JPH07117635A - Washing device for track vehicle - Google Patents

Abstract

PURPOSE:To obtain a washing device for a vehicle which can be installed in a region where the space between the contiguous tracks to each other is narrow. CONSTITUTION:A shiftable board 3 is placed as a washing device 1 which washes the front and rear surfaces of an orbital vehicle T, in a slidingly shiftable manner for a base member 2 installed in an orbit side part, and a horizontal turnable arm 4 which is turnable around a vertical axis is supported on the shiftable board 3, and an articulated robot 5 is installed at the top end part of the horizontal turnable arm 4. A washing liquid injection nozzle, high pressure water injection nozzle, and a distance sensor 14 for detecting the distance between each nozzle and the vehicle T are installed at the arm top end part of the articulated robot 5. After the front surface of the vehicle is washed by the drive of the shiftable board 3, horizontal turnable arm 4, and the articulated robot 5, the washing device 1 is set at a retreat position, and the vehicle T is travelled, and then, the rear surface of the vehicle is washed by the drive of the shiftable board 3, horizontal turnable arm 4, and the articulated robot 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a railroad vehicle cleaning device, and more particularly to an improvement of a railroad vehicle cleaning apparatus for cleaning the front and rear surfaces thereof.

[0002]

2. Description of the Related Art Conventionally, the work of cleaning the front and rear surfaces of rail cars has generally been performed manually. However, the front surface and the rear surface of this railroad vehicle have many irregularities and are complicated in shape, and stains are likely to adhere to them, and the cleaning work of the front surface and the rear surface is complicated. In view of this point, it has been proposed to automate this cleaning operation.
As an example thereof, there is a cleaning device as disclosed in Japanese Patent Laid-Open No. 2-45241. This cleaning device is installed on the side of the track, and is equipped with a cleaning brush that is supported and rotated by a movable arm, and moves the arm while moving the vehicle on the track at low speed. By doing so, the rotating cleaning brush is brought into contact with the front surface, the side surface, and the rear surface of the vehicle in order to clean the vehicle. Further, as another example of a cleaning apparatus using such a cleaning brush, as disclosed in Japanese Patent Laid-Open No. 5-97021, a manipulator of a work robot is equipped with a cleaning brush to clean a vehicle in a predetermined manner. There is also a vehicle in which the vehicle is stopped at a position and the vehicle is washed as the work robot is driven. In addition, it is possible to perform cleaning in a non-contact state with respect to the vehicle without using the cleaning brush as described above.
There is a cleaning device as disclosed in Japanese Patent No. 66. This cleaning device is provided with a traveling carriage that can travel freely on a track, and an arm having a nozzle capable of injecting cleaning liquid and high-pressure water is mounted on the traveling carriage. The front surface of the vehicle is cleaned while facing each other. That is, the front surface of the vehicle is cleaned with the front surface of the vehicle and the cleaning device facing each other on the same track. Then, when cleaning the rear surface of the vehicle with this cleaning device, the cleaning device is once moved to an adjacent track, the traveling carriage is driven to near the rear surface of the vehicle, and then the cleaning device is again moved to the original track. By moving it upward, the rear surface of the vehicle and the cleaning device are opposed to each other on the same track, and the rear surface of the vehicle is cleaned in this state.

[0003]

However, the above-mentioned structure has the following problems.
First, in a cleaning device equipped with a cleaning brush, since the cleaning brush is large and heavy, the arm supporting the cleaning brush and the manipulator and the drive source for moving the arm and manipulator are also large, and the entire device becomes large. Therefore, it could not be installed in the region where the space between adjacent tracks is narrow. In other words, this type of cleaning device is subject to the restriction that it cannot be installed unless the space between the tracks adjacent to each other is more than a predetermined size. On the other hand, in the cleaning device equipped with the injection nozzle, as described above, when the vehicle front cleaning operation is changed to the rear surface cleaning operation, it is necessary to temporarily transfer the vehicle to the adjacent track, which makes the operation complicated. Not only that, but the work time would be lengthened. Further, in this cleaning device, when another vehicle is parked on the adjacent track, first, the vehicle is moved so that the cleaning device can run on the adjacent track. There was also a problem that the rear surface cleaning operation could not be performed.

The present invention has been made in view of these points, and can be installed in a region where the distance between adjacent tracks is narrow, and the transition from the front cleaning operation to the rear cleaning operation of a vehicle is possible. An object of the present invention is to obtain a railroad vehicle cleaning device that can quickly perform the above.

[0005]

In order to achieve the above object, the present invention provides a cleaning device which is installed on a side portion of a track and is provided with a nozzle capable of spraying a cleaning liquid and high-pressure water. Specifically, the invention of claim 1 is installed on a side portion of a track, and when the vehicle is stopped in a state where the vehicle front surface is positioned in a predetermined area on the track, the front surface of the vehicle is washed, and It is premised on a cleaning device for cleaning the rear surface of the vehicle when the vehicle is stopped with the rear surface of the vehicle positioned in a predetermined area on the track. Then, a horizontal swivel arm that can swivel around a vertical axis is provided, and an articulated robot is placed on the tip of the horizontal swivel arm. Further, the horizontal swing arm is made movable by the articulated robot between a washing swing position facing the front surface or the rear surface of the vehicle on the track and a retracting swing position in which the tip end is off the track. Further, a cleaning liquid spraying nozzle for spraying a cleaning liquid and a high pressure water spraying nozzle for spraying high pressure water on a front surface or a rear surface of a vehicle located in a predetermined area on the track are provided at the arm tip of the articulated robot. It has a simple structure.

