CN216731884U - A nozzle controlling means for rail train sweeps robot - Google Patents
A nozzle controlling means for rail train sweeps robot Download PDFInfo
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- CN216731884U CN216731884U CN202122754058.3U CN202122754058U CN216731884U CN 216731884 U CN216731884 U CN 216731884U CN 202122754058 U CN202122754058 U CN 202122754058U CN 216731884 U CN216731884 U CN 216731884U
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Abstract
The utility model discloses a nozzle control device for a rail train purging robot, which is used for purging and cleaning the side surface of the bottom of a rail train; the telescopic device is arranged on the transverse moving device and is controlled by the transverse moving device to horizontally reciprocate; the nozzle assembly is arranged on the telescopic device and reciprocates back and forth along with the telescopic device. By controlling the nozzle assembly to move up and down, left and right and back and forth in a telescopic manner, the control device can control the movement track of the nozzle to well fit the external structural shape of the rail train, so that the optimal purging distance can be kept, purging airflow can be vibrated by back and forth stretching, and a satisfactory purging effect can be obtained.
Description
Technical Field
The utility model relates to the technical field of rail train cleaning, in particular to a nozzle control device for a rail train purging robot.
Background
Rail train includes traditional train, high-speed railway train and subway and light rail train that develop at a high speed in recent years, these trains need regularly clean, traditional manual work is consuming time hard, need a large amount of manual works, and efficiency is very low, can't satisfy economic development's demand, the automatic cleaning equipment that provides at present, mainly to the surface cleaning at the side of train and top, and train chassis structure is complicated, and unsmooth, therefore the clean degree of difficulty is very big, and the bottom contains a large amount of metal parts, pipe fitting and cable and equipment, unsuitable adoption a large amount of water washes, and adopt the air to sweep, the raise dust can cause the pollution to the environment, do not have fine solution at present. The automatic sweeping and cleaning equipment for the subway is provided by the applicant (also called as a robot) aiming at the defects of the prior art, and is provided with three trolleys, namely a bottom robot, a left robot and a right robot, wherein an air compressor, a cluster nozzle, a mechanical arm and a dust collector on the three trolleys run cooperatively, and a flexible sealing material is used in a combined manner, so that a stable local closed negative pressure space is formed, the sweeping effect is detected and inspected through a dust sensor and a visual sensor in the sweeping process, and a trolley line power supply mode is adopted to provide sufficient and stable electric energy for the sweeping robot, so that the reliable running of the automatic sweeping and cleaning equipment is ensured. In view of the above demands, a nozzle control device, especially a purging device for a robot (cart) on both left and right sides, is needed, and the nozzle assembly thereof needs to move up and down, left and right, and back and forth.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model discloses a nozzle control device for a rail train purging robot, which can well complete purging operation.
Specifically, the utility model discloses a nozzle control device for a rail train purging robot, which is used for purging and cleaning the bottom side surface of a rail train, and the rail train purging robot comprises:
the bottom robot is placed below the rail train and used for cleaning the bottom of the rail train;
the left robot is used for being placed on the left side of the rail train;
the right robot is used for being placed on the right side of the rail train;
the control device controls the bottom robot, the left robot and the right robot to work in a coordinated manner;
the nozzle assemblies are arranged on the bottom robot, the left robot and the right robot and used for spraying air flow to blow and sweep stains;
the air compressor unit is used for providing compressed air for the nozzle assembly;
the dust collection device is arranged on one, two or three of the bottom robot, the left robot and the right robot and is used for absorbing floating dust;
the flexible isolation parts are arranged on the adjacent sides of the left side robot and the right side robot and the rail train along the length direction of the train, are in contact with the side surface and/or the bottom surface edge of the train and are used for limiting external air from entering the bottom areas of the rail train corresponding to the left side robot and the right side robot through the positions between the left side robot and the rail train, and the corresponding bottom areas form a negative pressure area after the dust suction device is started;
the nozzle control device for the rail train blowing robot comprises a lifting device, a transverse moving device and a telescopic device, wherein the transverse moving device is arranged on the lifting device and is controlled by the lifting device to move up and down in a reciprocating manner; the telescopic device is arranged on the transverse moving device and is controlled by the transverse moving device to horizontally reciprocate; the nozzle assembly is arranged on the telescopic device and reciprocates back and forth along with the telescopic device.
