CN209776385U - Intelligent purging system with ultrasonic cleaning function based on laser guidance - Google Patents

Abstract

the utility model discloses an intelligent purging system with ultrasonic cleaning function based on laser guidance, which comprises a mobile purging system; the mobile purging system comprises a bottom mobile purging robot and a top mobile purging robot, wherein the bottom mobile purging robot and the top mobile purging robot comprise a laser-guided AGV trolley; the purging robot is provided with an ultrasonic atomization nozzle and an industrial camera. The utility model can remove the dust of the vehicle quickly and efficiently, improve the operation environment in the sweeping warehouse, realize the three-dimensional all-round sweeping of the bottom, the side and the top of the rail transit vehicle, and the laser guided AGV does not need to arrange any solid track (such as a fixed steel rail or an electromagnetic guided metal cable) and a virtual track; the ultrasonic sprayer has the advantages of environment-friendly use effect of sweeping stains, energy conservation, cleaner sweeping, elimination of abrasion and corrosion to rail transit vehicles and prolongation of the service life of the ultrasonic atomization sprayer.

Description

Intelligent purging system with ultrasonic cleaning function based on laser guidance

Technical Field

the utility model belongs to the technical field of rail transit vehicle sweeps, concretely relates to intelligence sweep system that has supersound cleaning function based on laser guide.

Background

with the rapid development of national economy, people go out and travel more and more frequently, and the requirements on the rapidness and convenience of service are higher and higher. In order to adapt to and promote the development of the industry, the rail transit is developed in a blowout mode as a novel traffic mode. Correspondingly, higher requirements are put on the operation and maintenance safety of the rail transit vehicle.

In the running process of the rail transit vehicle, because the friction between the wheels and the rails can generate a lot of dust, the dust is adsorbed on the surface of the electric equipment at the bottom of the train to cause some electric faults, the top and the bottom of the train body are required to be removed regularly and timely in order to ensure the running safety of the vehicle, if the dust is not removed in time, the vehicle performance and the service life are influenced, and the vehicle faults can be caused in serious conditions to cause traffic accidents.

At present, the sweeping operation of the electric parts at the bottom of the vehicle in the railway transportation vehicle maintenance place in China is mainly completed by manually cleaning or automatically sweeping by a mechanical arm in combination with manual repair. When the type of the vehicle to be purged and the marshalling length are changed, the traveling path of the AGV trolley cannot be expanded and changed rapidly in time, and the requirement of purging operation cannot be met.

at present, a part of railway transportation vehicle overhaul places in China are provided with simple purging stations, but only the parts such as a vehicle bottom bogie and the like are subjected to dust removal and purging. However, in the long-time actual operation process of the rail transit vehicle, a large amount of dust and dirt can be accumulated on the air conditioner filter screen and the wrinkles of the through passage on the top of the vehicle, and if the air conditioner filter screen and the wrinkles of the through passage are not regularly blown, the hidden danger of electrical faults exists, and the normal operation of the vehicle is threatened.

At present, most of blowing operations in railway transportation vehicle overhaul places in China are manual blowing dust collection, the method is small in blowing area, low in blowing efficiency, incapable of finding out thorough abnormal conditions, high in labor intensity of blowing operators and prone to secondary pollution caused by manual operation uncertainty.

The existing dust collection units are arranged in an array mode in a factory building, and are all controlled to be started in a unified mode after blowing operation is started, so that although a large wind field is formed, no dust is blown in an area without manual work or mechanical arm operation, the dust collection effect of the dust collection units is limited, a large amount of energy is wasted, and mechanical noise generated by rumbling in the factory building is caused.

In addition, due to the fact that the distribution and the shape of equipment such as a vehicle bottom bogie are extremely irregular, the flying path of dust generated during actual sweeping operation is also extremely irregular, and in consideration of the requirement of vehicle limit, a relatively closed space is difficult to form in a sweeping station, so that the dust during sweeping operation is difficult to collect.

SUMMERY OF THE UTILITY MODEL

Aiming at least one of the defects or the improvement requirements in the prior art, the utility model provides an intelligent purging system with an ultrasonic cleaning function based on laser guidance, which reasonably designs a vehicle purging system, carries out all-dimensional purging process layout on a purging warehouse, realizes the three-dimensional all-dimensional purging of the bottom, the side and the top of a rail transit vehicle, and a laser guidance AGV trolley does not need to arrange any solid track (such as a fixed steel rail or an electromagnetically guided metal cable) and a virtual track; the ultrasonic sprayer has the advantages of environment-friendly use effect of sweeping stains, energy conservation, cleaner sweeping, elimination of abrasion and corrosion to rail transit vehicles and prolongation of the service life of the ultrasonic atomization sprayer.

