Automatic sewage discharging equipment for train

Abstract

The utility model provides automatic sewage discharging equipment for a train, which relates to the technical field of sewage discharging of trains and comprises a sewage suction device, a sewage discharging device, a sewage discharging device and a sewage discharging device. The automatic butt-joint device comprises a driving assembly, an identification assembly and a butt-joint assembly which are connected with the control system, the identification assembly is used for identifying the sewage discharge port of the train, the butt-joint assembly comprises a cover opener and a butt-joint device, and the driving assembly is used for moving the identification assembly and the butt-joint assembly to a preset area of the sewage discharge port of the train; the control system is used for controlling the automatic butt joint device to achieve butt joint or separation between the sewage suction pipe and the sewage discharging opening of the train and controlling starting and stopping of the sewage suction device, automatic operation of sewage discharging of the train is achieved through the automatic sewage discharging equipment, contact between workers and pollutants is reduced, the biological pollution risk is reduced, and the working efficiency is improved. The tedious process of manual operation is avoided, the sewage discharging time is greatly shortened, and the turnover efficiency of the train is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to train decontamination technology field, specifically, relate to a train automatic decontamination equipment. BACKGROUND

[0002] In the current rail transit field, train decontamination and water supply operation mainly rely on manual operation. The operating personnel need to carry heavy pipeline devices to perform pipeline connection, valve opening and closing, flow monitoring and pipeline recovery between train marshalling, and need to complete the operation within the limited time of train station stop, which requires high operation precision and operation efficiency.

[0003] However, the existing mode has many deficiencies. Because the operating personnel are exposed to an extreme climate tolerance requirement of an environmental temperature range of -15 DEG C to 45 DEG C, and are likely to contact untreated excrement containing H2S during operation, there are operation safety hazards and biological pollution risks, and the operation efficiency is difficult to meet the requirements of efficient operation and maintenance of rail transit. UTILITY MODEL CONTENT

[0004] The utility model aims at the problems in the prior art, and provides a train automatic decontamination equipment which can automatically and quickly decontaminate.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] The utility model provides a train automatic decontamination equipment, which comprises an automatic docking device, a decontamination device and a control system, the decontamination device comprises a decontamination pipe and a decontamination reservoir which are connected with each other;

[0007] The automatic docking device comprises a driving assembly, the driving assembly is respectively provided with an identification assembly and a docking assembly, and the driving assembly, the identification assembly and the docking assembly are connected with the control system;

[0008] The identification assembly is used for identifying the decontamination opening of the train;

[0009] The docking assembly comprises a cover opener and a docking device, the cover opener is used for opening or closing the decontamination cover on the decontamination opening, and the docking device is used for fixing the pipe opening of the decontamination pipe and making the pipe opening and the opened decontamination opening dock or separate;

[0010] The driving assembly is used for moving the identification assembly and the docking assembly to the preset area of the decontamination opening of the train;

[0011] The control system is used for controlling the automatic docking device to realize the docking or separation action between the decontamination pipe and the decontamination opening of the train and controlling the start and stop of the decontamination device.

[0012] Optionally, a mounting table is arranged at the driving end of the driving assembly, and the identification assembly and the docking assembly are arranged on the mounting table, and the control system is configured to control the driving assembly to drive the mounting table to move.

[0013] Optionally, the identification assembly comprises a camera, and a camera head of the camera is arranged towards the sewage outlet.

[0014] Optionally, the pipe opening is provided with a first sensor and a second sensor, the first sensor is configured to detect that the pipe opening and the sewage outlet are docked, and the second sensor is configured to detect that the sewage outlet is finished discharging sewage.

[0015] Optionally, the control system comprises an operation table and / or a display screen, the operation table is configured to control the automatic docking device and the sewage suction device, and the display screen is configured to display the working state of the automatic docking device and the sewage suction device.

[0016] Optionally, the train automatic sewage discharging equipment is arranged at least at a carriage of a train head and / or a train tail.

[0017] Optionally, the driving assembly comprises a vertically arranged supporting device and a guiding device arranged on the supporting device, the mounting table is arranged at an output end of the guiding device, and the guiding device comprises an X-axis guiding member and a Y-axis guiding member, so as to drive the mounting table to move along the X-axis or the Y-axis.

[0018] The docking device comprises a Z-axis guiding member arranged on the mounting table, an output end of the Z-axis guiding member is provided with a clamping jaw, the clamping jaw is configured to clamp the sewage suction pipe, and the Z-axis guiding member is configured to drive the clamping jaw to move along the Z-axis, so as to dock the pipe opening and the sewage outlet.

