CN109848139A - A kind of truss type container dry ice cleaning system - Google Patents
A kind of truss type container dry ice cleaning system Download PDFInfo
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- CN109848139A CN109848139A CN201910030603.9A CN201910030603A CN109848139A CN 109848139 A CN109848139 A CN 109848139A CN 201910030603 A CN201910030603 A CN 201910030603A CN 109848139 A CN109848139 A CN 109848139A
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- container
- dry ice
- cleaned
- cleaning system
- cleaning
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- 238000004140 cleaning Methods 0.000 title claims abstract description 61
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 title claims abstract description 47
- 235000011089 carbon dioxide Nutrition 0.000 title claims abstract description 47
- 239000000428 dust Substances 0.000 claims abstract description 20
- 239000007921 spray Substances 0.000 claims abstract description 10
- 238000007689 inspection Methods 0.000 claims description 2
- 238000005406 washing Methods 0.000 claims 1
- 239000002245 particle Substances 0.000 abstract description 2
- 239000000126 substance Substances 0.000 abstract description 2
- 238000002347 injection Methods 0.000 abstract 1
- 239000007924 injection Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 239000011538 cleaning material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
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- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of truss type container dry ice cleaning systems, belong to container automatic cleaning equipment technical field.Cleaning system tooling front is provided with AGV walking mechanism, and truss manipulator and holder are provided in AGV walking mechanism, laser radar is provided on the holder, the dry ice particles that the truss type container dry ice cleaning system is gone out using blast injection are as cleansing medium, laser radar is scanned container to be cleaned, AGV walking mechanism moves truss manipulator, Dry ice cleaning spray head is cleaned, industrial dust collector and cleaning agency are started to work simultaneously, the substance that Dry ice cleaning is got off is adsorbed onto dust catcher, end face of the truss type container dry ice cleaning system to container, side and top surface are cleaned comprehensively, it can be realized the automatic semi-automatic cleaning work to 20 ruler general container of ISO international standard and 40 ruler general containers.
Description
Technical field
The present invention relates to a kind of truss type container dry ice cleaning systems, belong to container automatic cleaning equipment technology neck
Domain.
Background technique
According to existing market situation, it is 20 ruler general container of ISO international standard respectively that there are mainly two types of sizes for container
With 40 ruler general container of ISO international standard, and domestic harbour mainly uses manual cleaning method to the cleaning of container, manually
Hand-held cleaning sprayer cleans inner wall of container, and used cleaning material is largely compressed air either high pressure
Water, working environment is severe, and scavenging period is long；Sometimes it can be stained with greasy dirt on inner wall of container, need special cleansing medium clear
Wash clean, and at this time using artificial cleaning, staff may have the body of people in special cleansing medium ambient time length
It is damaged；In north of china in winter, temperature is relatively low, if still being cleaned using manual type, if cleaning material high pressure water, water meeting
One layer of thin ice are condensed on inner wall of container, it is possible to which container can be cleaned and is not thorough.
Summary of the invention
In view of the above-mentioned problems, the technical problem to be solved in the present invention is to provide a kind of truss type container Dry ice cleaning systems
System.
Truss type container dry ice cleaning system of the invention, it includes that cleaning system tooling and container to be cleaned position
Tooling, the container positioning tool to be cleaned are located on front side of cleaning system tooling；
The cleaning system tooling includes truss manipulator, laser radar, holder, AGV walking mechanism, industrial dust collector, dry ice
Cleaning machine, storage tank, air compressor and workstation operation platform, cleaning system tooling front are provided with AGV walking mechanism, and
It is provided with truss manipulator and holder in AGV walking mechanism, laser radar, the AGV walking mechanism are provided on the holder
Rear is provided with two industrial dust collectors, and the industrial dust collector rear is provided with storage tank, and the storage tank rear is provided with dry ice
Cleaning machine, and dry ice cleaner is connect with storage tank by pipeline, the dry ice cleaner rear is provided with air compressor, described
Air compressor rear is provided with workstation operation platform.
Preferably, the main body of the cleaning system tooling is that container is transformed in 12m long.
Preferably, the container positioning tool to be cleaned is equipped with positioning pin.
Preferably, Dry ice cleaning spray head is provided on the truss manipulator.
Compared with prior art, the beneficial effects of the present invention are: the truss type container dry ice cleaning system is using compression
The dry ice particles that air ejects are scanned container to be cleaned as cleansing medium, laser radar, AGV walking mechanism
Mobile truss manipulator, Dry ice cleaning spray head are cleaned, while industrial dust collector and cleaning agency are started to work, and dry ice is clear
It washes the substance to get off to be adsorbed onto dust catcher, end face, side and top of the truss type container dry ice cleaning system to container
Face is cleaned comprehensively, can be realized to automatic the half of 20 ruler general container of ISO international standard and 40 ruler general containers from
Dynamic cleaning.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is schematic diagram of internal structure of the invention；
Fig. 3 is the top view of Fig. 2；
Fig. 4 is the side view of Fig. 3；
Fig. 5 is AGV walking mechanism structural schematic diagram of the invention.
