CN1919478B - Railway tank car cleaning robot - Google Patents
Railway tank car cleaning robot Download PDFInfo
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- CN1919478B CN1919478B CN 200610092305 CN200610092305A CN1919478B CN 1919478 B CN1919478 B CN 1919478B CN 200610092305 CN200610092305 CN 200610092305 CN 200610092305 A CN200610092305 A CN 200610092305A CN 1919478 B CN1919478 B CN 1919478B
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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 at the water jet track of tank inner surface formation 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, in order to container is accomplished definite pointwise cleaning, the sewage secondary that but this cleaning way causes the surface after the cleaning to be cleaned easily to be produced in the process pollutes, thereby can not reach the 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 realize any point of tank car end cap and tank inner surface cleaning, and the surface after can avoiding cleaning be 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 that axle swings 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 the 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 swings, 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 at the inner surface of tank body, and described control module activates the described drive system that cleaning spray gun is moved horizontally with wrist, promotes cleaning spray gun and vertically does traveling priority along 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 tanker manhole to tanker 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 that arm adjustment wrist swings and passed 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, therefore also because arm can make cleaning spray gun move horizontally with wrist, can realize above-mentioned cleaning in any point of the inner surface of tank body.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, and can make again all surface to be cleaned of the direct jet cleaning of high-pressure water jet.In addition, owing to adopt computer control, can realize quickly and accurately above-mentioned cleaning function.The organic composite of the action of gyroscopic drive system that can also be by computer control machinery arm support and each drive system of wrist and arm is 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 cleaning spray gun swings.
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 the 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, in the quantity of this railway tank car cleaning robot increase cleaning spray gun, and the water supply flow of corresponding increasing water under high pressure of while, can improve cleaning efficiency.
Further improve as the present invention, adopt the symmetrical structure of both hands arm at this railway tank car cleaning robot, clean simultaneously the tanker manhole both sides, 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 tanker manhole, both realized that high-pressure water jet directly sprayed effective cleaning of all surface to be cleaned, the surface after having avoided again cleaning is cleaned the sewage secondary that produces in the process and pollutes.
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 the 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 the first embodiment of railway tank car cleaning robot of the present invention.Cleaning spray gun 1 swings around axle under the effect of wrist quadric chain 13, hydraulic cylinder and servo valve cooperation 14, and 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 swings 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 swings around axle under the effect of wrist quadric chain 13, hydraulic cylinder and servo valve cooperation 14, and 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 segmented cleaning, under the effect of hydraulic cylinder and servo valve cooperation 7, driven fork 8 separately swings with initiatively fork 9 is relative at a slow speed, 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 front 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 organic composite of rotating shaft 6, connection rod set 3, hydraulic cylinder and servo valve cooperation 2, rotating shaft 12, quadric chain 13, 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 the first embodiment, other structure of railway tank car cleaning robot all is identical.This arm by joint 15,17,19,20,22 and armed lever 16,18,21,23 consist of, each joint is provided with servomotor and sensor.
Because the second embodiment adopts multi-joint arm structure, it is compared with first embodiment, move more flexibly, and it is more stable work, therefore the cleaning action of easier realization complexity.
The below carries out briefly bright to the automatic control unit of tank car according to the present invention robot.
The control section of railway tank car cleaning robot of the present invention adopts the tactic pattern of host computer and slave computer in 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, whole control module 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, and data acquisition is realized the control function.By whole control module, 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 in the face of the industrial computer interface again, 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 here shown and specific detail and the representation example described.Therefore, under the spirit and scope that do not depart from the universal of the present invention that is limited by appended claims and their equivalent, can make various changes.