In order to achieve the above object, according to the utility model discloses an aspect provides an intelligence purge system that has ultrasonic cleaning function based on laser guide, its characterized in that: comprises a mobile purging system;

The mobile purging system comprises a bottom mobile purging robot and a top mobile purging robot, the bottom mobile purging robot walks on two sides of a vehicle track of a columnar inspection pit of a rail transit vehicle purging workshop, and the top mobile purging robot walks on the top of the rail transit vehicle purging workshop and in the area of the roof of the rail transit vehicle purging workshop;

the mobile purging system at least comprises two bottom mobile purging robots which are respectively positioned at two sides of a vehicle track of a columnar inspection pit in a rail transit vehicle purging workshop; the top moving and blowing robot is also at least included;

the bottom movable purging robot and the top movable purging robot respectively comprise a movable mechanism and an actuating mechanism; the movable mechanism of the bottom movable purging robot comprises a laser guide AGV trolley which runs in a mode of no solid track and no virtual track; the movable mechanism of the top movable purging robot comprises an inverted AGV trolley which is connected with a hanging bracket at the top of a purging workshop through a fixed track; the executing mechanisms comprise multi-degree-of-freedom mechanical arms, and ultrasonic atomization nozzles and industrial cameras are arranged on the multi-degree-of-freedom mechanical arms and used for purging and image acquisition of vehicle parts, the bottom of a vehicle, the side of the vehicle and the top of the vehicle.

preferably, the system further comprises an exhaust dust removal system which is respectively connected to the working areas of the bottom movable blowing robot and the top movable blowing robot through pipelines; the exhaust dust removal system comprises multi-section dust removal units which are distributed and arranged at the bottom and the top of the blowing workshop along the longitudinal direction of the vehicle track; and as the working positions of the bottom movable blowing robot and the top movable blowing robot are changed, the air channel of the corresponding dust removal unit is opened and the rest is closed.

Preferably, the AGV dolly that the robot was swept in the bottom removal and the robot was swept in the top removal all includes the automobile body, and multi freedom robotic arm sets up on the automobile body and including the big arm, the forearm that connect gradually, ultrasonic atomization shower nozzle and industrial camera set up in parallel at the front end of forearm.

Preferably, the multi-section dust removal unit comprises a plurality of dust suction ports; the exhaust dust removal system also comprises a dust collector, an exhaust pipeline and a dust remover;

The dust collector is arranged behind the dust collection port, and the dust remover is arranged outside a sweeping workshop of the rail transit vehicle and is communicated with the dust collection port through the exhaust pipeline.

Preferably, the dust suction ports comprise a top dust suction port located on a hanger on the top of the blowing workshop, lateral dust suction ports located on two sides of a vehicle rail of the inspection pit and/or a bottom dust suction port located at the bottom of the inspection pit.

Preferably, the dust collection port is internally provided with a multi-section butterfly valve which can be opened and closed independently, and the butterfly valve of the corresponding dust collection port is opened and the butterfly valves of the other areas are closed along with the movement of the bottom movable blowing robot and the top movable blowing robot.

preferably, the ultrasonic atomization spraying device further comprises a water and air supply system which is connected with the bottom movable blowing robot and the top movable blowing robot through flexible pipelines and supplies water and air for the ultrasonic atomization spraying head;

the water and air supply system comprises a water pipe, a water pump, an air compressor, an air dryer, a main air cylinder pipeline, a pressure switch and a safety valve;

wherein the water pipe is connected with a water source, and the water pump is used for pressurizing water flow;

The air compressor converts the mechanical energy of the prime motor into gas pressure energy to provide compressed air;

The air dryer is used for removing harmful impurities including oil, water, moisture and dust in the compressed air;

The main air cylinder is a pressure container for storing compressed air for sweeping the vehicle;

The pressure switch is arranged in the main air cylinder pipeline and used for detecting the pressure of the main air cylinder and converting a main air pressure signal into a switching signal of an air compressor control circuit so as to control the starting and stopping of the air compressor;

The safety valve is used for automatically opening and closing according to the working pressure to protect the safety of the water and air supply system.

the above-described preferred features may be combined with each other as long as they do not conflict with each other.

