CN110274426A - A kind of intelligent robot and its application method for removing refrigeration equipment frost - Google Patents
A kind of intelligent robot and its application method for removing refrigeration equipment frost Download PDFInfo
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- CN110274426A CN110274426A CN201910623859.0A CN201910623859A CN110274426A CN 110274426 A CN110274426 A CN 110274426A CN 201910623859 A CN201910623859 A CN 201910623859A CN 110274426 A CN110274426 A CN 110274426A
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- refrigeration equipment
- scraper plate
- telescopic arm
- frost
- intelligent robot
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- 238000005057 refrigeration Methods 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 26
- 238000005520 cutting process Methods 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000010257 thawing Methods 0.000 claims description 11
- 230000001154 acute effect Effects 0.000 claims description 5
- 230000010355 oscillation Effects 0.000 claims description 4
- 230000002459 sustained effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010438 heat treatment Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 235000013305 food Nutrition 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 208000033748 Device issues Diseases 0.000 description 1
- 239000003242 anti bacterial agent Substances 0.000 description 1
- 229940088710 antibiotic agent Drugs 0.000 description 1
- 244000052616 bacterial pathogen Species 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000000936 intestine Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
- F25D21/00—Defrosting; Preventing frosting; Removing condensed or defrost water
- F25D21/002—Defroster control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
- F25D21/00—Defrosting; Preventing frosting; Removing condensed or defrost water
- F25D21/06—Removing frost
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
- F25D21/00—Defrosting; Preventing frosting; Removing condensed or defrost water
- F25D21/06—Removing frost
- F25D21/065—Removing frost by mechanical means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of intelligent robots and its application method for removing refrigeration equipment frost, including control device (1) and removing device (3), control device (1) is in cross, removing device (3) and supporting mechanism (4) are respectively symmetrically located at the two sides of control device (1), control device (1) and removing device (3), it is connected by telescopic arm (2) between supporting mechanism (4), turntable (302) is hinged on pedestal (301), traveling wheel (303) are installed on turntable (302), the front end two sides of pedestal (301) are equipped with cutter (307), scraper plate (306) is located between cutter (307) and turntable (302), it is hinged in the middle part of scraper plate (306) on pedestal (301), the bottom of scraper plate (306) is cutting edge end, scraper plate (306) top is connect by crank link mechanism (305) with servo motor (304).The beneficial effects of the present invention are: high degree of automation, structure is simple, is applicable in various sizes of refrigeration equipment.
Description
Technical field
The present invention relates to technical field of automatic control, more specifically, are related to a kind of intelligence for removing refrigeration equipment frost
It can robot and its application method.
Background technique
The application of Refrigeration Technique commercially mainly carries out perishable items (such as fish, meat, egg, veterinary antibiotics) cold
Processing, refrigeration and Refrigerated Transport guarantee the reasonable sale in each season market to reduce the food loss in production and distribution.
The food industry of modernization has formed a complete cold chain for perishable items from producing to selling.Used refrigeration dress
It is equipped with freezing equipment, freezer, refrigerated train, refrigerated carrier, cold storage truck and frozen products insulated container etc..In addition, there are also for food retail
Commercial refrigerator, refrigerator and the domestic refrigerator of consumer etc..
In daily life, refrigerator, refrigerator-freezer, freezer refrigerating chamber for a long time do not clear up, under low temperature environment, cooling compartment shape
At a large amount of attachment ice sheet, the ice sheet being attached on refrigerator inner wall is difficult to clear up, and needs closing refrigerator/refrigerator-freezer in most cases
Power supply allows the ice sheet thawing in case to clear up again to a certain extent, and cleaning difficulty is larger, time-consuming and laborious；And have inside ice sheet a large amount of
Pathogenic bacteria, people, which are eaten for a long time, is stored in the material object of cooling compartment, be easy easily hair intestines problem, be detrimental to health,
The ice sheet of attachment causes refrigerating chamber drawer to be difficult to open simultaneously, occupies refrigerating chamber memory space, influences user and normally use.