The invention according to claim 2 has the same premise as that of the invention according to claim 1 described above, and is provided with a rotating portion rotatable about a vertical axis, and the rotating portion is provided with the rotating portion. ,
One end of the arm is supported by the rotating portion, and the hoisting arm that can be hoisted is connected. Further, a movable member that is movable along the extension direction of the undulating arm is attached to the undulating arm, and a cleaning liquid spray nozzle for spraying a cleaning liquid and a high-pressure water injection nozzle for spraying high-pressure water are nozzle-supported on the movable member. Install through the section. Further, the undulating arm is provided with a cleaning undulation position where the cleaning liquid spray nozzle and the high-pressure water injection nozzle face the front or rear surface of the vehicle on the track, and a retracting undulation position where the cleaning liquid spray nozzle and the high-pressure water injection nozzle are off the track. It is configured to be movable up and down between and.

According to a third aspect of the present invention, in the cleaning apparatus for a railroad vehicle according to the first aspect, a horizontal swing arm is supported on a base member installed on the ground via a moving base, and the base member is attached to the base member. A slide rail extending along the extension direction of the track is provided so that the movable table is movable with respect to the base member along the extension direction of the track.

According to a fourth aspect of the present invention, in the track car washing device according to the second aspect, the rotating portion is supported on a base member installed on the ground via a support base, and the base member is attached to the base member. A slide rail extending along the extension direction of the track is provided so that the support base is movable with respect to the base member along the extension direction of the track.

The invention according to claim 5 is the same as claim 1,
In the railroad vehicle cleaning device described in 2, 3, or 4, the distance between the cleaning liquid spray nozzle and the high-pressure water injection nozzle and the front or rear surface of the vehicle is detected at a position close to the cleaning liquid spray nozzle and the high-pressure water injection nozzle. The configuration is such that a distance sensor is provided.

The invention according to claim 6 is the same as claim 1,
In the railroad vehicle cleaning device described in 2, 3, 4, or 5, the vehicle stop position is set so that a predetermined cleaning operation is performed when the vehicle is stopped at a predetermined washable position in the vicinity of the track. The vehicle stop position recognizing means for recognizing is recognized.

[0011]

With the above construction, the present invention provides the following actions. According to the first aspect of the present invention, when cleaning the front surface or the rear surface of the vehicle, the horizontal swivel arm that was in the retracted swivel position is moved to the wash swivel position, and the articulated robot moves to the front surface or the rear surface of the vehicle on the track. Be opposed to. Then, the front surface and the rear surface of the vehicle are cleaned by spraying the cleaning liquid from the cleaning liquid spray nozzle provided at the arm tip of this articulated robot and spraying the high pressure water from the high pressure water spray nozzle.

According to the second aspect of the present invention, when the front surface or the rear surface of the vehicle is washed, the hoisting arm that has been in the retracted hoisting position is moved to the hoisting up and down position, and the washing liquid spraying nozzle and the high-pressure water jet nozzle orbit. It is opposed to the front or rear of the upper vehicle. Then, the front surface and the rear surface of the vehicle are cleaned by the spray of the cleaning liquid from the cleaning liquid spray nozzle and the injection of the high pressure water from the high pressure water injection nozzle.

According to the third aspect of the present invention, the horizontal swing arm and the articulated robot are moved along the extension direction of the track as the movable table moves on the slide rail provided on the base member. As a result, the cleaning liquid spray nozzle and the high-pressure water injection nozzle can be set at the optimum positions for the cleaning operation on the front surface or the rear surface of the vehicle.

According to the fourth aspect of the present invention, as the supporting base moves on the slide rail provided on the base member, the rotating portion, the undulating arm and the nozzle supporting portion move along the extension direction of the track. As a result, the cleaning liquid spray nozzle and the high-pressure water injection nozzle can be set to the optimum positions for the cleaning operation on the front surface or the rear surface of the vehicle.

According to the fifth aspect of the present invention, when the cleaning liquid spray nozzle and the high-pressure water jet nozzle are moved close to the front surface or the rear surface of the vehicle during the cleaning operation of the front surface or the rear surface of the vehicle, the nozzle and the vehicle are cleaned. The distance sensor detects the distance to the front or rear surface, so that the position of the front or rear surface of the vehicle (stop position of the vehicle) can be confirmed, and the positioning of each nozzle with respect to the vehicle front or rear surface can be performed accurately. It will be possible.

According to the sixth aspect of the invention, when the vehicle is stopped at the predetermined washable position, the stop position recognizing means recognizes the stop position, and then the predetermined washing operation is performed.

[0017]

【Example】

(First Embodiment) Next, a first embodiment according to the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing a state in which a vehicle T is being cleaned by the cleaning device 1 according to this embodiment. As shown in FIG. 1, the cleaning device 1 is installed between the adjacent tracks R and R on the side of the track R so as to clean the vehicle T parked on the track R on one side. It has become. The configuration of the cleaning device 1 will be described below. As shown in FIG. 2, the main cleaning device 1 includes a base member 2, a moving base 3, a horizontal swing arm 4, and an articulated robot 5. Explaining each member, the base member 2 is fixed to the ground on the side of the track R, and a pair of guide rails (not shown) extending along the extension direction of the track R are provided inside the base member 2. The movable table 3 is mounted on the guide rail of the base member 2 and has a drive source (not shown), and is slidable on the guide rail as the drive source is driven. ing.

