CN111558562A - Enclose shelves and wash drying equipment - Google Patents
Enclose shelves and wash drying equipment Download PDFInfo
- Publication number
- CN111558562A CN111558562A CN202010515296.6A CN202010515296A CN111558562A CN 111558562 A CN111558562 A CN 111558562A CN 202010515296 A CN202010515296 A CN 202010515296A CN 111558562 A CN111558562 A CN 111558562A
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- Prior art keywords
- wrist
- arm
- cleaning
- connecting rod
- turbine
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- 238000001035 drying Methods 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 120
- 238000004140 cleaning Methods 0.000 claims abstract description 68
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 59
- 239000007921 spray Substances 0.000 claims abstract description 10
- 210000000707 wrist Anatomy 0.000 claims description 105
- 239000004744 fabric Substances 0.000 claims description 23
- 210000000245 forearm Anatomy 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 6
- 230000003796 beauty Effects 0.000 abstract 1
- 239000007788 liquid Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000005406 washing Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 239000012535 impurity Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000007602 hot air drying Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000003854 Surface Print Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
- F26B21/001—Drying-air generating units, e.g. movable, independent of drying enclosure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
- F26B21/004—Nozzle assemblies; Air knives; Air distributors; Blow boxes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B5/00—Drying solid materials or objects by processes not involving the application of heat
- F26B5/14—Drying solid materials or objects by processes not involving the application of heat by applying pressure, e.g. wringing; by brushing; by wiping
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B5/00—Drying solid materials or objects by processes not involving the application of heat
- F26B5/16—Drying solid materials or objects by processes not involving the application of heat by contact with sorbent bodies, e.g. absorbent mould; by admixture with sorbent materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Molecular Biology (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a fence cleaning and drying device which comprises a walking chassis, a swing mechanism, a mechanical arm, a cleaning mechanism and a drying and wiping mechanism, wherein the walking chassis is connected with one end of the mechanical arm through the swing mechanism; the cleaning mechanism comprises a high-pressure water supply assembly, a high-pressure water spray head, a cleaning brush head, a first turbine and a first connecting seat; the cleaning brush head is rotatably arranged on a first connecting seat, a water inlet channel and a water outlet channel which are communicated with a first turbine mounting groove are arranged in the first connecting seat, the first turbine is positioned in the first turbine mounting groove, and the first turbine is arranged on a mandrel which is arranged on the cleaning brush head; the high-pressure water supply assembly is connected with the water inlet channel, and the water outlet channel is connected with the high-pressure water spray head; the first connecting seat is connected with the other end of the mechanical arm. The invention realizes the automatic cleaning, drying and wiping of the surface of the enclosure, and ensures the cleanness and the beauty of the surface of the enclosure.
Description
Technical Field
The invention relates to the technical field of enclosure cleaning equipment, in particular to enclosure cleaning and drying equipment.
Background
The fence is mainly suitable for construction sites and urban highway construction and is used for protecting and dividing construction areas, isolating external environments, protecting and shielding. The fence is still printed on the surface of the fence through the UV printer, so that the fence has the functions of enriching urban landscapes and improving urban culture quality, if the fence surface prints culture contents of a company, the fence is placed at a company gate, the function of company culture propaganda is favorably realized, and the fence is placed durably, so that impurities such as dust can be accumulated on the surface of the fence, and the attractiveness of the surface of the fence is influenced. The surface of the existing enclosure is cleaned manually, so that the labor intensity is high, and the enclosure is large in size and inconvenient to clean manually.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the enclosure cleaning and drying equipment.
In order to achieve the purpose, the invention provides a fence cleaning and drying device which comprises a walking chassis, a swing mechanism, a mechanical arm, a cleaning mechanism and a drying and wiping mechanism, wherein the walking chassis is connected with one end of the mechanical arm through the swing mechanism; the cleaning mechanism comprises a high-pressure water supply assembly, a high-pressure water spray head, a cleaning brush head, a first turbine and a first connecting seat; the cleaning brush head is rotatably arranged on the first connecting seat, a water inlet channel and a water outlet channel which are communicated with the first turbine mounting groove are arranged in the first connecting seat, the first turbine is positioned in the first turbine mounting groove, and the first turbine is arranged on a mandrel which is arranged on the cleaning brush head; the high-pressure water supply assembly is connected with the water inlet channel, and the water outlet channel is connected with the high-pressure water spray head;
when the enclosure is cleaned, the first connecting seat is connected with the other end of the mechanical arm, when the enclosure is cleaned and dried, the cleaning mechanism is detached relative to the other end of the mechanical arm, and the drying and wiping mechanism is connected with the other end of the mechanical arm.
