CN216583130U - Automatic cleaning device for freight train carriage - Google Patents
Automatic cleaning device for freight train carriage Download PDFInfo
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- CN216583130U CN216583130U CN202122804068.3U CN202122804068U CN216583130U CN 216583130 U CN216583130 U CN 216583130U CN 202122804068 U CN202122804068 U CN 202122804068U CN 216583130 U CN216583130 U CN 216583130U
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Abstract
The utility model provides an automatic cleaning device for a train freight carriage, which comprises a horizontal moving platform, a multi-degree-of-freedom mechanical arm and a negative pressure adsorption and dust settling and discharging mechanism, wherein the multi-degree-of-freedom mechanical arm and the negative pressure adsorption and dust settling and discharging mechanism are arranged on the horizontal moving platform. The utility model discloses an automatic cleaning device for a train freight carriage, which is suitable for powder cleaning operation after bulk material freight carriages in various fields are unloaded.
Description
Technical Field
The utility model relates to the field of train cleaning devices, in particular to an automatic cleaning device for a freight train carriage of a train.
Background
The coal is used as a main production raw material for iron and steel enterprises or thermal power enterprises, and the main transportation mode is railway transportation. The coal transporting train enters the plant area and is unloaded by a professional tippler system. The maximum tipping angle of the tippler is 175 degrees, and part of residual coal is remained in the train carriage during the coal unloading process. In order to reduce the loss, each enterprise sets up the clear coal operation process. The existing coal cleaning operation mode is mainly a manual cleaning mode. Shoveling out residual coal dust in the carriage and putting the residual coal dust into an operating conveying system. The coal cleaning operation time is long, the production rhythm is influenced, and simultaneously, large dust can be generated, so that indexes such as PM2.5, PM10 and dust do not reach the standard. Moreover, the labor intensity is high, the long-term cleaning operation has a large influence on the health of workers, and the risk of inducing related occupational diseases exists.
Because the operation cost is high, the efficiency is low, and meanwhile, the environment pollution is caused, the health of workers is damaged, and a set of on-line coal cleaning system capable of being matched with the tippler for operation is urgently needed to be developed.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model provides an automatic cleaning device for a train freight carriage, which is suitable for powder cleaning operation after unloading of bulk material freight carriages in various fields.
In order to achieve the purpose, the utility model provides an automatic cleaning device for a freight train carriage, which comprises a horizontal moving platform, a multi-degree-of-freedom mechanical arm and a negative pressure adsorption and dust settling and discharging mechanism, wherein the multi-degree-of-freedom mechanical arm is arranged on the horizontal moving platform.
Preferably, the horizontal moving platform comprises a platform, two driving gears, two traveling motors and a plane guide rail; the platform can be followed the plane guide rail length direction is moved and is erect in on the plane guide rail, the walking motor is fixed in on the platform and respectively with two drive gear transmission is connected, drive gear set up in the both sides of platform and respectively with the external tooth meshing of plane guide rail both sides.
Preferably, the multi-degree-of-freedom manipulator comprises a manipulator base, a horizontal power arm, a vertical power arm and a brush assembly; the manipulator base is fixed on the platform, the manipulator base is connected with the horizontal power arm through a base rotary joint and an amplitude variation mechanism, and the manipulator base is connected with the horizontal power arm, the horizontal power arm is connected with the top end of the vertical power arm, and the bottom end of the vertical power arm is connected with the brush component through a power arm swinging joint; a power brush rotating joint is connected between the brush component and the vertical power arm; the brush assembly comprises a vertical brush and a horizontal brush which are connected.
Preferably, the base rotary joint is provided with a brake device and an encoder.
Preferably, the multi-degree-of-freedom robot is driven by a plurality of servo motors.
Preferably, the negative pressure adsorption and dust fall dust exhaust mechanism comprises a pipeline, a fan motor, a fan, an ash storage bin and a screw conveyer which are fixed on the platform; one end of the pipeline extends to the side of the brush component, and the other end of the pipeline is connected with the ash storage bin; the fan motor is connected with the fan, and the fan is arranged on the pipeline; a gate valve is arranged at a discharge hole of the ash storage bin and is connected with the screw conveyer; the ash storage bin is also provided with a bin wall vibrator and a material level switch; the upper part in the ash storage bin is also provided with a flow guide dust hood and a filter screen.
