Intelligent cleaning device for large mine car

Abstract

The utility model relates to the technical field of cleaning equipment, and discloses an intelligent cleaning device for a large mine car, which comprises a device frame with a movable portal frame structure, a cross beam of the device frame is mounted on a workshop track and can slide, the cross beam and a vertical beam are provided with tracks, slidable spray head pieces are mounted on the tracks, and meanwhile, direct spray water pipes and spray head arrays are configured; cleaning mechanical arms with precise cleaning modules are arranged on the vertical beams on the two sides, and the whole machine is controlled by an electric control system integrated with a PLC. Through combination of gantry frame movement and nozzle sliding, full-coverage cleaning of the large mine car in the full-length range is achieved. Stubborn stains in dead angle areas such as tires and chassis can be accurately treated by the mechanical arm; and by matching with a sensor and a control system, automatic, non-blind area and high-efficiency cleaning operation is achieved. The device effectively solves the problems that a traditional cleaning mode is low in efficiency, multiple in blind area and poor in adaptability, and is suitable for continuous intelligent cleaning of heavy vehicles in surface mines.

Description

TECHNICAL FIELD

[0001] The utility model relates to cleaning equipment technical field especially relates to an intelligent cleaning device for large -scale mine car. BACKGROUND

[0002] In the open pit mine operation, large -scale mine truck will be attached a lot of soil, slag, dust and oil stains in the running process, especially in the bottom of the carriage, tire groove and chassis gap area stubborn deposit is easy to form, seriously influence vehicle performance and transportation safety. The traditional cleaning mode mainly relies on manual high -pressure water gun to flush, not only the labor intensity is big, the operation environment is bad, and cleaning efficiency is low, and the single vehicle cleaning time is usually more than 15 minutes, and water resource consumption is huge, it is difficult to realize standardization operation. In recent years, part of the mining area introduced the fixed channel cleaning machine, through the preset nozzle array to the vehicle in the running automatic spraying. Although this kind of equipment improves the automation level to some extent, but generally there is the problem of structural rigidity, poor adaptability: its nozzle layout is fixed, cannot be dynamically adjusted according to the vehicle shape, leading to the existence of significant cleaning blind area in the vehicle body curved surface, chassis dead angle etc.;At the same time, limited by the turning radius design (generally less than 8 meters) of the channel, it is difficult to match the length of more than 15 meters large -scale mine car traffic demand, causes cleaning discontinuous or needs multiple in and out;The above prior art solution exposes many defects in dealing with large -scale mine car efficient, thorough, intelligent cleaning. Therefore, an urgent need for a new cleaning device that can adapt to the size of large -scale mine car, has omnidirectional cleaning capacity, supports automatic operation and gives consideration to environmental adaptability, to solve the key technical problems such as low efficiency, many blind areas, insufficient intelligent degree in the current mine vehicle cleaning. UTILITY MODEL CONTENT

[0003] The application provides an intelligent cleaning device for large -scale mine car, which can solve the technical problems of low efficiency, many cleaning blind areas, unable to adapt to the size of large -scale mine car and insufficient intelligent degree of traditional cleaning mode.

[0004] In order to solve the above problems, the utility model adopts the following technical scheme:

[0005] The application provides an intelligent cleaning device for large mine cars, which is installed in a mine car cleaning workshop, comprising a device frame, which is a gantry frame structure as a whole, comprising a cross beam and vertical beams movably arranged on opposite sides of the cross beam, the cross beam being arranged on a track in the mine car cleaning workshop at opposite ends, the cross beam being capable of sliding in parallel on the track, and the cross beam and the vertical beams being respectively provided with cross beam tracks and vertical beam tracks along the beam body direction thereof; a cleaning assembly, comprising spray head pieces arranged on the cross beam tracks and the vertical beam tracks respectively and straight spray pipes arranged on the cross beam and the vertical beams, the spray head pieces being capable of sliding on the corresponding cross beam tracks or vertical beam tracks; cleaning mechanical arms, two cleaning mechanical arms being arranged on the vertical beams on opposite sides respectively, comprising a transmission arm and a precision cleaning module arranged at the end of the transmission arm; and an electric control system, comprising a sensor assembly and an electric control box arranged on the device frame, the electric control box being integrated with a PLC control module, and the sensor assembly being electrically connected or signal connected with the electric control box.

