WO2022170637A1 - Subway metal foreign body cleaning robot - Google Patents
Subway metal foreign body cleaning robot Download PDFInfo
- Publication number
- WO2022170637A1 WO2022170637A1 PCT/CN2021/076661 CN2021076661W WO2022170637A1 WO 2022170637 A1 WO2022170637 A1 WO 2022170637A1 CN 2021076661 W CN2021076661 W CN 2021076661W WO 2022170637 A1 WO2022170637 A1 WO 2022170637A1
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- WO
- WIPO (PCT)
- Prior art keywords
- electromagnet
- subway
- metal foreign
- motor
- cleaning robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/14—Removing by magnetic effect
Definitions
- the invention relates to a cleaning robot, in particular to a subway metal foreign body cleaning robot.
- the subway vehicle is powered by the power supply system during operation. Its working principle is: the power frequency alternating current near the rail is rectified into direct current by the rectifier, and the direct current is converted into high frequency alternating current under the action of the high frequency inverter. The high-frequency magnetic field is excited nearby, and is converted into electric energy that can be used for driving by the electric energy conversion device.
- the invention overcomes the deficiencies of the prior art and provides a subway metal foreign body cleaning robot with a simple structure.
- a subway metal foreign body cleaning robot comprising a robot body and an electromagnet
- a first motor is installed on the robot body
- a bracket is connected to the output shaft of the first motor
- the electromagnet is installed on the bracket
- an electrostatic generator is arranged on the electromagnet
- a roller is arranged above the electromagnet
- a film is wound on the roller
- the roller is formed by a second motor driven.
- a subway metal foreign body cleaning robot further includes that the electromagnet includes an electromagnet body, a plurality of bumps arranged on the peripheral surface of the electromagnet body, and the bracket includes a cylindrical frame body, a strut connected with the cylindrical frame body, one end of the cylindrical frame body is open and the other end is closed, the inner wall of the cylindrical frame body is provided with a plurality of grooves, and the protrusions are inserted into the In the groove, the support rod is connected with the output shaft of the first motor.
- a subway metal foreign body cleaning robot further includes that the film is a point-breaking film.
- a subway metal foreign body cleaning robot further includes that the electromagnet body is cylindrical or rectangular.
- a subway metal foreign body cleaning robot further includes that the second motor is a servo motor.
- the present invention solves the defects existing in the background technology.
- the present invention has a simple structure and is convenient to use.
- the electromagnet is used to absorb metal foreign objects.
- the film can be wound.
- the electromagnet is protected from contamination by the thin film.
- FIG. 1 is a schematic structural diagram of a preferred embodiment of the present invention.
- FIG. 2 is a schematic structural diagram of an electromagnet according to a preferred embodiment of the present invention.
- FIG. 3 is a schematic structural diagram of a groove provided on the cylindrical frame of the preferred embodiment of the present invention.
- robot body 12, electromagnet, 14, first motor, 16, output shaft, 18, bracket, 20, electrostatic generator, 22, roller, 24, film, 26, second motor, 28 , Electromagnet body, 30, bump, 32, cylinder frame, 34, strut, 36, groove.
- a subway metal foreign body cleaning robot includes a robot body 10 and an electromagnet 12, a first motor 14 is installed on the robot body 10, and a bracket 18 is connected to the output shaft 16 of the first motor 14,
- the electromagnet 12 is installed on the bracket 18 , an electrostatic generator 20 is arranged on the electromagnet 12 , a roller 22 is arranged above the electromagnet 12 , a film 24 is wound on the roller 22 , and the roller 22 is driven by a second motor 26 .
- the electromagnet 12 includes an electromagnet body 28 and a plurality of bumps 30 disposed on the peripheral surface of the electromagnet body 28
- the bracket 18 includes a cylindrical frame body 32 and a support rod 34 connected to the cylindrical frame body 32 .
- One end of the cylinder frame body 32 is open and the other end is closed.
- the inner wall of the cylinder frame body 32 is provided with a plurality of grooves 36, and the protrusions 30 are inserted into the grooves 36.
- the cylinder frame body 32 is connected with the electromagnet body 28.
- the support rod 34 is connected with the output shaft 16 of the first motor 14 .
- the electromagnet body 28 and the plurality of bumps 30 are integrally formed to improve the strength of the electromagnet 12 .
- the film 24 is preferably a point-breaking film, which is convenient for the separation of the film 24 and the film wound on the electromagnet body 28, which is convenient and quick, and improves the work efficiency.
- the electromagnet body 28 preferably has a cylindrical shape, which is convenient for attracting more metal foreign objects, but it is not limited to a circle, and it can also be a rectangle.
