CN113909215A - Intelligent flexible manipulator device that railcar vehicle bottom sweeps - Google Patents

Abstract

The invention discloses an intelligent flexible manipulator device for sweeping the bottom of a metro vehicle, which is characterized in that: comprises a mechanical arm, a nozzle, an air supply pipe and an air suction pipe; the mechanical arm is a six-axis joint flexible mechanical arm and comprises a base, six sections of wall rods and flexible joints among the wall rods; the base is arranged on the top surface of the integrated box body, and the integrated box body is borne on the running part and runs in an overhaul trench of the subway vehicle; the arm rod at the tail end of the mechanical arm has six degrees of freedom in directions and is connected with the nozzle; the air supply pipe conveys sweeping gas, and the air suction pipe conveys dust gas. The improved nozzle form is adopted, intelligent purging can be performed according to coordinate positioning, dust concentration detection and video monitoring images, differential purging combining integral purging and local key purging is adopted, and the anti-collision protection device is arranged, so that the purging effect can be greatly improved, and the operation efficiency is improved.

Description

Intelligent flexible manipulator device that railcar vehicle bottom sweeps

Technical Field

The invention belongs to the technical field of maintenance of urban rail transit vehicles, and particularly relates to an intelligent flexible manipulator device for sweeping the bottom of a metro vehicle.

Background

After the subway vehicle runs for a certain time, a certain amount of dust and dirt can be accumulated at the bottom of the subway vehicle, and if the subway vehicle is not cleaned in time, the running safety of the subway can be endangered even in serious conditions. The traditional mode of sweeping the operation to the train is manual work, and this mode is not only inefficient, and the dust is to diffusion all around when the operation moreover, and the noise is great, and is serious to environmental pollution, and the operation personnel must dress protective clothing and respirator, and intensity of labour is big.

Although related automatic purging equipment is available at present, the vehicle bottom is purged integrally and uniformly, while the purging degree of the parts with serious local pollution or the key parts and components at the vehicle bottom is insufficient, and the intelligent degree is low.

Disclosure of Invention

Aiming at least one of the defects or the improvement requirements in the prior art, the invention provides the intelligent flexible manipulator device for sweeping the bottom of the metro vehicle, the manipulator device terminal adopts an improved nozzle form, intelligent sweeping can be carried out according to coordinate positioning, dust concentration detection and video monitoring images, differential sweeping combining integral sweeping and local key sweeping is adopted, and an anti-collision protection device is arranged, so that the sweeping effect can be greatly improved, and the operation efficiency is improved.

In order to achieve the above object, according to one aspect of the present invention, there is provided an intelligent flexible manipulator device for sweeping the bottom of a metro vehicle, wherein the intelligent flexible manipulator device is characterized in that: the manipulator device comprises a mechanical arm, a nozzle, an air supply pipe and an air suction pipe;

the mechanical arm is a six-axis joint flexible mechanical arm and comprises a base, six sections of wall rods and flexible joints among the wall rods;

the base is arranged on the top surface of the integrated box body, and the integrated box body is borne on the running part and runs in an overhaul trench of the subway vehicle;

the tail end arm rod of the mechanical arm has six degrees of freedom in directions and is connected with the nozzle;

the gas supply pipe is used for conveying sweeping gas, and two ends of the gas supply pipe are respectively connected with the gas outlet of the integrated box body and the nozzle; one end of the air suction pipe conveying belt dust gas is connected with the air inlet of the integrated box body, and the other end of the air suction pipe conveying belt dust gas penetrates through the arm rod at the tail end to form a dust suction opening arranged side by side with the nozzle.

At least part of the wall rods are internally provided with obstacle avoidance sensors which are used for detecting the tendency that the moving path of the arm rods collides with other objects including vehicle bottom equipment, sending out alarm signals in advance and stopping moving.

