CN110216686A - Bogie cleaning robot and system - Google Patents
Bogie cleaning robot and system Download PDFInfo
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- CN110216686A CN110216686A CN201910251705.3A CN201910251705A CN110216686A CN 110216686 A CN110216686 A CN 110216686A CN 201910251705 A CN201910251705 A CN 201910251705A CN 110216686 A CN110216686 A CN 110216686A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 302
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 230000001680 brushing effect Effects 0.000 claims description 33
- 239000007788 liquid Substances 0.000 claims description 32
- 239000012530 fluid Substances 0.000 claims description 19
- 239000007921 spray Substances 0.000 claims description 15
- 230000000007 visual effect Effects 0.000 claims description 11
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000005201 scrubbing Methods 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 238000004080 punching Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 32
- 230000000694 effects Effects 0.000 description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 238000011010 flushing procedure Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 230000004807 localization Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000000746 purification Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 238000005406 washing Methods 0.000 description 4
- 230000001351 cycling effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 239000003599 detergent Substances 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003909 pattern recognition Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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- 230000002000 scavenging effect Effects 0.000 description 1
- 238000010129 solution processing Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
This application involves a kind of bogie cleaning robot and systems.The bogie cleaning robot includes manipulator, control device, cleaning device and locating and detecting device.The control device and the manipulator communicate to connect, for controlling the manipulator behavior.The cleaning device and the locating and detecting device are all set in the manipulator.The locating and detecting device and the control device communicate to connect, for realizing the positioning to bogie to be cleaned.The control device is used to control the manipulator movement according to the positioning result of the locating and detecting device, and cleaning device described in the machinery hand-motion is mobile, realizes the cleaning to the bogie to be cleaned.The bogie cleaning robot intelligence and cleaning efficiency provided by the present application are high.
Description
Technical field
This application involves bogies to clean field, more particularly to a kind of bogie cleaning robot and system.
Background technique
Bogie is the important component of rolling stock.Bogie cleaning is the element task of bogie maintenance.Bogie from
It after removing on rolling stock, first has to be cleaned, with dust and the greasy dirt etc. for removing bogie surface deposition, after being
The work such as the dismantling and maintenance in face are ready.
In traditional technology, to the mainly artificial cleaning of the cleaning of bogie.One dirt of general manually cleaning is more to be turned
4-5 people is needed to frame, scavenging period is about 40-60 minutes, low efficiency.And need to spray medicament in cleaning process, medicament volatilization
It is harmful to the human body.
However, this cleaning way has that cleaning efficiency is low.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of bogie cleaning robot and system.
A kind of bogie cleaning robot, comprising:
Manipulator；
Control device is communicated to connect with the manipulator, for controlling the manipulator behavior；
Cleaning device is set to the manipulator, for cleaning bogie to be cleaned；
Locating and detecting device is set to the manipulator, with the control device communicate to connect, for realizing to it is described to
Clean the positioning of bogie；
The control device is used to control the manipulator movement according to the positioning result of the locating and detecting device, described
Cleaning device described in mechanical hand-motion is mobile, realizes the cleaning to the bogie to be cleaned.
The cleaning device includes: in one of the embodiments,
Flusher is set to the manipulator, for spraying liquid to the bogie to be cleaned, realizes and rinses；
Brushing device is set to the manipulator, for scrubbing the bogie to be cleaned.
The cleaning device in one of the embodiments, further include:
Mounting bracket, the flusher and the brushing device are set to the machinery by the mounting bracket
Hand.
The flusher includes: in one of the embodiments,
Sluice gun is set to the mounting bracket；
Fluid Supplying apparatus is connected to the sluice gun, for providing liquid to the sluice gun.
The flusher in one of the embodiments, further include:
Device is adjusted, is mechanically connected with the sluice gun and the mounting bracket, for adjusting the position of the sluice gun
And/or angle.
The brushing device includes: in one of the embodiments,
Brush head；
Device of rotation driving is set to the mounting bracket, is mechanically connected with the brush head, for driving the brush head to turn
It is dynamic.
The direction of the sluice gun sprinkling liquid and brush head setting at an acute angle in one of the embodiments,.
The locating and detecting device includes microswitch in one of the embodiments,.
The bogie cleaning robot includes: in one of the embodiments,
Device for visual identification is set to the manipulator, communicates to connect with the control device, described to clear for identification
Wash the image information of bogie；
The control device is also used to control the work of the manipulator according to the image information of the bogie to be cleaned
Route.
The adjustment device and the control device communicate to connect in one of the embodiments,；The control device is also
For the class of pollution of the bogie to be cleaned according to the image information acquisition of the bogie to be cleaned, and according to it is described to
The class of pollution of cleaning bogie controls the position that the adjustment device adjusts the sluice gun.
The bogie cleaning robot in one of the embodiments, further include:
First lifting device is mechanically connected with the manipulator, is communicated to connect with the control device, first lifting
Device for realizing the manipulator lifting.
The bogie cleaning robot provided by the embodiments of the present application includes the manipulator, the control device, institute
State cleaning device and the locating and detecting device.It is mobile by cleaning device described in the mechanical hand-motion, realize to it is described to
The cleaning for cleaning bogie realizes automation cleaning, improves the intelligence to the bogie cleaning to be cleaned.Meanwhile
The cleaning efficiency of the bogie cleaning robot of this structure is high.In addition, being realized by the locating and detecting device to institute
The positioning of bogie to be cleaned is stated, can accurately determine the specific location of the bogie to be cleaned, to realize to described
Manipulator accurately controls, and improves the accuracy of cleaning, reduces cleaning collision accident, improves cleaning safety.
A kind of bogie cleaning system, the cleaning bogie cleaning system for cleaning bogie to be cleaned, it is described to
Cleaning bogie is set to cleaning platform, and the bogie cleaning system includes:
Bogie cleaning robot as described above；
Mobile device is mechanically connected, for driving the bogie cleaning robot with the bogie cleaning robot
It is mobile.
The mobile device is robot track in one of the embodiments, and the robot track is along described to clear
The extending direction for washing bogie is set to the cleaning platform.
The quantity of the robot track is 2 in one of the embodiments, respectively along the bogie to be cleaned
Extending direction is set to the two sides of the bogie to be cleaned.
The bogie cleaning system in one of the embodiments, further include:
Groove is cleaned, the cleaning platform is opened in, for collecting cleaning soiling solution.
The bogie cleaning system in one of the embodiments, further include:
Liquid circulating apparatus is set to the cleaning groove, is connected to the fluid Supplying apparatus, for realizing described clear
The cycling and reutilization of detergent liquid.
The liquid circulating apparatus includes: in one of the embodiments,
Purification device is set to the cleaning groove, for purifying the cleaning soiling solution；
Immersible pump is set to the cleaning groove, is connected to the fluid Supplying apparatus, and being used for will be purified described clear
Detergent liquid is extracted to the fluid Supplying apparatus.
The bogie cleaning system in one of the embodiments, further include:
Second lifting device, be set to the cleaning groove, for going up and down the bogie to be cleaned.
The bogie cleaning system provided by the embodiments of the present application is cleaned by the mobile device and the bogie
The comprehensive cleaning to the bogie to be cleaned, intelligence and high degree of automation are realized in robot cooperation.And the steering
Frame cleaning robot includes the cleaning device.The cleaning device includes the flusher and the brushing device, thus
The combination of two movements will be washed and brush by realizing, improve cleaning effect.