By controlling the nozzle assemblies (particularly the nozzle assemblies on the left robot and the right robot) to move up and down, left and right and back and forth in a telescopic manner, the control device can control the movement track of the nozzle to well fit the external structural shape of the rail train, so that the optimal purging distance can be kept, and purging airflow can vibrate through back and forth telescopic manner to obtain a satisfactory purging effect.
Further, the lifting device comprises a longitudinal motor; a longitudinal roller or a longitudinal slider adapted to the longitudinal rail; and a longitudinal guide rail; the longitudinal guide rail is fixedly connected with a base of the bottom robot, the left robot or the right robot; the transverse moving device comprises a transverse guide rail, a transverse motor and a transverse roller or a transverse sliding block matched with the transverse guide rail; the transverse guide rail is connected with the longitudinal roller or the longitudinal sliding block, the transverse guide rail is in transmission connection with the longitudinal motor, and the longitudinal motor drives the transverse guide rail to reciprocate along the longitudinal guide rail; the telescopic device is connected with the transverse roller or the transverse sliding block, and the transverse motor is in transmission connection with the telescopic device to drive the telescopic device to reciprocate along the transverse guide rail.
Furthermore, the telescoping device includes flexible driving motor, telescopic gear, flexible guide rail and slidable mounting take the telescopic link of rack on the guide rail, the rack meshes with telescopic gear, installs the nozzle subassembly on the telescopic link.
Further, the telescopic device comprises a telescopic air bag and a control valve.
Furthermore, the nozzle assembly comprises a nozzle and a flexible gas pipe, the telescopic air bag is of a multi-section spindle structure, the flexible gas pipe is arranged in a hollow pipeline of the telescopic air bag, and the nozzle is arranged at the tail end of the telescopic device.
Furthermore, the telescopic device comprises a cylinder driving assembly and a multi-section telescopic guide rod.
Further, the nozzle assembly comprises a flexible high-pressure blow pipe and a nozzle arranged at the tail end of the flexible high-pressure blow pipe.
Furthermore, a telescopic dust cover is arranged on the longitudinal guide rail.
Furthermore, a dust collector mounting bracket is also arranged on the telescopic device, and the dust collecting device comprises a dust collecting opening, a dust collecting pipe and a dust collector; the dust collection port is arranged on the dust collector mounting bracket.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the utility model, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic structural diagram of a rail train purging robot;
fig. 2 and 3 are schematic structural diagrams of a left side robot and a right side robot of the rail train purging robot respectively;
fig. 4 and 5 are schematic structural diagrams of a nozzle control device for a rail train purging robot according to the present invention.
Wherein the reference numbers referred to in the figures are as follows:
a left robot 1, a bottom robot 2, a right robot 3, a control device 4, a left dust suction device 61, a right dust suction device 63, a flexible isolation component 7, a second flexible isolation component 8, an AGV magnetic strip 9, a sliding contact component 10, a foundation 11, a left 5G synchronous control system 12, a right 5G synchronous control system 14, a left air compressor 15, a right air compressor 17, a left dryer 18, a right dryer 20, a track foundation 21, a track train 22, a left air storage tank 23, a right air storage tank 25, a left nozzle control device 26, a right nozzle control device 28, a left nozzle assembly 29, a right nozzle assembly 31, a left dust suction port 611, a right dust suction port 631 and a longitudinal motor 261; a longitudinal slider 263; a longitudinal guide rail 262; a cross rail 264, a cross slide 265; the telescopic device 266, the transverse slide block 265, the telescopic driving motor 2662, the telescopic guide rail 2661, the telescopic rod 2663, the elastic high-pressure blow pipe 312, the nozzle 311, the telescopic dust cover 268 and the dust suction pipe 267.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The track train bottom purging robot provided by the utility model comprises an intelligent robot adopting an intelligent control system and a purging machine device adopting traditional program control or traditional circuit control.