Especially business refrigerator-freezer and miniature cold storage, not only volume is relatively large, but also the door of frequent open and close refrigerator-freezer/freezer is easier
Increase frosting or icing in refrigerator-freezer or freezer.
Summary of the invention
The technical problem to be solved by the present invention is in view of the problems of the existing technology, provides a kind of removing refrigeration and set
The intelligent robot and its application method of standby frost can be applicable in different rulers using the telescopic arm structure form of cross arrangement
The refrigeration equipment of very little size, it is versatile, while using the structure type of the scraper plate cooperation adjustable cutter of temperature swung, not only
Structure is simple and high degree of automation.
The technical problem to be solved in the present invention is realized using following technical scheme: a kind of intelligence for removing refrigeration equipment frost
Can robot, including control device and removing device, for the control device in cross, the removing device is symmetrically arranged at control
The two sides of device, the other two sides of the control device are symmetrically arranged with supporting mechanism, control device and removing device, supporting mechanism
Between by telescopic arm connect, the removing device include pedestal, turntable, traveling wheel, servo motor, crank link mechanism,
Scraper plate and cutter, the turntable are hinged on pedestal, and traveling wheel is equipped on turntable, and the front end two sides of pedestal are equipped with cutter,
The scraper plate is located between cutter and turntable, is hinged on pedestal in the middle part of scraper plate, and the bottom of scraper plate is cutting edge end, the top of scraper plate
Portion is connect by crank link mechanism with servo motor.
Preferably, the two sides of the supporting mechanism are equipped with guide slots and lifting support wheel, and the lifting support wheel includes T
Font push rod and runner, the runner are symmetrically hinged on two horizontal ends of T font push rod, and the runner can be relative to T font
Push rod independently rotates, and the vertical end of T font push rod and the telescope motor inside telescopic arm connect, and T font push rod drives described turn
Wheel is moved up and down along the guide slots of supporting mechanism two sides.
Preferably, the telescopic arm is more piece rectangle hollow arm, each section rectangle hollow of the more piece rectangle hollow arm
Control is mounted on arm, and it stretches out the transmission device with withdrawal.
Preferably, the removing device further includes microheater, and the microheater connects with scraper plate and cutter respectively
It connects.
Preferably, there are ice discharge passage between the scraper plate and pedestal, scraper plate includes connecting plate and sword plate, the connecting plate
Hinged with pedestal, the top of connecting plate and crank link mechanism are hinged, and the bottom of connecting plate is fixedly connected with sword plate, connecting plate with
Angle between sword plate is 130 °~150 °.
Preferably, the cutter Multi-section retractable structure.
Preferably, stroke alarm module for monitoring operation performance is additionally provided on the control device, for adjusting
The temperature control modules, the remote control module for connecting handheld device and respectively control for saving microheater temperature fill
It sets, telescopic arm, removing device, the battery group for going up and down support wheel power supply.
Preferably, the outside of the supporting mechanism is equipped with decorative pattern or boss for increasing friction force.
Preferably, the traveling wheel is caterpillar type tavelling wheel.
