CN107127177B - A kind of cleaning device of Coupled Rigid-flexible - Google Patents
A kind of cleaning device of Coupled Rigid-flexible Download PDFInfo
- Publication number
- CN107127177B CN107127177B CN201710431297.0A CN201710431297A CN107127177B CN 107127177 B CN107127177 B CN 107127177B CN 201710431297 A CN201710431297 A CN 201710431297A CN 107127177 B CN107127177 B CN 107127177B
- Authority
- CN
- China
- Prior art keywords
- flexible
- connecting rod
- mounting base
- rigid
- spray head
- 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.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The present invention proposes a kind of cleaning device of Coupled Rigid-flexible, including pedestal, rigid arm assem, flexible arm component, mounting base, control assembly and executive module, rigid arm assem bottom end is hinged with pedestal, top is hinged with mounting base, one end of flexible arm component is connected with mounting base, the other end is connected with executive module, and control assembly is installed in mounting base.The present invention can be realized flexible and bending motion, and the rotation and vibration of spray head are controlled by hydraulic pressure, the job requirements of executive module are met with this.
Description
Technical field
The invention belongs to the technical field of cleaning machinery arm more particularly to a kind of cleaning devices of Coupled Rigid-flexible.
Background technique
With the continuous development of robot technology, Rigid Robot Manipulator has biggish office in face of diversified job task often
Sex-limited, flexible machine arm uses light material, and kinematic accuracy height, fast response time, load self weight are than high, low in energy consumption, in machine
Status in people's area research is more and more important.In practical engineering applications, the mechanical arm with Coupled Rigid-flexible characteristic can be preferably
The advantages of ground combination rigid arm and flexible arm, the scope of application is wider；Wherein, rigid element will not occur to vibrate and deform；It is flexible
Armed lever can mitigate the quality of mechanical arm system partially due to using light material to greatest extent.
But flexible armed lever is easy to happen flexible deformation and vibration under incentive action, causes the pendulum of end effector mechanism
It is dynamic, therefore flexible armed lever vibration is rationally controlled, it is allowed to effective vibration needed for being converted into cleaning, to improve cleaning machinery arm
Working efficiency is very necessary.
Summary of the invention
The technical problem to be solved by the invention is to solve the above problems providing a kind of cleaning of Coupled Rigid-flexible
Device can be effectively controlled the vibration of end flexible arm, improve cleaning efficiency.
The technical proposal adopted by the invention to solve the above technical problems is that: a kind of cleaning device of Coupled Rigid-flexible, it is special
Sign is, including pedestal, rigid arm assem, flexible arm component, mounting base, control assembly and executive module, the rigid arm group
Part bottom end is hinged with the pedestal, and top is hinged with the mounting base, one end of the flexibility arm component and mounting base phase
Even, the other end is connected with the executive module, and the control assembly is installed in mounting base.
According to the above scheme, the rigid arm assem includes first connecting rod, the second connecting rod and that front and back is successively hinged and connected
Three-link is equipped with first hydraulic cylinder between the first, second connecting rod, second hydraulic cylinder is equipped between second, third connecting rod, and first connects
Bar bottom end is hinged with the pedestal, and third connecting rod top is connected with the mounting base.
According to the above scheme, the flexible arm component includes several locking nubs, is connected between two neighboring locking nub by spring, and one
The locking nub of side head is connected with the mounting base, and the locking nub end face outside center of other side end is equipped with connecting shaft, the connection
Axis is hollow columnar structures.
According to the above scheme, the executive module includes spray head and water inlet pipe, in the spray head end face outside it is uniformly distributed it is several go out
Water pipe, spray head inner side end center are connect with the connecting shaft by bearing rotary, the water outlet side end of the water inlet pipe and company
The internal cavities phase configuration of spindle, the end for being discharged side end are protruded into inside spray head, and water inlet pipe is equipped with flow control valve.
According to the above scheme, the control assembly includes PLC controller and several vibrating sensors, several vibrating sensings
Device is respectively arranged in the locking nub, and the input terminal of the PLC controller is connected with several vibrating sensors, output end and described the
One hydraulic cylinder, second hydraulic cylinder are connected and are connected with flow control valve.
According to the above scheme, the flexible arm component housing sets flexible boot.
According to the above scheme, the outlet pipe includes DC tube and tipping tube, and the tipping tube is laid along the spray head outer ring,
The DC tube is laid along spray head inner ring.
According to the above scheme, the flexible boot is bellows.
The beneficial effects of the present invention are: 1, a kind of cleaning device of Coupled Rigid-flexible is provided, the apparatus structure design science close
Reason has multiple freedom degrees, can be realized flexible and multiple directions bending motions, increases the use scope of cleaning device,
Expand cleaning section；2, each component can be independently controlled in the device, control is more accurate, and alleviates flexible arm
The weight of component keeps cleaning device more flexible and responds rapid；3, the device causes end sprayer by high pressure water counter-force
Effective vibration, the effect of increasing vibration washing completes the cleaning to workpiece, improves cleaning efficiency.