A horizontal swivel arm 4 is connected to the upper surface of the movable table 3 so as to be rotatable about the vertical axis with respect to the movable table 3 (see arrow A in FIG. 2) and extend in the horizontal direction. . The length of the horizontal swivel arm 4 depends on the length of the horizontal swivel arm 4 in the washing state by the washing apparatus 1 (the state in which the horizontal swivel arm 4 is substantially orthogonal to the track R as shown by the solid line in FIG. 1). The tip portion is set to face the center portion of the vehicle T in the width direction. The horizontal swivel arm 4 can take at least a state shown by a solid line and a state shown by a virtual line B in FIG. That is, the state shown by the solid line in FIG. 1 is the swivel angle position in the washing state (wash swivel position), and the state shown by the virtual line B is the swivel angle position in the retracted state (retracted swivel position). The horizontal swing arm 4 is set to the swivel angle position in the washing state when the vehicle T is washed, and is set to the swivel angle position in the retracted state at other times (when not washing or when switching from the vehicle front face washing to the vehicle rear face washing). (This operation will be described later).

An articulated robot 5 is mounted on the tip of the horizontal swing arm 4. In this articulated robot 5, the base rotation unit 6 has the horizontal rotation arm 4
It is rotatable about the vertical axis with respect to the upper surface of the tip of the first arm 7 (see arrow C in FIG. 2), and the first arm 7 and the second arm 7
The arm 8 is provided. The first arm 7 is rotatable about the horizontal axis with respect to the base rotating portion 6 (see arrow D in FIG. 2), and the second arm 8 is relative to the first arm 7. It is rotatable about a horizontal axis (see arrow E in FIG. 2). The tip of the second arm 8 is rotatable about an axis perpendicular to the longitudinal direction of the second arm 8 (rotatable in the yaw direction shown by arrow F in FIG. 2).
The wrist part 9 is provided. As shown in FIG. 3, the wrist portion 9 is provided with a wrist body portion 10, and a nozzle portion 11 is rotatable around a horizontal axis with respect to the wrist body portion 10 (pitch direction indicated by arrow G in FIG. 3). Is freely rotatable). Explaining this nozzle section 11,
The nozzle part 11 includes a nozzle support plate 11a and a sensor support plate 11b connected to the upper side of the nozzle support plate 11a.
The cleaning liquid spray nozzles 12 and the high-pressure water spray nozzles 13 arranged at three horizontal positions are vertically adjacent to each other at a, and the sensor support plate 11b is provided.
Is provided with a distance sensor 14 that detects the distance between the nozzles 12 and 13 and the cleaning surface of the vehicle T. The cleaning liquid spray nozzle 12 is supplied with the cleaning liquid stored in a cleaning liquid tank (not shown) by a cleaning liquid pump, and the high-pressure water jet nozzle 13 is stored in a cleaning water tank (not shown). The cleaning water is supplied under high pressure by the cleaning water pump.

Further, the cleaning apparatus 1 is provided with a controller (not shown), and the signal from the distance sensor 14 is transmitted to the controller. The distance sensor 14 outputs a signal when the distance between each nozzle 12, 13 and the cleaning surface of the vehicle T reaches a predetermined value, and confirms the stop position of the vehicle T. Then, the position information of each nozzle 12, 13 at the position confirmed by the distance sensor 14 is compared with the predetermined reference position information, and the position information of each nozzle 12, 13 which is programmed in advance is corrected by the difference. By outputting the above, the nozzles 12 and 13 perform spraying of the cleaning liquid from the cleaning liquid spray nozzle 12 and high-pressure injection of the cleaning water from the high-pressure water injection nozzle 13 while drawing a predetermined trajectory along the cleaning surface. The front surface and the rear surface of the vehicle T are cleaned.

Further, as shown in FIGS. 4 and 5, a plurality of light-shielding sensors 15, 16, 17 for detecting the vehicle position and the vehicle T are provided around the track where the main cleaning device 1 is installed. A plurality of lights 18, 19, 20 for instructing the driver of the vehicle T of the stop position are installed. That is, the first to third light-shielding sensors 15, 16 and 17 arranged at predetermined intervals in the extension direction of the track R are installed in the periphery of the track where the main cleaning device 1 is installed. Then, the respective light shielding sensors 15, 16 and 17 are arranged such that the first light shielding sensor 15, the second light shielding sensor 16 and the third light shielding sensor 17 are directed toward the traveling direction of the vehicle T traveling toward the installation position of the cleaning device 1. 3 pairs are installed in this order, and the region H between the second light-shielding sensor 16 and the third light-shielding sensor 17 is set as the washable region. That is, as shown by the solid lines in FIGS. 4 and 5, the front surface T1 or the rear surface T2 of the vehicle T is positioned in the washable region H between the second light shielding sensor 16 and the third light shielding sensor 17 in a state where the front surface T1 or the rear surface T2 is positioned. By stopping the vehicle T, the vehicle T can be washed. That is, as shown by the solid line in FIG. 4, when the front surface T1 of the vehicle T is located in the area H between the second light shielding sensor 16 and the third light shielding sensor 17, the cleaning device 1 cleans the front surface T1 of the vehicle T. As shown by the solid line in FIG. 5, the rear surface T2 of the vehicle T is located in the region H between the second light shielding sensor 16 and the third light shielding sensor 17.
The positions of the second light-shielding sensor 16 and the third light-shielding sensor 17 are set so that the rear surface T2 of the vehicle T can be washed by the washing device 1 in the state where is positioned. With such a configuration, each of the sensors 15, 16 and 17 constitutes a vehicle stop position recognizing means according to the invention of claim 6.

