726A discloses a residual coal cleaning device and residual coal cleaning method for a train carriage. The vertical cleaning part cleans the residual coal on the end face and the side of the carriage, and the horizontal cleaning part sweeps the bottom of the carriage and the residual coal that falls to the bottom and collects it to the feeding port of the scraper elevator in the middle of the carriage. The scraper elevator lifts the material into the storage hopper. The scraper cleaning method is not suitable for train carriage models with obstacles in the middle due to interference problems. It is difficult to clean sticky materials, compacted materials, and frozen materials, and the cleaned materials need to be transported twice.

[0004] The patent document with publication number CN116513111A discloses a system and method for cleaning loose materials and residual materials in train carriages. The handling robot is used to place the floor cleaning robot and the wall cleaning robot inside the carriage; the floor cleaning robot is used to clean the bottom of the inside of the carriage; and the wall cleaning robot is used to clean the inner wall of the carriage. The disadvantage of this cleaning device is that the handling robot needs to have a large height and arm span to adapt to the size of the carriage, and in order to accurately control the floor cleaning robot and the wall cleaning robot, the mechanical arm of the handling robot needs to have high flexibility, which places high technical requirements on the robot.

[0005] In railway freight, car tippers are widely used due to their efficient unloading capabilities. Car tippers can quickly unload materials from a train car by rotating and tipping the entire train car. A grille (often called a hopper grille or unloading grille) is usually set under the car tipper to screen and restrict oversized or non-target materials, preventing them from entering the conveying system and avoiding equipment damage or blockage.

[0006] The patent document with publication number CN221233695U discloses a system for cleaning residual coal in train carriages. Automatic cleaning during turning over: During the process of turning over the carriage by the car tipper, multiple articulated mechanical arms arranged on the lateral crossbeam of the car tipper are used to spray compressed air or high-pressure water to clean the interior of the turning carriage; Automatic cleaning after turning over: A gantry truss robot system is deployed at a suitable position of the empty car line at the bottom of the carriage after turning over. The robot carries various cleaning mechanisms to clean the carriage in all directions, and then collects and transports the residual coal in the carriage through the negative pressure (adsorption) mechanism and the collection mechanism.

[0007] Although the above-mentioned residual coal cleaning system cooperates with the car tipper to have a comprehensive cleaning range for the carriage, during the automatic cleaning process, in order to pull the joint robot arm into the range between the bottom of the carriage (reduce the pressure attenuation of the output compressed air or high-pressure water), the length of the arc wind knife selected is up to two meters. This not only greatly increases the load of the robot arm, but also forms many restrictions on the swing path of the robot arm. Considering the unloading efficiency, the robot arm's residence time inside the carriage is also limited. In addition, the car tipper is constantly turning over, which can easily cause the robot arm to fail to retreat in time and collide with the carriage, resulting in equipment damage.

[0008] The cleaning mechanism of the automatic cleaning equipment after flipping can achieve reciprocating cleaning through the movement of the gantry, but it can only clean the inside of the car, not the bottom grille. In addition, the lifting mechanism in the gantry truss robot system directly contacts the fallen residual materials during the cleaning process, which will cause the residual materials to accumulate and adhere to the lifting mechanism, causing the lifting mechanism to be blocked and worn during the execution of the action, thereby affecting the operation and service life of the lifting mechanism. Summary of the invention

[0009] The purpose of the present invention is to provide an automatic cleaning device for residual materials in a carriage in cooperation with a car tipping machine, so as to solve the problems raised in the above-mentioned prior art.

[0010] Provided is a vehicle compartment residual material automatic cleaning device used in conjunction with a vehicle tipping machine, comprising: A car tipper, wherein a grille is provided at the bottom of the car tipper; A propulsion device, comprising a guide rail and a bearing crossbeam, wherein the guide rail is used to drive the bearing crossbeam to intervene in the area between the dumper and the grille; A plurality of lifting devices, wherein the plurality of lifting devices are arranged on the bearing crossbeam, the lifting devices include a driving mechanism for performing lifting actions, and a packaging body is arranged around the outside of the lifting devices; Several execution devices include a multi-degree-of-freedom robot arm and an end effector. Several of the execution devices are lifted and lowered by corresponding lifting devices, and the end effector is driven by the multi-degree-of-freedom robot arm to perform cleaning actions.