Further, the mechanical arm comprises a rotary base, a large arm rotary driving mechanism, a small arm rotary driving mechanism, a wrist rotary driving mechanism, a first large arm, a second large arm, a first small arm, a second small arm, a first small arm swinging connecting rod, a second small arm swinging connecting rod, a first wrist, a second wrist, a first wrist swinging connecting rod, a second wrist swinging connecting rod, a third wrist swinging connecting rod, a pin shaft and a triangular connecting plate, wherein a waist round hole is formed in the rotary base;
the rotating base is connected with the rotating mechanism; the large arm rotation driving mechanism and the wrist rotation driving mechanism are arranged on one side of the rotating base, the small arm rotation driving mechanism is arranged on the other side of the rotating base, one end of the first large arm is connected with the large arm rotation driving mechanism, the second large arms are arranged in parallel at intervals with the first large arm, and one end of each second large arm is rotatably connected with the rotating base; one end of the first wrist swinging connecting rod is connected with the wrist rotation driving mechanism, and the other end of the first wrist swinging connecting rod is rotatably connected with one end of the second wrist swinging connecting rod; the other end of the second wrist swinging connecting rod is rotatably connected with the first angle of the triangular connecting plate; the pin shaft is arranged on the second wrist swinging connecting rod and inserted into the waist circular hole of the rotating base;
a second angle of the triangular connecting plate is rotatably connected with one end of the third wrist swinging connecting rod, and the other end of the third wrist swinging connecting rod is rotatably connected with the first wrist; one end of the first small arm is rotatably connected with the third angle of the triangular connecting plate, and the other end of the first small arm is rotatably connected with the first wrist; the other end of the first large arm is rotatably connected with one end of the first small arm;
the forearm rotating driving mechanism is rotatably connected with one end of the first forearm swinging connecting rod, the other end of the first forearm swinging connecting rod is connected with one end of the second forearm swinging connecting rod, the other end of the second forearm swinging connecting rod is rotatably connected with one end of the second forearm, the other end of the second forearm is rotatably connected with the second wrist, and the other end of the second large arm is rotatably connected with the second forearm; the first wrist and the second wrist are parallel and connected with the first connecting seat.
Furthermore, the enclosure cleaning and drying equipment further comprises a locking mechanism, the locking mechanism comprises clamping plates and an air cylinder, the two clamping plates are arranged in parallel and alternately, the first connecting seat is clamped between the two clamping plates, a first through hole is formed in the first connecting seat, a second through hole opposite to the first through hole is formed in the clamping plate, the air cylinder is installed on the clamping plates, and a piston rod of the air cylinder penetrates through the first through hole and the second through hole simultaneously; the two clamping plates are positioned between the first wrist and the second wrist, and two ends of each clamping plate are respectively connected with the first wrist and the second wrist.
Furthermore, clamping blocks extend outwards from the two ends of the clamping plate, and bayonets matched with the clamping blocks are arranged on the first wrist and the second wrist.
Furthermore, the first wrist and the second wrist are respectively provided with a slot into which the first connecting seat is inserted.
Furthermore, the rotating base comprises a bottom plate, and a first mounting plate, a second mounting plate and a third mounting plate which are arranged on the bottom plate in parallel at intervals; the swing mechanism is connected with the bottom plate; the large arm rotation driving mechanism and the wrist rotation driving mechanism are installed on the first installation plate, the small arm rotation driving mechanism is installed on the third installation plate, and one end of the second large arm is rotatably connected with the second installation plate.
Further, the walking chassis adopts a tire type walking chassis or a crawler type walking chassis.
Further, the drying and wiping mechanism comprises a high-pressure hot air supply component, a wiping cloth roller, a hot air guide pipe, a second turbine and a second connecting seat;
the second connecting seat is internally provided with a second turbine mounting groove, an air inlet channel and an air outlet channel which are communicated with the second turbine mounting groove, the second turbine is positioned in the second turbine mounting groove, and the second turbine is mounted on a cylinder core of the wiping cloth roller; the high-pressure hot air supply assembly is connected with the air inlet channel, and the air outlet channel is connected with the hot air guide pipe; the second connecting seat is connected with the other end of the mechanical arm.