The rail train bottom sweeping robot is a brand new equipment system, although a patent application is filed in advance, the rail train bottom sweeping robot is not in a public state at present, and the structure and the working principle of the rail train bottom sweeping robot are explained for facilitating understanding, so that the technical scheme of the rail train bottom sweeping robot is convenient to understand.
As shown in fig. 1 to 3, a rail train purge robot controlled according to the present invention for cleaning the bottom of a rail train 22 will be described first, and includes:
the bottom robot 2 is placed below the rail train and used for cleaning the bottom of the rail train;
the left robot 1 is used for being placed on the left side of the rail train;
the right robot 3 is used for being placed on the right side of the rail train;
the control device 4 controls the bottom robot 2, the left robot 1 and the right robot 3 to work in a coordinated manner;
the nozzle assembly is arranged on the bottom robot 2, or the bottom robot 2, the left robot 1 and the right robot 3 and is used for spraying air flow to sweep stains;
the dust collection device is arranged on one, two or three of the bottom robot 2, the left robot 1 and the right robot 3 and is used for absorbing floating dust; in order to obtain a better cleaning effect and suppress the flying dust, in a preferred embodiment, as shown in fig. 2 to 4, the dust suction means includes a left dust suction means 61, a bottom dust suction means, and a right dust suction means 63 provided on the left robot 1, the bottom robot 2, and the right robot 3, respectively. The mass Q2 of the air sprayed out by the nozzle component in unit time is equal to or less than the mass Q1 of the air sucked by the dust suction device; in order to prevent the flying dust from escaping, the nozzle assembly needs to be placed in the middle of the negative pressure area, when the difference between Q2 and Q1 or between Q2 and Q1 is not too large, dust suction ports of some dust suction devices need to be distributed on two end faces and the middle of the negative pressure area, when Q1 is more than 8 times of Q2, the number of the dust suction ports can be properly reduced, and the core dust suction ports are distributed on two sides of the nozzle assembly respectively, or four dust suction ports, namely, left front, left rear, right front, right rear, or four dust suction ports, front, rear, left rear, right rear. Dust extraction corresponds and sets up on left side robot, right side robot and bottom robot, and the dust absorption mouth on left side robot, the right side robot sets up in flexible isolation parts's within the range of surrounding for follow rail train bottom both sides absorption raise dust. The example in the figure is that each of the three robots is provided with a nozzle assembly and a dust suction device, and the nozzle assemblies and the dust suction devices can be arranged according to actual needs.
The left side robot 1, the right side robot 3 and the adjacent one side of rail train are equipped with flexible isolation parts 7 along train length direction, flexible isolation parts 7 and train side and/or bottom surface border contact for the position entering between left side robot 1 and right side robot 3 and the rail train of outside air between them corresponding rail train bottom region.
Different from the prior art, the three robot trolleys are adopted at the left and right sides and the bottom, and the left and right trolleys, the flexible part, the bottom of the train and the ground form a tunnel with better sealing performance, so that a local negative pressure space can be formed under the action of a dust suction device, and the problem of dust raising is well solved.
In practical application, for cleaning a rail train, a special cleaning operation station is built, the special cleaning operation station comprises a flat foundation 11, two strip-shaped rail bases 21 are built on the foundation 11, a rail is installed on the rail bases 21, and a rail train 22 stops on the rail, so that a left-side robot 1, a bottom robot 2 and a right-side robot 3 can conveniently operate, and the rail train is shown in fig. 1.
In actual use, the left side robot 1, the right side robot 3 and the bottom robot 2 are arranged in parallel, the left side robot 1 and the right side robot 3 are flush, and the bottom robot 2 is located between the left side robot 1 and the right side robot 3 and is responsible for purging the chassis of the rail train 22. The dust collection device can be started firstly, and a local negative air pressure area space is formed in a tunnel formed among the left robot 1, the right robot 3 and the rail train 22 chassis due to the action of the flexible isolation part 7, so that the dust generated by subsequent blowing can be effectively prevented from overflowing.
