CN2925781Y - Robot for cleaning tank wagon in railway - Google Patents
Robot for cleaning tank wagon in railway Download PDFInfo
- Publication number
- CN2925781Y CN2925781Y CN 200620116465 CN200620116465U CN2925781Y CN 2925781 Y CN2925781 Y CN 2925781Y CN 200620116465 CN200620116465 CN 200620116465 CN 200620116465 U CN200620116465 U CN 200620116465U CN 2925781 Y CN2925781 Y CN 2925781Y
- Authority
- CN
- China
- Prior art keywords
- wrist
- spray gun
- drive system
- tank car
- cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The utility model relates to a railroad tanker cleaning robot, consisting of a cleaning spray gun (1) and a mechanical arm. The mechanical arm has a seat (5), an arm section, a wrist section and a driving system. The driving system consists of a wrist section swinging driving system (13, 14) making the cleaning spray gun swing around the axle, and wrist section rotating driving system (12, 11) making the cleaning spray gun rotate equipped on the wrist section, a driving system (7, 9, 8, 3) making the cleaning spray gun move horizontally along the wrist section, and a driving system (2) adjusting the swing of the wrist section equipped on the arm section. The mechanical arm also has a control unit, which transmits the control signal on the end socket of the cleaning tanker to the wrist section swinging driving system and the driving system adjusting the swing of the wrist section equipped on the arm section, and transmits the control signal on the inner surface of the cleaning tanker body to the wrist section swinging driving system and the wrist section rotating driving system, and the control unit transmits the control signal impelling the linear movement of the cleaning spray gun (1) along the longitudinal direction of the tanker to the driving system making the cleaning spray gun move horizontally along the wrist section.
Description
Technical field
The utility model relates to a kind of industrial robot, relates in particular to a kind of railway tank car cleaning robot.
Background technology
At present, Cleaning by High Pressure Water Jet to tank car, two kinds of cleaning ways are arranged: a kind of is the tank car cleaning equipment that Japanese Sugino Machine Ltd. has developed, its spray gun arm can stretch out by the expansion of connection rod set, nozzle carries out three-dimensional rotation simultaneously, on tank inner surface, form the water jet track of net distribution, be not easy to be directly injected to regard to the tank inner surface that makes like this by water jet; Another kind is a kind of container cleaning device that discloses among the open No.1439462A of Chinese patent application, it can be respectively on both direction axially and radially injection water, helix is carried out on the container face of cylinder to be cleaned, so that container is accomplished that definite pointwise cleans, but this cleaning way causes the surface after the cleaning to be cleaned the sewage secondary pollution that produces in the process easily.
The utility model content
For this reason, the purpose of this utility model is that a kind of like this railway tank car cleaning robot will be provided, it can imitate a human arm and hold cleaning device the inner surface of tank body is cleaned, all surface to be cleaned of high-pressure water jet direct injection, tank inner surface and tank car end cap arbitrarily a bit on realize cleaning, the surface after can avoiding cleaning simultaneously is cleaned the sewage secondary pollution that produces in the process.
For achieving the above object, the utility model provides a kind of railway tank car cleaning robot, comprise cleaning spray gun and mechanical arm, described mechanical arm has support, arm, wrist and drive system, described drive system comprises: be arranged on the described cleaning spray gun of making of described wrist around the wrist wobble drive system of axle swing and the wrist rotating driving system that described cleaning spray gun is rotated, and be arranged on the described cleaning spray gun of making of described arm with wrist drive system that moves horizontally and the drive system of adjusting the wrist swing, described mechanical arm also has control module, the control signal that described control module will clean the tank car end cap transfers to the drive system that described wrist wobble drive system and described arm are adjusted the wrist swing, and the control signal that described control module will clean tank inner surface transfers to described wrist wobble drive system and described wrist rotating driving system, and described control module will promote described cleaning spray gun and transfer to the described drive system that cleaning spray gun is moved horizontally with wrist along the control signal that straight line moves of vertically doing of tank car.