Detailed description of the invention
Fig. 1 is the bogie cleaning robot structural schematic diagram that the application one embodiment provides；
Fig. 2 is the cleaning device positive structure diagram that the application one embodiment provides；
Fig. 3 is the cleaning device schematic perspective view that the application one embodiment provides；
Fig. 4 is the cleaning device side structure schematic view that the application one embodiment provides；
Fig. 5 is that the bogie that the application one embodiment provides cleans localization method steps flow chart schematic diagram；
Fig. 6 is the bogie frame structural schematic diagram that the application one embodiment provides；
Fig. 7 is location information of the determination bogie to be cleaned that provides of the application one embodiment along first direction,
The flow diagram for the step of obtaining first direction information；
Fig. 8 is the location information of the determination bogie to be cleaned that provides of the application one embodiment in a second direction,
The flow diagram for the step of obtaining second direction information；
Fig. 9 is location information of the determination bogie to be cleaned that provides of the application one embodiment along third direction,
The flow diagram for the step of obtaining third direction information；
Figure 10 is that the acquisition positioning reference plane that the application one embodiment provides is believed along the position of the third direction
The flow diagram for the step of ceasing, obtaining third direction information；
Figure 11 is the bogie cleaning system overlooking structure diagram that the application one embodiment provides；
Figure 12 is the bogie cleaning system side structure schematic view that the application one embodiment provides；
Figure 13 is the bogie cleaning system schematic perspective view that the application one embodiment provides.
Description of symbols:
1 bogie cleaning robot of bogie cleaning system, 10 manipulator 100
200 bogie cleaning device of control device (abbreviation cleaning device in text) 300
301 flusher of mounting bracket, 310 sluice gun, 311 fluid Supplying apparatus 312
Adjust 313 angular adjustment apparatus of device, 315 fixture block, 3151 position regulator 314
3141 sliding block of sliding rail, 3142 sliding driving device, 3143 brushing device 320
321 device of rotation driving of brush head, 322 brush head grip block, 323 device of rotation driving grip block 324
20 bogie frame of bogie, the 21 positioning datum block 22 to be cleaned of locating and detecting device 400
223 second step face of First terrace, 224 first facade, 225 second facade 226
227 positioning reference plane of third facade, 23 motor installs 231 arc surface 232 of positioning surface
30 mobile device 40 of cleaning platform cleans 50 second lifting device 70 of groove
Specific embodiment
In order to which the objects, technical solutions and advantages of the application are more clearly understood, by the following examples, and combine attached
Figure, is further elaborated the bogie cleaning robot and system of the application.It should be appreciated that tool described herein
Body embodiment only to explain the application, is not used to limit the application.
It is herein component institute serialization number itself, such as " first ", " second " etc., is only used for distinguishing described object,
Without any sequence or art-recognized meanings.And " connection ", " connection " described in the application, unless otherwise instructed, include directly and
It is indirectly connected with (connection).In the description of the present application, it is to be understood that term " on ", "lower", "front", "rear", " left side ",
The orientation of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside", " clockwise ", " counterclockwise " or position are closed
System indicates to be based on the orientation or positional relationship shown in the drawings, being merely for convenience of description the application and simplifying description
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the application.
In this application unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
Bogie cleaning robot provided by the embodiments of the present application and system can be used for the cleaning to bogie.Described turn
It can include but is not limited to the bogie of the bogie of rail transit rolling stock, lorry or Passenger Vehicle to frame.The application is real
The bogie cleaning robot and system of applying example offer can be used for other component knots of cleaning bogie frame or bogie
Structure.It is appreciated that bogie cleaning robot provided by the embodiments of the present application and system also can be applied to it is similar to bogie
The cleaning of the other equipment of structure.The application does not do bogie cleaning robot and systematic difference object and application environment
It limits.
Referring to Figure 1, the application provides a kind of bogie cleaning robot 10 comprising manipulator 100, control device
200, bogie cleaning device 300 and locating and detecting device 400.Wherein, 300 or less the bogie cleaning device is referred to as clear
Cleaning device 300.The cleaning device 300 and the locating and detecting device 400 are all set in the manipulator 100.The cleaning
Device 300 is for cleaning bogie 20 to be cleaned.The locating and detecting device 400 is communicated to connect with the control device 200, is used
In positioning of the realization to the bogie 20 to be cleaned.The control device 200 is communicated to connect with the manipulator 100, is used for
It is mobile that the manipulator 100 is controlled according to the positioning result of the locating and detecting device 400.The manipulator 100 is mobile to be driven
The cleaning device 300 is mobile, realizes the cleaning to the bogie 20 to be cleaned.
The manipulator 100 can be 6 axis linkage structures, that is to say, that the manipulator 100 may include 6 activities
Joint can be realized movement and rotation on 6 change in coordinate axis direction.Specific structure of the application to the manipulator 100, model
Without limitation with size etc., it can select according to actual needs.In a specific embodiment, the manipulator 100 can be with
Select ABB-IPB6640 type or history pottery Bill RX1620L type.The motion profile precision of the manipulator 100 is greater than ± 0.5mm,
Repetitive positioning accuracy≤1mm of the manipulator 100, duplicate paths precision≤1mm of the manipulator 100, can effectively prevent
The only accidents such as collision caused by trajectory error.The payload of the manipulator 100 is greater than 14Kg, so as to preferably carry
End tooling weight.
The armband size of the manipulator 100 can be according to the width of bogie 20 to be cleaned and the difference of cleaning way
Carry out different design and selection.In a specific embodiment, the armband of the manipulator 100 is greater than described to be cleaned turn
To the half of 20 width of frame, thus by being respectively arranged the manipulator 100, completion pair in 20 two sides of bogie to be cleaned
The cleaning of the bogie to be cleaned 20.In another specific embodiment, the armband of the manipulator can be greater than
2010mm realizes the bogie 20 to be cleaned for being less than 2800mm to width so that the manipulator 100 be arranged by side
Cleaning.
The manipulator 100 can design for waterproof, antirust.In a specific embodiment, the manipulator 100 is adopted
With the manipulator of IP67 grade protection level, and it is furnished with mackintosh, to prevent splashing or steam from damaging the manipulator 100
The electric components such as motor.
The control device 200 can include but is not limited to computer equipment, PLC (Programmable Logic
Controller, programmable logic controller (PLC)) or other equipment comprising processor.The application is to the control device 200
Specific structure, model etc. without limitation, as long as its function may be implemented.The control device 200 communication connection with it is described
Manipulator 100, so as to realize the control to 100 movement locus of manipulator.It is appreciated that the control device 200
It can also be communicated to connect with other equipment, realize the control to other equipment.
The cleaning device 300 is any device that can clean the bogie to be cleaned 20.For example, the cleaning dress
Setting 300 includes but is not limited to hairbrush, spray gun, rag etc..The cleaning device 300 is set to the manipulator 100, and with described
The movement of manipulator 100 and move, to realize cleaning to the bogie 20 to be cleaned.
The locating and detecting device 400 is set to the manipulator 100.The manipulator 100 is able to drive the positioning
Detection device 400 is mobile.The locating and detecting device 400 determines the bogie 20 to be cleaned for detecting position, realization
Position.
The locating and detecting device 400 is the dress that can arbitrarily determine 20 more specific location information of bogie to be cleaned
It sets.For example, the locating and detecting device 400 can be laser range finder.Laser range finder is measured apart from the steering to be cleaned
The position of frame 20, and it is transmitted to the control device 200.The control device 200 according to the bogie 20 to be cleaned
Range information determines the position of the bogie to be cleaned 20, realizes the positioning to the bogie 20 to be cleaned.In another example institute
Stating locating and detecting device 400 can also be pattern recognition device.Image information around pattern recognition device, and it is transmitted to the control
Device 200 processed.The control device 200 obtains steering to be cleaned with multiple pictorial informations comparison determinations are prestored according to image information
The specific location of frame 20.The application does not do the specific structure of the locating and detecting device 400, communication mode and setting position etc.
It limits, as long as its function may be implemented.It is realized by the locating and detecting device 400 to the bogie 20 to be cleaned
Positioning, can accurately determine the specific location of the bogie to be cleaned 20, to realize to the accurate of the manipulator 100
Control improves the accuracy of cleaning, reduces cleaning collision accident, improves cleaning safety.
