A cleaning robot for a locomotive electrical system

Abstract

This invention provides a cleaning robot for locomotive electrical systems, comprising an AGV navigation vehicle, a robotic arm, a dry ice machine, and a vacuuming device. The robotic arm is mounted on the upper part of the AGV navigation vehicle, and a connecting rod is mounted on the robotic arm. A platform is mounted on the connecting rod, and the platform is equipped with the dry ice machine's spray gun, the vacuuming device, a lighting fixture, and a camera. This robot adopts a miniaturized design, allowing it to enter the locomotive interior through the driver's door and operate and complete cleaning within the limited space of the machinery compartment. It transforms the ground-based cleaning mode of the locomotive electrical system into an on-vehicle cleaning mode, thereby saving the manpower and resources consumed when cleaning the electrical system off-vehicle. Furthermore, with on-vehicle cleaning, cleaning time is no longer limited by maintenance schedules and can be performed at any time as needed, improving the reliability of the electrical system to a certain extent.

Description

Technical Field

[0001] This utility model relates to the field of locomotive cleaning technology, and more particularly to a cleaning robot for locomotive electrical systems. Background Technology

[0002] During operation, electric locomotives accumulate significant amounts of dust, dirt, and other contaminants. These contaminants not only affect the locomotive's appearance but, more importantly, can damage its electrical systems and mechanical components, thus impacting its performance and safety. The locomotive's electrical system contains sophisticated electronic equipment. Over long periods of continuous operation, various pollutants such as dust, metal salts, and oil floating in the atmosphere accumulate on the surface of these electronic devices through physical adsorption and the gravitational settling of particles. This generally leads to severe contamination of communication equipment under prolonged continuous operation. Furthermore, it reduces the heat dissipation capacity of these sophisticated electronic devices, affecting their operational quality and reliability. Dust, oil, moisture, salt, oxidation, and corrosive gases cause "comprehensive pollution" to the circuitry inside the equipment, leading to additional "microcircuit" effects and "corrosion slowing" effects. The electromagnetic field distribution during normal operation of communication equipment and the long-term friction accumulation of the air supply system cause "accumulated static electricity," which together form the two major sources of "soft failures" in communication equipment. These factors cause varying degrees of poor contact, reduced impedance, leakage, short circuits, failure rates, and bit errors in precision electronic equipment, resulting in increased soft failure rates such as line energy loss, weakened transmission signals, and unstable transmission rates and quality. Severely polluted equipment also has reduced heat dissipation capacity.

[0003] Currently, locomotive electrical systems are cleaned using a ground-based cleaning method. After a locomotive enters a specific maintenance or repair phase, the various electrical cabinets are removed from the vehicle and cleaned manually in a ground-based cleaning room. Common cleaning methods include water-based cleaning, organic solvent cleaning, and ultrasonic cleaning.

[0004] The existing methods for cleaning locomotive electrical systems have certain shortcomings: (1) The electrical system needs to be disassembled from the locomotive, which consumes a lot of manpower and resources. However, the existing cleaning equipment and technical means cannot achieve cleaning on the locomotive. The electrical cabinet can only be removed from the locomotive for cleaning when the locomotive is in maintenance. This not only wastes a lot of resources, but also the locomotive electrical system cannot be cleaned in time. The long-term accumulation of pollutants will affect the performance of the electrical system and create hidden dangers for the stable operation of the locomotive. (2) The existing cleaning scheme adopts manual cleaning, which has obvious disadvantages such as high labor cost, poor safety, low efficiency, and the cleaning effect is affected by human subjectivity, which will cause harm to the health of cleaning personnel. (3) The existing technical solutions have some shortcomings. For example, the commonly used water-based cleaning has limited effect on oily residues or special pollutants. The amount of saponifying agent (such as strong alkali) needs to be controlled, otherwise it may corrode metal components such as aluminum and zinc. The water volume is large, which has the disadvantage of wasting water resources. The organic solvent cleaning scheme has the disadvantages of flammable and explosive solvents, which pose safety risks and high long-term use costs. The ultrasonic cleaning scheme has the potential to damage unsealed electronic components. Utility Model Content

[0005] To address the aforementioned technical problems of low cleaning efficiency and poor cleaning effect in existing locomotive electrical system cleaning methods, this invention provides a cleaning robot for locomotive electrical systems. This invention primarily utilizes a miniaturized robot design to achieve effective cleaning of the locomotive.