The nozzle comprises a double-head nozzle and a dust collecting funnel;

the dual-head nozzle comprises a switchable cluster nozzle and a duckbill nozzle;

the dust collecting funnel comprises a reducing opening and a flaring opening, the reducing opening is fixed on the arm rod at the tail end, the bottoms of the cluster type nozzle and the duckbilled type nozzle are positioned in the reducing opening, and the air suction pipe extends into the reducing opening to form the dust suction opening.

The nozzle also comprises a limit sensor which is arranged on the double-head nozzle and used for controlling the moving range of the nozzle and preventing the nozzle from colliding with vehicle bottom equipment.

The cluster nozzle and the duckbill nozzle are flexible material nozzles.

The nozzle further comprises a dust concentration sensor installed in the dust collection funnel for monitoring the dust concentration of the blown polluted air in real time.

The traveling part adopts an AGV trolley with a magnetic navigation path self-guidance function, adopts an electric driving mode, and obtains current by contacting with a sliding contact line fixedly arranged beside a rail upright post;

the AGV trolley is provided with an obstacle avoidance sensor and is used for stopping advancing when meeting people or obstacles in the advancing process and sending out acousto-optic alarm display.

The integrated box body internally comprises an air compressor and a dust absorption filter, and the top surface of the integrated box body is embedded with a camera for shooting and monitoring the bottom picture of the vehicle and transmits the bottom picture to a terminal display screen;

the air compressor delivers compressed air to the nozzle through the outlet port to provide a flow of purge air, and the purged dust laden air is drawn into the dust extraction filter through the inlet port for filtration.

The two cameras are respectively arranged at the front end and the rear end of the top surface of the integrated box body.

The air compressor adopts a screw air compressor unit, the interior of the air compressor is of a frame partition type structure, and the air compressor is made of a sound insulation material;

and/or the presence of a gas in the gas,

the dust absorption filter adopts integrated form multi-stage filtration device, is equipped with cylinder filter core and piece formula filter screen.

In order to achieve the above object, according to another aspect of the present invention, there is provided a purging method for a metro vehicle underbody purging intelligent flexible manipulator device, wherein the purging method for the metro vehicle underbody intelligently purges the metro vehicle underbody, comprising the following steps:

s1, starting the purging device, and positioning the initial coordinate of the purging device;

s2, the walking part of the purging device moves longitudinally along the vehicle bottom trench, and a nozzle at the end part of a mechanical arm carried on the walking part moves and positions locally relative to the walking part;

s3, selecting a differential purging mode, namely dividing the mode into a global scanning purging mode and a key cleaning part purging mode, and automatically selecting one purging mode by purging equipment;

s4, selecting the type of the nozzle according to the purging mode, and if the global scanning type purging mode is selected, performing global scanning type purging by adopting a duckbill nozzle; if a key cleaning part purging mode is selected, purging key cleaning parts at the bottom of the vehicle by adopting a cluster nozzle;

s5, carrying out pollution detection in the current part blowing process, carrying out real-time monitoring and identification on the blowing cleanliness in the current part blowing process, and judging whether the blowing reaches the standard or not;

s6, if the standard is not met, returning to the step S3, switching to another purging mode, and repeating the steps S3-S5;

if the standard is met, purging the next component according to the position identification;

and S7, repeating the steps S2-S6 until the whole vehicle is purged, and stopping the operation of the purging device automatically after the purging is finished.

Preferably, in step S1, the mobile terminal performs the start operation of the remote control purge device, and scans and identifies the two-dimensional code strip installed on the side of the rail column for positioning, determines the start coordinates of the purge device in the relative coordinate system, and selects and sets the operation program of the purge device at the control terminal.

Preferably, in step S2, the movement of the running part of the purging device and the movement of the mechanical arm are controlled according to the positioning of the purging device by the positioning system and the relative fixing positions of the parts at the bottom of the train.

Preferably, in step S2, the running part of the purging device uses an AGV magnetic navigation trolley to obtain current by contacting with a trolley line installed beside the rail upright; the arm is six axle type joint flexible mechanical arms, and armed lever and tip nozzle all adopt flexible material to make, and the tip is equipped with spacing sensor, and its response data links to each other with positioning system to control the motion and the location of arm, prevent to collide with the vehicle bottom equipment mutually.

