CN109733335A - There is the intelligent purge system and method for ultrasonic cleaning function based on electromagnetism guiding - Google Patents
There is the intelligent purge system and method for ultrasonic cleaning function based on electromagnetism guiding Download PDFInfo
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- CN109733335A CN109733335A CN201910152011.4A CN201910152011A CN109733335A CN 109733335 A CN109733335 A CN 109733335A CN 201910152011 A CN201910152011 A CN 201910152011A CN 109733335 A CN109733335 A CN 109733335A
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Abstract
The invention discloses a kind of intelligent purge systems based on electromagnetism guiding with ultrasonic cleaning function, including mobile purge system；The mobile purge system, which includes that bottom is mobile, purges mobile purging robot of robot and top, the former includes electromagnetism guiding AGV trolley, cheats the preset electromagnetism guiding wire rope traveling in stock rail two sides along checking；Ultrasonic atomization spray head and industrial camera are provided in purging robot.The present invention quickly and efficiently removes the dust of vehicle, improve the operating environment in purging library, realize rail traffic vehicles vehicle bottom, vehicle side, roof stereoscopic and omnibearing purging, and electromagnetism guide mode can purge demand according to vehicle and expand or change purging path, with accurate positioning, flexibility is higher, advantage convenient for disassembly and assembly；Ultrasonic nozzle purges the environmental protection of spot using effect, energy saving, and purging, which is more cleaned and eliminated, to be worn rail traffic vehicles and corrode, and also extends ultrasonic atomization spray head service life.
Description
Technical field
The invention belongs to rail traffic vehicles purging technology fields, and in particular to one kind has ultrasound clear based on electromagnetism guiding
Wash the intelligent purge system and method for function.
Background technique
With the rapid development of the national economy, people go on a journey, traffic is more and more frequent, to the quick, convenience of service
It is required that also higher and higher.In order to adapt to and push the development of industry, rail traffic shows well as a kind of novel traffic mode
The development of spray formula.Correspondingly, to rail traffic vehicles O&M safety more stringent requirements are proposed.
Rail traffic vehicles in the process of running, since the friction of wheel and interorbital can generate many dust, these powder
Dirt, which is adsorbed on the electrical equipment surface of train bottom, will lead to some electric faults, regular in order to ensure vehicle operational safety
Timely dedusting is carried out to car body top, bottom, if being dusted not in time, in addition to vehicle performance and service life have an impact with
Outside, it also will cause vehicle trouble when serious, cause traffic accident.
Currently, the vehicle bottom electric components in domestic rail traffic vehicles maintenance place purge operation, people is relied primarily on
Work is cleaned manually or is completed in such a way that mechanical arm automatic blowing is combined and manually made up a deficiency, this method low efficiency, labor intensity
Greatly, and the AGV trolley for purging mechanical arm is carried, can only be often moved up along the fixation rail for being laid on purging mill floor
It is dynamic.When vehicle to be purged, block length change, the walking path of such AGV trolley is due to can not timely rapid expansion
Change is unable to satisfy the demand of purging operation.
Currently, Some Domestic rail traffic vehicles Overhaul Yard is equipped with simple purging station, but only just for vehicle bottom
The components such as bogie are dusted, purge.However rail traffic vehicles are during long-time actual operation, vehicle roof air-conditioning
Strainer, run-through channel fold can also accumulate a large amount of dusts, spot, such as irregularly purge, there is the hidden danger for causing electric fault, also can
It constitutes a threat to vehicle normal operation.
The purging operation in country's rail traffic vehicles maintenance place is mostly artificial mark spraying pressure-vaccum dirt at present, and this method purges region
Small, purging low efficiency cannot find thorough abnormal conditions, purge operating personnel's large labor intensity, and there are it is manually-operated not
Certainty leads to secondary pollution.
Existing cleaner unit arranges in workshop for array, starts all to be uniformly controlled unlatching after purging operation,
Although foring biggish wind field, in inartificial or mechanical arm operation region, no dust is purged, be inhaled
The pick-up performance of dirt unit is limited, wastes mass energy instead, causes the mechanicalness noise to thunder in a workshop.
Further, since the device distributions such as vehicle bottom bogie and shape irregular, generate when actually purging operation
The flight path of dust also irregular, it is also contemplated that the requirement of vehicle gauge, purging station is difficult to form the sky of relative closure
Between, dust when so as to cause purging operation is difficult to collect.
Summary of the invention
For at least one of prior art the above defects or improvement requirements, the present invention provides one kind to be led based on electromagnetism
Draw intelligent purge system and method with ultrasonic cleaning function, vehicle purge system is rationally designed, to purging library
Comprehensive purging process layout has been carried out, rail traffic vehicles vehicle bottom, vehicle side, roof stereoscopic and omnibearing purging, and electricity are realized
Magnetic guidance mode can purge demand according to vehicle and expand or change purging path, have accurate positioning, flexibility is higher, dismounting side
Just the advantages of；Ultrasonic nozzle purges the environmental protection of spot using effect, and energy saving, purging is more cleaned and eliminated to rail traffic
Vehicle abrasion and corrosion also extend ultrasonic atomization spray head service life.
