CN1919478A - Railway tank car cleaning robot - Google Patents
Railway tank car cleaning robot Download PDFInfo
- Publication number
- CN1919478A CN1919478A CNA2006100923055A CN200610092305A CN1919478A CN 1919478 A CN1919478 A CN 1919478A CN A2006100923055 A CNA2006100923055 A CN A2006100923055A CN 200610092305 A CN200610092305 A CN 200610092305A CN 1919478 A CN1919478 A CN 1919478A
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Abstract
The invention discloses a railway tank car cleaning robot, which consists of cleaning spraying gun and mechanic arm, wherein the mechanic arm possesses stand, arm, wrist, driving system of wrist part to sway and rotate cleaning spraying gum around shaft, driving system to adjust wrist swaying, wherein the robot contains control unit, which actuates the driving system, the roll end of tank car forms multiple level scanning cleaning traces in the adjacent overlapping region, which pushes cleaning spraying gun to move along longitude direction of tank car.
Description
Technical field
The present invention relates to a kind of industrial robot, relate in particular to a kind of railway tank car cleaning robot.
Background technology
At present, Cleaning by High Pressure Water Jet to tank car, two kinds of cleaning ways are arranged: a kind of is the tank car cleaning equipment that Japanese Sugino Machine Ltd. has developed, its spray gun arm can stretch out by the expansion of connection rod set, nozzle carries out three-dimensional rotation simultaneously, thereby on tank inner surface, form the water jet track of net distribution, but some place of tank inner surface can not be directly injected to by water jet; Another kind is a kind of container cleaning device that discloses among the open No.1439462A of Chinese patent application, it can be respectively on both direction axially and radially injection water, spiral cleaning is carried out on the container face of cylinder, so that container is accomplished definite pointwise cleaning, the sewage secondary pollution that but this cleaning way causes the surface after the cleaning to be cleaned easily to be produced in the process, thereby can not reach desirable cleaning performance to tank car.
Summary of the invention
The objective of the invention is to provide a kind of like this railway tank car cleaning robot, it can imitate a human arm and hold cleaning device the inner surface of tank body is cleaned, wherein high-pressure water jet is directly injected to all surface to be cleaned, can clean some realization arbitrarily of tank car end cap and tank inner surface, and the surface after can avoiding cleaning is cleaned the sewage secondary pollution that produces in the process.
For achieving the above object, the invention provides a kind of railway tank car cleaning robot, it comprises cleaning spray gun and mechanical arm, described mechanical arm has support, arm, wrist and drive system, described drive system comprises: be arranged on the described cleaning spray gun of making of described wrist around the wrist wobble drive system of axle swing and the wrist rotating driving system that described cleaning spray gun is rotated, and be arranged on the described cleaning spray gun of making of described arm with wrist drive system that moves horizontally and the drive system of adjusting the wrist swing, described robot also comprises control module, described control module alternately activates described wrist wobble drive system and described arm is adjusted the drive system that wrist is swung, cleaning spray gun forms adjacent many horizontal sweeps cleaning tracks that small overlapping region is arranged in the end cap of tank car, described control module alternately activates described wrist wobble drive system and described wrist rotating driving system subsequently, cleaning spray gun forms adjacent many horizontal sweeps cleaning tracks that small overlapping region is arranged on the inner surface of tank body, and described control module activates the described drive system that cleaning spray gun is moved horizontally with wrist, and the promotion cleaning spray gun moves along the straight line of vertically doing of tank car.
The method that the railway tank car cleaning robot that the present invention provides a kind of application as above to construct on the other hand cleans tank car, wherein, cleaning according to by away from the end cap of tank car manhole to the tank car manhole, undertaken by tank car top to the order of tank car below.