Further, each of the lights 18, 1 shown in FIG.
Reference numerals 9 and 20 are a yellow first light 18, a red second light 19 and a green third light 20, respectively.
9 and 20 are installed at positions visible to the driver of the vehicle T, and when the first light-shielding sensor 15 is shielded by the traveling vehicle T as indicated by a virtual line I in FIG.
The light 18 is turned on to prompt the driver to decelerate the vehicle T. When the vehicle T further travels and the second light shielding sensor 16 is shielded from light as shown by the solid line in FIG. The light 19 is turned on to prompt the driver to stop the vehicle T. Further, the third light 20 is adapted to be turned on when cleaning the front surface of the vehicle. Further, when the vehicle T overruns from the washable area H as indicated by the phantom line J in FIG. 4 and the third light blocking sensor 17 is blocked, the second light 1
For example, 9 flashes to prompt the driver to move the vehicle T backward. Further, as shown in FIG. 5, at a position close to the front surface T1 of the vehicle T when cleaning the rear surface T2 of the vehicle T, the driver of the vehicle T is instructed to the stop position of the vehicle T when cleaning the rear surface. Multiple lights 21, 22, 2
3 are installed. In other words, these lights 21, 2
2, 23 are a yellow fourth light 21, a red fifth light 22, and a green sixth light 23, and each light 21, 2
2 and 23 are installed at positions where the driver of the vehicle T can visually recognize, and when the vehicle T traveling as indicated by a virtual line K in FIG. 5 releases the light blocking state of the first light blocking sensor 15. , The fourth light 21 is turned on to prompt the driver to decelerate the vehicle T, and the vehicle T further travels to drive the vehicle T as shown in FIG.
When the light blocking state of the second light blocking sensor 16 is released as shown by the solid line, the fifth light 22 is turned on to prompt the driver to stop the vehicle T. Also, the sixth light 2
3 is turned on when cleaning the rear surface of the vehicle.
Further, when the vehicle T overruns from the rear surface washable area H as shown by a virtual line L in FIG. 5 and the light blocking state of the third light blocking sensor 17 is released, the fifth light 22 blinks, The driver is urged to move the vehicle T backward.

