CN109124531A - Dish-washing machine spray equipment and spray system based on parallel manipulator - Google Patents
Dish-washing machine spray equipment and spray system based on parallel manipulator Download PDFInfo
- Publication number
- CN109124531A CN109124531A CN201811230007.7A CN201811230007A CN109124531A CN 109124531 A CN109124531 A CN 109124531A CN 201811230007 A CN201811230007 A CN 201811230007A CN 109124531 A CN109124531 A CN 109124531A
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- China
- Prior art keywords
- water
- type chamber
- universal joint
- water type
- dish
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Links
- 239000007921 spray Substances 0.000 title claims abstract description 60
- 238000004851 dishwashing Methods 0.000 title claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 116
- 238000005507 spraying Methods 0.000 claims abstract description 8
- 238000004140 cleaning Methods 0.000 claims abstract description 7
- 235000012054 meals Nutrition 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 238000004134 energy conservation Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L15/00—Washing or rinsing machines for crockery or tableware
- A47L15/42—Details
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L15/00—Washing or rinsing machines for crockery or tableware
- A47L15/42—Details
- A47L15/4278—Nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L15/00—Washing or rinsing machines for crockery or tableware
- A47L15/42—Details
- A47L15/4278—Nozzles
- A47L15/428—Rotary nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L15/00—Washing or rinsing machines for crockery or tableware
- A47L15/42—Details
- A47L15/46—Devices for the automatic control of the different phases of cleaning ; Controlling devices
Landscapes
- Washing And Drying Of Tableware (AREA)
Abstract
A kind of dish-washing machine spray equipment and spray system of the dish-washing machine technical field based on parallel manipulator, equipped with parallel manipulator, mechanical arm including silent flatform and moving platform and connection silent flatform, moving platform, the moving platform carries out the movement of XY two-freedom or the movement of XYZ Three Degree Of Freedom with mechanical arm, and the bottom of the moving platform is equipped with spraying mechanism；Universal shaft crosses water assembly, including being equipped with the first universal joint of water type chamber and water type chamber connection excessively, crossing water axis mechanism and the second universal joint, the mistake water type chamber of at least one in the mistake water type chamber and the first universal joint, the second universal joint for crossing water axis mechanism crosses water mechanism connection by swing rod；The mistake water type chamber of first universal joint is connected with water supply pipe, and the mistake water type chamber of second universal joint is connected to the water inlet of spraying mechanism.Cleaning positions can be adjusted flexibly in the present invention, be beneficial to energy conservation environmental protection.
Description
Technical field
The present invention relates to a kind of technology in dish-washing machine field, specifically a kind of dish-washing machine spray based on parallel manipulator
Shower device and spray system.
Background technique
Most of spray equipment of dish-washing machine uses single armed multiinjector structure at present, is generally divided into two types, a type
Type is by multiple nozzle arrays on spray arm, and another seed type is by the nozzle concentrated setting of different spray angles the two of spray arm
Side.The position for the tableware that above-mentioned spray equipment can clean to is relatively fixed, weaker for the adaptability of different operating conditions, can not
It is adjusted in time according to tableware quantity, the clean complexity of spot, is unfavorable for energy conservation and environmental protection.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of dish-washing machine spray based on parallel manipulator
Device and spray system can be adjusted flexibly cleaning positions, be beneficial to energy conservation environmental protection.
The present invention is achieved by the following technical solutions:
The present invention relates to a kind of dish-washing machine spray equipment based on parallel manipulator, is equipped with:
Parallel manipulator, the mechanical arm including silent flatform and moving platform and connection silent flatform, moving platform, the moving platform
The movement of XY two-freedom or the movement of XYZ Three Degree Of Freedom are carried out with mechanical arm, the bottom of the moving platform is equipped with spraying mechanism；
Universal shaft crosses water assembly, including being equipped with the first universal joint of water type chamber and water type chamber connection excessively, crossing water axis mechanism
With the second universal joint, it is described cross water axis mechanism mistakes water type chamber and the first universal joint, the second universal joint at least one mistake water
Type chamber crosses water mechanism connection by swing rod；The mistake water type chamber of first universal joint is connected with water supply pipe, and described second is universal
The mistake water type chamber of section is connected to the water inlet of spraying mechanism.