[0006] In an alternative embodiment, the cleaning mechanical arm is a six-axis mechanical arm.

[0007] In an alternative embodiment, the precision cleaning module comprises an adjustable flow spray head and / or a brush head.

[0008] In an alternative embodiment, the spray head piece comprises a sliding piece and a universal spray head arranged on the sliding piece.

[0009] In an alternative embodiment, each universal spray head is further provided with a servo motor corresponding thereto and is signal connected with the electric control box.

[0010] In an alternative embodiment, the electric control system further comprises a vehicle identification module, which is signal connected with the electric control box.

[0011] In an alternative embodiment, the sensor assembly comprises distance sensors arranged on the cross beam and the vertical beams.

[0012] In an alternative embodiment, the straight spray pipes and the spray head pieces are connected with a central water tank, and the straight spray pipes are uniformly provided with an array of spray heads along the length direction thereof.

[0013] In an alternative embodiment, the straight spray pipes are provided with electric heating pipes, the surface of the central water tank is wrapped with a heat preservation layer, the electric heating pipes are electrically connected through a temperature control circuit, and the temperature control circuit is signal connected with the electric control box.

[0014] In an alternative embodiment, the horizontal lowest points of the straight spray pipes and the central water tank are provided with electromagnetic drain valves.

[0015] The technical solution adopted by the utility model can achieve the following beneficial effects:

[0016] The application solves the problems of incomplete coverage and blind area in the cleaning process of large mining vehicles by adopting a movable gantry structure combined with a multi-dimensional track system. Since the cross beam of the device frame can slide on the workshop track, the vertical beam can move along the cross beam, and the spray head piece can slide on the track, the spray head can cover the entire vehicle length range, realizing continuous cleaning. At the same time, the cleaning mechanical arms arranged on both sides carry precise cleaning modules, which can deeply clean the areas such as tire grooves and chassis gaps that are difficult to reach, significantly improving the cleaning thoroughness. Combined with the PLC-controlled electric control system and sensor components, full-automatic operation, safety anti-collision and intelligent collaborative control are realized, thereby greatly improving the cleaning efficiency, reducing labor costs, and ensuring the consistency and safety of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Fig. 1 is a schematic view of an intelligent cleaning device for large mining vehicles disclosed by some embodiments of the present application;

[0019] Fig. 2 is an enlarged schematic view of a cleaning assembly of an intelligent cleaning device for large mining vehicles disclosed by some embodiments of the present application.

[0020] In the drawings:

[0021] 1, an intelligent cleaning device for large mining vehicles;

[0022] 10, device frame; 11, cleaning assembly; 12, cleaning mechanical arm; 13, electric control system; 14, central water tank;

[0023] 100, cross beam; 101, vertical beam; 110, spray head piece; 111, straight spray pipe; 120, transmission arm; 121, precise cleaning module; 130, sensor component; 131, electric control box; 132, vehicle identification module;

[0024] 1000, cross beam track; 1010, vertical beam track; 1100, sliding piece; 1101, universal spray head; 1110, spray head array; 1111, electric heating pipe; 1210, adjustable flow spray head. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the utility model clearer, the technical scheme of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope protected by the utility model.

[0026] The terms "first", "second" and the like in the specification and claims of the application are used to distinguish similar objects, not to describe a particular order or chronological sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second" and the like are generally of a kind, not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in a "or" relationship.

[0027] The utility model provides a kind of intelligent cleaning device 1 for large mine car in the following combined with attached Figs. 1-2 A kind of intelligent cleaning device 1 for large mine car provided by the application is described in detail by specific embodiments and its application scenarios.

[0028] The embodiment of the application provides a kind of intelligent cleaning device 1 for large mine car, install in mine car cleaning workshop, including:

[0029] Device frame 10, overall is gantry frame structure, including beam 100 and the movable setting in the vertical beam 101 of beam 100 opposite two sides, beam 100 opposite two ends are set on the track in mine car cleaning workshop, beam 100 can be parallel sliding on track, and beam 100 and vertical beam 101 are respectively provided with beam track 1000 and vertical beam track 1010 along the beam body direction thereof;

[0030] Cleaning assembly 11, including respectively setting on beam track 1000 and vertical beam track 1010 nozzle piece 110 and setting on beam 100 and vertical beam 101 straight spray pipe 111, nozzle piece 110 can be slid on corresponding beam track 1000 or vertical beam track 1010;

[0031] Cleaning mechanical arm 12, two cleaning mechanical arms 12 are respectively set on the vertical beam 101 of opposite two sides, including transmission arm 120 and setting on the precision cleaning module 121 of transmission arm 120 terminal;

[0032] The electric control system 13 comprises a sensor assembly 130 arranged on the device frame 10 and an electric control box 131, a PLC control module is integrated in the electric control box 131, and the sensor assembly 130 is electrically connected or signal-connected with the electric control box 131.

