CN111811191A - Defrosting robot for refrigeration house calandria evaporator - Google Patents
Defrosting robot for refrigeration house calandria evaporator Download PDFInfo
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- CN111811191A CN111811191A CN202010776137.1A CN202010776137A CN111811191A CN 111811191 A CN111811191 A CN 111811191A CN 202010776137 A CN202010776137 A CN 202010776137A CN 111811191 A CN111811191 A CN 111811191A
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- defrosting
- frost
- robot
- obstacle
- annular support
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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
- F25D21/06—Removing frost
- F25D21/065—Removing frost by mechanical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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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
- F25D21/004—Control mechanisms
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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
- F25D21/006—Defroster control with electronic control circuits
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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
- F25D29/00—Arrangement or mounting of control or safety devices
- F25D29/006—Safety devices
-
- 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
- F25D29/00—Arrangement or mounting of control or safety devices
- F25D29/008—Alarm devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Defrosting Systems (AREA)
Abstract
The invention relates to a freezer calandria evaporator defrosting robot, wherein a defrosting system comprises a defrosting annular support rotating mechanism, a defrosting annular support arranged on the defrosting annular support rotating mechanism, three pairs of brush motors arranged on the defrosting annular support, defrosting brushes arranged on the brush motors, a defrosting hopper support arranged on a central shaft of a defrosting robot body and two defrosting hoppers positioned on two sides of the defrosting hopper support; the defrosting annular bracket rotating mechanism is connected with a lifting arm in the obstacle crossing system; when the obstacle sensor detects a steel frame obstacle, the track motor and the brush motor are both stopped, the defrosting annular support rotates to a horizontal state from a vertical state, the straight-tooth cylindrical gear driving group is started, the lifting arm drives the defrosting system to integrally ascend, and the track motor is started to cross the obstacle. After the obstacle is crossed, the defrosting operation state is sequentially recovered, and continuous defrosting operation is realized. The invention has the characteristics of simple and reasonable structure, high efficiency, safety, reliability, economy, practicability, remote control and the like, and is suitable for repeated operation.
Description
Technical Field
The invention relates to a defrosting robot for a freezer calandria evaporator, in particular to a device for removing a frost layer on the surface of the freezer calandria evaporator instead of manpower, belonging to the field of refrigeration and air conditioning equipment manufacturing and special operation robot manufacturing and realizing the rapid and efficient removal of the frost layer on the surface of a freezer calandria.
Background
With the development of our society, the demand for large-scale cold storage is increasing. Because the temperature of the large-scale cold storage is very low (less than-15 ℃), the relative humidity in the cold storage is very high, frost is easily formed on the calandria (the surface temperature of the calandria is less than-25 ℃), the loose structure of the frost causes the extremely low heat conductivity coefficient, the heat exchange efficiency of the calandria is seriously reduced, the performance reduction of a refrigerating system and the unnecessary energy consumption increase are caused, and the operation cost of the cold storage is improved.
In order to solve the adverse effect caused by frosting, the refrigerator rack pipe is usually defrosted regularly. The main defrosting methods at present are manual defrosting and thermal defrosting. The manual defrosting is to manually sweep away the frost layer on the surface of the discharge pipe, and workers use a long-rod cleaning tool such as a broom to clean the frost layer. The method is simple in operation, but time-consuming and labor-consuming, low in cleaning degree and high in labor cost. Thermal defrosting is to melt the frost layer on the surface of the discharge pipe by using a solenoid valve or a conversion device and high-temperature superheated refrigerant vapor discharged by a compressor as a heat source. The method can cause the temperature of the refrigeration house to fluctuate greatly, is not beneficial to the storage of articles in the refrigeration house and consumes a large amount of electric energy. In addition, some emerging freezer defrosting devices also appear, but the device mainly performs defrosting on a freezer light tube, and cannot perform defrosting on a finned tube-array evaporator.
In conclusion, at present, no efficient full-automatic freezer calandria evaporator defrosting equipment exists, and the invention aims to provide a full-automatic freezer calandria defrosting robot to replace manual work to remove frost on freezer calandria and fins thereof.
Disclosure of Invention
The invention provides a refrigerator calandria defrosting robot, which aims to replace manual work to remove frost on a refrigerator calandria. The refrigerator calandria defrosting robot can move back and forth on a guide rail parallel to the refrigerator calandria, and frost on the calandria is removed in the process of back and forth movement; can cross the steel frame obstacle during the motion, make the calandria defrosting process go on in succession to guarantee the stable refrigeration performance of freezer calandria.
