阅读说明：本技术 一种自移式运煤敞车车厢清扫装置及其工作方法 (Self-moving type coal-transporting gondola car carriage cleaning device and working method thereof ) 是由 谢苗 刘怡 张鸿宇 刘治翔 毛君 王铁雷 卢进南 李玉岐 董珏峰 吴霞 于 2021-06-21 设计创作，主要内容包括：本发明公开了一种自移式运煤敞车车厢清扫装置及其工作方法,其中,一种自移式运煤敞车车厢清扫装置,包括,机架、行走机构、机械臂组件、清扫机构、收集机构和控制机构；通过行走机构,使整体装置可以移动；清扫机构设置于运煤敞车车厢相配合的清扫滚筒,做到同时清扫运煤敞车车厢的各内壁；利用收集机构造成负压,将清扫机构清除的物料及时收集,避免其二次冻结以及造成二次污染；控制机构使用自动识别、图像识别以及传感器实现自动采集控制参数,工作的工程中,无需人工干预,解决运煤敞车车厢内清理难的问题,节省人工消耗,同时清理效果好,使用安全性好,能提高煤炭运输行业的自动化水平。(The invention discloses a self-moving type coal transporting gondola car carriage cleaning device and a working method thereof, wherein the self-moving type coal transporting gondola car carriage cleaning device comprises a rack, a travelling mechanism, a mechanical arm assembly, a cleaning mechanism, a collecting mechanism and a control mechanism; the whole device can move through the travelling mechanism; the cleaning mechanism is arranged on a cleaning roller matched with the carriage of the coal gondola car, so that the inner walls of the carriage of the coal gondola car can be cleaned simultaneously; the collecting mechanism is used for generating negative pressure, so that the materials removed by the cleaning mechanism are collected in time, and secondary freezing and secondary pollution are avoided; the control mechanism uses automatic identification, image identification and a sensor to realize automatic acquisition of control parameters, manual intervention is not needed in the working engineering, the problem that the compartment of the coal-transporting gondola car is difficult to clean is solved, the manual consumption is saved, meanwhile, the cleaning effect is good, the use safety is good, and the automation level of the coal transportation industry can be improved.)

1. A carriage cleaning device of a self-moving coal-transporting gondola car is characterized by comprising a frame, a traveling mechanism, a mechanical arm component, a cleaning mechanism, a collecting mechanism and a control mechanism, wherein,

the traveling mechanism is arranged at the bottom of the rack; the running mechanism reciprocates along rails which are laid on two sides of the coal transporting gondola car in advance;

one end of the mechanical arm assembly is arranged at the upper part of the frame, and the other end of the mechanical arm assembly is connected with the sweeping mechanism; the mechanical arm assembly drives the cleaning mechanism to enter a compartment of the coal-transporting gondola car and completes linear movement and angle change of the cleaning mechanism;

the cleaning mechanism comprises a bracket, a cleaning roller and a motor, wherein the bracket is connected with the mechanical arm assembly; the cleaning roller is arranged on the bracket and is matched with the inner wall of the carriage of the coal-transporting gondola car; the motor drives the sweeping roller to rotate on the inner wall of the compartment of the coal gondola car;

the collecting mechanism is arranged on the upper part of the rack; comprises a material suction channel, a material collector and a fan; the feed inlet of the material suction channel is positioned at the rear side of the cleaning roller, and the discharge outlet of the material suction channel is connected with the material collector; the fan is communicated with the material collector and sucks air in the material collector and the material sucking channel;

the control mechanism comprises a control unit and an identification unit connected with the control unit, wherein the control unit is respectively connected with the traveling mechanism, the mechanical arm assembly, the cleaning mechanism and the fan of the collecting mechanism; the identification unit comprises a height measurer, an in-carriage acquisition system, an out-carriage serial number identification system and a cleaning identification system; the height measurer comprises a radar level meter, is arranged at the upper part of the rack and is used for measuring the height of the excess material in the carriage; the carriage internal acquisition system comprises an industrial camera and an image processor, is arranged at the upper part of the rack and is used for acquiring the real-time stock of the carriage internal memory excess material; the carriage outer side number identification system comprises an image collector and an image processor, is arranged on a rack on the side, with the number, of the carriage, identifies the vehicle type number, and transmits information to the control unit to read carriage parameters input in advance; the cleaning identification system comprises a pressure sensor and a position sensor, is arranged on a bracket of the cleaning mechanism, and collects the position and the pressure of the cleaning mechanism in the cleaning process.