Generally, through the utility model discloses above technical scheme who conceives compares with prior art, has following beneficial effect:

1. the utility model discloses an intelligence purge system based on laser guide has ultrasonic cleaning function, reasonable design has been carried out to vehicle purge system, the station has carried out three-dimensional all-round overall arrangement to purging the storehouse, the dust of vehicle is clear away fast and high-efficiently, the operation environment in the storehouse has been improved and has been swept, the track traffic vehicle bottom has been realized, the car side, the intellectuality of the three-dimensional all-round operation of sweeping of roof, can clean the vehicle bottom, the long-pending dirt on the relevant equipment surface of car side, the greasy dirt, the rust stain etc., also can clean roof air conditioner filter screen, through the fold, can clean each part installation position, satisfy on next step appearance inspection, the part installation requirement.

2. The utility model discloses an intelligence purge system based on laser guidance has ultrasonic cleaning function, adopt the walking of laser guidance mode, need not to arrange any entity track (like fixed rail or electromagnetic guidance's metal cable) and virtual track, both can realize following the fore-and-aft motion of vehicle track, more can realize following the horizontal motion of vehicle track, so that adjust and purge the transverse distance of object, the home range of AGV dolly has been expanded, can reach the region that conventional sweeping can't reach, the effect of sweeping has been improved, and be not subject to because of the vehicle model, can't expand or change when marshalling length and sweeping the problem in route when changing, it is little to have occupation space, and is with low costs, it is higher to sweep the degree of freedom, the location is accurate, the higher advantage of flexibility.

3. The utility model discloses an intelligence purge system based on laser guide has ultrasonic cleaning function arranges the dust absorption unit at vehicle offside, vehicle bottom, and overall layout structure is compact, and occupation space is little, and purge efficiency is higher. Meanwhile, in the blowing operation process, the blowing dust forms two longitudinal flow fields which are not interfered with each other, so that the subsequent dust collection treatment is facilitated.

4. the intelligent purging system with the ultrasonic cleaning function based on laser guidance is different from the traditional high-pressure air purging, and adopts the ultrasonic nozzle to purge stains; the sprayed water and dust particles collide with each other, are condensed, and are continuously increased in scale and mass, so that the condensed water and dust particles become larger and heavier powder and fall; the whole dust-falling process is free of any special treatment, the using effect is environment-friendly, the energy is saved, and the purging is cleaner; the use of the ultrasonic atomization nozzle eliminates the abrasion and corrosion to rail transit vehicles and prolongs the service life of the ultrasonic atomization nozzle.

5. the utility model discloses an intelligence purge system based on laser guide has ultrasonic cleaning function, through the structure of the multistage formula dust removal unit of vehicle track longitudinal distribution range, especially multistage formula butterfly valve structure that can independently open and close respectively in the multistage formula dust absorption mouth, along with removing the removal of sweeping the robot, the butterfly valve of corresponding dust absorption mouth is opened and the butterfly valve of other regions is closed, the operation of sweeping the region of having fully cooperated removal sweeping the robot, and consider its sweeping wind field, only need the dust absorption mouth in the predetermined range can accomplish the dust absorption and dust removal in this region, the dust absorption unit of other non-operation district does not participate in the dust absorption, reduce the environmental noise of a large number of dust absorbers, save a large amount of energy, reduce the working duration of equipment, reduce use cost and improve the life, the opening and closing of dust absorption mouth in order, can realize focusing the dust removal energy on the operation hotspot, the dust is discharged directionally according to the planned shortest path, and the dust removal effect is effectively improved.

6. The utility model discloses an intelligence purge system based on laser guidance has ultrasonic cleaning function, through the overall arrangement design of dust absorption mouth, especially in the vehicle track both sides of inspection hole with be located the inspection hole bottom of a hole and all arranged array dust absorption mouth to following the removal of AGV dolly and robotic arm among the removal purge system, open and close in step through respective butterfly valve, compensatied the efficiency loss of the dust absorption unit that the non-work area closed, strengthened the dust absorption effect of work area, satisfied whole purge requirement.

drawings

Fig. 1 is a schematic diagram of the composition of the intelligent purging system with ultrasonic cleaning function based on laser guidance;

Fig. 2 is a schematic overall layout (top view) of the intelligent purging system with ultrasonic cleaning function based on laser guidance according to the present invention;

FIG. 3 is a front view of a purging shop of the intelligent purging system with ultrasonic cleaning function based on laser guidance;

FIG. 4 is a schematic diagram (side view) of the exhaust dust removal system of the intelligent purging system with ultrasonic cleaning function based on laser guidance;

FIG. 5 is a partial schematic view of the exhaust dust removal system of the intelligent purging system with ultrasonic cleaning function based on laser guidance;

fig. 6 is a schematic view of a bottom mobile purging robot of the intelligent purging system with ultrasonic cleaning function based on laser guidance of the present invention;

fig. 7 is the utility model discloses a top removes purge robot schematic diagram based on laser guide has intelligence purge system of ultrasonic cleaning function.