Next, the cleaning operation of the vehicle T by the cleaning device 1 will be described. In this operation, after the front surface cleaning operation of the vehicle T is performed, the rear surface cleaning operation of the vehicle T is performed. First, the front surface cleaning operation of the vehicle T will be described. As shown by the arrow M in FIG. 4, when the vehicle T is made to travel toward the washable region H and the traveling vehicle T blocks the first light shielding sensor 15 (state of the virtual line I),
When the first light 18 is turned on and the driver is prompted to decelerate the vehicle T, and the vehicle T further travels and the second light-shielding sensor 16 is shielded (solid line state), the second light 19 is turned on. , Urge the driver to stop the vehicle T. As a result, the vehicle front T
When the vehicle T is stopped in the state in which 1 is located in the washable area H, the cleaning device 1 is activated with the lighting of the third light 20, and the front surface T1 of the vehicle T is cleaned. In this front surface cleaning operation, first, the cleaning device 1 moves from the retracted state shown by the solid line in FIG. 4 to the movable table 3 in the direction of arrow N in FIG. In this state, as indicated by an imaginary line O in FIG. 4, the horizontal swivel arm 4 is turned toward the track R side by about 90 in the counterclockwise direction in FIG.
Rotate to arrange the horizontal swing arm 4 at a position orthogonal to the track R. At this time, since the movable table 3 is retracted to the rear end of the base member 2, the horizontal swing arm 4 is swung without the horizontal swing arm 4 and the articulated robot 5 interfering with the vehicle T. . Along with this, the articulated robot 5 is also driven to a preset front face cleaning initial posture. That is, the nozzles 12 and 13 are driven so as to face the vehicle front surface T1. From this state, the moving base 3 slides in the direction of arrow P in FIG. 4 (direction approaching the vehicle front surface T1). At this time, the distance between the nozzles 12 and 13 and the front surface T1 of the vehicle is constantly detected by the distance sensor 14, and when the distance reaches a predetermined value suitable for cleaning, the sliding movement of the moving table 3 is stopped. It As a result, the nozzles 12 and 13 are arranged to face each other at a predetermined distance from the vehicle front surface T1 with the articulated robot 5 in the front surface cleaning initial posture. Then, from this state, while the nozzles 12 and 13 are moving on the preset locus by the controller,
The cleaning liquid is sprayed from the cleaning liquid spray nozzle 12 onto the front surface T1 of the vehicle to melt the dirt adhering to the front surface T1 of the vehicle. When the spraying operation of the cleaning liquid is completed, the articulated robot 5 returns to the front-face cleaning initial posture again, and then moves on a predetermined locus to inject high-pressure cleaning water from the high-pressure water injection nozzle 13 to front face T1 of the vehicle. The dirt will be washed away. In this way, the cleaning operation of the vehicle front surface T1 is completed. When the cleaning operation of the vehicle front surface T1 is completed, the cleaning operation of the vehicle rear surface T2 is started. The operation at this time will be described with reference to FIG. 6. First, when the cleaning operation of the vehicle front surface T1 is completed, the state is as shown in FIG. 6 (a). To move to the cleaning operation, first, the movable table 3 slides in the direction of arrow N in FIG. 6 (a). Then, as shown in FIG. 6 (b), when the movable table 3 moves to the rear end portion of the base member 2, the horizontal swing arm 4 is swung in the clockwise direction of FIG. 6 (b) and the articulated robot is moved. 5 is driven to return the cleaning device 1 to the retracted position (state shown in FIG. 6 (c)). That is, the cleaning device 1 is retracted from the track R. At this time, since the moving base 3 is retracted to the rear end of the base member 2, the horizontal turning arm 4 is turned without causing the horizontal turning arm 4 and the articulated robot 5 to interfere with the vehicle T. The cleaning device 1 is in the retracted state. Then, in this way, the cleaning device 1
6 is returned to the retracted position, the vehicle T starts to travel as shown by an arrow M in FIG. 6 (c) until the vehicle rear surface T2 is located in the washable area H as shown in FIG. 6 (d). Let it run.
As this operation, as described above, when the vehicle T is made to travel in the direction indicated by the arrow M in FIG. 5 and the light-shielding state of the first light-shielding sensor 15 is released by the traveling vehicle T (indicated by the virtual line K). State), the fourth light 21 is lit to prompt the driver to decelerate the vehicle T, and the vehicle T further travels to release the light-shielding state of the second light-shielding sensor 16 (solid line state).
The light 22 is turned on to prompt the driver to stop the vehicle T.
As a result, the cleaning device 1 is restarted with the lighting of the sixth light 23, and the rear surface of the vehicle T is cleaned. As the rear surface cleaning operation, first, the movable table 3 slides in the direction of arrow P in FIG. 5 from the retracted state of the cleaning apparatus 1 as shown in FIG. 6 (c) to the front end portion of the base member 2. In this state, as indicated by an imaginary line Q in FIG. 5, the horizontal swivel arm 4 is turned toward the track R side by about 90 in the counterclockwise direction in FIG.
Rotate to arrange the horizontal swing arm 4 at a position orthogonal to the track R. Along with this, the articulated robot 5 is also driven to a preset rear surface cleaning initial posture. That is, the nozzles 12 and 13 are driven so as to face the vehicle rear surface T2. From this state, the movable table 3 slides in the direction of arrow N in FIG. 5 (direction toward the vehicle rear surface T2). At this time, the distance between the nozzles 12 and 13 and the rear surface T2 of the vehicle is constantly detected by the distance sensor 14, and when the distance reaches a predetermined value suitable for cleaning, the sliding movement of the moving table 3 is stopped. (State shown in FIG. 6 (e)). As a result, each nozzle 12, 13 is moved to the vehicle rear surface T2 while the articulated robot 5 is in the rear surface cleaning initial posture.
It means that they are arranged opposite to each other with a predetermined interval. Then, from this state, the cleaning liquid is sprayed from the cleaning liquid spray nozzle 12 onto the vehicle rear surface T2 while the nozzles 12 and 13 are moving on the preset locus by the controller, and the dirt adhering to the vehicle rear surface T2 is melted. When the spraying operation of the cleaning liquid is completed, the multi-joint robot 5 returns to the rear surface cleaning initial posture again, and then moves on a predetermined locus to inject the cleaning water at a high pressure from the high-pressure water spray nozzle 13 to rear surface T2 of the vehicle. The dirt will be washed away. In this way, the cleaning operation of the vehicle rear surface T2 is completed. Thus, according to the cleaning apparatus 1 of this example, the nozzle 1
By adopting Nos. 2 and 13, it is possible to make the size smaller than the conventional cleaning device provided with the cleaning brush, so that even if the interval between the adjacent tracks R, R is sufficiently small. Can be installed. Further, unlike the conventional cleaning device with the injection nozzle, when the front cleaning operation of the vehicle is changed to the rear cleaning operation, it is not necessary to temporarily move the cleaning device to the adjacent track, so that the cleaning surface is not required. The work at the time of switching can be performed easily and in a short time. Further, since the non-contact cleaning method using the nozzles 12 and 13 is adopted, the front and rear surfaces T of the vehicle T are
The entire front and rear surfaces can be cleaned even when the connecting hoods are attached to 1 and T2.

In this example, the moving table 3 is slid on the base member 2 so that the nozzles 12 and 13 are installed at optimum positions with respect to the vehicle T. However, the present invention is not limited to this. Instead, the moving base 3 is slid on the base member 2 only when the front cleaning operation of the vehicle T is changed to the rear cleaning operation, and the horizontal swing arm 4 is moved to the front and rear surfaces T of the vehicle T.
The distance sensor 1
4 may be operated to correct the cleaning position information of the nozzles 12 and 13 for the vehicle T in the same manner as described above.

