Train box excess material cleaning device based on mechanical arm

Abstract

The utility model discloses a train box excess material cleaning device based on a mechanical arm, and relates to the field of train carriage cleaning equipment.The train box excess material cleaning device comprises a fixing base, the mechanical arm and a cleaning module installed at the output end of the mechanical arm, the mechanical arm is installed on the fixing base, and the fixing base is used for being installed on a car dumper; the mechanical arm comprises a moving part and a fixing part, the cleaning module is installed at the output end of the moving part, the moving part is installed on the fixing part, the fixing part is rotationally connected to the fixing base, a driving piece used for driving the fixing part to rotate is arranged on the fixing base, a containing groove is formed in the fixing part, and the cleaning module is installed on the containing groove. According to the car dumper driving device, the driving piece can be stored in the storage groove, so that the driving piece does not occupy much space, and then the situation that the device is installed on the car dumper is not affected.

Description

Technical Field

[0001] The present application relates to the field of train carriage cleaning equipment, and in particular to a cleaning device for train carriage residual materials based on a robotic arm. Background Art

[0002] At present, the transportation of coal mainly relies on trains. When unloading, a dumper is generally used to unload the coal in the train carriage. When transporting coal by train, it is inevitable that the coal will adhere and freeze during long-distance transportation. This makes the dumper still have residual sticky coal in the carriage after the coal unloading process is completed. The residual coal is as little as dozens of kilograms and as much as several tons, which seriously affects the coal transportation efficiency and greatly increases the transportation cost and coal consumption cost. Therefore, it is necessary to clean the residual sticky coal in the carriage.

[0003] Currently, there are train carriage cleaning devices that use a robotic arm to control the cleaning module to clean the residual materials in the train carriage. It is necessary to use an external air cylinder or hydraulic cylinder to control the overall movement of the robotic arm. However, the current position of the hydraulic cylinder or air cylinder is not easy to set. Generally, it is set outside the robotic arm. Due to the occupation of the outer wall space by the hydraulic cylinder or air cylinder, it is easy to affect the installation of the robotic arm on the dumper. At the same time, when the dumper is working, the exposed hydraulic cylinder or air cylinder may affect the operation of the dumper. Summary of the Utility Model

[0004] In order to facilitate the installation of the robotic arm on the dumper, the present application provides a cleaning device for train carriage residual materials based on a robotic arm.

[0005] A cleaning device for train carriage residual materials based on a robotic arm provided by the present application adopts the following technical solutions:

[0006] A cleaning device for train carriage residual materials based on a robotic arm includes a fixed seat, a robotic arm, and a cleaning module installed at the output end of the robotic arm. The robotic arm is installed on the fixed seat, and the fixed seat is used to be installed on the dumper. The robotic arm includes a moving part and a fixed part. The cleaning module is installed at the output end of the moving part. The moving part is installed on the fixed part. The fixed part is rotatably connected to the fixed seat. A driving member for driving the rotation of the fixed part is provided on the fixed seat. A receiving groove is formed on the fixed part, and the driving member can be received in the receiving groove.

[0007] By adopting the above technical solution, since the driving member can be accommodated in the accommodation groove, it will not occupy too much space, and thus will not affect the installation of the device on the car dumper; in addition, since the cleaning device works after the car dumper has completed its work (the work process is to first use the car dumper to unload the materials in the carriage, then use the car dumper to reset the carriage, then the cleaning device works to loosen the materials adhered to the carriage, then reset the robotic arm, and then use the car dumper to unload the remaining materials), the driving member is accommodated in the accommodation groove and will not affect the work of the car dumper.

[0008] Optionally, it further includes a mounting seat for mounting on the car dumper. The fixed seat is rotatably connected to the mounting seat, the rotation axis of the fixed seat is arranged in the vertical direction, and the mounting seat is provided with a power member for driving the fixed seat to rotate.

[0009] By adopting the above technical solution, it is convenient to adjust the angle of the robotic arm, thus facilitating multi-directional cleaning of the carriage.

[0010] Optionally, the power member includes a first motor, the housing of the first motor is mounted on the mounting seat, and the output shaft of the first motor is fixedly connected to the fixed seat.

