Truss cleaning robot

Abstract

The utility model belongs to the field of locomotive bogie cleaning technology discloses a kind of frame cleaning robots, including mechanical arm, cleaning spray pipe device, steam heating device and booster water supply device. The booster water supply device is communicated with cleaning water source, cleaning water can be pumped to the steam heating device, the steam heating device can improve the temperature of cleaning water, the cleaning spray pipe device is arranged at the free end of the mechanical arm, and can be moved under the driving of the mechanical arm, the cleaning spray pipe device is communicated with the steam heating device, and can spray the cleaning water heated by the steam heating device. The frame cleaning robot can improve flexibility and applicability, reduce labor intensity, and improve cleaning effect.

Description

Technical Field

[0001] This utility model relates to the field of locomotive bogie cleaning technology, and in particular to a bogie cleaning robot. Background Technology

[0002] Locomotive bogies are the running gear of rail vehicles, which have functions such as supporting the car body, transmitting loads, mitigating wheel-rail impacts, and implementing braking.

[0003] Currently, locomotive bogie frames are mainly cleaned manually. This process involves mud splashing, causing secondary pollution of the site and increasing the workload for workers. It also negatively impacts the health of operators. Traditional bogie cleaning equipment is mostly through-type cleaning machines, which cannot adapt to cleaning various sizes and models of bogies and have blind spots in the cleaning process.

[0004] Therefore, there is an urgent need for a structured cleaning robot to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a frame cleaning robot that can improve flexibility and applicability, reduce manual labor intensity, and improve cleaning effect.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] The structure cleaning robot includes:

[0008] robotic arm;

[0009] The system includes a cleaning nozzle device, a steam heating device, and a pressurized water supply device. The pressurized water supply device is connected to the cleaning water source and can pump the cleaning water to the steam heating device. The steam heating device can increase the temperature of the cleaning water. The cleaning nozzle device is located at the free end of the robotic arm and can move under the drive of the robotic arm. The cleaning nozzle device is connected to the steam heating device and can spray out the cleaning water that has been heated by the steam heating device.

[0010] As a preferred embodiment of the frame cleaning robot provided by this utility model, the cleaning nozzle device includes a cleaning nozzle and a nozzle. The cleaning nozzle is connected to the steam heating device, and the nozzle is connected to the cleaning nozzle and is capable of spraying cleaning water.

[0011] As a preferred embodiment of the frame cleaning robot provided by this utility model, the cleaning nozzle device further includes an angled elbow, which connects the cleaning nozzle and the nozzle, and the nozzle is connected to the cleaning nozzle at an angle via the angled elbow; and / or,

[0012] The cleaning nozzle device also includes a flange base and a rotary joint. The flange base is connected to the free end of the robotic arm. The rotary joint is rotatably connected to the flange base around its own axis and is connected to the steam heating device. The cleaning nozzle is coaxially connected to the rotary joint.

[0013] As a preferred embodiment of the frame cleaning robot provided by this utility model, the frame cleaning robot further includes an air blowing and drying device, which includes a purge air source and an air blowing valve. The cleaning nozzle device is selectively connected to the purge air source through the air blowing valve.

[0014] As a preferred embodiment of the frame cleaning robot provided by this utility model, the frame cleaning robot further includes a cleaning switch valve, which is disposed between the cleaning nozzle device and the steam heating device, and the cleaning nozzle device is selectively connected to the steam heating device through the cleaning switch valve.

[0015] As a preferred embodiment of the frame cleaning robot provided by this utility model, the steam heating device includes a steam heating tank and a flow pipe. The steam heating tank contains steam, and the flow pipe passes through the steam heating tank. The inlet of the flow pipe is connected to the pressurized water supply device, and the outlet of the flow pipe is connected to the cleaning spray pipe device. The cleaning water flows through the flow pipe and can exchange heat with the steam to increase its temperature.

[0016] As a preferred embodiment of the frame cleaning robot provided by this utility model, the flow tube has a spiral structure.

[0017] As a preferred embodiment of the frame cleaning robot provided by this utility model, the steam heating tank is provided with a steam heating inlet and a steam drain outlet. The steam heating inlet is configured to be connected to a steam source, and the steam drain outlet is configured to discharge water from the steam heating tank.

[0018] A steam switch valve is provided at the steam heating inlet, and the steam heating inlet is selectively connected to the steam source through the steam switch valve;

[0019] A steam trap valve is provided at the steam condensate outlet, and the steam trap valve can control the opening and closing of the steam condensate outlet.

[0020] As a preferred embodiment of the frame cleaning robot provided by this utility model, a temperature sensor is provided at the cleaning water outlet of the steam heating device. The temperature sensor is configured to detect the temperature of the cleaning water and is communicatively connected to the steam switch valve.