[0011] As a further embodiment of the present invention: the driving mechanism includes a support platform and a scissor arm, the scissor arm has at least one hinged end slidably connected to the support platform, and the actuator is arranged on the support platform. The scissor arm provides telescopic support through crossed arm rods, and can have a small retracted height while having a large lifting stroke, ensuring that the actuator can fully avoid the car to intervene between the car and the grille. The scissor arm structure provides good horizontal support, so that the lifting platform is not easy to shake when moving up and down.

[0012] As a further embodiment of the present invention: the packaging body forms compressible and extendable folded pleats in the vertical direction and is arranged around the outside of the base, and the scissor arms are integrally covered inside the packaging body. Since a large amount of dust or particulate debris will drop when the actuator cleans up the residual material, if these debris falls and accumulates in the lifting device, they will cause collisions to the scissor arms and interference problems at the joints during operation, affecting the operation accuracy of the scissor arms, and even causing damage to the scissor arms structure, thereby reducing their service life. The packaging body is arranged around the outside of the base and acts as a dust cover, which can prevent dust and collision for the internal scissor arms. The folded pleats can limit the moving path of each part on the packaging body, and the folded structure provides a smaller compression height when the dust cover contracts and a stable rising path when the internal scissor arms are lifted.

[0013] As a further embodiment of the present invention: the lifting device also includes a support, a telescopic arm and an actuator, the support is installed on the support, the cylinder of the telescopic arm is hinged to the support, one end of the actuator is hinged to the support and the other end is hinged to the cylinder of the telescopic arm, and the actuator is arranged at the output end of the telescopic arm. This solution supports and adjusts the lifting angle of the telescopic arm through the actuator, and controls the arm span of the actuator through the extension and contraction of the telescopic arm, so that the output direction of the actuator and the direction of the residual material falling from the inner wall of the carriage can form as large an angle as possible, thereby reducing the probability of the residual material falling onto the actuator.

[0014] As a further embodiment of the present invention: the package is sealed as a whole to form an airbag structure, and the driving mechanism is provided with an air source connected to the package. The airbag is a fully enclosed stroke control structure, which can achieve directional expansion when the internal air pressure increases through rigid frame control and flexible material extension, thereby achieving a lifting function. Due to the fully enclosed structure of the airbag, the residual material dropped during cleaning will not enter the interior of the package, and it can also be used as a dust cover, thereby reducing the impact of the residual material on the operation of the structure.

[0015] As a further embodiment of the present invention, the packaging body forms a compressible and extensible folded pleat in the vertical direction. The folded pleats can define the moving path of each part of the airbag, and the folded structure provides a smaller compression height when the airbag is decompressed and a stable rising path when the airbag is pressurized.

[0016] As a further embodiment of the present invention: the package body further comprises a plurality of support arms, which cooperate with the package body to limit the freedom of movement of the package body in the lateral direction. When the outer diameter of a single package body is small and the lifting height is large, the package body may bend and deform. In this case, additional support arms are used to form lateral support for the airbag structure to improve the stability of the package body during operation.

[0017] As a further embodiment of the present invention: the bearing crossbeam is a grid-like structure with the top surface and the bottom surface interconnected, and the shape includes but is not limited to square, round, anisotropic, etc. The grid-like structure can allow dust or particles falling onto the bearing crossbeam to pass through while providing support, thereby preventing debris from accumulating on the bearing crossbeam and affecting the operation of the lifting device.

[0018] Compared with the prior art, the present invention has the following beneficial effects: After the tipping machine inverts the car and completes unloading, the actuator is inserted into the bottom of the tipping machine through the drive of the propulsion device, and the actuator is lifted into the car through the lifting device, so that the actuator has a stable cleaning space and sufficient cleaning time. The multi-degree-of-freedom robotic arm can drive the end effector to clean various areas inside the car, and can be matched with the visual recognition system for fixed-point cleaning and focus on cleaning difficult-to-handle plate-bound materials, adhesive materials, frozen materials and other areas, improving the cleaning effect.

[0019] By lifting the lifting device, the execution device can be as close to the bottom wall of the carriage as possible, and with the stable cleaning environment, the multi-degree-of-freedom robot arm has sufficient swing space without having to worry about collisions with the carriage. Since the end effector is sufficiently close to the carriage, it can be equipped with various cleaning tools, including high-pressure water guns, pulse gas explosions, mechanical scrapers, etc., without having to worry about pressure attenuation. The automatic cleaning device for residual materials in carriages provided by the present invention has the advantages of high equipment safety and flexible execution methods.