[0011] By adopting the above technical solution, using electric power to drive the robotic arm to rotate is simple and fast.

[0012] Optionally, the mounting seat is slidably connected with a sliding seat along its own length direction, the fixed seat is mounted on the sliding seat, and the mounting seat is provided with a first driving component for driving the sliding seat to slide.

[0013] By adopting the above technical solution, it is convenient to adjust the front and rear positions of the robotic arm, further improving the cleaning range of the device.

[0014] Optionally, the first driving component includes a second motor and a lead screw. The lead screw is rotatably connected to the mounting seat, the lead screw rotates to drive the sliding seat to move, and the second motor is used to drive the lead screw to rotate.

[0015] By adopting the above technical solution, when driving the sliding seat to move, turn on the second motor to drive the lead screw to rotate, and then drive the sliding seat to move. In this first driving component, the lead screw has a certain limiting function, which is convenient to limit the sliding seat at a certain position.

[0016] Optionally, a fixing plate is fixedly connected to the mounting seat, a sliding plate is slidably connected to the mounting seat, the sliding plate slides to approach or move away from the fixing plate, and the mounting seat is provided with a second driving component for driving the sliding plate to slide.

[0017] By adopting the above technical solution, the fixed plate cooperates with the sliding plate. When the sliding plate approaches the fixed plate, it can be clamped and installed on the car dumper, thus facilitating the installation of the device on the car dumper.

[0018] Optionally, the second driving component includes a handle and a screw rod. An installation plate is fixedly connected to the installation seat. One end of the screw rod passes through the installation plate and is rotatably connected to the sliding plate, and the other end of the screw rod is fixedly connected to the handle. The screw rod is threadedly connected to the installation plate.

[0019] By adopting the above technical solution, when driving the sliding plate to move, rotate the handle. While driving the screw rod to rotate, the screw rod moves back and forth, thereby driving the sliding plate to move; the second driving component has a simple structure and is convenient to operate.

[0020] In summary, the present application includes the following beneficial technical effects:

[0021] 1. By accommodating the driving member in the accommodation groove in the present application, it will not occupy too much space, and thus will not affect the installation of the device on the car dumper;

[0022] 2. By providing the sliding plate and the fixed plate in the present application, it is convenient to quickly install the device on the car dumper. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 FIG. 21 is a schematic diagram of the overall structure of Embodiment 1 of a train car residue cleaning device based on a robotic arm according to the present application applied to a car dumper;

[0024] Figure 2 FIG. 25 is a schematic diagram of the overall structure of Embodiment 1 of a train car residue cleaning device based on a robotic arm according to the present application;

[0025] Figure 3 FIG. 29 is a schematic diagram of the overall structure of Embodiment 2 of a train car residue cleaning device based on a robotic arm according to the present application; Figure 1 ;

[0026] Figure 4 FIG. 35 is a schematic diagram of the overall structure of Embodiment 2 of a train car residue cleaning device based on a robotic arm according to the present application; Figure 2 。

[0027] DESCRIPTION OF THE REFERENCE NUMERALS:

[0028] 1, fixed seat; 2, robotic arm; 3, cleaning module; 4, moving part; 5, fixing part; 6, cylinder; 7, accommodation groove; 8, mounting seat; 9, fixed plate; 10, sliding plate; 11, handle; 12, screw rod; 13, mounting plate; 14, sliding seat; 15, second motor; 16, lead screw; 17, first motor; 18, car dumper. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The following will further elaborate on this application in conjunction with the attached Figures 1 - 4 drawings for a more detailed description.

[0030] This application discloses a device for cleaning the remaining materials in a train carriage based on a robotic arm.

[0031] Embodiment 1;

[0032] Referring to Figure 1 and Figure 2 , a device for cleaning the remaining materials in a train carriage based on a robotic arm includes a fixed seat 1, a robotic arm 2, and a cleaning module 3. The fixed seat 1 is fixed to the dumper 18 by screws. The robotic arm 2 includes a moving part 4 and a fixed part 5. The cleaning module 3 is installed at the output end of the moving part 4. The moving part 4 is installed on the fixed part 5. The fixed part 5 is rotatably connected to the fixed seat 1. The rotation axis of the fixed part 5 is arranged along the length direction of the dumper 18. A driving member for driving the rotation of the fixed part 5 is provided on the fixed seat 1.

