CN115430643A - Locomotive robot cleaning method - Google Patents
Locomotive robot cleaning method Download PDFInfo
- Publication number
- CN115430643A CN115430643A CN202211087022.7A CN202211087022A CN115430643A CN 115430643 A CN115430643 A CN 115430643A CN 202211087022 A CN202211087022 A CN 202211087022A CN 115430643 A CN115430643 A CN 115430643A
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- cleaning
- component
- components
- locomotive robot
- cleaning method
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- 238000004140 cleaning Methods 0.000 title claims abstract description 81
- 238000000034 method Methods 0.000 title claims abstract description 52
- 230000003137 locomotive effect Effects 0.000 title claims abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 238000002791 soaking Methods 0.000 claims description 10
- 239000012459 cleaning agent Substances 0.000 claims description 6
- 238000009792 diffusion process Methods 0.000 claims description 5
- 239000007921 spray Substances 0.000 claims description 4
- 239000008235 industrial water Substances 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 239000013505 freshwater Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 239000012530 fluid Substances 0.000 claims 1
- 230000000977 initiatory effect Effects 0.000 claims 1
- 238000005507 spraying Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 239000007788 liquid Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000007605 air drying Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention relates to a locomotive robot cleaning method, which comprises the following steps: inputting the model of the component, and fixing the component according to the preset model and corresponding positioning points; after the visual system confirms the part, the trolley drives the part to move along the cleaning track; and selecting a preset cleaning mode according to the model of the component, and starting a corresponding process in the mode when the component passes through. According to the locomotive robot cleaning method, the models of the components are classified, a group of cleaning modes are correspondingly set for each type, images of the components with different models are obtained, the appearances and positioning points of the models on the trolley are recorded and are used for judging whether the actual components and the input models are consistent or not and whether the components are fixed in place or not, and when the components move to corresponding procedures in the selected cleaning modes, the procedures start to clean the components.
Description
Technical Field
The invention relates to cleaning equipment, in particular to a locomotive robot cleaning method.
Background
With the rapid development of railway industry in China, higher and higher requirements are put forward on locomotive maintenance operation, and the modernization and intellectualization of maintenance equipment become increasingly important. Before the maintenance operation of parts such as a locomotive diesel engine, a bogie and the like, the parts need to be disassembled and then cleaned, and the cleaning operation mode of each engine service section is still a mode of manually spraying a cleaning agent, spraying at low pressure and washing at high pressure water manually for many years, so that the cleaning quality of the diesel engine parts is influenced by the labor skill of personnel, the operation attitude and the dirt degree of workpieces to different degrees, and the problems of low cleaning quality, low efficiency, poor cleaning operation environment, high labor intensity of maintenance operation workers, high cleaning cost and the like all the time cannot be solved.
Most of the traditional cleaning methods for mechanical parts are that the parts are carried by a carrying device, and then the carried parts are cleaned by fixed cleaning equipment, but because the mechanical parts are various, the sizes, the shapes and the types of the mechanical parts are different, and the applicable cleaning methods are also different, the traditional cleaning methods cannot be applied to various mechanical parts, and the cleaning effect is poor.
Disclosure of Invention
In view of the above, it is necessary to provide a robot cleaning method for a locomotive applicable to various machine parts.
A method of locomotive robot cleaning, the method comprising:
inputting the model of the component, and fixing the component according to the preset model corresponding to the positioning point;
after the visual system confirms the part, the trolley drives the part to move along the cleaning track;
and selecting a preset cleaning mode according to the model of the component, and starting a corresponding process in the mode when the component passes through.
Further, the entering of the component model further includes:
obtaining pictures of components with various models, and storing the pictures corresponding to the models;
classifying the types of the components, and setting a cleaning mode corresponding to each type;
and correspondingly setting a group of positioning points for each type of component.
Further, the component models are generally divided into large components and parts.
Further, the locating points are provided with fixtures for fixing the parts.
Further, the vision system validates the component, including:
extracting a preset picture corresponding to the input model of the component;
comparing the appearance of the part with a preset picture;
and judging whether the corresponding position of the part is at a preset position point.
Furthermore, the procedures of the cleaning mode of the large-scale component comprise hot water spraying, cleaning agent spraying, clean water flushing and truss blowing.
Furthermore, before the cleaning mode of the large part is started, the outline and the key cleaning position of the large part are restored by utilizing digital modeling and converted into a cleaning track.
Further, the procedures of the cleaning mode of the parts comprise soaking in a soaking pool and clean water diffusion.