The technical scheme of the invention is as follows: a freezer calandria evaporator defrosting robot comprises a defrosting system, a motion system, an obstacle crossing system and a control system, wherein the defrosting system comprises a defrosting annular support rotating mechanism, a defrosting annular support arranged on the defrosting annular support rotating mechanism, three pairs of brush motors arranged at 120 degrees and arranged on the defrosting annular support, a defrosting brush arranged on each brush motor, a frost falling bucket support arranged on the center shaft of a defrosting robot body and two frost falling buckets positioned on two sides of the frost falling bucket support, the frost falling buckets are tightly connected with the frost falling bucket support through lock catches, lock catch mounting signals are sent to the control system by lock catch sensors, and a weight sensor is arranged between the frost falling buckets and the frost falling bucket support to detect whether frost in the frost falling buckets is full and needs to be removed; the defrosting annular bracket rotating mechanism is connected with a lifting arm in the obstacle crossing system; during defrosting, the brush motor drives the defrosting brush to rotate at a high speed to defrost the refrigerator calandria and the fins, and the removed frost falls into the frost falling hopper; the moving system comprises a crawler motor, a transmission mechanism, a crawler and guide rails, wherein the crawler is arranged on the guide rails parallel to the refrigerator calandria and positioned on two sides of the defrosting robot body; the obstacle crossing system comprises an obstacle sensor, a lifting arm and a spur gear driving set, wherein the obstacle sensor is arranged on the defrosting annular bracket, and the lifting arm is arranged on the defrosting robot body and is connected with the spur gear driving set; the control system is respectively connected with three pairs of brush motors, a track motor, a straight-tooth cylindrical gear driving group, a defrosting annular support rotating mechanism, an obstacle sensor, a frost falling weight sensor and a lock catch sensor and is used for controlling the defrosting robot to switch among a defrosting working state, a crossing obstacle state and a frost falling clearing state so as to realize continuous defrosting operation.
Furthermore, an opening radian of 120 degrees is arranged right below the defrosting annular support, so that the defrosting system can conveniently cross steel frame obstacles.
Furthermore, the distance between the pair of brush motors is slightly wider than the tube arranging fins, and the length of the defrosting brush is longer than the height of the tube arranging fins.
Furthermore, the obstacle sensor has a limiting function in the front and back directions, and the limiting detection length of the obstacle sensor is longer than that of the defrosting annular support, so that the defrosting annular support is driven by the defrosting annular support rotating mechanism to rotate to the horizontal state and return to the vertical state when the defrosting robot runs in the front and back directions and encounters a steel frame obstacle, and the defrosting annular support cannot collide with the steel frame obstacle.
Furthermore, a wireless communication module in the control system is connected with a computer or a mobile phone terminal through a wireless network, so that remote monitoring is realized.
Further, when the removed frost is full of the frost falling hopper, the frost falling weight sensor sends a signal to the control system, the control system outputs and controls the defrosting robot to suspend defrosting work on one hand, and on the other hand, the control system gives an alarm through a built-in alarm horn of the defrosting robot and sends an alarm signal to the monitoring terminal through a wireless network.
Furthermore, the guide rail is completely parallel to the refrigerator calandria and is slightly longer than the calandria, and on one hand, the guide rail is used as a support for the forward and backward movement of the defrosting robot crawler; and on the other hand, the power supply device supplies power to the defrosting robot, and keeps contact with the power taking end of the defrosting robot through the built-in wiring end of the guide rail to supply power continuously.
Further, when the frost fill in the frost fill is full, when entering the frost removal state that falls, fall the frost fill support and fall the weight sensor between the frost fill bottom and send full case signal to control system, brush motor and track motor all shut down, remind the staff to clear away the frost in the frost fill that falls, clear away the back and will fall the frost and fight after the correct installation, the hasp sensor sends hasp installation signal to control system, resumes to the defrosting operating condition.
Further, when the defrosting robot runs into a state of crossing an obstacle due to the fact that the defrosting robot meets a steel frame obstacle supporting the pipe arrangement, an obstacle sensor of the obstacle crossing system detects the obstacle; the brush motor and the crawler motor are both stopped, the defrosting annular bracket rotating mechanism rotates by 90 degrees, and the defrosting annular bracket rotates from a vertical state to a horizontal state and is parallel to the freezer calandria; the straight-tooth cylindrical gear drive group works to enable the lifting arm to ascend to drive the defrosting system to integrally move upwards, the defrosting system is arranged above the refrigerator calandria, the crawler motor is started, and the defrosting robot continues to travel to cross steel frame obstacles; after crossing the obstacle, control system control track motor pause work, at this moment, the obstacle sensor detects the place ahead and the rear is all accessible, straight-tooth spur gear drive group reverse work, and the lifing arm descends, and defrosting ring carrier rotary mechanism reverse rotation 90, will defrost the ring carrier by the level attitude rotation to the vertical state, get into defrosting operating condition, and brush motor and track motor all restart realizes the operation of defrosting in succession.