A kind of application method of intelligent robot that removing refrigeration equipment frost, comprising the following steps:
S1: the intelligent robot for removing refrigeration equipment frost is put into refrigeration equipment cabinet, and control device control is in
The telescopic arm of cutter side stretches out, until supporting mechanism arrives on ice face or the frosting of refrigeration equipment box house side；
S2: while stretching out the telescopic arm of control device two sides, until removing device arrive to it is in addition right in refrigeration equipment cabinet
Claim on ice face or the frosting of two sides；
S3: servo motor drives scraper plate to do pendulum motion by crank link mechanism, constantly uses in scraper plate swing process
Its blade scrapes defrosting, meanwhile, the telescopic arm connecting with removing device also stretches out therewith, and overhang is equal to scraper plate and scrapes defrosting
Thickness, scraper plate sustained oscillation is until scraper plate touches the wall surface of refrigeration equipment cabinet；
It with respect to the angle of refrigeration equipment cabinet wall surface is acute angle that S4:, which adjusting, and keeps scraper plate, and cutter is also started to work, and is in
The telescopic arm of cutter side is shunk, and symmetrical telescopic arm stretches out therewith, and traveling wheel rotates simultaneously, before driving control device entirety
Into；
S5: when removing device advances to the end wall face contact of refrigeration equipment cabinet, the telescopic arm that is connect with removing device
It shrinks, traveling wheel is made to be detached from refrigeration equipment cabinet wall surface, turntable rotates 90 °, makes traveling wheel and has removed the motion profile of frost
Vertically；
S6: be equipped with removing device telescopic arm start stretch out until traveling wheel arrive in ice face or frosting to be cleaned,
Then, being equipped with the telescopic arm of supporting mechanism while shrinking makes supporting mechanism be detached from ice face or frosting, traveling wheel walking and scraper plate
Stop walking after distance of same size；
S7: the telescopic arm of supporting mechanism is installed while being stretched out, supporting mechanism is contacted with ice face or frosting, is equipped with and scrapes
Except the telescopic arm of device is shunk simultaneously, turntable rotates backward 90 °, keeps traveling wheel parallel with the motion profile for having removed defrosting；
S8: repeating the operation of step S2- step S7, until the intracorporal frost of refrigeration equipment case is all removed.
Compared with prior art, the beneficial effects of the present invention are: using cross structure control device and telescopic arm not only
Structure is simple, with good stability, and has good ductility while overall dimensions are small；It is miniature using being connected with
Frost cutting in removing device travelling route can be mitigated the shovel ice resistance of subsequent scraper plate by the cutter of heating device, be promoted
The efficiency of defrosting can adapt to the fluctuating of frost in refrigeration equipment cabinet using turntable and caterpillar type tavelling wheel, guarantee steady
Ground switches run trace, while the miniature heating device being mounted on inside caterpillar type tavelling wheel and supporting mechanism can also be used and melt
Frost promotes the stability of caterpillar type tavelling wheel and supporting mechanism and refrigeration equipment box body wall face contact；Using telescopic arm, turn
Mutual cooperation campaign between disk, caterpillar type tavelling wheel, supporting mechanism and lifting support wheel, can be realized frost and removes intelligent machine
The removing work of device people completion all wall surfaces of refrigeration equipment cabinet；It can be recorded in control device by hand-hold communication appliance or in advance
Enter job information, to manipulate running parameter and walking route that frost removes intelligent robot, reduces artificial use cost, from
Dynamicization degree is high.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the intelligent robot of the present invention for removing refrigeration equipment frost.
Fig. 2 is the top view of the intelligent robot of the present invention for removing refrigeration equipment frost.
Fig. 3 is the top structure schematic diagram of removing device of the present invention.
Fig. 4 is the bottom substance schematic diagram of removing device of the present invention.
Marked in the figure: 1- control device, 2- telescopic arm, 3- removing device, 301- pedestal, 302- turntable, 303- traveling wheel,
304- servo motor, 305- crank link mechanism, 306- scraper plate, 307- cutter, 308- microheater, 4- supporting mechanism, 5-
Go up and down support wheel, 6- battery group.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawing and specific implementation
The present invention is described in detail for example.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention.