It includes the first swing rod and the second swing rod for being equipped with water type chamber and crossing the connection of water type chamber that the swing rod, which crosses water dispenser structure,.
The water axis mechanism of crossing includes the pair of sliding being fixedly connected at least one in the first universal joint, the second universal joint
Guide rail, the slide rail are equipped with sliding shoe, and sliding number of blocks, with swing rod to cross water dispenser structure quantity corresponding；The sliding shoe is equipped with
It crosses water type chamber and was fixedly connected with water axis, the mistake water type chamber of the sliding shoe is connected to the mistake water type chamber that swing rod crosses water dispenser structure.
First universal joint, the second universal joint include the first plug, the second plug and connection the first plug and second
The cross axle of plug.
Preferably, be connected with three groups of mechanical arms between the silent flatform and moving platform, the mechanical arm include master arm and
Slave arm, the slave arm include two structural arms disposed in parallel, are connected respectively with master arm, moving platform by two pairs of spherical hinges
It connects, two pairs of spherical hinges pass through tension spring external member and are fixedly connected, and the master arm is fixedly connected with deceleration electricity by tensioner
Machine drives manipulator motion to realize the movement of moving platform XY two-freedom or the movement of XYZ Three Degree Of Freedom by decelerating motor.
Preferably, the spraying mechanism includes several high-pressure nozzles being fixed on moving platform, the high-pressure nozzle into
The mouth of a river is connected to the mistake water type chamber of the second universal joint.
Preferably, the spraying mechanism includes the spray arm with moving platform rotation connection, is fixed with number on the spray arm
A high-pressure nozzle；The water inlet of the spray arm is connected to the mistake water type chamber of the second universal joint；First universal joint is connected with
Decelerating motor, the decelerating motor driving universal shaft crosses water assembly rotation and drives spray arm rotation, to improve wash dishes efficiency.
It is further preferred that the high-pressure nozzle adopts fan nozzle or spinning nozzle.
Preferably, the water supply pipe is connected with high-pressure pump, supplies high pressure water by high-pressure pump, improves wash dishes effect
Rate；The maximum pressure of the high pressure water is 10MPa, pressure adjustable；Following hydraulic pressure high pressure water can be used to be rinsed, as 1MPa,
2MPa, 3MPa, 5MPa etc.；Certainly when not considering cleaning efficiency, water at atmospheric pressure can also be used, tableware is rinsed.
The present invention relates to a kind of spray systems, comprising: control unit, image processing module, image collecting device and as above
The dish-washing machine spray equipment based on parallel manipulator, wherein image collecting device is connected and exports with image processing module
The tableware image information that need to be cleaned, image processing module are connected with control unit and export identified tableware stained region letter
Breath, control unit is connected with the decelerating motor on the dish-washing machine spray equipment based on parallel manipulator exports control information,
Stained region in whole spray cleaning and/or tableware is carried out to tableware region locally to clean.
Described image acquisition device is fixed on moving platform.
Technical effect
Compared with prior art, the present invention uses the parallel manipulator of multifreedom motion, can be according to tableware quantity, pendulum
It puts position and stained region size carries out position adjustment in time, cooperation high pressure water rinses, can be improved cleaning efficiency, be conducive to save
It can environmental protection.
Detailed description of the invention
Fig. 1 is spray equipment schematic perspective view in embodiment 1；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is spray equipment A-A sectional view in embodiment 1；
Fig. 4 is B-B sectional view in Fig. 3；
Fig. 5 is part-structure enlarged drawing at I in Fig. 3；
Fig. 6 is C1-C1 sectional view in Fig. 5；
Fig. 7 is C2-C2 sectional view in Fig. 5；
Fig. 8 is that universal shaft crosses water assembly schematic perspective view in Fig. 1；
Fig. 9 is spray system structural schematic diagram in embodiment 1；
In figure: silent flatform 1, mechanical arm 3, the first universal joint 4, crosses water axis mechanism 5, the second universal joint 6, spray at moving platform 2
Arm 7, swing rod cross water dispenser structure 8, the first rotation axis 9, the second rotation axis 10, first reducing motors 11, second reducing motors 12, water inlet
Interface 13, slave arm 32, spherical hinge 33, slide rail 51, sliding block 52, fixed block 53, crosses water axis 54, high pressure spray at master arm 31
First 71, first swing rod 81, the second swing rod 82, the dish-washing machine spray equipment 100 based on parallel manipulator, control unit 101, image
Processing module 102, image collecting device 103, the first plug 200, the second plug 201, cross axle 202, sealing ring 300, spacer ring
301, structural arm 321.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention will be described in detail.
