KR101848422B1 - Washing method of railway vehicles bogie by robot - Google Patents

Abstract

The present invention relates to a washing method for a carriage of a railway vehicle, using a robot. According to the present invention, the washing method for a carriage of a railway vehicle includes: a step of enabling a carriage (1) to enter a carriage conveyor (2); a step of moving the carriage (1) in a washing place (10) and moving the carriage (1) on a carriage rail (16); a step of lifting up the carriage (1) mounted on the carriage rail (16) as a lift (11) ascends; a first washing step of jet-washing upper and lower parts and sides of the carriage (1) while a nozzle (9) of a multi-joint washing robot (20) capable of rotating at 360 degrees moves, onto the carriage (1) lifted up; a second washing step of rotating the carriage (1) at 90 degrees by a turntable (12) and washing the upper surface, the side surface, and the lower surface in order; a third washing step of rotating the carriage (1) at the 90 degrees again and washing the upper surface, the side surface, and the lower surface; a fourth washing step of rotating the carriage (1) at the 90 degrees again and washing the upper surface, the side surface, and the lower surface; a step of lastly rotating the carriage (1) at the 90 degrees and returning the carriage (1) to an initial position; a step of enabling the lift (11) to descend and enabling the turntable (12) to descend; a step of opening a door (3) of the washing place (10); and a step of releasing the carriage (1).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method of cleaning a railway car bogie using a robot,

The present invention relates to a method of cleaning a railway car using a robot.

Document 1

Name: The wheel washing equipment for a carriage

Patent registration number: 10-1515461 (registration date: 2014.04.21)

Document 2

Name: Air Washing Machine of Train

Patent registration number: 10-0717268 (registered date: 2007.05.04)

Bogie cleaning equipment installed in the workshop of the railway vehicle carries out cleaning of the bogies with foreign substances such as dust and grease. In this case, the conventional car washing apparatus is a unidirectional nozzle spraying system in which the car is transported back and forth. Therefore, The lower part of the truck is the place where the most impurities are attached during the railway operation, and since the various devices are attached and the shape is complicated, the efficiency is extremely low when the stationary nozzle is used for washing. Inside the lower part of the car, especially inside and around the car wheel, the existing car was not cleaned properly by the structure. Therefore, in the conventional car washing machine, it is troublesome to perform additional washing work in a separate washing room or outdoors after washing in a place where partial washing is required even after the washing is finished.

In addition, the amount of the cleaning liquid sprayed by the conventional cleaning nozzle is 1.6 tons per minute, and the cleaning is used in a large amount of 0.2 ton per minute. In addition, the installed nozzles require about 120 nozzles for cleaning and about 50 nozzles for cleaning. Therefore, it is necessary to install many nozzles and manage the nozzles. Also, It takes about 1080kw to clean.

In addition, since it requires hot water or steam cleaning of 85 degrees Celsius to clean stubborn grease, it requires a lot of electricity, requires a large number of cleaning pumps and heating coils, complicated washing water supply line piping, There is a disadvantage that maintenance and maintenance costs are increased.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a method of cleaning a lower portion of a railway car, It is an object of the present invention to provide an automatic cleaning method using a robot in which the amount of electricity and washing water is minimized, a heating coil is unnecessary, complicated washing water supply line piping is unnecessary, and maintenance and maintenance cost is greatly reduced.

In order to accomplish the object of the present invention, the main structure of the present invention comprises a cargo conveyor (2) installed for entering into a washing bowl (10) of a car (1) The turntable 12 is installed on the lift 11 and rotatably mounted on the truck 1. The washing robot 12 is installed on the side of the turntable 12, A hood unit 30 connected to the exhaust duct 5 and installed on the upper portion of the washing hob 10, And a door 3 installed at a delivery position of the bogie 1 on the turntable 12. A support bearing 42 is installed on the turntable 12 and a center bearing 41 A motor 44 and a reduction gear 43 are provided under the turntable 12 to rotate the truck 1 loaded on the turntable 12 And a bogie rail 16 is installed on the upper surface of the turntable 12 so that the bogie 1 is lifted up. A traveling rail 4 is installed under the cleaning robot 20 , And the cleaning robot (20) is movable in the advancing / retreating direction of the carriage (1).

Another characteristic feature of the present invention is that a cargo conveyor 2 installed for entry into the washing basin 10 of the car 1 and a lift A washing robot 20 installed on both sides of the turntable 12 and a turntable 12 mounted on the elevator 11 to be rotatably mounted on the truck 1; A hood unit 30 connected to the exhaust duct 5 and installed on the upper portion of the washing hob 10 and a hood unit 30 connected to the washing hob 10, And the door 3 is installed at the delivery position of the carriage 1 so that the turntable 12 can be cleaned by rotating the turntable 12 by 180 degrees.