Detailed Description

in order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to the following embodiments.

as shown in fig. 1-5, the intelligent purging system with ultrasonic cleaning function based on laser guidance of the utility model comprises a water supply and air supply system 1, an electrical control system 2, a movable purging system 3 and an exhaust dust removal system 4. The intelligent blowing system is a blowing chamber totally-enclosed type and is connected with the water supply and air supply system 1 and the air exhaust and dust removal system 4 through air supply and exhaust pipelines. The purging chamber is composed of a main body, a gate, a lighting device, a floor grid, a safety door, a seal and the like, and forms a closed space for purging operation.

the water and air supply system 1 (see fig. 2) is mainly composed of a water pipe, a water pump, an air compressor, an air dryer, a main air cylinder pipeline, a pressure switch, a safety valve and the like. Wherein the water pipe is connected with a water source, and the water pump is used for pressurizing water flow; the air compressor is a main body of an air source device, and is a device for converting mechanical energy of a prime mover (usually, an electric motor) into gas pressure energy, and is an air pressure generating device for compressing air. The air dryer is a compressed air dehumidifier for removing harmful impurities such as oil, water, dust and the like in compressed air. The main reservoir is a pressure vessel for storing compressed air for the vehicle. The air supply device is mainly used for supplying air when leakage and inflation can be found out in time, and the air supply requirement of a system can be met in time. The pressure switch is an electrical appliance conversion element which utilizes the pressure of compressed air to open and close an electrical shock. The pressure switch is installed near the total reservoir, detects total reservoir pressure, converts total wind pressure signal into air compressor control circuit's switching signal to control opening and shutting of air compressor machine. The safety valve can be automatically opened and closed according to the working pressure, and is arranged on equipment or a pipeline of a closed system to protect the safety of the system. When the pressure in the equipment or the pipeline exceeds a specified value, the pressure relief is automatically started, the pressure of media in the equipment and the pipeline is ensured to be within a specified value, and accidents are prevented. The water and air supply system conveys water and high-pressure air to the ultrasonic atomization collision head of the mechanical arm with multiple degrees of freedom in the mobile blowing system, and the formed high-pressure atomization air knife is used for cleaning the surfaces of the vehicle body and the parts.

preferably, the electrical control system 2 is mainly composed of an instrument control system and a computer monitoring system for operating and monitoring the operation of the equipment. The instrument control system is responsible for collecting temperature signals and gas pressure signals of each section on the site, and simultaneously the temperature control meter of each section outputs 4-20mA current signals according to a set temperature value to drive the air regulating valve of each section on the site so as to achieve the effect of controlling the temperature; and the computer monitoring system is communicated with the control instrument through the PLC (programmable logic controller) in an RS485 manner, acquires signals of real-time temperature of each section, opening of each air regulating valve, gas pressure and the like, and records the signals at regular time. When some devices in the water supply and air supply system and the movable purging system are in short circuit, open circuit or over-temperature and over-pressure caused by electric leakage, the temperature and the pressure of each position can be displayed in the instrument control system, and the alarm buzzer on the panel can work, twinkle and buzz to remind a worker to reasonably adjust the device.

