CN210414553U

CN210414553U - Bogie cleaning robot and system

Info

Publication number: CN210414553U
Application number: CN201920419445.1U
Authority: CN
Inventors: 杨学良; 林立才; 李春雨; 崔旭斌; 张念勇; 庞龙
Original assignee: Beijing Sheenline Group Co Ltd
Current assignee: Beijing Sheenline Technology Co Ltd; Beijing Sheenline Group Co Ltd
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2020-04-28
Anticipated expiration: 2029-03-29

Abstract

The application relates to a bogie cleaning robot and system. The bogie cleaning robot comprises a manipulator, a control device, a cleaning device and a positioning detection device. The control device is in communication connection with the manipulator and is used for controlling the manipulator to act. The cleaning device and the positioning detection device are both arranged on the manipulator. The positioning detection device is in communication connection with the control device and is used for positioning the bogie to be cleaned. The control device is used for controlling the mechanical arm to move according to the positioning result of the positioning detection device, and the mechanical arm drives the cleaning device to move so as to clean the bogie to be cleaned. The application provides bogie cleaning robot is intelligent and cleaning efficiency is high.

Description

Bogie cleaning robot and system

Technical Field

The application relates to the field of bogie cleaning, in particular to a bogie cleaning robot and a system.

Background

Bogies are important parts of rolling stock. Bogie cleaning is the basic work for bogie maintenance. After the bogie is removed from the rolling stock, it is first cleaned to remove dust, oil, etc. deposited on the surface of the bogie and to prepare for subsequent operations such as disassembly and inspection.

In the prior art, the steering frame is mainly cleaned manually. Generally, 4-5 persons are needed for manually cleaning a bogie with more dirt, the cleaning time is about 40-60 minutes, and the efficiency is low. And in the cleaning process, a medicament is required to be sprayed, and the medicament is harmful to human bodies due to volatilization.

However, this cleaning method has a problem of low cleaning efficiency.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is desirable to provide a bogie cleaning robot and system.

A bogie cleaning robot comprising:

a manipulator;

the control device is in communication connection with the manipulator and is used for controlling the action of the manipulator;

the cleaning device is arranged on the manipulator and used for cleaning the bogie to be cleaned;

the positioning detection device is arranged on the manipulator, is in communication connection with the control device and is used for positioning the bogie to be cleaned;

the control device is used for controlling the mechanical arm to move according to the positioning result of the positioning detection device, and the mechanical arm drives the cleaning device to move so as to clean the bogie to be cleaned.

In one embodiment, the cleaning apparatus comprises:

the washing device is arranged on the manipulator and used for spraying liquid to the to-be-cleaned bogie to realize washing;

and the brushing device is arranged on the manipulator and is used for brushing the bogie to be cleaned.

In one embodiment, the cleaning apparatus further comprises:

the washing device and the brushing device are arranged on the mechanical arm through the mounting bracket.

In one embodiment, the flushing device comprises:

the flushing gun is arranged on the mounting bracket;

a liquid supply in communication with the irrigation gun for providing liquid to the irrigation gun.

In one embodiment, the flushing device further comprises:

and the adjusting device is mechanically connected with the washing gun and the mounting bracket and is used for adjusting the position and/or the angle of the washing gun.

In one embodiment, the brushing apparatus comprises:

a brush head;

and the rotation driving device is arranged on the mounting bracket, is mechanically connected with the brush head and is used for driving the brush head to rotate.

In one embodiment, the direction in which the rinse gun sprays the liquid is disposed at an acute angle to the brush head.

In one embodiment, the positioning detection device comprises a microswitch.

In one embodiment, the bogie cleaning robot includes:

the visual recognition device is arranged on the manipulator, is in communication connection with the control device and is used for recognizing the image information of the bogie to be cleaned;

the control device is also used for controlling the working path of the manipulator according to the image information of the bogie to be cleaned.

In one embodiment, the adjusting device is connected with the control device in a communication way; the control device is further used for obtaining the pollution level of the bogie to be cleaned according to the image information of the bogie to be cleaned, and controlling the adjusting device to adjust the position of the flushing gun according to the pollution level of the bogie to be cleaned.

In one embodiment, the bogie cleaning robot further comprises:

and the first lifting device is mechanically connected with the manipulator and is in communication connection with the control device, and the first lifting device is used for realizing the lifting of the manipulator.

The bogie cleaning robot that this application embodiment provided includes the manipulator the controlling means belt cleaning device with location detection device. Through the manipulator drives belt cleaning device removes, realizes right treat the washing of washing bogie, realized automatic washing, improved right treat that the washing of washing bogie is abluent intelligent. Meanwhile, the bogie cleaning robot with the structure has high cleaning efficiency. In addition, the positioning detection device is used for positioning the bogie to be cleaned, and the specific position of the bogie to be cleaned can be accurately determined, so that the manipulator can be accurately controlled, the cleaning accuracy is improved, the cleaning collision accidents are reduced, and the cleaning safety is improved.

A bogie cleaning system for cleaning a bogie to be cleaned, the bogie to be cleaned being disposed on a cleaning platform, the bogie cleaning system comprising:

the bogie cleaning robot as described above;

and the moving device is mechanically connected with the bogie cleaning robot and is used for driving the bogie cleaning robot to move.

In one embodiment, the moving device is a robot ground rail, and the robot ground rail is arranged on the cleaning platform along the extending direction of the bogie to be cleaned.

In one embodiment, the number of the robot ground rails is 2, and the robot ground rails are respectively arranged on two sides of the bogie to be cleaned along the extending direction of the bogie to be cleaned.

In one embodiment, the bogie cleaning system further comprises:

and the cleaning groove is formed in the cleaning platform and used for collecting cleaning dirty liquid.

In one embodiment, the bogie cleaning system further comprises:

and the liquid circulating device is arranged in the cleaning groove, is communicated with the liquid supply device and is used for realizing the recycling of the cleaning dirty liquid.

In one embodiment, the liquid circulation device comprises:

the purification device is arranged in the cleaning groove and is used for purifying the cleaning dirty liquid;

and the submersible pump is arranged in the cleaning groove, is communicated with the liquid supply device and is used for extracting the purified cleaning sewage to the liquid supply device.

In one embodiment, the bogie cleaning system further comprises:

and the second lifting device is arranged in the cleaning groove and used for lifting the bogie to be cleaned.

The embodiment of the application provides bogie cleaning system passes through mobile device with bogie cleaning robot cooperation realizes rightly treat the all-round washing of wasing the bogie, and intelligence and degree of automation are high. And the bogie cleaning robot comprises the cleaning device. The cleaning device comprises the flushing device and the brushing device, so that the two actions of washing and brushing are combined, and the cleaning effect is improved.

Drawings

FIG. 1 is a schematic diagram of a bogie cleaning robot according to an embodiment of the present application;

FIG. 2 is a schematic front view of a cleaning apparatus according to an embodiment of the present disclosure;

FIG. 3 is a schematic perspective view of a cleaning device according to an embodiment of the present disclosure;

FIG. 4 is a schematic side view of a cleaning apparatus according to an embodiment of the present disclosure;

FIG. 5 is a schematic flow chart illustrating steps of a method for cleaning and positioning a bogie according to an embodiment of the present application;

FIG. 6 is a schematic structural view of a bogie frame provided in accordance with an embodiment of the present application;

FIG. 7 is a flowchart illustrating a step of determining position information of the bogie to be cleaned along a first direction to obtain first direction information according to an embodiment of the present application;

FIG. 8 is a flowchart illustrating a step of determining the position information of the bogie to be cleaned along the second direction to obtain the second direction information according to an embodiment of the present application;

fig. 9 is a flowchart illustrating a step of determining the position information of the bogie to be cleaned along the third direction to obtain third direction information according to an embodiment of the present application;

fig. 10 is a schematic flowchart of a step of obtaining position information of the positioning reference plane along the third direction to obtain third direction information according to an embodiment of the present application;

FIG. 11 is a schematic top view of a truck washing system according to an embodiment of the present application;

FIG. 12 is a schematic side view of a truck washing system according to an embodiment of the present application;

fig. 13 is a schematic perspective view of a bogie cleaning system according to an embodiment of the present application.