[0033] The driving member includes a cylinder 6. The fixed end of the cylinder 6 is rotatably connected to the fixed seat 1. The telescopic end of the cylinder 6 is rotatably connected to the fixed part 5. A receiving groove 7 is formed on the fixed part 5, and the cylinder 6 can be received in the receiving groove 7.

[0034] In another embodiment, the driving member can also be a hydraulic cylinder.

[0035] In this embodiment, the cleaning module 3 includes cleaning tools such as a shovel.

[0036] The implementation principle of Embodiment 1 of the device for cleaning the remaining materials in a train carriage based on a robotic arm disclosed in this application is as follows: During use, the fixed seat 1 is installed on the dumper 18. When the cleaning device is not needed, the cylinder 6 is received in the receiving groove 7, which does not affect the operation of the dumper 18 and also does not affect the installation of the cleaning device. When the cleaning device is needed, the angle of the robotic arm 2 can be adjusted through the cylinder 6, facilitating the operation of the cleaning device.

[0037] Embodiment 2;

[0038] Referring to Figure 3 and Figure 4 , the difference between this embodiment and Embodiment 1 is that, to facilitate the installation of the cleaning device on the dumper 18, the cleaning device further includes a mounting seat 8. The fixed seat 1 is installed on the mounting seat 8. Fixing plates 9 and sliding plates 10 are respectively provided at both ends of the lower surface of the mounting seat 8 in the length direction. The fixing plate 9 is fixedly connected to one end of the mounting seat 8. The sliding plate 10 is slidably arranged on the mounting seat 8 along the length direction of the mounting seat 8. The upper surface of the sliding plate 10 is flat and abuts against the lower surface of the mounting seat 8. A second driving assembly for driving the sliding of the sliding plate 10 is provided on the mounting seat 8.

[0039] The second driving component includes a handle 11 and a screw rod 12. On the lower surface of the mounting seat 8, a mounting plate 13 is fixedly connected to the side of the sliding plate 10 away from the fixed plate 9. One end of the screw rod 12 passes through the mounting plate 13 and is rotatably connected to the sliding plate 10. The other end of the screw rod 12 is fixedly connected to the handle 11, and the screw rod 12 is threadedly connected to the mounting plate 13.

[0040] In another embodiment, the second driving component can be a motor that drives the screw rod 12 to rotate. The motor is slidably arranged on the mounting seat 8, and the output shaft of the motor is coaxially and fixedly connected to the screw rod 12.

[0041] In this embodiment, in order to facilitate multi-directional cleaning of the carriage, the fixed seat 1 can slide along the length direction of the mounting seat 8, thereby driving the entire robotic arm 2 to slide and expanding the cleaning range of the cleaning device. On the upper surface of the mounting seat 8, a sliding seat 14 is slidably connected along the length direction of the mounting seat 8. The lower surface of the sliding seat 14 is flat and abuts against the upper surface of the mounting seat 8. A first driving component for driving the sliding seat 14 to slide is provided on the mounting seat 8.

[0042] The first driving component includes a second motor 15 and a lead screw 16. The housing of the second motor 15 is fixedly connected to the mounting seat 8. The lead screw 16 is rotatably connected to the mounting seat 8. The axis of rotation and the length direction of the lead screw 16 are both arranged along the length direction of the mounting seat 8. The lead screw 16 passes through the sliding seat 14, and the lead screw 16 is threadedly connected to the sliding seat 14. The output shaft of the second motor 15 is coaxially and fixedly connected to one end of the lead screw 16.

[0043] In another embodiment, the first driving component can also adopt a hydraulic cylinder to drive the sliding seat 14 to move.

[0044] In this embodiment, in order to further expand the cleaning range of the cleaning device, the fixed seat 1 is rotatably connected to the mounting seat 8. The axis of rotation of the fixed seat 1 is arranged in the vertical direction. A power component for driving the fixed seat 1 to rotate is provided on the mounting seat 8.