Preferably, the system also comprises a space position detection and solution system and an intelligent control and safety protection system.
Preferably, the spatial position detection and solution system comprises a plurality of position sensors, a plurality of limit switches and a first radar; the position sensor is arranged on the platform; the limit switch is arranged on the plane guide rail; the first radar is mounted to the vertical power arm.
Preferably, the intelligent control and safety protection system comprises a power distribution cabinet, a control cabinet, a second radar, a control terminal, a remote control device and a remote monitoring device; the power distribution cabinet, the control cabinet and the second radar are fixed on the platform, and the control terminal and the remote control device are in communication connection with the control cabinet; the control terminal comprises a button control panel and a touch screen control interface; the remote monitoring device comprises a camera.
Preferably, the horizontal moving platform is provided with a limiting and safety protection device, variable frequency speed regulation is adopted, and the moving speed is 0.5 m/s; and the horizontal moving platform is positioned by a Gray bus coded cable.
Due to the adoption of the technical scheme, the utility model has the following beneficial effects:
1. through the cooperation of the multi-degree-of-freedom mechanical arm and the negative pressure adsorption and dust fall and discharge mechanism, the automatic recovery of excess materials in the train carriage can be realized, the recovery speed can be matched with the unloading speed, and the unloading rhythm is ensured;
2. a cleaning station specially built for cleaning the car excess materials can be omitted, and the construction cost is reduced;
3. the operation mode of cleaning the excess materials of the carriage is changed from a manual mode to an automatic on-line cleaning mode, so that the labor cost can be saved and the labor efficiency can be improved;
4. the dust generated in the cleaning operation process can be avoided, and the field environment is improved;
5. the automatic cleaning system has the functions of automatically identifying the distribution of excess materials in the carriage, automatically planning the cleaning operation mode, adjusting system parameters and the like, and has high automation and intelligence degrees.
Drawings
FIG. 1 is a front view of an automatic railroad freight car cleaning apparatus according to an embodiment of the present invention;
FIG. 2 is a top plan view of the automatic railroad freight car cleaning apparatus of an embodiment of the present invention;
figure 3 is a side view of an automatic railroad freight car cleaning apparatus in accordance with an embodiment of the present invention.
Detailed Description
The following description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, which are set forth in detail below to provide a better understanding of the function and features of the utility model.
Referring to fig. 1 to 3, an automatic cleaning device for a freight train car according to an embodiment of the present invention includes a horizontal moving platform, a multi-degree-of-freedom manipulator 1 mounted on the horizontal moving platform, and a negative pressure adsorption and dust settling and discharging mechanism.
The horizontal moving platform comprises a platform, two driving gears 2, two traveling motors 6 and a plane guide rail 3; the platform can be erected on the plane guide rail 3 along the length direction of the plane guide rail 3 in a movable mode, the walking motor 6 is fixed on the platform and is in transmission connection with the two driving gears 2 respectively, and the driving gears 2 are arranged on two sides of the platform and are meshed with external teeth on two sides of the plane guide rail 3 respectively.
The multi-degree-of-freedom manipulator 1 comprises a manipulator base 4, a horizontal power arm, a vertical power arm and a brush assembly; the manipulator base 4 is fixed on the platform, the manipulator base 4 is connected with the horizontal power arm through a base rotary joint and an amplitude variation mechanism, and the manipulator base 4 and the horizontal power arm, the horizontal power arm and the top end of the vertical power arm and the bottom end of the vertical power arm and the brush component are respectively connected through a power arm swing joint; a power brush rotating joint is connected between the brush component and the vertical power arm; the brush assembly comprises a vertical brush and a horizontal brush which are connected.
The base rotary joint is provided with a braking device and an encoder.
The multi-degree-of-freedom manipulator 1 is driven by a plurality of servo motors.