The course of work of the bogie cleaning robot 10 is as follows:
It is mobile that the control device 200 controls the manipulator 100, to drive the locating and detecting device 400 mobile.
The location information of the bogie to be cleaned 20 is obtained in 400 moving process of locating and detecting device, and is transmitted to the control
Device 200 processed.The control device 200 formulates cleaning route according to the location information of the bogie 20 to be cleaned, goes forward side by side one
It is mobile that step controls the manipulator 100.The manipulator 100 is mobile and drives the cleaning device 300 to described to be cleaned turn
It is cleaned to frame 20.
In the present embodiment, the bogie cleaning robot 10 includes the manipulator 100, the control device 200, institute
State cleaning device 300 and the locating and detecting device 400.Drive the cleaning device 300 mobile by the manipulator 100,
It realizes the cleaning to the bogie 20 to be cleaned, realizes automation cleaning, improve clear to the bogie 20 to be cleaned
The intelligence washed.Meanwhile the cleaning efficiency of the bogie cleaning robot 10 of this structure is high.In addition, by described fixed
Level detecting apparatus 400 realizes the positioning to the bogie 20 to be cleaned, can accurately determine the bogie to be cleaned 20
Specific location improve the accuracy of cleaning to realize accurately controlling to the manipulator 100, reduce cleaning collision thing
Therefore improve cleaning safety.
In a specific embodiment, the locating and detecting device 400 includes microswitch.The microswitch can be with
It is directly arranged on the arm of the manipulator 100, also can be set on the cleaning device 300.The microswitch
It can be installed on by bracket on the manipulator 100 or the cleaning device 300.In a specific embodiment, described
Microswitch is installed on the mounting bracket 301 of the cleaning device 300 by bracket.The manipulator 100 has positioning system.
The manipulator 100 drives the microswitch mobile, finds the bogie 20 to be cleaned, and touch by the microswitch
The bogie to be cleaned 20 is touched, Xiang Suoshu control device 200 transmits signal.The control device 200 passes through obtained signal
Judge the specific location of the bogie to be cleaned 20, and is further adjusted according to the specific location of the bogie 20 to be cleaned
The operation initial position of the manipulator 100.Specific positioning of the locating and detecting device 400 to the bogie 20 to be cleaned
Process and localization method see below bogie cleaning localization method embodiment.
The cleaning device 300 is further described with reference to embodiments:
Please also refer to Fig. 2 and Fig. 3, in one embodiment, the cleaning device 300 includes flusher 310 and brush
Cleaning device 320.The flusher 310 and the brushing device 320 are all set in the manipulator 100.The flusher
310, for spraying liquid to the bogie 20 to be cleaned, realize and rinse.The liquid of sprinkling can be water, be also possible to water and
The mixed liquor of cleaning agent can also be other liquid.The flusher 310 can be high-pressure flushing device, be also possible to often
Advise the flusher of pressure.The brushing device 320 is for scrubbing the bogie to be cleaned 20.The brushing device 320
It may include the component that scrub may be implemented in hairbrush etc..The specific structure of the flusher 310 and the brushing device 320,
It size and can be selected according to actual needs with the connection type of the manipulator 100 etc., the application does not do any restriction,
As long as its function may be implemented.
The flusher 310 and the brushing device 320, which can be mounted directly, is set to the manipulator 100, can also
With indirect installation settings in the manipulator 100.In one embodiment, the cleaning device 300 further includes mounting bracket
301.The flusher 310 and the brushing device 320 are all set in the mounting bracket 301.The mounting bracket 301 is set
It is placed in the manipulator 100.The application such as structure and size, shape, the material of the mounting bracket 301 without limitation, as long as can
To realize fixation and connection function to the flusher 310 and the brushing device 320.As shown in Fig. 2, at one
In specific embodiment, the mounting bracket 301 is inverted U-shaped structure.The flusher 310 is set to the institute of the inverted U
The top of mounting bracket 301 is stated, the brushing device 320 is arranged in the side of the mounting bracket 301 of the inverted U.
The course of work of the cleaning device 300 is as follows: the flusher 310 is sprayed to the bogie 20 to be cleaned
Liquid, so that 20 surface of bogie to be cleaned infiltrates.The brushing device 320 to 20 surface of bogie to be cleaned into
Row further scrub, to realize the cleaning and cleaning to the bogie 20 to be cleaned.When the flusher 310 is high pressure
When flusher, the surface of the bogie to be cleaned 20 can be not only infiltrated by the high-pressure flushing device, but also can be with
Flushing section spot.And then cleaning is further completed by the brushing device 320.It is appreciated that as needed, the flushing
Different alignment angles is arranged in device 310 and the brushing device 320, to make the two while act on the steering to be cleaned
Frame 20, that is, realize the flushing on one side to the bogie 20 to be cleaned, it scrubs on one side.
The cleaning device 300 provided in this embodiment includes the flusher 310 and the brushing device 320.Institute
Liquid can be sprayed to the bogie 20 to be cleaned by stating flusher 310, and the brushing device 320 can be scrubbed described to clear
Wash bogie 20.By the combination of the cleaning device 300 and the brushing device 320, the knot for washing and brushing two movements is realized
It closes, improves cleaning effect, and cleaning efficiency is high.
Meanwhile the cleaning device 300 is set to the manipulator 100.The control device 200 is according to described to clear
The structure and pipeline facilities for washing bogie 20 control the rotation of manipulator 100 and movement.The manipulator 100 drives
The flusher 310 and the brushing device 320 are mobile, to realize to the clear of each position of the bogie 20 to be cleaned
It washes, improves cleaning effect.
In one embodiment, the flusher 310 includes sluice gun 311 and fluid Supplying apparatus 312.The flushing
Rifle 311 is set to the mounting bracket 301.The fluid Supplying apparatus 312 is connected to the flusher 311, is used for institute
It states sluice gun 311 and liquid is provided.
The sluice gun 311 can be high-pressure spray gun.The sluice gun 311 includes gun body and spray head.The spray head installation
In one end of the gun body.In a specific embodiment, the spray head can be 25 ° of Fan spray heads, so that the ejection
Water formed covering of the fan water column, increase rinse area.Structure, shape and the material of the sluice gun 311 without limitation, can bases
Actual needs selection.In a specific embodiment, the sluice gun 311 is aluminum alloy material, described so as to mitigate
The weight of sluice gun 311 reduces the load of the manipulator 100.The surface of the sluice gun 311 can also carry out at surface
Reason, prevents from aoxidizing, get rusty.
The other end of the gun body is connected to the fluid Supplying apparatus 312.The fluid Supplying apparatus 312 can wrap
Include fluid storage device.The fluid storage device is the container for holding the liquid of cleaning.In the fluid storage device
Storing liquid can be water and a certain amount of neutral cleaners, to improve the cleaning effect to greasy dirt.The fluid Supplying apparatus
312 can further include pressure providing device.The liquid is stored dress for providing pressure by the pressure providing device
Liquid in setting is supplied to the sluice gun 311, and provides certain pressure to the sluice gun 311.The pressure supply dress
Set including but not limited to water pump.The pressure of the water pump can be 200Bar, and one hour can be 1000 liters with water.The present embodiment
The flusher 310 provided includes the sluice gun 311 and the fluid Supplying apparatus 312, and structure is simple, is easy to real
It is existing.
In one embodiment, the flusher 310 still further comprises adjustment device 313.The adjustment device 313
It is mechanically connected with the sluice gun 311 and the mounting bracket 301.The adjustment device 313 is for adjusting the sluice gun 311
Position and at least one of angle.
In one embodiment, the adjustment device 313 includes angular adjustment apparatus 315.The angular adjustment apparatus 315
It is set to the sluice gun 311.The angular adjustment apparatus 315 is used to adjust the angle of the sluice gun 311.