[0019] Optionally, the bottom of the automatic docking device is provided with an AGV trolley, and the AGV trolley moves along a guide rail.

[0020] The driving assembly is arranged as a mechanical arm mounted on the AGV trolley, and the mounting table is arranged at the tail end of the mechanical arm.

[0021] The beneficial effects of the utility model include:

[0022] 1) improve the operation efficiency: the automatic sewage discharging equipment realizes the automatic operation of the train sewage discharging, avoids the tedious process of manual operation, greatly shortens the sewage discharging time, improves the train turnover efficiency, and meets the demand of track traffic efficient operation and maintenance.

[0023] 2) Improve the working environment: no need for workers to operate the docking and sewage pipe and sewage outlet, reducing the workers' contact with pollutants, reducing the risk of biological contamination, while avoiding the problem of contamination splashing caused by pipe separation, providing a safer and healthier working environment for workers.

[0024] 3) Improve operation accuracy: the recognition component accurately identifies the position of the sewage outlet, and the driving component accurately controls the docking process, ensuring accurate docking of the sewage suction pipe and the sewage outlet, improving the success rate and stability of sewage discharge, and reducing the failure caused by improper operation.

[0025] 4) Strong adaptability: can be flexibly adjusted according to different vehicle types and sewage outlet positions. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0027] Figure 1 Structure diagram of a train automatic sewage discharge device provided for Embodiment 1 of the present application;

[0028] Figure 2 Structure diagram of a train automatic sewage discharge device provided for Embodiment 1 of the present application;

[0029] Figure 3 Structure diagram of a sewage storage device provided for Embodiment 1 of the present application;

[0030] Figure 4 Structure diagram of a sewage suction pipe provided for Embodiment 1 of the present application.

[0031] Figure legend: 1, train; 2, AGV trolley; 3, mechanical arm; 4, sewage storage device; 5, guide rail; 6, sewage suction pipe; 7, pipe opening; 8, mounting table. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. It should be noted that, without conflict, the various features in the embodiments of this application can be combined with each other, and the combined embodiments are still within the protection scope of this application.

[0033] Application Example 1:

[0034] Embodiment 1 of this application provides an automatic train wastewater unloading device, including an automatic docking device, a wastewater suction device, and a control system. The wastewater suction device includes a wastewater suction pipe 6 and a wastewater storage tank 4 connected to each other. The automatic docking device includes a drive assembly, on which an identification component and a docking component are respectively provided. The drive assembly, identification component, and docking component are respectively connected to the control system. The identification component is used to identify the wastewater unloading port of the train 1. The docking component includes a cover opener and a docking device. The cover opener is used to open or close the wastewater unloading cover on the wastewater unloading port. The docking device is used to fix the pipe opening 7 of the wastewater suction pipe 6 and to dock or separate the pipe opening 7 from the open wastewater unloading port. The drive assembly is used to move the identification component and the docking component to a preset area of ​​the wastewater unloading port of the train 1. The control system is used to control the automatic docking device to realize the docking or separation action between the wastewater suction pipe 6 and the wastewater unloading port of the train 1 and to control the start and stop of the wastewater suction device. The drive end of the drive assembly is provided with a mounting platform 8. The identification component and the docking component are both mounted on the mounting platform 8. The control system is used to control the drive assembly to drive the mounting platform 8 to move. The identification component includes a camera, with the camera lens facing the wastewater unloading port. The pipe opening 7 is equipped with a first sensor and a second sensor. The first sensor detects that the connection between the pipe opening 7 and the sewage discharge port is complete, and the second sensor detects that the sewage discharge port has completed. The control system includes an operating console and / or a display screen. The operating console controls the automatic docking device and the sewage suction device, and the display screen shows the operating status of the automatic docking device and the sewage suction device. This allows for the input of various sewage discharge port data to the control system via the operating console, or for manual operation in case of a malfunction in the train's automatic sewage discharge equipment.

[0035] The bottom of the automatic docking device of the embodiment 1 of the application is provided with an AGV 2, the AGV 2 moves along a guide rail 5, a driving assembly is arranged as a mechanical arm 3 installed on the AGV 2, and a mounting table 8 is arranged at the end of the mechanical arm 3. A train 1 is provided with at least two sets of automatic train decontamination equipment, which are arranged at the head and tail of the train respectively. In the embodiment 1 of the application, four AGVs 2 are arranged on each guide rail 5, which are distributed at the head position, the tail position and the middle of the carriage, and the suction pipes 6 are uniformly arranged beside each train track to cover the decontamination openings of trains of various types and different lengths.