Description of reference numerals:

bogie cleaning system 1 bogie cleaning robot 10 manipulator 100

Control device 200 bogie cleaning device (hereinafter simply referred to as cleaning device) 300

Mounting bracket 301 flushing device 310 flushing gun 311 liquid supply 312

Adjusting device 313 angle adjusting device 315 clamping block 3151 position adjusting device 314

Sliding rail 3141, sliding block 3142, sliding driving device 3143 and brushing device 320

Brush head 321 rotation drive 322 brush head clamping block 323 rotation drive clamping block 324

Positioning detection device 400 to be cleaned bogie 20 and bogie frame 21 positioning reference block 22

First step surface 223 second step surface 224 first vertical surface 225 second vertical surface 226

Third vertical surface 227 positioning reference surface 23 motor installation positioning surface 231 arc surface 232

Cleaning platform 30 moving device 40 cleaning groove 50 second lifting device 70

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the bogie cleaning robot and system of the present application are further described in detail by the embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

The bogie cleaning robot and the system provided by the embodiment of the application can be used for cleaning a bogie. The bogie may include, but is not limited to, a bogie of a rail transit rolling stock, a bogie of a truck or passenger car vehicle. The bogie cleaning robot and the system provided by the embodiment of the application can also be used for cleaning bogie frames or other sub-part structures of bogies. It can be understood that the bogie cleaning robot and the system provided by the embodiment of the application can also be applied to cleaning of other equipment with a structure similar to that of a bogie. The application objects and application environments of the bogie cleaning robot and the system are not limited.

Referring to fig. 1, the present application provides a bogie cleaning robot 10 including a robot hand 100, a control device 200, a bogie cleaning device 300, and a positioning detection device 400. The bogie cleaning device 300 is hereinafter simply referred to as a cleaning device 300. The cleaning device 300 and the positioning detection device 400 are both provided to the robot 100. The cleaning device 300 is used for cleaning the bogie 20 to be cleaned. The positioning detection device 400 is in communication connection with the control device 200, and is used for positioning the bogie 20 to be cleaned. The control device 200 is in communication connection with the manipulator 100 and is configured to control the manipulator 100 to move according to the positioning result of the positioning detection device 400. The manipulator 100 moves to drive the cleaning device 300 to move, so that the bogie 20 to be cleaned is cleaned.

The manipulator 100 may have a 6-axis linkage structure, that is, the manipulator 100 may include 6 movable joints, and may be capable of moving and rotating in 6 coordinate axis directions. The specific structure, model, size and the like of the manipulator 100 are not limited in the present application, and can be selected according to actual requirements. In one embodiment, the robot 100 may be selected from the ABB-IPB6640 model or the Starobil RX1620L model. The precision of the motion track of the mechanical arm 100 is larger than +/-0.5 mm, the repeated positioning precision of the mechanical arm 100 is smaller than or equal to 1mm, the repeated path precision of the mechanical arm 100 is smaller than or equal to 1mm, and accidents such as collision and the like caused by track errors can be effectively prevented. The payload of the robot 100 is greater than 14Kg, which enables better end tooling weight loading.

The size of the armband of the robot 100 can be designed and selected differently depending on the width of the truck 20 to be cleaned and the manner of cleaning. In a specific embodiment, the armband of the robot arm 100 is larger than half of the width of the bogie 20 to be cleaned, so that the cleaning of the bogie 20 to be cleaned is completed by arranging the robot arm 100 on both sides of the bogie 20 to be cleaned, respectively. In another specific embodiment, the radius of the robot may be greater than 2010mm, so that the robot 100 is disposed on one side to clean the bogie 20 to be cleaned, which has a width of less than 2800 mm.

The robot 100 may be of a waterproof, rust-resistant design. In a specific embodiment, the manipulator 100 adopts a manipulator with a protection level of IP67 grade and is provided with a waterproof raincoat to prevent splashing or steam from damaging electric components such as a motor of the manipulator 100.

The control device 200 may include, but is not limited to, a computer device, a PLC (Programmable logic controller), or other device including a processor. The present application does not limit the specific structure, model, etc. of the control device 200 as long as the functions thereof can be realized. The control device 200 is communicatively connected to the robot 100, so that the movement locus of the robot 100 can be controlled. It is understood that the control device 200 may also be connected to other devices in a communication manner to control the other devices.

The cleaning device 300 is any device capable of cleaning the truck 20 to be cleaned. For example, the cleaning device 300 includes, but is not limited to, a brush, a spray gun, a wipe, and the like. The cleaning device 300 is disposed at the robot 100 and moves along with the movement of the robot 100, thereby cleaning the bogie 20 to be cleaned.

The positioning detection device 400 is provided in the robot 100. The manipulator 100 can drive the positioning detection device 400 to move. The positioning detection device 400 is used for detecting the position to realize the positioning of the bogie 20 to be cleaned.

The positioning detection device 400 is any device that can determine the specific position information of the bogie 20 to be cleaned. For example, the positioning detection device 400 may be a laser range finder. The laser range finder measures the position from the bogie 20 to be cleaned and transmits it to the control device 200. The control device 200 determines the position of the bogie 20 to be cleaned according to the distance information between the bogie 20 to be cleaned and the bogie 20 to be cleaned, so as to position the bogie 20 to be cleaned. For another example, the positioning detection device 400 may also be an image recognition device. Image information around the image recognition device is transmitted to the control device 200. The control device 200 compares the image information with a plurality of pre-stored picture information to determine the specific position of the bogie 20 to be cleaned. The specific structure, communication mode, setting position, and the like of the positioning detection apparatus 400 are not limited as long as the functions thereof can be realized. The positioning detection device 400 is used for positioning the bogie 20 to be cleaned, and the specific position of the bogie 20 to be cleaned can be accurately determined, so that the manipulator 100 can be accurately controlled, the cleaning accuracy is improved, cleaning collision accidents are reduced, and the cleaning safety is improved.

The working process of the bogie cleaning robot 10 is as follows:

the control device 200 controls the robot 100 to move, so as to drive the positioning detection device 400 to move. The positioning detection device 400 acquires the position information of the bogie 20 to be cleaned during the movement process, and transmits the position information to the control device 200. The control device 200 makes a cleaning route according to the position information of the bogie 20 to be cleaned, and further controls the robot arm 100 to move. The manipulator 100 moves and drives the cleaning device 300 to clean the bogie 20 to be cleaned.

In this embodiment, the bogie cleaning robot 10 includes the manipulator 100, the control device 200, the cleaning device 300, and the positioning detection device 400. Through manipulator 100 drives belt cleaning device 300 removes, realizes right the washing of treating washing bogie 20 has realized automatic washing, has improved right the intelligence of treating washing bogie 20 washing. Meanwhile, the bogie cleaning robot 10 of this structure has high cleaning efficiency. In addition, the positioning of the bogie 20 to be cleaned is realized through the positioning detection device 400, and the specific position of the bogie 20 to be cleaned can be accurately determined, so that the manipulator 100 can be accurately controlled, the cleaning accuracy is improved, the cleaning collision accidents are reduced, and the cleaning safety is improved.