Detailed description of the invention
Fig. 1 is the axonometric drawing of one embodiment of the invention.
Fig. 2 is the structural schematic diagram for removing flexible arm component after bellows of one embodiment of the invention.
Wherein: 1- pedestal, 2- first connecting rod, 3- second connecting rod, 4- third connecting rod, 5- mounting base, 6- locking nub, 7- spring,
8- connecting shaft, 9- bellows, 10- spray head, 11- DC tube, 12- tipping tube.
Specific embodiment
For a better understanding of the invention, with reference to the accompanying drawings and examples to further description of the present invention.
As shown in Figure 1 and Figure 2, a kind of cleaning device of Coupled Rigid-flexible, including pedestal 1, rigid arm assem, flexible arm component,
Mounting base, control assembly and executive module, rigid arm assem bottom end are hinged with pedestal, and top is hinged with mounting base, flexible
One end of arm component is connected with mounting base, and the other end is connected with executive module, and control assembly is installed in mounting base.
First connecting rod 2, second connecting rod 3 and the third connecting rod 4 that rigid arm assem is successively hinged and connected before and after including, first,
It is equipped with first hydraulic cylinder between second connecting rod, is equipped with second hydraulic cylinder, first connecting rod bottom end and pedestal between second, third connecting rod
It being hinged, third connecting rod top is connected with mounting base 5, and two connecting rods that the first, second Driven by Hydraulic Cylinder is hinged adjust angle,
And then change the job position of executive device.
Flexible arm component includes several locking nubs 6, is connected between two neighboring locking nub by spring 7, the locking nub of side end
It is connected with mounting base, the locking nub end face outside center of other side end is equipped with connecting shaft 8, and connecting shaft is hollow columnar structures.It is soft
Property arm component outside be arranged flexible boot, flexible boot can be bellows 9.
Executive module includes spray head 10 and water inlet pipe, and uniformly distributed several outlet pipes in spray head end face outside, outlet pipe includes straight
Flow tube 11 and tipping tube 12, tipping tube along spray head outer ring lay, DC tube along spray head inner ring lay, spray head inner side end center with
Connecting shaft is connected by bearing rotary, and the internal cavities phase configuration of the water outlet side end and connecting shaft of water inlet pipe is discharged side end
End protrude into inside spray head, water inlet pipe be equipped with flow control valve.It is realized by the counter-force of the high pressure water of outlet pipe ejection
The counter motion of flexible arm, flexible arm closes block and does compound motion together by spring, to realize the flexible vibration of entire flexible arm
It is dynamic.High pressure water had not only been utilized in this way to the reaction force of device, but also has compensated for the uncontrollable deficiency of vibrating flexible beam.
Control assembly includes PLC controller and several vibrating sensors, and several vibrating sensors are respectively arranged in locking nub,
The input terminal of PLC controller is connected with several vibrating sensors, and output end is connected with first hydraulic cylinder, second hydraulic cylinder and flow
Regulating valve is connected.
In operation, first hydraulic cylinder and second hydraulic cylinder realize rigid arm in plane
Arbitrary trajectory is mobile.Pedestal can be connect with other rotary work planes, complete the operation that rotates in a circumferential direction by servomotor driving.It holds
When row component cleaning workpiece, high pressure water sprays the Working mould clockwise or counterclockwise, it can be achieved that spray head by tipping tube
Formula, high pressure water are sprayed by DC tube, and the counter-force of high pressure water realizes the counter motion of flexible arm, and flexible arm locking nub passes through spring
Compound motion is done together.According to the feedback signal of vibrating sensor, hydraulic pressure is adjusted by PLC controller, vibration is realized to it
Control completes comprehensive cleaning using suitable amplitude.
Above is only presently preferred embodiments of the present invention, and of course, the scope of rights of the present invention cannot be limited by this,
Therefore the equivalence changes done according to scope of the present invention patent, still belong to protection scope of the present invention.
Claims (5)
1. a kind of cleaning device of Coupled Rigid-flexible, which is characterized in that including pedestal, rigid arm assem, flexible arm component, installation
Seat, control assembly and executive module, the rigid arm assem bottom end are hinged with the pedestal, and top is mutually cut with scissors with the mounting base
It connects, one end of the flexibility arm component is connected with mounting base, and the other end is connected with the executive module, and the control assembly is installed
In in mounting base, flexible arm component includes several locking nubs, is connected between two neighboring locking nub by spring, the locking nub of side end
It is connected with mounting base, the locking nub end face outside center of other side end is equipped with connecting shaft, and the connecting shaft is hollow columnar structures,
Executive module includes spray head and water inlet pipe, uniformly distributed several outlet pipes in the spray head end face outside, spray head inner side end center with
The connecting shaft is connected by bearing rotary, the internal cavities phase configuration of the water outlet side end and connecting shaft of the water inlet pipe, out
The end of water side end is protruded into inside spray head, and water inlet pipe is equipped with flow control valve, and the outlet pipe includes DC tube and inclination
Pipe, the tipping tube are laid along the spray head outer ring, and the DC tube is laid along spray head inner ring, the high pressure sprayed by outlet pipe
The counter-force of water realizes the counter motion of flexible arm, and locking nub does compound motion by spring together, to realize entire flexible arm
The stretching vibration of component.