(Modification) Next, a modification of the above-described first embodiment will be described with reference to FIG. As shown in FIG. 7, the cleaning device 1 according to the present example is configured not to include the base member 2 included in the cleaning device of the first embodiment described above, and supports the horizontal swing arm 4. Support stand 3
′ Is fixed to the ground on the side of the track R. The other structure is the same as that of the first embodiment described above, and the description thereof is omitted.

Next, the cleaning operation of the vehicle T in the cleaning apparatus 1 of this example will be described with reference to FIG. As shown in FIG. 8 (a), when the vehicle T is stopped in the washable area H, the washing device 1 moves clockwise from the retracted position indicated by the phantom line S in FIG. By the rotation in the direction, the nozzles 12 and 13 are moved to the cleaning position indicated by the solid line, the nozzles 12 and 13 are arranged to face the vehicle front surface T1, and a predetermined front surface cleaning operation is performed. Then, when the front surface cleaning operation is completed and the rear surface cleaning operation is started, first, as shown in FIGS. 8 (b) to 8 (d),
The horizontal swivel arm 4 moves about 2 in the counterclockwise direction in FIG.
The cleaning device 1 is rotated by 70 ° and moved to the retracted position (the state shown in FIG. 8D). Then, while the cleaning device 1 is moving to the retracted position in this way, the vehicle T is made to travel as indicated by an arrow M in FIG.
2 is stopped in the state where it is located in the washable area. After that, the horizontal swivel arm 4 is swung further counterclockwise in FIG. 8 by about 90 ° to drive the cleaning apparatus 1 to the rear surface cleaning initial posture (the state shown in FIG. 8 (e)), and each nozzle 12, 1
The rear surface T2 of the vehicle is cleaned with 3 facing the rear surface T2 of the vehicle. Then, when the cleaning of the vehicle rear surface T2 is completed, the horizontal swing arm 4 is swung about 90 ° clockwise in FIG. 8 to move the washing device 1 to the retracted position (state shown in FIG. 8D). In this way, the cleaning operation of the vehicle T is completed. Further, in the configuration of the present example, since the base member provided with the guide rail as in the above-described first embodiment is not provided, it is possible to turn the horizontal turning arm 4 close to the front and rear surfaces T1 and T2 of the vehicle T. After setting the distance of each nozzle 12, 13 to the vehicle T to a predetermined value, the position information of each nozzle 12, 13 at that time is compared with predetermined reference position information, and a position programmed in advance by the difference is compared. By correcting and outputting the information, it is possible to perform the efficient cleaning operation even if the stop position of the vehicle T varies.

(Second Embodiment) Next, a second embodiment according to the present invention will be described with reference to the drawings. The cleaning apparatus 1 according to this example uses a robot of a polar coordinate system, and as shown in FIG. 10, is installed on the side part of the track R as in the first embodiment described above. The vehicle T parked on R is cleaned. The configuration of the cleaning device 1 will be described below. As shown in FIG. 9, the main cleaning device 1 is provided with a support base 25, a rotating portion 26, an undulating arm 27, and a wrist portion 28 as a nozzle supporting portion. Explaining each member, the support base 25 is
It is fixed to the ground on the side of the track R and has the rotating portion 26.
Are rotatably supported on the upper surface of the support base 25 about the vertical axis (see arrow U in FIG. 9). Further, the hoisting arm 27 is rotatable (wound) about a horizontal axis with respect to the turning portion 26 (see arrow V in FIG. 2). And
A pair of guide rails (not shown) extending in the longitudinal direction are provided inside the undulating arm 27, and the wrist portion 28 is supported by the guide rails via a slide mechanism portion 29 as a moving member. As the slide mechanism 29 is driven, the up-and-down arm 27 is slidable in the longitudinal direction. The wrist portion 28 is rotatable with respect to the slide mechanism portion 29 (see FIG.
(See arrow W in FIG. 2), a second arm 31 rotatable with respect to the first arm 30 (see arrow X in FIG. 2), and rotatable with respect to the second arm 31 It is provided with a nozzle portion 32 which is freely movable (see arrow Y in FIG. 2).

A cleaning liquid spray nozzle 33, a high-pressure water injection nozzle 34, and a distance sensor 35 are arranged in the nozzle portion 32, as in the first embodiment described above, and are shown in FIGS. As described above, while the nozzles 33 and 34 move on the predetermined cleaning locus, the cleaning liquid is sprayed from the cleaning liquid spray nozzle 33 and the high-pressure water is sprayed from the high-pressure water spray nozzle 34, so that the front surface T1 of the vehicle T is discharged. And rear surface T2
Is to be washed. Incidentally, the state shown by the solid line in FIGS. 10 and 11 is the washing state of the lower right portion of the vehicle front surface T1, the state shown by the phantom line in FIGS. 10 and 11 is the washing state of the upper left portion of the vehicle front surface T1, and the state shown in FIG. Shows the cleaning state of the lower right part of the rear surface T2 of the vehicle. In this way, the front surface T1 and the rear surface T2 of the vehicle are cleaned while the positions of the nozzles 33 and 34 are moved. Also in this example, as in the above-described first example, a plurality of light-shielding sensors and lights are provided so that the vehicle stop position is set to an appropriate position.