 A method characteristic of the present invention is that the method comprises the steps of: entering a bogie (1) into a bogie conveyor (2); Placing the bogie (1) into the wash basin (10) and seating it on the bogie rail (16); Lifting the carriage (1) placed on the carriage rail (16) by lifting the lift (11) up; A primary cleaning step of spraying and cleaning the upper, lower and side portions of the carriage 1 while the nozzle 9 of the articulated cleaning robot 20 rotates 360 degrees with respect to the raised carriage 1; A second cleaning step of rotating the carriage 1 by 90 degrees with the turntable 12 and sequentially cleaning the top surface, the side surface and the bottom surface; Further, a third cleaning step of cleaning the top surface, the side surface and the bottom surface by further rotating the bogie 1 by 90 °; Then, the bogie 1 is rotated by 90 degrees to perform a fourth cleaning step of cleaning the top and side surfaces; Finally, the truck 1 is rotated by 90 degrees to return to the initial position; Lowering the lift (11) to lower the turntable (12); Opening the door (3) of the wash bowl (10); Wherein the step of releasing the bogie (1) after the step of opening the door (3) of the rubbing hose (10) comprises the step of releasing the rubbing robot (1) is brought into contact with the traveling rail (4) and is moved to the truck conveyor (2) by moving along the running rail (4) An air flushing operation is performed using the compressed air supplied from the air tank 18 at the top of the washing bowl 10 after the step of lowering the elevator 11 to lower the turntable 12, 1) of the washing water and water droplets remaining in the washing water.

According to the present invention, since the bogie is elevated and a sufficient space for washing is secured under the bogie, it is possible to efficiently clean the bogie robot along the complicated shape of the lower portion of the bogie using the secured space.

Further, according to the present invention, the cleaning force is increased and the amount of the cleaning liquid injected is reduced to about 1/50 (1600 liters / min) of the conventional cleaning equipment since the nozzles are accurately cleaned at high pressure while moving by the robot according to the bogie shape, And 30 l / min.), And the pump capacity required for injection is reduced from 150 kwh to 18.5 kwh, saving about 130 kwh. Also, the capacity of the wash tank can be reduced by more than two times.

Also, since a conventional washing machine uses a high-temperature washing solution to increase cleaning power, a heater of about 800,000 kcal / hr (926 kwh) or more is required. According to the present invention, since a washing water at room temperature is used, a heater is not required

According to the washing apparatus and method according to the present invention, since the washing water at room temperature is used, a heater is not necessary and electricity of about 926 kwh can be saved. For example, the amount of electricity consumed is about 1080 kw for cleaning a car in a conventional case, but according to the present invention, it takes only about 18 kw, so that the electricity used can be reduced to about 60 times, The maintenance cost is greatly reduced, and the amount of waste water generated is reduced to 1/50, thereby reducing the waste water treatment cost.

Further, according to the cleaning apparatus of the present invention, the length can be reduced to three times or more (work length: 7M) as compared with the conventional cleaning apparatus (work length: 24-26M), and the work space can be efficiently used.

In addition, according to the present invention, since the nozzle is moved and cleaned according to the shape of the bogie, the spray is accurately sprayed irrespective of the type of bogie, thereby increasing the cleaning power and reducing unnecessary cleaning fluid.

Further, according to the present invention, the injection amount is small, the high-pressure washing does not require temperature control, and the amount of water used and the amount of cleaning liquid are reduced to 1/50 and 1/7.

In addition, the robot nozzle of the present invention is rotatable in the entire 360 degrees so that any portion of the bogie can be cleaned.

Also, in the conventional case, the washing and washing pump is used, respectively. However, the present invention can use washing and washing with one high-pressure pump, and the amount of electricity used by the pump can be reduced by about 8-9 times.

In addition, since only one nozzle mounted on each of the 1-2 cleaning robots is used in the present invention, the quantity of the cleaning liquid sprayed is small and the maintenance of the nozzle is easy.

Further, since the discharge of the bogie is performed by the movement of the cleaning robot 20, the efficiency of the automatic cleaning is further enhanced.

1 is a side view of a device according to the invention;
Fig. 2 is a top view of Fig. 1, and Fig. 3 is a right side view.
4 is another embodiment of Fig.
Fig. 5 is a view showing that the truck is lifted by the lift 11. Fig.
6 is a top view of the turntable.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 is a side view for explaining the present invention, Fig. 2 is a top view, and Fig. 3 is a right side view of Fig. 1

As shown in the figure, when the carriage 1 enters the cargo conveyor 2 into the washing compartment 10, the lift 11 is lifted and lifts the carriage 1. A turntable 12 is provided on the lift 11. When the truck 1 enters and seats on the turntable 12, the truck 1 is fixed to the turntable 12 and then raised.

3, when the carriage 1 enters the cleaning bowl, the carriage rail 16 is extended on the extension line of the carriage conveyor 2 in Fig. 1, Is installed. The bogie rail 16 is integrally formed on the top surface of the turntable 12, and rotates when the turntable 12 rotates.

As shown in FIG. 3, the cleaning robot 20 uses a multi-joint robot equipped with a nozzle 9, for example, a six-joint robot having a single nozzle 9. The cleaning robot 20 is provided with a traveling rail 4 so that the cleaning robot 20 can travel in the traveling direction of the conveyor 2.

The washing procedure of the bogie 1 by the cleaning robot 20 is as follows.

First, the upper surface and side surface of the truck 1 are first cleaned.