Preferably, in step S4, the duckbill nozzle has a larger air outlet amount and a more uniform and gentle air flow than the cluster nozzle; compared with a duckbill nozzle, the cluster nozzle has higher air flow jet speed and higher striking pressure.

Preferably, in step S4, in the global scanning purge mode, the purge device is advanced continuously; and under the key cleaning part purging mode, the advancing mode of the purging device is a stepping mode.

Preferably, the key cleaning parts comprise a traction box, an auxiliary inverter box, a high-pressure box, a low-pressure box, a circulating air box and a brake resistor box.

Preferably, in step S5, the pollution detection is performed by a dust concentration sensor installed at a nozzle of the robot arm, the dust concentration of the air around the blowing part is detected, if the dust concentration reaches the standard, the next blowing part is performed, otherwise, the blowing is repeated until the blowing is clean.

Preferably, in step S5, the monitoring recognition is captured by a high-definition camera installed on the purging device and transmitted to the display terminal in real time, and after the cleanliness is determined, an additional instruction is applied to the purging device to perform repeated purging of the current location or to end the current operation to perform purging of the next location.

Preferably, in the steps S6-S7, the termination of the purging task is determined by the current position of the purging device, the position coordinate of the purging device is located by the positioning system, and the length size of the train bottom is combined to determine whether the purging of the train bottom is completed completely, if the purging is completed, the device automatically stops running and issues a corresponding prompt signal at the terminal, and if the purging is not completed, the purging process of the next part of the train bottom is continued.

The above-described technical features may be combined with each other as long as they do not conflict with each other.

Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

1. according to the intelligent flexible manipulator device for sweeping the subway vehicle underbody, the manipulator device terminal adopts an improved nozzle form, intelligent sweeping can be performed according to coordinate positioning, dust concentration detection and video monitoring images, differential sweeping combining integral sweeping and local key sweeping is adopted, and an anti-collision protection device is arranged, so that sweeping effect can be greatly improved, and operation efficiency is improved.

2. According to the intelligent sweeping device, the intelligent control manipulator is adopted, and the positioning system is combined, so that the automatic and differential sweeping of the bottom of the metro vehicle is realized, the key sweeping of parts with serious pollution or key parts is realized, the operation efficiency and the sweeping effect are greatly improved, and the labor intensity of operators is reduced.

3. According to the invention, the flexible manipulator, the flexible material nozzle and the limit sensor are adopted, so that the probability of collision and damage of vehicle bottom equipment by the manipulator is greatly reduced during purging operation, and the purging operation is safer and more reliable.

4. Blowing and dust collection are carried out synchronously, blown dust cannot diffuse to the periphery in a large range, sucked turbid air can be filtered and dedusted, and the emission is realized after the discharge reaches the standard, so that the environmental pollution is reduced.

Drawings

FIG. 1 is an overall effect diagram of the purging operation platform of the present invention;

FIG. 2 is a schematic diagram of the integrated enclosure assembly of the present invention;

FIG. 3 is a schematic view of the construction of the robotic arm of the present invention;

FIG. 4 is a schematic view of the nozzle configuration of the end of the robot arm of the present invention;

FIG. 5 is a schematic overall flow diagram of the purging process of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to specific embodiments.

As shown in fig. 1, the invention provides an intelligent flexible manipulator device for sweeping the bottom of a metro vehicle, which mainly comprises a mechanical arm 3 and a nozzle 4, and forms a sweeping operation platform, namely sweeping equipment together with a running part 1 and an integrated box body 2.