In a specific embodiment, the positioning detection device 400 includes a micro switch. The micro switch may be directly provided on the arm of the robot 100, or may be provided on the cleaning apparatus 300. The micro switch may also be mounted to the robot 100 or the washing apparatus 300 through a bracket. In a specific embodiment, the micro switch is bracket mounted to a mounting bracket 301 of the cleaning device 300. The robot 100 has a positioning system. The manipulator 100 drives the micro switch to move, finds the bogie 20 to be cleaned, touches the bogie 20 to be cleaned through the micro switch, and transmits a signal to the control device 200. The control device 200 determines the specific position of the bogie 20 to be cleaned according to the obtained signal, and further adjusts the operation start position of the manipulator 100 according to the specific position of the bogie 20 to be cleaned. The specific positioning process and positioning method of the positioning detection device 400 for the bogie 20 to be cleaned are shown in the following embodiments of bogie cleaning and positioning methods.

The cleaning device 300 is further illustrated with reference to the following examples:

referring to fig. 2 and 3 together, in one embodiment, the cleaning device 300 includes a flushing device 310 and a brushing device 320. The washing unit 310 and the brushing unit 320 are both disposed on the robot arm 100. The flushing device 310 is used for spraying liquid to the bogie 20 to be cleaned, so as to realize flushing. The sprayed liquid can be water, or a mixed liquid of water and a cleaning agent, or other liquids. The flushing device 310 may be a high pressure flushing device or a flushing device of conventional pressure. The brushing device 320 is used for brushing the bogie 20 to be cleaned. The brushing device 320 may include a brush or the like to achieve brushing. The specific structures and dimensions of the washing device 310 and the brushing device 320, and the connection mode with the manipulator 100, etc. can be selected according to actual requirements, and the application is not limited in any way as long as the functions thereof can be realized.

The rinsing device 310 and the brushing device 320 may be directly mounted on the robot 100 or may be indirectly mounted on the robot 100. In one embodiment, the cleaning device 300 further comprises a mounting bracket 301. The flushing device 310 and the brushing device 320 are both disposed on the mounting bracket 301. The mounting bracket 301 is provided to the robot 100. The structure, size, shape, material, etc. of the mounting bracket 301 are not limited in this application as long as the fixing and connecting functions of the washing device 310 and the brushing device 320 can be achieved. In one particular embodiment, as shown in fig. 2, the mounting bracket 301 has an inverted U-shaped configuration. The flushing device 310 is disposed at the top of the inverted U-shaped mounting bracket 301, and the brushing device 320 is disposed through the side of the inverted U-shaped mounting bracket 301.

The operation of the cleaning device 300 is as follows: the washing device 310 sprays liquid to the bogie 20 to be cleaned, so that the surface of the bogie 20 to be cleaned is wetted. The brushing device 320 further brushes the surface of the bogie 20 to be cleaned, so as to clean and clean the bogie 20 to be cleaned. When the flushing device 310 is a high-pressure flushing device, it is possible not only to wet the surface of the bogie 20 to be cleaned, but also to flush out parts of dirt. And further cleaning is accomplished by the brushing device 320. It will be appreciated that the flushing device 310 and the brushing device 320 are arranged at different alignment angles, so that they act on the bogie 20 to be cleaned simultaneously, i.e. the flushing and brushing of the bogie 20 to be cleaned is achieved.

The cleaning device 300 provided in this embodiment includes the flushing device 310 and the brushing device 320. The washing device 310 can spray liquid to the bogie 20 to be cleaned, and the brushing device 320 can brush the bogie 20 to be cleaned. Through the combination of the cleaning device 300 and the brushing device 320, the combination of two actions of washing and brushing is realized, the cleaning effect is improved, and the cleaning efficiency is high.

Meanwhile, the cleaning apparatus 300 is provided to the robot 100. The control device 200 controls the robot arm 100 to rotate and move according to the structure and the pipe arrangement of the bogie 20 to be cleaned. The manipulator 100 drives the washing device 310 and the brushing device 320 to move, so that the bogie 20 to be cleaned is cleaned at each position, and the cleaning effect is improved.

In one embodiment, the flushing device 310 includes a flushing gun 311 and a liquid supply 312. The washing gun 311 is disposed at the mounting bracket 301. The liquid supply device 312 is in communication with the flushing device 311 for providing liquid to the flushing gun 311.

The flushing gun 311 may be a high pressure spray gun. The flushing gun 311 includes a gun body and a spray head. The spray head is arranged at one end of the gun body. In a specific embodiment, the spray head may be a 25 ° fan spray head, such that the sprayed water forms a fan-shaped water column, increasing the flush area. The structure, shape and material of the flushing gun 311 are not limited, and can be selected according to actual needs. In one embodiment, the rinsing gun 311 is made of aluminum alloy, so that the weight of the rinsing gun 311 can be reduced, and the load of the robot 100 can be reduced. The surface of the washing gun 311 may also be surface treated to prevent oxidation, rusting, etc.

The other end of the gun body communicates with the liquid supply 312. The liquid supply 312 may include a liquid storage device. The liquid storage device is a container for containing liquid for cleaning. The liquid stored in the liquid storage device can be water and a certain amount of neutral cleaning agent, so that the cleaning effect on oil stains is improved. The liquid supply device 312 may further include a pressure providing device. The pressure providing device is used for providing pressure to supply the liquid in the liquid storage device to the washing gun 311 and providing certain pressure to the washing gun 311. The pressure supply means includes, but is not limited to, a water pump. The water pump may have a pressure of 200Bar and may have a water usage of 1000 litres per hour. The flushing device 310 provided by this embodiment includes the flushing gun 311 and the liquid supply device 312, and is simple in structure and easy to implement.

In one embodiment, the flushing device 310 further comprises an adjusting device 313. The adjustment device 313 is mechanically connected to the washing gun 311 and the mounting bracket 301. The adjusting device 313 is used for adjusting at least one of the position and the angle of the washing gun 311.

In one embodiment, the adjustment device 313 includes an angle adjustment device 315. The angle adjusting device 315 is disposed on the washing gun 311. The angle adjusting device 315 is used for adjusting the angle of the washing gun 311.

The structure of the angle adjustment device 315 may be various. The angle adjusting device 313 can be used for adjusting the angle of the gun body so as to adjust the liquid outlet direction of the washing gun 311. The angle adjusting device 315 can also be used to adjust the angle of the nozzle to adjust the liquid outlet direction of the washing gun 311.

In a specific embodiment, the angle adjustment device 315 includes a clamp block 3151. The clamp block 3151 is clamped to the washing gun 311. The shape of the clamping block 3151 may be a cubic structure. The clamping block 3151 with a cubic structure may be provided with a groove, and the shape of the groove matches with the shape of the gun body of the washing gun 311. The number of the clamping blocks 3151 may be 2. The 2 clamping blocks 3151 are clamped on two sides of the gun body of the washing gun 311. The 2 clamping blocks 315 may be fixed by fixing bolts or the like. The fixing bolt penetrates through the clamping block 3151. The number of the fixing bolts, the specific arrangement position of the clamp block 3151, and the like are not limited as long as the functions thereof can be realized.

Meanwhile, the clamping block 315 is movably connected with the mounting bracket 301, and the angle between the clamping block 315 and the mounting bracket 301 is adjustable. In one specific embodiment, the mounting bracket 301 may be bolted to enable an angularly adjustable articulation.

When the angle of the washing gun 311 needs to be adjusted, the relative position of the clamping block 315 and the mounting bracket 301 is adjusted by adjusting a bolt, so that the angle of the washing gun 311 fixed to the clamping block 315 is adjusted.

In this embodiment, the angle adjustment of the washing gun 311 can be realized by the angle adjustment device 313, so that the washing position of the bogie 20 to be washed can be adjusted, and the flexibility and the practicability of the washing device 300 are improved. Meanwhile, the relative positions of the flushing device 310 and the brushing device 320 can be changed by adjusting the angle of the flushing gun 311, so that the consistency of the cleaning positions of the flushing device 310 and the brushing device 320 on the bogie 20 to be cleaned is ensured, and the cleaning effect is ensured.