Furthermore, the drying and wiping mechanism further comprises a mesh plate arranged at the air outlet of the hot air guide pipe.
Further, stoving wiping mechanism still includes pressure adjustment assembly, pressure adjustment assembly includes connecting plate, air cock, be equipped with the air cavity in the connecting plate, the one end of connecting plate with the second connecting seat removes the cooperation and is connected, the other end of connecting plate with the other end of arm is connected, be equipped with the intercommunication on the connecting plate the air cock of air cavity, the air cock with high-pressure hot-blast supply subassembly is connected.
The walking chassis drives the whole body to walk, the slewing mechanism realizes the whole 360-degree slewing, the robot is convenient to adjust the direction, the space position of the cleaning mechanism is adjusted through the mechanical arm, the cleaning of the enclosure is realized through the cleaning mechanism, the surface cleaning of the enclosure is ensured, and the influence on the attractiveness of the surface of the enclosure caused by too much impurities such as dust on the surface of the enclosure is prevented.
When the cleaning mechanism works, the high-pressure water supply assembly conveys high-pressure water into the water inlet channel, the high-pressure water flows through the first turbine to drive the first turbine to rotate, the first turbine rotates to drive the cleaning brush head to rotate, the cleaning brush head cleans the surface of the enclosure, and simultaneously the high-pressure water flows out of the water outlet channel and is sprayed out of the high-pressure water spray head, so that the cleaning function after the enclosure is cleaned is realized, and the low content of stains on the surface of the enclosure after the enclosure is cleaned is ensured.
After the cleaning mechanism finishes the enclosure cleaning, the cleaning mechanism is detached relative to the mechanical arm, the drying and wiping mechanism is mounted on the mechanical arm, high-pressure hot air is supplied into the air inlet channel by the high-pressure hot air supply assembly, the high-pressure hot air flows through the second turbine to drive the second turbine to rotate, the second turbine rotates to drive the wiping cloth roller to rotate, the wiping cloth roller wipes the surface of the cleaned enclosure, water on the surface of the enclosure is wiped, and meanwhile, the high-pressure hot air is blown to the surface of the wiped enclosure and the surface of the non-wiped enclosure after coming out of the air outlet channel and the hot air guide pipe, so that the surface of the enclosure is dried, and under the combined action of wiping cloth roller wiping and hot air drying, the surface moisture of the cleaned enclosure is effectively removed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a perspective view of the present invention.
Figure 2 is a perspective view of the robot arm and locking mechanism assembly of the present invention.
Fig. 3 is a perspective view of fig. 2 rotated by a certain angle.
Fig. 4 is a perspective view of fig. 2 with the cylinder removed and rotated at a certain angle.
Fig. 5 is a perspective view of the locking mechanism corresponding to the first wrist, the second wrist and the locking mechanism in fig. 2.
Fig. 6 is a perspective view of the cleaning mechanism of the present invention.
Fig. 7 is a perspective view of fig. 6 cut away.
Fig. 8 is a perspective view of the drying wiping mechanism of the present invention.
Fig. 9 is a perspective view of fig. 8 cut away.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the generic and descriptive sense only and not for purposes of limitation, as the term is used in the generic and descriptive sense, and not for purposes of limitation, unless otherwise specified or implied, and the specific reference to a device or element is intended to be a reference to a particular element, structure, or component. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 9, the enclosure cleaning and drying apparatus provided in this embodiment includes a traveling chassis 1, a swing mechanism 2, a mechanical arm 3, a cleaning mechanism 4, and a drying and wiping mechanism 8, wherein the traveling chassis 1 is connected to one end of the mechanical arm 3 through the swing mechanism 2; when the enclosure is cleaned, the cleaning mechanism 4 is connected with the other end of the mechanical arm 3, when the enclosure is cleaned and dried, the cleaning mechanism 4 is detached relative to the other end of the mechanical arm 3, and the drying and wiping mechanism 8 is connected with the other end of the mechanical arm 3.