[0006] The technical means adopted in this utility model are as follows: A cleaning robot for locomotive electrical systems includes an AGV navigation vehicle, a robotic arm, a dry ice machine, and a vacuuming device; The AGV navigation vehicle is equipped with a robotic arm on its upper part, a connecting rod on the robotic arm, a platform on the connecting rod, and a dry ice machine spray gun, a dust collection device, a lighting lamp and a camera on the platform; The robotic arm includes a base disposed on the upper surface of the AGV navigation vehicle. The upper part of the base is rotatably connected to the lower part of a first joint. The side of the first joint is rotatably connected to the side of a second joint. The upper part of the second joint is rotatably connected to the lower part of a first connecting column. The upper part of the first connecting column is rotatably connected to the lower part of a third joint. The side of the third joint is rotatably connected to the side of an elbow. The upper part of the elbow is rotatably connected to the lower part of a second connecting column. The upper part of the second connecting column is rotatably connected to the lower part of a fourth joint. The side of the fourth joint is rotatably connected to the side of a fifth joint. The upper part of the fifth joint is rotatably connected to the lower part of a sixth joint. The sixth joint is connected to a connecting rod.

[0007] Furthermore, the dry ice machine includes a spray gun, a material pipe, and a housing connected in sequence, with dry ice particles disposed inside the housing.

[0008] Furthermore, a dry ice funnel is provided inside the box, dry ice particles are provided inside the dry ice funnel, and a vibrator is provided on the outside of the dry ice funnel.

[0009] Furthermore, the dry ice machine is connected to a grounding cable.

[0010] Furthermore, the AGV navigation vehicle is equipped with a camera at both the front and rear.

[0011] Furthermore, it also includes a robot lifting fixture, which includes a lifting platform, an AGV navigation vehicle mounted on the lifting platform, a guardrail around the lifting platform, and a control device at the bottom of the lifting platform. The control device is connected to a motor and is a hydraulic jack.

[0012] Furthermore, the AGV navigation vehicle is equipped with a control module, a battery module, and a lighting system. The battery module is electrically connected to the AGV navigation vehicle and the robotic arm, and the control module is wiredly connected to the AGV navigation vehicle and the robotic arm.

[0013] Compared with the prior art, the present invention has the following advantages: This utility model robot adopts a miniaturized design, allowing it to enter the locomotive through the driver's door and operate and complete cleaning within the limited space of the machinery compartment. It transforms the ground-based cleaning mode of the locomotive's electrical systems into an on-board cleaning mode, thus saving the manpower and resources required to remove the electrical systems from the locomotive. Furthermore, with on-board cleaning, cleaning time is no longer limited by maintenance schedules; cleaning can be performed as needed, improving the reliability of the electrical systems to a certain extent.

[0014] This invention utilizes dry ice technology to overcome the shortcomings and potential risks of existing cleaning technologies.

[0015] The cleaning process of this invention is completed automatically by a robot, which solves the problems of manual cleaning. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model.

[0018] Figure 2 This is an enlarged view of the storage platform of this utility model.

[0019] Figure 3 This is the front view of the present utility model.

[0020] Figure 4 This is a top view of the present invention.

