CN110038869A - Between robot flushing work - Google Patents
Between robot flushing work Download PDFInfo
- Publication number
- CN110038869A CN110038869A CN201910421620.5A CN201910421620A CN110038869A CN 110038869 A CN110038869 A CN 110038869A CN 201910421620 A CN201910421620 A CN 201910421620A CN 110038869 A CN110038869 A CN 110038869A
- Authority
- CN
- China
- Prior art keywords
- robot
- controller
- automatically
- door
- controlled door
- 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.)
- Pending
Links
Classifications
-
- 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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/04—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by a combination of operations
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
Abstract
The present invention provides between a kind of robot flushing work, be related between the technical field of cleaning, including robot and at least one cleaning；Automatically-controlled door is equipped between cleaning and controls the device for controlling automatic door of automatic door switch；Device for controlling automatic door and automatically-controlled door are sequentially connected, and when the mechanical arm of robot is moved to before automatically-controlled door, device for controlling automatic door controls automatically-controlled door and opens, and after the mechanical arm of robot is removed, device for controlling automatic door controls automatically-controlled door and closes.The purpose of the present invention is to provide between a kind of robot flushing work, existing large machines people poor waterproof properties are overcome the problems, such as, can be applied to the automatic cleaning of crankshaft, when preventing cleaning, ejected wash water spluttering pollutes robot, realizes large-scale robot application in crankshaft cleaning process.
Description
Technical field
The present invention relates to cleaning technique fields, more particularly, between a kind of robot flushing work.
Background technique
Crankshaft is one of the important part that power is transmitted in engine, belongs to accurate device, in the process of production and processing,
While needing to keep high-precision mechanical performance, surface cleanliness also has high requirement.To meet this requirement, crankshaft is raw
The latter end process requirement of production carries out cleaning oil pollution to the crankshaft finished product of acquisition, and to keep crankshaft surface cleanliness, the prior art exists
When carrying out the cleaning of crankshaft surface and oil contaminant, the mode manually washed is mostly used to complete greatly, such manner of cleaning up, time-consuming, efficiency
Lowly, the phenomenon that and be easy to causeing insufficient cleaning is unfavorable for the high efficiency large-scale production of crankshaft, therefore in the cleaning of crankshaft
Part manual operation is replaced using robot in the process.
Current existing robot, especially large machines people, water-proof function is almost nil, and two robots itself are again
Electrical equipment, it is afraid of water, many limitations are brought for the application in its later period.The volume and shape of crankshaft are all larger, due to existing
Robot water-proof function is poor, can hardly realize the automatic cleaning of crankshaft.
The information disclosed in the background technology section is intended only to deepen understanding of the general background technology to the present invention, and
It is not construed as recognizing or implying in any form that the information constitutes the prior art known to those skilled in the art.
Summary of the invention
The purpose of the present invention is to provide between a kind of robot flushing work, existing large machines people waterproof performance is overcome
The problem of difference, can be applied to the automatic cleaning of crankshaft, and when preventing cleaning, ejected wash water spluttering pollutes robot, realize large-scale
Robot application is in crankshaft cleaning process.
To achieve the above object, the present invention the following technical schemes are provided:
The present invention is provided between a kind of robot flushing work, comprising: between robot and at least one cleaning；
The device for controlling automatic door of automatically-controlled door and the control automatic door switch is equipped between the cleaning；
The device for controlling automatic door and the automatically-controlled door are sequentially connected, when the mechanical arm of the robot be moved to it is described
When before automatically-controlled door, the device for controlling automatic door controls the automatically-controlled door and opens, after the mechanical arm of the robot is removed, institute
It states device for controlling automatic door and controls the automatically-controlled door closing.
Further, the device for controlling automatic door includes inductor, controller and actuator；
The inductor is installed on the automatically-controlled door, and is connected with the controller in a signal way., described automatic for incuding
Whether there is object in front of the door, and inductive signal is sent to the controller；
The controller is used to receive the inductive signal and generates control command according to the inductive signal, and will be described
Control command is sent to the actuator；
The actuator is connected with the controller in a signal way., and is sequentially connected with the automatically-controlled door, for receiving the control
System order, and the automatic door switch is controlled according to the control command.
Further, the inductor include in infrared sensor, photoelectric sensor or ultrasonic sensor at least
It is a kind of.
Further, the controller includes computer.