[0021] As a preferred embodiment of the frame cleaning robot provided by this utility model, a pressure sensor is provided between the pressurized water supply device and the steam heating device, and the pressure sensor is configured to detect the pressure of the cleaning water flowing out through the pressurized water supply device; and / or,

[0022] The frame cleaning robot also includes a filter, which is disposed between the pressurized water supply device and the cleaning water source.

[0023] The beneficial effects of this utility model are:

[0024] The structural cleaning robot provided by this utility model includes a robotic arm, a cleaning nozzle device, a steam heating device, and a pressurized water supply device. The pressurized water supply device is connected to a cleaning water source and pumps the cleaning water to the steam heating device, which raises the temperature of the cleaning water. The cleaning nozzle device is located at the free end of the robotic arm and can move under the drive of the robotic arm. The cleaning nozzle device is connected to the steam heating device and can spray the cleaning water heated by the steam heating device. The robotic arm can drive the cleaning nozzle device to move, allowing for flexible adjustment of the cleaning water spray direction, thereby improving the flexibility and applicability of the entire structural cleaning robot. The pressurized water supply device can pressurize the cleaning water from the cleaning water source, improving its cleaning ability. The steam heating device can instantly heat the cleaning water, improving cleaning efficiency and effect while reducing manual labor intensity. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0026] Figure 1 This is a partial structural schematic diagram of the frame cleaning robot provided in this embodiment of the utility model;

[0027] Figure 2 This is a structural schematic diagram of the robotic arm and cleaning nozzle device of the frame cleaning robot provided in this embodiment of the utility model;

[0028] Figure 3 yes Figure 2 A magnified view of a section marked A in the middle;

[0029] Figure 4 This is a schematic diagram of the steam heating device provided in an embodiment of the present invention.

[0030] In the picture:

[0031] 10. Clean the water source;

[0032] 100. Robotic arm;

[0033] 200. Cleaning nozzle assembly; 210. Cleaning nozzle; 220. Nozzle; 230. Angle elbow; 240. Flange base; 250. Rotary joint; 251. Inlet pipe section; 252. Outlet pipe section;

[0034] 300. Steam heating device; 310. Steam heating tank; 311. Steam heating inlet; 312. Steam drain outlet; 313. Steam on / off valve; 314. Steam trap; 320. Flow pipe;

[0035] 400. Boost water supply device;

[0036] 500. Air drying device; 510. Purge air source; 520. Air purging valve;

[0037] 600. Clean the switch valve;

[0038] 700. Temperature sensor;

[0039] 800. Pressure sensor;

[0040] 900, Filter. Detailed Implementation

[0041] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0042] 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 components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0044] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0045] In the description of this utility model, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are used only for the convenience of describing this utility model and for simplifying the description, and 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. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0046] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "connect," and "fix" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0047] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0048] In this embodiment, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0049] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0050] Figure 1 This is a partial structural schematic diagram of the frame cleaning robot provided in this embodiment of the utility model; Figure 2 This is a structural schematic diagram of the robotic arm and cleaning nozzle device of the frame cleaning robot provided in this embodiment of the utility model. (Refer to...) Figure 1 and Figure 2 This embodiment provides a frame cleaning robot. The frame cleaning robot includes a robotic arm 100, a cleaning nozzle device 200, a steam heating device 300, and a pressurized water supply device 400.

[0051] Specifically, the pressurized water supply device 400 is connected to the cleaning water source 10 and can pump the cleaning water to the steam heating device 300, which can increase the temperature of the cleaning water. The cleaning nozzle device 200 is located at the free end of the robotic arm 100 and can move under the drive of the robotic arm 100. The cleaning nozzle device 200 is connected to the steam heating device 300 and can spray the cleaning water heated by the steam heating device 300. In this embodiment, the robotic arm 100 can specifically be a six-degree-of-freedom industrial robotic arm in the prior art, and its structure and principle will not be described in detail here. Through the above-mentioned robotic arm 100, the cleaning nozzle device 200 can be moved, realizing flexible adjustment of the cleaning water spray direction, thereby improving the flexibility and applicability of the entire framework cleaning robot. Through the above-mentioned pressurized water supply device 400, the cleaning water from the cleaning water source 10 can be pressurized to improve its cleaning ability. The steam heating device 300 described above can heat the cleaning water instantly, improving cleaning efficiency and effectiveness while reducing the intensity of manual labor.

[0052] More specifically, the cleaning nozzle device 200 includes a cleaning nozzle 210 and a nozzle 220. The inlet of the cleaning nozzle 210 is connected to the cleaning water outlet of the steam heating device 300, and the nozzle 220 is connected to the outlet of the cleaning nozzle 210, capable of spraying cleaning water. In this embodiment, the nozzle 220 is specifically in the shape of a long, thin tube, capable of spraying a relatively concentrated, forceful jet of water, thereby improving the rinsing and decontamination effect.