To achieve the above object, according to one aspect of the present invention, it provides a kind of clear with ultrasound based on electromagnetism guiding
Wash the intelligent purge system of function, it is characterised in that: including mobile purge system；
The mobile purge system includes mobile purging robot of the mobile purging robot in bottom and top, and the bottom is moved
Dynamic purging robot walks in the stock rail two sides in rail traffic vehicles sweeper spoke-like inspection hole, and the top movement is blown
It sweeps robot ambulation and purges workshop top, car roof area in rail traffic vehicles；
The mobile purge system includes at least the mobile purging robot in two bottoms, is located at rail vehicle
The stock rail two sides in sweeper spoke-like inspection hole；Also include at least the mobile purging robot in the top；
The mobile purging machine of the mobile purging robot in the bottom and top includes movable mechanism and executing agency per capita；
The movable mechanism of the mobile purging robot in the bottom includes electromagnetism guiding AGV trolley, cheats stock rail two sides along checking
Preset electromagnetism guiding wire rope traveling；The movable mechanism of the mobile purging robot in the top includes inverted AGV small
Vehicle is connected by trapped orbit with the hanger of purging workshop top；Executing agency all includes Multi-freedom-degreemanipulator manipulator arm, mostly freely
Degree mechanical arm on be provided with ultrasonic atomization spray head and industrial camera, for vehicle part, vehicle bottom, side portion of vehicle,
Vehicle roof carries out purging and Image Acquisition.
Preferably, further include exhausting-dusting system, by pipeline be respectively connected to the mobile purging robot in the bottom and
The operating area of the mobile purging robot in top；The exhausting-dusting system is included in purging workshop bottom and top along vehicle rail
The multisection type dust removing units of road genesis analysis arrangement；With mobile purging robot of the mobile purging robot in the bottom and top
The air duct of the variation of job position, the corresponding dust removing units is opened and remaining is closed.
Preferably, the AGV trolley of mobile purging robot of the mobile purging robot in the bottom and top includes car body,
The setting of Multi-freedom-degreemanipulator manipulator arm is on the car body and including sequentially connected large arm, forearm, the ultrasonic atomization spray head and work
Industry camera is disposed in parallel in the front end of forearm.
Preferably, the multisection type dust removing units include multiple suction inlets；The exhausting-dusting system further include vacuum cleaner,
Exhaust duct, deduster；
The vacuum cleaner is mounted on the rear of the suction inlet, and the deduster is mounted on rail traffic vehicles purging workshop
Outside, be connected to by the exhaust duct with the suction inlet.
Preferably, the suction inlet includes the top suction inlet being located on the hanger of purging workshop top, is located at inspection hole
Stock rail two sides lateral suction inlet and/or positioned at check cheat hole bottom bottom suction inlet.
Preferably, the multisection type butterfly valve that can be independently opened and closed is set in the suction inlet, is purged as the bottom is mobile
The movement of mobile purging robot of robot and top, the butterfly valve of corresponding suction inlet is opened and the butterfly valve in remaining region is closed.
Preferably, further include water supply air feed system, pass through the mobile purging robot of flexible duct and the bottom and top
Mobile purging robot connection, for ultrasonic atomization spray head water supply gas supply；
The water supply air feed system includes water pipe, water pump, air compressor, air dryer, total cylinder, main reservoir pipe
Road, pressure switch, safety valve；
Wherein water pipe connects water source, the pressurization of water pump water supply stream；
The mechanical energy of prime mover is converted into gas pressure energy by air compressor, provides compressed air；
Air dryer is used to remove the objectionable impurities in compressed air including grease, moisture, dust；
Total cylinder is the pressure vessel for storing vehicle purging and using compressed air；
Pressure switch is mounted in main reservoir pipe road, and for detecting total cylinder pressure, total wind pressure force signal is converted to sky
The switching signal of air compressor control circuit, to control the start and stop of air compressor machine；
Safety valve is used to protect the safety of water supply air feed system according to operating pressure automatic open close.
Preferably, pilot frequency, the electromagnetism of the mobile purging robot in the bottom are loaded on electromagnetism guiding wire rope
Guiding AGV trolley passes through the guiding identified to realize AGV to pilot frequency；
If vehicle model to be purged, block length change, electromagnetism guiding wire rope can pass through length and side
To variation come expand or change purging path.