[0033] The present application designs the above structure, constructs a channel type full-automatic cleaning system suitable for large open-pit mine truck, that is, an intelligent cleaning device 1 for large mine truck; specifically, the system is based on the cleaning channel structure of the 1m high water retaining wall built on the ground, combined with the underground reinforced concrete sedimentation tank and clean water tank, to form a closed sewage collection and reuse system. The whole cleaning process does not need personnel to enter the operation area, supports unattended mode, and the vehicle drives into the specified position and is triggered to start by the infrared induction system, and completes the reciprocating washing process.

[0034] Specifically, the device frame 10 is used as the bearing base of the whole cleaning system, adopts a gantry rectangular steel structure main body, the main component material is Q235 galvanized steel plate, the key plate thickness is 6mm, the frame sealing plate uses 1.5mm galvanized plate, is formed by laser cutting, cold plate bending and mortise and tenon splicing process, and is subjected to corrosion prevention treatment and surface plastic spraying, so as to ensure long-term stable operation in the humid and dusty environment of the mine. The two ends of the cross beam 100 are installed on the parallel rails laid on the ground of the mine truck cleaning workshop, can realize horizontal translation along the rail direction through the driving motor driven gear rack or roller mechanism, the moving stroke covers the length of the whole mine truck, so as to ensure that the cleaning device can be accurately positioned above the vehicle to be washed. The vertical beam 101 is movably installed on the two sides of the cross beam 100 through the slide block guide rail structure, can adjust the position in the transverse direction within the span range of the cross beam 100, further expands the cleaning coverage range. The cross beam 100 and the vertical beam 101 are respectively provided with the cross beam rail 1000 and the vertical beam rail 1010 with built-in slide rails along the length direction, for guiding the nozzle 110 to slide thereon, to realize accurate positioning in two-dimensional plane.

[0035] The spray head piece 110 is arranged above the cross beam rail 1000 and the vertical beam rail 1010, and can be driven to slide along the rail direction by a servo motor or a stepping motor. Each spray head piece 110 comprises a sliding piece 1100 and a universal spray head 1101 mounted thereon. The universal spray head 1101 can realize multi-angle deflection through a ball hinge structure, and can dynamically adjust the spraying direction by cooperating with the servo motor control, so as to cover the top, side wall and inclined surface of the vehicle body. The straight jet pipe 111 is fixedly installed outside the cross beam 100 and the vertical beam 101, and a plurality of 304 stainless steel straight jet nozzles are uniformly arranged along the length direction of the pipe body to form a nozzle array 1110, which is used to provide continuous high-pressure water flow to preliminarily soften and flush the sludge attached to the surface of the mine car. The spray head in the nozzle array 1110 is designed to be detachable, which facilitates the cleaning of blocked impurities and improves the maintenance convenience. The straight jet pipe 111 is connected with the central water tank 14, and the water supply comes from the central water storage tank or the cold and hot water storage tank, which is pressurized to 10-20 MPa by a pressurizing pump set and then delivered to each spray head to meet the high-pressure flushing requirement.

[0036] Specifically, the cleaning mechanical arm 12 is an execution unit independently arranged on the two vertical beams 101, and one is arranged on each side, which is used to process stubborn stain areas that are difficult to clean by regular spraying, such as high-concentration mine powder accumulated in tire pattern grooves, suspension part gaps and chassis weld seams; each cleaning mechanical arm 12 comprises a plurality of linked transmission arms 120, and a precision cleaning module 121 is connected at the tail end. The transmission arm 120 can adopt a joint structure, has multiple degrees of freedom, and allows the precision cleaning module 121 to flexibly approach complex curved surfaces. The precision cleaning module 121 integrates an adjustable flow nozzle 1210 and a rotary brush head, can automatically adjust the water pressure and flow according to different pollution degrees, and effectively peels off strong adhesion mine slag in combination with physical brushing action. The action path of the cleaning mechanical arm 12 is planned in real time by the PLC control module in the electric control box 131 according to the feedback of the sensor assembly 130, so as to ensure operation safety and efficiency.