In some embodiments, the flexible isolation member 7 is a brush structure or a block structure. The flexible isolation part 7 can be a brush made of animal hair, plant fiber and high polymer material fiber, the dense brush has good air tightness and conformability, the air tightness requirement of a complex structure on the side face of the bottom of the train can be met, and meanwhile, the function of assisting in cleaning dust is also achieved. The flexible polymer block-shaped or strip-shaped structure can also be adopted, good shape-conforming and airtight effects are achieved by utilizing good elasticity and wear resistance of the flexible polymer block-shaped or strip-shaped structure, good service life can also be achieved, raised grains, dense small strips or further integrated brushes can be further arranged on the surface of the flexible polymer block-shaped or strip-shaped structure, and good effects and long service life are achieved.
In some embodiments, the bottom robot 2 is provided with second flexible isolation components 8 at the front end and the rear end. The arrangement of the second flexible isolation component 8 further improves the sealing performance of the tunnel (working area), creates more favorable conditions for constructing a local negative pressure space, and can reduce the complexity of a control system.
In some embodiments, as shown in fig. 1-3, the flexible isolation members 7 are arranged in an n-shape along the left and right sides and upper side of the left and right robots 1 and 3. The n-shaped flexible isolation component is used for constructing an airtight space, so that the equipment such as the nozzle assembly, the control device, the dust suction device and the like can be more conveniently arranged in the surrounding range of the n-shaped flexible isolation component while materials are saved.
In some embodiments, one or both of the front and rear ends of the bottom robot 2 is provided with a barrier or frame, and the second flexible isolation member 8 is provided in an n-shape along the sides and upper edge of the barrier or frame. The arrangement of the baffle or frame provides a load bearing member for mounting the second isolation member and also allows for better compliance of the second flexible isolation member. In the example of fig. 2, only one end of the bottom robot 2 is provided with a frame and a second flexible isolation element 8 arranged on the frame. Preferably at the tail end of the base robot 2, to prevent the second flexible isolation member 8 from contacting the un-purged rail train base and generating dust at the front end. If need set up flexible isolation component 8 of second at bottom robot 2 front end, its height can be done a little less, makes it not contact with the part on the rail train chassis, when improving the airtight effect in tunnel, avoids bottom robot 2 front end to produce the raise dust.
In some embodiments, the bottom robot 2, the left robot 1 and the right robot 3 are respectively provided with a bottom air compressor, a left air compressor 15 and a right air compressor 17, air outlets of the bottom air compressor, the left air compressor 15 and the right air compressor 17 are respectively connected with a bottom dryer, a left dryer 18 and a right dryer 20, the bottom dryer, the left dryer 18 and the right dryer 20 are respectively connected with a bottom air storage tank, a left air storage tank 23 and a right air storage tank 25, and the bottom air storage tank, the left air storage tank 23 and the right air storage tank 25 are respectively connected with nozzles on the bottom nozzle assembly, the left nozzle assembly 29 and the right nozzle assembly 31. The air compressor, the drying agent and the air storage tank are independently arranged on the three robots, and independent blowing air sources for drying and compressing air are provided, so that the three trolleys are independent working units, maintenance and timely replacement are facilitated, and the operation efficiency is not influenced.
The working steps of the rail train bottom sweeping robot are as follows:
s1, starting a dust collection device to enable the area enclosed by the left robot 1, the right robot 3 and the bottom of the rail train to be a negative pressure area;
s2, starting the nozzle assembly to blow the bottom of the rail train, wherein the mass of air sprayed by the nozzle assembly in unit time is equal to or less than that of air sucked by the dust suction device;
and S3, the control device controls the left robot 1 and the right robot 3 to move forwards or backwards synchronously with the bottom robot, and the sweeping and cleaning of the bottom of the train are completed.
The utility model is characterized in that a left robot trolley, a right robot trolley, a flexible part, a train bottom and the ground form a tunnel with better sealing performance, so that a local negative pressure space can be formed under the action of a dust suction device.
In an actual embodiment, the mass of air sucked by the dust suction device per second Q1 is M1 rho/3600 Kg; the quality of air sprayed by the nozzle assembly is Q2 ═ rho M2Kg, wherein M1 is the cubic value of air sucked by the dust collector per small stone, M2 is the cubic number of air sprayed per second, and rho is the air density. According to the mass conservation law, under the premise that Q2 is smaller than Q1, the negative pressure effect can be continuously obtained in the negative pressure area, and therefore it is guaranteed that the flying dust cannot escape. The utility model converts the air flow into air quality, and greatly simplifies the control complexity.