[0020] After the residual material inside the carriage is cleaned up, the lifting device drives the actuator to exit the carriage. The actuator can clean the lower grille to prevent the residual material from sticking to the grille, which will reduce the unloading efficiency or even cause blockage.

[0021] The packaging body surrounding the lifting device can extend synchronously with the lifting driving force, thereby effectively preventing the lifting device from being invaded by residual materials, protecting the driving mechanism from being disturbed by residual materials, and solving the problem of residual materials eroding the lifting components when cleaning the carriage from the bottom of the carriage. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present drawings or the technical solutions in 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 only some embodiments of the present drawings. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0023] Figure 1 It is a schematic diagram of the overall structure of the automatic cleaning device for residual materials in the carriage; Figure 2 It is a partial structural schematic diagram of the automatic cleaning device for residual materials in the carriage; Figure 3 Schematic diagram A of the structure of the lifting device provided by the present invention; Figure 4 Schematic diagram B of the structure of the lifting device provided by the present invention; Figure 5 Schematic diagram C of the structure of the lifting device provided by the present invention; Figure 6 Schematic diagram D of the structure of the lifting device provided by the present invention.

[0024] In the figure: 1. tipping machine; 2. propulsion device; 21. guide rail; 22. load-bearing beam; 3. lifting device; 31. driving mechanism; 311. support platform; 3111. upper support plate; 3112. lower support plate; 312. scissor arm; 32. packaging body; 321. first airbag; 322. second airbag; 323. third airbag; 324. supporting arm; 331. support; 332. telescopic arm; 333. actuator; 4. actuator; 41. multi-degree-of-freedom robot arm; 42. end actuator; 5. grille. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments provided by the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0026] Obviously, the drawings described below are only some examples or embodiments of the present invention. For ordinary technicians in this field, the present invention can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed by the present invention, some changes in design, manufacturing or production based on the technical content disclosed by the present invention are just conventional technical means, and should not be understood as insufficient content disclosed by the present invention.

[0027] However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of well-known matters and repeated descriptions of substantially the same structures may be omitted. This is to avoid the following description from becoming unnecessarily lengthy and to facilitate understanding by those skilled in the art. In addition, the drawings and the following description are provided to enable those skilled in the art to fully understand the present invention and are not intended to limit the subject matter described in the claims.

[0028] See also Figure 1-Figure 2 As shown, the automatic cleaning device for residual materials in a carriage used in conjunction with a car tipper in an embodiment of the present invention comprises a car tipper 1, a propulsion device 2, a plurality of lifting devices 3 and a plurality of execution devices 4. A grille 5 is provided at the bottom of the car tipper 1. The propulsion device 2 comprises a guide rail 21 and a bearing beam 22, and the guide rail 21 is used to drive the bearing beam 22 to intervene in the area between the car tipper 1 and the grille 5. A plurality of lifting devices 3 are provided on the bearing beam 22, and the lifting devices 3 comprise a driving mechanism 31 for performing lifting actions, and a packaging body 32 is provided around the outside of the lifting devices 3. The execution device 4 comprises a multi-degree-of-freedom robotic arm 41 and an end effector 42, and the plurality of execution devices 4 are lifted and lowered by corresponding lifting devices 3, and the end effector 42 is driven by the multi-degree-of-freedom robotic arm 41 to perform cleaning actions.

[0029] The tipping machine 1 is used to provide a turning platform for the carriage, and mainly includes a tipping cylinder, a clamping mechanism, and a driving assembly. The track on the tipping cylinder is connected to the external track. When the carriage enters the area of ​​the tipping machine 1 through the track connection on the tipping cylinder, the clamping mechanism extends to clamp and fix the carriage, and the driving assembly drives the tipping cylinder to turn through the wheel train and the reducer, so that the open end of the carriage tilts and gradually faces downward. During this period, the material inside the carriage pours toward the grille 5, and the material is transported away after being screened by the grille 5 to achieve rapid unloading. Since the tipping machines 1 are of different models and are prior art, the tipping machine 1 of the present application only needs to be able to achieve the purpose of turning over the carriage, and the structure of the tipping machine 1 is not specifically limited here.