[0037] The electric control system 13 is the control center of the whole device, mainly including an electric control box 131 and sensor assemblies 130 distributed at various parts of the device frame 10. The electric control box 131 is internally integrated with a programmable logic controller (PLC) module, which is responsible for receiving various sensor signals and issuing control instructions to coordinate the movement of the device frame 10, the sliding of the spray head 110, the action of the cleaning robot 12, the start and stop of the water pump, the opening and closing of the electromagnetic valve, and other operations. In some specific embodiments, the sensor assemblies 130 include distance sensors, mine car position detection sensors, temperature sensors, water level sensors, etc. In this embodiment, the distance sensors are arranged on the cross beam 100 and the vertical beam 101 to monitor the distance from the mine car surface and prevent the cleaning robot 12 or the spray head 110 from colliding with the car body. The vehicle identification module 132 identifies the vehicle model information through infrared sensing or RFID technology and calls the preset cleaning program. The electric control system 13 supports automatic and manual dual-mode switching, is equipped with a touch screen human-machine interface, has functions such as state alarm, overheat protection, undervoltage protection, and leakage protection, and is provided with an emergency stop button to ensure operation safety.

[0038] It can be understood that through the above technical solutions, the embodiments of the present application realize full-range and multi-level cleaning operations from the front to the tail of the large mine car and from the top to the chassis, i.e., the cleaning is completed by the intelligent cleaning device 1 for large mine cars. Since the device frame 10 has the ability to slide along the track between the cars, combined with the lateral movement of the vertical beam 101 on the cross beam 100, the entire cleaning system can be positioned in a large range in three-dimensional space, effectively adapting to mine vehicles of different sizes, and solving the problem of insufficient coverage of traditional fixed cleaning equipment. The spray head 110 can slide on the cross beam track 1000 and the vertical beam track 1010, and cooperate with the angle adjustment of the universal spray head 1101 to significantly improve the spray coverage density. The array of spray heads 1110 on the straight spray pipe 111 provides high-intensity initial washing, quickly softens the attachments, and reduces the difficulty of subsequent cleaning. The cleaning robot 12 is equipped with a precision cleaning module 121, which is controlled by the electric control box 131 and the sensor assemblies 130 to specifically remove stubborn residues in the tire and chassis gaps, and makes up for the cleaning dead angle that cannot be reached by the static spray head. The electric control system 13 schedules each subsystem through the PLC module in the electric control box 131, dynamically adjusts the operating parameters according to the actual working conditions, realizes automatic control in the whole process, significantly shortens the cleaning time of a single device, and significantly improves the cleaning efficiency compared with the traditional method. At the same time, the system integrates a one-key emptying function, and electromagnetic drain valves are arranged at the lowest points of all waterway pipelines to automatically drain accumulated water in low-temperature environments or during shutdown to prevent freezing damage. The overall structure takes into account functionality and reliability, is suitable for high-strength and continuous mine transportation scenarios, and can also be expanded to be applied to the automatic cleaning field of other large mobile equipment such as engineering vehicles and heavy trucks.

[0039] Further, the cleaning robot 12 is a six-axis robot;

[0040] Specifically, the six-axis robot arm is an industrial robot structure with six independent rotary joints, which can realize highly flexible motion control in three-dimensional space. The robot arm includes a base, a shoulder joint, an elbow joint, a wrist with three rotary degrees of freedom (pitch, yaw, and roll), and an end effector mounting interface. Each joint is driven by a servo motor and transmits power through a precision reducer to ensure smooth motion and accurate positioning. The six-axis robot arm is fixed to the vertical beam 101 of the device frame 10 and moves horizontally along the track of the horizontal beam 100, while itself can perform multi-degree-of-freedom linkage in space to drive the precise cleaning module 121 at the end to complete complex path scanning and posture adjustment.