To achieve the above object, other side according to the invention additionally provides a kind of as previously described based on electromagnetism
Guide the blowing method with the intelligent purge system of ultrasonic cleaning function:
Rail traffic vehicles enter the purging region in purging workshop；
AGV trolley in mobile purging robot of the mobile purging robot in bottom and top is longitudinally walked along stock rail,
Mechanical arm carries out multifreedom motion and carries out purging operation to vehicle；
While purging operation, exhausting-dusting system works, when the mobile purging robot in bottom and top movement are blown
When sweeping AGV trolley in robot and mechanical arm work to a certain region, the butterfly valve of the suction inlet in the region passes through PLC control
It opens, remaining region butterfly valve is closed；Negative pressure is generated after vacuum cleaner work at this time, the purged dusty gas of mechanical arm is passed through
Suction inlet sucks in exhaust duct, and the gas for carrying dust enters the deduster for purging outdoor boundary, bulky grain by exhaust duct
Dust is filtered collection by air outlet and falls into collection vessel, and pure air is directly drained from air outlet, realizes without powder
Dirt leakage；
Under AGV trolley and mechanical arm in mobile purging robot of the mobile purging robot in bottom and top continue
The purging in one region, with the variation of job position, the butterfly valve of corresponding suction inlet is sequentially opened and remaining is closed, so that dust suction
Mouth works according to sequentially unlatching/closing form, and until permutation compartment, purging is finished.
Preferably, the suction inlet includes the top suction inlet being located on the hanger of purging workshop top, is located at inspection hole
Stock rail two sides lateral suction inlet and positioned at check cheat hole bottom bottom suction inlet；
AGV trolley and mechanical arm in the mobile purging robot in bottom pass through in same area lateral suction inlet and
Bottom suction inlet is opened and closed by the way that respective butterfly valve is synchronous；
Further, the mobile purging robot in top and the mobile purging robot in bottom are synchronous above and below track longitudinal direction
Advance, top suction inlet, lateral suction inlet, the bottom suction inlet in the same area that AGV trolley passes through with mechanical arm pass through
Respective butterfly valve is synchronous to be opened and closed；Alternatively, mobile purging robot of the mobile purging robot in top and bottom is vertical in track
Independently advance up and down to direction, the butterfly valve of the lateral suction inlet and bottom suction inlet of top suction inlet and lower section is independently opened mutually
And closing.
Above-mentioned preferred feature can be combined with each other as long as they do not conflict with each other.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have below beneficial to effect
Fruit:
1, it is of the invention based on electromagnetism guiding have ultrasonic cleaning function intelligent purge system, to vehicle purge system into
It has gone rational design, stereoscopic and omnibearing layout has been carried out to purging library purging station, has quickly and efficiently removed the dust of vehicle,
The operating environment in purging library is improved, rail traffic vehicles vehicle bottom, vehicle side, the purging operation of roof stereoscopic and omnibearing are realized
Intelligence, can sweeper bottom, dust accumulation, greasy dirt, the rusty stain on vehicle side relevant device surface etc., vehicle top air conditioner strainer can also be cleaned, passed through
Channel fold, cleanable each component mounting portion position, meets next step visual examination, component installation requirement.
2, the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention purges machine by mobile
People, especially electromagnetism guide the construction of AGV trolley, blow rifle without human intervention, and labor intensity is small, and purging is high-efficient, and lead
It is hidden, it is not easy to pollute and damaged, guiding principle it is simple and reliable, convenient for control and communication, it is noiseless to acousto-optic, manufacturing cost compared with
Low, when purging vehicle model, block length change, the demand that can be purged according to vehicle expands or change purging path, has
There is accurate positioning, flexibility is higher, advantage convenient for disassembly and assembly.
3, the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention, using in vehicle bilateral cloth
Electromagnetic induction wire rope is set, vehicle opposite side, vehicle base fabric set cleaner unit, and integral layout is compact-sized, occupy little space, and purge
Efficiency is higher.Meanwhile in purging operation process, purging dust forms two non-interference longitudinal field of flow, after convenient
Continuous dust suction processing.
4, the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention, is different from traditional high pressure
Wind is swept, and purges spot using ultrasonic nozzle；Water and the dust particle collision ejected, cohesion, scale and quality constantly increase
Long, cohesion becomes larger and heavier powder and falls；And the whole process of depositing dust does not have any specially treated, using effect ring
It protects, energy saving, purging more cleans；The use of ultrasonic atomization spray head, which eliminates, wears rail traffic vehicles and corrodes,
Also extend ultrasonic atomization spray head service life.
5, the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention, passes through stock rail longitudinal direction
The multisection type butterfly valve that can be independently opened and closed in the construction of multisection type dust removing units arranged evenly, especially multisection type suction inlet
Construction, with the movement of mobile purging robot, the butterfly valve of corresponding suction inlet is opened and the butterfly valve in remaining region is closed, sufficiently
Cooperate the purging region job of mobile purging robot, and considered that its purges wind field, only needs suction inlet in preset range i.e.
The dust suction dedusting in the achievable region, the cleaner unit of other non-operation areas are not involved in dust suction, reduce the ring of large quantities of vacuum cleaners
Border noise has saved a large amount of energy, reduces the operating time of equipment, reduces use cost and improves service life, suction inlet
Sequentially open and close, it can be achieved that dedusting Voice segment has been arrived on operation hot spot so that dust is fixed by the shortest path of planning
It is extremely effective to improve dust removing effects to discharge.
6, the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention, passes through the layout of suction inlet
Design, especially in the stock rail two sides for checking hole and positioned at checking that cheating hole bottom all arranges array suction inlet, and with
With the movement of AGV trolley and mechanical arm in mobile purge system, opens and closes, compensate for by the way that respective butterfly valve is synchronous
The effect of cleaner unit that nonclient area is closed, loses, and strengthens the pick-up performance of workspace, meets whole purging and requires.