The structure of the angular adjustment apparatus 315 can be a variety of.The angular adjustment apparatus 313 can be used for adjusting institute
The angle of gun body is stated, to adjust the liquid direction out of the sluice gun 311.The angular adjustment apparatus 315 can be used for adjusting
The angle of the spray head, to adjust the liquid direction out of the sluice gun 311.
In a specific embodiment, the angular adjustment apparatus 315 includes fixture block 3151.3151 sandwiched of fixture block
In the sluice gun 311.The shape of the fixture block 3151 can be cube structure.The fixture block 3151 of cube structure can
To open up groove, the shape of groove is matched with the gun body shape of the sluice gun 311.The quantity of the fixture block 3151 can be with
It is 2.2 fixture blocks 3151 are located in the two sides of 311 gun body of sluice gun.2 fixture blocks 315 can pass through fixation
Bolt etc. is connected and fixed.The fixing bolt is arranged in the fixture block 3151.The quantity of the fixing bolt, in the fixture block
3151 specific setting position etc. without limitation, as long as its function may be implemented.
Meanwhile the fixture block 315 is flexibly connected with the mounting bracket 301, and the fixture block 315 and the mounting bracket
301 adjustable angle.In a specific embodiment, the mounting bracket 301 can be bolted, to realize angle
Spend adjustable flexible connection.
When needing to adjust the angle of the sluice gun 311, by adjusting bolt, the fixture block 315 and the peace are adjusted
The relative position of bracket 301 is filled, so as to adjust the angle for the sluice gun 311 for being fixed on the fixture block 315.
In the present embodiment, the angle adjustment to the sluice gun 311 is able to achieve by the angular adjustment apparatus 313, from
And the adjustable flush position to the bogie 20 to be cleaned, improve flexibility and the practicability of the cleaning device 300.
Meanwhile by adjusting the angle of the sluice gun 311, the phase of the flusher 310 and the brushing device 320 can be changed
To position, to guarantee the flusher 310 and the brushing device 320 to the cleaning positions of the bogie 20 to be cleaned
Unanimously, guarantee cleaning effect.
In one embodiment, the adjustment device 313 further includes position regulator 314.The position regulator
314 are set to the mounting bracket 301.The position regulator 314 is connect with the sluice gun 311, described for adjusting
The position of sluice gun 311.The position regulator 314 can change the phase of the sluice gun 311 with the mounting bracket 301
To position, to change the relative position of the sluice gun 311 and the bogie 20 to be cleaned.Such as the position adjustment dress
The sluice gun 311 can be adjusted relative to the distal and proximal of 20 distance of bogie to be cleaned by setting 314.In the sluice gun
It, can by changing the sluice gun 311 at a distance from the bogie 20 to be cleaned in the case that 311 spray head is constant
To change cleaning area, cleaning pressure and cleaning speed.When distance of the sluice gun 311 apart from the bogie 20 to be cleaned
When closer, cleaning pressure is larger, and cleaning area is smaller, and cleaning speed is slower.When the sluice gun 311 is apart from described to be cleaned turn
To frame 20 distance farther out when, cleaning pressure is smaller, and cleaning area is larger, and cleaning speed is very fast.
The cleaning device 300 provided in this embodiment is realized by the position regulator 314 to the flushing
The adjustment of 311 position of rifle, so as to realize the adjustment to cleaning positions, cleaning pressure, cleaning area and/or cleaning speed.
The cleaning device 300 provided in this embodiment improves cleaning flexibility and practicability.
In one embodiment, the position regulator 314 includes sliding rail 3141, sliding block 3142 and sliding driving device
3143.The sliding rail 3141 is set to the mounting bracket 301.The sliding block 3142 is connect with the sluice gun 311.Meanwhile
The sliding block 3142 is slidably connected with the sliding rail 3141.That is, the sliding block 3142 be connected to the sliding rail 3141 with
Between the sluice gun 311, and the sliding block 3142 being capable of the relatively described sliding of sliding rail 3141.The sliding driving device 3143
It is connect with the sliding block 3142.The sliding driving device 3143 is for driving the sliding block 3142 sliding along the sliding rail 3141
It is dynamic.The sliding driving device 3143 can have a variety of structures.In a specific embodiment, the sliding driving device
3143 include sliding cylinder.The sliding block 3142 is driven to slide along the sliding rail 3141 by the sliding cylinder, with electronic side
Formula driving is compared, and caused by capable of effectively avoiding because of splashing etc. the problems such as short circuit, improves the safety of the cleaning device 300 and steady
It is qualitative.
In one embodiment, the brushing device 320 includes brush head 321 and device of rotation driving 322.The rotation is driven
The dynamic setting of device 322 is installed on the mounting bracket 301.The brush head 321 is mechanically connected with the device of rotation driving 322.
The device of rotation driving 322 is for driving the brush head 321 to rotate.
In one embodiment, the brush head 321 can be spherical surface column construction.It is suitable that the brush head 321 is provided with hardness
In bristle.The bristle lengths can be greater than 25mm.The bristle can select the preferable bristles of elasticity.The brush head 321
Connection with the device of rotation driving 322 can be to be directly connected to, or be indirectly connected with.In a specific embodiment
In, the brushing device 320 further includes brush head grip block 323.The brush head grip block 323 is set to the brush head 321 and institute
It states between device of rotation driving 322.The brush head grip block 323 can be to be fixedly connected with the brush head 321.The rotation is driven
Dynamic device 322 is rotatablely connected with the brush head grip block 323.The brush head is driven to clamp by the device of rotation driving 322
Block 323 rotates, so that the brush head 321 be driven to rotate, realizes the scrub to the bogie 20 to be cleaned.
The device of rotation driving 322 can be set in the inside of the mounting bracket 301 of inverted U.The brush head 321
The outside of the mounting bracket 301 of inverted U is set to the brush head grip block 323.In a specific embodiment, institute
Stating brushing device 320 further includes device of rotation driving grip block 324.The device of rotation driving grip block 324 and the rotation
Driving device 322 and the mounting bracket 301.The device of rotation driving grip block 324 is for realizing rotate driving dress
322 are set to be fixedly connected with the mounting bracket 301.
In the present embodiment, drive the rotation of the brush head 321 by the device of rotation driving 322, realize to it is described to
The scrub of bogie 20 is cleaned, cleaning effect is improved.
In one embodiment, the device of rotation driving 322 is air motor.The concrete model of the air motor,
Size etc. without limitation, as long as may be implemented to the pneumatically activated of the brush head 321.It is realized by the air motor
To the rotate driving of the brush head 321, it can effectively avoid the problem that leading to not work because driving device splashes, improve institute
State the safety and reliability of brushing device 320.
The bogie cleaning robot 10 use process is as follows: the bogie 20 to be cleaned is placed in default position
It sets, the control device 200 controls the manipulator 100 and runs to the predeterminated position, controls according to preset working trajectory
The manipulator 100 acts.Meanwhile controlling cleaning of the realization of cleaning device 300 to the bogie 20 to be cleaned.So
And the bogie to be cleaned 20 is before washing, tends not to accurately be placed in the predeterminated position, there are bigger
Deviation.If controlling the manipulator 100 according to the predeterminated position to act, it is easy to happen collision accident.Therefore, to it is described to
The positioning for cleaning bogie 20 is very necessary.With reference to embodiments, to the bogie cleaning robot with positioning function
People 10 and corresponding bogie cleaning localization method are further described.
Please also refer to Fig. 4, in one embodiment, the sluice gun 311 is warp architecture.Specifically, the flushing
The gun body of rifle 311 can be warp architecture.The curved angle of gun body can design according to actual needs.The flushing
Rifle 311 is that warp architecture makes the sluice gun 311 have a certain degree with 320 shape of brushing device, so that described
The water column that sluice gun 311 sprays out is easier the bristle action with the brushing device 320 in the bogie 20 to be cleaned
Same position, and then improve cleaning effect.