By taking said structure, when cleaning the end face end socket of tank car inside, cleaning spray gun is under the effect of wrist wobble drive system, produce the track that a horizontal linear scanning is cleaned, and finish the track that horizontal linear scanning is cleaned by the drive system of arm adjustment wrist swing and pass downwards gradually by the top along the inner surface of the end cap of tank car, in the process of passing, the track that two adjacent horizontal sweeps are cleaned has small overlapping region.Then when cleaning tank inner surface, cleaning spray gun is under the effect of wrist wobble drive system, produce the track that a horizontal linear scanning is cleaned, and under the effect of wrist rotating driving system, the track that horizontal sweep is cleaned is passed downwards by the top gradually along the inner surface of tank body, in the process of passing, the track that two adjacent horizontal sweeps are cleaned has small overlapping region, also because arm can make cleaning spray gun move horizontally with wrist, therefore can be at the inner surface of tank body realize above-mentioned cleaning on a bit arbitrarily.Because the track that horizontal linear scanning is cleaned is passed downwards by the top gradually along being cleaned face, and there is small overlapping region between the track that two adjacent horizontal sweeps are cleaned in the process of passing, so the sewage that both can avoid producing in the cleaning process produces secondary pollution to the surface that has cleaned up, can make the high-pressure water jet direct injection clean all surface to be cleaned again.In addition, owing to adopt computer control, can realize above-mentioned cleaning function quickly and accurately.The action of gyroscopic drive system that can also be by computer control machinery arm support and each drive system of wrist and arm organic compound realized the track that any complex curve scanning is cleaned.
Above-mentioned wrist wobble drive system can adopt hydraulic cylinder and servo valve to cooperate the device that is used as power, and drives the quadric chain action, realizes that cleaning spray gun swings between 0-270 ° around axle.Can also adopt servomotor or servo-hydraulic motor directly to drive the cleaning spray gun swing.
Above-mentioned wrist rotating driving system can adopt the servo-hydraulic motor to drive rotating shaft and drive cleaning spray gun and rotate, and can also adopt the servomotor device that is used as power.
Above-mentioned arm makes cleaning spray gun move horizontally drive system with wrist can to adopt hydraulic cylinder and servo valve to cooperate the device that is used as power, drive initiatively expansion of fork drivening rod group or gathering, realize the change of cleaning spray gun horizontal direction position, can also adopt servomotor or servo-hydraulic motor to drive initiatively fork action.Adopt gear drive between this active fork and the driven fork, can also adopt the friction pulley transmission.This connection rod set can be two parallelogram sturcutres after launching, and can also be a plurality of parallelogram sturcutres.
The wrist wobble drive system that adjusts above-mentioned arm can adopt hydraulic cylinder and servo valve to cooperate the device that is used as power, and can also adopt servomotor or servo-hydraulic motor.
Above-mentioned support gyroscopic drive system can adopt servomotor be used as power device and gear drive, makes rotating shaft produce corresponding action, can also adopt the servo-hydraulic motor device that is used as power.
Further improve as the present invention, on this railway tank car cleaning robot, increase the quantity of cleaning spray gun, and the water supply flow of corresponding increasing water under high pressure of while, cleaning efficiency can be improved.
Further improve as the present invention, adopt both hands arm symmetrical distribution structure on this railway tank car cleaning robot, clean tank car manhole both sides simultaneously, mechanical arm need not turn round can finish cleaning, can improve cleaning efficiency.
In sum, the present invention has realized the automation that artificial scanning is cleaned, make cleaning according to from top to bottom, undertaken by end cap place to the correct order of manhole away from the tank car manhole, both realized effective cleaning of all surface to be cleaned of high-pressure water jet direct injection, the surface after having avoided again cleaning is cleaned the sewage secondary pollution that produces in the process.
Description of drawings
Below with reference to accompanying drawings the specific embodiment of the present invention is described in more details, wherein:
Fig. 1 is the schematic side elevation of railway tank car cleaning robot first embodiment according to the present invention;
Fig. 2 is the schematic diagram that end cap that railway tank car cleaning robot shown in Figure 1 is implemented tank car is cleaned track when cleaning;
Fig. 3 is the schematic diagram that inner surface that railway tank car cleaning robot shown in Figure 1 is implemented tank body cleans track when cleaning;
Fig. 4 is the schematic diagram that railway tank car cleaning robot shown in Figure 1 implements to clean when any complex curve cleans track;
Fig. 5 is the schematic side elevation of another embodiment of railway tank car cleaning robot according to the present invention;
Fig. 6 is the schematic diagram according to the control section of railway tank car cleaning robot of the present invention.