Appended drawing reference: cleaning system tooling 1, container positioning tool 2 to be cleaned, truss manipulator 101, laser radar
102, holder 103, AGV walking mechanism 104, industrial dust collector 105, dry ice cleaner 106, storage tank 107, air compressor 108,
Workstation operation platform 109.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As Figure 1-Figure 5, present embodiment use following technical scheme: it include cleaning system tooling 1 and to
Container positioning tool 2 is cleaned, the container positioning tool 2 to be cleaned is located at 1 front side of cleaning system tooling, the cleaning system
The main body for tooling 1 of uniting is that container is transformed in 12m long, and the container positioning tool 2 to be cleaned is equipped with positioning pin, collection to be cleaned
Vanning is fixed by positioning finger setting.
The cleaning system tooling 1 includes truss manipulator 101, laser radar 102, holder 103, AGV walking mechanism
104, industrial dust collector 105, dry ice cleaner 106, storage tank 107, air compressor 108 and workstation operation platform 109 are described clear
It washes 1 front of system tooling and is provided with AGV walking mechanism 104, and be provided with truss manipulator 101 and cloud in AGV walking mechanism 104
Platform 103, is provided with Dry ice cleaning spray head on the truss manipulator 101, Dry ice cleaning spray head to the end face of container, side with
And top surface is cleaned, and laser radar 102 is provided on the holder 103,104 rear of AGV walking mechanism is provided with two
Platform industrial dust collector 105,105 rear of industrial dust collector are provided with storage tank 107, and 107 rear of storage tank is provided with dry ice
Cleaning machine 106, and dry ice cleaner 106 is connect with storage tank 107 by pipeline, 106 rear of the dry ice cleaner setting is free
Air compressor 108,108 rear of air compressor are provided with workstation operation platform 109.
Working principle:
A, container positioning to be cleaned finishes (crane allocation and transportation), whether has deformation of seriously colliding with by manual inspection container, checks
Door is opened to maximum angle and fixation after the completion, is then utilized again by manually allocating and transporting to the fixation position of container to be cleaned
The positioning pin of the location hole of container and container positioning tool 2 to be cleaned is positioned, and cleaning system is started；
B, AGV walking mechanism 104 enters container to be cleaned, stops after reaching first cleaning positions；
C, part to be cleaned is scanned by laser radar 102 in container, determines position, then truss manipulator
101 carrying Dry ice cleaning spray heads clean container side and top surface, while industrial dust collector 105 and dry ice cleaner
106 start to work；
D, after the completion of cleaning, AGV walking mechanism 104 moves forward certain distance, repeats step c work；
E, when AGV walking mechanism 104 runs to container front end, truss manipulator 101 carries dry ice cleaner spray head pair
Container end face, side and top surface are cleaned；
F, after the completion of container to be cleaned all cleans, cleaning system stops working, and AGV walking mechanism 104 is automatically exited to clear
Container is washed, but industrial dust collector 105 and dry ice cleaner 106 are still working during exiting, until AGV vehicle with walking machine
Structure 104 exits container to be cleaned completely, and industrial dust collector 105 and dry ice cleaner 106 stop working；
G, AGV walking mechanism 104 resets, and sound-light alarm prompts operator to replace container to be cleaned.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, it is possible to understand that
These embodiments can be carried out with a variety of variations, modification, replacement without departing from the principles and spirit of the present invention and become
Type, the scope of the present invention is defined by the appended.
Claims (3)
1. a kind of truss type container dry ice cleaning system, it is characterised in that: it includes cleaning system tooling (1) and collection to be cleaned
It cases positioning tool (2), the container positioning tool (2) to be cleaned is located on front side of cleaning system tooling (1), the cleaning system
The main body of system tooling (1) is that container is transformed in 12m long, and the container positioning tool (2) to be cleaned is equipped with positioning pin；
The cleaning system tooling (1) includes truss manipulator (101), laser radar (102), holder (103), AGV vehicle with walking machine
Structure (104), industrial dust collector (105), dry ice cleaner (106), storage tank (107), air compressor (108) and workstation operation
Platform (109), cleaning system tooling (1) front is provided with AGV walking mechanism (104), and is set in AGV walking mechanism (104)
It is equipped with truss manipulator (101) and holder (103), is provided with laser radar (102) on the holder (103), the AGV walking
Mechanism (104) rear is provided with two industrial dust collectors (105), and industrial dust collector (105) rear is provided with storage tank
(107), storage tank (107) rear is provided with dry ice cleaner (106), and dry ice cleaner (106) passes through with storage tank (107)
Pipeline connection, dry ice cleaner (106) rear are provided with air compressor (108), air compressor (108) rear
It is provided with workstation operation platform (109).
2. a kind of truss type container dry ice cleaning system according to claim 1, it is characterised in that: the truss is mechanical
Hand is provided with Dry ice cleaning spray head on (101).