As depicted in figs. 1 and 2, a kind of intelligent robot for removing refrigeration equipment frost, including control device 1, telescopic arm
2, removing device 3, supporting mechanism 4, lifting support wheel 5 and battery group 6, the control device 1 are whole in cross, control dress
The inside for setting 1 is equipped with the stroke alarm module for monitoring operation performance, the temperature for adjusting microheater temperature
Control module, the remote control module for connecting handheld device, the stroke alarm module include range sensor, at signal
Reason device and alarm device, the range sensor are respectively provided at the front of removing device 3, the top of removing device 3 and supporting mechanism 4
On, be mounted on the front of removing device 3 range sensor be used to perceive between removing device 3 and travelling route terminal away from
From, and data are fed back into control device 1 by signal processor in time, go out to handle and plan route certainly by control device 1,
Handheld device can be sent information to by remote control module, operation is manipulated by operator.It is mounted on the top of removing device 3
Range sensor be used to perceive the distance between scraper plate 306 and 303 bottom of traveling wheel, the traveling wheel 303 is crawler type row
Wheel is walked, to monitor the working depth of scraper plate 306.
Shown in as shown in Figure 1, Figure 3 and Figure 4,3 integrated symmetric of removing device is located at the two sides of control device 1, the control device 1
Other two sides be symmetrically arranged with supporting mechanism 4, connected by telescopic arm 2 between control device 1 and removing device 3, supporting mechanism 4
It connects, the telescopic arm 2 is more piece rectangle hollow arm, is mounted on each section rectangle hollow arm of the more piece rectangle hollow arm
It is controlled to stretch out with the transmission device of withdrawal, it can be achieved that it is independent that every section, which stretches out and withdraw control,.The removing device 3 in addition to
It further include pedestal 301, turntable 302, traveling wheel 303, servo motor 304, crank link mechanism 305, scraper plate including scraper plate 306
306, cutter 307 and microheater 308, the microheater 308 respectively with scraper plate 306, cutter 307 and traveling wheel 303
Connection can make the cutting ice sheet of 307 higher efficiency of cutter from there through the heat transfer of microheater 308, reduce scraper plate
306 working resistance accelerates scraper plate 306 to remove frost, can increase the stability that traveling wheel 303 is contacted with ice face to be cleaned.
The turntable 302 is hinged on pedestal 301, and traveling wheel 303 is equipped on turntable 302, and the front end two sides of pedestal 301, which are equipped with, cuts
Knife 307, the scraper plate 306 are located between cutter 307 and turntable 302, and the middle part of scraper plate 306 is hinged on pedestal 301, scraper plate
306 bottom is cutting edge end, and the top of scraper plate 306 is connect by crank link mechanism 305 with servo motor 304, the scraper plate
There are ice discharge passages between 306 and pedestal 301, so that the ice bits that scraper plate 306 is wiped off are discharged.The crank link mechanism 305
Crank is connect with the shaft of servo motor 304, and the top of the connecting rod and scraper plate 306 of crank link mechanism 305 is hinged, servo motor
304 drive scraper plates 306, which are done, swings clear ice operation.When initial job, the frost of initial position is removed in 306 sustained oscillation of scraper plate
Afterwards, scraper plate 306 can continue to do the clear ice of pendulum motion, also can swing relatively with after ice face angle at an acute angle, servo motor 304 stops
Only work, remain with ice face angle at an acute angle, reasonably adjust scraper plate 306 remove frost efficiency.More preferably, scraper plate 306
It is welded to form by two parts, including connecting plate and sword plate, the connecting plate and pedestal 301 are hinged, the top of connecting plate and crank
Link mechanism 305 is hinged, and the bottom of connecting plate is fixedly connected with sword plate, and the angle between connecting plate and sword plate is 130 °~
150 °, the clear ice efficiency of scraper plate is promoted using the blade structure of this similar scoop type.