2. The device for sweeping the carriage of the self-propelled gondola car according to claim 1, wherein the sweeping drum comprises a first sweeping drum and a second sweeping drum; the first cleaning roller is arranged on the left side surface and the right side surface of the bracket along the vertical direction; the second cleaning roller is horizontally arranged at the bottom of the bracket.

3. The cleaning device for the carriage of the self-moving type coal gondola car as claimed in claim 2, wherein the outer cylinder wall of the first cleaning roller is uniformly distributed with soft brushes; the outer cylinder wall of the second cleaning roller is provided with hard spiral blades along the axis; and the hard spiral blade is provided with an auxiliary blade protruding out of the surface of the hard spiral blade.

4. The device for sweeping the carriage of the self-propelled coal gondola car according to claim 1, wherein the robot arm assembly comprises a plurality of robot arm bodies, a pivot shaft connecting the robot arm bodies, and a driving mechanism; the mechanical arm body comprises a first mechanical arm, a second mechanical arm and a telescopic arm; the bottom end of the first mechanical arm is connected with the upper part of the rack through a mounting plate, and the top end of the first mechanical arm is hinged with the bottom end of the second mechanical arm; the top end of the second mechanical arm is hinged with one end of the telescopic arm; the other end of the telescopic arm is connected with a bracket hinge of the cleaning mechanism; the driving mechanism comprises a first linear telescopic unit and a second linear telescopic unit; one end of the first linear telescopic unit is connected with the mounting plate, and the other end of the first linear telescopic unit is connected with the first mechanical arm to drive the first mechanical arm to complete pitching motion; one end of the second linear telescopic unit is connected with the first mechanical arm, and the other end of the second linear telescopic unit is connected with the second mechanical arm to drive the second mechanical arm to complete pitching motion.

5. The device for sweeping the carriage of the self-propelled coal gondola car according to claim 1, wherein the sweeping mechanism further comprises a plurality of auxiliary blades installed on the left, right and bottom surfaces of the bracket; the auxiliary shovel blades are arranged in parallel to the cleaning roller respectively.

6. The device for sweeping the carriage of the self-propelled coal gondola car according to claim 2, wherein the first sweeping drum is provided in two in parallel on both left and right sides of the bracket; and two second cleaning rollers are arranged on the bottom surface of the bracket in parallel.

7. The cleaning device for the carriage of the self-moving type coal-transporting gondola car as claimed in claim 6, wherein two ends of the first cleaning roller are hinged with the bracket through a push rod, and the hinged points on the same side are respectively connected with two ends of a telescopic rod; a buffer device is arranged between the second cleaning roller and the bottom surface of the bracket.

8. The device for sweeping the carriage of the self-propelled gondola car according to claim 1, wherein the control unit is a PLC controller.

9. The device for sweeping the carriage of the self-propelled coal gondola car according to claim 1, characterized in that the fan of the collection mechanism is a multi-stage fan.

10. A working method of a carriage cleaning device of a self-moving coal gondola car is characterized by comprising the following steps of,

step 1, paving rails on two sides of a coal-transporting gondola car in advance; the carriage cleaning device of the self-moving type coal transporting gondola car is in place;

step 2, confirming that the carriage cleaning device of the self-moving type coal-transporting gondola car is normal in state, after the carriage of the coal-transporting gondola car which is processed by the car dumper process is pulled to a specified cleaning position, checking whether a system working indicator lamp normally runs or not, and starting the carriage cleaning device of the self-moving type coal-transporting gondola car;

step 3, after the self-moving type coal transporting gondola car carriage cleaning device is operated to a preset position, a carriage external serial number identification system identifies the carriage model and transmits identification information to a control unit;

step 4, the mechanical arm assembly drives the cleaning mechanism to move, and after the pressure sensor and the position sensor of the cleaning identification system identify that the cleaning mechanism moves to the interior of the carriage, the collection system in the carriage is started to identify the excess material information stored in the carriage; starting the height measurer; the identification and measurement information is transmitted to the control unit;

step 5, the control unit adjusts the position of the cleaning mechanism, and after a pressure sensor and a position sensor of the cleaning identification system identify that the first cleaning roller is contacted with the residual materials on the left and right inner side walls of the carriage and the residual materials on the inner side wall of the bottom of the carriage of the second cleaning roller, the control mechanism starts the cleaning mechanism and the collecting mechanism at the same time;

step 6, starting a traveling mechanism, enabling the self-moving type coal-transporting gondola car carriage cleaning device to integrally reciprocate along a track, and cleaning and collecting all residual materials in the carriage of the coal-transporting gondola car by using a cleaning mechanism and a collecting mechanism and collecting the residual materials into a material collector;