The movable purging system 3 comprises a bottom movable purging robot 31 and a top movable purging robot 32, wherein the bottom movable purging robot 31 runs on two sides of a vehicle track of the columnar inspection pit of the rail transit vehicle purging workshop, and the top movable purging robot 32 runs on the top and roof area of the rail transit vehicle purging workshop. The movable purging system 3 at least comprises two bottom movable purging robots 31 (two as shown in fig. 2-3) which are respectively positioned at two sides of the vehicle 10 rail of the columnar inspection pit in the rail transit vehicle purging workshop; at least one of the top mobile purge robots 32 (two as shown in fig. 3) is also included. The bottom movable purging robot 31 and the top movable purging robot 32 both comprise a movable mechanism and an actuating mechanism; the movable mechanism of the bottom mobile purging robot 31 comprises a laser guided AGV trolley which runs in a way of no physical track and no virtual track. The laser guiding AGV comprises a laser, a scanning rotating device, a photoelectric signal acquisition instrument and an on-board computer, wherein the laser guiding device is mounted on the laser guiding AGV and comprises a laser, a scanning rotating device, a photoelectric signal acquisition instrument and an on-board computer; the laser is used for emitting laser, after being refracted by the right-angle prism through the collimator, the laser irradiates the part of the vehicle body to be swept; the scanning rotating device drives the photoelectric signal acquisition instrument to rotate ceaselessly, is used for receiving light signals reflected by a part to be swept of the vehicle body and transmitting the reflected signals to the vehicle-mounted computer; and the vehicle-mounted computer analyzes and calculates the real-time position and direction of the AGV, compares the real-time position and direction with the target coordinate, and then performs feedback operation on the traveling system of the AGV trolley body, so that the AGV trolley can travel along the calculated guide path. The movable mechanism of the top movable purging robot 32 comprises an inverted AGV trolley which is connected with a hanging bracket 33 at the top of the purging workshop through a fixed rail; the executing mechanisms comprise multi-degree-of-freedom mechanical arms, and the multi-degree-of-freedom mechanical arms are provided with ultrasonic atomizing nozzles 311 and industrial cameras 312 and used for purging and image acquisition of vehicle parts, the bottom of a vehicle, the side of the vehicle and the top of the vehicle. The fixed rail preferably includes a transverse rail in addition to the primary longitudinal rail to facilitate moving sweeping in the transverse direction of the roof. As shown in fig. 6-7, the AGV carts of the bottom mobile purge robot 31 and the top mobile purge robot 32 each include a cart body 315, a multi-degree-of-freedom robot arm is disposed on the cart body 315 and includes a large arm 314 and a small arm 313 connected in sequence, and the ultrasonic atomization nozzle 311 and the industrial camera 312 are disposed in parallel at the front end of the small arm 313. The ultrasonic atomizing nozzle 311 configured by the multi-degree-of-freedom mechanical arm can effectively remove attached dust, dirt, rust and the like, and is specially used for sweeping complex parts of a vehicle (such as a vehicle wheel pair 12 in fig. 2 and 4), the bottom of the vehicle and the side of the vehicle, so that a prerequisite is provided for the next overhaul work. Different from the traditional high-pressure air blowing, the ultrasonic nozzle is adopted to blow stains; the sprayed water and dust particles collide with each other, are condensed, and are continuously increased in scale and mass, so that the condensed water and dust particles become larger and heavier powder and fall; the whole dust-falling process is free of any special treatment, the using effect is environment-friendly, the energy is saved, and the purging is cleaner; the use of the ultrasonic atomization nozzle eliminates the abrasion and corrosion to rail transit vehicles and prolongs the service life of the ultrasonic atomization nozzle. The mechanical arm can reach the operation blind area where the blowing operation personnel can not reach, and complete the work which is difficult to operate by the operation personnel, and the mechanical arm not only can linearly extend and retract, but also can swing in a plane and rotate in the space. According to the requirement of the purging operation and the vehicle limit 11, the mechanical arm can expand and give consideration to the purging of the side part of the vehicle body due to the advantages of the mobility and the flexibility of the mechanical arm. The utility model discloses an intelligence purge system based on laser guidance has supersound cleaning function, sweep the robot through removing, especially the structure of laser guidance AGV dolly, it blows the rifle to need not manual operation, low in labor strength, it is efficient to sweep, and the lead wire is hidden, be difficult for polluting and damaged, the guide principle is simple and reliable, be convenient for control and communication, it is noiseless to the reputation, manufacturing cost is lower, adopt the walking of laser guidance mode, need not to arrange any entity track (like fixed rail or electromagnetic guidance's metal cable) and virtual track, both can realize along the longitudinal motion of vehicle track, more can realize along the horizontal motion of vehicle track, so that adjust and sweep the transverse distance of object, the home range of AGV dolly has been expanded, can reach the region that conventional sweep can't reach, the effect of sweeping has been improved, and be not be subject to because of vehicle model, the robot, The problem that the purging path cannot be expanded or changed when the marshalling length is changed is solved, and the method has the advantages of small occupied space, low cost, higher purging freedom degree, accurate positioning, higher flexibility and the like.