When the front cleaning state of the vehicle T is switched to the rear cleaning state, the main cleaning device 1 is moved to the retracted position to drive the vehicle T. At that time,
As shown in FIG. 13, by raising and lowering the hoisting arm 27 in a vertical state, it is possible to easily move to the retracted position, so that the switching operation from the front cleaning state of the vehicle T to the rear cleaning state can be performed quickly. become. Further, as shown in FIG. 14, as in the case of the first embodiment, the distance sensor 3
5, the stop position of the vehicle T is confirmed, and the position information of each of the nozzles 33 and 34 programmed in advance is corrected, so that even if the stop position of the vehicle T varies, an efficient cleaning operation can be performed. It can be done.

As described above, in the configuration of the second embodiment, since the robot of the polar coordinate system is used, the cleaning device 1 is not moved so as to avoid the interference between the cleaning device 1 and the vehicle T. The cleaning device 1 can be quickly moved to the retracted position only by moving the up-and-down arm 27, and the switching operation from the front surface cleaning state of the vehicle T to the rear surface cleaning state can be performed in a short time.

(Modification) Next, a modification of the above-described second embodiment will be described. As shown in FIG. 15, the cleaning device of the present example is provided with a base member 36 having a guide rail as in the cleaning device of the first embodiment described above. The support base 25 is slidable. Therefore, in the cleaning operation of the vehicle T, the support base 2 is used as in the first embodiment described above.
By sliding 5 on the base member 36, each nozzle 33, 34 can be set at the optimum position with respect to the vehicle cleaning surface.

[0032]

As described above, according to the present invention, the following effects are exhibited. According to the first aspect of the present invention, a horizontal swivel arm that is swivelable about a vertical axis is provided, and an articulated robot is mounted on a tip end of the horizontal swivel arm, and the horizontal swivel arm is The articulated robot is allowed to move between a washing turning position facing the front surface or the rear surface of the vehicle on the track and a retracting turning position where the tip part is off the track, and the arm tip part of the articulated robot is further provided. Since a cleaning liquid spray nozzle for spraying the cleaning liquid and a high-pressure water spray nozzle for spraying high-pressure water are provided on the front surface or the rear surface of the vehicle located in a predetermined area on the track, the cleaning brush is conventionally used. Since the size of the cleaning device can be made smaller than that of the cleaning device having the same, it can be sufficiently installed even in a region where the space between adjacent tracks is narrow. Further, unlike the conventional cleaning device having the injection nozzle, when the front cleaning operation of the vehicle is changed to the rear cleaning operation, it is not necessary to temporarily move the cleaning device to the adjacent track. The work at the time of switching can be performed easily and in a short time. In addition, since the non-contact cleaning method using the injection nozzle is adopted, it is possible to obtain an effect that the entire front and rear surfaces can be cleaned even when the connecting hood is attached to the front and rear surfaces of the vehicle. be able to.

According to the second aspect of the present invention, the rotating part is provided so as to be rotatable about the vertical axis, and one end of the rotating part is supported by the rotating part so that the rotating part can be raised and lowered. And a high-pressure water for spraying high-pressure water with a cleaning liquid spray nozzle for spraying a cleaning liquid on the movable member, the movable member being movable along the extension direction of the up-and-down arm. An injection nozzle is attached via a nozzle support portion, and further, the undulation arm is provided with a cleaning undulation position where the cleaning liquid spray nozzle and the high-pressure water injection nozzle face the front surface or the rear surface of the vehicle on the track, the cleaning liquid spray nozzle and the high pressure water. Since the water injection nozzle can move up and down between the retracted up and down position deviated from the track, in addition to the effect according to the invention described in claim 1, interference between the cleaning device and the vehicle is avoided. You The cleaning device can be quickly moved to the retracted position only by moving the hoisting arm without moving the cleaning device as described above, and the switching operation from the front cleaning state to the rear cleaning state of the vehicle is performed in a short time. be able to.

According to the third aspect of the present invention, the horizontal swing arm is supported on the base member installed on the ground via the movable base, and the base member has the movable base relative to the base member. Since the guide rail extending along the extension direction of the trajectory is provided so as to be movable along the extension direction of the trajectory, the horizontal swing arm and the articulated robot can be moved along the extension direction of the trajectory. As a result, the cleaning liquid spray nozzle and the high-pressure water injection nozzle can be set to the optimum position for the cleaning operation on the front surface or the rear surface of the vehicle, and the good cleaning operation can be performed even when the stop position of the vehicle is displaced. Can be done.

According to the fourth aspect of the invention, the rotating portion is
An extension direction of the track is supported on a base member installed on the ground via a support base, and the base member is movable along the extension direction of the track with respect to the base member. Since the guide rail extending along the path is provided, the rotating portion, the undulating arm, and the nozzle supporting portion can be moved along the extension direction of the track.
Similar to the effect according to the invention described in claim 3 described above, the cleaning liquid spray nozzle and the high-pressure water injection nozzle can be set to the optimum position for the cleaning operation on the front surface or the rear surface of the vehicle,
Even if the stop position of the vehicle is deviated, a good cleaning operation can be performed.