When the robot is used, the walking chassis 1 drives the whole body to walk, the swing mechanism 2 realizes the whole 360-degree swing, the robot is convenient to adjust the position, the space position of the cleaning mechanism 4 is adjusted through the mechanical arm 3, the cleaning of the enclosure is realized through the cleaning mechanism 4, the surface cleaning of the enclosure is ensured, and the influence on the attractiveness of the surface of the enclosure caused by too many impurities such as dust on the surface of the enclosure is prevented. After the cleaning mechanism 4 finishes the enclosure cleaning, the cleaning mechanism 4 is detached relative to the mechanical arm 3, the drying and wiping mechanism 8 is installed on the mechanical arm 3, and the effective removal of surface moisture after the enclosure cleaning is ensured through the drying and wiping mechanism 8.
The walking chassis 1 of the present embodiment may further be provided with a control room 6, so that an operator can conveniently control the whole robot to work in the control room 6.
The walking chassis 1 of the present embodiment adopts a tire type walking chassis (as shown in fig. 1), and may also adopt a crawler type walking chassis, which is determined according to actual requirements.
The swing mechanism 2 of the present embodiment directly adopts the existing combined structure of the swing support and the motor, and of course, other existing swing mechanisms can be adopted, which have the same principle as the existing crane swing mechanism.
The cleaning mechanism 4 of this embodiment includes a high pressure water supply assembly (not shown), a high pressure water spray head 42, a cleaning brush head 41, a first turbine 43, and a first connecting base 40; the cleaning brush head 41 is rotatably mounted on the first connecting seat 40, a water inlet channel 401 and a water outlet channel 402 which comprise a first turbine mounting groove, and are communicated with the first turbine mounting groove are arranged in the first connecting seat 40, the first turbine 43 is positioned in the first turbine mounting groove, and the first turbine 43 is mounted on a mandrel 410 which is included in the cleaning brush head 41; the high-pressure water supply assembly is connected with the water inlet channel 401, and the water outlet channel 402 is connected with the high-pressure water spray head 42; the first connection socket 40 is connected to the other end of the robot arm 43. During operation, high pressure water supply assembly conveys high pressure water to water inlet channel 401, and high pressure water drives first turbine 43 to rotate through first turbine 43, thereby first turbine 43 rotates and drives washing brush head 41 rotatory, and washing brush head 41 cleans and encloses a shelves surface, and high pressure water flows out and spouts from high pressure water spray head 42 in outlet channel 402 simultaneously to realize enclosing the washing function after shelves clean, guarantee to enclose shelves and wash back surface stain content few.
The high-pressure water supply assembly of the embodiment comprises a water tank, a water pump connected with the water tank, and a gas-liquid pipeline connected with the water pump, wherein the passage openings of the water inlet passage 401 and the water outlet passage 402 are provided with connectors so as to be conveniently connected with the gas-liquid pipeline and the high-pressure water nozzle 42, and the water tank and the water pump are placed on the walking chassis 1.
In the present embodiment, the cleaning brush head 41 preferably comprises a mandrel 410 and bristles 411 arranged on the outer surface of the mandrel 410, and the surface of the enclosure is cleaned by the bristles 411.
In this embodiment, the robot arm 3 further preferably includes a rotating base 300, a large arm rotation driving mechanism 302, a small arm rotation driving mechanism 313, a wrist rotation driving mechanism 301, a first large arm 305, a second large arm 312, a first small arm 307, a second small arm 311, a first small arm swing link 314, a second small arm swing link 304, a first wrist 309, a second wrist 310, a first wrist swing link 315, a second wrist swing link 303, a third wrist swing link 308, a pin 316, and a triangular connecting plate 306, and the rotating base 300 is provided with a waistline hole 30020;
the rotating base 300 is connected with the rotating mechanism 2; the large arm rotation driving mechanism 302 and the wrist rotation driving mechanism 301 are installed on one side of the rotating base 300, the small arm rotation driving mechanism 313 is installed on the other side of the rotating base 300, one end of the first large arm 305 is connected with the large arm rotation driving mechanism 302, the second large arms 312 are arranged in parallel and alternately with the first large arm 305, and one end of the second large arms 312 is rotatably connected with the rotating base 300; one end of the first wrist swinging connecting rod 315 is connected to the wrist rotation driving mechanism 301, and the other end thereof is rotatably connected to one end of the second wrist swinging connecting rod 313; the other end of the second wrist swinging connecting rod 303 is rotatably connected with the first corner of the triangular connecting plate 306; the pin shaft 316 is arranged on the second wrist swinging connecting rod 303, and the pin shaft 316 is inserted into the oval hole 30020 of the rotating base 300;
a second angle of the triangular connecting plate 306 is rotatably connected with one end of the third wrist swinging connecting rod 308, and the other end of the third wrist swinging connecting rod 308 is rotatably connected with the first wrist 309; one end of the first small arm 307 is rotatably connected with the third angle of the triangular connecting plate 306, and the other end is rotatably connected with the first wrist 309; the other end of the first big arm 305 is rotatably connected with one end of the first small arm 307;
the small arm rotation driving mechanism 313 is rotatably connected to one end of the first small arm swing connecting rod 314, the other end of the first small arm swing connecting rod 314 is connected to one end of the second small arm swing connecting rod 304, the other end of the second small arm swing connecting rod 304 is rotatably connected to one end of the second small arm 311, the other end of the second small arm 311 is rotatably connected to the second wrist 310, and the other end of the second large arm 312 is rotatably connected to the second small arm 311; the first wrist 309 and the second wrist 310 are parallel and connected to the first connecting base 40.