In one embodiment, the adjusting device 313 further comprises a position adjusting device 314. The position adjusting device 314 is disposed on the mounting bracket 301. The position adjusting device 314 is connected to the washing gun 311 for adjusting the position of the washing gun 311. The position adjusting device 314 can change the relative position of the washing gun 311 and the mounting bracket 301, thereby changing the relative position of the washing gun 311 and the bogie 20 to be cleaned. For example, the position adjusting device 314 can adjust the distance between the flushing gun 311 and the bogie 20 to be cleaned. By changing the distance of the rinsing gun 311 from the bogie 20 to be cleaned, the cleaning area, the cleaning pressure and the cleaning speed can be changed without changing the spray head of the rinsing gun 311. When the distance between the washing gun 311 and the bogie 20 to be cleaned is short, the cleaning pressure is large, the cleaning area is small, and the cleaning speed is slow. When the distance from the washing gun 311 to the bogie 20 to be cleaned is long, the cleaning pressure is small, the cleaning area is large, and the cleaning speed is high.

In the cleaning apparatus 300 provided in this embodiment, the position of the washing gun 311 is adjusted by the position adjusting device 314, so that the cleaning position, the cleaning pressure, the cleaning area, and/or the cleaning speed can be adjusted. The embodiment provides the cleaning device 300 with improved cleaning flexibility and practicability.

In one embodiment, the position adjustment device 314 includes a slide rail 3141, a slider 3142, and a slide driving device 3143. The slide rail 3141 is disposed on the mounting bracket 301. The slider 3142 is connected to the flush gun 311. Meanwhile, the sliding block 3142 is slidably connected to the sliding rail 3141. That is, the sliding block 3142 is connected between the sliding rail 3141 and the washing gun 311, and the sliding block 3142 can slide relative to the sliding rail 3141. The slide driving means 3143 is connected to the slider 3142. The sliding driving device 3143 is used for driving the sliding block 3142 to slide along the sliding rail 3141. The slide driving means 3143 may have various structures. In a specific embodiment, the slide driving means 3143 comprises a slide cylinder. The sliding cylinder drives the sliding block 3142 to slide along the sliding rail 3141, so that compared with electric driving, the problem of short circuit caused by water splashing and the like can be effectively avoided, and the safety and the stability of the cleaning device 300 are improved.

In one embodiment, the brushing apparatus 320 includes a brush head 321 and a rotary drive 322. The rotation driving device 322 is installed on the mounting bracket 301. The brush head 321 is mechanically connected to the rotational drive 322. The rotation driving device 322 is used for driving the brush head 321 to rotate.

In one embodiment, the brush head 321 may be a spherical cylindrical structure. The brush head 321 is provided with bristles of moderate hardness. The bristle length may be greater than 25 mm. The bristles can be bristles with good elasticity. The connection between the brush head 321 and the rotation driving device 322 may be a direct connection or an indirect connection. In one particular embodiment, the brushing apparatus 320 further includes a brush head holding block 323. The brush head holding block 323 is disposed between the brush head 321 and the rotational driving device 322. The brush head holding block 323 and the brush head 321 may be in fixed connection. The rotational driving device 322 is rotationally connected with the brush head holding block 323. The rotating driving device 322 drives the brush head clamping block 323 to rotate, so as to drive the brush head 321 to rotate, and thus the bogie 20 to be cleaned is scrubbed.

The rotation driving device 322 may be disposed inside the mounting bracket 301 having an inverted U shape. The brush head 321 and the brush head holding block 323 are disposed outside the inverted U-shaped mounting bracket 301. In one particular embodiment, the brushing apparatus 320 further includes a rotary drive clamping block 324. The rotational drive device clamping block 324 cooperates with the rotational drive device 322 and the mounting bracket 301. The rotational drive device clamping block 324 is used to realize the fixed connection of the rotational drive device 322 with the mounting bracket 301.

In this embodiment, the rotation of the brush head 321 is driven by the rotation driving device 322, so as to brush the bogie 20 to be cleaned, thereby improving the cleaning effect.

In one embodiment, the rotational drive 322 is a pneumatic motor. The specific type, size, etc. of the pneumatic motor are not limited as long as pneumatic driving of the brush head 321 can be achieved. The brush head 321 is driven to rotate by the pneumatic motor, so that the problem that the brush head cannot work due to water splashing of the driving device can be effectively solved, and the safety and the reliability of the brushing device 320 are improved.

The bogie cleaning robot 10 is used as follows: and placing the bogie 20 to be cleaned at a preset position, and controlling the manipulator 100 to travel to the preset position by the control device 200, and controlling the manipulator 100 to act according to a preset working track. Meanwhile, the cleaning device 300 is controlled to clean the bogie 20 to be cleaned. However, the bogie 20 to be cleaned is often not accurately placed at the preset position before cleaning, and relatively large deviation exists. If the manipulator 100 is controlled to operate according to the preset position, a collision accident is likely to occur. Therefore, positioning of the bogie 20 to be cleaned is very necessary. The bogie cleaning robot 10 with positioning function and the corresponding bogie cleaning positioning method will be further described with reference to the following embodiments.

Referring also to fig. 4, in one embodiment, the irrigation gun 311 is a curved structure. Specifically, the gun body of the flushing gun 311 may have a curved structure. The bent angle of the gun body can be designed according to actual requirements. The washing gun 311 is of a bent structure, so that a certain angle is formed between the washing gun 311 and the brushing device 320, and water columns sprayed by the washing gun 311 and bristles of the brushing device 320 act on the same position of the bogie 20 to be cleaned more easily, so that the cleaning effect is improved.

In one embodiment, the direction of the liquid spray from the rinse gun 311 is disposed at an acute angle to the brush head 321. The angle and/or position of the washing gun 311 can be adjusted by the adjusting device 313, so that the angle between the direction of the liquid sprayed by the spray head of the washing gun 311 and the direction of the rotating shaft of the brush head 321 is less than 90 °, and the area of the liquid sprayed by the washing gun 311 falling on the surface of the bogie 20 to be cleaned is just close to the contact area between the brush head 321 and the surface of the bogie 20 to be cleaned, thereby achieving the best cleaning effect.

In one embodiment, the bogie cleaning robot 10 further comprises a first lifting device (not shown). The first lifting device is mechanically connected to the robot 100. The first lifting device is in communication connection with the control device 200. The first lifting device is used for lifting the manipulator 100.

The first elevating means may be provided at the bottom of the robot arm 100 in an eighth axial direction of the outside of the robot arm 100. The specific structure of the first lifting device is not limited in this application, and may be selected according to actual requirements as long as the lifting of the manipulator 100 can be achieved. The manipulator 100 can be lifted along the longitudinal direction through the first lifting device, so that different height requirements are met. Meanwhile, when the position of the bogie 20 to be cleaned before cleaning and the preset position have longitudinal deviation, the longitudinal lifting is realized through the first lifting device, so that the longitudinal deviation can be adjusted and compensated, and the cleaning control is more accurate.

In one embodiment, the bogie cleaning robot 10 further comprises a visual recognition device (not shown in the figures). The visual recognition device is provided to the robot 100. The visual recognition device is in communication with the control device 200. The visual recognition device is used for recognizing the image information of the bogie 20 to be cleaned. The control device 200 is also used for controlling the working path of the manipulator 100 according to the image information of the bogie 20 to be cleaned.