The specific embodiment
Fig. 1 shows first kind of embodiment of railway tank car cleaning robot of the present invention.Cleaning spray gun 1 is under the effect of wrist quadric chain 13, hydraulic cylinder and servo valve cooperation 14, and around the axle swing, high-pressure water jet cleans the linear scanning of surface to be cleaned carrying out horizontal.And under the effect of the hydraulic cylinder of adjusting the wrist swing and servo valve cooperation 2, cleaning spray gun 1 is swung around axle with wrist, realize that horizontal linear scanning cleans track and passes from top to bottom, and in the passing process two adjacent horizontal linears scannings clean exist between the track small overlapping.Fig. 2 shows when adopting above-mentioned cleaning way purge tank tank car end cap, the distribution situation of water jet track, and the width of each water jet track is e, two track overlapping regions are A.When cleaning tank body, cleaning spray gun 1 is under the effect of wrist quadric chain 13, hydraulic cylinder and servo valve cooperation 14, and around the axle swing, high-pressure water jet cleans the linear scanning of surface to be cleaned carrying out horizontal.And cleaning spray gun 1 rotates under the effect of rotating shaft 12, servo-hydraulic motor 11, realizes that horizontal linear scanning cleans track and passes from top to bottom, and in the passing process two adjacent horizontal linears scannings clean exist between the track small overlapping.Fig. 3 shows when adopting above-mentioned cleaning way to clean tank body, the distribution situation of water jet track, and the width of each water jet track is e, two track overlapping regions are A.Because length of tank is longer, need segmentation to clean, under the effect of hydraulic cylinder and servo valve cooperation 7, driven fork 8 and the initiatively relative at a slow speed separately swing of fork 9, drivening rod group 3 is drawn at a slow speed, when arm connection rod set 3 is drawn at a slow speed, drives cleaning spray gun 1 along the straight line travelling backwards, change the horizontal level of cleaning spray gun 1 on the tank body axis, finish half cleaning of tank car.The support 5 of mechanical arm is fixed on the manhole of tank car, and servomotor 4 drives rotating shaft 6 revolutions, can realize the preceding centering of cleaning spray gun 1 beginning cleaning, can also reverse 180 °, realization cleaning spray gun commutation repeats above-mentioned cleaning again, thereby finishes second half cleaning of tank car.
By automatic control unit, make the action of rotating shaft 6, connection rod set 3, hydraulic cylinder and servo valve cooperation 2, rotating shaft 12, quadric chain 13 organic compound, realize the track that any complex curve scanning is cleaned, as shown in Figure 4.
Fig. 5 shows the another kind of embodiment of railway tank car cleaning robot of the present invention.Except the arm structure of mechanical arm is different from first kind of embodiment, other structure of railway tank car cleaning robot all is identical.This arm is made of joint 15,17,19,20,22 and armed lever 16,18,21,23, and each joint is provided with servomotor and sensor.
Because second kind of embodiment adopts multi-joint arm structure, it is compared with first embodiment, move more flexibly, and it is more stable work, realizes that the cleaning of complexity moves therefore easilier.
Automatic control unit to tank car according to the present invention robot carries out briefly bright below.
The control section of railway tank car cleaning robot of the present invention adopts the tactic pattern of host computer and slave computer on overall structure, with the PC industrial computer as host computer, with PLC as slave computer, finish the exchanges data of upper PC and the next PLC machine by communication cable, but thereby but realize the Automatic Control of not only execute-in-place but also host computer Long-distance Control, the The whole control unit is schematically as shown in Figure 6.
In upper PC, the applicable industry configuration software is finished dynamic demonstration, historical data report and the alarm logging at interface.Slave computer PLC adopts the SIMATIC product, combines with detection, execution, control, the display part at scene, finishes data acquisition, realizes the control function.By the The whole control unit, the operator both can carry out manual operation in the face of equipment at the scene, can in the microcomputer chamber, carry out button operation again in the face of the industrial computer interface, both can both finish predeterminated target of the present invention, realize to be arranged on arm and be arranged on wrist each drive system alternately, sequentially activate.