The working principle of the robot arm 3 of the present embodiment is as follows:
when the first big arm 305 and the second big arm 312 need to swing up and down, the big arm rotation driving mechanism 302 drives the first big arm 305 to rotate, so as to drive the first big arm 305 to swing up and down, and meanwhile, the second big arm 32 swings up and down along with the up-and-down swing of the first big arm 305; when the first small arm 307 and the second small arm 311 need to swing up and down, the first small arm swing connecting rod 314 is driven to rotate through the small arm rotation driving mechanism 313, the second small arm 311 swings up and down after passing through the second small arm swing connecting rod 304, and meanwhile, the second small arm 311 swings up and down along with the up-and-down swing of the first small arm 307; when the first wrist 309 and the second wrist 310 need to swing up and down, the wrist rotation driving mechanism 301 drives the first wrist swing connecting rod 315 to rotate, the first wrist 309 is driven to swing up and down after the second wrist swing connecting rod 303, the triangular connecting plate 306 and the third wrist swing connecting rod 308, meanwhile, the second wrist 310 swings up and down, and when the second wrist swing connecting rod 303 swings relative to the first wrist swing connecting rod 315, the pin shaft 316 is limited in the oval hole 30020 to move. So realized 3 space angle's of arm regulation to realized the regulation of 4 spatial position of wiper mechanism, in order to make things convenient for according to enclosing the position adjustment wiper mechanism 4 of shelves for enclosing the distance of shelves, guarantee to enclose the effective washing of shelves.
In the present embodiment, the upper arm rotation driving mechanism 302, the lower arm rotation driving mechanism 313, and the wrist rotation driving mechanism 301 are implemented by a conventional motor or a combination of a motor and a speed reducer, which is not particularly limited.
Further preferably, in this embodiment, the enclosure cleaning and drying equipment further includes a locking mechanism 5, the locking mechanism 5 includes two clamping plates 51 and an air cylinder 50, the two clamping plates 51 are spaced in parallel, the first connecting base 40 is clamped between the two clamping plates 51, the first connecting base 40 is provided with a first through hole 401, the clamping plate 51 is provided with a second through hole 5101 opposite to the first through hole 401, the air cylinder 50 is installed on the clamping plate 51, and a piston rod 501 of the air cylinder 50 simultaneously passes through the first through hole 401 and the second through hole 5101; the two splints 50 are located between the first wrist 309 and the second wrist 310, and the two ends of the splint 51 are connected to the first wrist 309 and the second wrist 310 respectively. When the locking device is used, due to the expansion and contraction of the piston rod 501 of the air cylinder 50, the piston rod 501 simultaneously passes through the first through hole 401 and the second through hole 5101, or is separated from the first through hole 401 and the second through hole 5101, so that the two clamping plates 51 are locked and loosened relative to the first connecting seat 40, and the operation is quite convenient.
In this embodiment, preferably, two ends of the splint 51 extend outward to form a clamping block 510, and the first wrist 309 and the second wrist 310 are provided with a bayonet fitting with the clamping block 510. Through the matching of the clamping block 510 and the clamping opening, the first wrist 309, the second wrist 310 and the two clamping plates 51 are positioned and installed, and the assembly and disassembly are simple and convenient.