Detailed description of the invention
Fig. 1 is the composition schematic diagram of the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention；
Fig. 2 is the integral layout signal of the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention
Scheme (top view)；
Fig. 3 is the purging workshop main view of the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention
Figure；
Fig. 4 is the exhausting-dusting system of the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention
Schematic diagram (side view)；
Fig. 5 is the exhausting-dusting system of the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention
Partial illustration is intended to；
Fig. 6 is the mobile purging in bottom of the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention
Robot schematic diagram；
Fig. 7 is the mobile purging in top of the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention
Robot schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.The present invention is described in more detail With reference to embodiment.
As shown in Figs. 1-5, the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention, whole group
At including water supply air feed system 1, electric control system 2, mobile purge system 3 and exhausting-dusting system 4.Intelligence purging system
System is connected to purge indoor totally enclosed type by confession, exhaust pipeline and water supply air feed system 1 and exhausting-dusting system 4.Purge room
It is made of the part such as main body, gate, lighting device, foot level grill, safety door, block, forms the enclosure space of purging operation.
Water supply air feed system 1 (see Fig. 2) is mainly by water pipe, water pump, air compressor, air dryer, total cylinder, total wind
The composition such as earthen pipe road, pressure switch, safety valve.Wherein water pipe connects water source, the pressurization of water pump water supply stream；Air compressor is
The main body of compressed air source unit, it is the device that the mechanical energy of prime mover (usually motor) is converted into gas pressure energy, is pressure
The pressure generator of contracting air.Air dryer is a kind of compressed air dehumidifying device, for removing the oil in compressed air
The objectionable impurities such as water, moisture, dust.Total cylinder is the pressure vessel to store vehicle compressed air.Its main use exists
In can find to give tonifying Qi when leaking and inflating in time, and can meet in time system with wind requirement.Pressure switch is to utilize pressure
The pressure of contracting air opens and closes the electric appliance conversion element electrically to get an electric shock.Pressure switch is mounted near total cylinder, detects total cylinder
Total wind pressure force signal is converted to the switching signal of control circuit of air compressor, to control the start and stop of air compressor machine by pressure.Peace
Full valve is installed on protection system safety in the equipment or pipeline of closed system according to operating pressure energy automatic open close.When equipment or
When manifold pressure is more than specified value, i.e. automatic opening pressure release, guarantee equipment and pipeline internal medium pressure within specified value,
It tries to avert accidents.Water supply air feed system is by being transported to Multi-freedom-degreemanipulator manipulator in mobile purge system for water and pressure-air
The ultrasonic atomization of arm is met and discussed place, and the high-pressure atomization air knife cleaning car body and parts surface of formation are utilized.
Preferably, the electric control system 2 is mainly made of blind controller system and computer supervisory control system, to grasp
Make the operation with monitoring device.Blind controller system is responsible for collection site temperature of each section signal, gaseous-pressure signal, while each section
Temp controlled meter the current signal of 4-20mA is exported to drive each section of the air control valve in scene according to set temperature value, reach control
The effect of temperature；Computer supervisory control system then passes through PLC and control instrument and carries out RS485 communication, the real time temperature of each section of acquisition,
The signals such as aperture, the gaseous-pressure of each section of air control valve, and time recording.When in water supply air feed system, mobile purge system
There are certain devices short circuit, open circuit to occur or caused over-temp and over-pressure power of leaking electricity, can show each position temperature in blind controller system
With pressure, and the alarm buzzer on panel can work, and flash and beep, and staff is reminded to close device
Reason adjustment.