The exhaust dust removal system 4 (see fig. 1-5) comprises multi-stage dust removal units distributed and arranged along the longitudinal direction of the vehicle track at the bottom and the top of the sweeping workshop; as the working positions of the bottom and top mobile purge robots 31 and 32 are changed, the air passage of the corresponding dust removing unit is opened and the rest is closed. The multi-section dust removal unit comprises a plurality of dust suction ports 40, 41 and 42 with the diameter of 100-400 mm; the exhaust dust removal system 4 further comprises a dust collector 43, an exhaust duct 44 and a dust remover 45. The dust collector 43 is installed behind the dust suction ports 40, 41 and 42, and the dust remover 45 is installed outside the rail transit vehicle blowing workshop and communicated with the dust suction ports 40, 41 and 42 through the exhaust duct 44. The suction ports 40, 41, 42 include a top suction port 40 located on the hanger 33 at the top of the purge shop, lateral suction ports 41 located on either side of the vehicle track of the inspection pit, and/or a bottom suction port 42 located at the bottom of the inspection pit. The dust collection ports 40, 41, and 42 are provided therein with multi-stage butterfly valves that can be opened and closed independently, and the butterfly valves of the corresponding dust collection ports are opened and the butterfly valves of the remaining regions are closed as the bottom movable purge robot 31 and the top movable purge robot 32 move. Preferably, the exhaust dust removing system 4 further includes longitudinally extending blocks 48, as shown in fig. 3, respectively located on both sides of the bottom and both sides of the top of the vehicle 10, between the lower block and the mounting platform of the lateral dust suction port 41 and the vehicle body, and between the upper block and the top hanger 33 and the vehicle body, a sweeping airtight space is formed to prevent dust from scattering.

the utility model discloses an intelligence purge system based on laser guidance has ultrasonic cleaning function, through the overall arrangement design of dust absorption mouth, especially in the vehicle track both sides of inspection hole with be located the inspection hole bottom of a hole and all arranged array dust absorption mouth to following the removal of AGV dolly and robotic arm among the removal purge system, open and close in step through respective butterfly valve, compensatied the efficiency loss of the dust absorption unit that the non-work area closed, strengthened the dust absorption effect of work area, satisfied whole purge requirement. Specifically, the dust suction ports are multi-section butterfly valves which can be opened and closed respectively, and the corresponding dust suction ports are opened and the rest are closed along with the change of the operation position. The dust collector is a high-power air compressor and is arranged under the dust collection port and on two sides of the vehicle body, the opening and closing of the dust collection port are realized by controlling the opening and closing of the butterfly valve through the PLC (for example, a PLC circuit board 47 for controlling the butterfly valve in figure 4), and the function of collecting dust-containing gas after sweeping of the mechanical arm is achieved. The dust collection ports are opened and closed in sequence, so that dust collection energy can be focused on an operation hot point, dust is discharged directionally according to a planned shortest path, and the dust collection effect is improved effectively. The exhaust duct is divided into several independent units to realize sectional exhaust to reduce energy consumption and noise. The dust collector 45 comprises a dust collector 43 at the bottom and a dust collector 46 at the upper part, and separates and collects dust particles by means of water power, and when the blowing operation is carried out, negative pressure air carrying dust enters the dust collector connected with the outside of the blowing chamber through an exhaust pipeline for filtering treatment. The air exhaust and dust removal operation flow is as follows: when moving in this region of AGV dolly and the arm work among the purging system, the control butterfly valve is opened, the dust pelletizing system of airing exhaust carries out work, the dust catcher work back produces the negative pressure this moment, the dirty gas after sweeping the arm inhales the exhaust pipe through the dust absorption mouth in, the gas that carries the dust gets into the dust collector of sweeping the room external world through the exhaust pipe, the large granule dust filters through the air outlet and collects and falls into the collecting container, and clean air directly discharges from the air outlet, really realize no dust and leak outward. The utility model discloses an intelligence purge system based on laser guide has ultrasonic cleaning function, through the structure of the multistage formula dust removal unit of vehicle track longitudinal distribution range, especially multistage formula butterfly valve structure that can independently open and close respectively in the multistage formula dust absorption mouth, along with removing the removal of sweeping the robot, the butterfly valve of corresponding dust absorption mouth is opened and the butterfly valve of other regions is closed, the operation of sweeping the region of having fully cooperated removal sweeping the robot, and consider its sweeping wind field, only need the dust absorption mouth in the predetermined range can accomplish the dust absorption and dust removal in this region, the dust absorption unit of other non-operation district does not participate in the dust absorption, reduce the environmental noise of a large number of dust absorbers, save a large amount of energy, reduce the working duration of equipment, reduce use cost and improve the life, the opening and closing of dust absorption mouth in order, can realize focusing the dust removal energy on the operation hotspot, the dust is discharged directionally according to the planned shortest path, and the dust removal effect is effectively improved.

the utility model discloses a purging method based on laser guide has intelligence purge system of ultrasonic cleaning function introduces as follows:

The rail transit vehicle enters a purging area of a purging workshop.