The visual recognition device may include, but is not limited to, a camera or a video camera, etc. The visual recognition device may photograph or photograph the bogie 20 to be cleaned before cleaning, obtain image information of the bogie 20 to be cleaned, and transmit the image information to the control device 200. The control device 200 analyzes the image information of the bogie 20 to be cleaned, and identifies the structure and signals of the bogie 20 to be cleaned, and the position information of cables, oil pipes, air pipes, and the like. The control device 200 further plans a cleaning route in conjunction with the identified information and controls the robot 100 to move and clean according to the cleaning route.

In this embodiment, the bogie cleaning device 10 includes the visual recognition device, and the control of the working path of the manipulator 100 is realized by the visual recognition device and the control device 200, so that the cleaning accuracy and precision are improved, the safety of the cleaning process can be ensured, and the cleaning effect can be ensured.

In one embodiment, the adjusting device 313 is communicatively connected to the control device 200. The control device 200 is further configured to obtain a contamination level of the bogie to be cleaned according to the image information of the bogie 20 to be cleaned, and control the adjusting device 313 to adjust the position of the flushing gun 311 according to the contamination level.

The control device 200 determines the pollution level of the bogie 20 to be cleaned by combining a preset pollution level determination method according to the image information of the bogie 20 to be cleaned. The method for judging the pollution level is not limited in any way, and can be selected and set according to actual requirements.

The control device 200 can control the working state of the sliding driving device 3143 according to the pollution level of the bogie 20 to be cleaned, so as to adjust the position of the washing gun 311 and change the distance between the washing gun 311 and the bogie 20 to be cleaned. By changing the distance between the washing gun 311 and the bogie 20 to be washed, the washing area, the washing pressure and the washing speed are changed. For the parts with serious pollution, the washing gun 311 can be adjusted, so that the distance between the washing gun 311 and the bogie 20 to be washed is smaller, the washing area is smaller, the washing pressure is higher, and the washing speed is slower. For the part with less pollution, the washing gun 311 can be adjusted to make the distance between the washing gun 311 and the bogie 20 to be cleaned larger, so that the cleaning area is larger, the cleaning pressure is smaller, and the cleaning speed is faster.

In this embodiment, the visual recognition device recognizes the pollution level of the bogie 20 to be cleaned, and the control device 200 controls the adjusting device 313 to adjust the position of the washing gun according to the pollution level of the bogie 20 to be cleaned, so as to realize different cleaning pressures and cleaning speeds for different pollution levels. The bogie cleaning robot 10 provided in this embodiment further improves the intelligence of cleaning and can improve the cleaning effect.

In the above embodiment, the bogie cleaning robot 10 includes the manipulator 100, the cleaning device 300, the positioning detection device 400, and the control device 200. The control device 200 includes a processor. When the processor executes the computer program, the steps of the bogie cleaning and positioning method provided by the following embodiments can be realized. Therefore, the present embodiment provides that the manipulator 100, the positioning detection device 400 and the processor in the bogie cleaning robot 10 constitute a device capable of positioning the bogie to be cleaned, defined as a bogie cleaning and positioning device 11. That is, the bogie cleaning robot 10 includes the bogie cleaning positioning device 11 and the cleaning device 300. The specific structure, implementation principle, and the like of the bogie cleaning device 11 provided in this embodiment are as described in the above embodiments, and are not described herein again.

Referring to fig. 5, an embodiment of the present application provides a method for locating a bogie to be cleaned, which is used to determine the position information of the bogie 20 to be cleaned. When the bogie 20 to be cleaned is processed and manufactured, as a reference datum, a positioning datum block 22 is arranged on the bogie 20 to be cleaned, so that the processing accuracy is realized. Thus, the bogie to be cleaned 20 is provided with a positioning reference block 22. Meanwhile, one surface of the bogie 20 to be cleaned may be selected as a positioning reference surface in cleaning. The positioning reference surface 23 may be a plane or a circular arc surface. The positioning reference surface 23 can be set and selected according to actual conditions.

Referring also to fig. 6, the truck 20 to be cleaned includes a truck frame 21. The bogie frame is H-shaped. When the bogie is used, both sides of the bogie frame 21 of the "H" shape are parallel to the rails. The positioning reference blocks 22 are respectively arranged at four corners of the bogie frame 21. The dimensional information of the bogie to be cleaned 20, the dimensions of the positioning reference block 22, and the relative positions of the positioning reference block 22 to the bogie frame 21 and the bogie to be cleaned 20 are known. In another embodiment, the motor mounting positioning surface 231 may be set as the positioning reference surface 23.

The main body of the method may be the control device 200, or may be another computer device. The method comprises the following steps:

s10, determining the position information of the bogie 20 to be cleaned along a first direction according to the positioning reference block 22 to obtain first direction information;

s20, determining the position information of the bogie 20 to be cleaned along the second direction according to the positioning reference block 22 to obtain second direction information;

s30, determining the position information of the bogie 20 to be cleaned along the third direction according to the positioning reference surface 23 to obtain third direction information;

s40, determining the position information of the bogie 20 to be cleaned according to the first direction information, the second direction information and the third direction information.

The first direction, the second direction and the third direction are three directions in which the position of the bogie 20 to be cleaned can be determined. For example, the first direction, the second direction, and the third direction may be an X-axis direction, a Y-axis direction, and a Z-axis direction in a three-dimensional space. The specific definitions of the first direction, the second direction and the third direction may be selected according to actual requirements.

The first direction information, the second direction information and the third direction information may be represented by coordinates, or may be represented by other forms of information. Specifically, the positioning reference block 22 is used as a positioning reference, and the manipulator 100 drives the positioning detection device 400 to obtain the position information of the positioning reference block 22 along the first direction and the second direction. Then, the first direction information and the second direction information are respectively obtained by combining the relative position relationship between the positioning reference block 22 and the bogie 20 to be cleaned. Taking the positioning reference surface 23 as a positioning reference, the manipulator 100 drives the positioning detection device 400 to obtain the position information of the positioning reference surface 23 along the third direction. And then, the third direction information is acquired by combining the relative position relationship between the positioning reference surface 23 and the bogie 20 to be cleaned. And then determining the actual position information of the bogie 20 to be cleaned according to the first direction information, the second direction information and the third direction information, so as to realize the positioning of the bogie 20 to be cleaned.

The method provided in this embodiment makes full use of the positioning reference block 22 and the positioning reference surface 23 provided in the bogie 20 to be cleaned, so as to position the bogie to be cleaned, and the bogie 20 to be cleaned can be accurately positioned without changing the structure of the bogie 20 to be cleaned. The accurate control of the manipulator 100 can be realized through the accurate positioning of the bogie 20 to be cleaned, so that the safety of the bogie cleaning robot 10 and the bogie 20 to be cleaned is ensured, and the cleaning effect of the bogie 20 to be cleaned is also ensured.

The method will be further described below by taking the first direction as the Y-axis direction, the second direction as the Z-axis direction, and the third direction as the X-axis direction as examples. The Y-axis direction refers to the extending direction along the length of the bogie 20 to be cleaned, i.e. the extending direction along the track when the bogie 20 to be cleaned is used. The Z-axis direction is a direction along the height of the bogie 20 to be cleaned, i.e. a direction perpendicular to the plane of the bogie frame 21. The X-axis direction means a direction along the width of the bogie 20 to be cleaned, i.e., a direction perpendicular to the length and height of the bogie 20 to be cleaned.

Referring also to fig. 7, in one embodiment, S10 includes S110, S120, and S130:

s110, obtain the position information of the positioning reference block 22 along the first direction, and obtain the first direction information of the positioning block.

The manipulator 100 drives the positioning detection device 400 to move, and finds and touches a preset position of the positioning reference block 22 along the Y-axis direction. When the preset position of the positioning reference block 22 along the Y-axis direction is touched, the control device 200 obtains the position information corresponding to the preset position, so as to obtain the first direction information of the positioning block.