[0041] Among them, the components of the six-axis robot arm and their functions are as follows: the base is used to stably connect the robot arm to the vertical beam 101 structure and bear the dynamic load during operation; the shoulder joint realizes the horizontal rotation of the first axis (J1) and determines the overall orientation of the robot arm; the second axis (J2) controls the up-down swing of the large arm, affecting the height distribution of the working range; the third axis (J3) controls the angle of the small arm, which determines the end position in cooperation with the first two axes; the fourth axis (J4), the fifth axis (J5), and the sixth axis (J6) constitute the wrist structure, which realizes the rotation, pitch, and twist of the wrist, respectively, so that the end effector can accurately aim at the target surface in any direction. The above six degrees of freedom work together to enable the precise cleaning module 121 to bypass obstacles, penetrate into narrow gaps, and maintain the best cleaning angle.

[0042] It can be understood that a composite motion system is formed between the six-axis robot arm and the device frame 10: when the mine car stops in the cleaning position, the horizontal beam 100 drives the two vertical beams 101 to translate along the track between the cars, realizing the overall horizontal displacement of the robot arm; the robot arm on the vertical beam 101 then performs local fine motion based on the local coordinate system. The two work together to expand the effective coverage area of a single robot arm and avoid cleaning dead angles. At the same time, the six-axis structure allows the end effector to adjust the spray direction without changing the main body position, reduces the beat loss caused by frequent movement, and improves the cleaning efficiency.

[0043] Further, the precise cleaning module 121 includes an adjustable flow rate spray head 1210 and / or a brush head;

[0044] As an optional embodiment, the multifunctional cleaning ability of "hydraulic flushing + mechanical scraping" combination is realized by integrating the adjustable flow rate spray head 1210 and the physical brush head in the same cleaning unit. The module is installed at the end of the six-axis cleaning robot 12 and can be accurately positioned to the target area under the dispatch of the electric control box 131 of the electric control system 13 to perform intelligent and adaptive cleaning operation; the core is to organically integrate fluid dynamics cleaning and contact mechanical action to improve the processing ability of different types and different adhesion strength of pollutants, especially suitable for complex stains such as high-hardness slag, coal tar and mixed mud accumulated after long-term operation in open-pit mine environment.

[0045] Specifically, the adjustable flow rate spray head 1210 is a fluid spray device with dynamic adjustment function of water output and spray pressure. The main structure is made of stainless steel material, which has good corrosion resistance and anti-blocking performance. The adjustable flow rate spray head 1210 is internally provided with an adjustable valve core mechanism. By receiving the control signal from the PLC control module of the electric control box 131, the micro servo motor or electromagnetic valve is driven to act, so as to change the cross-sectional area of the water flow channel and realize stepless adjustment of the spray flow rate.

[0046] Further, the spray head piece 110 includes a sliding piece 1100 and a universal spray head 1101 arranged on the sliding piece 1100.

[0047] It can be understood that the spray head piece 110 is designed to include a combination structure of a movable sliding piece 1100 and a universal spray head 1101 with multi-directional adjustment capability, which realizes efficient and dead angle-free cleaning of the complex surface of the large mining car. The structure not only allows the spray head piece 110 to move freely along the track in the spatial position, but also gives it the flexibility of the spray posture control ability, thereby forming a "position + posture" double control mechanism, which significantly improves the adaptability and coverage range of the cleaning system. Combined with the electric control system 13, intelligent path planning and angle matching for different vehicle types and different pollution areas can be realized, further improving the cleaning accuracy and water resource utilization rate.

[0048] Specifically, the universal spray head 1101 refers to a nozzle device with at least two rotational degrees of freedom, which can be adjusted in angle around multiple axes to change the spray direction.

[0049] It can be understood that, because the sliding member 1100 that can slide on the cross beam track 1000 or the vertical beam track 1010 is arranged, and the adjustable jet direction universal nozzle 1101 is mounted thereon, the technical problem of limited cleaning coverage of the fixed angle nozzle and easy to produce cleaning blind area is solved, especially in the case of insufficient washing of the transition area of the curved surface of the vehicle body and the inclined surface. Therefore, the cleaning ability of the non-planar area is enhanced, the water flow impact efficiency is improved, the number of required nozzles is reduced, and the system cost is reduced. At the same time, the double regulation mechanism formed by the track sliding and the angle adjustment greatly improves the cleaning flexibility and the overall coverage, and is suitable for full-automatic cleaning operation scenes of various models of large mining vehicles, that is, the operation needs of the intelligent cleaning device 1 for large mining vehicles.