7, after the collection system recognition system in the carriage confirms that no excess materials exist in the carriage, stopping the traveling mechanism, and moving the cleaning mechanism to the outside of the carriage by the mechanical arm assembly;

step 8, repeating the step 3 to the step 7, and cleaning the next carriage;

and 9, after the cleaning task is finished, resetting the self-moving type coal transporting gondola car carriage cleaning device, returning to the position in the step 1 along the track, and closing the self-moving type coal transporting gondola car carriage cleaning device.

Technical Field

The invention belongs to the technical field of coal transportation equipment, and particularly relates to a carriage cleaning device of a self-moving type coal transporting open wagon and a working method thereof.

Background

Bulk coal transportation mainly takes train transportation as a main part, and is unloaded by a tipper after being transported to a designated place, because the bulk coal contains water and viscous substances under a low-temperature condition, the bulk coal is very easy to form a freezing and sticking phenomenon in a long-distance transportation process, cannot be unloaded by the tipper mode, can only be cleaned by a manual mode or an electromagnetic beat vibration mode, the manual cleaning consumes long time and has high cost, the coal transportation speed is influenced, and particularly, the danger is easily caused after workers enter a carriage. And adopt the electromagnetism to pat the clear car of mode and very easily harm the carriage structure, can make carriage stress concentration and take place bending fracture, very big influence the cost and the normal production of relevant transportation enterprise, caused the loss of enterprise's manpower, financial resources.

In patent application publication No. CN211973604 entitled "a carriage frozen coal cleaning device", a heating mechanism is fitted to a bucket of an excavator to melt frozen coal, thereby excavating and cleaning the frozen coal. In the above patent documents, the heat storage mechanism described cannot melt frozen coal over a large area in a short time; and the device is fixed on the base and can not move freely, so the cleaning effect of the cleaning device is poor.

Disclosure of Invention

In order to solve the problems, the invention provides a carriage cleaning device of a self-moving coal gondola car and a working method thereof.

In order to achieve the technical purpose, the invention adopts the following technical scheme:

a carriage cleaning device of a self-moving coal gondola car, further comprising a frame, a traveling mechanism, a mechanical arm component, a cleaning mechanism, a collecting mechanism and a control mechanism, wherein,

the traveling mechanism is arranged at the bottom of the rack; the running mechanism reciprocates along rails which are laid on two sides of the coal transporting gondola car in advance;

one end of the mechanical arm assembly is arranged at the upper part of the frame, and the other end of the mechanical arm assembly is connected with the sweeping mechanism; the mechanical arm assembly drives the cleaning mechanism to enter a compartment of the coal-transporting gondola car and completes linear movement and angle change of the cleaning mechanism;

the cleaning mechanism comprises a bracket, a cleaning roller and a motor, wherein the bracket is connected with the mechanical arm assembly; the cleaning roller is arranged on the bracket and is matched with the inner wall of the carriage of the coal-transporting gondola car; the motor drives the sweeping roller to rotate on the inner wall of the compartment of the coal gondola car;

the collecting mechanism is arranged on the upper part of the rack; comprises a material suction channel, a material collector and a fan; the feed inlet of the material suction channel is positioned at the rear side of the cleaning roller, and the discharge outlet of the material suction channel is connected with the material collector; the fan is communicated with the material collector and sucks air in the material collector and the material sucking channel;

the control mechanism comprises a control unit and an identification unit connected with the control unit, wherein the control unit is respectively connected with the traveling mechanism, the mechanical arm assembly, the cleaning mechanism and the fan of the collecting mechanism; the identification unit comprises a height measurer, an in-carriage acquisition system, an out-carriage serial number identification system and a cleaning identification system; the height measurer comprises a radar level meter, is arranged at the upper part of the rack and is used for measuring the height of the excess material in the carriage; the carriage internal acquisition system comprises an industrial camera and an image processor, is arranged at the upper part of the rack and is used for acquiring the real-time stock of the carriage internal memory excess material; the carriage outer side number identification system comprises an image collector and an image processor, is arranged on a rack on the side, with the number, of the carriage, identifies the vehicle type number, and transmits information to the control unit to read carriage parameters input in advance; the cleaning identification system comprises a pressure sensor and a position sensor, is arranged on a bracket of the cleaning mechanism, and collects the position and the pressure of the cleaning mechanism in the cleaning process.