Claims (10)
1. 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 described cleaning spray gun of making of described wrist around the wrist wobble drive system (13 of the swinging axle swing of cleaning spray gun, 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) that wrist swings, it is characterized in that, described mechanical arm also comprises control module, described control module alternately activates the drive system of the adjustment wrist swing of described wrist wobble drive system and described arm, 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 that the adjustment wrist of arm swings and passed downwards gradually by the top along the inner surface of the end cap of tank car, thereby 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, 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, thereby described cleaning spray gun (1) forms adjacent many horizontal sweeps cleaning tracks that small overlapping region is arranged at 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), promote described cleaning spray gun (1) and vertically do traveling priority along 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 the adjustment wrist of described arm swings 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, active fork (9) and driven fork (8) and connection rod set (3) formation that drive system that described cleaning spray gun moves horizontally with wrist is swung by power set, by described power set, 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 that hydraulic cylinder and servo valve cooperate or servomotor or servo-hydraulic motor (7).
7. railway tank car cleaning robot according to claim 5 is characterized in that, is 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.
9. any one described railway tank car cleaning robot is characterized in that according to claim 1-6, and described mechanical arm is symmetrical, cleans simultaneously the manhole both sides of tank car.
10. use railway tank car cleaning robot as claimed in claim 1 to the method that tank car cleans for one kind, it is characterized in that, cleaning according to by away from the end cap of tanker manhole to tanker 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 |
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| Publication Number | Publication Date |
|---|---|
| CN1919478A CN1919478A (en) | 2007-02-28 |
| CN1919478B true 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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| 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 |
| 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 |
| CN103934246B (en) * | 2014-04-17 | 2016-03-02 | 江苏大学 | A kind of manipulator for the rust cleaning of metal cylinder inwall |
| CN103963054B (en) * | 2014-05-07 | 2017-04-05 | 河南工业大学 | Vertical silo clears up robot |
| CN104550153B (en) * | 2015-01-12 | 2017-05-10 | 南京洁德美环境技术有限公司 | Special washing device for tank pot |
| 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 |
| CN109331574B (en) * | 2018-11-27 | 2021-06-18 | 西安科技大学 | Exhaust dust removal equipment and method suitable for gas 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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| US5377913A (en) * | 1991-11-20 | 1995-01-03 | Van Der Woude; Meino J. | Hydraulic robot jet lance |
| CN1108203A (en) * | 1993-08-10 | 1995-09-13 | 特里克控股有限公司 | Method of servicing interior of large container and service apparatus |
| CN1265360A (en) * | 1999-12-08 | 2000-09-06 | 李树 | High-pressure jet tank truck-cleaning machine |
| CN1284460A (en) * | 2000-08-09 | 2001-02-21 | 李树 | High pressure jet washing equipment for tank truck |
| GB0225840D0 (en) * | 2002-08-11 | 2002-12-11 | Ali Ibrahim G M | Robot |
| CN1439462A (en) * | 2003-04-08 | 2003-09-03 | 李树 | Container washing device |
| US6889920B2 (en) * | 2003-03-17 | 2005-05-10 | Westinghouse Savannah River Company | Directed spray mast |
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2006
- 2006-06-01 CN CN 200610092305 patent/CN1919478B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5377913A (en) * | 1991-11-20 | 1995-01-03 | Van Der Woude; Meino J. | Hydraulic robot jet lance |
| CN1108203A (en) * | 1993-08-10 | 1995-09-13 | 特里克控股有限公司 | Method of servicing interior of large container and service apparatus |
| CN1265360A (en) * | 1999-12-08 | 2000-09-06 | 李树 | High-pressure jet tank truck-cleaning machine |
| CN1284460A (en) * | 2000-08-09 | 2001-02-21 | 李树 | High pressure jet washing equipment for tank truck |
| GB0225840D0 (en) * | 2002-08-11 | 2002-12-11 | Ali Ibrahim G M | Robot |
| US6889920B2 (en) * | 2003-03-17 | 2005-05-10 | Westinghouse Savannah River Company | Directed spray mast |
| CN1439462A (en) * | 2003-04-08 | 2003-09-03 | 李树 | Container washing device |
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| CN1919478A (en) | 2007-02-28 |
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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 |