Compared with the prior art, the invention has the following beneficial effects: the invention relates to a refrigerator calandria defrosting robot which comprises a moving system, an obstacle crossing system, a defrosting system and a control system. The invention makes the defrosting robot move back and forth on the guide rail parallel to the freezer calandria through the track movement, and mechanically defrosts the freezer calandria and the fins thereof through the three pairs of defrosting brushes arranged on the defrosting annular bracket. When the defrosting robot meets the calandria steel frame obstacle, the control system controls the defrosting annular support rotating mechanism to rotate 90 degrees, the defrosting system is parallel to the freezer calandria, then the straight-tooth cylindrical gear driving set is controlled to work, the lifting arm is made to ascend, the defrosting system is slightly higher than the freezer calandria, the crawler belt continues to advance, and the defrosting robot is made to cross the obstacle. After passing the obstacle, all the parts are controlled to be sequentially restored to the defrosting working state, and continuous defrosting is realized.
Therefore, the invention can overcome the defects of low efficiency of manual defrosting, complex operation, high risk, pollution to articles caused by falling frost and dropping stored articles, high labor cost and the like; meanwhile, the invention has simple and reasonable structure, high efficiency, safety, reliability, economy and practicality, and is suitable for repeated operation. The refrigerator can be continued for a long time by directly taking the electricity from the power supply, and plays an important role in defrosting the refrigerator rack pipes.
Drawings
Fig. 1 is a schematic structural view of a refrigerator rack-and-tube defrosting robot of the present invention;
fig. 2 is a partial plan view of the freezer rack-and-pinion defrosting robot of the present invention;
FIG. 3 is a three-dimensional schematic view of the freezer rack-and-tube defrosting robot of the present invention;
FIG. 4 is a three-dimensional schematic view of the inner structure of the refrigerator calandria defrosting robot of the invention;
in the figure: the system comprises a 1-obstacle sensor, a 2-defrosting annular support, a 3-defrosting brush, a 4-brush motor, a 5-lifting arm, a 6-crawler motor, a 7-control system, an 8-spur gear driving set, a 9-transmission mechanism, a 10-crawler, an 11-defrosting annular support rotating mechanism, a 12-guide rail, a 13-frost falling bucket, a 14-frost falling bucket support, a 15-weight sensor and a 16-lock sensor.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1 to 4, the freezer calandria defrosting robot is composed of four parts, namely a motion system, an obstacle crossing system, a defrosting system and a control system.
The defrosting system comprises a defrosting annular support rotating mechanism 11 and a defrosting annular support 2 arranged on the defrosting annular support rotating mechanism, the radian of the support is 240 degrees, and the radian of 120 degrees right below the support is an opening, so that the defrosting system can conveniently cross steel frame obstacles; three pairs of brush motors 4 arranged on the defrosting annular bracket 2 are arranged in 120 degrees, the distance between the pair of brush motors 4 is slightly wider than that of the pipe arranging fins, one defrosting brush 3 is arranged on each brush motor 4, and the length of each defrosting brush 3 is longer than the height of each pipe arranging fin; the defrosting device comprises a frost falling hopper support 14 arranged on a shaft of the defrosting robot and two frost falling hoppers 13 arranged on two sides of the frost falling hopper support 14, wherein the frost falling hoppers 13 are tightly installed with the frost falling hopper support 14 through lock catches, lock catch sensors 16 send lock catch installation signals to the control system 7, and weight sensors 15 are installed between the frost falling hoppers 13 and the frost falling hopper support 14 to detect whether frost in the frost falling hoppers 13 is full of boxes and needs to be removed. When defrosting, the brush motor 4 drives the defrosting brush 3 to rotate at a high speed, so as to defrost the refrigerator discharge pipe and the fins, and the removed frost falls into the frost falling hopper 13. When the frost bucket is full of frost, the frost bucket enters a frost falling clearing state, a weight sensor between the support 14 of the frost bucket and the bottom of the frost bucket 13 sends a full-box signal to the control system 7, the brush motor 4 and the track motor 6 are both stopped to remind workers to clear the frost in the frost bucket, and after the frost bucket is cleared and is correctly installed, the lock catch sensor 16 sends a lock catch installation signal to the control system 7.