AGV trolleys in the bottom moving purging robot 31 and the top moving purging robot 32 longitudinally travel along the vehicle track, and the mechanical arms move in multiple degrees of freedom to purge the vehicle.

When the purging operation is carried out, the exhaust dust removal system 4 works, when the AGV trolleys and the mechanical arms in the bottom movable purging robot 31 and the top movable purging robot 32 work to a certain area, butterfly valves of dust suction ports 40, 41 and 42 of the area are controlled to be opened through a PLC, and butterfly valves of other areas are closed; at this time, the dust collector 43 generates negative pressure after working, dust-containing gas blown by the mechanical arm is sucked into the exhaust duct 44 through the dust suction ports 40, 41 and 42, gas carrying dust enters the dust remover 45 outside the blowing chamber through the exhaust duct 44, large-particle dust is filtered and collected through the air outlet and falls into the collection container, and clean air is directly discharged from the air outlet, so that no dust is leaked.

the AGV carts and the robot arms in the bottom mobile purging robot 31 and the top mobile purging robot 32 continue to purge the next area, and as the operation positions change, the butterfly valves of the corresponding dust suction ports 40, 41 and 42 are sequentially opened and the rest are closed, so that the dust suction ports 40, 41 and 42 work in a sequential opening/closing mode until the whole train of carriages is purged. This dust pelletizing system of airing exhaust is through the segmentation air exhaust, reduces energy consumption and noise on the one hand, and on the other hand can realize focusing the dust removal energy on the operation hotspot for the dust is according to the directional discharge of planned shortest path, very effectual dust removal effect that has promoted.

Preferably, the suction ports 40, 41, 42 include a top suction port 40 located on the hanger 33 at the top of the purge shop, lateral suction ports 41 located on both sides of the vehicle track of the inspection pit, and a bottom suction port 42 located at the bottom of the inspection pit. The lateral suction port 41 and the bottom suction port 42 in the same area where the AGV cart in the bottom mobile purge robot 31 passes by the robot arm are opened and closed synchronously by respective butterfly valves.

Further, the top moving and blowing robot 32 and the bottom moving and blowing robot 31 move up and down synchronously in the longitudinal direction of the rail, and the top dust suction port 40, the side dust suction port 41 and the bottom dust suction port 42 in the same region where the AGV car and the robot arm pass are opened and closed synchronously through respective butterfly valves. Alternatively, the top moving and blowing robot 32 and the bottom moving and blowing robot 31 move up and down independently in the longitudinal direction of the rail, and the top suction port 40 and the butterfly valves of the lower side suction port 41 and the bottom suction port 42 are opened and closed independently of each other. The two bottom moving purging robots 31 can move synchronously in a symmetrical mode, and can also purge from the front and the rear of the vehicle to the middle or purge from the middle to the two ends respectively.

The utility model discloses an intelligence purge system based on laser guide has ultrasonic cleaning function has carried out rational design to vehicle purge system, has carried out rational overall arrangement to the storehouse of sweeping, clears away the dust of vehicle fast and high-efficiently, has improved the operation environment in the storehouse of sweeping, has realized the intellectuality of the operation of sweeping. The utility model discloses a compressed air sweeps the mechanism and sweeps from vehicle one end to the other end in succession as the main power supply that sweeps, two artificial intelligence to all-round, the multi-angle of the complicated structure to the vehicle bottom is emphatically swept. The dust, oil stain, rust and the like on the surface of related equipment at the bottom of the vehicle can be cleaned; the installation parts of all the components can be cleaned, and the requirements of next-step appearance inspection and component installation are met; the exhaust dust removal system can clean and recover dust and dirt generated after surface treatment in real time, and the dust and dirt reach the standard of discharge, so that secondary pollution to the environment is avoided.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1. The utility model provides an intelligence purge system that has ultrasonic cleaning function based on laser guidance which characterized in that: comprises a mobile purge system (3);

the movable purging system (3) comprises a bottom movable purging robot (31) and a top movable purging robot (32), the bottom movable purging robot (31) walks on two sides of a vehicle track of a columnar inspection pit of the rail transit vehicle purging workshop, and the top movable purging robot (32) walks on the top and the roof area of the rail transit vehicle purging workshop;

the movable purging system (3) at least comprises two bottom movable purging robots (31) which are respectively positioned at two sides of a vehicle track of a columnar inspection pit in a rail transit vehicle purging workshop; further comprising at least one said top mobile purge robot (32);