The positioning reference block 22 may have various structures. In one specific embodiment, as shown in FIG. 6, the positioning reference block 22 is a stepped structure. The positioning reference block 22 includes a first elevation 225, a second elevation 226, and a third elevation 227 along the first direction. The positioning reference block 22 may include 2 steps. The high step is defined as a first step and the low step is defined as a second step. A plane of the first step parallel to the first direction is defined as a first step surface 223. A plane of the second step parallel to the first direction is defined as a second step face 224. The first step is parallel to the second direction, and the higher plane is the first vertical plane 225. The first step is parallel to the second direction, and the lower plane is the second vertical surface 226. A plane parallel to the second direction of the second step is the third vertical surface 227.

In the method, S10 includes:

and S111, acquiring the position information of the second vertical surface 226 along the first direction to obtain the first direction information of the positioning block. The manipulator 100 drives the micro switch to find and touch the second vertical surface 226, and determines the position information of the second vertical surface 226, so as to obtain the first direction information of the positioning block. The process of identifying the second facade 226 is essentially to identify the location reference blocks 22 in a stepped configuration. The manipulator 100 drives the micro switch to find and recognize three vertical surfaces along the second direction, wherein the middle vertical surface is the second vertical surface 226. Since the number of the positioning reference blocks 22 having the stepped structure is 4, the positioning reference blocks are respectively disposed at four corners of the bogie 20 to be cleaned, and directions of steps of the positioning reference blocks 22 on the left side and the right side are different. That is, the positioning reference block 22 of the stepped structure is provided with a direction indication. Through the second elevation 226, it can be determined whether the reference block 22 is the left or right reference block of the bogie 20 to be cleaned. Meanwhile, the positioning reference block 22 having a stepped structure is recognized through the second vertical surface 226, so that it is possible to prevent the side surface of the bogie 20 to be cleaned or other components mounted on the bogie 20 to be cleaned from being erroneously recognized as the positioning reference block 22. Therefore, the present embodiment determines the position information of the bogie 20 to be cleaned along the first direction by identifying the second vertical surface 226, and the determination method is simple and fast, and the positioning is more accurate.

And S120, acquiring relative position information of the positioning reference block 22 and the bogie 20 to be cleaned along the first direction to obtain first direction relative information.

The size information of the positioning reference block 22, and the relative position information of the positioning reference block 22 and the bogie 20 to be cleaned along the Y axis, that is, the first-direction relative information, may be stored in advance in the memory of the control device 200. The control device 200 acquires the first-direction relative information.

S130, obtaining the first direction information according to the first direction information of the positioning block and the relative information of the first direction.

The control device 200 calculates the first direction information according to the acquired first direction information and the first direction relative information of the positioning block, and by combining the size information of the bogie 20 to be cleaned, and according to a preset algorithm. For example, if the first direction information of the positioning block is 58 and the first direction relative information is 5, the first direction information is 53 according to a preset algorithm.

In this embodiment, the first direction information of the positioning block is obtained by obtaining the position information of the positioning reference block 22 along the first direction, then the relative position information of the positioning reference block 22 and the bogie 20 to be cleaned along the first direction is obtained to obtain the first direction relative information, and then the first direction information is obtained according to the first direction information of the positioning block and the first direction relative information. The method provided by the embodiment of the invention obtains the position information of the first direction by using the positioning reference block 22 arranged on the bogie 20 to be cleaned, and is simple and convenient, and the obtained first direction information is accurate and effective, so that the accuracy of positioning the bogie 20 to be cleaned is improved.

Referring to fig. 8, in one embodiment, S20 includes S210, S220, and S230:

s210, obtaining the position information of the positioning reference block 22 along the second direction, and obtaining the second direction information of the positioning block.

The manipulator 100 drives the positioning detection device 400 to move, and finds and touches a preset position of the positioning reference block 22 along the Z-axis direction. When the preset position of the positioning reference block 22 along the Z-axis direction is touched, the control device 200 obtains the position information corresponding to the preset position, so as to obtain the second direction information of the positioning block.

Wherein, in a specific embodiment, S210 includes:

s211, obtain position information of the second step surface 224 of the positioning reference block 22 along the second direction, and obtain information of the positioning block in the second direction. The manipulator 100 searches for and touches the second step surface 224, and determines the position information of the second step surface 224, thereby obtaining the second direction information of the positioning block. The process of identifying the second step surface 224 is the process of identifying the positioning reference block 22 of the stepped structure. The positioning reference block 22 can be accurately identified by identifying the second step surface 224, and the surface of the bogie 20 to be cleaned or other objects on the surface are prevented from being mistakenly identified as the positioning reference block 22. Therefore, the method for determining the second direction information of the positioning block provided by the embodiment is simple and rapid, and the positioning is more accurate.

And S220, acquiring the relative position information of the positioning reference block 22 and the bogie 20 to be cleaned along the second direction to obtain second direction relative information.

The size information of the positioning reference block 22, and the relative position information of the positioning reference block 22 and the bogie 20 to be cleaned in the Z-axis direction, that is, the second-direction relative information, may be stored in advance in the memory of the control device 200. The control device 200 acquires the second-direction relative information.

And S230, obtaining the second direction information according to the second direction information of the positioning block and the relative information of the second direction.

The control device 200 calculates the second direction information according to the acquired second direction information of the positioning block and the acquired relative information of the second direction, and by combining the size information of the bogie 20 to be cleaned, and according to a preset algorithm.

In this embodiment, the second direction information of the positioning block is obtained by obtaining the position information of the positioning reference block 22 along the second direction, then the relative position information of the positioning reference block 22 and the bogie 20 to be cleaned along the second direction is obtained to obtain the relative information of the second direction, and then the second direction information is obtained according to the second direction information of the positioning block and the relative information of the second direction. The method provided by the embodiment of the invention obtains the position information of the second direction by using the positioning reference block 22 arranged on the bogie 20 to be cleaned, and is simple and convenient, and the obtained second direction information is accurate and effective, so that the accuracy of positioning the bogie 20 to be cleaned is improved.

Referring to fig. 9, in one embodiment, S30 includes S310, S320, S330:

and S310, acquiring the position information of the positioning reference surface 23 along the third direction to obtain the third direction information of the positioning surface.

The manipulator 100 drives the positioning detection device 400 to move, and find and touch the positioning reference surface 23. When touching the positioning reference surface 23, the control device 200 obtains the position information of the positioning reference surface 23, and obtains the third direction information of the positioning surface.

In a particular embodiment, the bogie to be cleaned 20 comprises only the bogie frame 21. That is, the cleaning object is the bogie frame 21. The motor installation positioning surface 231 can be set as the positioning reference surface 23. The manipulator 100 drives the positioning detection device 400 to move, and finds and touches the motor mounting and positioning surface 231.

Referring to fig. 10, in another specific embodiment, the positioning reference surface 23 is an arc surface 232 at four corners of the bogie frame 21 in an "H" shape. Then, S310 includes:

s311, obtaining position information of at least three points of the arc surface 232.

The manipulator 100 drives the positioning detection device 400 to move, and the circular arc surface 232 is searched and touched at least three times, so that the position information of at least three different points of the circular arc surface 232 is obtained.

S312, obtaining the position information of the center of the arc surface 232 according to the position information of at least three points of the arc surface 232.

According to the principle that three points determine a circle, the control device 200 calculates to obtain the position information of the center of the circle corresponding to the arc surface 232, that is, the position information of the center of the circle of the arc surface 232, according to the obtained position information of at least three points.

And S313, determining the position information of the arc surface 232 along the third direction according to the circle center position information of the arc surface 232, and obtaining the third direction information of the positioning surface.

