CN212760126U - Novel automatic rust cleaning robot of track - Google Patents
Novel automatic rust cleaning robot of track Download PDFInfo
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- CN212760126U CN212760126U CN202021097729.2U CN202021097729U CN212760126U CN 212760126 U CN212760126 U CN 212760126U CN 202021097729 U CN202021097729 U CN 202021097729U CN 212760126 U CN212760126 U CN 212760126U
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Abstract
The utility model relates to a novel automatic rust cleaning robot of track belongs to the intelligent machine field. The utility model discloses an overcome the intensity of labour that current track rust cleaning method exists big, pollute big, equipment is complicated, the problem in the aspect of inefficiency, provide a novel automatic rust cleaning robot of track, this rust cleaning robot is used for orbital rust cleaning with laser rust cleaning technique for the first time, and innovative and single track walking platform car combine together to realize orbital quick, high-efficient, pollution-free rust cleaning. Compared with the traditional rust removal mode, the robot rust removal has the advantages of automation, high efficiency, trouble and labor saving, no pollution, intellectualization and the like, and can remove the rust of the rail in 2-3 days from a plurality of weeks.
Description
Technical Field
The utility model belongs to intelligent machine field, concretely relates to novel automatic rust cleaning robot of track.
Background
The satellite-rocket assembly is transferred to a launching station for filling and launching in a rail transportation mode by adopting a movable launching platform. The health and stability of the transfer orbit are very important for the implementation of vertical transfer, the smooth development of space launching tasks and the safety and reliability of the satellite and rocket assembly. Because the steel rail is exposed to air all the year round, and the frequency of the use of the rail is less, the rail is corroded seriously. Rust and other redundancies on the surface of the track are rolled by the wheel set of the movable launching platform and then fall off and adhere to the surface of the wheel set to form hard blocks, so that the problems of abnormal walking such as slipping, rail gnawing and the like of the movable launching platform can be caused, and on one hand, the vertical transfer process and the smooth implementation of a launching task can be influenced; on the other hand, space products such as rockets and satellites are impacted by abnormal vibration, and the safety of precision equipment and the on-orbit reliability of the products are affected. Therefore, in order to ensure safe, reliable and smooth operation of vertical transfer of the satellite and rocket assembly, the track needs to be derusted and cleaned before vertical transfer.
The traditional steel structure rust removal mainly comprises the modes of manual polishing rust removal by a handheld steel angle grinder, manual sand blasting rust removal by using sand blasting equipment, rust removal by adopting movable sand blasting equipment and the like. The movable sand blasting equipment is composed of a generator, an air compressor, a sand storage tank, a spray gun, an electric control device and a movable trolley, wherein the generator, the air compressor, the sand storage tank, the spray gun and the electric control device are installed on the movable trolley, the movable trolley carries various devices to run along a steel rail, and an operator holds the spray gun to remove rust.
Among the rust removing modes, the manual polishing and rust removing mode of the angle grinder has high labor intensity and low efficiency; the main defects of manual derusting by adopting sand blasting equipment are that the equipment is inconvenient to carry, difficult to supply power for a long distance, high in labor intensity and high in pollution, and sand dust has certain damage to the health of operators; the main defects of the rust removal mode by adopting the movable sand blasting equipment are that the equipment is complex, the environmental pollution is large, and the dependence of the rust removal quality on the technical capability and proficiency of operators is large.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The to-be-solved technical problem of the utility model is how to provide a novel automatic rust cleaning robot of track to overcome the problem in the aspect of the intensity of labour that current track rust cleaning method exists is big, the pollution is big, equipment is complicated, inefficiency.
(II) technical scheme
In order to solve the technical problem, the utility model provides a novel automatic rust cleaning robot for tracks, which comprises a loading platform, a power system, a driving system, a walking device, laser equipment, a laser spray gun, dust collection equipment, a monitoring system and a centralized control system; the loading platform is a bearing platform of the robot and provides a matched interface; the walking device is arranged on the loading platform and used for realizing stable walking of the robot; the driving system is arranged on the loading platform and used for realizing variable-speed driving of the robot; the power system is connected with the driving system, the laser equipment, the laser spray gun and the dust collection equipment and provides a power source; the monitoring system is connected to the centralized control system and is used for acquiring images and transmitting the images to the centralized control system; the centralized control system is connected with and controls the power system, the laser equipment, the laser spray gun and the driving system; the laser spray gun is arranged on the loading platform, is aligned to the surface of the track, and realizes rust removal of the steel rail together with the laser equipment; the dust collection equipment is arranged on the loading platform and used for sucking away rust stripped from the surface of the steel rail.
Further, the robot structurally adopts a front-back symmetrical design, and a laser spray gun support, a dust collection interface and a monitoring system support are arranged on the front side and the back side of the load-bearing platform, so that two walking modes of advancing and retreating during rust removal of the robot are met.