[0050] Further, each universal nozzle 1101 is further provided with a servo motor corresponding thereto, and is signal connected with the electric control box 131.

[0051] It can be understood that the universal nozzle 1101 provides spatial jetting freedom, the servo motor serves as a power source to realize precise driving, and the electric control box 131 serves as a command center to complete command issuing and closed-loop regulation; the three work together to enable the nozzle member 110 to continuously adjust the jetting direction during the sliding process, and always maintain the best impact angle on the target surface. For example, when cleaning the sidewall of the mining vehicle tire, the servo motor drives the universal nozzle 1101 to deflect inward by a certain angle to avoid the washing dead angle caused by the tire flange shielding; when the device detects that there is a sticky slag area at the bottom of the vehicle compartment, the electric control system 13 automatically calls the high-angled washing program to control the servo motor to drive the universal nozzle 1101 to rise, and concentrate the high-pressure water flow to impact stubborn stains.

[0052] Further, the electric control system 13 further comprises a vehicle identification module 132, and the vehicle identification module 132 is signal connected with the electric control box 131; the vehicle identification module 132 identifies the model of the mining vehicle to be cleaned, adjusts the positions of the cross beam 100 and the vertical beam 101 in time according to the specific model of the mining vehicle, and provides a suitable cleaning space.

[0053] Further, the straight jet water pipe 111 and the nozzle member 110 are connected with a central water tank 14, and the nozzle array 1110 is uniformly arranged on the straight jet water pipe 111 along the length direction of the water pipe.

[0054] Specifically, the direct water injection pipe 111 refers to a rigid pipe fixedly installed on the device frame 10 and used for directly injecting high-pressure water flow to the surface of the mine car. The material thereof can be selected from 304 stainless steel or corrosion-resistant alloy material to resist the erosion and chemical corrosion of water impurities in long-term operation and prolong the service life. The direct water injection pipe 111 extends in a straight line or an arc shape and is erected in the direction of travel of the mine car or in the vertical direction to ensure that the key areas of the side walls, the top or the chassis of the mine car can be covered. As an optional implementation, the pipe diameter thereof can be designed to be in the range of Φ25 mm to Φ60 mm according to the pressure requirement of the system, and the wall thickness is not less than 3 mm to ensure the structural safety under the high-pressure working condition of 10-20 MPa. The direct water injection pipe 111 is fixed to the device frame 10 structure through a support made of galvanized Q235 steel and has a locking structure to prevent vibration loosening.

[0055] Specifically, the spray angle of the spray head 110 is 0° (direct type) or a small-angle sector (15°-30°) to form a dense water curtain and realize synchronous flushing of a large area. The spray heads in the spray head array 1110 are designed to be detachable to facilitate cleaning of blocked impurities, and in some embodiments, a self-cleaning backflushing mechanism can also be provided. The spray head array 1110 is mainly used for initial softening and flushing of the mine car body, tires and chassis to quickly strip and loosen the silt and reduce the subsequent high-pressure cleaning load.

[0056] As can be understood, the central water tank 14 serves as a unified water source, and after being pressurized by the pressurizing system, high-pressure water is simultaneously delivered to the direct water injection pipe 111 and the spray head 110. The spray head array 1110 on the direct water injection pipe 111 is synchronously sprayed to form a continuous linear or planar water curtain for rapid and uniform full-coverage flushing of the side and top of the mine car; at the same time, the spray head 110 slides on the track and, in combination with the angle adjustment of the universal spray head 1101, completes the local reinforced flushing. Since all the spray heads are supplied with liquid by the same central water tank 14, the internal pressure of the system is balanced, and the phenomenon of uneven water output caused by the excessive length of branch pipelines or the difference in resistance is avoided.

[0057] Further, the direct water injection pipe 111 is provided with an electric heating pipe 1111, the central water tank 14 is wrapped with a thermal insulation layer, the electric heating pipe 1111 is electrically connected through a temperature control circuit, and the temperature control circuit is signal-connected with the electric control box 131.

[0058] Optionally, the electric heating tube 1111 is spirally wound or linearly laid along the outer wall of the straight jet water pipe 111, and optionally uses nickel-chromium alloy resistance wire as the heating element, is externally coated with high-temperature-resistant insulating material (such as polytetrafluoroethylene PTFE) and a stainless steel sheath, and forms an armored electric heating belt structure to ensure good electrical safety and corrosion resistance in a humid and high-pressure washing environment; at the same time, the power density of the electric heating tube 1111 can be set according to different climate regions, and the electric heating tube 1111 covers at least the entire straight jet water pipe 111 section from the outlet of the central water tank 14 to the end of the nozzle array 1110, and focuses on covering the horizontal and vertical pipe sections located outside the device frame 10 and exposed to cold air.