Meanwhile, according to the position information of the center of the circular arc surface 232, the radius of the circle corresponding to the circular arc surface 232 can be determined. And calculating to obtain the third direction information of the positioning surface by combining the circle center position information of the arc surface 232 and the radius of the circle corresponding to the arc surface 232.

The method for determining the third direction information of the positioning surface provided by this embodiment can simply and accurately determine the third direction information of the positioning surface by using the arc surface 232 of the bogie frame 21 as a reference surface, and can be applied to the cleaning and positioning of the bogie frame 21 and the cleaning of the bogie 20 to be cleaned. The method provided by the embodiment has the advantages of simple and accurate positioning process and wide application range.

And S320, acquiring the relative position information of the positioning reference surface 23 and the bogie 20 to be cleaned along the third direction to obtain third direction relative information.

The relative position information of the positioning reference surface 23 and the bogie 20 to be cleaned in the X-axis direction, that is, the third-direction relative information, may be stored in advance in the memory of the control device 200. The control device 200 acquires the third-direction relative information.

S330, obtaining the third direction information according to the third direction information of the positioning surface and the relative information of the third direction.

The control device 200 calculates the third direction information according to the acquired third direction information of the positioning surface and the acquired third direction relative information, and by combining the size information of the bogie 20 to be cleaned and according to a preset algorithm.

In this embodiment, the third direction information of the positioning plane is obtained by obtaining the position information of the positioning reference plane 232 along the third direction, then the relative position information of the positioning reference plane 23 and the bogie 20 to be cleaned along the third direction is obtained to obtain the third direction relative information, and then the third direction information is obtained according to the third direction information of the positioning plane and the third direction relative information. The method provided by the embodiment of the invention obtains the position information in the third direction by using the positioning reference surface 23 arranged on the bogie 20 to be cleaned, and is simple and convenient, and the obtained information in the third direction is accurate and effective, so that the accuracy of positioning the bogie 20 to be cleaned is improved.

An embodiment of the application provides a bogie cleaning and positioning device for confirm the position information of waiting to wash the bogie, it is provided with location reference block and location reference surface to wait to wash the bogie, bogie cleaning and positioning device includes manipulator, location detection device and treater, location detection device set up in the manipulator, the manipulator can drive location detection device removes, location detection device is used for detecting the position, realize the step like above-mentioned method when treater execution computer program.

In one embodiment, the number of the robot arm 100 and the positioning detection device 400 is 2, respectively. The 2 manipulators 100 are respectively arranged on two sides of the bogie 20 to be cleaned. In one embodiment, 2 manipulators 100 are respectively arranged on the diagonal positions of the bogie 20 to be cleaned. The 2 manipulators 100 respectively drive the positioning detection devices 400 to identify the position information of the positioning reference blocks 22 at the diagonal positions of the bogie 20 to be cleaned, so as to determine the position information of the bogie 20 to be cleaned. In this embodiment, the accuracy of positioning the bogie 20 to be cleaned is further improved by providing 2 manipulators 100 and 2 positioning detection devices 400. Meanwhile, 2 mechanical arms 100 are arranged, 2 sets of cleaning devices 300 and 2 sets of cleaning devices 300 are conveniently arranged, the cleaning devices 300 are used for cleaning the bogie 20 to be cleaned at the same time, and the cleaning efficiency can be effectively improved.

After the control device 200 obtains the position information of the bogie 20 to be cleaned, the walking route and the running track of the manipulator 100 are determined according to the position information of the bogie 20 to be cleaned, so that the manipulator 100 is accurately controlled to drive the cleaning device 300 to clean the bogie 20 to be cleaned, and the manipulator 100 is prevented from colliding with the bogie 20 to be cleaned. In a specific embodiment, the control device 200 stores in advance cleaning routes and running tracks for a plurality of types of the bogie 20 to be cleaned. After the bogie 20 to be cleaned is positioned before cleaning, the prestored initial positions corresponding to the cleaning route and the running track are modified according to the position information of the bogie 20 to be cleaned, so as to solve the problem of position deviation of the bogie 20 to be cleaned. The modification of the pre-stored start positions of the corresponding cleaning routes and the running tracks may be modified by a teach pendant or the like. It will be appreciated that field programming may also be possible, depending on the different types of said bogie 20 to be cleaned and the actual position information of said bogie 20 to be cleaned. The present application does not limit the formation of the control program and the calibration process of the robot 100.

Referring to fig. 11 to 13, an embodiment of the present application provides a bogie cleaning system 1 for cleaning a bogie 20 to be cleaned. The bogie 20 to be cleaned is disposed on the cleaning platform 30. The washing platform 30 may be, but is not limited to, a floor of a washing site for a truck. The bogie 20 to be cleaned may be directly provided to the cleaning platform 30. The washing platform 30 may also be provided with rails on which the bogie 20 to be washed is placed. The bogie cleaning system 1 is further described below with reference to the following examples.

The bogie cleaning system includes the bogie cleaning robot 10 and a moving device 40. The moving device 40 is mechanically connected to the bogie cleaning robot 10. The moving device 40 is used for driving the bogie cleaning robot 10 to move.

The moving device 40 may be an AGV (Automated Guided Vehicle), an RGV (Rail Guided Vehicle), or other devices capable of moving the bogie cleaning robot 10. In a specific embodiment, the moving device 40 is configured to move the bogie cleaning robot 10 along the X-axis direction, so as to clean different positions of the bogie 20 to be cleaned along the X-axis direction.

In this embodiment, the moving device 40 is matched with the bogie cleaning robot 10 to realize the all-dimensional cleaning of the bogie 20 to be cleaned, and the intelligent and automatic degrees are high. And the bogie cleaning robot 10 includes the cleaning device 300. The washing device 300 includes the flushing device 310 and the brushing device 320, so that the two actions of washing and brushing are combined, and the washing effect is improved.

In one embodiment, the moving device 40 is a robotic ground rail. The robot ground rail is disposed on the cleaning platform 30 along the extending direction of the bogie 20 to be cleaned.

Specifically, the robot ground rail may include a guide rail, a gear, a rack, and a servo motor. The guide rails are laid on one side or both sides of the bogie 20 to be cleaned in the X-axis (i.e., the seventh outer axis) direction of the bogie 20 to be cleaned. The length of the guide rail is greater than or equal to the length of the bogie 20 to be cleaned along the X-axis direction. The robot 100 may be disposed to the rack and the gear through a stage. The servo motor is used for driving the gear to be matched with the rack, so that transmission along the guide rail is realized, and the manipulator 100 is driven to move along the X-axis direction. The servo motor can be an IP67 protection grade servo motor, and the waterproofness and the reliability of the robot ground rail are improved. The guide rail may be a linear guide rail, which ensures the traveling accuracy of the manipulator 100 and prevents the manipulator 100 from overturning in a cantilever state. The guide rail can adopt the organ cover to carry out waterproofly to cooperation self-lubricate system prevents the guide rail rusts. Meanwhile, the robot ground rail can be designed into an adjustable ground foot, and installation and debugging procedures are simplified. In one embodiment, the number of the robot ground rails is 2. The 2 robot ground rails are respectively arranged on two sides of the bogie 20 to be cleaned along the extending direction of the bogie 20 to be cleaned. Correspondingly, the number of the bogie cleaning robots 10 is 2. 2 the bogie cleaning robot 10 respectively cleans half of the bogie 20 to be cleaned in the width direction, so that the cleaning efficiency and the cleaning effect are improved.

In one embodiment, the bogie cleaning system 1 further comprises a cleaning trough 50. The cleaning groove 50 is opened in the cleaning platform 30. The cleaning groove 50 is used for collecting cleaning dirt liquid.