By taking said structure, when cleaning the end face end socket of tank car inside, cleaning spray gun is under the effect of wrist wobble drive system, produce the track that a horizontal linear scanning is cleaned, and finish the track that horizontal linear scanning is cleaned by the drive system of arm adjustment wrist swing and pass downwards gradually by the top along the inner surface of the end cap of tank car, in the process of passing, the track that two adjacent horizontal sweeps are cleaned has small overlapping region.Then when cleaning tank inner surface, cleaning spray gun is under the effect of wrist wobble drive system, produce the track that a horizontal linear scanning is cleaned, and under the effect of wrist rotating driving system, the track that horizontal sweep is cleaned is passed downwards by the top gradually along the inner surface of tank body, in the process of passing, the track that two adjacent horizontal sweeps are cleaned has small overlapping region, also because arm can make cleaning spray gun move horizontally with wrist, therefore can be at the inner surface of tank body realize above-mentioned cleaning on a bit arbitrarily.Because the track that horizontal linear scanning is cleaned is passed downwards by the top gradually along being cleaned face, and there is small overlapping region between the track that two adjacent horizontal sweeps are cleaned in the process of passing, so the sewage that both can avoid producing in the cleaning process produces secondary pollution to the surface that has cleaned up, can make the high-pressure water jet direct injection clean all surface to be cleaned again.In addition, owing to adopt computer control, can realize above-mentioned cleaning function quickly and accurately.The action of gyroscopic drive system that can also be by computer control machinery arm support and each drive system of wrist and arm organic compound realized the track that any complex curve scanning is cleaned.
Above-mentioned wrist wobble drive system can adopt hydraulic cylinder and servo valve to cooperate the device that is used as power, and drives the quadric chain action, realizes that cleaning spray gun swings between 0-270 ° around axle.Can also adopt servomotor or servo-hydraulic motor directly to drive the cleaning spray gun swing.
Above-mentioned wrist rotating driving system can adopt the servo-hydraulic motor to drive rotating shaft and drive cleaning spray gun and rotate, and can also adopt the servomotor device that is used as power.
Above-mentioned arm makes cleaning spray gun move horizontally drive system with wrist can to adopt hydraulic cylinder and servo valve to cooperate the device that is used as power, drive initiatively expansion of fork drivening rod group or gathering, realize the change of cleaning spray gun horizontal direction position, can also adopt servomotor or servo-hydraulic motor to drive initiatively fork action.Adopt gear drive between this active fork and the driven fork, can also adopt the friction pulley transmission.This connection rod set can be two parallelogram sturcutres after launching, and can also be a plurality of parallelogram sturcutres.
The wrist wobble drive system that adjusts above-mentioned arm can adopt hydraulic cylinder and servo valve to cooperate the device that is used as power, and can also adopt servomotor or servo-hydraulic motor.
Above-mentioned support gyroscopic drive system can adopt servomotor be used as power device and gear drive, makes rotating shaft produce corresponding action, can also adopt the servo-hydraulic motor device that is used as power.
Further improve as the utility model, on this railway tank car cleaning robot, increase the quantity of cleaning spray gun, and the water supply flow of corresponding increasing water under high pressure of while, the efficient of cleaning can be improved.
Further improve as the utility model, adopt both hands arm symmetrical distribution structure on this railway tank car cleaning robot, clean tank car manhole both sides simultaneously, mechanical arm need not turn round can finish cleaning, can improve the efficient of cleaning.
In sum, the utility model has been realized the automation that artificial scanning is cleaned, make cleaning according to from top to bottom, undertaken by end cap place to the correct order of manhole away from the tank car manhole, both realized effective cleaning of all surface to be cleaned of high-pressure water jet direct injection, the surface after having avoided again cleaning is cleaned the sewage secondary pollution that produces in the process.