Furthermore, when the component is in the soaking process in the soaking pool, the component is moved among different processes through a hoisting device.
Further, the method also comprises the step of automatically recording the use amount of the cleaning liquid, the industrial water and the electric quantity after the cleaning is finished and forming a report.
According to the locomotive robot cleaning method, the models of the components are classified, a group of cleaning modes are correspondingly set for each type, images of the components with different models are obtained, the appearances and positioning points of the models on the trolley are recorded and are used for judging whether the actual components and the input models are consistent or not and whether the components are fixed in place or not, and when the components move to corresponding procedures in the selected cleaning modes, the procedures start to clean the components.
Drawings
FIG. 1 is a flow diagram of a locomotive robot cleaning method in one embodiment;
FIG. 2 is a flow chart illustrating the cleaning of the large components in the embodiment of FIG. 1;
FIG. 3 is a flow chart of cleaning of the components in the embodiment of FIG. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In one embodiment, as shown in fig. 1, a locomotive robot cleaning method comprises the steps of:
and step S110, recording the model of the component, and fixing the component according to the preset model corresponding to the positioning point. Before that, it was also necessary: 1. obtaining pictures of components with various models, and storing the pictures corresponding to the models; 2. classifying the types of the components, and setting a cleaning mode corresponding to each type; 3. and correspondingly setting a group of positioning points for each type of component. For example: the component is placed on the trolley and is straightened, so that the component is in a position state during cleaning, and the image of the component can be acquired at the moment. Then, classifying a plurality of parts, dividing the obtained pictures into corresponding model positions in corresponding classes, and simultaneously recording and storing the positions of the parts fixed on the trolley under the model, namely the relationship between the parts and the related positioning points on the trolley.
The part types are generally divided into large parts and parts, and the large parts and the parts correspond to a cleaning mode respectively. Meanwhile, the locating points on the trolley are provided with fixtures for fixing the components. The tooling may be a fixture used in conventional machining and will not be illustrated here.
And step S120, after the vision system confirms the part, the trolley drives the part to move along the cleaning track. Wherein the vision system validating the component comprises: 1. extracting a preset picture corresponding to the input model of the component; 2. comparing the appearance of the part with a preset picture; 3. and judging whether the corresponding position of the component is at a preset position. For example: and extracting pre-stored pictures with corresponding models according to the input part models, comparing the pre-stored pictures with the corresponding models through an image algorithm, judging whether the pre-stored pictures correspond to the corresponding models, if not, detecting by an operator, and judging whether the pre-stored pictures are mistakenly installed or not and whether the pictures need to be replaced or not. The image algorithm is a common algorithm used in conventional image recognition, and is not illustrated here. And then the vision system judges according to the positions of the fixed points of the part on the trolley in the image and the relative positions of the fixed points of the part and the trolley, and determines whether the part to be cleaned is fixed in place or not so as to avoid accidents caused by movement of the part during cleaning.
And step S130, selecting a preset cleaning mode according to the type of the component, and starting a corresponding process in the mode when the component passes through. As shown in fig. 2, the sequence of cleaning modes for large parts includes hot water spray, cleaning agent spray, clear water flush, and truss blow. For example: the trolley transportation component moves, when the component integrally moves to a corresponding position of a certain process, the trolley pauses, the process is started to clean the component, or when the component initially moves to the certain process, the process is started to clean the component, and the trolley does not stop running in the cleaning process. For the specific cleaning procedure: hot water spraying is used for cleaning the surface of the part and softening stains which are difficult to clean on the surface of the part; the cleaning agent is sprayed to remove the softened stains; the clean water washing is used for thoroughly cleaning the parts after removing the stains so as to ensure that no impurities remain on the surfaces of the parts; the truss air blow is used for air drying the surface of the part with water stain. It should be noted that before starting the cleaning mode of the large part, the method further includes restoring the outline and the key cleaning position of the large part by using digital modeling, and converting the outline and the key cleaning position into a clear track of the robot, and the track speed of the robot can be automatically determined whether to be adjusted or not according to the situation that an operator actually cleans the part under the default speed.
As shown in fig. 3, and the procedure of the cleaning mode of the parts includes a soaking bath soaking and a fresh water diffusion. For example: the use of a lifting device enables the components to be moved between different processes, here both within and before and after the steeping cistern. After the parts are soaked for a preset time, the hoisting device hoists the parts out of the trolley, the trolley can transport the parts to the clear water diffusion process, and then the clear water diffusion process can wash the parts at multiple angles so as to wash the small and dense parts to the maximum extent.