Embodiment 1
The present embodiment is related to a kind of dish-washing machine spray equipment 100 based on parallel manipulator, is equipped with:
Parallel manipulator as shown in Figure 1 and Figure 4, including silent flatform 1 and moving platform 2 and connection silent flatform 1, moving platform
2 mechanical arm 3, the moving platform carry out the movement of XYZ Three Degree Of Freedom with mechanical arm, and the bottom of the moving platform is equipped with spray arm
7；
Universal shaft as shown in figures 3 and 8 crosses water assembly, including being equipped with water type chamber and crossing the 10000th of the connection of water type chamber
To section 4, cross water axis mechanism 5 and the second universal joint 6, the mistake water type of the mistake water type chamber for crossing water axis mechanism 5 and the first universal joint 4
Chamber is crossed water dispenser structure 8 by swing rod and is connected to；The mistake water type chamber of first universal joint 4 is connected with water supply pipe, and described second is universal
The mistake water type chamber of section 6 is connected to the water inlet of spray arm 7.
First universal joint 4, the second universal joint 6 include the first fork of the first plug 200, the second plug 201 and connection
First 200 and second plug 201 cross axle 202.
As shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, it includes being equipped with water type chamber and crossing water type chamber to connect that the swing rod, which crosses water dispenser structure 8,
Logical the first swing rod 81 and the second swing rod 82, the mistake of the second plug 201 in the mistake water type chamber of the first swing rod 81 and the first universal joint 4
The connection of water type chamber.
The water axis mechanism 5 of crossing includes the pair of sliding guide rail 51 being fixedly connected with the first universal joint 4, the slide rail
51 are fixedly connected on fixed block 53 and are equipped with the sliding shoe 52 moved up and down, it is preferable that a pair of of swing rod is fixed on sliding block 52
Cross water dispenser structure 8；The sliding shoe 52 was equipped with water type chamber and was fixedly connected with water axis 54, the mistake water type chamber of the sliding shoe 52
It is connected to the mistake water type chamber of the second swing rod 82；The mistake water type chamber of described mistake water type chamber one end for crossing water axis 54 and sliding shoe 52 connects
Logical, the other end is connected to the mistake water type chamber of the first plug 200 in the second universal joint 6.
As depicted in figs. 1 and 2, three groups of mechanical arms 3, the mechanical arm 3 are connected between the silent flatform 1 and moving platform 2
Including master arm 31 and slave arm 32, the slave arm 32 includes two structural arms 321 disposed in parallel, passes through two pairs of spherical hinges 33
It is connect respectively with master arm 31, moving platform 2, two pairs of spherical hinges 33 are fixedly connected by tension spring external member, the master arm
31 are fixedly connected with first reducing motors 11 by tensioner, drive manipulator motion to realize by first reducing motors 11 dynamic flat
The movement of platform XYZ Three Degree Of Freedom.
The spray arm 7 is fixed with symmetrically arranged a pair of of high-pressure nozzle 71；The spray arm 7 and the first rotation axis 9 connect
It connects, it is preferable that use thread connection；First rotation axis 9 is threaded through on moving platform 2 by bearing, first rotation axis 9
It was equipped with water type chamber and was connected to respectively with the mistake water type chamber of the second plug 201 in spray arm 71 and the second universal joint 6；Described first
Universal joint 4 is connected with the second rotation axis 10, and the second rotation axis 10 was equipped with water type chamber, mistake water type chamber one end of the second rotation axis 10
Be connected to water supply pipe water inlet interface 13, the other end is connected to the mistake water type chamber of the first plug 200 in the first universal joint 4, second
Rotation axis 10 is threaded through on silent flatform 1 by bearing, and second rotation axis 10 is connected with second reducing motors 12, and second slows down
Motor 12 drives universal shaft to cross water assembly rotation and drives spray arm 7 to rotate, improve wash dishes efficiency.