A in one embodiment, the sluice gun 311 sprays direction and the brush head 321 setting at an acute angle of liquid.
Angle and/or the position that the sluice gun 311 is set can be adjusted by adjusting device 313, so that the spray of the sluice gun 311
The direction for the liquid that head sprays and the angle of 321 rotor shaft direction of brush head are less than 90 °, so that the sluice gun 311 sprays
The liquid penetrated falls in the area on 20 surface of bogie to be cleaned just close to the brush head 321 and the steering to be cleaned
The contact area on 20 surface of frame, and then reach best cleaning effect.
In one embodiment, the bogie cleaning robot 10 further includes the first lifting device (not shown).
First lifting device and the manipulator 100 are mechanically connected.First lifting device is communicated with the control device 200
Connection.First lifting device for realizing the manipulator 100 lifting.
First lifting device can be set to the manipulator along the 8th axis direction of outside of the manipulator 100
100 bottom.Specific structure the application of first lifting device without limitation, can select according to actual needs, as long as
It can be realized the lifting of the manipulator 100.By first lifting device manipulator 100 along longitudinal direction can
It is enough to realize lifting, meet different height requirements.Meanwhile the position placed before cleaning of the bogie to be cleaned 20 with it is described
Predeterminated position is realized longitudinal lifting by first lifting device, can adjust and make up there are when longitudinal deviation
Longitudinal bias, so that cleaning control is more accurate.
In one embodiment, the bogie cleaning robot 10 further includes device for visual identification (not shown).
The device for visual identification is set to the manipulator 100.The device for visual identification and the control device 200 letter connect.
The image information of the device for visual identification bogie to be cleaned 20 for identification.The control device 200 is also used to root
The operating path of the manipulator 100 is controlled according to the image information of the bogie 20 to be cleaned.
The device for visual identification can include but is not limited to camera or video camera etc..The device for visual identification can be
The bogie 20 to be cleaned is taken pictures or imaged before cleaning, obtains the image information of the bogie to be cleaned 20, and
It is transmitted to the control device 200.The control device 200 analyzes the image information of the bogie 20 to be cleaned,
Identify the location information of structure, signal and cable, oil pipe, tracheae of the bogie to be cleaned 20 etc..The control dress
200 are set further combined with cleaning route at the information planning identified, and controls the manipulator 100 and is carried out according to cleaning route
Mobile and cleaning.
In the present embodiment, the bogie cleaning device 10 includes the device for visual identification, passes through the visual identity
Device and the control device 200 realize the control to the operating path of the manipulator 100, improve cleaning accuracy and
Accuracy, thereby may be ensured that the safety of cleaning process, and can guarantee the effect of cleaning.
In one embodiment, the adjustment device 313 is communicated to connect with the control device 200.The control device
200 are also used to the image information according to the bogie 20 to be cleaned, obtain the class of pollution of the bogie to be cleaned, and root
The position that the adjustment device 313 adjusts the sluice gun 311 is controlled according to the class of pollution.
The control device 200 is sentenced according to the image information of the bogie 20 to be cleaned in conjunction with the preset class of pollution
Other method differentiates the class of pollution of the bogie 20 to be cleaned.Method of discrimination the application of the class of pollution is not done
Any restriction can be selected and be set according to actual needs.
The control device 200 can control the sliding driving dress according to the class of pollution of the bogie 20 to be cleaned
3143 working condition is set, to realize the adjustment of 311 position of sluice gun, changes the sluice gun 311 with described to clear
Wash the distance between bogie 20.By changing the distance between the sluice gun 311 and the bogie 20 to be cleaned, change
Cleaning area, cleaning pressure and cleaning speed.For polluting more serious position, the adjustable sluice gun 311, so that institute
It is smaller to state distance between sluice gun 311 and the bogie to be cleaned 20 so that cleaning area is smaller, cleaning pressure compared with
Greatly, cleaning speed is slower.For polluting lighter position, the adjustable sluice gun 311 so that the sluice gun 311 with
Distance is larger between the bogie to be cleaned 20, so that cleaning area is larger, cleaning pressure is smaller, cleaning speed compared with
Fastly.
In the present embodiment, the class of pollution of the bogie to be cleaned 20 is identified by the device for visual identification, it is described
Control device 200 controls the adjustment device 313 according to the class of pollution of the bogie 20 to be cleaned and adjusts the sluice gun
Position, realize for the different classes of pollution use different cleaning pressure and cleaning speed etc..It is provided in this embodiment described
Bogie cleaning robot 10 further improves the intelligence of cleaning, and can be improved cleaning effect.
In above embodiments, the bogie cleaning robot 10 include the manipulator 100, the cleaning device 300,
The locating and detecting device 400 further includes the control device 200.The control device 200 includes processor.The processing
When device executes computer program, the step of bogie that following examples provide cleans localization method can be realized.Therefore, this reality
It applies example and the manipulator 100, the locating and detecting device 400 and the processing in the bogie cleaning robot 10 is provided
Device constitutes the device that can be realized to the bogie positioning to be cleaned, is defined as bogie cleaning and positioning apparatus 11.Also
It is to say, the bogie cleaning robot 10 includes the bogie cleaning and positioning apparatus 11 and the cleaning device 300.This reality
Specific structure, realization principle of the bogie cleaning device 11 of example offer etc. is applied as described in above-described embodiment, herein no longer
It repeats.
Fig. 5 is referred to, the application one embodiment provides a kind of bogie cleaning localization method, and the method is for determining
The location information of the bogie to be cleaned 20.In processing and manufacturing, as reference data, meeting exists the bogie to be cleaned 20
Positioning datum block 22 is set on the bogie to be cleaned 20, to realize the accuracy of processing.Therefore, the bogie to be cleaned
20 are provided with positioning datum block 22.Meanwhile determining when can choose a face on the bogie to be cleaned 20 as cleaning
Position datum level.The positioning reference plane 23 can be plane and be also possible to arc surface.The positioning reference plane 23 can be according to reality
Border situation is set and is selected.
Please also refer to Fig. 6, the bogie 20 to be cleaned includes bogie frame 21.The bogie frame is " H "
Type.When using bogie, the both sides of the bogie frame 21 of " H " type and parallel track.The bogie frame 21 4
The positioning datum block 22 is respectively set in angle.The ruler of the dimension information of the bogie to be cleaned 20, the positioning datum block 22
The very little and described positioning datum block 22 is with the relative position of the bogie frame 21 and the bogie to be cleaned 20
Know.In another embodiment, can set motor installation positioning surface 231 is the positioning reference plane 23.
The executing subject of the method can be the control device 200, or other computer equipments etc..It is described
Method includes:
S10 determines that the bogie 20 to be cleaned along the location information of first direction, obtains according to the positioning datum block 22
To first direction information；
S20 determines the location information of the bogie 20 to be cleaned in a second direction according to the positioning datum block 22, obtains
To second direction information；
S30 determines that the bogie 20 to be cleaned along the location information of third direction, obtains according to the positioning reference plane 23
To third direction information；
S40, according to the first direction information, the second direction information and the third direction information determine it is described to
Clean the location information of bogie 20.
The first direction, the second direction and the third direction are to be capable of determining that the bogie to be cleaned 20
Three directions of position.For example, the first direction, the second direction and the third direction can be in three-dimensional space
X-direction, Y direction and Z-direction.The first direction, the second direction and the third direction are specifically defined
It can select according to actual needs.
