CN109760647A - High-speed rail automates cleaning station and its implementation method - Google Patents
High-speed rail automates cleaning station and its implementation method Download PDFInfo
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- CN109760647A CN109760647A CN201910245754.6A CN201910245754A CN109760647A CN 109760647 A CN109760647 A CN 109760647A CN 201910245754 A CN201910245754 A CN 201910245754A CN 109760647 A CN109760647 A CN 109760647A
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Abstract
A kind of high-speed rail automation cleaning station and its implementation method belonging to cleaning robot field, including cleaning robot track, high-speed railway rail, stop mark, high-speed rail, cleanninfg brushes, cleaning robot, filtered water tank, cleaning agent case, cleaning robot pedestal.The present invention is arranged by the mutual cooperating of the arrangement and cleaning robot of setting and cleaning robot track to high-speed rail stop position, filtered water tank, cleaning agent case, cleaning robot pedestal, realizes the full automation of the automatic cleaning process of high-speed rail.Meanwhile cleaning robot uses electric current loop principle, by current control and sets power output of its end in specific axis to be flexible, can export constant cleaning force and automatic adaptation curved surface, not cause to damage again while cleaning high iron surface with water clean.
Description
Technical field
The present invention relates to a kind of polishing work stations in cleaning robot field, especially a kind of to use electric current loop force feedback
To realize that the high-speed rail that constant force is cleaned with water automates cleaning station and its implementation method.
Background technique
With the rapid development of high-speed rail, more and more high-speed rail routes, which are built, and more and more high-speed rails are put into makes
With.In order to keep daily cleaning and the service work of high-speed rail, every 4000 kilometers of the operation of high-speed rail will clean and overhaul primary.But by
Different in high-speed rail surface curvature, more demanding to what is cleaned automatically, existing cleaning system is first with simple large-scale automatic
Cleaning equipment cleans compartment two sides, then the vehicle head part of artificial clean the surface complexity again；Heavy cleaning task and
Dirty and messy working environment brings health problem to cleaning worker.The present invention is intended to provide a kind of work of high-speed rail automation cleaning
It stands, flexible robot allows high-speed rail to have a certain range of stop error, exports constant cleaning force, and energy using electric current loop principle
Enough automatic adaptation high-speed rail surface cleans, achieve the purpose that clean up.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides be a kind of high-speed rail automation cleaning station.By stopping to high-speed rail
By the setting of position and the arrangement of cleaning robot track, the full automation of high-speed rail cleaning is completed.The program allows high-speed rail
There is a certain range of stop error, constant cleaning force is exported using electric current loop principle, and it is clear to adapt to automatically high iron surface
It washes, reach while cleaning up and does not damage high ironing surface purpose.
The present invention is achieved through technology, and the present invention includes high-speed railway rail, stops mark, high-speed rail, cleaning machine
Device people track, cleanninfg brushes, cleaning robot, water pipe, motor, filtered water tank, cleaning agent case, cleaning robot pedestal, high rail
Road is layed in ground, stops the side that mark is installed on high-speed railway rail, and high-speed rail travels on high-speed railway rail, cleaning robot track
It is laid on the two sides of high-speed railway rail, parallel track and spacing is equal；Cleaning robot pedestal moves on cleaning robot track,
Cleaning robot, filtered water tank, cleaning agent case are fixed on cleaning robot pedestal, water pipe respectively with filtered water tank, cleaning agent case phase
Even, motor is installed in the middle part of water pipe, and cleanninfg brushes are mounted on the end of cleaning robot, cleanninfg brushes, cleaning robot, clear water
Case, cleaning agent case, cleaning robot pedestal move on cleaning robot track as a whole.
Further, in the present invention, motor is installed on the middle part of water pipe, and water pipe can turn up and down using motor as the center of circle
It is dynamic, adjust the height for spraying liquid.