For the ordinary skill in the art, can easily expect other advantage and modification.Therefore, the present invention in wide region more is not restricted to specific detail and representation example shown and that describe here.Therefore, under the spirit and scope that do not depart from by appended claims and their universal of the present invention that equivalent limited, can make various changes.
Claims (10)
1, a kind of railway tank car cleaning robot, it comprises cleaning spray gun (1) and mechanical arm, described mechanical arm has support (5), arm, wrist and drive system, described drive system comprises: be arranged on the wrist wobble drive system (13 of the described cleaning spray gun of making of described wrist around the axle swing, 14) and make the wrist rotating driving system (12 of described cleaning spray gun rotation, 11), and be arranged on the drive system (3 that the described cleaning spray gun of making of described arm moves horizontally with wrist, 7,8,9) and adjust the drive system (2) of wrist swing, it is characterized in that, described mechanical arm also comprises control module, described control module alternately activates described wrist wobble drive system and described arm is adjusted the drive system that wrist is swung, described cleaning spray gun (1) forms adjacent many horizontal sweeps cleaning tracks that small overlapping region is arranged in the end cap of tank car, described control module alternately activates described wrist wobble drive system and described wrist rotating driving system subsequently, described cleaning spray gun (1) forms adjacent many horizontal sweeps cleaning tracks that small overlapping region is arranged on the inner surface of tank body, and described control module activates the described drive system (3 that cleaning spray gun is moved horizontally with wrist, 7,8,9), promoting described cleaning spray gun (1) moves along the straight line of vertically doing of tank car.
2, railway tank car cleaning robot according to claim 1 is characterized in that, described wrist wobble drive system (13,14) is that hydraulic cylinder and servo valve cooperate (14) and wrist quadric chain (13).
3, railway tank car cleaning robot according to claim 1 is characterized in that, the drive system (2) that described arm is adjusted the wrist swing is that hydraulic cylinder and servo valve cooperate or servomotor or servo-hydraulic motor.
4, railway tank car cleaning robot according to claim 1 is characterized in that, described wrist rotating driving system (12,11) is servomotor or servo-hydraulic motor.
5, railway tank car cleaning robot according to claim 1, it is characterized in that, make drive system that described cleaning spray gun moves horizontally with wrist by power set, active fork (9) and driven fork (8) and connection rod set (3) formation by described power set swing, the swing of described connection rod set by described active fork and driven fork launches or draws in, does rectilinear motion thereby promote described spray gun (1).
6, railway tank car cleaning robot according to claim 5 is characterized in that, described power set are hydraulic cylinder and servo valve cooperation or servomotor or servo-hydraulic motor (7).
7, according to claim 5 or 6 described railway tank car cleaning robots, it is characterized in that, be gear drive between described active fork (9) and the driven fork (8), perhaps is the rubber friction wheel transmission.
8, according to the described railway tank car cleaning robot of above-mentioned any one claim, it is characterized in that, also comprise support gyroscopic drive system (4), it drives rotating shaft (6) revolution, makes the cleaning spray gun commutation.
According to any one described railway tank car cleaning robot among the claim 1-6, it is characterized in that 9, described mechanical arm is symmetrically distributed, clean the manhole both sides of tank car simultaneously.