In this embodiment, the first wrist 309 and the second wrist 310 are preferably provided with an insertion groove 3090 into which the first connector 40 is inserted. After the clamping blocks 510 of the two clamping plates 51 are installed in the clamping openings, the first connecting seat 40 is simultaneously inserted into the slot 3090, so that the first connecting seat 40 is positioned with the first wrist 309 and the second wrist 310, and the assembling stability and the assembling precision among the first connecting seat 40, the clamping plates 51, the first wrist 309 and the second wrist 310 are ensured.
In this embodiment, the rotating base 300 preferably includes a bottom plate 3001, and a first mounting plate 3002, a second mounting plate 3003, and a third mounting plate 3004 disposed on the bottom plate 3001 in parallel and spaced apart; the swing mechanism 2 is connected with the bottom plate 3001; the upper arm rotation driving mechanism 302 and the wrist rotation driving mechanism 301 are mounted on the first mounting plate 3002, the lower arm rotation driving mechanism 313 is mounted on the third mounting plate 3004, and one end of the second upper arm 312 is rotatably connected to the second mounting plate 3003.
In this embodiment, it is further preferable that the drying and wiping mechanism 8 includes a high-pressure hot air supply component (not shown), a wiping cloth roller 81, a hot air guide pipe 82, a second turbine 87, and a second connecting seat 80; the wiping cloth roller 81 is rotatably mounted on the second connecting seat 80, the second connecting seat 80 is internally provided with a second turbine mounting groove, an air inlet channel 801 and an air outlet channel 802 which are communicated with the second turbine mounting groove, the second turbine 87 is positioned in the second turbine mounting groove, and the second turbine 87 is mounted on a barrel core 810 included in the wiping cloth roller 81; the high-pressure hot air supply assembly is connected with the air inlet channel 801, and the air outlet channel 802 is connected with the hot air guide pipe 82; the second connecting seat 80 is connected to the other end of the robot arm 3.
The working principle of the drying and wiping mechanism 8 of the embodiment is as follows:
after the cleaning mechanism 4 finishes the enclosure cleaning, the cleaning mechanism 4 is detached relative to the mechanical arm 3, the drying and wiping mechanism 8 is installed on the mechanical arm 3, at this time, high-pressure hot air is supplied into the air inlet channel 801 by the high-pressure hot air supply assembly, the high-pressure hot air flows through the second turbine 87 to drive the second turbine 87 to rotate, the second turbine 87 rotates to drive the wiping cloth roller 81 to rotate, the wiping cloth roller 81 wipes the cleaned enclosure surface, water on the enclosure surface is wiped, and simultaneously, the high-pressure hot air is blown to the wiped enclosure surface and the non-wiped enclosure surface after coming out through the air outlet channel 802 and the hot air guide pipe 82, so that the enclosure surface is dried, and under the combined action of wiping cloth roller 81 wiping and hot air drying, the effective removal of the surface water after the enclosure cleaning is ensured.
The high-pressure hot air supply assembly of the embodiment comprises an air compressor and an air-liquid pipeline connected with the air compressor, wherein the channel openings of the air inlet channel 801 and the air outlet channel 802 are respectively provided with a joint so as to be conveniently connected with the air-liquid pipeline and the hot air guide pipe 82, meanwhile, the air-liquid channel is provided with an electric heater so as to heat high-pressure air output by the air compressor, and the air compressor is placed on the walking chassis 1.
In the present embodiment, the wiping cloth roller 81 preferably includes a cylindrical core 810 and a wiping cloth 811 wrapping the outer surface of the cylindrical core 810, and water is wiped and absorbed by the wiping cloth 811, wherein the wiping cloth 811 is detachable from the cylindrical core 810, so that the wiping cloth 811 is periodically replaced to ensure water absorption of the wiping cloth 811.
In this embodiment, preferably, the drying and wiping mechanism 8 further includes a mesh plate 83 disposed at the air outlet of the hot air guiding pipe 82.