Further, the cleaning roller comprises a first cleaning roller and a second cleaning roller; the first cleaning roller is arranged on the left side surface and the right side surface of the bracket along the vertical direction; the second cleaning roller is horizontally arranged at the bottom of the bracket.

Furthermore, flexible brushes are uniformly distributed on the outer cylinder wall of the first cleaning roller; the outer cylinder wall of the second cleaning roller is provided with hard spiral blades along the axis; and the hard spiral blade is provided with an auxiliary blade protruding out of the surface of the hard spiral blade.

Further, the mechanical arm assembly comprises a plurality of mechanical arm bodies, a pivot shaft connected with the mechanical arm bodies and a driving mechanism; the mechanical arm body comprises a first mechanical arm, a second mechanical arm and a telescopic arm; the bottom end of the first mechanical arm is connected with the upper part of the rack through a mounting plate, and the top end of the first mechanical arm is hinged with the bottom end of the second mechanical arm; the top end of the second mechanical arm is hinged with one end of the telescopic arm; the other end of the telescopic arm is connected with a bracket hinge of the cleaning mechanism; the driving mechanism comprises a first linear telescopic unit and a second linear telescopic unit; one end of the first linear telescopic unit is connected with the mounting plate, and the other end of the first linear telescopic unit is connected with the first mechanical arm to drive the first mechanical arm to complete pitching motion; one end of the second linear telescopic unit is connected with the first mechanical arm, and the other end of the second linear telescopic unit is connected with the second mechanical arm to drive the second mechanical arm to complete pitching motion.

Furthermore, the sweeping mechanism also comprises a plurality of auxiliary shoveling knives which are arranged on the left side surface, the right side surface and the bottom surface of the bracket; the plurality of auxiliary blades are arranged in parallel to the first cleaning roller and the second cleaning roller, respectively.

Furthermore, the number of the first cleaning rollers is two, and the two first cleaning rollers are arranged on the left side surface and the right side surface of the bracket in parallel; and two second cleaning rollers are arranged on the bottom surface of the bracket in parallel.

Furthermore, two ends of the first cleaning roller are hinged with the bracket through a push rod, and hinged points on the same side are respectively connected with two ends of a telescopic rod; a buffer device is arranged between the second cleaning roller and the bottom surface of the bracket.

Further, the control unit is a PLC controller.

Furthermore, the fan of the collecting mechanism is a multi-stage fan.

A working method of the self-moving type coal gondola car carriage cleaning device further comprises the following steps,

step 1, paving rails on two sides of a coal-transporting gondola car in advance; the carriage cleaning device of the self-moving type coal transporting gondola car is in place;

step 2, confirming that the carriage cleaning device of the self-moving type coal-transporting gondola car is normal in state, after the carriage of the coal-transporting gondola car which is processed by the car dumper process is pulled to a specified cleaning position, checking whether a system working indicator lamp normally runs or not, and starting the carriage cleaning device of the self-moving type coal-transporting gondola car;

step 3, after the self-moving type coal transporting gondola car carriage cleaning device is operated to a preset position, a carriage external serial number identification system identifies the carriage model and transmits identification information to a control unit;

step 4, the mechanical arm assembly drives the cleaning mechanism to move, and after the pressure sensor and the position sensor of the cleaning identification system identify that the cleaning mechanism moves to the interior of the carriage, the collection system in the carriage is started to identify the excess material information stored in the carriage; starting the height measurer; the identification and measurement information is transmitted to the control unit;

step 5, the control unit adjusts the position of the cleaning mechanism, and after a pressure sensor and a position sensor of the cleaning identification system identify that the first cleaning roller is contacted with the residual materials on the left and right inner side walls of the carriage and the residual materials on the inner side wall of the bottom of the carriage of the second cleaning roller, the control mechanism starts the cleaning mechanism and the collecting mechanism at the same time;

step 6, starting a traveling mechanism, enabling the self-moving type coal-transporting gondola car carriage cleaning device to integrally reciprocate along a track, and cleaning and collecting all residual materials in the carriage of the coal-transporting gondola car by using a cleaning mechanism and a collecting mechanism and collecting the residual materials into a material collector;

7, after the collection system recognition system in the carriage confirms that no excess materials exist in the carriage, stopping the traveling mechanism, and moving the cleaning mechanism to the outside of the carriage by the mechanical arm assembly;

step 8, repeating the step 3 to the step 7, and cleaning the next carriage;

and 9, after the cleaning task is finished, resetting the self-moving type coal transporting gondola car carriage cleaning device, returning to the position in the step 1 along the track, and closing the self-moving type coal transporting gondola car carriage cleaning device.