2. a kind of cleaning device of Coupled Rigid-flexible according to claim 1, which is characterized in that the rigid arm assem includes
It is hydraulic to be equipped with first between the first, second connecting rod for first connecting rod, second connecting rod and the third connecting rod that front and back is successively hinged and connected
Cylinder is equipped with second hydraulic cylinder between second, third connecting rod, and first connecting rod bottom end is hinged with the pedestal, third connecting rod top
It is connected with the mounting base.
3. a kind of cleaning device of Coupled Rigid-flexible according to claim 2, which is characterized in that the control assembly includes
PLC controller and several vibrating sensors, several vibrating sensors are respectively arranged in the locking nub, the PLC controller
Input terminal be connected with several vibrating sensors, output end and the first hydraulic cylinder, second hydraulic cylinder and flow control valve phase
Even.
4. a kind of cleaning device of Coupled Rigid-flexible according to claim 2, which is characterized in that the flexibility arm component housing
If flexible boot.
5. a kind of cleaning device of Coupled Rigid-flexible according to claim 4, which is characterized in that the flexible boot is wave
Line pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710431297.0A CN107127177B (en) | 2017-06-08 | 2017-06-08 | A kind of cleaning device of Coupled Rigid-flexible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710431297.0A CN107127177B (en) | 2017-06-08 | 2017-06-08 | A kind of cleaning device of Coupled Rigid-flexible |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107127177A CN107127177A (en) | 2017-09-05 |
| CN107127177B true CN107127177B (en) | 2019-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710431297.0A Expired - Fee Related CN107127177B (en) | 2017-06-08 | 2017-06-08 | A kind of cleaning device of Coupled Rigid-flexible |
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| CN (1) | CN107127177B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107990416A (en) * | 2017-11-28 | 2018-05-04 | 浙江环资检测科技有限公司 | A kind of 30C environment-friendly air conditioners with automatic cleaning function |
| CN109158358A (en) * | 2018-10-13 | 2019-01-08 | 宁波慈北医疗器械有限公司 | A kind of cleaning device of 3D printing facial bone |
| CN109570107A (en) * | 2018-11-28 | 2019-04-05 | 江苏晶成光学有限公司 | A kind of monocrystalline silicon piece wire cutting machine cleaning device |
| CN111604306B (en) * | 2020-05-19 | 2022-03-15 | 深圳市南星海洋工程服务有限公司 | Jacket marine organism cleaning robot |
| CN111645104A (en) * | 2020-06-15 | 2020-09-11 | 贵州大学 | Large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm capable of being replaced quickly |
| CN113696986B (en) * | 2021-09-18 | 2023-03-28 | 河北工业大学 | Flexible tracked robot connecting device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0570793A1 (en) * | 1992-05-21 | 1993-11-24 | AB Ph. Nederman & Co. | Ball joint mechanism |
| CN203853351U (en) * | 2014-05-28 | 2014-10-01 | 山东交通学院 | Solar cell panel cleaning device capable of preventing pressing force overload |
| CN105170589A (en) * | 2015-10-19 | 2015-12-23 | 安徽理工大学 | Vertical storage tank shell cleaning equipment |
| CN105457960A (en) * | 2016-01-14 | 2016-04-06 | 绵阳蓝奥科技有限公司 | Large sealed storage container cleaning intelligent robot |
| CN106423970A (en) * | 2016-10-31 | 2017-02-22 | 河北工业大学 | Electric cleaning device for street lamp pole |
-
2017
- 2017-06-08 CN CN201710431297.0A patent/CN107127177B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0570793A1 (en) * | 1992-05-21 | 1993-11-24 | AB Ph. Nederman & Co. | Ball joint mechanism |
| CN203853351U (en) * | 2014-05-28 | 2014-10-01 | 山东交通学院 | Solar cell panel cleaning device capable of preventing pressing force overload |
| CN105170589A (en) * | 2015-10-19 | 2015-12-23 | 安徽理工大学 | Vertical storage tank shell cleaning equipment |
| CN105457960A (en) * | 2016-01-14 | 2016-04-06 | 绵阳蓝奥科技有限公司 | Large sealed storage container cleaning intelligent robot |
| CN106423970A (en) * | 2016-10-31 | 2017-02-22 | 河北工业大学 | Electric cleaning device for street lamp pole |
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| CN107127177A (en) | 2017-09-05 |
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