The magnetic guided AGV trolley can be used for positioning and navigating automatically, the running space of the magnetic guided AGV trolley is in a maintenance trench of a subway vehicle, and a sliding contact line is fixedly installed on the side face of the trench and used for providing a power supply for the running part 1 and the purging equipment. The movement and stoppage of the running gear 1 are controlled by the control system, and the movement of the running gear 1 is controlled in accordance with a predetermined trajectory or with manual intervention. The walking part 1 is provided with an obstacle avoidance sensor, and can automatically stop moving forwards when meeting people or obstacles in the process of moving, and sends out acousto-optic alarm display.

The integrated box 2 is fixed on the loading platform of the running gear 1, and as shown in fig. 2, the box is internally composed of an air compressor 201, a dust absorption filter 202, a control system 203 and a camera 204 mounted in an embedded manner.

Preferably, the air compressor 201 adopts a screw air compressor unit, a frame partition type structural design, a novel high-quality sound insulation material is applied, a high-reliability pressure sensor is equipped, and high-pressure gas generated by the pressure sensor is conveyed to the purging device through the air outlet 205.

Preferably, the dust absorption filter 202 is an integrated multi-stage filter device, which is provided with a cylinder type filter element and a sheet type filter screen and is easy to replace, a pressure difference sensor is arranged in the dust hopper, and the pressure difference sensor is used for sucking the blown dirty and turbid air through the air inlet 206, performing filtration treatment in the dust hopper, and discharging the air to the outside after reaching the standard.

Preferably, the control system 203 is composed of an electric control system and a central control system, wherein the electric control system controls the current distribution of each sub-component of the device; the central control system is responsible for positioning guidance and track control of the equipment, is in wireless connection with the terminal and is controlled by the command of the terminal.

Preferably, the two cameras 204 are respectively installed at two ends of the integrated box body 2, and are used for shooting and monitoring images at the bottom of the vehicle and transmitting the images to a terminal display screen, so that a worker can know the purging condition according to the images, and can perform supplementary purging on the part which is not cleaned up by issuing an instruction.

The mechanical arm 3 adopts a flexible design, as shown in fig. 3, a base 301 of the mechanical arm is fixedly installed on the upper plane of the integrated box body 2, a six-axis flexible joint 302 and a light arm rod 303 are adopted, the arm rod at the tail end of the mechanical arm has six degrees of freedom in directions, the movement of the arm rod is controlled by an operation path preset by a control system, the full coverage of the area of the vehicle bottom can be realized, the key parts of the vehicle bottom are comprehensively purged, and the key parts of the vehicle bottom comprise a traction box, an auxiliary inverter box, a high-low voltage electric box, a circulating air box and a braking resistance box. In addition, the arm rod is internally provided with an obstacle avoidance sensor, when the arm rod moving path is detected to collide with the vehicle bottom equipment, the mechanical arm automatically stops moving and uploads an alarm signal, and therefore safety of the vehicle bottom equipment is protected. The mechanical arm 3 is attached with a flexible bundling hose which comprises an air supply pipe 5 for conveying sweeping gas and an air suction pipe 6 for conveying dust gas.

The nozzle 4 is installed at the terminal end of the mechanical arm, as shown in fig. 4, wherein the dust collecting funnel 402 includes a throat and a flare, the throat is fixed at the end arm rod, the bottoms of the cluster nozzle and the duckbill nozzle are located in the throat, the air suction pipe extends into the throat to form the dust suction port, and purging and dust suction are performed simultaneously.

Double-end nozzle 401 installs in collection dirt funnel 402's centre to adopt the tripod form fixed, double-end nozzle 401 connect air supply pipe 5, and breathing pipe 6 stretches into form in the throat dust absorption mouth 601, install spacing sensor 403 on double-end nozzle 401, be used for controlling the home range of nozzle, prevent with vehicle bottom equipment collision. A dust concentration sensor 404 is installed in the dust collection funnel for monitoring the dust concentration of the blown polluted air in real time and feeding back the data to the control center, and when the dust concentration is lower than a set value, the nozzle is turned to the next area for blowing. Preferably, the dust collecting funnel 402 is adjustable in height and size of its flare, depending on the object to be purged, by using a variable technique of vector nozzle, etc.