Description of drawings
Two embodiments of the present utility model are described below with reference to accompanying drawings.
Fig. 1 is the schematic side elevation according to the utility model railway tank car cleaning robot first embodiment.
Fig. 2 is the schematic diagram that end cap that railway tank car cleaning robot shown in Figure 1 is implemented tank car is cleaned track when cleaning.
Fig. 3 is the schematic diagram that inner surface that railway tank car cleaning robot shown in Figure 1 is implemented tank body cleans track when cleaning.
Fig. 4 is the schematic diagram that railway tank car cleaning robot shown in Figure 1 implements to clean when any complex curve cleans track.
Fig. 5 is the schematic side elevation of another embodiment of the utility model railway tank car cleaning robot.
The specific embodiment
Fig. 1 shows first embodiment of the utility model railway tank car cleaning robot.Cleaning spray gun 1 is under the effect of wrist quadric chain 13, hydraulic cylinder and servo valve cooperation 14, and around the axle swing, water jet cleans being cleaned the linear scanning of face carrying out horizontal.And under the effect of the hydraulic cylinder of adjusting the wrist swing and servo valve cooperation 2, cleaning spray gun 1 is swung around axle with wrist, realize that horizontal linear scanning cleans track and passes from top to bottom, and in the passing process two adjacent horizontal linears scannings clean exist between the track small overlapping.Fig. 2 shows when adopting above-mentioned cleaning way purge tank tank car end cap, the distribution situation of water jet track, and the width of each water jet track is e, two track overlapping region A.Cleaning spray gun 1 also rotates under the effect of rotating shaft 12, servo-hydraulic motor 11, realizes that horizontal linear scanning cleans track and passes from top to bottom, and in the passing process two adjacent horizontal linears scannings clean exist between the track small overlapping.Fig. 3 shows when adopting above-mentioned cleaning way to clean tank body, the distribution situation of water jet track, and the width of each water jet track is e, two track overlapping region A.Again because length of tank is longer, need segmentation to clean, arm connection rod set 3 changes the horizontal level of cleaning spray gun 1 on the tank body axis under the effect of active fork 9, driven fork 8, hydraulic cylinder and servo valve cooperation 7, realize the change of cleaning positions, finish half cleaning of tank car.The support 5 of mechanical arm is fixed on the manhole of tank car, and servomotor 4 drives rotating shaft 6 revolutions, can realize the preceding centering of cleaning spray gun 1 beginning cleaning, can also reverse 180 °, above-mentioned cleaning is carried out in realization cleaning spray gun commutation again, finishes second half cleaning of tank car.
Can also make the action of rotating shaft 6, connection rod set 3, hydraulic cylinder and servo valve cooperation 2, rotating shaft 12, quadric chain 13 organic compound by computer control, realize the track that any complex curve scanning is cleaned, as shown in Figure 4.
Fig. 5 shows another embodiment of the utility model railway tank car cleaning robot.The arm structure of removing its mechanical arm is different from outside first embodiment, and other structure of railway tank car cleaning robot all is identical.Its arm is made of joint 15,17,19,20,22 and armed lever 16,18,21,23, and each joint is provided with servomotor and sensor.
Because second embodiment adopts multi-joint arm structure, it is compared with first embodiment, move more flexibly, and it is more stable work, realizes that the cleaning of complexity moves therefore easilier.
Carry out briefly bright to automatic control section below according to tank car of the present utility model robot.
The control section of railway tank car cleaning robot adopts the tactic pattern of host computer and slave computer on overall structure, with the PC industrial computer as host computer, with PLC as slave computer, finish the exchanges data of upper PC and the next PLC machine by communication cable, but thereby but realize the Automatic Control of not only execute-in-place but also host computer Long-distance Control, the The whole control unit is schematically as shown below:
In upper PC, the applicable industry configuration software is finished dynamic demonstration, historical data report and the alarm logging at interface.Slave computer PLC adopts the SIMATIC product, combines with detection, execution, control, the display part at scene, finishes data acquisition, realizes the control function.By the The whole control unit, the operator both can carry out manual operation in the face of equipment at the scene, can carry out button operation in the face of the industrial computer interface in the microcomputer chamber again, and both can both finish predeterminated target of the present utility model.