Further preferably, the drying and wiping mechanism 8 further includes a pressure adjusting assembly 84, the pressure adjusting assembly 84 includes a connecting plate 840 and an air nozzle 841, an air cavity 8401 is provided in the connecting plate 840, one end of the connecting plate 840 is movably and cooperatively connected with the second connecting seat 80, the other end of the connecting plate 840 is connected with the other end of the mechanical arm 3, the air nozzle 841 which is communicated with the air cavity 8401 is provided on the connecting plate 840, and the air nozzle 841 is connected with the high-pressure hot air supply assembly. According to the distance between the cloth wiping roller 81 and the surrounding barrier, the pressure in the air cavity 8401 is adjusted, so that the pressure between the cloth wiping roller 81 and the surrounding barrier is adjusted, the cloth wiping roller 81 is always kept to be pressed on the surrounding barrier by specific force, and the wiping effect is guaranteed.
The present embodiment preferably provides a first through hole 401 on the second joint socket 80 to achieve locking and unlocking of the second joint socket 80 with respect to the robot arm 3 by the locking mechanism 5 when the pressure adjustment assembly 84 is not required; when the pressure adjustment assembly 84 is required, the first through hole 401 is provided in the connecting plate 840 to achieve locking and unlocking of the connecting plate 840 with respect to the robot arm 3 by the locking mechanism 5.
Further preferably, the second connecting seat 80 is provided with an infrared sensing probe 85 through a mounting bracket 86 to detect the distance between the cloth wiping roller 81 and the enclosure, so as to adjust the traveling chassis 1. Further, be equipped with sensor module 7 in walking chassis 1 side, sensor module 7 includes infrared ray inductive probe 85, camera, speed detector etc. to the convenient size that encloses the shelves according to the difference adjusts the spatial position of whole robot, and is nimble convenient, and operates through control room 6.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The enclosure cleaning and drying equipment is characterized by comprising a walking chassis, a swing mechanism, a mechanical arm, a cleaning mechanism and a drying and wiping mechanism, wherein the walking chassis is connected with one end of the mechanical arm through the swing mechanism; the cleaning mechanism comprises a high-pressure water supply assembly, a high-pressure water spray head, a cleaning brush head, a first turbine and a first connecting seat; the cleaning brush head is rotatably arranged on the first connecting seat, a water inlet channel and a water outlet channel which are communicated with the first turbine mounting groove are arranged in the first connecting seat, the first turbine is positioned in the first turbine mounting groove, and the first turbine is arranged on a mandrel which is arranged on the cleaning brush head; the high-pressure water supply assembly is connected with the water inlet channel, and the water outlet channel is connected with the high-pressure water spray head;
when the enclosure is cleaned, the first connecting seat is connected with the other end of the mechanical arm, when the enclosure is cleaned and dried, the cleaning mechanism is detached relative to the other end of the mechanical arm, and the drying and wiping mechanism is connected with the other end of the mechanical arm.
2. The enclosure cleaning and drying equipment of claim 1, wherein the mechanical arm comprises a rotating base, a large arm rotating driving mechanism, a small arm rotating driving mechanism, a wrist rotating driving mechanism, a first large arm, a second large arm, a first small arm, a second small arm, a first small arm swinging connecting rod, a second small arm swinging connecting rod, a first wrist, a second wrist, a first wrist swinging connecting rod, a second wrist swinging connecting rod, a third wrist swinging connecting rod, a pin shaft and a triangular connecting plate, and a waist round hole is formed in the rotating base;
the rotating base is connected with the rotating mechanism; the large arm rotation driving mechanism and the wrist rotation driving mechanism are arranged on one side of the rotating base, the small arm rotation driving mechanism is arranged on the other side of the rotating base, one end of the first large arm is connected with the large arm rotation driving mechanism, the second large arms are arranged in parallel at intervals with the first large arm, and one end of each second large arm is rotatably connected with the rotating base; one end of the first wrist swinging connecting rod is connected with the wrist rotation driving mechanism, and the other end of the first wrist swinging connecting rod is rotatably connected with one end of the second wrist swinging connecting rod; the other end of the second wrist swinging connecting rod is rotatably connected with the first angle of the triangular connecting plate; the pin shaft is arranged on the second wrist swinging connecting rod and inserted into the waist circular hole of the rotating base;
a second angle of the triangular connecting plate is rotatably connected with one end of the third wrist swinging connecting rod, and the other end of the third wrist swinging connecting rod is rotatably connected with the first wrist; one end of the first small arm is rotatably connected with the third angle of the triangular connecting plate, and the other end of the first small arm is rotatably connected with the first wrist; the other end of the first large arm is rotatably connected with one end of the first small arm;
the forearm rotating driving mechanism is rotatably connected with one end of the first forearm swinging connecting rod, the other end of the first forearm swinging connecting rod is connected with one end of the second forearm swinging connecting rod, the other end of the second forearm swinging connecting rod is rotatably connected with one end of the second forearm, the other end of the second forearm is rotatably connected with the second wrist, and the other end of the second large arm is rotatably connected with the second forearm; the first wrist and the second wrist are parallel and connected with the first connecting seat.