Further, in the present invention, cleaning robot uses electric current loop principle, and it is defeated can to calculate in real time cleanninfg brushes
Cleaning force out, when the cleaning force of cleanninfg brushes is more than preset range, system end makes real-time adjusting, makes cleanninfg brushes wink
When cleaning force is restored in default range, to realize that constant force is cleaned with water, i.e., cleanninfg brushes are perpendicular to surface side to be cleaned with water
Upward power remains within a preset range, does not damage high iron surface again while cleaning clean with water.
Further, in the present invention, cleaning robot uses electric current loop principle, sets cleaning robot end in spy
Power output on dead axle is flexibility, when clean the surface since the power that profile variations cause end to be born is more than the defeated of cleaning robot
When power output, cleaning robot end can make certain evacuation with the variation of profile, and then preferably adapt to high-speed rail
The surface of vehicle body.
Further, in the present invention, cleaning robot, filtered water tank, cleaning agent case, cleaning robot pedestal mutually it
Between cooperating, the speed and time interval between them is adjustable.
The present invention also provides a kind of implementation methods at high-speed rail automation cleaning station, comprising the following steps: and first, clearly
That washes robot is divided into many virtual faces for high-speed rail headstock and vehicle body inside the control system, and the vertical line direction in these virtual faces is
Train direction of advance, and these virtual faces and Train surface are crossed to form the contour line of a circle circle；Second, when high-speed rail is along high-speed rail
Track drives into cleaning station, and when stopping at stop mark, the cleaning robot being parked on two siding tracks receives signal, clearly
Water tank first sprays clear water and moistens neighbouring high iron surface, and cleaning agent case sprays cleaning agent surface at this again, then cleaning robot
People starts the cleanninfg brushes that its end is controlled according to desired guiding trajectory, moves back and forth along the contour line at this on surface, at this
Surface is cleaned with water, and after being cleaned with water to spot, filtered water tank sprays clear water, and surface washing at this is clean；Then third is cleaned
Robot is moved to the position where next virtual face along cleaning robot track, repeats aforesaid operations, cleans high-speed rail table
Face circuits sequentially, and is finally completed entire high ironing surface automatic cleaning process.
The beneficial effects of the present invention are:
First, cleaning robot of the present invention uses electric current loop principle, and system can make real-time adjusting, make cleanninfg brushes
Cleaning force remains within a preset range, to realize that constant force is cleaned with water, i.e., cleanninfg brushes are perpendicular to surface direction to be cleaned with water
On power remain within a preset range, do not damage high iron surface again while cleaning clean with water.
Second, cleaning robot of the present invention uses electric current loop principle, and setting robot end is flexible in specific on-axis output
Power, curved surface biggish for headstock curvature, cleaning robot end can make a certain range of adjustment, and fitting curved surface is covered pre-
If track, work is cleaned in completion with water.
Third, the arrangement and cleaning machine that the present invention passes through setting and cleaning robot track to 4 stop position of high-speed rail
The mutual cooperating setting of device people, filtered water tank, cleaning agent case, cleaning robot pedestal, realizes high-speed rail and cleans automatically
The full automation of process.
Detailed description of the invention
Fig. 1 is total system schematic diagram of the invention；
Fig. 2 is cleaning robot schematic diagram of the invention；
Label in attached drawing is respectively as follows: 1, cleaning robot track, 2, high-speed railway rail, and 3, stop mark, 4, high-speed rail, 5, clear
Washing head, 6, cleaning robot, 7, water pipe, 8, motor, 9, filtered water tank, 10, cleaning agent case, 11, cleaning robot pedestal.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
Embodiment
The embodiment of the present invention is as depicted in figs. 1 and 2, and the present invention includes cleaning robot track 1, high-speed railway rail 2, stops
Mark 3, high-speed rail 4, cleanninfg brushes 5, cleaning robot 6, water pipe 7, motor 8, filtered water tank 9, cleaning agent case 10, cleaning robot bottom
Seat 11, high-speed railway rail 2 are layed in ground, stop the side that mark 3 is installed on high-speed railway rail 2, high-speed rail 4 is in 2 uplink of high-speed railway rail
It sails, cleaning robot track 1 is laid on the two sides of high-speed railway rail 2, parallel track and spacing is equal；Cleaning robot pedestal 11 exists
It being moved on cleaning robot track 1, cleaning robot 6, filtered water tank 9, cleaning agent case 10 are fixed on cleaning robot pedestal 9,
Water pipe 7 is connected with filtered water tank 9, cleaning agent case 10 respectively, and motor 8 is installed on 7 middle part of water pipe, and cleanninfg brushes 5 are mounted on cleaning machine
The end of device people 6, cleanninfg brushes 5, cleaning robot 6, filtered water tank 9, cleaning agent case 10, cleaning robot pedestal 11 are used as one
It is whole to be moved on cleaning robot track 1.