- the second motor 26 is a servo motor, which is convenient to drive the roller 22 to rotate forward or reverse.
- the second motor 26 rotates forward, drives the roller 22 to rotate forward, the film 24 moves downward, the electrostatic generator 20 is activated, the film 24 is adsorbed on the electromagnet 12, the first motor 14 is activated, and the circular
- the drum frame body 32 drives the electromagnet body 28 to rotate, wraps the film 24 on the electromagnet 12, the second motor 26 is reversed, and two opposite forces are generated on the film 24, so that the film 24 on the roller 22 can be connected to the electromagnet.
- the thin film 24 on the iron 12 is separated, and the electromagnet 12 absorbs metal foreign matter. Since the thin film 24 protects the electromagnet 12, pollution to the electromagnet 12 is avoided.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
本发明涉及一种清理机器人，尤其涉及一种地铁金属异物清理机器人。The invention relates to a cleaning robot, in particular to a subway metal foreign body cleaning robot.
地铁车辆在运行时通过供电系统进行供电，其工作原理是：铁轨附近的工频交流电经过整流器整流成直流电，直流电在高频逆变器作用下变换成高频的交流电，高频的交流电在铁轨附近激发高频磁场，经过电能变换装置变换成可以供车辆行驶的电能。The subway vehicle is powered by the power supply system during operation. Its working principle is: the power frequency alternating current near the rail is rectified into direct current by the rectifier, and the direct current is converted into high frequency alternating current under the action of the high frequency inverter. The high-frequency magnetic field is excited nearby, and is converted into electric energy that can be used for driving by the electric energy conversion device.
在车辆工作区域内难免会存在金属异物的累积，这样就会造成高频磁场产生涡流，引起电力系统的不稳定，需要定时对金属异物进行清理，工作量很大，需要专用设备对工作环境内的金属异物有效清理。In the working area of the vehicle, there will inevitably be the accumulation of foreign metal objects, which will cause eddy currents in the high-frequency magnetic field and cause instability of the power system. It is necessary to clean up the metal foreign objects regularly. The metal foreign body is effectively cleaned.
本发明克服了现有技术的不足，提供一种结构简单的一种地铁金属异物清理机器人。The invention overcomes the deficiencies of the prior art and provides a subway metal foreign body cleaning robot with a simple structure.
为达到上述目的，本发明采用的技术方案为：一种地铁金属异物清理机器人，包括机器人本体和电磁铁，所述机器人本体上安装有第一电机，所述第一电机的输出轴连接有支架，所述电磁铁安装在所述支架上，所述电磁铁上设置有静电发生器，所述电磁铁的上方设置有辊筒，所述辊筒上缠绕有薄膜，所述辊筒由第二电机驱动。In order to achieve the above purpose, the technical solution adopted in the present invention is: a subway metal foreign body cleaning robot, comprising a robot body and an electromagnet, a first motor is installed on the robot body, and a bracket is connected to the output shaft of the first motor , the electromagnet is installed on the bracket, an electrostatic generator is arranged on the electromagnet, a roller is arranged above the electromagnet, a film is wound on the roller, and the roller is formed by a second motor driven.
本发明一个较佳实施例中，一种地铁金属异物清理机器人进一步包括所述电磁铁包括电磁铁本体、设置在所述电磁铁本体周面上的多个凸块，所述支架包括圆筒架体、与所述圆筒架体连接的支杆，所述圆筒架体的一端开口、另一端封闭，所述圆筒架体的内壁设置有多个凹槽，所述凸块卡入所述凹槽内，所述支杆与所述第一电机的输出轴相连接。In a preferred embodiment of the present invention, a subway metal foreign body cleaning robot further includes that the electromagnet includes an electromagnet body, a plurality of bumps arranged on the peripheral surface of the electromagnet body, and the bracket includes a cylindrical frame body, a strut connected with the cylindrical frame body, one end of the cylindrical frame body is open and the other end is closed, the inner wall of the cylindrical frame body is provided with a plurality of grooves, and the protrusions are inserted into the In the groove, the support rod is connected with the output shaft of the first motor.
本发明一个较佳实施例中，一种地铁金属异物清理机器人进一步包括所述电磁铁本体与多个所述凸块一体成型设置。In a preferred embodiment of the present invention, a subway metal foreign body cleaning robot further comprises that the electromagnet body and a plurality of the bumps are integrally formed.
本发明一个较佳实施例中，一种地铁金属异物清理机器人进一步包括所述薄膜为点断式薄膜。In a preferred embodiment of the present invention, a subway metal foreign body cleaning robot further includes that the film is a point-breaking film.