According to the fifth aspect of the present invention, the distance for detecting the distance between the cleaning liquid spray nozzle and the high-pressure water injection nozzle and the front surface or the rear surface of the vehicle is close to the cleaning liquid spray nozzle and the high-pressure water injection nozzle. Since the sensor is provided, even if there is a deviation in the stop position of the vehicle, the position of each nozzle can be accurately controlled along the front surface or the rear surface of the vehicle.

According to the sixth aspect of the present invention, when the vehicle is stopped at a predetermined washable position near the track,
Since the stop position recognition means for recognizing the stop position of the vehicle is installed so that the predetermined cleaning operation is performed, the vehicle can be accurately stopped at the washable position and the cleaning by the cleaning device can be performed. The generation of an impossible area is avoided, and the entire front and rear surfaces of the vehicle can be reliably washed.

[Brief description of drawings]

FIG. 1 is a perspective view showing a washing state of a vehicle in a first embodiment of the present invention.

FIG. 2 is a perspective view of a cleaning device.

FIG. 3 is a perspective view showing a nozzle portion.

FIG. 4 is a diagram for explaining a front surface cleaning operation.

FIG. 5 is a diagram for explaining a rear surface cleaning operation.

FIG. 6 is a diagram for explaining a switching operation from a front surface cleaning state to a rear surface cleaning state.

FIG. 7 is a view corresponding to FIG. 1 in a modification of the first embodiment.

FIG. 8 is a view corresponding to FIG. 6 in a modification of the first embodiment.

FIG. 9 is a perspective view of a cleaning device according to a second embodiment of the present invention.

FIG. 10 is a front view showing a front surface cleaning state.

FIG. 11 is a plan view showing a front surface cleaning state.

FIG. 12 is a plan view showing a rear surface cleaning state.

FIG. 13 is a diagram showing a retracted state of the cleaning device.

FIG. 14 is a plan view showing a cleaning state when the vehicle stop position is displaced.

FIG. 15 is a view corresponding to FIG. 11 in a modification of the second embodiment.

[Description of symbols] 4 horizontal swivel arm 5 articulated robot 12,33 cleaning liquid spray nozzle 13,34 high-pressure water injection nozzle 14,35 distance sensor 15,16,17 light-shielding sensor (stop position recognition means) 26 rotating part 27 undulation Arm 29 Slide mechanism part (moving member) T Vehicle T1 Front surface T2 Rear surface R Track

Claims (6)

[Claims] 1. A predetermined area on the track, which is installed on a side portion of the track and cleans the front surface of the vehicle when the vehicle is stopped with the front surface of the vehicle positioned in the predetermined area on the track. A cleaning device for cleaning a rear surface of a vehicle when the vehicle is stopped while the rear surface of the vehicle is positioned on the vehicle, comprising a horizontal swing arm rotatable about a vertical axis, and the horizontal swing arm. An articulated robot is mounted on the tip of the arm, and the horizontal turning arm has a washing turning position where the articulated robot faces the front surface or the rear surface of the vehicle on the track and the tip is dislocated from the track. While being movable between the retracted turning position and the retracted turning position, the arm tip of the articulated robot sprays the cleaning liquid onto the front surface or the rear surface of the vehicle located in a predetermined area on the track. Nozzle and high pressure water And a high-pressure water jet nozzle for jetting water. 2. A predetermined area on the track, which is installed on a side portion of the track and cleans the front surface of the vehicle when the vehicle is stopped in a state where the front surface of the vehicle is located in the predetermined area on the track. A cleaning device for cleaning a rear surface of a vehicle when the vehicle is stopped while the rear surface of the vehicle is positioned on the vehicle. The cleaning apparatus includes a rotating portion rotatable about a vertical axis and An undulating arm whose one end is supported by the rotating part and is capable of undulating is connected to the moving part, and a moving member that is movable along the extension direction of the undulating arm is attached to the undulating arm. A cleaning liquid spray nozzle for spraying a cleaning liquid and a high-pressure water spray nozzle for spraying high-pressure water are attached to the moving member via a nozzle support portion, and the undulating arm includes the cleaning liquid spray nozzle and The high-pressure water jet nozzle is in front of the vehicle in orbit. Or cleaning device of the track vehicle, characterized in that there is a liftable movable between a retracted relief position cleaning undulations position and the cleaning liquid spray nozzle and high pressure water injection nozzle which faces the rear surface off the orbit. 3. The horizontal swing arm is supported on a base member installed on the ground via a moving base, and the moving base is provided on the base member along an extension direction of a track with respect to the base member. The rail vehicle cleaning device according to claim 1, further comprising a slide rail extending along an extension direction of the track so as to be movable. 4. The rotating unit is supported on a base member installed on the ground via a support base, and the support base is provided on the base member along an extension direction of a track with respect to the base member. The rail vehicle cleaning device according to claim 2, further comprising a slide rail extending along an extension direction of the track so as to be movable. 5. A distance sensor for detecting a distance between the cleaning liquid spray nozzle and the high-pressure water injection nozzle and the front surface or the rear surface of the vehicle is provided at a position close to the cleaning liquid spray nozzle and the high-pressure water injection nozzle. The cleaning device for a rail vehicle according to claim 1, 2, 3, or 4. 6. A stop position recognition means for recognizing the stop position of the vehicle is provided at a position near the track so that a predetermined cleaning operation is performed when the vehicle is stopped at a predetermined washable position. It has been installed, Claim 1, 2,
The cleaning device for a rail car according to 3, 4, or 5.