Undercar intelligent blowing equipment, suitable for undercar blowing and dust removal operation of moving and subway vehicles, the system mainly consists of artificial intelligent blowing robot (subsequently referred to as blowing robot) and following dust removal system.
Product Description
Undercar intelligent blowing equipment, suitable for undercar blowing and dust removal operation of moving and subway vehicles, the system mainly consists of artificial intelligent blowing robot (subsequently referred to as blowing robot) and following dust removal system. Underbody intelligent blowing equipment can automatically scan and generate underbody contour data; automatically identify underbody blowing parts; automatically complete the whole train underbody blowing operation; automatically control both sides of the dust removal system to follow the blowing robot to move together, forming a micro-negative pressure type wind field in the blowing operation area (dust raising area), driven by the airflow to suck the dust into the dust collector of the dust removal system to achieve dust collection and air filtration.
The automation and intelligence of blowing operation is realized, which not only solves the problem of manual blowing labor intensity and difficulty, but also significantly improves the quality of vehicle maintenance operation, operation efficiency and operation intelligence level.
The system adopts compressed air as the main power source for blowing, and the blowing robot carries out continuous blowing operation along the track. It can focus on the complex structure of the undercarriage for all-round and multi-angle blowing to clean the dust on the surface of the relevant parts of the undercarriage; it can also clean the dust on the surface of the internal parts of the undercarriage box; it can filter and recycle the dust generated by the blowing in real time, and the filtered gas reaches the emission standard to avoid secondary pollution to the environment. The workflow of the system is shown in Figure 1
Self-propelled travel
The blowing robot needs to have the function of intelligent movement in order to realize the movement of the gutter in the inner side of the train track and perform the blowing operation. The system uses the AGV trolley installed on top of the blowing robot to walk freely, and the front and back end of the AGV trolley are installed with obstacle avoidance sensors to ensure that the AGV trolley is safe and collision-free in the process of walking. And by receiving the marking information on the ground in real time, the deviation calculation of the actual route is carried out to ensure the position accuracy and running accuracy, so as to lay a reliable foundation for the blowing robot's blowing work.
Blowing parts adaptive
Different types of trains, undercarriage parts type, number, location, size, etc. are different, even for the same type of train, the bottom of its pipelines, parts location, etc. is also different, so fast and accurate identification of undercarriage parts is one of the key functions of the artificial intelligence blowing system.
The blowing robot is based on the equipped binocular vision sensors to obtain real-time undercarriage contour data. Through image processing, machine learning and other algorithms to automatically match the part model, and real-time feedback on the spatial location and attitude of the parts, to provide basic data for the next path planning. Based on this, the blowing robot can realize the self-adaptation of different train undercarriage parts, so as to realize the all-round and multi-angle blowing operation for each undercarriage part.
Blowing robot obstacle avoidance
The blowing robot avoids obstacles safely through the safety obstacle avoidance system and path regularization system. By detecting the spatial position of blowing parts and the spatial position of surrounding parts, the safety avoidance system intelligently calculates the safe blowing path without colliding with these parts to ensure that no collision occurs during the blowing process, which guarantees the safety of blowing operation.
Mobile wind field
The dust removal system adopts a close distance double side co-suction type. When the blowing robot is operating, the dust removal system will follow in the middle of the dust raising point, and form a wind field at the outside of the dust raising point at a close distance. The dust blown down by the blowing robot falls into the middle and lower layers under the action of high speed airflow, and under the influence of the airflow, the dust directly enters the dust collector at the lower side, and finally collects in the dust collector of the dust removal system.
Dust collection method of the de-dusting system
The dust collection system adopts the following dust collection method, with dual side co-suction, the dust collection distance is close, and the dust collection effect is guaranteed by always keeping the middle position of the dust raising. Close distance, high power dust suction, equipment in the area to form a certain section of wind speed, can effectively prevent dust spillage. The air inlet for particle and dust recovery is all arranged at the bottom, so that the airflow and dust are always top-down, so that the dust is always suppressed in the lower part of the space, which improves the dust removal efficiency and ensures the visibility and good working environment in the area under the car.