The invention has the following beneficial effects:

the self-moving type coal transporting gondola car carriage cleaning device has the advantages that the whole device can move through the traveling mechanism, and an operator can conveniently execute a cleaning task by matching with the control mechanism; the cleaning mechanism is arranged on a cleaning roller matched with the carriage of the coal gondola car, and simultaneously cleans the inner wall of the carriage of the coal gondola car, and the collecting mechanism is used for generating negative pressure to collect the materials removed by the cleaning mechanism in time, so that secondary freezing and secondary pollution are avoided; the control mechanism uses automatic identification, image identification and a sensor to realize automatic acquisition of control parameters, and uses the control unit to control the movement and working mode of the device, so that in the working engineering of the device, manual intervention is not needed, automatic cleaning and automatic adjustment are realized, the human cost is reduced to the maximum extent, and the safety of an operator is ensured; the problem of difficult clearance in the coal gondola car carriage is solved, save artifical consumption, the clearance is effectual simultaneously, and the safety in utilization is good, can improve the automation level of coal transportation trade.

Secondly, arranging a metal spiral type second cleaning roller at the bottom in the cleaning mechanism according to the characteristic of residual materials stored in a compartment of the coal-transporting gondola car, so that frozen objects can be conveniently crushed; an auxiliary scraper knife is added and matched with a cleaning roller, so that materials stuck on the inner wall of the carriage can be better removed.

Drawings

FIG. 1 is a schematic diagram of the general structure of the present invention;

FIG. 2 is a schematic view of the assembly structure of the traveling mechanism, the frame and the control mechanism of the present invention;

FIG. 3 is a schematic structural view of a robot arm assembly of the present invention;

FIG. 4 is a schematic top view of the cleaning mechanism of the present invention;

FIG. 5 is a schematic bottom view of the cleaning mechanism of the present invention;

FIG. 6 is a schematic view of the collection mechanism of the present invention;

description of the symbols:

1. the device comprises a travelling mechanism, 1-1 travelling wheels, 1-2 speed reducers, 1-3 motors, 1-4 supporting seats, 2 racks, 2-1 basic upright columns, 2-2 transverse pulling reinforcing beams, 2-3 mounting platforms, 3 mechanical arm assemblies, 3-1 mounting plates, 3-2 first mechanical arms, 3-3 second mechanical arms, 3-4 first linear telescopic units, 3-5 second linear telescopic units, 3-6 telescopic arms, 4 control mechanisms, 4-1 height measuring devices, 4-2 carriage internal acquisition systems, 4-3 carriage external number identification systems, 5 cleaning mechanisms, 5-1 supports, 5-2 telescopic rods, 5-3 first buffers, 5-4 first rollers, 5-4-1 of a soft brush, 5-5 of a second cleaning roller, 5-5-1 of a helical blade, 5-5-2 of a cutting pick, 5-6 of an auxiliary shovel blade, 5-7 of an upper push rod, 5-8 of a lower push rod, 5-9 of a second buffer, 6 of a collecting mechanism, 6-1 of a material collector, 6-2 of a multistage fan and 7-of a hydraulic pump station.

Detailed Description

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.

As shown in fig. 1-6, the cleaning device for the carriage of the self-moving coal-transporting gondola car comprises a frame 2, a travelling mechanism 1, a mechanical arm assembly 3, a cleaning mechanism 5, a collecting mechanism 6 and a control mechanism 4; the frame 2 is a supporting frame of the device, and comprises base columns 2-1, transverse pulling stiffening beams 2-2 and mounting platforms 2-3, wherein the four base columns 2-1 are vertically arranged, the transverse pulling stiffening beams 2-2 are positioned between the two base columns on the same side and are fixed through bolts, the mounting platforms 2-3 are positioned at the upper ends of the base columns 2-1, four support legs are fixedly arranged below the mounting platforms 2-3, and the mounting platforms 2-3 are connected with the upper ends of the base columns 2-1 through the four support legs by using bolts.