According to the optimized design, the nozzle component (also called as spout component) of the nozzle assembly can adopt a cluster nozzle or a flat nozzle, and in practical use, for example, the working pressure of the nozzle assembly adopting the cluster nozzle is 6bar, the working flow rate is 612L/min, and therefore, the Q2 is 1.2 kg-m3×612L·min-1＝0.01224kg·s-1(ii) a Or the nozzle assembly using the flat nozzle has a working pressure of 6bar and a working flow rate of 549L/min, so that Q2 is 1.2 kg-m3×549L·min-1＝0.01098kg·s-1。
For example, the air volume treated by the dust suction device per hour is 3200m3Q1 was obtained at 1Kg per second. The left side and the right side of the nozzle component of the dust suction device are respectively provided with at least one air suction opening.
With the above Q1 and Q2 values, Q1 is about 80 to 95 times as large as Q2, and the pressure difference between the front and rear end faces of the negative pressure region can be controlled to be close to or equal to 0 Pa. A negative pressure state of 0Pa or slightly less than 0Pa is preferable, which is in consideration of efficiency and energy saving. In practical application, according to the longitudinal lengths of the left robot 1 and the right robot 3 (i.e. the longitudinal length of the negative pressure area), and the number and the arrangement position of the dust suction devices, the actual parameters are adjusted as required.
In some embodiments, to further optimize the purging effect, the purge distance between the nozzle orifice of the control nozzle assembly and the surface being purged is 15-30cm, the purge distance is the distance from the nozzle orifice to the surface being purged along the purge flow axis, and the control nozzle exit gas flow velocity is greater than or equal to 40 m/s. The nozzle sprays gas, and relatively high speed needs to be kept when the gas reaches a specified sweeping plane, so that the dust removal rate is ensured.
After the structure and the basic working principle of the rail train bottom sweeping robot are understood, in order to complete the cleaning work more efficiently, the utility model provides a nozzle control device for the rail train bottom sweeping robot, which is used for sweeping and cleaning the bottom and the bottom side of the rail train, in a specific implementation, the nozzle assembly comprises a left nozzle assembly 29 and a right nozzle assembly 31 which are respectively arranged on a left robot 1 and a right robot 3, and a bottom nozzle assembly arranged on a bottom robot 2, the left nozzle assembly 29, the right nozzle assembly 31 and the bottom nozzle assembly are respectively provided with a nozzle and a nozzle control device (in the figure, the left nozzle control device 26, the bottom nozzle control device and the right nozzle control device 28 are respectively arranged on the left robot 1, the bottom robot 2 and the right robot 3), the nozzle control device controls the combination of one, two, three or 4 of the vertical angle, height, horizontal angle, spatial position of the air stream jet of the nozzle. The three-in-one nozzle assembly and the nozzle can carry out surrounding type sweeping on the rail train chassis from two sides and the front face of the bottom, and the sweeping cleaning effect is greatly improved. The bottom robot is provided with a nozzle control device, the mechanical arm is preferentially selected as required (a multi-shaft mechanical arm is selected as necessary), a nozzle angle adjusting device can be further added, the nozzle can be adjusted within a certain angle range, the purging range can be further enlarged, purging can be conveniently performed on various dead angles, multi-angle purging can be performed on some stubborn stains, the purging efficiency is improved, the angle adjusting range can be selected to rotate in a single direction as required (for example, the angle adjusting range is adjusted within 0-180 degrees relative to the horizontal plane), a rotating device can also be selectively added, the nozzle can rotate horizontally while rotating up and down, and more purging angles can be obtained.
The left side robot and the right side robot adopt the nozzle control devices (namely the left side nozzle control device 26 and the right side nozzle control device 28) disclosed by the utility model, and both comprise a lifting device, a transverse moving device and a telescopic device, wherein the transverse moving device is arranged on the lifting device and is controlled by the lifting device to move up and down in a reciprocating manner; the telescopic device is arranged on the transverse moving device and is controlled by the transverse moving device to horizontally reciprocate; the nozzle assembly is arranged on the telescopic device and reciprocates back and forth along with the telescopic device.