本发明一个较佳实施例中，一种地铁金属异物清理机器人进一步包括所述电磁铁本体呈圆柱形或矩形。In a preferred embodiment of the present invention, a subway metal foreign body cleaning robot further includes that the electromagnet body is cylindrical or rectangular.
本发明一个较佳实施例中，一种地铁金属异物清理机器人进一步包括所述第二电机为伺服电机。In a preferred embodiment of the present invention, a subway metal foreign body cleaning robot further includes that the second motor is a servo motor.
本发明解决了背景技术中存在的缺陷，本发明结构简单、使用方便，通过电磁铁吸附金属异物，另外，在第一电机、静电发生器、第二电机和辊筒的配合下，薄膜能够缠绕在电磁铁上，由于薄膜对电磁铁进行保护，避免对电磁铁的污染。The present invention solves the defects existing in the background technology. The present invention has a simple structure and is convenient to use. The electromagnet is used to absorb metal foreign objects. In addition, under the cooperation of the first motor, the electrostatic generator, the second motor and the roller, the film can be wound. On the electromagnet, the electromagnet is protected from contamination by the thin film.
图1是本发明的优选实施例的结构示意图；1 is a schematic structural diagram of a preferred embodiment of the present invention;
图2是本发明的优选实施例的电磁铁的结构示意图；2 is a schematic structural diagram of an electromagnet according to a preferred embodiment of the present invention;
图3是本发明的优选实施例的圆筒架体上设置凹槽的结构示意图；3 is a schematic structural diagram of a groove provided on the cylindrical frame of the preferred embodiment of the present invention;
图中：10、机器人本体，12、电磁铁，14、第一电机，16、输出轴，18、支架，20、静电发生器，22、辊筒，24、薄膜，26、第二电机，28、电磁铁本体，30、凸块，32、圆筒架体，34、支杆，36、凹槽。In the figure: 10, robot body, 12, electromagnet, 14, first motor, 16, output shaft, 18, bracket, 20, electrostatic generator, 22, roller, 24, film, 26, second motor, 28 , Electromagnet body, 30, bump, 32, cylinder frame, 34, strut, 36, groove.
现在结合附图和实施例对本发明作进一步详细的说明，这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。The present invention will now be further described in detail with reference to the accompanying drawings and embodiments. These drawings are all simplified schematic diagrams, and only illustrate the basic structure of the present invention in a schematic manner, so they only show the structures related to the present invention.
如图1-图3所示，一种地铁金属异物清理机器人，包括机器人本体10和电磁铁12，机器人本体10上安装有第一电机14，第一电机14的输出轴16连接有支架18，电磁铁12安装在支架18上，电磁铁12上设置有静电发生器20，电磁铁12的上方设置有辊筒22，辊筒22上缠绕有薄膜24，辊筒22由第二电机26驱动。As shown in FIG. 1-FIG. 3, a subway metal foreign body cleaning robot includes a robot body 10 and an electromagnet 12, a first motor 14 is installed on the robot body 10, and a bracket 18 is connected to the output shaft 16 of the first motor 14, The electromagnet 12 is installed on the bracket 18 , an electrostatic generator 20 is arranged on the electromagnet 12 , a roller 22 is arranged above the electromagnet 12 , a film 24 is wound on the roller 22 , and the roller 22 is driven by a second motor 26 .
本发明优选电磁铁12包括电磁铁本体28、设置在电磁铁本体28周面上的多个凸块30，支架18包括圆筒架体32、与圆筒架体32连接的支杆34，圆筒架体32的一端开口、另一端封闭，圆筒架体32的内壁设置有多个凹槽36，凸块30卡入凹槽36内，这样，圆筒架体32与电磁铁本体28连接为一体，支杆34与第一电机14的输出轴16相连接，当第一电机14启动时，通过圆筒架体32的旋转即可带动电磁铁本体28的转动。It is preferred in the present invention that the electromagnet 12 includes an electromagnet body 28 and a plurality of bumps 30 disposed on the peripheral surface of the electromagnet body 28 , and the bracket 18 includes a cylindrical frame body 32 and a support rod 34 connected to the cylindrical frame body 32 . One end of the cylinder frame body 32 is open and the other end is closed. The inner wall of the cylinder frame body 32 is provided with a plurality of grooves 36, and the protrusions 30 are inserted into the grooves 36. In this way, the cylinder frame body 32 is connected with the electromagnet body 28. As a whole, the support rod 34 is connected with the output shaft 16 of the first motor 14 . When the first motor 14 is started, the rotation of the electromagnet body 28 can be driven by the rotation of the cylindrical frame body 32 .
本发明优选电磁铁本体28与多个凸块30一体成型设置，提高电磁铁12的强度。In the present invention, it is preferred that the electromagnet body 28 and the plurality of bumps 30 are integrally formed to improve the strength of the electromagnet 12 .