3. a kind of truss type container dry ice cleaning system according to claim 1, it is characterised in that: the truss type collection
Vanning dry ice cleaning system working principle are as follows:
(a), container positioning to be cleaned finishes, and whether has deformation of seriously colliding with by manual inspection container, will after having checked
Door is opened to maximum angle and fixation, then utilizes container by manually allocating and transporting to the fixation position of container to be cleaned again
The positioning pin of location hole and container positioning tool to be cleaned (2) is positioned, and cleaning system is started；
(b), AGV walking mechanism (104) enters container to be cleaned, stops after reaching first cleaning positions；
(c), part to be cleaned is scanned by laser radar (102) in container, determines position, and then truss is mechanical
Hand (101) carries Dry ice cleaning spray head and cleans to container side and top surface, while industrial dust collector (105) and dry ice are clear
Washing machine (106) is started to work；
(d), after the completion of cleaning, AGV walking mechanism (104) moves forward certain distance, repeats step c work；
(e), when AGV walking mechanism (104) runs to container front end, truss manipulator (101) carries dry ice cleaner
Spray head cleans container end face, side and top surface；
(f), all after the completion of cleaning, cleaning system stops working for container to be cleaned, AGV walking mechanism 104 automatically exit to
Container is cleaned, but industrial dust collector (105) and dry ice cleaner (106) are still working during exiting, until AGV
Walking mechanism (104) exits container to be cleaned completely, and industrial dust collector (105) and dry ice cleaner (106) stop working；
(g), AGV walking mechanism (104) resets, and sound-light alarm prompts operator to replace container to be cleaned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910030603.9A CN109848139A (en) | 2019-01-14 | 2019-01-14 | A kind of truss type container dry ice cleaning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910030603.9A CN109848139A (en) | 2019-01-14 | 2019-01-14 | A kind of truss type container dry ice cleaning system |
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| Publication Number | Publication Date |
|---|---|
| CN109848139A true CN109848139A (en) | 2019-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910030603.9A Pending CN109848139A (en) | 2019-01-14 | 2019-01-14 | A kind of truss type container dry ice cleaning system |
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| CN (1) | CN109848139A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112474606A (en) * | 2020-10-21 | 2021-03-12 | 厦门理工学院 | Intelligence environmental protection cleaning equipment |
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|---|---|---|---|---|
| CN102839621A (en) * | 2012-09-24 | 2012-12-26 | 重庆大学 | Cleaning method for tunnel dry ice |
| CN205308901U (en) * | 2015-12-31 | 2016-06-15 | 盛旺汽车零部件（昆山）有限公司 | Wheel hub application ground rail automatic on -line cleaning system |
| CN205463448U (en) * | 2016-04-09 | 2016-08-17 | 邱吓妹 | Dry ice cleaning machine |
| CN108311481A (en) * | 2018-02-07 | 2018-07-24 | 青岛欧克森石化科技有限公司 | Cleaning method and cleaning system for chemical industry equipment |
| CN108787632A (en) * | 2018-07-16 | 2018-11-13 | 伊婕 | A kind of Dry ice cleaning device |
| CN208116322U (en) * | 2018-02-01 | 2018-11-20 | 深圳市南星海洋工程服务有限公司 | A kind of dry ice cleaner for offshore platform |
| CN208141227U (en) * | 2018-05-31 | 2018-11-23 | 中瑞福宁机器人（沈阳）有限公司 | Container Dry ice cleaning machine people's mobile system |
| CN209631741U (en) * | 2019-01-14 | 2019-11-15 | 沈阳哈工大特种机器人有限公司 | A kind of truss type container dry ice cleaning system |
-
2019
- 2019-01-14 CN CN201910030603.9A patent/CN109848139A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102839621A (en) * | 2012-09-24 | 2012-12-26 | 重庆大学 | Cleaning method for tunnel dry ice |
| CN205308901U (en) * | 2015-12-31 | 2016-06-15 | 盛旺汽车零部件（昆山）有限公司 | Wheel hub application ground rail automatic on -line cleaning system |
| CN205463448U (en) * | 2016-04-09 | 2016-08-17 | 邱吓妹 | Dry ice cleaning machine |
| CN208116322U (en) * | 2018-02-01 | 2018-11-20 | 深圳市南星海洋工程服务有限公司 | A kind of dry ice cleaner for offshore platform |
| CN108311481A (en) * | 2018-02-07 | 2018-07-24 | 青岛欧克森石化科技有限公司 | Cleaning method and cleaning system for chemical industry equipment |
| CN208141227U (en) * | 2018-05-31 | 2018-11-23 | 中瑞福宁机器人（沈阳）有限公司 | Container Dry ice cleaning machine people's mobile system |
| CN108787632A (en) * | 2018-07-16 | 2018-11-13 | 伊婕 | A kind of Dry ice cleaning device |
| CN209631741U (en) * | 2019-01-14 | 2019-11-15 | 沈阳哈工大特种机器人有限公司 | A kind of truss type container dry ice cleaning system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112474606A (en) * | 2020-10-21 | 2021-03-12 | 厦门理工学院 | Intelligence environmental protection cleaning equipment |
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