As shown in Figure 3 and Figure 4, cutter 307 is located at the front end of removing device 3, and ice sheet is cut multiple fritters, reduces work
Make resistance.More preferably, cutter 307 is Multi-section retractable structure to adjust depth of cut, while cutter 307 according to the thickness of ice sheet
It can be hinged on the front end of removing device 3, when being not necessarily to cutter 307, cutter 307, which shrinks and horizontally rotates 90 °, is hidden in pedestal 301
It is interior.The outside of supporting mechanism 4 is equipped with decorative pattern or boss for increasing friction force, while the two sides for stating supporting mechanism 4 are equipped with and lead
To slot and lifting support wheel 5, the lifting support wheel 5 includes T font push rod and runner, and the runner is symmetrically hinged on T word
Two horizontal ends of type push rod, the runner can independently be rotated relative to T font push rod, the vertical end of T font push rod and flexible
Telescope motor connection inside arm 2, T font push rod drive the runner to go up and down along the guide slots of 4 two sides of supporting mechanism
Movement can be driven in runner and refrigeration equipment cabinet when supporting mechanism 4 to be completed is traversing by the vertical end of T font push rod
Contact, runner drive with by motor mounted thereto, to complete to remove refrigeration equipment by the lifting auxiliary of support wheel 5
The intelligent robot of frost replaces walking operations track.Battery mounting base is equipped on control device 1, using the electric power storage of inserting
Pond group 6 is powered, the mobility of hoisting machine people while can satisfy robot normal power supply.
When the intelligent robot of removing refrigeration equipment frost does frost removing operation, refrigeration equipment frost will be removed first
Intelligent robot is put into refrigeration equipment cabinet on one side along refrigeration equipment cabinet.The control of control device 1 is in cutter 307 1
The telescopic arm 2 of side stretches out, until supporting mechanism 4 arrives on ice face or the frosting of refrigeration equipment box house side, if support
The ice face flatness that mechanism 4 is contacted is poor, when influencing its stationary positioned, the miniature heating device that is connected with supporting mechanism 4
308 start to work, and the bottom of supporting mechanism 4 is made to heat up, and melt part ice face, promote the flatness of ice face, guarantee the steady of support
It is qualitative；Then the telescopic arm 2 that 1 two sides of control device have removing device 3 is stretched out simultaneously, until the traveling wheel 303 of removing device 3
It arrives in refrigeration equipment cabinet on the in addition ice face of symmetrical two sides or frosting, it, can since traveling wheel 303 is caterpillar type tavelling wheel
Adapting to contact surface has slight injustice, and when the flatness of its contact surface is poor, the miniature heating being connected with traveling wheel 303 is filled
308 start-up operations are set, so that 303 bottom of traveling wheel is heated up, melts rough ice face, promote its flatness for contacting ice face,
Guarantee stability when support early period；After four telescopic arms 2 stretch out, the servo motor 304 of removing device 3 passes through crank connecting link
Mechanism 305 drives scraper plate 306 to do pendulum motion, constantly scrapes defrosting with its blade in 306 swing process of scraper plate, meanwhile, with
The telescopic arm 2 that removing device 3 connects also compensates overhang as scraper plate strikes off being continuously increased for depth accordingly, and overhang is equal to
Scraper plate 306 scrapes the thickness of defrosting, and 306 sustained oscillation of scraper plate is until scraper plate 306 touches the wall surface of refrigeration equipment cabinet；If
When ice face to be doctored is thicker, the blade heat supply that the miniature heating device 308 connecting with scraper plate 306 is scraper plate 306 can also be used,
So that scraper plate 306 is melted part ice sheet by temperature while striking off ice sheet, promotes ice sheet and strike off efficiency；Scraper plate 306 is initial
After position scrapes certain space by pendulum motion, adjusts and keep the scraper plate 306 to be with respect to the angle of refrigeration equipment cabinet wall surface
Acute angle, cutter 307 are also started to work, and the telescopic arm 2 in 307 side of cutter is shunk, and symmetrical telescopic arm 2 stretches out therewith, row
It walks wheel 303 to start turning, drives control device 1 is whole to advance, the cutting by cutter 307 to ice cube mitigates scraper plate 306 and advances
Resistance in the process, while in order to enhance the working effect of cutter 307, cutter 307 can connect with micro device device 308, make
Cutter 307 keeps certain temperature.Removing device 3 (is mounted on and strikes off when advancing to the end wall face contact of refrigeration equipment cabinet