The first direction information, the second direction information and the third direction information can be characterized by coordinate,
The information representation of other forms can also be passed through.Specifically, by the positioning datum block 22 as positioning reference data, the machine
Tool hand 100 drives the locating and detecting device 400 by obtaining the positioning datum block 22 along first direction and second direction
Location information.Then in conjunction with the relative positional relationship of the positioning datum block 22 and the bogie 20 to be cleaned, obtain respectively
The first direction information and the second direction information.By the positioning reference plane 23 as positioning reference data, the machine
Tool hand 100 drives the locating and detecting device 400 by obtaining the positioning reference plane 23 along the location information of third direction.So
Afterwards in conjunction with the relative positional relationship of the positioning reference plane 23 and the bogie 20 to be cleaned, the third direction letter is obtained
Breath.It is determined further according to the first direction information, the second direction information and the third direction information described to be cleaned
The actual position information of bogie 20 realizes the positioning to the bogie 20 to be cleaned.
The method provided in the present embodiment takes full advantage of the described fixed of the bogie to be cleaned 20 setting itself
Position reference block 22 and the positioning reference plane 23 realize the positioning to the bogie to be cleaned, described to be cleaned without changing
20 structure of bogie, it will be able to realize the accurate positioning to the bogie 20 to be cleaned.By to the bogie to be cleaned
20 accurate positioning can be realized the accurate control to the manipulator 100, ensure that 10 He of the bogie cleaning robot
The safety of the bogie to be cleaned 20, while ensure that the cleaning effect of the bogie to be cleaned 20.
Below using the first direction as Y direction, the second direction is Z-direction, and the third direction is X-axis side
For, the method is further described.Wherein, Y direction refers to that the length along the bogie 20 to be cleaned is prolonged
Direction is stretched, i.e., along the extending direction of track when the bogie to be cleaned 20 uses.Z-direction refers to along the steering to be cleaned
The short transverse of frame 20, the i.e. direction perpendicular to the 21 place plane of bogie frame.X-direction refers to along described to be cleaned
The width direction of bogie 20, the i.e. direction perpendicular to bogie 20 length and height to be cleaned.
Please also refer to Fig. 7, in one embodiment, S10 includes S110, S120 and S130:
S110 obtains the positioning datum block 22 along the location information of the first direction, obtains locating piece first direction
Information.
The manipulator 100 drives the locating and detecting device 400 mobile, finds and touches 22 edge of positioning datum block
The predeterminated position of Y direction.When touching the predeterminated position of the positioning datum block 22 along the y axis, the control device
200 obtain the corresponding location information of the predeterminated position, obtain the locating piece first direction information.
The positioning datum block 22 can be various structures.In a specific embodiment, as shown in fig. 6, it is described fixed
Position reference block 22 is step-like structure.The positioning datum block 22 includes the first facade 225, the second facade along the first direction
226 and third facade 227.The positioning datum block 22 may include 2 steps.High step is defined as first step, low
Step is defined as second step.The plane definition that the first step is parallel to the first direction is First terrace 223.Institute
Stating second step and being parallel to the plane definition of the first direction is second step face 224.The first step is parallel to described
Second direction, and higher plane is first facade 225.The first step is parallel to the second direction, and compared with
Low plane is second facade 226.The plane that the second step is parallel to the second direction is the third
Facade 227.
In the method, S10 includes:
S111 obtains second facade 226 along the location information of the first direction, obtains the locating piece first party
To information.The manipulator 100 drives the microswitch to find and touches second facade 226, and determines described
The location information of two facades 226, to obtain the locating piece first direction information.Identify the process of second facade 226
Essence is exactly the positioning datum block 22 for identifying step-like structure.The manipulator 100 drives the microswitch to find knowledge
It Chu not include three facades along the second direction, wherein intermediate facade is second facade 226.Due to step-like knot
The quantity of the positioning datum block 22 of structure is 4, is respectively arranged at the quadrangle of the bogie to be cleaned 20, and left side and the right side
The direction of 22 step of positioning datum block of side is different.That is, the positioning datum block 22 of step-like structure has
Direction instruction.It is capable of determining that the positioning datum block 22 is that the bogie to be cleaned 20 is left by second facade 226
The positioning datum block on side or the right.Meanwhile the positioning datum block of step-like structure is identified by second facade 226
22, it can prevent from missing the side of the bogie 20 to be cleaned or the other component being mounted on the bogie to be cleaned 20
It is identified as the positioning datum block 22.Therefore, the present embodiment is described to be cleaned by identifying the determination of the second facade 226
Bogie 20 determines that method is simple and fast along the location information of the first direction, and positioning is more accurate.
S120 obtains the positioning datum block 22 with the bogie 20 to be cleaned along the relative position of the first direction
Information obtains first direction relative information.
The dimension information of the positioning datum block 22 and the positioning datum block 22 and 20 edge of bogie to be cleaned
The relative position information of Y-axis, i.e., the described first direction relative information, can be pre-stored within the storage of the control device 200
In device.The control device 200 obtains the first direction relative information.
S130 obtains the first party according to the locating piece first direction information and the first direction relative information
To information.
The control device 200 is believed according to the locating piece first direction information got and the first direction are opposite
Breath, is calculated the first direction information according to preset algorithm in conjunction with the dimension information of the bogie 20 to be cleaned.
For example, the locating piece first direction information is 58, the first direction relative information is 5, then described according to preset algorithm
First direction information is 53.
In the present embodiment, by obtaining the positioning datum block 22 along the location information of the first direction, positioned
Then block first direction information obtains phase of the positioning datum block 22 with the bogie 20 to be cleaned along the first direction
To location information, first direction relative information is obtained, further according to the locating piece first direction information and the first direction phase
To information, the first direction information is obtained.The method provided in this embodiment utilizes the bogie 20 to be cleaned itself
The positioning datum block 22 being arranged obtains the location information of the first direction, simple and convenient, and the first party obtained
To information accurate and effective, to improve the accuracy positioned to the bogie 20 to be cleaned.
Fig. 8 is referred to, in one embodiment, S20 includes S210, S220 and S230:
S210 obtains the positioning datum block 22 along the location information of the second direction, obtains locating piece second direction
Information.
The manipulator 100 drives the locating and detecting device 400 mobile, finds and touches 22 edge of positioning datum block
The predeterminated position of Z-direction.When touching the positioning datum block 22 along the predeterminated position of Z-direction, the control device
200 obtain the corresponding location information of the predeterminated position, obtain the locating piece second direction information.
Wherein, in a specific embodiment, S210 includes:
S211 obtains second step face 224 described in the positioning datum block 22 along the location information of the second direction, obtains
To the locating piece second direction information.The manipulator 100 is found and touches the second step face 224, and determines institute
The location information in second step face 224 is stated, to obtain the locating piece second direction information.Identify the second step face
224 process is to identify the process of the positioning datum block 22 of step-like structure.By identifying the second step face 224
It can accurately identify the positioning datum block 22, it is therefore prevented that by its on the surface or surface of the bogie 20 to be cleaned
His object is mistakenly identified as the positioning datum block 22.Therefore, the locating piece second direction information provided in this embodiment determines
Method is simple and fast, and positioning is more accurate.
S220 obtains the positioning datum block 22 with the bogie 20 to be cleaned along the relative position of the second direction
Information obtains second direction relative information.
The dimension information of the positioning datum block 22 and the positioning datum block 22 and 20 edge of bogie to be cleaned
The relative position information of Z-direction, i.e., the described second direction relative information, can be pre-stored within the control device 200
In memory.The control device 200 obtains the second direction relative information.
S230 obtains the second party according to the locating piece second direction information and the second direction relative information
To information.
The control device 200 is believed according to the locating piece second direction information got and the second direction are opposite
Breath, is calculated the second direction information according to preset algorithm in conjunction with the dimension information of the bogie 20 to be cleaned.
In the present embodiment, by obtaining the positioning datum block 22 along the location information of the second direction, positioned
Then block second direction information obtains phase of the positioning datum block 22 with the bogie 20 to be cleaned along the second direction
To location information, second direction relative information is obtained, further according to the locating piece second direction information and the second direction phase
To information, the second direction information is obtained.The method provided in this embodiment utilizes the bogie 20 to be cleaned itself
The positioning datum block 22 being arranged obtains the location information of the second direction, simple and convenient, and the second party obtained
To information accurate and effective, to improve the accuracy positioned to the bogie 20 to be cleaned.