Furthermore, the laser equipment and the power system sink to the bottom of the load-bearing platform and cling to the surface of the steel rail.
Further, the power system is power generation equipment, and the power of the power generation equipment is not lower than 3 kW.
Further, the driving device comprises a motor and a frequency converter, the variable-speed driving of the robot is realized, the motor is a 1kW motor, the driving device enables the robot to stably walk at the speed of 0.1-10 m/s, and the driving device has two modes of forward movement and backward movement.
Furthermore, the walking device comprises a walking wheel set, a lateral stabilizing wheel set and a bearing, wherein the walking wheel set is positioned on the front side and the rear side below the load platform and used for aligning with the upper surface of the track, and the lateral stabilizing wheel set is positioned in the middle of the lower side of the load platform and symmetrically arranged on the two sides of the track and used for realizing stable walking of the robot.
Further, the laser apparatus has a wide spot width to cover the track surface.
Furthermore, the robot is provided with a remote control mode and a near control mode, and the near control mode is controlled through a control panel on the side surface of the robot; and the remote control is carried out through a client APP in a mobile phone or a tablet.
(III) advantageous effects
The utility model provides a novel automatic rust cleaning robot of track is an automatic, automatic rust cleaning robot in track surface of high efficiency and intelligence, can shorten transportation track rust cleaning time and human cost by a wide margin. The laser rust removal technology is used for removing rust of the track by the rust removal robot for the first time, and the quick, efficient and pollution-free rust removal of the track is realized by combining innovativeness with the monorail travelling platform vehicle.
Compared with the traditional rust removal mode, the robot has the advantages of being automatic, efficient, labor-saving, pollution-free, intelligent and the like, and can remove rust on the rail in 2-3 days from a plurality of weeks.
Drawings
Fig. 1 is a schematic diagram of the design idea of the novel automatic track rust removing robot of the present invention;
FIG. 2 is a schematic diagram of a principle prototype of the novel automatic rail rust removing robot of the present invention;
fig. 3 is a three-dimensional view of the novel automatic track rust removing robot of the present invention;
fig. 4 is a plan view of the novel automatic rail rust removing robot of the present invention.
Wherein, 1: a track; 2: a whole vehicle frame; 3: a traveling wheel set; 4: a drive motor; 5: a lateral auxiliary balance wheel; 6: a generator; 7: laser rust removal equipment; 8: a video monitoring device; 9: a laser spray gun; 10: a centralized control system; 11: a laser spray gun fixing device; 12: video monitoring fixing device
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following description will make a detailed description of embodiments of the present invention with reference to the accompanying drawings and examples.
For the work efficiency who improves the track rust cleaning, the utility model discloses based on laser rust cleaning technique and artificial intelligence method, combine the long distance rail rust cleaning actual demand in launching field, research and design one kind can follow the automatic intelligent rust cleaning robot of rail walking. As shown in fig. 1, the robot is composed of a load platform (body), a power system (heart), a driving system (skeleton and nerve), a walking device (legs and feet), laser equipment (two hands), dust collection equipment, a monitoring system (eyes), a centralized control system (brain) and the like, and the platform car can complete the rust removal and cleaning of the surface of the track while walking along the steel rail, and can automatically remove rust of the steel rail of the transfer track.
The laser equipment and the power system are installed in the load platform, the centralized control system is installed on the side face of the load platform, the laser spray gun, the dust collection equipment and the monitoring system are installed on the front side or the rear side of the load platform, and the driving system and the walking device are installed below the load platform; the power system is connected with the driving system, the laser equipment and the dust collecting equipment and provides a power source; the monitoring system is connected to the centralized control system and transmits the acquired images to the centralized control system; the centralized control system is connected with and controls the power system, the laser equipment and the driving system.
According to the general design idea, a schematic diagram of a principle prototype of a design platform robot is shown in fig. 2. As shown in fig. 2-4, the present invention has the following features.
1) System configuration
The load-bearing platform is the 'trunk' of the robot, is the load-bearing platform of the robot, and provides a load-bearing platform and other matched interfaces for a power system, laser equipment, dust collection equipment and the like. According to the initial calculation of the self weight of the platform truck, the weight of the laser equipment, the generator set, the dust collecting equipment and the like, the load of the platform is not lower than 200 kg.
The power system is the heart of the robot, is connected with the driving system, the laser equipment, the laser spray gun and the dust collecting equipment, and provides power sources for the platform truck walking driving system, the laser equipment, the laser spray gun, the dust collecting equipment and the like. According to the power consumption of the driving motor and the power of the laser equipment and the dust collection equipment, the power generation equipment needs to provide power not less than 3kW and has the capacity of continuously working for more than 12 hours.