The range sensor induction depth of cut at 3 top of device simultaneously sends the signal to control device 1, and dress is struck off in the control of control device 1
Set 3 and disposably strike off certain thickness ice sheet, can also successively strike off several times), it is mounted on the Distance-sensing of 3 front end of removing device
Device issues signal to control device 1, and control device 1 controls the telescopic arm 2 connecting with removing device 3 and shrinks, and keeps traveling wheel 303 de-
From refrigeration equipment cabinet wall surface, turntable 302 rotates 90 °, keeps traveling wheel (303) vertical with the motion profile for having removed frost；Peace
Telescopic arm 2 equipped with removing device 3 start stretch out until traveling wheel 303 arrive in ice face or frosting to be cleaned, then, installation
There is the telescopic arm 2 of supporting mechanism 4 while contraction makes supporting mechanism 4 be detached from ice face or frosting, traveling wheel 303 walks and scrapes board width
Stop walking after identical distance；The telescopic arm 2 of supporting mechanism 4 is installed while being stretched out, supporting mechanism 4 and ice face or frosting are made
Contact, is equipped with the telescopic arm 2 of removing device 3 while shrinking, turntable 302 rotates backward 90 °, makes traveling wheel 303 and has removed
The motion profile of defrosting is parallel, realizes the integral translation and support positioning again of removing device 3；Removing device 3 is repeated to advance
The integral translation of the layer-by-layer doctoring application and removing device 3 in direction and positioning operation is supported again, until in refrigeration equipment cabinet
Frost all remove.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, it is noted that all
Made any modifications, equivalent replacements, and improvements etc. within the spirit and principles in the present invention should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of intelligent robot for removing refrigeration equipment frost, including control device (1) and removing device (3), feature exists
In: the control device (1) in cross, the removing device (3) is symmetrically arranged at the two sides of control device (1), the control
The other two sides of device (1) are symmetrically arranged with supporting mechanism (4), between control device (1) and removing device (3), supporting mechanism (4)
It is connected by telescopic arm (2), the removing device (3) includes pedestal (301), turntable (302), traveling wheel (303), servo electricity
Machine (304), crank link mechanism (305), scraper plate (306) and cutter (307), the turntable (302) are hinged on pedestal (301)
On, it is equipped on turntable (302) traveling wheel (303), the front end two sides of pedestal (301) are equipped with cutter (307), the scraper plate
(306) it is located between cutter (307) and turntable (302), is hinged in the middle part of scraper plate (306) on pedestal (301), scraper plate (306)
Bottom be cutting edge end, the top of scraper plate (306) is connect by crank link mechanism (305) with servo motor (304).
2. a kind of intelligent robot for removing refrigeration equipment frost according to claim 1, it is characterised in that: the support
The two sides of mechanism (4) are equipped with guide slots and lifting support wheel (5), and the lifting support wheel (5) includes T font push rod and turns
Wheel, the runner are symmetrically hinged on two horizontal ends of T font push rod, and the runner can independently be rotated relative to T font push rod,
The vertical end of the T font push rod telescope motor internal with telescopic arm (2) is connect, and T font push rod drives the runner along support
The guide slots of mechanism (4) two sides move up and down.
3. a kind of intelligent robot for removing refrigeration equipment frost according to claim 2, it is characterised in that: described flexible
Arm (2) is more piece rectangle hollow arm, and control is mounted on each section rectangle hollow arm of the more piece rectangle hollow arm, and it is stretched
Out with the transmission device of withdrawal.
4. a kind of intelligent robot for removing refrigeration equipment frost according to claim 3, it is characterised in that: described to strike off
Device (3) further includes microheater (308), the microheater (308) respectively with scraper plate (306), cutter (307) and row
Walk wheel (303) connection.
5. a kind of intelligent robot for removing refrigeration equipment frost according to claim 4, it is characterised in that: the scraper plate
(306) there are ice discharge passage between pedestal (301), scraper plate (306) includes connecting plate and sword plate, the connecting plate and pedestal
(301) hingedly, hingedly, the bottom of connecting plate is fixedly connected with sword plate for the top of connecting plate and crank link mechanism (305), connection
Angle between plate and sword plate is 130 °~150 °.