By controlling the nozzle assembly to move up and down, left and right and back and forth in a telescopic manner, the control device can control the movement track of the nozzle to well fit the external structure shape of the rail train, so that the optimal purging distance can be kept, purging airflow can be vibrated by back and forth stretching, and a satisfactory purging effect is obtained.
As shown in fig. 4 and 5, the lifting device includes a longitudinal motor 261; a longitudinal roller or longitudinal slider 263 fitted with the longitudinal rail; and a longitudinal guide 262; the longitudinal guide rail 262 is fixedly connected with the base of the left robot 1 or the right robot 3; the transverse moving device comprises a transverse guide 264, a transverse motor (not shown in the figure), and a transverse roller or a transverse sliding block 265 which is matched with the transverse guide; the transverse guide rail 264 is connected with a longitudinal roller or a longitudinal slider 263, the transverse guide rail 264 (or the longitudinal roller or the longitudinal slider 263) is in transmission connection with a longitudinal motor 261, and the longitudinal motor 261 drives the transverse guide rail 264 to reciprocate along the longitudinal guide rail 262; the telescoping device 266 is connected to the cross roller or the cross slider 265, and the cross motor is in transmission connection with the telescoping device 266 (or the cross roller or the cross slider 265) to drive the telescoping device 266 to reciprocate along the cross rail 264. Therefore, the nozzle arranged on the telescopic device 266 can move to any point on a plane within a certain range, and then the telescopic device 266 drives the nozzle to perform fore-and-aft telescopic motion, so that the distance between the nozzle and a part of the rail train needing to be swept can be well controlled.
In some embodiments, as shown in fig. 5, the telescopic device 266 includes a telescopic driving motor 2662, a telescopic gear, a telescopic rail 2661 and a telescopic rod 2663 with a rack slidably mounted on the telescopic rail 2661, the rack is engaged with the telescopic gear, when the telescopic driving point 2662 drives the telescopic gear to rotate forward and backward, the telescopic gear drives the rack to drive the telescopic rod 2663 to reciprocate along the telescopic rail 2661, and the nozzle assembly (including the nozzle 311) mounted on the telescopic rod 2663 also moves back and forth along with the telescopic rod 2663.
In practical application, the telescopic device can also adopt a telescopic air bag and a control valve. Specifically, the nozzle assembly comprises a nozzle and a flexible gas pipe, the telescopic air bag is of a multi-section spindle structure, the flexible gas pipe is arranged in a hollow pipeline of the telescopic air bag, and the nozzle is arranged at the tail end of the telescopic device. The control valve controls the inflation or the air exhaust of the telescopic air bag, so that the telescopic air bag can do the front and back telescopic motion. The inflation can be performed by high-pressure air for purging (provided by an air compressor), and the air suction can be completed by additionally arranging a small air suction pump.
Or the telescopic device can also adopt a cylinder driving assembly and a plurality of sections of telescopic guide rods to complete telescopic movement.
In some embodiments, as shown in FIG. 5, the nozzle assembly includes a resilient high pressure blow tube 312 and a nozzle 311 mounted at the distal end of the resilient high pressure blow tube. In this way, in case of a collision, a hard collision does not occur due to the elastic action of the elastic high-pressure lance tube 312, avoiding damage to the equipment.
To further isolate dust, a telescoping dust cap 268 is mounted on the longitudinal rail 262.
In some embodiments, to maintain the optimal cleaning position, a vacuum mounting bracket is further provided on the telescopic device, and the vacuum device includes a vacuum port (left side vacuum port 611 and right side vacuum port 613), a vacuum tube 267, and a vacuum cleaner; the dust collection port is arranged on the dust collector mounting bracket.
It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the utility model.