[0036] The use process is as follows: initially, the AGV 2 is located at the initial charging position; after the camera of the AGV 2 at the head of the train 1 detects that the train is in place, the control system identifies the train type and calls the relevant information, sets the suction time by manual operation, starts the four sets of AGVs 2, and the four sets of AGVs 2 start to work; the AGV 2 is coarsely positioned according to the database information, the closest suction pipe is clamped by the docking device arranged on the mounting table 8, and is moved to the vicinity of the decontamination opening. When the AGV 2 reaches the specified position, the mechanical arm 3 installed on the AGV 2 starts to work, the docking device (grasping and clamping shape) accurately positions and clamps the suction pipe. The mechanical arm 3 follows the feedback of the camera shooting, finely adjusts the position and angle of the docking device, and accurately aligns the suction pipe 6 with the train decontamination opening. The suction pipe 6 and the decontamination opening are tightly connected by means of an electromagnetic valve and a quick electrical docking device, so as to ensure the stability of the docking and prepare for the suction operation.

[0037] The camera scans the decontamination opening, adjusts the position of the mechanical arm, so that the cover opener is aligned with the decontamination opening cover, the cover opener arranged on the mounting table 8 opens the decontamination opening cover, the cover opener can be arranged as a rotating clamping connected to the mounting table 8, after the clamping and the decontamination opening cover are docked, the clamping is driven to rotate by a motor, so as to open the decontamination opening cover, after the decontamination is completed, the decontamination opening cover can be screwed on the decontamination opening by rotating the clamping; the camera takes a photo again, the control system calculates the deviation value of the decontamination pipe and the decontamination opening by means of algorithm software; the AGV 2 adjusts the position of the pipe opening 7 of the decontamination pipe 6 according to the deviation value, aligns the decontamination pipe 6 with the decontamination opening, and pushes the decontamination pipe 6 to complete the docking, an electromagnetic valve + quick electrical docking is adopted, and a first sensor limit switch senses the completion of the docking; the decontamination electromagnetic valve is opened, the decontamination is started, the second sensor judges the completion of the decontamination, and the decontamination electromagnetic valve is closed after the completion; the AGV 3 carrying the mechanical arm 3 returns to the initial position, and the operation condition is displayed on the display screen.

[0038] The embodiment 1 of the application combines the current technology and economic situation, and is more suitable. The quick-changing tool can adapt to various train types, has high flexibility and universality, and can effectively meet the decontamination needs of different train tracks and train types.

[0039] Embodiment 2 of the application

[0040] Different from the application example 1, the driving assembly in the application example 2 comprises a support device arranged vertically and a guiding device arranged on the support device, the mounting table 8 is arranged at the output end of the guiding device, the guiding device comprises an X-axis guiding member and a Y-axis guiding member, so as to drive the mounting table 8 to move along the X-axis or the Y-axis; the docking device comprises a Z-axis guiding member arranged on the mounting table 8, the output end of the Z-axis guiding member is provided with a clamping jaw, the clamping jaw is used for clamping the sewage suction pipe 6, and the Z-axis guiding member is used for driving the clamping jaw to move along the Z-axis, so that the pipe opening 7 and the sewage discharge opening are docked.

[0041] The use process is as follows: in the initial state, the mounting table 8 is in the initial position. After the camera detects that the train 1 is in place, the control system identifies the train 1 model, calls the sewage discharge opening position, door opening mode, valve opening mode and other information of the corresponding train model from the database. The operator confirms safety and sets the sewage suction time, clicks the start button of the operation table, and each module starts to work. The mounting table 8 is coarsely positioned according to the database information, the camera scans the sewage discharge opening and the water filling opening of the train 1, and the cover opener is used to open the sewage discharge opening cover; the camera takes a photo again, calculates the deviation value of the sewage suction pipe 6 and the sewage discharge opening through the algorithm software, the XY servo motor of the guiding device adjusts the position of the mounting table 8 according to the deviation value, so as to adjust the position of the sewage suction pipe 6 and make it align with the sewage discharge opening; the Z-axis motor of the Z-axis guiding member pushes the sewage suction pipe 6 to dock with the sewage discharge opening, and when the first sensor limit switch senses that the docking is completed, the equipment enters the sewage discharge stage; the sewage discharge electromagnetic valve switch is opened, and the sewage is discharged through the sewage suction pipe 6. The second sensor flow sensor or pressure sensor is used to collect signals to judge whether the sewage discharge is completed; after the sewage discharge is completed, the sewage discharge electromagnetic valve is closed, the Z-axis motor is retracted, and the mounting table 8 returns to the initial position.