In the present embodiment, a kind of course of work at high-speed rail automation cleaning station provided by the invention is as follows:
High-speed rail headstock and vehicle body are divided into many virtual faces, these virtual faces inside the control system by cleaning robot 6
Vertical line direction be train direction of advance, and these virtual faces and Train surface are crossed to form the contour line of a circle circle；When high-speed rail 4
Cleaning station is driven into along high-speed railway rail 2, when stopping at stop mark 3, the cleaning robot 6 being parked on two siding tracks is connect
Signal is received, filtered water tank 9 first sprays clear water and moistens neighbouring 4 surface of high-speed rail, and cleaning agent case 10 sprays cleaning agent table at this again
Face, then cleaning robot 6 starts the cleanninfg brushes 5 of its end to be controlled, along the profile at this on surface according to desired guiding trajectory
Line moves back and forth, and cleans with water to surface at this, and after being cleaned with water to spot, filtered water tank 9 sprays clear water for surface washing at this
Completely；Then cleaning robot 6 is moved to the position where next virtual face along cleaning robot track 1, repeats above-mentioned
Operation is cleaned 4 surface of high-speed rail, is circuited sequentially, and entire high ironing surface automatic cleaning process is finally completed.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (6)
1. a kind of high-speed rail automates cleaning station, including high-speed railway rail (2), stop mark (3), high-speed rail (4), high-speed railway rail
(2) it is layed in ground, stops the side that mark (3) is installed on high-speed railway rail (2), high-speed rail (4) travels on high-speed railway rail (2),
It is characterized in that, further include cleaning robot track (1), cleanninfg brushes (5), cleaning robot (6), water pipe (7), motor (8),
Filtered water tank (9), cleaning agent case (10), cleaning robot pedestal (11), cleaning robot track (1) are laid on high-speed railway rail (2)
Two sides, parallel track and spacing is equal；Cleaning robot pedestal (11) moves on cleaning robot track (1), cleaning machine
Device people (6), filtered water tank (9), cleaning agent case (10) are fixed on cleaning robot pedestal (9), water pipe (7) respectively with filtered water tank
(9), cleaning agent case (10) is connected, and motor (8) is installed in the middle part of water pipe (7), and cleanninfg brushes (5) are mounted on cleaning robot (6)
End, cleanninfg brushes (5), cleaning robot (6), filtered water tank (9), cleaning agent case (10), cleaning robot pedestal (11) make
It is moved on cleaning robot track (1) for an entirety.
2. high-speed rail according to claim 1 automates cleaning station, it is characterised in that the motor (8) is installed on water pipe
(7) middle part, water pipe (7) can be rotated upwardly and downwardly with motor (8) for the center of circle, adjust the height for spraying liquid.
3. high-speed rail according to claim 2 automates cleaning station, it is characterised in that the cleaning robot (6) uses
Electric current loop principle can calculate the cleaning force of cleanninfg brushes (5) output in real time, be more than default in the cleaning force of cleanninfg brushes (5)
When range, system end makes real-time adjusting, is restored to cleanninfg brushes (5) instantaneously by cleaning force in default range, thus
Realize that constant force is cleaned with water.