[0053] More specifically, the cleaning nozzle device 200 also includes a flange base 240 and a rotary joint 250. The flange base 240 is connected to the free end of the robotic arm 100, and the rotary joint 250 is rotatably connected to the flange base 240 about its own axis and is connected to the cleaning water outlet of the steam heating device 300 through an inlet pipe section 251. The cleaning nozzle 210 is coaxially connected to the rotary joint 250 and connected to the outlet pipe section 252 of the rotary joint 250. Through the rotary joint 250, the cleaning nozzle 210 can be driven to rotate about its own axis, thereby further improving the flexibility of adjusting the water spray direction of the nozzle 220.

[0054] Figure 3 Show Figure 2 A magnified view of the structure marked A in the middle, see reference. Figure 3 The cleaning nozzle device 200 also includes an angled elbow 230, which connects the cleaning nozzle 210 and the nozzle 220. The nozzle 220 is connected to the cleaning nozzle 210 at an angle via the angled elbow 230. The angled elbow 230 itself forms a bend α, which is the angle between the axis of the cleaning nozzle 210 and the axis of the nozzle 220. In this embodiment, the bend α can specifically be 45°. By setting the angled elbow 230, the nozzle 220 can spray water at a certain angle, which facilitates cleaning of gaps or narrow positions in the structure.

[0055] Continue to refer to Figure 1 The bogie cleaning robot also includes an air-blowing drying device 500. This device includes a purge air source 510 and a purge valve 520. The cleaning nozzle device 200 is selectively connected to the purge air source 510 via the purge valve 520. By providing this air-blowing drying device 500, after the bogie cleaning robot has finished cleaning the bogie frame, purge air can be used to blow the frame through nozzles 220 to dry the surface of the cleaned frame.

[0056] Continue to refer to Figure 1 The cleaning robot also includes a cleaning switch valve 600. The cleaning switch valve 600 is disposed between the cleaning nozzle device 200 and the steam heating device 300, and the cleaning nozzle device 200 is selectively connected to the steam heating device 300 through the cleaning switch valve 600.

[0057] When the frame cleaning robot is cleaning, the cleaning switch valve 600 is open and the air blowing valve 520 is closed. At this time, the nozzle 220 can spray cleaning water onto the frame. When the frame cleaning robot is blowing and drying, the cleaning switch valve 600 is closed and the air blowing valve 520 is open. At this time, the nozzle 220 can blow blowing air onto the frame.

[0058] Figure 4 A schematic diagram of the steam heating device provided in an embodiment of this utility model is shown. (Refer to...) Figure 1 and Figure 4 The steam heating device 300 includes a steam heating tank 310 and a flow pipe 320. The steam heating tank 310 contains high-temperature steam, and the flow pipe 320 passes through the steam heating tank 310. The inlet of the flow pipe 320 is connected to the pressurized water supply device 400, and the outlet of the flow pipe 320 is connected to the inlet pipe section 251 of the rotary joint 250 through a hose (not shown). Cleaning water flows through the flow pipe 320 and can exchange heat with the steam to increase its temperature.

[0059] Specifically, the steam heating tank 310 is provided with a steam heating inlet 311 and a steam drain outlet 312. The steam heating inlet 311 is configured to be connected to a steam source (not shown), and the steam drain outlet 312 is configured to discharge water from the steam heating tank 310.

[0060] More specifically, a steam switch valve 313 is provided at the steam heating inlet 311. The steam heating inlet 311 is selectively connected to the steam source through the steam switch valve 313. When the steam switch valve 313 is open, the high-temperature steam in the steam source can enter the steam heating tank 310.

[0061] More specifically, a steam trap 314 is provided at the steam condensate outlet 312, which can control the opening and closing of the steam condensate outlet 312. When the steam trap 314 is open, water in the steam heating tank 310 can be discharged.

[0062] Continue to refer to Figure 1 A temperature sensor 700 is installed at the cleaning water outlet of the steam heating device 300. This temperature sensor 700 is configured to detect the temperature of the cleaning water and is communicatively connected to the steam switching valve 313. When the cleaning water temperature detected by the temperature sensor 700 reaches the upper temperature limit, the steam switching valve 313 closes, thereby saving energy. When the cleaning water temperature detected by the temperature sensor 700 drops to the lower temperature limit, the steam switching valve 313 opens, thereby replenishing high-temperature steam to the steam heating tank 310. Both the upper and lower temperature limits can be manually set via a program to ensure the cleaning effect of the cleaning water.

[0063] As a preferred option, refer to Figure 4 The flow pipe 320 has a spiral structure. With the above arrangement, the length of the flow pipe 320 can be increased within the limited internal space of the steam heating tank 310, thereby increasing the length of the flow path of the cleaning water in the flow pipe 320 and improving the heat exchange effect between the cleaning water and the high-temperature steam.