[0042] The application example 2 has relatively low cost and accurate positioning, and can efficiently complete the sewage discharge task under the condition of a given train model and a relatively standard sewage discharge opening.

[0043] Application example 3:

[0044] The application example 3 adopts a humanoid robot or a robot dog, has a multi-degree-of-freedom mechanical arm 3, a visual recognition system, an intelligent control unit and the like, can simulate manual operation to perform the sewage discharge task, including a series of actions such as cover opening, docking, sewage suction and valve closing, and has the functions of autonomous navigation and obstacle avoidance.

[0045] Use process: after receiving the task of unloading sewage, the humanoid robot or the robot dog moves to the vicinity of the unloading port according to the train 1 position information; the visual recognition system is used to accurately position the unloading port, identify the specific parameters of the unloading port and the train type; the mechanical arm 3 simulates the action of the human hand, opens the unloading port cover and valve, and quickly and sealingly connects the unloading pipe 6 with the unloading port; the sewage suction function is started, the sewage is sucked into the sewage storage device 4, and the second sensor monitors the sewage suction progress and state in real time; after the unloading is completed, the mechanical arm 3 closes the valve and cover, recovers the unloading pipe 6, and the robot returns to the standby position automatically.

[0046] Embodiment 3 of the present application can adapt to complex and variable field environment and various special train types, can independently deal with unexpected situations, greatly reduces manual intervention, improves the safety and intelligent level of operation, and with the iteration of technology, will be more suitable for field application.

[0047] The above is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A train automatic decontamination equipment, comprising an automatic docking device, a suction device and a control system, characterized in that: the suction device comprises a suction pipe (6) and a storage device (4) connected with each other; the automatic docking device comprises a driving assembly, an identification assembly and a docking assembly arranged on the driving assembly respectively, and the driving assembly, the identification assembly and the docking assembly are connected with the control system respectively; the identification assembly is used for identifying a decontamination port of a train (1); the docking assembly comprises a cover opener and a docking device, the cover opener is used for opening or closing a decontamination cover on the decontamination port, and the docking device is used for fixing a pipe opening (7) of the suction pipe (6) and docking or separating the pipe opening (7) and the opened decontamination port; the driving assembly is used for moving the identification assembly and the docking assembly to a preset area of the decontamination port of the train (1); and the control system is used for controlling the automatic docking device to realize the docking or separating action between the suction pipe (6) and the decontamination port of the train (1) and controlling the start and stop of the suction device. The driving end of the driving assembly is provided with a mounting table (8), the identification assembly and the docking assembly are arranged on the mounting table (8), and the control system is used for controlling the driving assembly to drive the mounting table (8) to move. The identification assembly comprises a camera, and a camera head of the camera is arranged towards the decontamination port. The pipe opening (7) is provided with a first sensor and a second sensor, the first sensor is used for detecting that the pipe opening (7) and the decontamination port are docked completely, and the second sensor is used for detecting that the decontamination of the decontamination port is completed. The control system comprises an operation table and / or a display screen, the operation table is used for controlling the automatic docking device and the suction device, and the display screen is used for displaying the working state of the automatic docking device and the suction device. The train (1) is provided with the train automatic decontamination equipment at least at a carriage of a train head and / or a train tail. The driving assembly comprises vertically arranged supporting devices and guiding devices arranged on the supporting devices, the mounting table (8) is arranged at an output end of the guiding devices, the guiding devices comprise X-axis guiding members and Y-axis guiding members to drive the mounting table (8) to move along the X-axis or the Y-axis; 2. The train automatic decontamination apparatus according to claim 1, characterized by, The docking device comprises Z-axis guiding members arranged on the mounting table, an output end of the Z-axis guiding members is provided with a clamping jaw, the clamping jaw is used for clamping the suction pipe (6), and the Z-axis guiding members are used for driving the clamping jaw to move along the Z-axis to dock the pipe opening (7) and the decontamination port.

3. The train automatic decontamination apparatus according to claim 1, characterized by, A bottom of the automatic docking device is provided with an AGV trolley (2), and the AGV trolley (2) moves along a guide rail (5); 4. The train automatic decontamination apparatus according to claim 1, characterized by The driving assembly is arranged as a mechanical arm (3) mounted on the AGV trolley (2), and the mounting table (8) is arranged at a tail end of the mechanical arm (3).

5. The train automatic decontamination apparatus according to claim 1, characterized by ​ 6. The train automatic decontamination apparatus according to claim 1, characterized by ​ 7. The train automatic decontamination apparatus according to claim 2, characterized by ​ ​ 8. The train automatic decontamination apparatus according to claim 2, characterized by ​ ​

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