Preferably, the dual head nozzle 401 includes a cluster nozzle and a duckbill nozzle, both made of flexible material to avoid serious damage in case of collision. For the part with the pollution degree smaller than the threshold value, a duckbill nozzle is adopted; and adopting a cluster nozzle for the part with the pollution degree greater than or equal to the threshold value. Specifically, at the part with low pollution degree, the duckbill nozzle with moderate and uniform air flow and large air outlet coverage area is preferably selected for large-range blowing, and at the part with serious dust accumulation or incomplete blowing by adopting the duckbill nozzle, the duckbill nozzle is automatically switched to the cluster nozzle, so that the jet speed of the sprayed air flow is high, the striking pressure is high, and the blowing is more thorough.

When the sweeping operation is carried out, sweeping and dust collection are carried out synchronously, the walking part 1 and the mechanical arm 3 are installed with preset paths to move, different parts at the bottom of the vehicle are positioned for differential sweeping, meanwhile, the dust concentration sensor 404 and the camera 204 feed back the real-time sweeping condition to the terminal and the control system, and for the part which is not swept cleanly, an operator can apply an additional sweeping instruction and manually control the part to carry out sweeping in different modes for multiple times.

Specifically, as shown in fig. 5, the invention provides a sweeping method of an intelligent flexible manipulator device for sweeping the bottom of a metro vehicle, which comprises the main steps of starting and positioning, movement control, differential sweeping mode selection, pollution detection and monitoring identification, sweeping task termination judgment and the like.

The starting and positioning comprise that the purging equipment is remotely controlled at the control terminal, the operation scene schematic diagram of the purging equipment is shown in fig. 2, the schematic diagram of the system structure scheme is shown in fig. 3, the control terminal has a one-key starting function, the purging equipment is ready and completes self-checking after starting, a signal is sent out after no abnormality occurs, a worker manually closes a power transmission switch to supply power to the purging equipment at the moment, a set operation program is selected at the control terminal, the purging equipment starts to operate, when the purging equipment enters the vehicle bottom area of the trench 101, the purging equipment is positioned through scanning and identifying a two-dimensional code band, and the initial coordinate of the purging equipment is determined under a relative coordinate system.

The movement control comprises the control of the movement of the walking part 2 of the purging device and the movement of the mechanical arm 3, and the purging device moves to a corresponding position according to coordinates provided by the positioning system to purge different positions of the bottom of the vehicle.

Preferably, the running part 2 of the purging device adopts an AGV magnetic navigation trolley which can run along a magnetic path laid on the ground, and the running track is longitudinal, namely along the direction of the central line of the track. In addition, the trolley obtains current by contacting with a trolley line 103 arranged on the side surface of the rail upright post 102, the two-dimensional code strip for positioning is attached to the surface of the trolley line, and the two-dimensional code information is read by a code scanner arranged on the side surface of the blowing equipment.

Preferably, the mechanical arm 3 is a six-axis joint flexible mechanical arm, as shown in fig. 3, considering that the mechanical arm 3 mainly sweeps key equipment or key parts, the arm rod 303 and the end nozzle 4 are both made of flexible materials, and the end part is provided with a limit sensor, sensing data of which is connected with a positioning system, so that the motion and the positioning of the mechanical arm are controlled, and the mechanical arm is prevented from colliding with equipment at the bottom of the vehicle. The mechanical arm device controls the local positioning and the transverse movement of the blowing nozzle through the rotating motor at the joint to clean key parts of the vehicle bottom, and comprises the steps of blowing a traction box, an auxiliary inverter box, a high-low voltage electric box, a circulating air box and a braking resistance box, and determining blowing tasks of different key parts in the selection of an operation program when the equipment is started.

The differential purging mode comprises global scanning purging and key cleaning part purging, the purging device automatically selects one purging mode according to a set program, and then the modes are switched according to the purging condition.