That is, the hot water in the washing water tank 22 shown in Fig. 2 is supplied to the washing robot 20 at a high pressure through the nozzle pipe 8 by the operation of the washing pump 13, And is cleaned with the nozzle 9

The nozzle 9 carries out xyz 3-axis transport cleaning by the servomotor. That is, one nozzle 9 is fed according to the form of the bogie, and the top, bottom and side portions of the bogie 1 are sprayed and cleaned. The injection nozzle uses a turbo nozzle capable of rotating 360 degrees in all directions, and the injection pressure is 300 bar or more. Then, the carriage 1 is rotated 90 degrees by the turntable 12, and the upper surface, the side surface and the lower surface are sequentially cleaned. Then, the carriage 1 is rotated by 90 degrees, and the upper surface, side surface and lower surface are secondly cleaned. Then, the bogie 1 is rotated by 90 degrees, and the upper surface and the lower surface are cleaned for the third time.

Finally, when the truck 1 is rotated by 90 degrees and returned to the initial position, the lift is lowered to cause the turntable 12 to descend. Then, an air flushing operation using the compressed air supplied from the air tank 18 shown in FIG. 2 is carried out in the upper part to remove water and water droplets remaining in the cart 1.

In order to discharge the water vapor generated in the washing bowl 10 during the washing operation or the air flushing operation after the washing operation, an exhaust duct 5 is installed in the washing bowl 10, So that it is discharged through the hood device 30 by the operation of FIG.

2, reference numeral 14 denotes a control panel.

When the air flushing operation is completed, the door 3 is automatically raised and the arm of the cleaning robot 20 pushes the carriage 1 to the left side of Fig. 1 and transfers it to the conveyance conveyor 2, . That is, the cleaning robot 20 is installed on the railway rail 16, so that when the cleaning robot 20 travels to the left side of FIG. 1 along the railway rail 16, the railway carriage 1 is pushed do. After discharging the bogie 1, the cleaning robot 20 is returned to its original position on the bogie rail 16.

On the other hand, in FIG. 1, a device for removing sludge which is generated during the washing of the car 1 is installed in the lower part of the washing basin 10. That is, a sludge conveyor 17 is installed in the lower portion of the washing bowl 10 to transfer the accumulated sludge to the upper portion of the washing bowl 10 and stored in the sludge box 15, and then processed.

The operation of the continuous operation of the above-described bogie (1) cleaning operation can be automatically and continuously performed, so that continuous bogie automatic cleaning operation can be performed, thereby adding swiftness and convenience of the bogie cleaning operation, Reduce the amount of washing water used, the number of working hours, and the number of workers

Although the cleaning robot 20 is installed in the present invention, it is possible to install two cleaning robots. For example, FIG. 4 illustrates another embodiment of FIG. 3 in which two cleaning robots 20 are installed.

When the cleaning robot 20 simultaneously carries out the cleaning operation on both sides of the truck, the working time can be more than doubled. And even if the bogie is rotated once, the entire surface of the bogie can be cleaned, so that the cleaning time can be doubled.

4, for reference, the half-moon shape shows the cleaning nozzle operating range 40 by the articulated robot arm of the cleaning robot 20.

5 shows a state in which the turntable 12 is lifted by the lift 11 provided under the turntable 12. [

A turntable 12 is installed on the upper portion of the lift 11. The turntable 12 has a center bearing 41 at the center and a support bearing 42 at the center.

6 is a top view of the turntable 12, showing the support bearing 42 being installed circumferentially.

The rotation of the turntable 12 is transmitted by the motor 44 via the reduction gear 43, and the turntable 12 is slowly rotated.

1 door 3 doors
4 Running rails 9 Nozzles
10 wash high 11 lift
12 turntable 16 car rails
20 Cleaning Robot 22 Washing Tank
30 Hood device 41 Center bearing
42 Support bearing 44 Motor

Claims (8)

delete delete delete delete delete Entering the bogie (1) into the bogie conveyor (2);
Placing the bogie (1) into the wash basin (10) and seating it on the bogie rail (16);
Lifting the carriage (1) placed on the carriage rail (16) by lifting the lift (11) up;
A primary cleaning step of spraying and cleaning the upper, lower and side portions of the carriage 1 while the nozzle 9 of the articulated cleaning robot 20 rotates 360 degrees with respect to the raised carriage 1;
A second cleaning step of rotating the carriage 1 by 90 degrees with the turntable 12 and sequentially cleaning the top surface, the side surface and the bottom surface;
Further, a third cleaning step of cleaning the top surface, the side surface and the bottom surface by further rotating the bogie 1 by 90 °;
Then, the bogie 1 is rotated by 90 degrees to perform a fourth cleaning step of cleaning the top and side surfaces;
Finally, the truck 1 is rotated by 90 degrees to return to the initial position;
Lowering the lift (11) to lower the turntable (12);
Opening the door (3) of the wash bowl (10);
And leaving the bogie (1)
The step of releasing the bogie 1 after the step of opening the door 3 of the rubbing hose 10 is carried out by the cleaning robot 20 moving along the riding rail 4 in contact with the bogie 1 To the cargo conveyor (2) by a robot (1). delete delete

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