First rotation axis 9 is sealed with moving platform 2 by upper-lower seal circle 300.
Second rotation axis, 10 corresponding shaft bearing is equipped with spacer ring 301.
The high-pressure nozzle 71 adopts fan nozzle or spinning nozzle.
The water supply pipe is connected with high-pressure pump, supplies high pressure water by high-pressure pump, improves wash dishes efficiency；The height
The maximum pressure for pressing water is 10MPa.
As shown in figure 9, the present embodiment is related to a kind of spray system, comprising: control unit 101, image processing module 102,
Image collecting device 103 and as described above the dish-washing machine spray equipment 100 based on parallel manipulator, wherein image collecting device
103 are connected with image processing module 102 and export the tableware image information that need to be cleaned, image processing module 102 and control unit
101 are connected and export identified tableware stained region information, control unit 101 and the dish-washing machine based on parallel manipulator
First reducing motors, second reducing motors on spray equipment 100, which are connected, exports control information, carries out to tableware region whole
Stained region is locally cleaned in the cleaning of body spray and/or tableware.
Described image acquisition device is fixed on moving platform.
It is emphasized that: the above is only presently preferred embodiments of the present invention, not make in any form to the present invention
Limitation, any simple modification, equivalent change and modification to the above embodiments according to the technical essence of the invention,
All of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of dish-washing machine spray equipment based on parallel manipulator, which is characterized in that be equipped with:
Parallel manipulator, the mechanical arm including silent flatform and moving platform and connection silent flatform, moving platform, the moving platform are random
Tool arm carries out the movement of XY two-freedom or the movement of XYZ Three Degree Of Freedom, and the bottom of the moving platform is equipped with spraying mechanism；
Universal shaft crosses water assembly, including being equipped with water type chamber and crossing the first universal joint of water type chamber connection, cross water axis mechanism and the
Two universal joints, at least one mistake water type chamber in the mistake water type chamber and the first universal joint, the second universal joint for crossing water axis mechanism
Water mechanism connection is crossed by swing rod；The mistake water type chamber of first universal joint is connected with water supply pipe, second universal joint
Water type chamber is crossed to be connected to the water inlet of spraying mechanism.
2. the dish-washing machine spray equipment based on parallel manipulator according to claim 1, characterized in that the swing rod crosses water dispenser
Structure includes the first swing rod and the second swing rod for being equipped with water type chamber and crossing the connection of water type chamber.
3. the dish-washing machine spray equipment based on parallel manipulator according to claim 1, characterized in that described to cross water axis mechanism
Including the pair of sliding guide rail being fixedly connected at least one in the first universal joint, the second universal joint, set on the slide rail
There is a sliding shoe, sliding number of blocks, with swing rod to cross water dispenser structure quantity corresponding；The sliding shoe was equipped with water type chamber and was fixedly connected with
Water axis is crossed, the mistake water type chamber of the sliding shoe is connected to the mistake water type chamber that swing rod crosses water dispenser structure.
4. according to claim 1 or the 3 dish-washing machine spray equipments based on parallel manipulator, characterized in that the described 10000th
Xiang Jie, the second universal joint include the first plug, the second plug and the cross axle for connecting the first plug and the second plug.
5. the dish-washing machine spray equipment based on parallel manipulator according to claim 1, characterized in that the silent flatform and dynamic
Three groups of mechanical arms are connected between platform, the mechanical arm includes master arm and slave arm, and the slave arm is set in parallel including two
The structural arm set is connect with master arm, moving platform respectively by two pairs of spherical hinges, and two pairs of spherical hinges pass through tension spring external member
It is fixedly connected, the master arm is fixedly connected with decelerating motor by tensioner, drives manipulator motion real by decelerating motor
The movement of existing moving platform XY two-freedom or the movement of XYZ Three Degree Of Freedom.
6. according to claim 1 or the 3 dish-washing machine spray equipments based on parallel manipulator, characterized in that the spray thrower
Structure includes several high-pressure nozzles being fixed on moving platform, the mistake water type chamber of the water inlet of the high-pressure nozzle and the second universal joint
Connection.