Preferably, the global scanning type purging adopts a duckbill-shaped nozzle with large air outlet amount and uniform and mild air flow, the nozzle is made of flexible materials, and the advancing mode of the purging device is continuous propelling.

Preferably, the intensive cleaning part is blown by a cluster type flexible material nozzle with high air flow jet speed and high striking pressure, the parts with serious pollution or incomplete cleaning are blown intensively, and the moving mode of the blowing equipment in the mode is a stepping mode.

After a first round of purging is performed on a certain position or area, the real-time data is uploaded by the pollution detection and monitoring identification, and the purging device judges whether purging reaches the standard according to the pollution detection data or the video monitoring image, so that the next automatic or manual instruction action is performed, namely, whether the next action of the purging device is to be moved to other positions or the current position is subjected to repeated supplementary purging.

Preferably, the pollution detection is completed by a dust concentration sensor arranged at the nozzle 4 of the mechanical arm, the dust concentration of the air around the blowing part is detected, if the dust concentration reaches the standard, the next part is blown, otherwise, the blowing is repeated until the blowing is clean.

Preferably, the monitoring identification is shot by a high-definition camera 204 installed on the purging device and transmitted to the display terminal in real time, and an additional instruction can be applied to the purging device after manual identification, so that repeated purging of the current part is performed or the current operation is finished so that purging of the next part is performed.

And the blowing task termination judgment is determined by the current position of the blowing equipment, the position coordinate of the blowing equipment is positioned through the positioning system, the length size of the train bottom is combined, whether the sweeping of the train bottom is completed or not is judged, if the sweeping is completed, the equipment automatically stops running and issues a corresponding prompt signal on a control terminal screen, and if the sweeping of the whole train is not completed, the blowing equipment continues to perform the blowing process of the next part of the train bottom.

According to the sweeping method, the moving positioning and the mode conversion of the intelligent sweeping equipment are controlled according to the pollution degree of different parts of the subway vehicle bottom and the force required to be cleaned through operation path selection and pollution identification, so that the sweeping equipment can carry out differentiated, accurate and intelligent sweeping on the subway vehicle bottom, the integral sweeping and local key sweeping are combined, and the automatic sweeping operation efficiency and the integral cleaning effect can be greatly improved.

According to the invention, the operation of the vehicle bottom purging equipment is controlled by adopting the purging method facing the vehicle bottom pollution recognition, the part with light pollution is subjected to common purging, and the part with serious pollution is subjected to targeted key purging, so that purging is more reasonable, intelligent and efficient, the cleaning effect is greatly improved, and the waste of resources is reduced.

According to the purging method, the purging device can acquire monitoring feedback data in real time in the operation process, and the purging task is redistributed according to the monitored pollution degree, so that the aim of purging cleanly at one time is fulfilled.

In summary, compared with the prior art, the scheme of the invention has the following significant advantages:

according to the intelligent flexible manipulator device for sweeping the subway vehicle underbody, the manipulator device terminal adopts an improved nozzle form, intelligent sweeping can be performed according to coordinate positioning, dust concentration detection and video monitoring images, differential sweeping combining integral sweeping and local key sweeping is adopted, and an anti-collision protection device is arranged, so that sweeping effect can be greatly improved, and operation efficiency is improved.

According to the intelligent sweeping device, the intelligent control manipulator is adopted, and the positioning system is combined, so that the automatic and differential sweeping of the bottom of the metro vehicle is realized, the key sweeping of parts with serious pollution or key parts is realized, the operation efficiency and the sweeping effect are greatly improved, and the labor intensity of operators is reduced.

According to the invention, the flexible manipulator, the flexible material nozzle and the limit sensor are adopted, so that the probability of collision and damage of vehicle bottom equipment by the manipulator is greatly reduced during purging operation, and the purging operation is safer and more reliable.

Blowing and dust collection are carried out synchronously, blown dust cannot diffuse to the periphery in a large range, sucked turbid air can be filtered and dedusted, and the emission is realized after the discharge reaches the standard, so that the environmental pollution is reduced.