[0059] It can be understood that the temperature control circuit is in signal connection with the electric control box 131; the PLC control module integrated in the electric control box 131 receives temperature state information from the temperature control circuit, and comprehensively judges whether to enable the heating mode in combination with environmental meteorological data and cleaning task scheduling information. During the non-working period, the PLC can intermittently start the electric heating tube 1111 through a time delay strategy to maintain a “frost prevention standby” state, thereby significantly reducing energy consumption. At the same time, the PLC can also monitor the working current and voltage of the electric heating tube 1111, and immediately issue an alarm and cut off the output once a short circuit, open circuit or leakage abnormality is found, thereby ensuring system safety.

[0060] Further, in the present embodiment, in order to solve the risk of pipe rupture caused by frozen water in the waterway system in a low-temperature environment, an electromagnetic drain valve is arranged at a key low point position of the straight jet water pipe 111 and the central water tank 14 to realize automatic and rapid emptying after the cleaning operation is completed or before the environmental temperature drops.

[0061] It should be noted that in this document, the terms “comprising”, “including”, or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such a process, method, article or device. Without more limitations, the element defined by the statement “including a…” does not exclude the presence of another identical element in the process, method, article or device including the element.

[0062] In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but can also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0063] The above merely describes a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An intelligent washing device for large-sized mine cars, installed in a mine car washing plant, characterized in that, The utility model relates to a kind of vehicle cleaning device, including: Device frame, as a whole gantry frame structure, including beam and movable setting in the beam opposite two sides vertical beam, the beam opposite two ends are set on the track in mine car cleaning workshop, the beam can be slid on track parallel, and the beam and the vertical beam are respectively provided with beam track and vertical beam track along the beam body direction thereof; Cleaning assembly, including respectively setting in the beam track and the vertical beam track nozzle piece and setting on the beam and the vertical beam straight jet pipe, the nozzle piece can be slid on corresponding beam track or vertical beam track; Cleaning mechanical arm, two cleaning mechanical arms are respectively set on the vertical beam of opposite two sides, including transmission arm and precision cleaning module setting in the end of transmission arm; Electric control system, including sensor assembly and electric control box setting on the device frame, PLC control module is integrated in the electric control box, the sensor assembly is electrically connected or signal connected with the electric control box.

2. The intelligent cleaning device for large mine cars according to claim 1, characterized in that, The cleaning mechanical arm is six-axis mechanical arm.

3. The intelligent cleaning device for large mining vehicles according to claim 2, characterized in that, The precision cleaning module includes adjustable flow nozzle and / or brush head.

4. The intelligent cleaning device for large mining vehicles according to claim 1, characterized in that, The nozzle piece includes sliding member and universal nozzle setting on the sliding member.

5. The intelligent cleaning device for large mining vehicles according to claim 4, characterized in that, Each universal nozzle is further provided with servo motor, and is signal connected with the electric control box.

6. The intelligent cleaning device for large mining vehicles according to claim 1, characterized in that, The electric control system further includes vehicle identification module, and the vehicle identification module is signal connected with the electric control box.

7. The intelligent cleaning device for large mining vehicles according to claim 6, characterized in that, The sensor assembly includes distance sensor setting on the beam and the vertical beam.

8. The intelligent cleaning device for large mining vehicles according to claim 1, characterized in that, The straight jet pipe and the nozzle piece are connected with a central water tank, and the straight jet pipe is uniformly arranged with nozzle array along the water pipe length direction thereof.

9. The intelligent cleaning device for large mining vehicles according to claim 8, characterized in that, The surface of the straight jet pipe is provided with electric heating pipe, the surface of the central water tank is wrapped with heat preservation layer, the electric heating pipe is electrically connected through a temperature control circuit, and the temperature control circuit is signal connected with the electric control box.

10. The intelligent cleaning device for large mining vehicles according to claim 8, characterized in that, The horizontal lowest point of the straight jet pipe and the central water tank is provided with electromagnetic drain valve.

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