[0045] The power component includes a first motor 17. The housing of the first motor 17 is fixed on the upper surface of the sliding seat 14, and the output shaft of the first motor 17 is coaxially and fixedly connected to the fixed seat 1.

[0046] In another embodiment, the power component can also include transmission components, such as a gear set, to drive the gear set to work by a motor, further driving the fixed seat 1 to rotate, and the rotation speed of the fixed seat 1 can be adjusted.

[0047] The implementation principle of Embodiment 2 of a train car residue cleaning device based on a robotic arm disclosed in this application is as follows: When installing the cleaning device, utilize the cooperation of the fixed plate 9 and the sliding plate 10 to clamp and install the cleaning device on the car dumper 18. When using the cleaning device, the angle of the robotic arm 2 can be adjusted by driving the fixed seat 1 to rotate with the first motor 17, or the front and rear position of the robotic arm 2 can be adjusted by driving the lead screw 16 to rotate with the second motor 15, thereby expanding the cleaning range of the cleaning device.

[0048] The above are all the preferred embodiments of this application. Without restricting the protection scope of this application based on this, therefore: All equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A train box residual material cleaning device based on a mechanical arm, comprising a fixed seat (1), a mechanical arm (2) and a cleaning module (3) installed at the output end of the mechanical arm (2), wherein the mechanical arm (2) is installed on the fixed seat (1), and the fixed seat (1) is used to be installed on a car tipping machine (18), characterized in that: The robot arm (2) comprises a moving part (4) and a fixed part (5), the cleaning module (3) is mounted on the output end of the moving part (4), the moving part (4) is mounted on the fixed part (5), the fixed part (5) is rotatably connected to the fixed seat (1), the fixed seat (1) is provided with a driving member for driving the fixed part (5) to rotate, the fixed part (5) is provided with a storage groove (7), and the driving member can be stored in the storage groove (7).

2. The train box residual material cleaning device based on a robotic arm according to claim 1 is characterized by: The invention also comprises a mounting seat (8), wherein the mounting seat (8) is used for being mounted on the tipping machine (18), the fixing seat (1) is rotatably connected to the mounting seat (8), the rotation axis of the fixing seat (1) is arranged along the vertical direction, and the mounting seat (8) is provided with a power part for driving the fixing seat (1) to rotate.

3. The train box residual material cleaning device based on a robotic arm according to claim 2 is characterized by: The power component comprises a motor 1 (17), the housing of the motor 1 (17) is mounted on the mounting seat (8), and the output shaft of the motor 1 (17) is fixedly connected to the fixing seat (1).

4. The train box residual material cleaning device based on a robotic arm according to claim 2 is characterized by: The mounting seat (8) is slidably connected to a slide seat (14) along its length direction, the fixed seat (1) is mounted on the slide seat (14), and the mounting seat (8) is provided with a driving component 1 for driving the slide seat (14) to slide.

5. The train box residual material cleaning device based on a mechanical arm according to claim 4 is characterized in that: The driving assembly 1 comprises a motor 2 (15) and a screw rod (16), wherein the screw rod (16) is rotatably connected to the mounting seat (8), and the screw rod (16) rotates to drive the slide seat (14) to move, and the motor 2 (15) is used to drive the screw rod (16) to rotate.

6. The train box residual material cleaning device based on a robotic arm according to claim 2, characterized in that: A fixed plate (9) is fixedly connected to the mounting seat (8), a sliding plate (10) is slidably connected to the mounting seat (8), the sliding plate (10) slides to approach or move away from the fixed plate (9), and a driving component 2 for driving the sliding plate (10) to slide is provided on the mounting seat (8).

7. The train box residual material cleaning device based on a mechanical arm according to claim 6 is characterized by: The second driving component comprises a handle (11) and a screw rod (12); a mounting plate (13) is fixedly connected to the mounting seat (8); one end of the screw rod (12) passes through the mounting plate (13) and is rotatably connected to the sliding plate (10); the other end of the screw rod (12) is fixedly connected to the handle (11); and the screw rod (12) and the mounting plate (13) are threadedly connected.

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