[0030] When the unloading of the carriage is completed and the open end is turned downward, the guide rail 21 starts to operate to transport the load-bearing beam 22 and the several lifting devices 3 and several actuators 4 on the load-bearing beam 22 to the bottom of the carriage. After the load-bearing beam 22 moves into place, the lifting device 3 operates and lifts the corresponding multi-degree-of-freedom robotic arm 41 to the inside of the carriage. The multi-degree-of-freedom robotic arm 41 starts to operate and drives the end actuator 42 at the front end to clean the inner wall of the carriage. During the cleaning process, the flexible encapsulation body 32 will extend synchronously with the lifting drive force, and form a shielding structure on the periphery of the lifting device 3 to protect the internal drive mechanism 31 and other components from the intrusion of residual materials, thereby solving the problem of erosion of the lifting components by residual materials when the carriage is cleaned from the bottom of the carriage.

[0031] The multi-degree-of-freedom robot arm 41 is composed of a joint structure and a driving component. Since the multi-degree-of-freedom robot arm 41 has different models and is a prior art, the multi-degree-of-freedom robot arm 41 of the present application can achieve the purpose of driving the end effector 42 to move in multiple paths, and the structure of the multi-degree-of-freedom robot arm 41 is not specifically limited here. The multi-degree-of-freedom robot arm 41 can also be equipped with a visual recognition component and system. Through high-precision algorithm calibration, high-precision movement can be achieved to ensure that the end effector 42 can move to the residual material to be cleaned. Through the industrial camera to identify the residual material bonding inside the car and through the position movement of the multi-degree-of-freedom robot arm 41, the end effector 42 can accurately clean the specific position without the need to remove the residual material through wide-area cleaning. First, it can reduce the energy consumption for cleaning, and second, targeted cleaning can improve the cleaning efficiency and cleaning effect. It should be noted that the visual recognition component and system carried can be programmed as needed, which belongs to the prior art and will not be described in detail here.

[0032] The end effector 42 is equipped with a cleaning component, and different tools can be selected according to the specific residual material situation, including scrapers, suction machines, pulse spray guns, high-pressure spray guns, vibrators, etc. Since the multi-degree-of-freedom robot arm 41 can be as close to the cleaning area as possible, the output power attenuation of the end effector 42 is small, the load it bears is small, and the cleaning effect is better.

[0033] After the residual material inside the carriage is cleaned, the lifting device 3 is lowered, and the multi-degree-of-freedom robot arm 41 switches the cleaning target from the carriage to the grille 5, and uses the end effector 42 to clean the grille 5 synchronously. Since the grille 5 is a grid structure and the material is repeatedly screened, there will also be residual material accumulation and adhesion. Since the height of the grille 5 is high, manual cleaning is difficult and dangerous. Therefore, cleaning the grille 5 through the actuator 4 has the advantages of high efficiency, good effect and high safety.

[0034] In one embodiment, see Figure 1 and Figure 2As shown, the driving mechanism 31 includes a support platform 311 and a scissor arm 312. The support platform 311 includes an upper support plate 3111 and a lower support plate 3112. The scissor arm 312 is located between the upper support plate 3111 and the lower support plate 3112. The lower support plate 3112 is arranged on the bearing crossbeam 22. The actuator 4 is arranged on the upper support plate 3111. One hinged end of the scissor arm 312 is slidably connected to the support platform 311, and the other hinged end of the scissor arm 312 is fixedly connected to the support platform 311. When the movable hinged end slides, the scissor structure can be compressed and extended, thereby driving the upper actuator 4 to rise and fall. In this embodiment, the scissor arm 312 is driven by a driving component that cooperates with the movable hinged end. The driving component can be a sliding guide rail, an air floating guide rail, a ball screw, etc., which is located around the scissor arm 312 to drive the movable hinged end, so that the scissor arm 312 is self-driven and lifted. The scissor arms 312 are used for lifting, and a larger lifting stroke can be achieved while a smaller retracted height is achieved. The frame structure of the scissor arms 312 provides a stable lifting path, which can reduce shaking during the lifting process.

[0035] In this embodiment, in order to reduce the folding height of the scissor arms 312 and improve the stability when extended, it is best to use a single-layer scissor structure for the scissor arms 312. Since the lifting height of the scissor arms 312 is determined by the length of the scissor structure, in order to place the actuator 4 as close to the inner wall of the carriage as possible, a single scissor arm 312 needs to occupy a larger area, and multiple actuators 4 are arranged on each support 311 to perform cleaning tasks, and the lifting heights of the multiple actuators 4 at the same time are the same.