It will be appreciated that the embodiments of the system described above are merely illustrative, in that elements illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over different network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

In addition, it should be understood by those skilled in the art that in the specification of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the description of the embodiments of the invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.

However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of an embodiment of this invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The utility model provides an intelligent flexible manipulator device that railcar vehicle bottom sweeps which characterized in that: the manipulator device comprises a mechanical arm (3), a nozzle (4), an air supply pipe (5) and an air suction pipe (6);

the mechanical arm (3) is a six-axis joint flexible mechanical arm and comprises a base (301), six sections of wall rods (303) and flexible joints (302) among the wall rods;

the base (301) is arranged on the top surface of the integrated box body (2), and the integrated box body (2) is borne on the walking part (1) and runs in an overhaul trench of a subway vehicle;

the tail-end arm rod of the mechanical arm has six degrees of freedom in directions and is connected with the nozzle (4);

the gas supply pipe (5) is used for conveying sweeping gas, and two ends of the gas supply pipe are respectively connected with a gas outlet (205) of the integrated box body (2) and the nozzle (4); the air suction pipe (6) conveys dust and air, one end of the air suction pipe is connected with an air inlet (206) of the integrated box body (2), and the other end of the air suction pipe penetrates through the arm rod at the tail end to form a dust suction opening (601) which is arranged side by side with the nozzle (4).

2. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 1, wherein:

at least part of the wall rods (303) are internally provided with obstacle avoidance sensors which are used for detecting the tendency that the moving path of the arm rods collides with other objects including vehicle bottom equipment, sending out alarm signals in advance and stopping moving.

3. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 1 or 2, wherein:

the nozzle (4) comprises a double-head nozzle (401) and a dust collection funnel (402);

the dual-head nozzle (401) comprises a switchable cluster nozzle and a duckbill nozzle;

the dust collecting funnel (402) comprises a reducing opening and a flaring opening, the reducing opening is fixed on the arm rod at the tail end, the bottoms of the cluster nozzle and the duckbilled nozzle are positioned in the reducing opening, and the air suction pipe (6) extends into the reducing opening to form the dust suction opening (601).

4. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 3, wherein:

the nozzle (4) further comprises a limit sensor (403) which is arranged on the double-head nozzle (401) and used for controlling the moving range of the nozzle and preventing collision with vehicle bottom equipment.

5. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 3, wherein:

the cluster nozzle and the duckbill nozzle are flexible material nozzles.

6. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 3, wherein:

the nozzle (4) further comprises a dust concentration sensor (404) mounted in the dust collection funnel (402) for monitoring the dust concentration of the blown polluted air in real time.

7. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 3, wherein:

the traveling part (1) adopts an AGV trolley with a magnetic navigation path self-guidance function, adopts an electric driving mode, and obtains current by contacting with a sliding contact line fixedly arranged beside a rail upright post;

the AGV trolley is provided with an obstacle avoidance sensor and is used for stopping advancing when meeting people or obstacles in the advancing process and sending out acousto-optic alarm display.

8. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 3, wherein:

the integrated box body (2) internally comprises an air compressor (201) and a dust absorption filter (202), a camera (204) is embedded on the top surface of the integrated box body to shoot and monitor the bottom picture of the vehicle, and the bottom picture is transmitted to a terminal display screen;

the air compressor (201) delivers compressed air to the nozzle (4) through an air outlet (205) to provide a flow of purge air, and the purged dust laden air is drawn into the dust extraction filter (202) through an air inlet (206) for filtration.

9. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 8, wherein:

the two cameras (204) are respectively arranged at the front end and the rear end of the top surface of the integrated box body (2).

10. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 8, wherein:

the air compressor (201) adopts a screw air compressor unit, is internally of a frame partition type structure and is made of a sound insulation material;

and/or the presence of a gas in the gas,

the dust absorption filter (202) adopts an integrated multi-stage filtering device and is provided with a cylinder type filter element and a sheet type filter screen.

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