4. high-speed rail according to claim 3 automates cleaning station, it is characterised in that the cleaning robot (6) uses
Electric current loop principle sets power output of cleaning robot (6) end in specific axis as flexibility, when clean the surface since profile becomes
When the power that changing causes end to be born is more than the power output of cleaning robot (6), cleaning robot (6) end can be with wheel
Certain evacuation is made in wide variation, and then preferably adapts to the surface of high-speed rail (4) vehicle body.
5. high-speed rail according to claim 4 automates cleaning station, it is characterised in that the cleaning robot (6), clear
Water tank (9), cleaning agent case (10), cleaning robot pedestal (11) mutual cooperating, speed and time between them
It is spaced adjustable.
6. a kind of implementation method at any high-speed rail automation cleaning station of claim 1 to 5, it is characterised in that including with
Lower step:
First, high-speed rail headstock and vehicle body are divided into many virtual faces inside the control system by cleaning robot (6), these are virtual
The vertical line direction in face is train direction of advance, and these virtual faces and Train surface are crossed to form the contour line of a circle circle；
Second, when high-speed rail (4) drives into cleaning station along high-speed railway rail (2), stops at stop mark (3), it is parked in two
Cleaning robot (6) on siding track receives signal, and filtered water tank (9) first sprays clear water and moistens neighbouring high-speed rail (4) surface, clearly
Lotion case (10) sprays cleaning agent surface at this again, and then cleaning robot (6) starts to control its end according to desired guiding trajectory
Cleanninfg brushes (5), move back and forth along the contour line at this on surface, surface at this cleaned with water, cleaned with water to spot
Later, filtered water tank (9) sprays clear water surface washing at this is clean；
Third, then cleaning robot (6) is moved to the position where next virtual face along cleaning robot track (1),
Aforesaid operations are repeated, high-speed rail (4) surface is cleaned, circuits sequentially, are finally completed entire high ironing surface automatic cleaning process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910245754.6A CN109760647A (en) | 2019-03-28 | 2019-03-28 | High-speed rail automates cleaning station and its implementation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910245754.6A CN109760647A (en) | 2019-03-28 | 2019-03-28 | High-speed rail automates cleaning station and its implementation method |
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| Publication Number | Publication Date |
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| CN109760647A true CN109760647A (en) | 2019-05-17 |
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| CN201910245754.6A Pending CN109760647A (en) | 2019-03-28 | 2019-03-28 | High-speed rail automates cleaning station and its implementation method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110395224A (en) * | 2019-08-30 | 2019-11-01 | 陈梓豪 | A kind of high-speed rail cleaning device |
| CN114435315A (en) * | 2022-03-22 | 2022-05-06 | 陕西蜗牛智能科技有限公司 | Method for controlling lifting process of transverse brush of automatic car washer |
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| CN206351679U (en) * | 2016-12-03 | 2017-07-25 | 河南新天智能科技有限公司 | A kind of portable train vehicle body cleaning equipment |
| CN108340885A (en) * | 2018-03-21 | 2018-07-31 | 深圳市车安达机电有限公司 | A kind of automatic car washing device |
| CN108714896A (en) * | 2018-05-28 | 2018-10-30 | 华南理工大学 | A kind of robot flexibility torque feed forward control method based on kinetics of deformable bodies model |
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| CN105501192A (en) * | 2015-12-16 | 2016-04-20 | 南京汉依德曼机器人科技有限公司 | Intelligent manipulator type multifunctional car cleaning machine |
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| CN108340885A (en) * | 2018-03-21 | 2018-07-31 | 深圳市车安达机电有限公司 | A kind of automatic car washing device |
| CN108714896A (en) * | 2018-05-28 | 2018-10-30 | 华南理工大学 | A kind of robot flexibility torque feed forward control method based on kinetics of deformable bodies model |
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| CN114435315A (en) * | 2022-03-22 | 2022-05-06 | 陕西蜗牛智能科技有限公司 | Method for controlling lifting process of transverse brush of automatic car washer |
| CN114435315B (en) * | 2022-03-22 | 2023-12-19 | 陕西蜗牛智能科技有限公司 | Control method for lifting process of transverse brush of automatic car washer |
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