[0036] Furthermore, the package body 32, as a dust cover structure, forms compressible and extendable folded pleats in the vertical direction and surrounds the outside of the base 311, and the scissor arms 312 are integrally covered inside the package body 32. A large amount of dust and particulate materials, such as coal, sand, and dusty chemicals, may be generated during the residual material cleaning operation. When dust enters the joints or sliding parts of the scissor arms 312, it will increase wear or clog mechanical parts, affecting the normal operation of the equipment; when dust enters the hydraulic cylinder, motor or pneumatic system that drives the scissor arms 312, it will increase the risk of failure or reduce performance. The dust cover can guide the dust to fall into a designated area to prevent dust or particles from contacting the scissor arms 312. The folded pleats can limit the moving path of each part on the package body 32, and the folded structure gives the package body 32 a smaller compression height when it contracts and a stable rising path when the internal scissor arms 312 are lifted.

[0037] In one embodiment, see Figure 1 , Figure 2 and Figure 4As shown, the package body 32 is sealed as a whole to form a first airbag 321. The driving mechanism 31 is provided with an air source connected to the first airbag 321. The air source component can be placed outside the lifting device 3 and away from the cleaning area. The first airbag 321 inputs and outputs gas through the air source component to adjust the internal air pressure. When the internal pressure is low, the first airbag 321 contracts to control the actuator 4 to descend; when the internal pressure is high, the first airbag 321 expands to control the actuator 4 to rise. After the first airbag 321 expands, it drives the multi-degree-of-freedom mechanical arm 41 to rise and approach the inner wall of the car. The multi-degree-of-freedom mechanical arm 41 adjusts the output angle of the end effector 42 and the end effector 42 performs the cleaning operation. The first airbag 321 can achieve directional expansion through special structures or auxiliary equipment, thereby providing a stable lifting channel. Since the first airbag 321 is a fully enclosed structure, dust or particles generated when cleaning residual materials will not enter the first airbag 321. The first airbag 321 has few structural blind spots, making cleaning and maintenance more convenient, and the air source component can be arranged away from the cleaning area, so it will not affect the air source component.

[0038] In this embodiment, the extended height of the first airbag 321 is determined by the number of folded layers of the folded folds. A single first airbag 321 can have a smaller footprint, so the height of each first airbag 321 can be individually controlled by the air source component, which has higher cleaning flexibility. Since the first airbag 321 itself has a certain thickness, the folded folds of the first airbag 321 still have a large height after multiple folds when contracted. Therefore, when the carrying beam 22 carries the actuator 4 and pushes it along the guide rail 21, the empty line position of the carriage needs to be fully considered, and the carriage needs to have a large height to avoid collision interference.

[0039] In one embodiment, see Figure 1 , Figure 2 and Figure 3As shown, the lifting device 3 includes a base 311 and a scissor arm 312, and the package body 32 is sealed as a whole to form a second airbag 322. The scissor arm 312 is not driven by an additional driving component, and the dust cover on the outer periphery of the scissor arm 312 is replaced by the second airbag 322 and fully sealed. At this time, the second airbag 322 is controlled by the air source component. When the air source component inflates and pressurizes the second airbag 322, the second airbag 322 expands and drives the scissor arm 312 to rise; and when the air source component deflates and decompresses the second airbag 322, the second airbag 322 contracts and synchronously drives the scissor arm 312 to contract and descend. Due to the lateral support of the scissor arm 312, the second airbag 322 has sufficient lateral stability when lifting and lowering without causing instability, and has a high-precision directional effect. The actuator 4 is integrally arranged on the support platform 311. After the second airbag 322 is inflated, the support platform 311 rises and drives the multi-degree-of-freedom mechanical arm 41 to rise and approach the inner wall of the carriage. The multi-degree-of-freedom mechanical arm 41 adjusts the output angle of the end effector 42 and the end effector 42 performs the cleaning operation. In this embodiment, the second airbag 322 forms a compressible and extendable folded pleat in the vertical direction, which is used in conjunction with the scissor arm 312 structure to enhance the lifting stability and guidance.