The bottom moving and blowing robot (31) and the top moving and blowing robot (32) comprise movable mechanisms and actuating mechanisms; the movable mechanism of the bottom movable purging robot (31) comprises a laser-guided AGV trolley which runs in a mode of no solid track and no virtual track; the movable mechanism of the top movable purging robot (32) comprises an inverted AGV trolley which is connected with a hanging bracket (33) at the top of the purging workshop through a fixed rail; the executing mechanisms comprise multi-degree-of-freedom mechanical arms, and ultrasonic atomizing nozzles (311) and industrial cameras (312) are arranged on the multi-degree-of-freedom mechanical arms and used for purging and image acquisition of vehicle parts, the bottom of a vehicle, the side of the vehicle and the top of the vehicle.

2. The laser-guidance-based intelligent purging system with ultrasonic cleaning function according to claim 1, wherein: the device also comprises an exhaust dust removal system (4) which is respectively connected to the working areas of the bottom movable blowing robot (31) and the top movable blowing robot (32) through pipelines;

the exhaust dust removal system (4) comprises multi-section dust removal units which are distributed and arranged at the bottom and the top of the blowing workshop along the longitudinal direction of the vehicle track; the air channel of the corresponding dust removing unit is opened and the rest is closed along with the change of the working positions of the bottom moving and purging robot (31) and the top moving and purging robot (32).

3. The laser-guidance-based intelligent purging system with ultrasonic cleaning function according to claim 2, wherein:

The AGV trolley with the bottom moving and purging robot (31) and the top moving and purging robot (32) comprises a trolley body (315), a multi-degree-of-freedom mechanical arm is arranged on the trolley body (315) and comprises a large arm (314) and a small arm (313) which are sequentially connected, and the ultrasonic atomization nozzle (311) and the industrial camera (312) are arranged at the front end of the small arm (313) in parallel.

4. The laser-guidance-based intelligent purging system with ultrasonic cleaning function according to claim 3, wherein:

the multi-section dust removal unit comprises a plurality of dust suction ports (40, 41 and 42); the exhaust dust removal system (4) also comprises a dust collector (43), an exhaust pipeline (44) and a dust remover (45);

The dust collector (43) is arranged behind the dust suction ports (40, 41, 42), the dust remover (45) is arranged outside a rail transit vehicle blowing workshop and is communicated with the dust suction ports (40, 41, 42) through the exhaust pipeline (44).

5. the laser-guidance-based intelligent purging system with ultrasonic cleaning function according to claim 4, wherein:

The dust suction ports (40, 41, 42) comprise a top dust suction port (40) positioned on a hanger (33) at the top of the blowing workshop, lateral dust suction ports (41) positioned at two sides of a vehicle track of the inspection pit and/or a bottom dust suction port (42) positioned at the bottom of the inspection pit.

6. The laser-guidance-based intelligent purging system with ultrasonic cleaning function according to claim 5, wherein:

Multistage butterfly valves which can be opened and closed independently are arranged in the dust suction ports (40, 41 and 42), and the butterfly valves of the corresponding dust suction ports are opened and the butterfly valves of the rest areas are closed along with the movement of the bottom movable blowing robot (31) and the top movable blowing robot (32).

7. The laser-guidance-based intelligent purging system with ultrasonic cleaning function according to claim 1, wherein: the ultrasonic atomization spraying device is characterized by further comprising a water and air supply system (1) which is connected with the bottom movable blowing robot (31) and the top movable blowing robot (32) through flexible pipelines and supplies water and air to the ultrasonic atomization nozzle (311);

The water and air supply system (1) comprises a water pipe, a water pump, an air compressor, an air dryer, a main air cylinder pipeline, a pressure switch and a safety valve;

wherein the water pipe is connected with a water source, and the water pump is used for pressurizing water flow;

the air compressor converts the mechanical energy of the prime motor into gas pressure energy to provide compressed air;

the air dryer is used for removing harmful impurities including oil, water, moisture and dust in the compressed air;

the main air cylinder is a pressure container for storing compressed air for sweeping the vehicle;

The pressure switch is arranged in the main air cylinder pipeline and used for detecting the pressure of the main air cylinder and converting a main air pressure signal into a switching signal of an air compressor control circuit so as to control the starting and stopping of the air compressor;

The safety valve is used for automatically opening and closing according to the working pressure to protect the safety of the water and air supply system.