Further, the actuator includes at least one of cylinder, hydraulic cylinder or electric pushrod.
Further, the automatically-controlled door is equipped with range sensor, and the range sensor and the controller signals connect
It connects, is sent to the control for acquiring the distance between the robot and the automatically-controlled door information, and by the range information
Device processed.
It further, further include alarm between the robot flushing work, the alarm and the controller signals
Connection；
The controller receives the range information of the range sensor acquisition and according to range information control
Alarm opening and closing.
Further, the range sensor includes optical distance sensor, infrared distance sensor, ultrasonic distance biography
At least one of sensor.
Further, the alarm includes: short message transmitter, and/or, voice guard, and/or, photoelectric alarm,
The short message transmitter is connected with the controller in a signal way., the control command issued for receiving the controller,
And issue short message warning；
The voice guard is connected with the controller in a signal way., the control command issued for receiving the controller,
And make a sound early warning；
The photoelectric alarm is connected with the controller in a signal way., the control command issued for receiving the controller,
And issue photoelectricity early warning.
It is had the advantages that between robot flushing work provided by the invention
The present invention is provided between a kind of robot flushing work, comprising: between robot and at least one cleaning；It is equipped between cleaning
Automatically-controlled door and the device for controlling automatic door for controlling automatic door switch；Device for controlling automatic door and automatically-controlled door are sequentially connected, and work as machine
When the mechanical arm of device people is moved to before automatically-controlled door, device for controlling automatic door controls automatically-controlled door and opens, when the mechanical arm of robot moves
After opening, device for controlling automatic door controls automatically-controlled door and closes.
Using between robot flushing work provided by the invention, the centre of workplace is arranged in large-scale six-joint robot,
Periphery in workplace is equipped between multiple small cleanings, and the door that can be switched, the door that can be switched are equipped between each small cleaning
It is automatically-controlled door, specifically, automatically-controlled door is equipped with device for controlling automatic door, is controlled according to the front end whether manipulator is moved to the automatically-controlled door
Automatic door switch processed, when manipulator is moved to before automatic door gantry, automatically-controlled door is opened, the corresponding behaviour for allowing manipulator to complete
Make, after manipulator is removed, automatically-controlled door is closed, and the interval between robot and cleaning is realized, when preventing cleaning, outside ejected wash water
It splashes, pollutes six-joint robot, realize large-scale robot application in crankshaft cleaning process.
Between a kind of robot flushing work provided by the invention, asking for existing large machines people poor waterproof properties is overcome
Topic, can be applied to the automatic cleaning of crankshaft, and when preventing cleaning, ejected wash water spluttering pollutes robot, realize large-scale machine
People is applied to the cleaning process of crankshaft.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Structural schematic diagram of the Fig. 1 between robot flushing work provided in an embodiment of the present invention；
The control principle drawing one of Fig. 2 middle automatically-controlled door between robot flushing work provided in an embodiment of the present invention；
The control principle drawing two of Fig. 3 middle automatically-controlled door between robot flushing work provided in an embodiment of the present invention.
Icon: 1- robot；Between 2- cleaning；3- automatically-controlled door；4- device for controlling automatic door；5- range sensor；6- alarm
Device；41- inductor；42- controller；43- actuator.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, below in conjunction with attached drawing between robot flushing work provided in an embodiment of the present invention
It elaborates.
The embodiment provides between a kind of robot flushing work, comprising: between robot 1 and at least one cleaning
2；
2 are equipped with automatically-controlled door 3 and control the device for controlling automatic door 4 that automatically-controlled door 3 switchs between cleaning；
Device for controlling automatic door 4 and automatically-controlled door 3 are sequentially connected, when the mechanical arm of robot 1 is moved to before automatically-controlled door 3,
Device for controlling automatic door 4 controls automatically-controlled door 3 and opens, and after the mechanical arm of robot 1 is removed, the control of device for controlling automatic door 4 is certainly
Dynamic door 3 is closed.