The walking mechanism 1 comprises walking wheels 1-1, a speed reducer 1-2, a motor 1-3 and a supporting seat 1-4; the walking wheel 1-1 is connected with the supporting seat 1-4 through a wheel shaft, the motor 1-3 is installed above the supporting seat 1-4 through a bolt, and the supporting seat 1-4 is connected with the lower ends of four basic upright columns 2-1 of the rack 2; the output shaft of the motor 1-3 is connected with the speed reducer 1-2 through a coupler, the output shaft of the speed reducer 1-2 is connected with the wheel shaft through a coupler, and the motor 1-3 drives the traveling wheels 1-1 so as to drive the device to reciprocate along the rails which are laid on the two sides of the coal transporting gondola car in advance.

The mechanical arm assembly 3 controls the cleaning mechanism 5 to enter a carriage of the coal transporting gondola car and completes linear movement and angle change of the cleaning mechanism 5; the robot comprises a mounting plate 3-1, a first mechanical arm 3-2, a second mechanical arm 3-3, a first linear telescopic unit 3-4, a second linear telescopic unit 3-5 and a telescopic arm 3-6; the mounting plate 3-1 is mounted on the upper portion of the mounting platform 2-3 through a bolt, and the bottom end of the first mechanical arm 3-2 is hinged to the mounting plate 3-1 through a pivot shaft; the top end of the first mechanical arm 3-2 is hinged with the bottom end of the second mechanical arm 3-3 through a pivot shaft; the top end of the second mechanical arm 3-2 is hinged with one end of a telescopic arm 3-6, the other end of the telescopic arm 3-6 is hinged with a bracket of the cleaning mechanism 5, and the linear motion of the cleaning mechanism is realized by utilizing the telescopic characteristic of the telescopic arm; one end of the first linear telescopic unit 3-4 is connected with the mounting plate 3-1, and the other end of the first linear telescopic unit is connected with the first mechanical arm 3-2 to drive the first mechanical arm 3-2 to complete pitching motion; one end of the second linear telescopic unit 3-5 is connected with the first mechanical arm 3-2, the other end of the second linear telescopic unit is connected with the second mechanical arm 3-3, the second mechanical arm 3-3 is driven to complete pitching motion, preferably, the first linear telescopic unit 3-4, the second linear telescopic unit 3-5 and the telescopic arm 3-6 all use hydraulic rods and are controlled by a hydraulic pump station 7, and the hydraulic pump station 7 is installed on the installation platform 2-3; the cleaning mechanism 5 can be flexibly adjusted.

The cleaning mechanism 5 is an actuating mechanism for completing cleaning work by the device; comprises a bracket 5-1, a first cleaning roller 5-4, a second cleaning roller 5-5, an auxiliary scraper knife 5-6 and a motor; wherein, the bracket 5-1 is connected with the telescopic arm 3-6; the first cleaning rollers 5-4 are vertically arranged on the left side surface and the right side surface of the bracket 5-1 and matched with the left inner wall and the right inner wall of a carriage of the coal-transporting open wagon, preferably, two cleaning rollers are arranged on the left side surface and the right side surface of the bracket 5-1 in parallel; the top end of the first cleaning roller 5-4 is hinged with the bracket 5-1 through an upper push rod 5-7, and the hinge points at the same side are respectively connected with two ends of a telescopic rod 5-2, so that when the cleaning machine works, the distance between the two first cleaning rollers 5-4 at the same side is increased or decreased as required; a first buffer 5-3 is arranged between the two upper push rods 5-7; the bottom end of the first cleaning roller 5-4 is hinged with the bracket 5-1 through a lower push rod 5-8; the outer cylinder wall of the first cleaning roller 5-4 is uniformly distributed with soft brushes 5-4-1, preferably, the soft brushes 5-4-1 are hairbrushes; the cleaning capacity is increased; the second sweeping roller 5-5 is horizontally arranged at the bottom of the bracket 5-1 and is matched with the inner wall of the bottom of the carriage of the coal-transporting gondola car; the outer cylinder wall of the second cleaning roller 5-5 is provided with a hard spiral blade 5-5-1 along the axis, preferably, the spiral blade 5-5-1 is made of metal, and cutting teeth 5-5-2 which are convexly arranged are uniformly distributed on the spiral blade, so that frozen objects can be conveniently crushed; the motor drives the first cleaning roller 5-4 and the second cleaning roller 5-5 to move on the inner side wall of the carriage of the coal-transporting gondola car in a rotating way; two second cleaning rollers 5-5 are arranged on the bottom surface of the bracket 5-1 in parallel; a second buffer device 5-9 is arranged between the second cleaning roller 5-5 and the bottom surface of the bracket 5-1; the impact buffer is used for buffering impact force during working.