The negative pressure adsorption and dust fall dust discharge mechanism comprises a pipeline fixed on the platform, a fan motor 5, a fan 7, a dust storage bin 9 and a screw conveyer 8; one end of the pipeline extends to the side of the brush component, and the other end of the pipeline is connected with the ash storage bin 9; the fan motor 5 is connected with a fan 7, and the fan 7 is arranged on a pipeline; a gate valve is arranged at the discharge hole of the ash storage bin 9 and is connected with the screw conveyor 8; the ash storage bin 9 is also provided with a bin wall vibrator and a material level switch; the upper part in the ash storage bin 9 is also provided with a flow guiding dust hood and a filter screen; the air quantity and the pressure can be adjusted according to the excess material condition, and the adaptability of the system is improved.
The system also comprises a space position detection and calculation system and an intelligent control and safety protection system.
The space position detection and calculation system comprises a plurality of position sensors, a plurality of limit switches and a first radar; the position sensor is arranged on the platform; the limit switch is arranged on the plane guide rail 3; the first radar is mounted to the vertical power arm.
The intelligent control and safety protection system comprises a power distribution cabinet 10, a control cabinet 11, a second radar, a control terminal, a remote control device and a remote monitoring device; the power distribution cabinet 10, the control cabinet 11 and the second radar are fixed on the platform, and the control terminal and the remote control device are in communication connection with the control cabinet 11; the control terminal comprises a button control panel and a touch screen control interface; the remote monitoring device comprises a camera. The control terminal is provided with manual and automatic operation modes.
The horizontal moving platform is provided with a limiting and safety protection device, and adopts frequency conversion speed regulation, wherein the moving speed is 0.5 m/s; the horizontal moving platform is positioned by a Gray bus coded cable;
the space position detection and calculation system is used for monitoring the distance between the manipulator and each carriage surface in the working process of the multi-degree-of-freedom manipulator 1 in real time and controlling the position and the speed of the base rotary joint, the power arm swing joint connection and the power brush rotary joint; the detection precision is 5mm, and the resolving speed is 50 ms;
the intelligent control and safety protection system is used for realizing real-time control, parameter detection, information interaction with an upper computer, interlocking sequence control with front and rear equipment, and safety monitoring and protection of the horizontal moving platform, the multi-degree-of-freedom manipulator 1, the negative pressure adsorption and dust fall dust exhaust mechanism and the spatial position detection and calculation system; the key parameters are transmitted to the upper computer, multi-computer cooperative operation is realized according to the specified interlocking control logic in the upper computer, and the system operation efficiency and the intelligent degree are improved.
According to the automatic cleaning device for the freight train carriage, all the equipment of the whole device are arranged on the platform and can move along the direction of the guide rail on the plane guide rail 3 along with the movement of the driving gear 2. When the multi-degree-of-freedom mechanical arm 1 moves to the cleaning starting position, the distance between the multi-degree-of-freedom mechanical arm 1 and each surface of the carriage is detected through the spatial position detection and settlement platform system. And controlling each joint of the multi-degree-of-freedom manipulator 1 to cooperatively work, and making the multi-degree-of-freedom manipulator 1 go deep into the carriage from a standby position and enter a working position. After the cleaning operation is started, the horizontal hairbrush, the vertical hairbrush and the negative pressure adsorption system work in a cooperation mode to complete the cleaning operation. After the cleaning work is finished, the system judges the cleanliness, and the system automatically determines whether to carry out secondary cleaning or finish the cleaning. After the above actions are completed, the multi-degree-of-freedom manipulator 1 returns to the standby position, and the carriage cleaning operation is completed.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the utility model is to be determined by the appended claims.
Claims (9)
1. An automatic cleaning device for a train freight carriage is characterized by comprising a horizontal moving platform, a multi-degree-of-freedom mechanical arm and a negative pressure adsorption and dust settling and dust removing mechanism, wherein the multi-degree-of-freedom mechanical arm and the negative pressure adsorption and dust settling and dust removing mechanism are arranged on the horizontal moving platform;
the horizontal moving platform comprises a platform, two driving gears, two traveling motors and a plane guide rail; the platform can be followed the plane guide rail length direction erects with removing on the plane guide rail, the walking motor is fixed in on the platform and respectively with two drive gear transmission is connected, drive gear set up in the both sides of platform and respectively with the external tooth meshing of plane guide rail both sides.