6. a kind of intelligent robot for removing refrigeration equipment frost according to claim 4, it is characterised in that: the cutter
(307) Multi-section retractable structure.
7. a kind of intelligent robot for removing refrigeration equipment frost according to claim 5 or 6, it is characterised in that: described
Stroke alarm module for monitoring operation performance is additionally provided on control device (1), for adjusting microheater temperature
Temperature control modules, the remote control module for connecting handheld device and respectively control device (1), telescopic arm (2), scrape
Except device (3), the battery group (6) of lifting support wheel (5) power supply.
8. a kind of intelligent robot for removing refrigeration equipment frost according to claim 7, it is characterised in that: the support
The outside of mechanism (4) is equipped with decorative pattern or boss for increasing friction force.
9. a kind of intelligent robot for removing refrigeration equipment frost according to claim 8, it is characterised in that: the walking
Taking turns (303) is caterpillar type tavelling wheel.
10. the application method of the intelligent robot according to any one of claims 1-4 for removing refrigeration equipment frost,
It is characterized in that, comprising the following steps:
S1: the intelligent robot for removing refrigeration equipment frost is put into refrigeration equipment cabinet, and control device (1) control, which is in, cuts
The telescopic arm (2) of knife (307) side stretches out, until supporting mechanism (4) arrive to the ice face or frost of refrigeration equipment box house side
On face；
S2: while the telescopic arm (2) of control device (1) two sides is stretched out, until removing device (3) arrive in refrigeration equipment cabinet separately
In the ice face or frosting of external symmetry two sides；
S3: servo motor (304) drives scraper plate (306) to do pendulum motion, scraper plate (306) pendulum by crank link mechanism (305)
Defrosting constantly is scraped with its blade during dynamic, meanwhile, the telescopic arm (2) connecting with removing device (3) also stretches out therewith,
Overhang is equal to the thickness that scraper plate (306) scrape defrosting, and scraper plate (306) sustained oscillation is until scraper plate (306) touch refrigeration and set
The wall surface of standby cabinet；
It is acute angle that S4:, which adjusting, and keeps the angle of scraper plate (306) opposite refrigeration equipment cabinet wall surface, and cutter (307) also starts work
Make, the telescopic arm (2) in cutter (307) side is shunk, and symmetrical telescopic arm (2) is stretched out therewith, while traveling wheel (303) is opened
Begin to rotate, control device (1) is driven integrally to advance；
S5: when removing device (3) advances to the end wall face contact of refrigeration equipment cabinet, what is connect with removing device (3) is flexible
Arm (2) shrink, make traveling wheel (303) be detached from refrigeration equipment cabinet wall surface, turntable (302) rotate 90 °, make traveling wheel (303) with
The motion profile for having removed frost is vertical；
S6: the telescopic arm (2) for being equipped with removing device (3) start to stretch out until traveling wheel (303) arrive to ice face to be cleaned or
On frosting, then, being equipped with the telescopic arm (2) of supporting mechanism (4) while shrinking makes supporting mechanism (4) to be detached from ice face or frosting,
Traveling wheel (303) walking with scraper plate it is of same size at a distance from after stop walking；
S7: being equipped with the telescopic arm (2) of supporting mechanism (4) while stretching out, contact supporting mechanism (4) with ice face or frosting, peace
Telescopic arm (2) equipped with removing device (3) is shunk simultaneously, and turntable (302) rotates backward 90 °, is made traveling wheel (303) and has been removed
The motion profile of defrosting is parallel；
S8: repeating the operation of step S2- step S7, until the intracorporal frost of refrigeration equipment case is all removed.
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| CN114427777A (en) * | 2022-01-14 | 2022-05-03 | 凌忠平 | Freezer calandria defrosting and deicing machine adaptable to different pipe distances |
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