Claims (9)
1. A nozzle control device for a rail train purge robot for purging a rail train bottom side, the rail train purge robot comprising:
the bottom robot is placed below the rail train and used for cleaning the bottom of the rail train;
the left robot is used for being placed on the left side of the rail train;
the right robot is used for being placed on the right side of the rail train;
the control device controls the bottom robot, the left robot and the right robot to work in a coordinated manner;
the nozzle assemblies are arranged on the bottom robot, the left robot and the right robot and used for spraying air flow to blow and sweep stains;
the air compressor unit is used for providing compressed air for the nozzle assembly;
the dust collection device is arranged on one, two or three of the bottom robot, the left robot and the right robot and is used for absorbing floating dust;
the flexible isolation parts are arranged on the adjacent sides of the left side robot and the right side robot and the rail train along the length direction of the train, are in contact with the side surface and/or the bottom surface edge of the train and are used for limiting external air from entering the bottom areas of the rail train corresponding to the left side robot and the right side robot through the positions between the left side robot and the rail train, and the corresponding bottom areas form a negative pressure area after the dust suction device is started;
the nozzle control device for the rail train purging robot is characterized by comprising a lifting device, a transverse moving device and a telescopic device, wherein the transverse moving device is mounted on the lifting device and is controlled by the lifting device to move up and down in a reciprocating manner; the telescopic device is arranged on the transverse moving device and is controlled by the transverse moving device to horizontally reciprocate; the nozzle assembly is arranged on the telescopic device and reciprocates back and forth along with the telescopic device.
2. The nozzle control device for a rail train purge robot of claim 1, wherein the lifting device comprises a longitudinal motor; a longitudinal roller or a longitudinal slider adapted to the longitudinal guide rail; and a longitudinal guide rail; the longitudinal guide rail is fixedly connected with a base of the bottom robot, the left robot or the right robot; the transverse moving device comprises a transverse guide rail, a transverse motor and a transverse roller or a transverse sliding block matched with the transverse guide rail; the transverse guide rail is connected with the longitudinal roller or the longitudinal sliding block, the transverse guide rail is in transmission connection with the longitudinal motor, and the longitudinal motor drives the transverse guide rail to reciprocate along the longitudinal guide rail; the telescopic device is connected with the transverse roller or the transverse sliding block, and the transverse motor is in transmission connection with the telescopic device to drive the telescopic device to reciprocate along the transverse guide rail.
3. A nozzle control apparatus for a rail train purge robot as claimed in claim 2, wherein the telescopic means comprises a telescopic drive motor, a telescopic gear, a telescopic rail and a telescopic rod with a rack slidably mounted on the rail, the rack engaging with the telescopic gear, a nozzle assembly mounted on the telescopic rod.
4. The nozzle control device for a rail train purge robot of claim 2, wherein the telescoping device comprises a telescoping bladder and a control valve.
5. The nozzle control device for the rail train purging robot as claimed in claim 4, wherein the nozzle assembly comprises a nozzle and a flexible gas transmission pipe, the telescopic air bag is of a multi-section spindle structure, the flexible gas transmission pipe is arranged in a hollow pipeline of the telescopic air bag, and the nozzle is arranged at the tail end of the telescopic device.
6. The nozzle control apparatus for a rail train purge robot of claim 2, wherein the telescoping apparatus comprises a cylinder drive assembly and a plurality of telescoping guide rods.
7. A nozzle control apparatus for a rail train purge robot according to any of claims 3 to 6, wherein the nozzle assembly comprises a resilient high pressure blow tube and a nozzle mounted at the end of the resilient high pressure blow tube.
8. The nozzle control device for a rail train purge robot of claim 7, wherein a telescoping dust shield is mounted on the longitudinal rail.
9. The nozzle control device for the rail train blowing robot as claimed in claim 7, wherein a dust collector mounting bracket is further arranged on the telescopic device, and the dust collector comprises a dust collection port, a dust collection pipe and a dust collector; the dust collection port is arranged on the dust collector mounting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122754058.3U CN216731884U (en) | 2021-11-11 | 2021-11-11 | A nozzle controlling means for rail train sweeps robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122754058.3U CN216731884U (en) | 2021-11-11 | 2021-11-11 | A nozzle controlling means for rail train sweeps robot |
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| Publication Number | Publication Date |
|---|---|
| CN216731884U true CN216731884U (en) | 2022-06-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122754058.3U Active CN216731884U (en) | 2021-11-11 | 2021-11-11 | A nozzle controlling means for rail train sweeps robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216731884U (en) |
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2021
- 2021-11-11 CN CN202122754058.3U patent/CN216731884U/en active Active
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