According to the locomotive robot cleaning method, the types of the components are classified, a group of cleaning modes are correspondingly set for each type, images of the components with various types are obtained, the appearances of the types and the positioning points on the trolley are recorded and used for judging whether the actual components and the input types are consistent or not and whether the components are fixed in place or not, and when the components move to the corresponding working procedure in the selected cleaning mode, the working procedure starts to clean the components.
After the cleaning is finished, the system can automatically record the using amount of the cleaning liquid, the industrial water consumption and the electric quantity and form a report. The intelligent cleaning device perfectly replaces the current manual cleaning, greatly reduces the labor intensity, reduces the using amount of cleaning agents in the cleaning operation, and provides a big data base for higher-level intelligent cleaning.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A locomotive robot cleaning method, the method comprising:
inputting the model of the component, and fixing the component according to the preset model corresponding to the positioning point;
after the visual system confirms the part, the trolley drives the part to move along the cleaning track;
and selecting a preset cleaning mode according to the type of the component, and starting a corresponding process in the mode when the component passes through.
2. The locomotive robot cleaning method of claim 1, wherein the entering a part model further comprises, before:
obtaining pictures of components with various models, and storing the pictures corresponding to the models;
classifying the types of the components, and setting a cleaning mode corresponding to each type;
and correspondingly setting a group of positioning points for each type of component.
3. The locomotive robot cleaning method of claim 2, wherein the part model is generally divided into large parts and spare parts.
4. The locomotive robot cleaning method according to claim 2, wherein the positioning points are each provided with a fixture for fixing the component.
5. The locomotive robot washing method of claim 2, wherein the vision system validates a component comprising:
extracting a preset picture corresponding to the input model of the component;
comparing the appearance of the part with a preset picture;
and judging whether the corresponding position of the component is at a preset position.
6. The locomotive robot cleaning method according to claim 3, wherein the sequence of large part cleaning modes comprises hot water spray, cleaning agent spray, clear water flush and truss blow.
7. The locomotive robot cleaning method of claim 6, further comprising restoring the outline and critical cleaning locations of the large component using digital modeling and converting into a cleaning trajectory before initiating the cleaning mode for the large component.
8. The locomotive robot cleaning method according to claim 3, wherein the procedures of the cleaning mode of the parts include soaking in a soaking bath and fresh water diffusion.
9. The locomotive robot cleaning method according to claim 8, wherein the parts are moved between different processes by a lifting device during the soaking process in the soaking tank.
10. The locomotive robot cleaning method according to claim 1, further comprising automatically recording and reporting the amount of cleaning fluid, industrial water and electricity after the cleaning is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211087022.7A CN115430643A (en) | 2022-09-07 | 2022-09-07 | Locomotive robot cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211087022.7A CN115430643A (en) | 2022-09-07 | 2022-09-07 | Locomotive robot cleaning method |
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| Publication Number | Publication Date |
|---|---|
| CN115430643A true CN115430643A (en) | 2022-12-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211087022.7A Pending CN115430643A (en) | 2022-09-07 | 2022-09-07 | Locomotive robot cleaning method |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203803831U (en) * | 2014-01-07 | 2014-09-03 | 上海睿鹏工业装备有限公司 | Rotating spraying cleaning device |
| CN204486360U (en) * | 2015-03-27 | 2015-07-22 | 重庆红亿机械有限公司 | A kind of engine cylinder cover wiper mechanism |
| CN109013548A (en) * | 2018-09-18 | 2018-12-18 | 深圳市信泰工业自动化设备有限公司 | A kind of full-automatic accurate handware ultrasonic cleaning, drying line |
| CN212216353U (en) * | 2019-11-29 | 2020-12-25 | 宜昌中威清洗机有限公司 | Part cleaning system |
-
2022
- 2022-09-07 CN CN202211087022.7A patent/CN115430643A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203803831U (en) * | 2014-01-07 | 2014-09-03 | 上海睿鹏工业装备有限公司 | Rotating spraying cleaning device |
| CN204486360U (en) * | 2015-03-27 | 2015-07-22 | 重庆红亿机械有限公司 | A kind of engine cylinder cover wiper mechanism |
| CN109013548A (en) * | 2018-09-18 | 2018-12-18 | 深圳市信泰工业自动化设备有限公司 | A kind of full-automatic accurate handware ultrasonic cleaning, drying line |
| CN212216353U (en) * | 2019-11-29 | 2020-12-25 | 宜昌中威清洗机有限公司 | Part cleaning system |
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