7. according to claim 1 or the 3 dish-washing machine spray equipments based on parallel manipulator, characterized in that the spray thrower
Structure includes the spray arm with moving platform rotation connection, is fixed with several high-pressure nozzles on the spray arm；The spray arm into
The mouth of a river is connected to the mistake water type chamber of the second universal joint；First universal joint is connected with decelerating motor, the decelerating motor driving
Universal shaft crosses water assembly rotation and drives spray arm rotation.
8. the dish-washing machine spray equipment based on parallel manipulator according to claim 1, characterized in that the water supply pipe with
High-pressure pump is connected, and supplies high pressure water by high-pressure pump, the maximum pressure of the high pressure water is 10MPa.
9. a kind of spray system characterized by comprising control unit, image processing module, image collecting device and such as right
It is required that the dish-washing machine spray equipment described in 1~8 any one based on parallel manipulator, wherein image collecting device and image procossing
Module is connected and exports the tableware image information that need to be cleaned, and image processing module is connected with control unit and exports identified meal
Have stained region information, control unit and the decelerating motor phase on the dish-washing machine spray equipment based on parallel manipulator and company
Output control information carries out stained region in whole spray cleaning and/or tableware to tableware region and locally cleans.
10. spray system according to claim 9, characterized in that described image acquisition device is fixed on moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811230007.7A CN109124531A (en) | 2018-10-22 | 2018-10-22 | Dish-washing machine spray equipment and spray system based on parallel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811230007.7A CN109124531A (en) | 2018-10-22 | 2018-10-22 | Dish-washing machine spray equipment and spray system based on parallel manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109124531A true CN109124531A (en) | 2019-01-04 |
Family
ID=64809184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811230007.7A Pending CN109124531A (en) | 2018-10-22 | 2018-10-22 | Dish-washing machine spray equipment and spray system based on parallel manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109124531A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109700403A (en) * | 2019-03-18 | 2019-05-03 | 珠海格力电器股份有限公司 | Dish-washing machine and spraying mechanism |
| CN112704449A (en) * | 2020-12-31 | 2021-04-27 | 佛山市顺德区美的洗涤电器制造有限公司 | Washing method and device for dish washing machine and dish washing machine |
| CN113069061A (en) * | 2021-04-21 | 2021-07-06 | 苏州科洁泰电器有限公司 | Traction translation type spraying mechanism of dish washing machine |
| CN113229764A (en) * | 2021-04-22 | 2021-08-10 | 苏州科洁泰电器有限公司 | Spraying mechanism of traction swinging type dish washing machine |
| CN114766202A (en) * | 2022-04-14 | 2022-07-22 | 华南农业大学 | Tea leaf picking robot with nine degrees of freedom |
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| CN209091294U (en) * | 2018-10-22 | 2019-07-12 | 苏州科洁泰电器有限公司 | Dish-washing machine spray equipment and spray system based on parallel manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109700403A (en) * | 2019-03-18 | 2019-05-03 | 珠海格力电器股份有限公司 | Dish-washing machine and spraying mechanism |
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| CN112704449A (en) * | 2020-12-31 | 2021-04-27 | 佛山市顺德区美的洗涤电器制造有限公司 | Washing method and device for dish washing machine and dish washing machine |
| CN112704449B (en) * | 2020-12-31 | 2022-04-15 | 佛山市顺德区美的洗涤电器制造有限公司 | Washing method and device for dish washing machine and dish washing machine |
| CN113069061A (en) * | 2021-04-21 | 2021-07-06 | 苏州科洁泰电器有限公司 | Traction translation type spraying mechanism of dish washing machine |
| CN113069061B (en) * | 2021-04-21 | 2022-12-06 | 苏州科洁泰电器有限公司 | Traction translation type spraying mechanism of dish washing machine |
| CN113229764A (en) * | 2021-04-22 | 2021-08-10 | 苏州科洁泰电器有限公司 | Spraying mechanism of traction swinging type dish washing machine |
| CN114766202A (en) * | 2022-04-14 | 2022-07-22 | 华南农业大学 | Tea leaf picking robot with nine degrees of freedom |
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