For the ordinary skill in the art, can easily expect other advantage and modification.Therefore, the utility model in wide region more is not restricted to specific detail and representation example shown and that describe here.Therefore, under the spirit and scope that do not depart from by appended claims and their universal of the present utility model that equivalent limited, can make various changes.
Claims (8)
1, a kind of railway tank car cleaning robot, comprise cleaning spray gun (1) and mechanical arm, described mechanical arm has support (5), arm, wrist and drive system, described drive system comprises: be arranged on the wrist wobble drive system (13 of the described cleaning spray gun of making of described wrist around the axle swing, 14) and make the wrist rotating driving system (12 of described cleaning spray gun rotation, 11), and be arranged on the drive system (7 that the described cleaning spray gun of making of described arm moves horizontally with wrist, 9,8,3) and adjust the drive system (2) of wrist swing, it is characterized in that, described mechanical arm also has control module, the control signal that described control module will clean the tank car end cap transfers to the drive system that described wrist wobble drive system and described arm are adjusted the wrist swing, and the control signal that described control module will clean tank inner surface transfers to described wrist wobble drive system and described wrist rotating driving system, and described control module will promote described cleaning spray gun (1) and transfer to the described drive system that cleaning spray gun is moved horizontally with wrist along the control signal that straight line moves of vertically doing of tank car.
2, railway tank car cleaning robot according to claim 1 is characterized in that, described wrist wobble drive system (13,14) is that hydraulic cylinder and servo valve cooperate (14) and wrist quadric chain (13).
3, railway tank car cleaning robot according to claim 1 is characterized in that, the drive system (2) that described arm is adjusted the wrist swing is that hydraulic cylinder and servo valve cooperate or servomotor or servo-hydraulic motor.
4, railway tank car cleaning robot according to claim 1 is characterized in that, described wrist rotating driving system (12,11) is servomotor or servo-hydraulic motor.
5, railway tank car cleaning robot according to claim 1, it is characterized in that, make drive system that described cleaning spray gun moves horizontally with wrist by as the hydraulic cylinder of power set and servo valve cooperation or servomotor or servo-hydraulic motor (7), active fork (9) and driven fork (8) and connection rod set (3) formation by described power set swing, the swing of described connection rod set by described active fork and driven fork launches or draws in, does rectilinear motion to promote described spray gun.
6, railway tank car cleaning robot according to claim 5 is characterized in that, is gear drive between described active fork and the driven fork, perhaps is the rubber friction wheel transmission.
7, according to the described railway tank car cleaning robot of above-mentioned any one claim, it is characterized in that, also comprise support gyroscopic drive system (4), it drives rotating shaft (6) revolution, makes the cleaning spray gun commutation.