本发明优选薄膜24为点断式薄膜，便于薄膜24与缠绕在电磁铁本体28上的薄膜的分离，方便快捷，提高工作效率。In the present invention, the film 24 is preferably a point-breaking film, which is convenient for the separation of the film 24 and the film wound on the electromagnet body 28, which is convenient and quick, and improves the work efficiency.
本发明优选电磁铁本体28呈圆柱形，便于吸附更多的金属异物，但并不局限于圆形，也可以为矩形。In the present invention, the electromagnet body 28 preferably has a cylindrical shape, which is convenient for attracting more metal foreign objects, but it is not limited to a circle, and it can also be a rectangle.
本发明优选第二电机26为伺服电机，便于带动辊筒22正转或反转。In the present invention, preferably, the second motor 26 is a servo motor, which is convenient to drive the roller 22 to rotate forward or reverse.
本发明在使用时，第二电机26正转，带动辊筒22正转，薄膜24往下移动，静电发生器20启动，将薄膜24吸附在电磁铁12上，第一电机14启动，通过圆筒架体32带动电磁铁本体28转动，将薄膜24缠绕在电磁铁12上，第二电机26反转，薄膜24上产生两个相反的力量，即可将辊筒22上的薄膜24与电磁铁12上的薄膜24分离，电磁铁12吸附金属异物，由于薄膜24对电磁铁12进行保护，避免对电磁铁12的污染。When the present invention is in use, the second motor 26 rotates forward, drives the roller 22 to rotate forward, the film 24 moves downward, the electrostatic generator 20 is activated, the film 24 is adsorbed on the electromagnet 12, the first motor 14 is activated, and the circular The drum frame body 32 drives the electromagnet body 28 to rotate, wraps the film 24 on the electromagnet 12, the second motor 26 is reversed, and two opposite forces are generated on the film 24, so that the film 24 on the roller 22 can be connected to the electromagnet. The thin film 24 on the iron 12 is separated, and the electromagnet 12 absorbs metal foreign matter. Since the thin film 24 protects the electromagnet 12, pollution to the electromagnet 12 is avoided.
以上依据本发明的理想实施例为启示，通过上述的说明内容，相关人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定技术性范围。The ideal embodiments of the present invention are inspired by the above, and relevant persons can make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2021/076661 WO2022170637A1 (en) | 2021-02-15 | 2021-02-15 | Subway metal foreign body cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2021/076661 WO2022170637A1 (en) | 2021-02-15 | 2021-02-15 | Subway metal foreign body cleaning robot |
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| Publication Number | Publication Date |
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| WO2022170637A1 true WO2022170637A1 (en) | 2022-08-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2021/076661 Ceased WO2022170637A1 (en) | 2021-02-15 | 2021-02-15 | Subway metal foreign body cleaning robot |
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| Country | Link |
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| WO (1) | WO2022170637A1 (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3401365A (en) * | 1966-10-07 | 1968-09-10 | Westinghouse Electric Corp | Magnetic track cleaner |
| EP1876296B1 (en) * | 2006-07-06 | 2013-04-10 | Koninklijke BAM Groep N.V. | Method and device for removing ferrous material from a railway line |
| CN203420252U (en) * | 2013-08-22 | 2014-02-05 | 中铁第一勘察设计院集团有限公司 | Device for cleaning scrap iron generated in polishing railway steel rail |
| CN107700407A (en) * | 2017-09-30 | 2018-02-16 | 中山市民众镇新平小学 | A plastic runway garbage cleaner |
| CN108773387B (en) * | 2018-06-12 | 2019-11-05 | 苏州大成电子科技有限公司 | Metallic foreign body cleaning plant for rail traffic |
-
2021
- 2021-02-15 WO PCT/CN2021/076661 patent/WO2022170637A1/en not_active Ceased
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3401365A (en) * | 1966-10-07 | 1968-09-10 | Westinghouse Electric Corp | Magnetic track cleaner |
| EP1876296B1 (en) * | 2006-07-06 | 2013-04-10 | Koninklijke BAM Groep N.V. | Method and device for removing ferrous material from a railway line |
| CN203420252U (en) * | 2013-08-22 | 2014-02-05 | 中铁第一勘察设计院集团有限公司 | Device for cleaning scrap iron generated in polishing railway steel rail |
| CN107700407A (en) * | 2017-09-30 | 2018-02-16 | 中山市民众镇新平小学 | A plastic runway garbage cleaner |
| CN108773387B (en) * | 2018-06-12 | 2019-11-05 | 苏州大成电子科技有限公司 | Metallic foreign body cleaning plant for rail traffic |
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