Between the robot flushing work provided using the embodiment of the present invention, large-scale six-joint robot 1 is arranged in workplace
Centre, periphery in workplace is equipped with 2 between multiple small cleanings, and 2 are equipped with the door that can be switched between each small cleaning, can
Door with switch is automatically-controlled door 3, and specifically, automatically-controlled door 3 is equipped with device for controlling automatic door 4, whether is moved to this according to manipulator
The front-end control automatically-controlled door 3 of automatically-controlled door 3 switchs, and when manipulator is moved to automatically-controlled door 3 in front of the door, the opening of automatically-controlled door 3 allows machinery
The corresponding operation that hand is completed, after manipulator is removed, automatically-controlled door 3 is closed, and realizes the interval between robot 1 and cleaning,
When preventing cleaning, ejected wash water spluttering pollutes six-joint robot 1, realizes large-scale robot 1 and is applied to crankshaft cleaning process.
Between a kind of robot flushing work that the embodiment of the present invention provides, existing 1 waterproofness of large machines people is overcome
The problem of energy difference, can be applied to the automatic cleaning of crankshaft, and when preventing cleaning, ejected wash water spluttering pollutes robot 1, realizes
Large-scale robot 1 is applied to the cleaning process of crankshaft.
In the optional scheme of the present embodiment, further, device for controlling automatic door 4 includes inductor 41, controller 42
With actuator 43；
Whether inductor 41 is installed on automatically-controlled door 3, and is connect with 42 signal of controller, for having before incuding automatically-controlled door 3
Object, and inductive signal is sent to controller 42；
Control command is sent to by controller 42 for receiving inductive signal and generating control command according to inductive signal
Actuator 43；
Actuator 43 is connect with 42 signal of controller, and is sequentially connected with automatically-controlled door 3, for receiving control command, and root
It is switched according to control command control automatically-controlled door 3.
In the optional scheme of the present embodiment, further, inductor 41 include infrared sensor, photoelectric sensor or
At least one of ultrasonic sensor.
In the optional scheme of the present embodiment, further, controller 42 includes computer.
In the optional scheme of the present embodiment, further, actuator 43 includes in cylinder, hydraulic cylinder or electric pushrod
At least one.
In at least one embodiment, automatically-controlled door 3 and actuator 43 are sequentially connected, and actuator 43 is according to the control of controller 42
System order driving automatically-controlled door 3 opens and closes.Have 2 between multiple cleanings between the robot flushing work, 2 are all provided between each cleaning
There is automatically-controlled door 3, the actuator 43 of each automatically-controlled door 3 is at least one of cylinder, hydraulic cylinder or electric pushrod.
In the optional scheme of the present embodiment, further, automatically-controlled door 3 is equipped with range sensor 5, range sensor 5
It connect with 42 signal of controller, for acquiring the distance between robot 1 and automatically-controlled door 3 information, and range information is sent to
Controller 42.
It further include alarm 6, alarm 6 between robot flushing work further in the optional scheme of the present embodiment
It is connect with 42 signal of controller；
Controller 42 receives the range information that range sensor 5 acquires and controls alarm 6 according to range information and opens and closes.
In at least one embodiment, automatically-controlled door 3 be equipped with range sensor 5,5 collection machinery hand of range sensor or
The distance between workpiece and automatically-controlled door 3 on manipulator, when the distance is not more than 42 preset distance value of controller, alarm 6
It opens, while controller 42 controls manipulator stopping movement, when preventing inductor 41 from failing, manipulator or workpiece are broken automatically
Door 3.
In the optional scheme of the present embodiment, further, range sensor 5 include optical distance sensor 5, it is infrared away from
From at least one of sensor 5, ultrasonic distance sensor 5.
In the optional scheme of the present embodiment, further, alarm 6 includes: short message transmitter, and/or, audible alarm
Device, and/or, photoelectric alarm,
Short message transmitter is connect with 42 signal of controller, for receiving the control command of the sending of controller 42, and is issued short
Believe early warning；
Voice guard is connect with 42 signal of controller, for receiving the control command of the sending of controller 42, is concurrently spoken
Sound early warning；
Photoelectric alarm is connect with 42 signal of controller, for receiving the control command of the sending of controller 42, and issues light
Electric early warning.
Between the robot flushing work that the embodiment of the present invention provides, including large-scale six-joint robot 1, large-scale six axis machines
The centre of workplace is arranged in people 1, the periphery in workplace be equipped with multiple small cleanings between 2 between 2, such as ultrasonic cleaning,
2 between Integral cleaning, between rinsing, between whole drying etc., 2 are equipped with the door that can be switched, the door that can be switched between each small cleaning
It is automatically-controlled door 3, specifically, the front side of automatically-controlled door 3 is equipped with inductor 41, before whether induction manipulator is moved to the automatically-controlled door 3
End, when manipulator is moved to automatically-controlled door 3 in front of the door, automatically-controlled door 3 is opened, and the corresponding operation for allowing manipulator to complete works as machinery
After hand is removed, automatically-controlled door 3 is closed, and realizes the interval between robot 1 and cleaning, when preventing cleaning, ejected wash water spluttering, and pollution
Six-joint robot 1 realizes that large-scale robot 1 is applied to crankshaft cleaning process.