According to any one described railway tank car cleaning robot among the claim 1-6, it is characterized in that 8, described mechanical arm is symmetrically distributed, to clean the manhole both sides of tank car simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620116465 CN2925781Y (en) | 2006-06-01 | 2006-06-01 | Robot for cleaning tank wagon in railway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620116465 CN2925781Y (en) | 2006-06-01 | 2006-06-01 | Robot for cleaning tank wagon in railway |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2925781Y true CN2925781Y (en) | 2007-07-25 |
Family
ID=38280015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620116465 Expired - Lifetime CN2925781Y (en) | 2006-06-01 | 2006-06-01 | Robot for cleaning tank wagon in railway |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2925781Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619420A (en) * | 2016-03-22 | 2016-06-01 | 深圳市百事达卓越科技股份有限公司 | Anti-riot robot used for reforming oil tank and oil tank reforming working station |
| CN105643630A (en) * | 2016-03-22 | 2016-06-08 | 深圳市百事达卓越科技股份有限公司 | Transformation method of oil tank |
| CN105642624A (en) * | 2016-03-22 | 2016-06-08 | 深圳市百事达卓越科技股份有限公司 | Oil tank cleaning method |
| CN105689345A (en) * | 2016-03-22 | 2016-06-22 | 深圳市百事达卓越科技股份有限公司 | Anti-explosion robot used for cleaning oil tank and oil tank cleaning workstation |
| CN109366473A (en) * | 2018-12-10 | 2019-02-22 | 武汉三江航天远方科技有限公司 | Sunken tankers liner automatic improving device |
-
2006
- 2006-06-01 CN CN 200620116465 patent/CN2925781Y/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619420A (en) * | 2016-03-22 | 2016-06-01 | 深圳市百事达卓越科技股份有限公司 | Anti-riot robot used for reforming oil tank and oil tank reforming working station |
| CN105643630A (en) * | 2016-03-22 | 2016-06-08 | 深圳市百事达卓越科技股份有限公司 | Transformation method of oil tank |
| CN105642624A (en) * | 2016-03-22 | 2016-06-08 | 深圳市百事达卓越科技股份有限公司 | Oil tank cleaning method |
| CN105689345A (en) * | 2016-03-22 | 2016-06-22 | 深圳市百事达卓越科技股份有限公司 | Anti-explosion robot used for cleaning oil tank and oil tank cleaning workstation |
| CN105689345B (en) * | 2016-03-22 | 2018-09-25 | 深圳市百事达卓越科技股份有限公司 | Explosion prevention robot for cleaning the storage and Oilcan cleaning work station |
| CN109366473A (en) * | 2018-12-10 | 2019-02-22 | 武汉三江航天远方科技有限公司 | Sunken tankers liner automatic improving device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1919478B (en) | Railway tank car cleaning robot | |
| CN2925781Y (en) | Robot for cleaning tank wagon in railway | |
| CN100376437C (en) | Car washer | |
| CN104552300B (en) | A kind of off-line programing teaching apparatus based on teaching robot and method | |
| CN106475374B (en) | A kind of automatic pipe profile inner cavity flusher and control system | |
| CN103251357A (en) | Outer wall cleaning machine | |
| CN101130376B (en) | Step walking type pipeline cleaning robot | |
| CN105772289A (en) | Automatic spray washing manipulator | |
| CN201720225U (en) | Multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot | |
| CN108407922A (en) | A kind of AGV vehicles with function of removing obstacles based on Internet of Things | |
| CN107838149B (en) | Garbage bin washs equipment adaptable to arbitrary bucket formula | |
| CN110155758A (en) | The intelligent parallel robot of closing a position of rope driving | |
| CN104999449B (en) | Electrified water washing robot of wheel type substation | |
| CN104438180A (en) | Full-automatic cleaning system for heavy-load parts | |
| CN100379615C (en) | Arm-and-hand system in use for car washer | |
| CN204002851U (en) | With the shotcrete robot of six sufficient running gears | |
| CN202398586U (en) | Truss-type visible automatic cleaning device for internal surface of horizontal-type tank body | |
| CN204225901U (en) | A kind of crawler body concrete sprayer | |
| CN204322082U (en) | A kind of off-line programing teaching apparatus based on teaching robot | |
| CN207746153U (en) | A kind of hydraulic motor valve cleaning device | |
| CN205662882U (en) | A equipment for rinsing tunnel lateral wall | |
| CN209887600U (en) | A manipulator for auto repair | |
| CN204974613U (en) | Laser belt cleaning device of ink reservoir | |
| CN203170497U (en) | Manipulator for irregular barrel-shaped workpiece inner surface spraying | |
| US11733720B2 (en) | Indexer and method of use thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20070725 |
|
| EXPY | Termination of patent right or utility model |