3. The enclosure cleaning and drying equipment according to claim 2, further comprising a locking mechanism, wherein the locking mechanism comprises clamping plates and an air cylinder, the two clamping plates are spaced in parallel, the first connecting seat is clamped between the two clamping plates, a first through hole is formed in the first connecting seat, a second through hole opposite to the first through hole is formed in the clamping plate, the air cylinder is mounted on the clamping plates, and a piston rod of the air cylinder penetrates through the first through hole and the second through hole simultaneously; the two clamping plates are positioned between the first wrist and the second wrist, and two ends of each clamping plate are respectively connected with the first wrist and the second wrist.
4. The enclosure cleaning and drying equipment according to claim 3, wherein clamping blocks extend outwards from both ends of the clamping plate, and bayonets matched with the clamping blocks are arranged on the first wrist and the second wrist.
5. The enclosure cleaning and drying device of claim 4, wherein the first wrist and the second wrist are provided with slots into which the first connecting seats are inserted.
6. The enclosure cleaning and drying equipment of claim 2, wherein the rotating base comprises a bottom plate, and a first mounting plate, a second mounting plate and a third mounting plate which are arranged on the bottom plate in parallel and at intervals; the swing mechanism is connected with the bottom plate; the large arm rotation driving mechanism and the wrist rotation driving mechanism are installed on the first installation plate, the small arm rotation driving mechanism is installed on the third installation plate, and one end of the second large arm is rotatably connected with the second installation plate.
7. The enclosure cleaning and drying equipment according to claim 1, wherein the traveling chassis is a tire type traveling chassis or a crawler type traveling chassis.
8. The enclosure cleaning and drying equipment of any one of claims 1 to 7, wherein the drying and wiping mechanism comprises a high-pressure hot air supply assembly, a wiping cloth roller, a hot air guide pipe, a second turbine and a second connecting seat;
the second connecting seat is internally provided with a second turbine mounting groove, an air inlet channel and an air outlet channel which are communicated with the second turbine mounting groove, the second turbine is positioned in the second turbine mounting groove, and the second turbine is mounted on a cylinder core of the wiping cloth roller; the high-pressure hot air supply assembly is connected with the air inlet channel, and the air outlet channel is connected with the hot air guide pipe; the second connecting seat is connected with the other end of the mechanical arm.
9. The enclosure cleaning and drying apparatus of claim 8, wherein the drying and wiping mechanism further comprises a mesh plate disposed at the air outlet of the hot air duct.
10. The enclosure cleaning and drying apparatus according to claim 8, wherein the drying and wiping mechanism further comprises a pressure adjusting assembly, the pressure adjusting assembly comprises a connecting plate and an air faucet, an air cavity is disposed in the connecting plate, one end of the connecting plate is movably and cooperatively connected with the second connecting seat, the other end of the connecting plate is connected with the other end of the mechanical arm, the air faucet connected with the air cavity is disposed on the connecting plate, and the air faucet is connected with the high-pressure hot air supply assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010515296.6A CN111558562B (en) | 2020-06-08 | 2020-06-08 | Enclose shelves and wash drying equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010515296.6A CN111558562B (en) | 2020-06-08 | 2020-06-08 | Enclose shelves and wash drying equipment |
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| CN111558562A true CN111558562A (en) | 2020-08-21 |
| CN111558562B CN111558562B (en) | 2020-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010515296.6A Active CN111558562B (en) | 2020-06-08 | 2020-06-08 | Enclose shelves and wash drying equipment |
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| CN111633658A (en) * | 2020-06-08 | 2020-09-08 | 湖南翰坤实业有限公司 | Mechanical arm and enclosure cleaning equipment |
| CN112378240A (en) * | 2020-10-26 | 2021-02-19 | 张家港三能机电设备有限公司 | Temperature control cleaning and drying equipment for ultrasonic cleaning machine |
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| Publication number | Publication date |
|---|---|
| CN111558562B (en) | 2020-11-17 |
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