It is illustrated above between robot flushing work of the invention, still, the present invention is not limited to above-mentioned specific
Embodiment can carry out various deformations or change without departing from the scope of the claims.The present invention is included in
Various modifications and change in the scope of the claims.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail invention referring to foregoing embodiments, those skilled in the art should understand that: it is still
It is possible to modify the technical solutions described in the foregoing embodiments, or some or all of the technical features is carried out
Equivalent replacement；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (9)
1. between a kind of robot flushing work characterized by comprising between robot and at least one cleaning；
The device for controlling automatic door of automatically-controlled door and the control automatic door switch is equipped between the cleaning；
The device for controlling automatic door and the automatically-controlled door are sequentially connected, when the mechanical arm of the robot be moved to it is described automatic
When in front of the door, the device for controlling automatic door controls the automatically-controlled door and opens, after the mechanical arm of the robot is removed, it is described from
Dynamic controlling device for doors controls the automatically-controlled door and closes.
2. between robot flushing work according to claim 1, which is characterized in that the device for controlling automatic door includes sense
Answer device, controller and actuator；
The inductor is installed on the automatically-controlled door, and is connected with the controller in a signal way., before incuding the automatically-controlled door
Whether there is object, and inductive signal is sent to the controller；
The controller is for receiving the inductive signal and generating control command according to the inductive signal, and by the control
Order is sent to the actuator；
The actuator is connected with the controller in a signal way., and is sequentially connected with the automatically-controlled door, for receiving the control life
It enables, and the automatic door switch is controlled according to the control command.
3. between robot flushing work according to claim 2, which is characterized in that the inductor includes infrared sensing
At least one of device, photoelectric sensor or ultrasonic sensor.
4. between robot flushing work according to claim 2, which is characterized in that the controller includes computer.
5. between robot flushing work according to claim 2, which is characterized in that the actuator includes cylinder, hydraulic
At least one of cylinder or electric pushrod.
6. between robot flushing work according to claim 2, which is characterized in that the automatically-controlled door is equipped with Distance-sensing
Device, the range sensor are connected with the controller in a signal way., for acquire between the robot and the automatically-controlled door away from
The controller is sent to from information, and by the range information.
7. between robot flushing work according to claim 6, which is characterized in that also wrapped between the robot flushing work
Alarm is included, the alarm is connected with the controller in a signal way.；
The controller receives the range information of the range sensor acquisition and controls the alarm according to the range information
Device opening and closing.
8. between robot flushing work according to claim 6, which is characterized in that the range sensor include optics away from
From at least one of sensor, infrared distance sensor, ultrasonic distance sensor.
9. between robot flushing work according to claim 7, which is characterized in that the alarm includes: short message transmitting
Device, and/or, voice guard, and/or, photoelectric alarm,
The short message transmitter is connected with the controller in a signal way., the control command issued for receiving the controller, concurrently
Short message warning out；
The voice guard is connected with the controller in a signal way., the control command issued for receiving the controller, concurrently
Sound early warning out；
The photoelectric alarm is connected with the controller in a signal way., the control command issued for receiving the controller, concurrently
Photoelectricity early warning out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910421620.5A CN110038869A (en) | 2019-05-21 | 2019-05-21 | Between robot flushing work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910421620.5A CN110038869A (en) | 2019-05-21 | 2019-05-21 | Between robot flushing work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110038869A true CN110038869A (en) | 2019-07-23 |
Family
ID=67282742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910421620.5A Pending CN110038869A (en) | 2019-05-21 | 2019-05-21 | Between robot flushing work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110038869A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110834334A (en) * | 2019-11-20 | 2020-02-25 | 常州捷佳创精密机械有限公司 | Control method and device for manipulator and processing tank equipment |
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| CN110834334B (en) * | 2019-11-20 | 2023-11-07 | 常州捷佳创精密机械有限公司 | Control method and device of manipulator and treatment tank equipment |
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