2. The automatic cleaning device for a train freight car according to claim 1, wherein said multi-degree of freedom robot comprises a robot base, a horizontal power arm, a vertical power arm and a brush assembly; the manipulator base is fixed on the platform, the manipulator base is connected with the horizontal power arm through a base rotary joint and an amplitude variation mechanism, and the manipulator base is connected with the horizontal power arm, the horizontal power arm is connected with the top end of the vertical power arm, and the bottom end of the vertical power arm is connected with the brush component through a power arm swinging joint; a power brush rotating joint is connected between the brush component and the vertical power arm; the brush assembly comprises a vertical brush and a horizontal brush which are connected.
3. The automatic railroad freight car cleaning device of claim 2, wherein the base rotary joint is provided with a brake and an encoder.
4. The automatic railroad freight car cleaning device according to claim 2, wherein the multiple degree of freedom robot is driven by a plurality of servo motors.
5. The automatic cleaning apparatus for railroad freight cars according to claim 2, wherein said negative pressure suction and dust removal mechanism comprises a pipe fixed to said platform, a fan motor, a fan, a dust storage bin and a screw conveyor; one end of the pipeline extends to the side of the brush component, and the other end of the pipeline is connected with the ash storage bin; the fan motor is connected with the fan, and the fan is arranged on the pipeline; a gate valve is arranged at a discharge port of the ash storage bin and is connected with the screw conveyer; the ash storage bin is also provided with a bin wall vibrator and a material level switch; the upper part in the ash storage bin is also provided with a flow guide dust hood and a filter screen.
6. The automatic cleaning apparatus for railroad freight cars according to claim 5, further comprising a spatial position detection and calculation system and an intelligent control and safety protection system.
7. The automatic railroad freight car cleaning device according to claim 6, wherein said spatial position sensing and resolving system includes a plurality of position sensors, a plurality of limit switches and a first radar; the position sensor is arranged on the platform; the limit switch is arranged on the plane guide rail; the first radar is mounted to the vertical power arm.
8. The automatic cleaning device for railway freight cars according to claim 7, wherein said intelligent control and safety protection system comprises a power distribution cabinet, a control cabinet, a second radar, a control terminal, a remote control device and a remote monitoring device; the power distribution cabinet, the control cabinet and the second radar are fixed on the platform, and the control terminal and the remote control device are in communication connection with the control cabinet; the control terminal comprises a button control panel and a touch screen control interface; the remote monitoring device comprises a camera.
9. The automatic cleaning device for railway freight cars as claimed in claim 8, wherein said horizontal moving platform is provided with a limiting and safety protection device, and the speed is controlled by frequency conversion, and the moving speed is 0.5 m/s; and the horizontal moving platform is positioned by a Gray bus coded cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122804068.3U CN216583130U (en) | 2021-11-16 | 2021-11-16 | Automatic cleaning device for freight train carriage |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122804068.3U CN216583130U (en) | 2021-11-16 | 2021-11-16 | Automatic cleaning device for freight train carriage |
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| CN216583130U true CN216583130U (en) | 2022-05-24 |
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| CN202122804068.3U Active CN216583130U (en) | 2021-11-16 | 2021-11-16 | Automatic cleaning device for freight train carriage |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115159173A (en) * | 2022-06-06 | 2022-10-11 | 江苏应泰智能建设机械研究院有限公司 | Intelligent unloading device for bulk cargo and working mechanism thereof |
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2021
- 2021-11-16 CN CN202122804068.3U patent/CN216583130U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115159173A (en) * | 2022-06-06 | 2022-10-11 | 江苏应泰智能建设机械研究院有限公司 | Intelligent unloading device for bulk cargo and working mechanism thereof |
| CN115159173B (en) * | 2022-06-06 | 2023-11-10 | 南京工业大学 | Intelligent unloading device for bulk cargoes and working mechanism thereof |
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