A plurality of auxiliary shoveling knives 5-6 are arranged and respectively arranged on the left side surface, the right side surface and the bottom surface of the bracket 5-1; a plurality of auxiliary shovel blades 5-6 are respectively arranged in parallel with the first cleaning roller 5-4 and the second cleaning roller 5-5, preferably, the auxiliary shovel blades 5-6 are respectively arranged between the two first cleaning rollers 5-4 and the two second cleaning rollers 5-5 which are arranged at the same side; the material stuck on the inner wall of the carriage is better removed by matching with the cleaning roller.

The collecting mechanism 6 comprises a material sucking channel, a material collector 6-1 and a fan 6-2; wherein, the feed inlet of the material suction channel is positioned at the rear side of the second cleaning roller 5-5, the discharge outlet of the material suction channel is connected with the material collector 6-1, preferably, the material suction channel and the material collector 6-1 are in an integral structure; the material collector 6-1 is arranged on the mounting platform 2-3; the fans 6-2 are fixed on two sides of the material collector 6-1 and are communicated with the material collector 6-1, the fans 6-2 suck air in the material collector 6-1 and the material sucking channel, preferably, the fans 6-2 are multi-stage fans, the number of remaining materials in the carriage is identified according to a collection system in the carriage, the PLC adjusts the working power of the multi-stage fans, a negative pressure environment is caused at a feed inlet, materials removed by the cleaning mechanism 5 are collected in time, and secondary freezing and secondary pollution are avoided.

The control mechanism 4 comprises a control unit and an identification unit connected with the control unit; preferably, the control unit is a PLC controller with the model of Siemens PLC-S7-1200; the PLC controller controls the traveling mechanism 1, the driving mechanism of the mechanical arm assembly 3, the motor of the cleaning mechanism 5 and the fan 6-2 of the collecting mechanism 6 through a control program which is input in advance according to the data collected by the identification unit; the identification unit comprises a height measurer 4-1, an in-carriage acquisition system 4-2, an out-carriage serial number identification system 4-3 and a cleaning identification system; the height measurer 4-1 comprises a radar level meter with the model of MZ-RD-700, is mounted at the upper part of a mounting platform 2-3 of the rack 2, and measures the height of the excess material in the carriage; the in-carriage acquisition system 4-2 comprises an industrial camera and an image processor, wherein the model of the industrial camera is VB-H730F MK II, and the industrial camera is installed on the upper part of the installation platform 2-3 of the rack 2 to obtain the real-time stock of the residual materials in the carriage; the carriage outside number identification system 4-3 comprises an image collector and an image processor, wherein the image collector is preferably an industrial camera with the model number of VB-H730F MK II; the device is arranged on the frame 2 at one side of the carriage with the serial number, identifies the vehicle type number, and transmits information to the control unit to read carriage parameters input in advance; the cleaning identification system comprises a pressure sensor and a position sensor; the cleaning device is arranged on a bracket 5-1 of the cleaning mechanism 5, the position of the cleaning process of the cleaning mechanism 5 and the pressure received by the cleaning mechanism are fed back to a PLC (programmable logic controller) in real time, preferably, the cleaning identification system also comprises a limit switch, the edge of the bracket is arranged, the limit switch can be matched with a pressure sensor and a position sensor to identify the motion state of the cleaning mechanism 5, and meanwhile, the limit switch is used for preventing the cleaning roller from being damaged due to the fact that the distance between the cleaning roller and the inner side wall of a carriage is smaller than the safe working distance of the cleaning roller.

A working method of a carriage cleaning device of a self-moving type coal-transporting gondola car comprises the following steps:

step 1, paving rails on two sides of a coal-transporting gondola car in advance; the self-moving coal transporting gondola car carriage sweeping device is in place.