Mobile purge system 3 includes mobile purging robot 32 of the mobile purging robot 31 in bottom and top, the bottom
Mobile purging robot 31 walks in the stock rail two sides in rail traffic vehicles sweeper spoke-like inspection hole, and the top is moved
Dynamic purging robot 32 walks in rail traffic vehicles purging workshop top, car roof area.Mobile purge system 3 includes at least two
The mobile purging robot 31 in bottom described in platform (being as Figure 2-3 two), is located at rail traffic vehicles sweeper studding
The 10 track two sides of vehicle in shape inspection hole；It further include that the mobile purging robot 32 in an at least top (is illustrated in figure 3 two
Platform).Mobile purging robot 32 of the mobile purging robot 31 in the bottom and top includes movable mechanism and executing agency；
The movable mechanism of the mobile purging robot 31 in the bottom includes electromagnetism guiding AGV trolley, cheats stock rail two along checking
The electromagnetism guiding wire rope 34 that installation is pasted in side travels；Pilot frequency, the bottom are loaded on electromagnetism guiding wire rope 34
The electromagnetism guiding AGV trolley of mobile purging robot 31, portion passes through the guiding identified to realize AGV to pilot frequency；If to
When purging vehicle model, block length change, paste electromagnetism guiding wire rope 34 on the ground can by length and
The variation in direction purges path to expand or change；The movable mechanism of the mobile purging robot 32 in the top includes inverted
AGV trolley is connected by trapped orbit with the hanger 33 of purging workshop top；Executing agency all includes Multi-freedom-degreemanipulator manipulator
Arm is provided with ultrasonic atomization spray head 311 and industrial camera 312 on Multi-freedom-degreemanipulator manipulator arm, for vehicle part, vehicle
Bottom, side portion of vehicle, vehicle roof carry out purging and Image Acquisition.The trapped orbit is excellent other than basic long rails
Choosing further includes cross track, in order to the mobile purging of roof transverse direction.As shown in fig. 6-7, the mobile purging machine in the bottom
The AGV trolley of the mobile purging robot 32 of device people 31 and top includes car body 315, and Multi-freedom-degreemanipulator manipulator arm is arranged in car body
On 315 and including sequentially connected large arm 314, forearm 313, the ultrasonic atomization spray head 311 and industrial camera 312 are set side by side
It sets in the front end of forearm 313.The ultrasonic atomization spray head 311 of the Multi-freedom-degreemanipulator manipulator arm configuration, can effectively remove attached
Dust, spot, iron rust etc., specifically for vehicle complex component (such as Fig. 2, the vehicle wheel in 4 are to 12), vehicle bottom,
Side portion of vehicle is purged, and provides prerequisite for the service work of next step.It is different from traditional high-pressure blast purging, using super
Sound spray head purges spot；Water and the dust particle collision ejected, cohesion, scale and quality constantly increase, cohesion become compared with
Big and heavier powder falls；And the whole process of depositing dust does not have any specially treated, using effect environmental protection is energy saving, blows
It sweeps and more cleans；The use of ultrasonic atomization spray head, which eliminates, wears rail traffic vehicles and corrodes, and also extends ultrasonic wave
Atomizer service life.Mechanical arm can reach the operation blind area that purging operating personnel cannot reach, and the people that fulfils assignment
The work of the difficult operation of member, can either carry out linear expansion, and can planar swing, rotate in space.According to purging operation
Demand and vehicle gauge 11, it is the advantages of mechanical arm is because of its own mobility and retractility, expansible and take into account body side
Portion's purging.The intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention purges robot by mobile,
The especially construction of electromagnetism guiding AGV trolley, blows rifle without human intervention, and labor intensity is small, and purging is high-efficient, and lead is hidden
Cover, it is not easy to pollute and damaged, guiding principle it is simple and reliable, convenient for control and communication, it is noiseless to acousto-optic, manufacturing cost compared with
Low, when purging vehicle model, block length change, the demand that can be purged according to vehicle expands or change purging path, has
There is accurate positioning, flexibility is higher, advantage convenient for disassembly and assembly.
Exhausting-dusting system 4 (see Fig. 1-5) is included in purging workshop bottom and top and arranges along stock rail genesis analysis
Multisection type dust removing units；With mobile purging 32 job position of robot of the mobile purging robot 31 in the bottom and top
The air duct of variation, the corresponding dust removing units is opened and remaining is closed.The multisection type dust removing units include that multiple diameters exist
The suction inlet 40,41,42 of 100-400mm range；The exhausting-dusting system 4 further includes vacuum cleaner 43, exhaust duct 44, dedusting
Device 45.The vacuum cleaner 43 is mounted on the rear of the suction inlet 40,41,42, and the deduster 45 is mounted on rail vehicle
Purging workshop outside, be connected to by the exhaust duct 44 with the suction inlet 40,41,42.The suction inlet 40,41,
42 include the top suction inlet 40 being located on the hanger 33 of purging workshop top, positioned at the lateral of the stock rail two sides for checking hole
Suction inlet 41 and/or the bottom suction inlet 42 that hole bottom is cheated positioned at inspection.It sets and can independently open in the suction inlet 40,41,42
The multisection type butterfly valve closed, with the movement of mobile purging robot 32 of the mobile purging robot 31 in the bottom and top, accordingly
Suction inlet butterfly valve open and the butterfly valve in remaining region close.Preferably, exhausting-dusting system 4 further includes the envelope longitudinally extended
Gear 48, as shown in figure 3, be located at 10 two sides of the bottom of vehicle and top two sides, lower block, lateral suction inlet 41 erecting bed and
Between car body, it is respectively formed purging confined space between upper block, top hanger 33 and car body, prevents dust dispersion.
The intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention, is set by the layout of suction inlet
Meter especially all arranges array suction inlet in the stock rail two sides for checking hole and positioned at inspection hole hole bottom, and follows
The movement of AGV trolley and mechanical arm in mobile purge system is opened and closed by the way that respective butterfly valve is synchronous, is compensated for non-
The effect of cleaner unit that workspace is closed, loses, and strengthens the pick-up performance of workspace, meets whole purging and requires.Specifically
Ground, suction inlet is the multisection type butterfly valve that can be opened and closed respectively, and with the variation of job position, corresponding suction inlet is opened and remaining is closed
It closes.Vacuum cleaner is that high power air compressor is mounted on suction inlet underface and vehicle body two sides, passes through PLC and controls butterfly valve opening and closing
The opening and closing PLC circuit plate 47 of butterfly valve (in such as Fig. 4 control) for realizing suction inlet, play that collecting mechanical arm is purged to be contained
Dust and gas body function.The sequentially open and close of suction inlet is, it can be achieved that dedusting Voice segment has been arrived on operation hot spot, so that dust is pressed
The shortest path of planning orients discharge, extremely effective to improve dust removing effects.Exhaust duct is divided into several independent units, real
It is segmented air draft, now to reduce energy consumption and noise.Deduster 45 includes that a vacuum cleaner 43 of bottom and a dust on top are received
Storage 46 moistens by waterpower parent to separate, trap dust particles, and when carrying out purging operation, negative pressure air carries the gas of dust
Body enters the deduster connecting with the outdoor boundary of purging by exhaust duct, is filtered processing.Exhausting-dusting work flow is as follows:
In AGV trolley and mechanical arm work to the region in mobile purge system, control butterfly valve is opened, and exhausting-dusting system carries out
Work generates negative pressure after vacuum cleaner work at this time, the purged dusty gas of mechanical arm is sucked exhaust duct by suction inlet
Interior, the gas for carrying dust enters the dust collection machine for purging outdoor boundary by exhaust duct, and large dust particle passes through air outlet
Collection is filtered to fall into collection vessel, and pure air is directly drained from air outlet, is really realized and is leaked outside without dust.This hair
The bright intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function, the multistage arranged by stock rail genesis analysis
The multisection type butterfly valve construction that can be independently opened and closed in the construction of formula dust removing units, especially multisection type suction inlet, with movement
The movement of robot is purged, the butterfly valve of corresponding suction inlet is opened and the butterfly valve in remaining region is closed, and movement has sufficiently been cooperated to blow
The purging region job of robot is swept, and considers that it purges wind field, only needs the suction inlet in preset range that the region can be completed
Dust suction dedusting, the cleaner unit of other non-operation areas is not involved in dust suction, reduces the environmental noise of large quantities of vacuum cleaners, saves
The a large amount of energy reduces the operating time of equipment, reduces use cost and improves the service life, the sequentially unlatching of suction inlet is closed
It closes, it can be achieved that dedusting Voice segment has been arrived on operation hot spot, so that dust orients discharge by the shortest path of planning, extremely has
Effect improves dust removing effects.
The blowing method of the intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention, is introduced such as
Under:
Rail traffic vehicles enter the purging region in purging workshop.
AGV trolley in mobile purging robot 32 of the mobile purging robot 31 in bottom and top is along stock rail lengthwise rows
It walks, mechanical arm carries out multifreedom motion and carries out purging operation to vehicle.
While purging operation, exhausting-dusting system 4 works, when the mobile purging robot 31 in bottom and top are mobile
When purging AGV trolley and mechanical arm in robot 32 and working to a certain region, the butterfly of the suction inlet 40,41,42 in the region
Valve is controlled by PLC and is opened, remaining region butterfly valve is closed；Vacuum cleaner 43 generates negative pressure after working at this time, and mechanical arm is purged
Dusty gas afterwards is sucked in exhaust duct 44 by suction inlet 40,41,42, carry the gas of dust by exhaust duct 44 into
Enter the deduster 45 for purging outdoor boundary, large dust particle is filtered collection by air outlet and falls into collection vessel, and clean
Air is directly drained from air outlet, is realized and is leaked outside without dust.
AGV trolley and mechanical arm in mobile purging robot 32 of the mobile purging robot 31 in bottom and top continue into
The purging of row subsequent region, with the variation of job position, the butterfly valve of corresponding suction inlet 40,41,42 is sequentially opened and remaining
It closes, so that suction inlet 40,41,42 works according to sequentially unlatching/closing form, until permutation compartment, purging is finished.The row
On the one hand wind dust pelletizing system reduces energy consumption and noise by segmentation air draft, on the other hand can be achieved to arrive dedusting Voice segment
On operation hot spot, so that dust orients discharge by the shortest path of planning, it is extremely effective to improve dust removing effects.
Preferably, the suction inlet 40,41,42 includes the top suction inlet on the hanger 33 of purging workshop top
40, positioned at the lateral suction inlet 41 for the stock rail two sides for checking hole and positioned at the bottom suction inlet 42 for checking hole hole bottom.Bottom
AGV trolley in mobile purging robot 31 and lateral suction inlet 41 and bottom dust suction in the same area of mechanical arm process
Mouth 42 is opened and closed by the way that respective butterfly valve is synchronous.
Further, mobile purging robot 31 of the mobile purging robot 32 in top and bottom is above and below track longitudinal direction
Top suction inlet 40, lateral suction inlet 41 in the same area of advanced in unison, AGV trolley and mechanical arm process, bottom are inhaled
Dirt mouth 42 is opened and closed by the way that respective butterfly valve is synchronous.Alternatively, the mobile purging machine of the mobile purging robot 32 in top and bottom
Device people 31 independently advances up and down in track longitudinal direction, the lateral suction inlet 41 and bottom suction inlet of top suction inlet 40 and lower section
42 butterfly valve independently opens and closes mutually.The mobile purging robot 31 in two bottoms can move synchronously in a symmetrical manner,
It can be purged respectively from headstock and the tailstock to centre purging or from centre to both ends.
The intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function of the invention, carries out vehicle purge system
It rationally designs, rational deployment has been carried out to purging library, has quickly and efficiently removed the dust of vehicle, has been improved in purging library
Operating environment realizes the intelligence of purging operation.Main power source of the present invention using compressed air as purging, two people
Work intelligence blowing mechanism is continuously purged from vehicle one end to the other end, and comprehensive, the multi-angle weight for the labyrinth at vehicle bottom
Point purging.Can sweeper bottom relevant device surface dust accumulation, greasy dirt, rusty stain etc.；Cleanable each component mounting portion position, meets next
Walk visual examination, component installation requirement；The dust dirt generated after surface treatment can be cleared up in real time and be returned by exhausting-dusting system
It receives, qualified discharge standard avoids causing secondary pollution to environment.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of intelligent purge system based on electromagnetism guiding with ultrasonic cleaning function, it is characterised in that: purged including mobile
System (3)；
The mobile purge system (3) includes mobile purging robot (32) of mobile purging robot (31) in bottom and top, institute
State the stock rail two sides that mobile purging robot (31) in bottom walks in rail traffic vehicles sweeper spoke-like inspection hole, institute
It states mobile purging robot (32) in top and walks in rail traffic vehicles purging workshop top, car roof area；
The mobile purge system (3) includes at least mobile purging robot (31) in two bottoms, is located at track friendship
Be open to traffic a stock rail two sides in sweeper spoke-like inspection hole；Also include at least the mobile purging robot in the top
(32)；
Mobile purging robot (32) of mobile purging robot (31) in the bottom and top includes movable mechanism and execution
Mechanism；The movable mechanism of mobile purging robot (31) in the bottom includes electromagnetism guiding AGV trolley, cheats vehicle along checking
Preset electromagnetism guiding wire rope (34) traveling in track two sides；The movable mechanism of mobile purging robot (32) in the top
Including inverted AGV trolley, it is connected by trapped orbit with the hanger (33) of purging workshop top；Executing agency all includes mostly certainly
By degree mechanical arm, it is provided with ultrasonic atomization spray head (311) and industrial camera (312) on Multi-freedom-degreemanipulator manipulator arm, is used for
Purging and Image Acquisition are carried out to vehicle part, vehicle bottom, side portion of vehicle, vehicle roof.
2. having the intelligent purge system of ultrasonic cleaning function based on electromagnetism guiding as described in claim 1, it is characterised in that:
Further include exhausting-dusting system (4), mobile purging robot (31) in the bottom is respectively connected to by pipeline and top is mobile
Purge the operating area of robot (32)；
The exhausting-dusting system (4) includes the multisection type arranged in purging workshop bottom and top along stock rail genesis analysis
Dust removing units；With the change of mobile purging robot (32) job position of mobile purging robot (31) in the bottom and top
Change, the air duct of the corresponding dust removing units is opened and remaining is closed.
3. having the intelligent purge system of ultrasonic cleaning function based on electromagnetism guiding as claimed in claim 2, it is characterised in that:
The AGV trolley of mobile purging robot (32) of mobile purging robot (31) in the bottom and top includes car body
(315), Multi-freedom-degreemanipulator manipulator arm is arranged on car body (315) and including sequentially connected large arm (314), forearm (313), institute
It states ultrasonic atomization spray head (311) and industrial camera (312) is disposed in parallel in the front end of forearm (313).
4. having the intelligent purge system of ultrasonic cleaning function based on electromagnetism guiding as claimed in claim 3, it is characterised in that:
The multisection type dust removing units include multiple suction inlets (40,41,42)；The exhausting-dusting system (4) further includes dust suction
Machine (43), exhaust duct (44), deduster (45)；
The vacuum cleaner (43) is mounted on the rear of the suction inlet (40,41,42), and the deduster (45) is mounted on track friendship
Be open to traffic an outside in purging workshop, is connected to by the exhaust duct (44) with the suction inlet (40,41,42).
5. having the intelligent purge system of ultrasonic cleaning function based on electromagnetism guiding as claimed in claim 4, it is characterised in that:
The suction inlet (40,41,42) includes the top suction inlet (40) being located on the hanger (33) of purging workshop top, is located at
Check the lateral suction inlet (41) of the stock rail two sides in hole and/or positioned at the bottom suction inlet (42) for checking hole hole bottom.
6. having the intelligent purge system of ultrasonic cleaning function based on electromagnetism guiding as claimed in claim 5, it is characterised in that:
The multisection type butterfly valve that can be independently opened and closed is set in the suction inlet (40,41,42), with the mobile purging machine in the bottom
The movement of mobile purging robot (32) of device people (31) and top, the butterfly valve of corresponding suction inlet are opened and the butterfly valve in remaining region
It closes.