10, a kind ofly use railway tank car cleaning robot as claimed in claim 1, it is characterized in that the method that tank car cleans, cleaning according to by away from the end cap of tank car manhole to the tank car manhole, undertaken by tank car top to the order of tank car below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610092305 CN1919478B (en) | 2006-06-01 | 2006-06-01 | Railway tank car cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610092305 CN1919478B (en) | 2006-06-01 | 2006-06-01 | Railway tank car cleaning robot |
Publications (2)
| Publication Number | Publication Date |
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| CN1919478A true CN1919478A (en) | 2007-02-28 |
| CN1919478B CN1919478B (en) | 2013-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200610092305 Active CN1919478B (en) | 2006-06-01 | 2006-06-01 | Railway tank car cleaning robot |
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| CN (1) | CN1919478B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513995A (en) * | 2011-12-09 | 2012-06-27 | 山东科技大学 | Cement storage tank cleaning manipulator |
| CN103466344A (en) * | 2013-09-09 | 2013-12-25 | 福建省中瑞装备制造科技有限公司 | Storehouse cleaning machine for cement storehouses |
| CN103934246A (en) * | 2014-04-17 | 2014-07-23 | 江苏大学 | Manipulator used for removing rust on inner walls of metal cylinders |
| CN103963054A (en) * | 2014-05-07 | 2014-08-06 | 河南工业大学 | Silo cleaning robot |
| CN104550153A (en) * | 2015-01-12 | 2015-04-29 | 南京洁德美环境技术有限公司 | Special washing device for tank pot |
| CN108325970A (en) * | 2018-01-29 | 2018-07-27 | 俞权锋 | A kind of Water chemical storage tank cleaning device |
| CN109331574A (en) * | 2018-11-27 | 2019-02-15 | 西安科技大学 | Exhaust dust-removing device and method suitable for fuel gas and dust explosion closed container |
| CN113997903A (en) * | 2020-12-21 | 2022-02-01 | 南京九趾装备科技有限公司 | Novel high-efficient cleaning equipment |
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Patent Citations (7)
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513995B (en) * | 2011-12-09 | 2014-03-12 | 山东科技大学 | Cement storage tank cleaning manipulator |
| CN102513995A (en) * | 2011-12-09 | 2012-06-27 | 山东科技大学 | Cement storage tank cleaning manipulator |
| CN103466344B (en) * | 2013-09-09 | 2015-10-28 | 福建省中瑞装备制造科技有限公司 | Cement bunker library clearing machine |
| CN103466344A (en) * | 2013-09-09 | 2013-12-25 | 福建省中瑞装备制造科技有限公司 | Storehouse cleaning machine for cement storehouses |
| CN103934246A (en) * | 2014-04-17 | 2014-07-23 | 江苏大学 | Manipulator used for removing rust on inner walls of metal cylinders |
| CN103934246B (en) * | 2014-04-17 | 2016-03-02 | 江苏大学 | A kind of manipulator for the rust cleaning of metal cylinder inwall |
| CN103963054A (en) * | 2014-05-07 | 2014-08-06 | 河南工业大学 | Silo cleaning robot |
| CN103963054B (en) * | 2014-05-07 | 2017-04-05 | 河南工业大学 | Vertical silo clears up robot |
| CN104550153A (en) * | 2015-01-12 | 2015-04-29 | 南京洁德美环境技术有限公司 | Special washing device for tank pot |
| CN108325970A (en) * | 2018-01-29 | 2018-07-27 | 俞权锋 | A kind of Water chemical storage tank cleaning device |
| CN108325970B (en) * | 2018-01-29 | 2020-11-24 | 义乌市丹航科技有限公司 | Fill ability of swimming chemical industry storage tank belt cleaning device |
| CN109331574A (en) * | 2018-11-27 | 2019-02-15 | 西安科技大学 | Exhaust dust-removing device and method suitable for fuel gas and dust explosion closed container |
| CN113997903A (en) * | 2020-12-21 | 2022-02-01 | 南京九趾装备科技有限公司 | Novel high-efficient cleaning equipment |
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| CN1919478B (en) | 2013-10-30 |
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Owner name: BEIJING GOLDEN ENVIRONMENTAL PROTECTION TECHNOLOGY Free format text: FORMER NAME: JIUDING LUHUAN SCI. + TECH. CO., LTD., BEIJING |
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Address after: 100007 1-776A, Hutong 17, Yongkang Hutong, Beijing, Dongcheng District Patentee after: Beijing Golden Environmental Protection Technology Co., Ltd. Patentee after: Branch oil refinery, Yanshan, Beijing of China Petroleum & Chemical Corporation Address before: 102502 No. 1 YanShan Railway Station Road, Beijing, Fangshan District (Science Park) Patentee before: Jiuding Luhuan Sci. & Tech. Co., Ltd., Beijing Patentee before: Branch oil refinery, Yanshan, Beijing of China Petroleum & Chemical Corporation |