[0040] In one embodiment, see Figure 1 , Figure 2 and Figure 5 As shown, the lifting device 3 includes a support platform 311 and a scissor arm 312, and the package body 32 is sealed as a whole to form a third airbag 323. The scissor arm 312 is driven by an additional driving component between the support platforms 311, and can be lifted and lowered at a certain height. A dust cover is provided on the support platform 311 and the outer periphery of the scissor arm 312. A plurality of third airbags 323 are provided on the support platform 311, and each third airbag 323 is equipped with an actuator 4 at the top, and each third airbag 323 is individually controlled by an external air source component. In this embodiment, the scissor arm 312 can rise to a certain stroke through the driving of the driving component, and the support platform 311 is stopped near the car compartment opening, and then the expansion height of each third airbag 323 is controlled separately through the air source component, thereby flexibly controlling the lifting height of each actuator 4, and improving the flexibility of cleaning. The actuator 4 is provided as a whole on the third airbag 323, and the scissor arm 312 first drives the support platform 311 to rise a certain distance, so that the third airbag 323 first rises to a certain height close to the car compartment opening. Then the external air source supplies air to the third airbag 323 to expand the third airbag 323. After the third airbag 323 expands, it drives the multi-degree-of-freedom robotic arm 41 to rise and approach the inner wall of the car. The multi-degree-of-freedom robotic arm 41 adjusts the output angle of the end effector 42 and the end effector 42 performs the cleaning operation.

[0041] In this embodiment, the required lifting height of the scissor arm 312 is reduced, so the required floor space of a single scissor arm 312 can be reduced, and the third airbag 323 is initially lifted by the scissor arm 312, so the required lifting height of a single third airbag 323 can also be reduced, which can improve the operating stability of the third airbag 323. Compared with the embodiment in which the total lifting is performed by a single airbag structure, it has a lower initial height, and compared with the embodiment in which the total lifting is performed by a single scissor arm 312, it has higher control flexibility.

[0042] Specifically, the inside or outside of the package body 32 as an airbag structure limits the freedom of movement of the package body 32 in the lateral direction through a plurality of support arms 324. The support arms 324 can be a telescopic rod structure or a scissor structure, and the scissor structure is used as an example here. The scissor structure cooperates with both ends of the package body 32. When the package body 32 is compressed, the scissor structure is compressed in a folded shape, and when the package body 32 rises, the scissor structure is adaptively unfolded, and a frame structure is formed around the package body 32 to support the package body 32 laterally, so as to improve the running stability.

[0043] Specifically, the package body 32 as an airbag structure forms compressible and extendable folded pleats in the vertical direction, forming a corrugated design or a pleated design. The folded pleated design allows the package body 32 to freely expand and contract in the vertical direction. By unfolding or folding multiple layers of pleats, the package body 32 can adapt to large stroke changes without increasing the ductility of the material of the package body 32 itself, thereby achieving height adjustment through inflation and deflation, giving the package body 32 better flexibility and deformation ability, and being able to maintain uniform deformation during force. The pleated design can greatly reduce the volume of the package body 32 in the folded state, thereby improving the compression ratio of the overall system.

[0044] In one embodiment, see Figure 2 and Figure 6As shown, the lifting device 3 includes a support 331, a telescopic arm 332 and an actuator 333. The support 331 is installed on the bearing crossbeam 22. The cylinder of the telescopic arm 332 is hinged to the support 331. One end of the actuator 333 is hinged to the support 331 and the other end is hinged to the cylinder of the telescopic arm 332. The actuator 4 is arranged at the output end of the telescopic arm 332. The output end of the telescopic arm 332 can maintain a fixed angle with the horizontal plane through an internal motor. The actuator 333 and the telescopic arm 332 can be specifically a cylinder, a hydraulic cylinder or an electric cylinder. The lifting device 3 lifts the actuator 4. During the process of extending the output end of the actuator 333, the cylinder of the telescopic arm 332 rotates around the hinge point on the support 331 to adjust the lifting angle. In this process, the actuator 333 adaptively adjusts its posture through the hinge points at both ends, and no interference problem will occur. After the telescopic arm 332 is adjusted to a suitable output angle, the internal output shaft of the telescopic arm 332 extends to lift the actuator 4 to the inside of the carriage, and then the actuator 4 starts the cleaning operation. This lifting method is supported by the cylinder body and the piston rod. The output direction of the piston rod of the telescopic arm 332 is adjustable, the lifting direction is more flexible and controllable, the load-bearing capacity is strong, and the lifting stability is high.