The driving system is a skeleton and a nerve of the robot, comprises a motor and a frequency converter, and realizes variable-speed driving of the platform truck. The 1kW motor is matched. In order to match the scanning speed of the laser device, the platform car needs to stably walk at the speed of 0.1-10 m/s and has two modes of forward movement and backward movement.
The walking device is the "leg foot" of robot, including walking wheelset, lateral stability wheelset and bearing, install in the load platform, the walking wheelset is located both sides around the load platform below for aim at the track upper surface, the lateral stability wheelset is located the centre of the below of load platform, the symmetry install in the track both sides realize the stable walking of platform truck.
The laser equipment is the 'hands' of the robot and is responsible for the concrete 'dry and alive'. The laser spray gun is aligned to the surface of the rail to realize the rust removal of the steel rail, laser rust removal equipment with different power levels is selected according to the material and daily corrosion degree of the steel rail, and the laser equipment needs to have a wider light spot width to cover the surface of the rail.
The system is matched with high-power dust collection equipment to timely absorb pollutants such as iron rust stripped from the surface of the steel rail, so that the cleaning is realized, and the iron rust is prevented from diffusing to other positions of the steel rail to cause secondary rust.
The monitoring system is the 'eyes' of the robot and is responsible for acquiring the rail rust removal quality in real time, is connected to the centralized control system and transmits the acquired images to the centralized control system.
The centralized control system is the brain of the whole robot, is connected with and controls the power system, the laser equipment, the laser spray gun and the driving system, and realizes the centralized control of the whole robot. The centralized control system adopts a general image comparison algorithm and a robot control algorithm to complete the control of a power system, laser equipment, a driving system and the like according to the derusting quality video/image acquisition.
2) System design features
(1) Intelligent design
The intelligent centralized control system: the robot centralized control system obtains a real-time image of the rail rust removal quality through the camera device. And the control of laser equipment, a power system, laser equipment, a driving system and the like is completed by adopting a general image comparison algorithm and a robot control algorithm.
On the basis of automatic walking and quick rust cleaning, the utility model discloses a robot combines general image comparison algorithm and robot control algorithm to realize the automatic differentiation of rail rust cleaning quality again to as required automatically regulated rust cleaning parameter and rust cleaning number of times realize the unmanned and intelligent of rust cleaning work. The utility model selects laser derusting process parameters preferentially by combining theory, model calculation and test debugging and verification based on the current situation of the material and the structure of the launching field track; designing a monorail travelling platform car according to parameters such as the shape of a track, the turning radius, the structure of the platform car and the like and a mechanical analysis foundation; and real-time rust removal pictures are obtained by means of front and rear camera devices of the robot, and automatic judgment of rust removal quality and automatic adjustment of rust removal parameters are realized on the basis of a general image comparison algorithm and a robot control algorithm, so that automatic, high-quality and intelligent rust removal of the steel rail is realized, and manpower and material resources are saved.
Distal/proximal control mode: the platform robot is provided with a remote control mode and a near control mode: the close control mode is controlled by a control panel on the side surface of the platform truck; the remote control is carried out through mobile client APP such as a mobile phone and a tablet. The two modes can realize the functions of various operations, control, parameter setting, state monitoring, equipment failure alarm and the like of the robot.
The remote/near control mode and the intelligent control mode are combined, and unattended operation of the derusting robot is achieved.
(2) Symmetrical design
The robot structurally adopts a front-back symmetrical design, and a laser spray gun support, a dust collection interface and a monitoring system support are arranged on the front side and the back side. The laser spray gun support plays a role in fixing the laser spray gun, and the height and the angle of the spray gun are adjusted according to requirements. The spray gun fixing support is designed in a recyclable mode, the spray gun fixing support stretches out to be screwed with a bolt for fixing, and the spray gun fixing support is retracted to be tightly attached to a platform car for placing when not in use, so that the occupied space is reduced.
The robot has two walking modes of advancing and retreating so as to meet the requirement of back-and-forth reciprocating rust removal of a rail surface with serious local corrosion.
(3) Sinking design
In order to ensure the stable operation of the whole robot on the single rail and reduce the gravity center of the robot, the system adopts a sinking type design, and equipment such as laser equipment and the like is sunk to the bottom of the robot and is tightly attached to the surface of a steel rail. The whole robot adopts a low gravity center design, and the heights of the chassis and the whole robot are controlled as much as possible so as to improve the wind resistance and stability of the robot.
The utility model discloses still based on launching field track material, structure current situation, adopt mode preferred selection laser rust cleaning technological parameter that theory, model calculation and experimental debugging verification combined together.