7. having the intelligent purge system of ultrasonic cleaning function based on electromagnetism guiding as described in claim 1, it is characterised in that:
Further include water supply air feed system (1), passes through the mobile purging of mobile purging robot (31) of flexible duct and the bottom and top
Robot (32) connection, supplies water for ultrasonic atomization spray head (311) and supplies；
The water supply air feed system (1) include water pipe, water pump, air compressor, air dryer, total cylinder, main reservoir pipe road,
Pressure switch, safety valve；
Wherein water pipe connects water source, the pressurization of water pump water supply stream；
The mechanical energy of prime mover is converted into gas pressure energy by air compressor, provides compressed air；
Air dryer is used to remove the objectionable impurities in compressed air including grease, moisture, dust；
Total cylinder is the pressure vessel for storing vehicle purging and using compressed air；
Pressure switch is mounted in main reservoir pipe road, and for detecting total cylinder pressure, total wind pressure force signal is converted to air pressure
The switching signal of contracting machine control circuit, to control the start and stop of air compressor machine；
Safety valve is used to protect the safety of water supply air feed system according to operating pressure automatic open close.
8. having the intelligent purge system of ultrasonic cleaning function based on electromagnetism guiding as described in claim 1, it is characterised in that:
Pilot frequency, the electromagnetism guiding of mobile purging robot (31) in the bottom are loaded in electromagnetism guiding wire rope (34)
AGV trolley passes through the guiding identified to realize AGV to pilot frequency；
If vehicle model to be purged, block length change, electromagnetism guiding wire rope (34) can pass through length and side
To variation come expand or change purging path.
9. there is based on electromagnetism guiding the blowing method of the intelligent purge system of ultrasonic cleaning function as claimed in claim 6,
It is characterized by:
Rail traffic vehicles enter the purging region in purging workshop；
AGV trolley in mobile purging robot (32) of mobile purging robot (31) in bottom and top is along stock rail lengthwise rows
It walks, mechanical arm carries out multifreedom motion and carries out purging operation to vehicle；
While purging operation, exhausting-dusting system (4) works, when mobile purging robot (31) in bottom and top are mobile
When purging AGV trolley and mechanical arm in robot (32) and working to a certain region, the suction inlet (40,41,42) in the region
Butterfly valve pass through PLC control open, remaining region butterfly valve close；Negative pressure is generated after vacuum cleaner (43) work at this time, by manipulator
The purged dusty gas of arm is by the way that in suction inlet (40,41,42) sucking exhaust duct (44), the gas for carrying dust passes through row
Air piping (44) enters the deduster (45) for purging outdoor boundary, and large dust particle is filtered collection by air outlet and falls into collection
In container, and pure air is directly drained from air outlet, is realized and is leaked outside without dust；
AGV trolley in mobile purging robot (32) of mobile purging robot (31) in bottom and top and mechanical arm continue into
The purging of row subsequent region, with the variation of job position, the butterfly valve of corresponding suction inlet (40,41,42) is sequentially opened and it
Remaining closing, so that suction inlet (40,41,42) works according to sequentially unlatching/closing form, until permutation compartment, purging is finished.
10. there is based on electromagnetism guiding the blowing method of the intelligent purge system of ultrasonic cleaning function as claimed in claim 9,
It is characterized by:
The suction inlet (40,41,42) includes the top suction inlet (40) being located on the hanger (33) of purging workshop top, is located at
Check the lateral suction inlet (41) of the stock rail two sides in hole and positioned at the bottom suction inlet (42) for checking hole hole bottom；
The lateral suction inlet in same area that AGV trolley and mechanical arm in mobile purging robot (31) in bottom pass through
(41) it is opened and closed with bottom suction inlet (42) by the way that respective butterfly valve is synchronous；
Further, mobile purging robot (31) of mobile purging robot (32) in top and bottom is above and below track longitudinal direction
Top suction inlet (40), lateral suction inlet (41), bottom in the same area of advanced in unison, AGV trolley and mechanical arm process
Portion's suction inlet (42) is opened and closed by the way that respective butterfly valve is synchronous；Alternatively, mobile purging robot (32) in top and bottom are moved
Dynamic purging robot (31) is independently advanced up and down in track longitudinal direction, the lateral suction inlet of top suction inlet (40) and lower section
(41) it is independently opened and closed mutually with the butterfly valve of bottom suction inlet (42).
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| CN201910152011.4A CN109733335B (en) | 2019-02-28 | 2019-02-28 | Intelligent purging system and method with ultrasonic cleaning function based on electromagnetic guidance |
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| CN113340776A (en) * | 2020-03-02 | 2021-09-03 | 长鑫存储技术有限公司 | Material conveying system, automatic crown block walking area particle monitoring system and monitoring method |
| CN113895404A (en) * | 2021-02-24 | 2022-01-07 | 中铁第四勘察设计院集团有限公司 | Sweeping method for vehicle bottom pollution identification |
| CN113916214A (en) * | 2021-02-24 | 2022-01-11 | 中铁第四勘察设计院集团有限公司 | Multi-algorithm fusion positioning method and purging method for rail transit vehicle bottom dust removal |
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| CN109733335B (en) | 2023-06-27 |
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