[0021] In the diagram: 1. AGV navigation vehicle; 2. Robotic arm; 3. Vacuum cleaning device; 4. Spray gun; 5. Connecting rod; 6. Storage platform; 7. Lighting lamp; 8. Camera; 9. Base; 10. First joint; 11. Second joint; 12. First connecting column; 13. Third joint; 14. Elbow; 15. Second connecting column; 16. Fourth joint; 17. Fifth joint; 18. Sixth joint. Detailed Implementation

[0022] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this utility model or its application or use. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0026] In the description of this utility model, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0027] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0028] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0029] like Figure 1 As shown, this utility model provides a cleaning robot for locomotive electrical systems, including an AGV navigation vehicle 1, a robotic arm 2, a dry ice machine, and a dust collection device 3; The AGV navigation vehicle 1 is equipped with a robotic arm 2 on its upper part. The robotic arm 2 is equipped with a connecting rod 5. The connecting rod 5 is equipped with a platform 6. The platform 6 is equipped with a dry ice machine spray gun 4, a dust collection device 3, a lighting lamp 7 and a camera 8. The robotic arm 2 includes a base 9, which is disposed on the upper surface of the AGV navigation vehicle 1. The upper part of the base 9 is rotatably connected to the lower part of the first joint 10. The side of the first joint 10 is rotatably connected to the side of the second joint 11. The upper part of the second joint 11 is rotatably connected to the lower part of the first connecting column 12. The upper part of the first connecting column 12 is rotatably connected to the lower part of the third joint 13. The side of the third joint 13 is rotatably connected to the side of the elbow 14. The upper part of the elbow 14 is rotatably connected to the lower part of the second connecting column 15. The upper part of the second connecting column 15 is rotatably connected to the lower part of the fourth joint 16. The side of the fourth joint 16 is rotatably connected to the side of the fifth joint 17. The upper part of the fifth joint 17 is rotatably connected to the lower part of the sixth joint 18. The sixth joint 18 is connected to the connecting rod 5.

[0030] The AGV (Automated Guided Vehicle) serves as the robot's load-bearing and mobility device. It carries the robot's control module, battery module, robotic arm, and lighting system, while towing the vacuuming and dry ice collection devices behind it. Its wheeled design ensures load-bearing capacity while improving its ability to traverse small obstacles and enhancing stability. The AGV's operation and stopping are controlled by pre-set RFID card identification stations and pre-written AGV control programs.

[0031] To accomplish complex cleaning tasks in three-dimensional space within various cabinets of an electrical system, this invention employs a 6-DOF robotic arm, a mechanical device capable of free movement in six directions (three translational and three rotational). Compared to traditional robotic arms, the 6-DOF design provides greater flexibility and operational precision, enabling the completion of more complex three-dimensional spatial tasks. The robotic arm utilizes electric drive as its primary power source, improving energy efficiency while reducing noise and emissions.

[0032] The robotic arm is powered by DC 48V, while its controller is powered by 24V. The robotic arm has six sets of movable joints, five of which can rotate ±360°, and the third joint can rotate ±160°. The maximum rotational speed of the first and second joints is 180° / s. The maximum rotational speed of the third to sixth joints is 225° / s. The robotic arm has a rated load of 10KG and a working radius of 1500mm.

[0033] The robotic arm is equipped with a dry ice spray gun and a dust collection device. During cleaning operations, the robotic arm moves the dry ice spray gun and the dust collection device inside the cabinet to complete the cleaning and dust removal functions.

[0034] A dry ice machine, used as a cleaning device, consists of three parts: a spray gun, a material pipe (with integrated power cord), and a housing. Dry ice particles are mechanically fed into the compressed air pipe, where they mix and accelerate with the air before being sprayed out from the spray gun. It is equipped with an air pressure regulation system, allowing for different pressures to be used for cleaning different types of dirt.

[0035] The dry ice machine's dry ice funnel is equipped with a vibrator to prevent dry ice from clumping and to effectively ensure the smooth flow of dry ice particles.

[0036] The dry ice machine is equipped with a grounded cable to avoid the safety hazards caused by the large amount of static electricity generated during the cleaning process when a large amount of dry compressed air is used.