[0045] It should be noted that, since the cooperation between the telescopic arm 332 and the actuator 333 has enabled the multi-degree-of-freedom mechanical arm 41 to have the degree of freedom to rotate within a fixed plane, the function of the lifting device 3 overlaps with the function of the multi-degree-of-freedom mechanical arm 41. Therefore, when the structure of this embodiment is used, the degrees of freedom of the multi-degree-of-freedom mechanical arm 41 can be reduced, and the structure of the multi-degree-of-freedom mechanical arm 41 can be simplified. In addition, the scheme of the telescopic arm 332 and the actuator 333 can be used in combination with the scheme of the driving mechanism 31 and the package body 32, which will not be described in detail here.

[0046] The bearing crossbeam 22 is a grid-like structure formed by arranging metal sheets vertically and horizontally on a horizontal plane, and the top and bottom surfaces of the crossbeam are interconnected. The bearing crossbeam 22 provides support for the upper lifting device 3 and the actuator 4, and allows dust or particles that fall onto the bearing crossbeam 22 to pass through, thereby preventing debris from accumulating on the bearing crossbeam 22 and affecting the operation of the lifting device 3, and reducing the difficulty of cleaning the bearing crossbeam 22.

[0047] It should be noted that the present invention is not limited to the above-mentioned embodiments. The above-mentioned embodiments are only examples, and the embodiments having the same structure as the technical idea and exerting the same effect within the scope of the technical solution of the present invention are all included in the technical scope of the present invention. In addition, without departing from the scope of the main purpose of the present invention, various modifications that can be thought of by those skilled in the art to the embodiments and other methods of combining some of the constituent elements in the embodiments are also included in the scope of the present invention.

Claims

1. An automatic cleaning device for residual materials in a carriage used in conjunction with a car tipping machine, characterized in that: include: A car tipper (1), wherein a grille (5) is provided at the bottom of the car tipper (1); A propulsion device (2), comprising a guide rail (21) and a bearing crossbeam (22), wherein the guide rail (21) is used to drive the bearing crossbeam (22) to intervene in the area between the tipper (1) and the grille (5); A plurality of lifting devices (3), wherein the plurality of lifting devices (3) are arranged on the bearing crossbeam (22), the lifting devices (3) comprising a driving mechanism (31) for performing a lifting action, and a packaging body (32) is arranged outside the lifting devices (3); A plurality of execution devices (4), wherein the execution devices (4) comprise a multi-degree-of-freedom robotic arm (41) and an end effector (42), wherein the plurality of execution devices (4) are lifted and lowered by corresponding lifting devices (3), and the end effector (42) is driven by the multi-degree-of-freedom robotic arm (41) to perform a cleaning action.

2. The automatic cleaning device for residual materials in a carriage used in conjunction with a car tipper according to claim 1 is characterized in that: The driving mechanism (31) comprises a support platform (311) and a scissor arm (312); the scissor arm (312) has at least one hinged end slidably connected to the support platform (311); and the execution device (4) is arranged on the support platform (311).

3. The automatic cleaning device for residual materials in a carriage used in conjunction with a car tipper according to claim 2 is characterized in that: The packaging body (32) forms a compressible and extendable folded pleat in the vertical direction and is arranged around the outside of the support platform (311), and the scissor arms (312) are integrally covered inside the packaging body (32).

4. The automatic cleaning device for residual materials in a carriage used in conjunction with a car tipper according to claim 1 is characterized in that: The packaging body (32) is entirely sealed to form an airbag structure, and the driving mechanism (31) is provided with an air source that is in communication with the packaging body (32).

5. The automatic cleaning device for residual materials in a carriage used in conjunction with a car tipper according to claim 4 is characterized in that: The packaging body (32) forms a compressible and extendable folded pleat in the vertical direction.

6. The automatic cleaning device for residual materials in a carriage used in conjunction with a car tipper according to claim 5 is characterized in that: The packaging body (32) further comprises a plurality of support arms (324), wherein the plurality of support arms (324) cooperate with the packaging body (32) to limit the freedom of movement of the packaging body (32) in the lateral direction.

7. The automatic cleaning device for residual materials in a carriage used in conjunction with a car tipper according to claim 1 is characterized in that: The bearing crossbeam (22) is a grid-like structure with a top surface and a bottom surface interconnected.

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