The airflow and dust flow into the dust collector through the air inlet for dust collection and treatment. Among them, the dust collector adopts a cartridge filter with a filter element selected from high quality materials, high filtration precision, small volume, stable system operation and long service life.
The quality of the gas emitted fully conforms to the following standards: "Comprehensive Emission Standards for Air Pollutants" GB 16297-1996 stipulates that the maximum allowable emission concentration of 120mg/m3 and the maximum allowable emission rate of 1.75kg/h for other particulate matter emitted from new sources in a Class II environment through a height of less than 15m exhaust canister (which has been implemented at a strict 50%).
At the same time, the dust collection system is equipped with a pressure detection device, which can monitor the pressure inside the dust collector in real time and send an alarm when the pressure exceeds the set value to remind the operator to overhaul the system or replace the filter material, ensuring the safety of dust collection.
The dust collector selects high quality fan motor with high balance precision and low noise. Vibration damping rubber blocks are added to the base of the fan to reduce the vibration generated by the fan during operation, and soft connections are added between the fan and the pipe to reduce the vibration of the fan and the pipe, which can effectively reduce the vibration noise. The above measures enable the equipment to achieve good sound insulation and noise reduction, and ensure that the noise in the blowing depot does not exceed 85dB(A).
The mobile blowing system is installed in the middle of the trench and requires a solid horizontal floor. The drainage ditch can be set horizontally or arranged longitudinally with a width ≯ 150mm.
The outline dimensions of the follow-on dust collector are: 1.5m (longitudinal) × 1m (transverse) × 1.75m (height). Solid horizontal ground is required.
Main technical parameters
1. Working environment conditions
Ambient temperature: -10℃～＋55℃.
Altitude: not more than 1000m.
Relative humidity: monthly average not more than 90%, maximum relative humidity not more than 95%.
Use of power: AC 380v ± 7%, frequency 50Hz ± 7%, 20kw.
Use of wind source: not more than 0.6MPa.
Workpiece state: the vehicle is stationary when the blowing operation is carried out.
Operation mode: Automatic blowing and dust removal operation.
Dust removal method: suction and filtration method.
2. Applicable vehicle technical parameters
Total vehicle length: unlimited.
Vehicle width: 2800～3400mm.
Wheel diameter: 500～990mm.
Steering frame wheelbase: 1600～3000mm.
3. Main parameters of the equipment
Operating area pressure: the area is slightly negative pressure.
Air compressor exhaust volume: not more than 6m3/h.
Size of blowing robot: 1277×784×860 (L×W×H) (mm)
Size of following dust removal equipment: 1500×1000×1750 (length×width×height) (mm)
Robotic degrees of freedom: 6 axes.
Blowing robot blowing range: width ≤ 2150mm; height from rail surface -300mm~1100mm.
Blowing robot battery voltage/capacity: DC 48V/120AH.
Battery voltage/capacity of follow-on dusting equipment: DC 48V/400AH.
Blowing robot charging time: 2.4 hours (0-100%)
Single section vehicle blowing time: about 20 minutes.
Maximum continuous blowing duration: 180 minutes.
Control mode: Intelligent blowing equipment adopts handheld remote control combined with remote terminal operation.
Equipment noise: indoor noise conforms to GB/T 50087-2013 "Design Code for Noise Control of Industrial Enterprises".
4. Site environmental requirements
4.1 Ground requirements
The ground requirements of -1.5m and -1.2m walking area in the drawing elevation
Degree of undulation: the maximum allowable value within 1m2 should be less than 3mm.
Slope of the road surface: <8‰
Step height: <5mm.
Gutter width amplitude: <8mm;
Ground treatment: brushing treatment, brushing width <5mm, brushing depth <2mm
4.2 Gutter requirements
Width below the floor of the gutter: ≥1100mm.
The height above the floor of the gutter to the rail surface: ≥ 1200mm.
No water should accumulate in the gutter.
No other objects, such as lights, sockets, etc., should be in the gutter to occupy this space
There should be no movable covers or low barriers in the gutter