[0037] The dry ice machine is made of stainless steel parts, which are easy to disassemble and assemble, and can remove foreign objects that have fallen in in time. The equipment is equipped with a manual ice removal and cleaning port.

[0038] Dry ice machines are easy to move and can be braked, covering a large cleaning area.

[0039] The cylindrical feed wheel makes maintenance more convenient and faster.

[0040] The equipment has an ice-crushing function, producing ice particles with a size of 0.5-1.5mm.

[0041] The dust collection device uses a high-suction industrial vacuum cleaner to ensure that the dust stirred up by the dry ice explosion is collected efficiently, avoiding secondary pollution.

[0042] The intelligent cleaning robot AGV is equipped with one camera at the front and one at the rear, and another camera at the end of the robotic arm. The entire system consists of cameras, a hard disk recorder, a switch, wireless transmission, vision recognition, and the ForceCon control software. After vision recognition, it is supplemented by the control of the AGV, robotic arm, dry ice cleaning device, dust collection system, lighting system, etc., to complete the cleaning work of the intelligent robot on the locomotive converter cabinet, micro cabinet, and locomotive electrical system.

[0043] Visual recognition software can acquire data via serial ports, Ethernet, wireless networks, mobile networks, etc., and can convert various industrial protocols into a unified OPC interface for external interconnection. It provides extended programming interfaces for easy and rapid access to industrial equipment data. The software can be deployed online in industrial network interconnection devices, industrial communication gateways, video equipment, industrial controllers, servers, workstations, embedded computers, smart devices, and other systems, integrating with information systems through object-based information models and real-time services.

[0044] Lights are installed in the forward direction of the AGV navigation vehicle, the working direction of the robotic arm, and on the top to illuminate the working space.

[0045] The robotic lifting fixture of this invention consists of a control device, a motor, a base, a lifting platform, guardrails, and a base plate. The motor provides power to the lifting device, and the control device controls the fixture's start / stop and lifting / lowering actions. The lifting platform supports the equipment on it for lifting operations. The guardrails prevent equipment from falling off during lifting. The base plate helps the robot move from the ground to the lifting platform and from the lifting platform into the locomotive driver's cab.

[0046] The specific testing procedure for the intelligent cleaning robot for the locomotive's electrical system is as follows: (1) The robot starts; The operator clicks the robot start button and completes user verification and login through the visual software on the operating terminal (subsequent steps cannot be performed without authorization). After the identity verification is successful, the operator selects the manual operation mode and can control the robot's actions through the visual software on the terminal. (2) The robot enters the locomotive; Place the pad of the robot transport lifting fixture, adjust the robot position through the operating terminal, and control the robot to move to the lifting platform of the robot transport lifting fixture; After the guardrail is installed, move the lifting device to the driver's door at end A of the locomotive; The lifting platform is raised to a suitable height using a control device, and a pad is placed between the drivers and the lifting platform. The robot is controlled to pass through the locomotive driver's cab, enter the machine room, and wait for cleaning operations.

[0047] (3) Laying magnetic stripe cards; The operator enters the machine room from the driver's door at end B of the locomotive, places a rubber track with navigation magnetic strips, and installs RFID cards near the electrical system cabinets to be cleaned.

[0048] (4) Install a dry ice machine and a dust collection device; Install a vacuum cleaner and a dry ice machine, and add an appropriate amount of dry ice to the dry ice machine.

[0049] (5) Once preparations are complete, proceed with the cleaning operation; The operator switches the robot to automatic cleaning mode on the control terminal; The robot controls the dry ice machine and vacuum cleaner to start, and the lighting system and visual recognition system to enter working status. Under the control of a pre-programmed sequence, the robot moves along magnetic strips laid on a rubber track. Upon identifying a station marked by an RFID card, the robot pauses, and the robotic arm transitions from standby to working mode. Following the pre-set program, it drives the dry ice spray gun and vacuum cleaner to perform cleaning operations. After cleaning the station is completed, the robotic arm returns to standby mode.