Fig. 9 is referred to, in one embodiment, S30 includes S310, S320, S330:
S310 obtains the positioning reference plane 23 along the location information of the third direction, obtains positioning surface third direction
Information.
The manipulator 100 drives the locating and detecting device 400 mobile, finds and touches the positioning reference plane 23.
When touching the positioning reference plane 23, the control device 200 obtains the location information of the positioning reference plane 23, obtains
The positioning surface third direction information.
In a specific embodiment, the bogie to be cleaned 20 only includes the bogie frame 21.Namely
It says, cleaning object is the bogie frame 21.It is the positioning reference plane 23 that motor installation positioning surface 231, which can then be set,.
The manipulator 100 drives the locating and detecting device 400 mobile, finds and touches the motor installation positioning surface 231.
Referring to Figure 10, in another specific embodiment, the positioning reference plane 23 is the bogie of " H " type
Arc surface 232 where four angles of framework 21.Then, S310 includes:
S311 obtains the location information of 232 at least three points of the arc surface.
The manipulator 100 drives the locating and detecting device 400 mobile, finds and touches the arc surface 232 at least
Three times, the location information of 232 at least three difference of arc surface is obtained.
S312 obtains the center of circle position of the arc surface 232 according to 232 at least three points of location information of the arc surface
Confidence breath.
A round principle is determined according to 3 points, and the control device 200 is according to 1 points of the position got
The location information in the corresponding center of circle of the arc surface 232, i.e., the center location information of the described arc surface 232 is calculated in information.
S313 determines the arc surface 232 along the third direction according to the center location information of the arc surface 232
Location information obtains the positioning surface third direction information.
Meanwhile according to the center location information of the arc surface 232, the corresponding circle of the arc surface 232 can be determined
Radius.In conjunction with the center location information of the arc surface 232 and the radius of the corresponding circle of the arc surface 232, can calculate
The positioning surface third direction information out.
The positioning surface third direction information provided in this embodiment determines method, can be with the bogie frame 21
The arc surface 232 is benchmark face, and the simple determination accurately realized to the positioning surface third direction information can be suitable for
The cleaning of the bogie frame 21 positions, and can also be suitable for the cleaning of the bogie 20 to be cleaned.The present embodiment provides
The method position fixing process it is simple, accurate and applied widely.
S320 obtains the positioning reference plane 23 with the bogie 20 to be cleaned along the relative position of the third direction
Information obtains third direction relative information.
The positioning reference plane 23 and the relative position information of the bogie 20 to be cleaned along the x axis, i.e., described the
Three direction relative informations can be pre-stored in the memory of the control device 200.The control device 200 obtains institute
State third direction relative information.
S330 obtains the third party according to the positioning surface third direction information and the third direction relative information
To information.
The control device 200 is believed according to the positioning surface third direction information got and the third direction are opposite
Breath, is calculated the third direction information according to preset algorithm in conjunction with the dimension information of the bogie 20 to be cleaned.
In the present embodiment, by obtaining the positioning reference plane 232 along the location information of the third direction, positioned
Then face third direction information obtains phase of the positioning reference plane 23 with the bogie 20 to be cleaned along the third direction
To location information, third direction relative information is obtained, further according to the positioning surface third direction information and the third direction phase
To information, the third direction information is obtained.The method provided in this embodiment utilizes the bogie 20 to be cleaned itself
The positioning reference plane 23 being arranged obtains the location information of the third direction, simple and convenient, and the third party obtained
To information accurate and effective, to improve the accuracy positioned to the bogie 20 to be cleaned.
The application one embodiment provides a kind of bogie cleaning and positioning apparatus, for determining the position of bogie to be cleaned
Information, the bogie to be cleaned are provided with positioning datum block and positioning reference plane, and the bogie cleaning and positioning apparatus includes
Manipulator, locating and detecting device and processor, the locating and detecting device are set to the manipulator, and the manipulator being capable of band
It is mobile to move the locating and detecting device, the locating and detecting device executes computer program for detecting position, the processor
The step of Shi Shixian such as above method.
In one embodiment, the quantity of the manipulator 100 and the locating and detecting device 400 is respectively 2.2
The manipulator 100 is respectively arranged at the two sides of the bogie to be cleaned 20.In a specific embodiment, described in 2
Manipulator 100 is respectively arranged at the diagonal positions of the bogie to be cleaned 20.2 manipulators 100 drive institute respectively
State locating and detecting device 400 to the location information of the positioning datum block 22 of 20 diagonal positions of bogie to be cleaned into
Row identification, so that it is determined that the location information of the bogie to be cleaned 20 out.In the present embodiment, by the way that 2 machinery are arranged
Hand 100 and 2 locating and detecting device 400 further increases the accuracy positioned to the bogie 20 to be cleaned.Together
When, by the way that 2 manipulators 100 are arranged, facilitate setting 2 sets of cleaning devices, 300,2 sets of cleaning devices 300 simultaneously
The bogie 20 to be cleaned is cleaned, cleaning efficiency can be effectively improved.
After the control device 200 obtains the location information of the bogie to be cleaned 20, according to the steering to be cleaned
The location information of frame 20 determines the track route and running track of the manipulator 100, to accurately control the manipulator
100 drive the cleaning devices 300 to realize the cleaning to the bogie 20 to be cleaned, prevent the manipulator 100 with it is described
Bogie 20 to be cleaned collides.In a specific embodiment, the control device 200 is previously stored with for a variety of
The cleaning route and running track of the bogie 20 to be cleaned of type.The bogie 20 to be cleaned is determined before cleaning
Behind position, according to the location information of the bogie 20 to be cleaned, pre-stored corresponding cleaning route and running track are modified
Initial position, the problem of to make up 20 position deviation of bogie to be cleaned.To pre-stored corresponding cleaning route and fortune
The modification of the initial position of row track can be modified by teaching machine etc..It is appreciated that according to it is different types of it is described to
The actual position information for cleaning bogie 20 and the bogie to be cleaned 20, can also carry out field programming.The application couple
The manipulator 100 controls formation and correction course of program etc. and does not do any restriction.
Referring to Figure 11 to Figure 13, the application one embodiment provides a kind of bogie cleaning system 1, be used to clean to
Clean bogie 20.The bogie to be cleaned 20 is set to cleaning platform 30.The cleaning platform 30 can be, but not limited to for
The ground in bogie cleaning place.The bogie to be cleaned 20 can be directly arranged at the cleaning platform 30.The cleaning
Track has also can be set in platform 30, and the bogie 20 to be cleaned is placed on the track.With reference to embodiments to institute
Bogie cleaning system 1 is stated to be further described.
The bogie cleaning system includes the bogie cleaning robot 10 and mobile device 40.The mobile device
40 are mechanically connected with the bogie cleaning robot 10.The mobile device 40 is for driving the bogie cleaning robot
10 is mobile.
The mobile device 40 can be AGV (Automated Guided Vehicle, automated guided vehicle), can also
Think RGV (Rail Guided Vehicle, rail guide vehicle), can also be that other can make the bogie cleaning machine
The mobile device of device people 10.In a specific embodiment, the mobile device 40 is for driving the bogie cleaning machine
Device people 10 moves along the x axis, to realize the cleaning to the bogie 20 to be cleaned different location along the x axis.
In the present embodiment, is cooperated by the mobile device 40 with the bogie cleaning robot 10, realized to described
The comprehensive cleaning of bogie 20 to be cleaned, intelligence and high degree of automation.And the bogie cleaning robot 10 includes
The cleaning device 300.The cleaning device 300 includes the flusher 310 and the brushing device 320, to realize
The combination of two movements will be washed and brushed, improves cleaning effect.