[0064] Continue to refer to Figure 1 A pressure sensor 800 is provided between the booster water supply device 400 and the steam heating device 300. The pressure sensor 800 is configured to detect the pressure of the cleaning water flowing out of the booster water supply device 400. Through the pressure sensor 800, the operator can easily know the cleaning water pressure and adjust the booster water supply device 400 according to the required pressure.

[0065] Preferably, the cleaning robot also includes a filter 900, which is disposed between the pressurized water supply device 400 and the cleaning water source 10. The filter 900 filters the cleaning water from the cleaning water source 10, preventing impurities from clogging downstream devices. The filter 900 can be any existing water filtration device; its specific structure and principle will not be described in detail in this embodiment.

[0066] The above description is merely a preferred embodiment of this utility model and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in this utility model is not limited to the technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this utility model.

[0067] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A frame cleaning robot, characterized in that, include: Robotic arm (100); The system includes a cleaning nozzle device (200), a steam heating device (300), and a pressurized water supply device (400). The pressurized water supply device (400) is connected to the cleaning water source (10) and can pump the cleaning water to the steam heating device (300). The steam heating device (300) can increase the temperature of the cleaning water. The cleaning nozzle device (200) is located at the free end of the robotic arm (100) and can move under the drive of the robotic arm (100). The cleaning nozzle device (200) is connected to the steam heating device (300) and can spray the cleaning water that has been heated by the steam heating device (300).

2. The frame cleaning robot according to claim 1, characterized in that, The cleaning nozzle device (200) includes a cleaning nozzle (210) and a nozzle (220). The cleaning nozzle (210) is connected to the steam heating device (300), and the nozzle (220) is connected to the cleaning nozzle (210) and can spray cleaning water.

3. The frame cleaning robot according to claim 2, characterized in that, The cleaning nozzle assembly (200) further includes an angled elbow (230) that connects the cleaning nozzle (210) and the nozzle (220), wherein the nozzle (220) is angularly connected to the cleaning nozzle (210) via the angled elbow (230); and / or, The cleaning nozzle device (200) also includes a flange base (240) and a rotary joint (250). The flange base (240) is connected to the free end of the robotic arm (100). The rotary joint (250) is rotatably connected to the flange base (240) around its own axis and is connected to the steam heating device (300). The cleaning nozzle (210) is coaxially connected to the rotary joint (250).

4. The frame cleaning robot according to claim 1, characterized in that, The frame cleaning robot also includes an air drying device (500), which includes a purge air source (510) and an air valve (520). The cleaning nozzle device (200) is selectively connected to the purge air source (510) through the air valve (520).

5. The frame cleaning robot according to claim 4, characterized in that, The frame cleaning robot also includes a cleaning switch valve (600), which is disposed between the cleaning nozzle device (200) and the steam heating device (300). The cleaning nozzle device (200) is selectively connected to the steam heating device (300) through the cleaning switch valve (600).

6. The frame cleaning robot according to claim 1, characterized in that, The steam heating device (300) includes a steam heating tank (310) and a flow pipe (320). The steam heating tank (310) contains steam. The flow pipe (320) passes through the steam heating tank (310). The inlet of the flow pipe (320) is connected to the pressurized water supply device (400). The outlet of the flow pipe (320) is connected to the cleaning spray device (200). The cleaning water flows through the flow pipe (320) and can exchange heat with the steam to increase its temperature.

7. The frame cleaning robot according to claim 6, characterized in that, The flow tube (320) has a spiral structure.

8. The frame cleaning robot according to claim 6, characterized in that, The steam heating tank (310) is provided with a steam heating inlet (311) and a steam drain outlet (312). The steam heating inlet (311) is configured to be connected to a steam source, and the steam drain outlet (312) is configured to discharge water from the steam heating tank (310). A steam switch valve (313) is provided at the steam heating inlet (311), and the steam heating inlet (311) is selectively connected to the steam source through the steam switch valve (313); A steam trap (314) is provided at the steam condensate outlet (312), and the steam trap (314) can control the opening and closing of the steam condensate outlet (312).

9. The frame cleaning robot according to claim 8, characterized in that, A temperature sensor (700) is provided at the cleaning water outlet of the steam heating device (300). The temperature sensor (700) is configured to detect the temperature of the cleaning water and is communicatively connected to the steam switch valve (313).

10. The frame cleaning robot according to any one of claims 1-9, characterized in that, A pressure sensor (800) is provided between the pressurized water supply device (400) and the steam heating device (300), the pressure sensor (800) being configured to detect the pressure of the cleaning water flowing out via the pressurized water supply device (400); and / or, The frame cleaning robot also includes a filter (900), which is disposed between the pressurized water supply device (400) and the cleaning water source (10).

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