The cleaning groove 50 corresponds to the placement position of the bogie 20 to be cleaned. The cleaning groove 50 is opened on the cleaning platform 30 at the bottom of the bogie 20 to be cleaned. The size of the washing recess 50 corresponds to the size of the bogie 20 to be washed. The bogie 20 to be cleaned is erected on the upper part of the cleaning groove 50. When the to-be-cleaned bogie 20 is cleaned, cleaning dirty liquid flows into the cleaning groove 50, so that the cleanliness of a cleaning place is ensured.

In one embodiment, the bogie cleaning system 1 further comprises a liquid circulation device (not shown in the figures). The liquid circulation means is provided in the cleaning recess 50. The liquid circulation device is communicated with the liquid supply device 312 and is used for realizing the circulation and the reuse of the cleaning dirty liquid.

The liquid circulation device is disposed in the cleaning tank 50, and can treat the cleaning waste liquid in the cleaning groove 50 and then convey the treated cleaning waste liquid to the liquid supply device 312, so that the cleaning waste liquid is further utilized by the cleaning gun 311.

In one embodiment, the liquid circulation device comprises a purification device and a submersible pump. The purification device is arranged in the cleaning groove 50 and used for purifying the cleaning dirty liquid. The submersible pump is disposed in the cleaning recess 50. The submersible pump is communicated with the liquid supply device 312, and is used for extracting the purified cleaning waste liquid to the liquid supply device 312. The application does not limit the specific structure of the purification device and the submersible pump, as long as the functions of the purification device and the submersible pump can be realized.

The bogie cleaning system 1 that this embodiment provided is through setting up liquid circle device realizes the circulation of wasing foul solution is recycled, has practiced thrift the energy.

In one embodiment, the bogie cleaning system 1 further comprises a second lifting device 70. The second lifting device 70 is disposed in the cleaning groove 50. The second lifting device 70 is used for lifting the bogie 20 to be cleaned, i.e. lifting the bogie 20 to be cleaned along an external eighth axis is realized. The second lifting device 70 may be a motor-driven lead screw lifting device, so that the stable lifting of the bogie 20 to be cleaned can be ensured. The motor of the second lifting device 70 can adopt an IP67 protection grade motor, and a sealing protective cover is arranged on the motor to prevent the motor from water entering. Simultaneously, to fill compressed air in the sealed protection cover, make be filled with dry air in the sealed protection cover, guarantee the degree of dryness of motor, and can prevent the gap inflow water stain of sealed protection cover. After the bogie 20 to be cleaned rises to the required height, the manipulator 100 operates the cleaning degree to clean the bottom of the bogie 20. The bogie cleaning system 1 provided by this embodiment further implements the omni-directional cleaning of the bogie 20 to be cleaned by the second lifting device 70.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A bogie cleaning robot, comprising:

a robot (100);

the control device (200) is in communication connection with the manipulator (100) and is used for controlling the manipulator (100) to act;

the cleaning device (300) is arranged on the manipulator (100) and used for cleaning the bogie (20) to be cleaned;

the positioning detection device (400) is arranged on the manipulator (100), is in communication connection with the control device (200), and is used for positioning the bogie (20) to be cleaned;

the control device (200) is used for controlling the mechanical arm (100) to move according to the positioning result of the positioning detection device (400), and the mechanical arm (100) drives the cleaning device (300) to move so as to clean the bogie (20) to be cleaned.

2. The bogie cleaning robot according to claim 1, wherein the cleaning device (300) comprises:

the washing device (310) is arranged on the manipulator (100) and used for spraying liquid to the bogie (20) to be washed to realize washing;

and the brushing device (320) is arranged on the mechanical arm (100) and is used for brushing the bogie (20) to be cleaned.

3. The bogie cleaning robot according to claim 2, wherein the cleaning device (300) further comprises:

a mounting bracket (301), wherein the flushing device (310) and the brushing device (320) are arranged on the mechanical arm (100) through the mounting bracket (301).

4. The bogie cleaning robot according to claim 3, wherein the flushing device (310) comprises:

a washing gun (311) provided to the mounting bracket (301);

a liquid supply (312) in communication with the irrigation gun (311) for providing liquid to the irrigation gun (311).

5. The bogie cleaning robot of claim 4, wherein the flushing device (310) further comprises:

an adjustment device (313) mechanically connected to the rinsing gun (311) and the mounting bracket (301) for adjusting the position and/or angle of the rinsing gun (311).

6. The bogie cleaning robot of claim 4, wherein the brushing arrangement (320) comprises:

a brush head (321);

the rotation driving device (322) is arranged on the mounting bracket (301), is mechanically connected with the brush head (321), and is used for driving the brush head (321) to rotate.

7. The bogie cleaning robot according to claim 6, wherein the direction in which the rinsing gun (311) sprays the liquid is arranged at an acute angle to the brush head (321).

8. The bogie cleaning robot according to any of the claims 1-7, wherein the positioning detection device (400) comprises a micro switch.

9. The bogie cleaning robot of claim 5, comprising:

the visual recognition device is arranged on the manipulator (100), is in communication connection with the control device (200), and is used for recognizing the image information of the bogie (20) to be cleaned;

the control device (200) is also used for controlling the working path of the manipulator (100) according to the image information of the bogie (20) to be cleaned.

10. The bogie cleaning robot according to claim 9, wherein the adjustment device (313) is communicatively connected to the control device (200); the control device (200) is further used for obtaining the pollution level of the bogie (20) to be cleaned according to the image information of the bogie (20) to be cleaned, and controlling the adjusting device (313) to adjust the position of the washing gun (311) according to the pollution level of the bogie (20) to be cleaned.

11. The bogie cleaning robot of claim 1, further comprising:

the first lifting device is mechanically connected with the manipulator (100) and is in communication connection with the control device (200), and the first lifting device is used for realizing the lifting of the manipulator (100).

12. A bogie cleaning system for cleaning a bogie (20) to be cleaned, the bogie (20) to be cleaned being disposed on a cleaning platform (30), the bogie cleaning system comprising:

a bogie cleaning robot (10) as defined in any one of claims 1-11;

and the moving device (40) is mechanically connected with the bogie cleaning robot (10) and is used for driving the bogie cleaning robot (10) to move.

13. The bogie cleaning system according to claim 12, wherein the moving device (40) is a robotic ground rail arranged to the cleaning platform (30) along the extension of the bogie (20) to be cleaned.

14. The bogie cleaning system according to claim 13, wherein the number of the robot ground rails is 2, respectively arranged on both sides of the bogie to be cleaned (20) in the extending direction of the bogie to be cleaned (20).

15. The truck washing system of claim 14, further comprising:

and the cleaning groove (50) is arranged on the cleaning platform (30) and used for collecting cleaning dirty liquid.

16. The truck washing system according to claim 15, wherein the washing device (300) comprises a washing device (310) and a brushing device (320) provided to the robot arm (100), the washing device (310) comprises a washing gun (311) and a liquid supply device (312), the washing gun (311) is provided to the mounting bracket (301), the liquid supply device (312) is in communication with the washing gun (311) for supplying liquid to the washing gun (311), the truck washing system further comprises:

and the liquid circulating device is arranged in the cleaning groove (50), is communicated with the liquid supply device (312), and is used for realizing the recycling of the cleaning dirty liquid.

17. The truck washing system of claim 16, wherein the fluid circulation device comprises:

the purification device is arranged in the cleaning groove (50) and is used for purifying the cleaning dirty liquid;

the submersible pump is arranged in the cleaning groove (50), is communicated with the liquid supply device (312) and is used for extracting the purified cleaning dirty liquid to the liquid supply device (312).

18. The truck washing system of claim 17, further comprising:

and the second lifting device (70) is arranged in the cleaning groove (50) and used for lifting the bogie (20) to be cleaned.