In one embodiment, the mobile device 40 is robot track.The robot track is along described to be cleaned
The extending direction of bogie 20 is set to the cleaning platform 30.
Specifically, the robot track may include guide rail, gear, rack gear and servo motor.The guide rail is described in
Bogie 20X axis (i.e. external 7th axis) direction to be cleaned is layed in 20 one or both sides of bogie to be cleaned.It is described to lead
The length of rail is more than or equal to the bogie 20 to be cleaned length along the x axis.The manipulator 100 can be set by a platform
It is placed in the rack gear and the gear.The servo motor is realized for driving the gear and the rack gear to cooperate along described
The transmission of guide rail, so that the manipulator 100 be driven to move along the x axis.The servo motor can select IP67 protection etc.
The servo motor of grade, improves the waterproofness and reliability of the robot track.The guide rail can use linear guide, guarantee
The walking precision of the manipulator 100, and prevent the manipulator 100 from toppling under cantilever position.The guide rail can use
Organ cover carries out waterproof, and cooperates automatic lubricating system, prevents the guide rail from getting rusty.Meanwhile the robot track can be set
It is calculated as burr adjustable tail margin, simplifies installation and debugging program.In one embodiment, the quantity of the robot track is 2.2 institutes
State the two sides that robot track is set to the bogie to be cleaned 20 along the extending direction of the bogie 20 to be cleaned respectively.
Corresponding, the quantity of the bogie cleaning robot 10 is 2.2 bogie cleaning robots 10 are respectively to described
The half of bogie 20 to be cleaned in the width direction is cleaned, and cleaning efficiency and cleaning effect are improved.
In one embodiment, the bogie cleaning system 1 further includes cleaning groove 50.The cleaning groove 50 opens up
In the cleaning platform 30.The cleaning groove 50 is for collecting cleaning soiling solution.
The cleaning groove 50 is corresponding with the placement location of the bogie 20 to be cleaned consistent.The cleaning groove 50 is opened
The cleaning platform 30 set on 20 bottom of bogie to be cleaned.It is described cleaning groove 50 size with described to be cleaned turn
Size to frame 20 is consistent.The bogie to be cleaned 20 is set up in 50 top of cleaning groove.To the steering to be cleaned
When frame 20 is cleaned, cleaning soiling solution flows into the cleaning groove 50, ensure that the cleannes in cleaning place.
In one embodiment, the bogie cleaning system 1 further includes liquid circulating apparatus (not shown).It is described
Liquid circulating apparatus is set to the cleaning groove 50.The liquid circulating apparatus is connected to the fluid Supplying apparatus 312, is used
In the cycling and reutilization for realizing the cleaning soiling solution.
The liquid circulating apparatus is set in the rinse bath 50, and can be realized will be described in the cleaning groove 50
It is delivered to the fluid Supplying apparatus 312 after cleaning soiling solution processing, so that the cleaning soiling solution is further by the sluice gun 311
It utilizes.
In one embodiment, the liquid circulating apparatus includes purification device and immersible pump.The purification device setting
In the cleaning groove 50, for purifying the cleaning soiling solution.The immersible pump is set to the cleaning groove 50.The diving
Pump is connected to the fluid Supplying apparatus 312, for extracting the purified cleaning soiling solution to the fluid Supplying apparatus
312.The application does not do any restriction to the specific structure of the purification device and the immersible pump, as long as its function may be implemented
?.
The bogie cleaning system 1 provided in this embodiment is realized described clear by the way that the liquid circulating apparatus is arranged
The cycling and reutilization of detergent liquid, has saved the energy.
In one embodiment, the bogie cleaning system 1 further includes the second lifting device 70.The second lifting dress
It sets 70 and is set to the cleaning groove 50.Second lifting device 70 is realized for going up and down the bogie to be cleaned 20
The lifting of the bogie to be cleaned 20 externally the 8th axis.Herein described second lifting device 70 can be motor driven silk
Thick stick lifting device thereby may be ensured that the steady lifting of the bogie to be cleaned 20.The motor of second lifting device 70
IP67 degree of protection motor can be used, and is equipped with sealing protective to motor, prevents motor entering water.Meanwhile to the sealing
Compressed air is filled in protective cover, so that guaranteeing the aridity of motor, and can prevent full of dry air in the seal closure
The gap of the sealing protective flows into water stain.The bogie to be cleaned 20 rises to require height after, the manipulator 100
Degree of cleaning is run, realizes the cleaning to 20 bottom of bogie.The bogie cleaning system 1 provided in this embodiment is logical
It crosses second lifting device 70 and further realizes comprehensive cleaning to the bogie 20 to be cleaned.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to claim therefore cannot be interpreted as.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of bogie cleaning robot characterized by comprising
Manipulator (100)；
Control device (200) is communicated to connect with the manipulator (100), for controlling the manipulator (100) movement；
Cleaning device (300) is set to the manipulator (100), for cleaning bogie to be cleaned (20)；
Locating and detecting device (400) is set to the manipulator (100), communicates to connect, is used for the control device (200)
Realize the positioning to the bogie (20) to be cleaned；
The control device (200) is used to control the manipulator according to the positioning result of the locating and detecting device (400)
(100) mobile, the manipulator (100) drives the cleaning device (300) mobile, realizes to the bogie (20) to be cleaned
Cleaning.
2. bogie cleaning robot according to claim 1, which is characterized in that the cleaning device (300) includes:
Flusher (310) is set to the manipulator (100), real for spraying liquid to the bogie (20) to be cleaned
Now rinse；
Brushing device (320) is set to the manipulator (100), for scrubbing the bogie to be cleaned (20).
3. bogie cleaning robot according to claim 2, which is characterized in that the cleaning device (300) further include:
Mounting bracket (301), the flusher (310) and the brushing device (320) pass through the mounting bracket (301)
It is set to the manipulator (100).
4. bogie cleaning robot according to claim 3, which is characterized in that the flusher includes:
Sluice gun (311) is set to the mounting bracket (301)；
Fluid Supplying apparatus (312) is connected to the sluice gun (311), for providing liquid to the sluice gun (311).
5. bogie cleaning robot according to claim 4, which is characterized in that the flusher (310) further include:
It adjusts device (313), is mechanically connected with the sluice gun (311) and the mounting bracket (301), for adjusting the punching
Wash position and/or the angle of rifle (311).
6. bogie cleaning robot according to claim 4, which is characterized in that brushing device (320) includes:
Brush head (321)；
Device of rotation driving (322) is set to the mounting bracket (301), is mechanically connected with the brush head (321), for driving
Move the brush head (321) rotation.
7. bogie cleaning robot according to claim 6, which is characterized in that the sluice gun (311) sprays liquid
Direction and the brush head (321) setting at an acute angle.
8. bogie cleaning robot according to claim 1-7, which is characterized in that the locating and detecting device
It (400) include microswitch.
9. bogie cleaning robot according to claim 5 characterized by comprising
Device for visual identification is set to the manipulator (100), communicates to connect with the control device (200), for identification institute
State the image information of bogie to be cleaned (20)；
The control device (200) is also used to control the manipulator according to the image information of the bogie (20) to be cleaned
(100) operating path.
10. a kind of bogie cleaning system, which is characterized in that the cleaning bogie cleaning system is for cleaning steering to be cleaned
Frame (20), the bogie (20) to be cleaned are set to cleaning platform (30), and the bogie cleaning system includes:
Such as the described in any item bogie cleaning robots (10) of claim 1-9；
Mobile device (40) is mechanically connected, for driving the bogie cleaning machine with the bogie cleaning robot (10)
Device people (10) is mobile.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910251705.3A CN110216686A (en) | 2019-03-29 | 2019-03-29 | Bogie cleaning robot and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910251705.3A CN110216686A (en) | 2019-03-29 | 2019-03-29 | Bogie cleaning robot and system |
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