And 2, confirming that the self-moving type coal transporting gondola car carriage cleaning device is normal in state, after the carriage of the coal transporting gondola car which is processed by the tipper procedure is pulled to a specified cleaning position by a tractor, checking whether a system working indicator lamp normally runs or not, and starting the self-moving type coal transporting gondola car carriage cleaning device.

And 3, after the self-moving type coal transporting gondola car carriage cleaning device is operated to a preset position, the carriage external serial number identification system 4-3 identifies the carriage model and transmits the identification information to the PLC.

Step 4, starting a hydraulic pump station, starting a first linear telescopic unit 3-4, a second linear telescopic unit 3-5 and a telescopic arm 3-6 to extend, slowly placing a cleaning device 5 into the carriage, and starting an acquisition system 4-2 in the carriage after a pressure sensor and a position sensor of a cleaning identification system identify that a cleaning mechanism moves into the carriage, so as to identify whether the carriage contains the excess material and the content information of the excess material stored in the carriage; starting the height measurer 4-1; transmitting the information to a PLC controller, and calculating according to the value measured by the height measurer 4-1 and the height of the bottom surface of the carriage to obtain the real-time thickness of the excess material in the carriage; and calling the programmed control program by the PLC according to the acquired data.

Step 5, the control unit adjusts the position of the cleaning mechanism, and when a pressure sensor and a position sensor of the cleaning identification system identify that the first cleaning roller is in contact with the residual materials on the left and right inner side walls of the carriage; after the materials left on the inner side wall of the bottom of the second cleaning roller carriage are contacted, the control mechanism starts the cleaning mechanism and the collecting mechanism at the same time; the method specifically comprises the following steps;

step 5-1, identifying the distance and the contact condition between the first cleaning roller 5-4 and the left and right side walls of the carriage and the distance and the contact condition between the second cleaning roller 5-5 and the inner wall of the bottom of the carriage by a pressure sensor and a position sensor of a cleaning identification system, and adjusting the distance and the contact condition until the axis of the first cleaning roller 5-4 is parallel to the inner sides of the left and right side walls of the carriage; the axis of the second cleaning roller 5-5 is parallel to the axis of the second cleaning roller; the first cleaning roller and the second cleaning roller are placed above the residual materials in the carriage;

step 5-2, the telescopic rod 5-2 starts to extend, and the distance between the two first cleaning rollers 5-4 arranged on the same side starts to increase; the telescopic arms 3-6 start to work, so that the sweeping mechanism 5 moves downwards and keeps horizontal;

5-3, the control mechanism starts the cleaning mechanism and the collecting mechanism at the same time; auxiliary cleaning blade 506 also begins auxiliary cleaning;

and 5-4, starting corresponding wind power in stages according to the number of the surplus materials in the carriage identified by the acquisition system in the carriage by the multistage fan 6-2 of the collection mechanism 6.

Step 6, starting the traveling mechanism 1, enabling the self-moving type coal-transporting gondola car carriage cleaning device to integrally reciprocate along a track, and clearing and collecting all residual materials in the carriage of the coal-transporting gondola car to a material collector by the cleaning mechanism 5 and the collecting mechanism 6;

6-1, after the cleaning depth of the second cleaning roller 5-5 reaches a preset value, the travelling mechanism 1 starts to move forwards along the track;

step 6-2, the first cleaning roller 5-4 and the second cleaning roller 5-5 work continuously, and the collecting mechanism 6 sucks the removed residual materials into the material collector 6-1;

and 6-3, checking the cleaning condition of the excess materials in the carriage by using the in-carriage acquisition system 4-2, if the excess materials in the carriage do not reach a preset value after primary cleaning, reversely advancing the travelling mechanism 1, and cleaning the carriage of the coal-transporting gondola car for the second time after the excess materials in the carriage reach a designated position.

And 7, after the collection system 4-2 in the carriage confirms that no excess materials exist in the carriage, the travelling mechanism 1 stops, the first linear telescopic unit 3-4, the second linear telescopic unit 3-5, the telescopic arm 3-6 and the telescopic rod 5-2 reset, and the mechanical arm assembly 3 moves the cleaning mechanism to the outside of the carriage.

And 8, repeating the steps 3 to 7, and cleaning the next carriage.

And 9, after the cleaning task is finished, resetting the self-moving type coal transporting gondola car carriage cleaning device, returning to the position in the step 1 along the track, and closing the self-moving type coal transporting gondola car carriage cleaning device.

The above-mentioned embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention, and any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention; accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.