Placing a derusting robot on the track 1 by using a forklift or a small truck crane, aligning a robot wheel set 3 to the upper surface of the track, and adjusting the posture to ensure the stability; and installing a camera 8, extending out of the laser spray gun 9 and adjusting the scanning angle. Adding fuel oil, starting the generator 6, and after the generator is started stably, powering up the centralized control system 10. Observing whether the network connection between the monitoring system 8, the laser equipment 7, the mobile client and other peripherals and the centralized monitoring system 10 is normal or not; and setting parameters such as walking speed, laser energy, laser power and the like after the operation is normal. The 'ordinary' mode and the 'intelligent mode' can be selected according to requirements, after the walking speed is set in the ordinary mode, the machine walks all the time according to the set speed until a task is completed or the operation of personnel is suspended; the intelligent mode firstly carries out rust removal according to set rust removal parameters, adjusts the walking speed in real time according to the rust removal quality in the process, and backs up to complete local secondary scanning according to the situation. After the mobile client centralized monitoring systems such as mobile phones and flat plates are connected, remote control can be carried out, and the rail surface rust removal condition can be checked in real time. After rust removal of one rail is finished, a forklift or a small truck crane is needed to lift the rust removal robot to the other rail for work.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.
Claims (9)
1. A novel automatic rail rust removal robot is characterized by comprising a loading platform, a power system, a driving system, a traveling device, laser equipment, a laser spray gun, dust collection equipment, a monitoring system and a centralized control system; the loading platform is a bearing platform of the robot and provides a matched interface; the walking device is arranged on the loading platform and used for realizing stable walking of the robot; the driving system is arranged on the loading platform and used for realizing variable-speed driving of the robot; the power system is connected with the driving system, the laser equipment, the laser spray gun and the dust collection equipment and provides a power source; the monitoring system is connected to the centralized control system and is used for acquiring images and transmitting the images to the centralized control system; the centralized control system is connected with and controls the power system, the laser equipment, the laser spray gun and the driving system; the laser spray gun is aligned to the surface of the rail and realizes rust removal of the steel rail together with the laser equipment; the dust collection equipment is used for sucking away the iron rust stripped from the surface of the steel rail.
2. A novel automatic rail rust removing robot as claimed in claim 1, wherein the robot is structurally designed to be symmetrical front and back, and laser spray gun supports, dust suction interfaces and monitoring system supports are provided on the front and back sides of the load-carrying platform, so that two walking modes of forward movement and backward movement are met during rust removal of the robot.
3. A novel automatic rail rust removing robot as claimed in claim 1, wherein the load of the load-carrying platform is not less than 200 kg.
4. The novel automatic rail rust removing robot as claimed in claim 1, wherein the laser device and the power system are sunk to the bottom of the loading platform and tightly attached to the surface of a steel rail.
5. The novel automatic rail rust removing robot as claimed in claim 1, wherein the power system is a power generation device, and the power of the power generation device is not lower than 3 kW.
6. The novel automatic rail rust removing robot as claimed in claim 1, wherein the driving system comprises a motor and a frequency converter, the variable speed driving of the robot is realized, the motor is a 1kW motor, the driving system enables the robot to stably walk at the speed of 0.1 m/s-10 m/s, and the robot has two modes of forward movement and backward movement.
7. The novel automatic rail rust removing robot as claimed in claim 1, wherein the traveling device comprises a traveling wheel set, lateral stabilizing wheel sets and bearings, the traveling wheel sets are located at the front and rear sides below the load-bearing platform and are used for aligning with the upper surface of the rail, the lateral stabilizing wheel sets are located in the middle below the load-bearing platform and are symmetrically installed at the two sides of the rail and are used for realizing stable traveling of the robot.
8. The novel automatic rail rust removing robot as claimed in claim 1, wherein the laser device has a wide spot width to cover the surface of the rail.
9. The novel automatic rail rust removing robot as claimed in claim 1, wherein the robot is provided with a remote control mode and a near control mode, and the near control mode is controlled by a control panel on the side surface of the robot; and the remote control is carried out through a client APP in a mobile phone or a tablet.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021097729.2U CN212760126U (en) | 2020-06-15 | 2020-06-15 | Novel automatic rust cleaning robot of track |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021097729.2U CN212760126U (en) | 2020-06-15 | 2020-06-15 | Novel automatic rust cleaning robot of track |
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| CN212760126U true CN212760126U (en) | 2021-03-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873246A (en) * | 2021-04-28 | 2021-06-01 | 中国建筑第五工程局有限公司 | Straddle type single-rail track beam welding robot workstation |
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2020
- 2020-06-15 CN CN202021097729.2U patent/CN212760126U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873246A (en) * | 2021-04-28 | 2021-06-01 | 中国建筑第五工程局有限公司 | Straddle type single-rail track beam welding robot workstation |
| CN112873246B (en) * | 2021-04-28 | 2021-08-06 | 中国建筑第五工程局有限公司 | Straddle type single-rail track beam welding robot workstation |
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