[0050] After completing the cleaning task at one station, the robot continues to move along the rubber track laid with magnetic strips. When it encounters the next RFID card, it repeats the above operation until all stations have been cleaned.

[0051] During operation, operators can observe the operation inside the vehicle through a control terminal on the ground. If an emergency is detected, the operator can stop the robot's operation by pressing the "emergency button" on the control terminal and then switch to manual mode to take over control of the robot.

[0052] (6) Cleaning work completed; After completing the cleaning work at all stations, the robot automatically shuts off the dry ice machine, vacuuming device, and lighting system, stays at the end of the rubber guide rail to wait, and reminds the operator to switch to manual mode through the operating terminal; The lifting and transporting equipment is moved from the driver's door at end A of the locomotive to the driver's door at end B. After the pad is laid, the operator controls the robot to drive from inside the locomotive into the lifting platform, descend back to the ground, and turn off the robot's power.

[0053] At this point, the cleaning of the electrical system of the locomotive was completed.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A cleaning robot for locomotive electrical systems, characterized in that, Includes AGV navigation vehicle (1), robotic arm (2), dry ice machine and dust collection device (3); The AGV navigation vehicle (1) is equipped with a mechanical arm (2) on its upper part. The mechanical arm (2) is equipped with a connecting rod (5). The connecting rod (5) is equipped with a platform (6). The platform (6) is equipped with a dry ice machine spray gun (4), a dust collection device (3), a lighting lamp (7) and a camera (8). The robotic arm (2) includes a base (9) which is disposed on the upper surface of the AGV navigation vehicle (1). The upper part of the base (9) is rotatably connected to the lower part of the first joint (10). The side of the first joint (10) is rotatably connected to the side of the second joint (11). The upper part of the second joint (11) is rotatably connected to the lower part of the first connecting column (12). The upper part of the first connecting column (12) is rotatably connected to the lower part of the third joint (13). The side of the third joint (13) is rotatably connected to the side of the elbow (14). The upper part of the elbow (14) is rotatably connected to the lower part of the second connecting column (15). The upper part of the second connecting column (15) is rotatably connected to the lower part of the fourth joint (16). The side of the fourth joint (16) is rotatably connected to the side of the fifth joint (17). The upper part of the fifth joint (17) is rotatably connected to the lower part of the sixth joint (18). The sixth joint (18) is connected to the connecting rod (5).

2. The cleaning robot for locomotive electrical systems according to claim 1, characterized in that, The dry ice machine includes a spray gun (4), a material pipe and a housing connected in sequence, and dry ice particles are placed inside the housing.

3. The cleaning robot for locomotive electrical systems according to claim 2, characterized in that, The chamber is equipped with a dry ice funnel containing dry ice particles, and a vibrator is installed on the outside of the dry ice funnel.

4. The cleaning robot for locomotive electrical systems according to claim 2, characterized in that, The dry ice machine is connected to a grounding cable.

5. The cleaning robot for locomotive electrical systems according to claim 1, characterized in that, The AGV navigation vehicle (1) is equipped with a camera at the front and a camera at the rear.

6. The cleaning robot for locomotive electrical systems according to claim 1, characterized in that, It also includes a robot lifting fixture, which includes a lifting platform, an AGV navigation vehicle (1) is installed on the lifting platform, a guardrail is installed around the lifting platform, a control device is installed at the bottom of the lifting platform, the control device is connected to a motor, and the control device is a hydraulic jack.

7. The cleaning robot for locomotive electrical systems according to claim 1, characterized in that, The AGV navigation vehicle (1) is equipped with a control module, a battery module, and a lighting system. The battery module is electrically connected to the AGV navigation vehicle (1) and the robotic arm (2), and the control module is wiredly connected to the AGV navigation vehicle (1) and the robotic arm (2).

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