The motion system comprises a track motor 6, a transmission 9, a track 10 and a guide rail 12. The crawler belt 10 is arranged on a guide rail 12 parallel to the freezer rack pipe, the crawler belt motor 6 drives the transmission mechanism 9, and the transmission mechanism 9 drives the crawler belt 10 to move back and forth on the guide rail 12, so that defrosting of different positions of the rack pipe is realized.
The obstacle crossing system comprises an obstacle sensor 1, a lifting arm 5, a straight toothed spur gear driving group 8 and a defrosting annular support rotating mechanism 11. When the defrosting robot runs into a steel frame obstacle for supporting the pipe arrangement, the defrosting robot enters a state of crossing the obstacle, and an obstacle sensor 1 of an obstacle crossing system detects the obstacle; the brush motor 4 and the crawler motor 6 are both stopped, the defrosting annular bracket rotating mechanism 11 rotates 90 degrees, and the defrosting annular bracket 2 rotates from a vertical state to a horizontal state and is parallel to the refrigerator calandria; the straight toothed spur gear drive group 8 works to enable the lifting arm 5 to ascend to drive the defrosting system to move upwards integrally, so that the defrosting system is arranged above the refrigerator rack pipe, the crawler motor 6 is started, and the defrosting robot continues to walk to cross steel frame obstacles. After the obstacle is crossed, the control system 7 controls the crawler motor 6 to pause, at the moment, the obstacle sensor 1 detects that the front part and the rear part are both free of obstacles, the straight-tooth cylindrical gear driving group 8 works reversely, the lifting arm 5 descends, the defrosting annular support rotating mechanism 11 rotates reversely by 90 degrees, the defrosting annular support 2 rotates from a horizontal state to a vertical state and enters a defrosting working state, and the brush motor 4 and the crawler motor 6 are both restarted to realize continuous defrosting operation.
The control system 7 comprises 3 pairs of control of a brush motor 4, a track motor 6, a straight-toothed spur gear driving group 8, a defrosting annular support rotating mechanism 11, an obstacle sensor 1, a frost falling weight sensor 15, a lock catch sensor 16, remote monitoring and the like. The control system 7 mainly controls the defrosting robot to switch accurately and efficiently among a defrosting working state, a barrier crossing state and a frost falling clearing state, so that continuous defrosting operation is realized. In addition, the wireless communication module of the control system 7 can be linked with a computer or a mobile phone terminal through a wireless network, so that remote monitoring can be realized, and the remote monitoring comprises the working state of the defrosting robot, the abrasion degree of a brush, the weight of the defrosting robot in the defrosting hopper, the defrosting start/stop of the robot, the timing setting of defrosting work and the like.
The obstacle sensor 1 has limiting functions in the front and rear directions, and the limiting detection length of the obstacle sensor is longer than that of the defrosting annular support 2, so that the defrosting annular support rotating mechanism 11 can drive the defrosting annular support 2 to rotate to the horizontal state and return to the vertical state without colliding with a steel frame obstacle when the defrosting robot moves in the front and rear directions and meets the steel frame obstacle.
The frost falling hopper 13 is provided with a frost falling weight sensor and is connected with the control system 7, when the removed frost is full of the frost falling hopper, the frost falling weight sensor sends a signal to the control system 7, the control system 7 enables the defrosting robot to suspend defrosting work on one hand, and on the other hand, the defrosting robot gives an alarm through a built-in alarm horn, an alarm and the like of the defrosting robot and sends an alarm signal to the monitoring terminal through a wireless network. And after the worker takes the falling frost bucket and clears the frost, the falling frost bucket is put back and installed in a lock catch manner, and the defrosting robot automatically detects and recovers the defrosting work.
The guide rail 12 is completely parallel to the freezer rack and slightly longer than the rack. On one hand, the support is used for the advancing and retreating of the defrosting robot crawler; on the other hand, the defrosting robot power supply device also has the function of supplying power to the defrosting robot, and the built-in wiring terminal of the guide rail 12 keeps contact with the power supply terminal of the defrosting robot to continuously supply power.
The specific working process of the invention is as follows:
when the defrosting operation state is in use, the track motor 6 drives the transmission mechanism 9, the transmission mechanism 9 drives the track 10, and the track 10 drives the whole defrosting robot for the refrigerator calandria to move forward or backward. The defrosting annular support is in a 240-degree arc shape and is in a vertical state, the defrosting annular support coats the refrigeration house calandria, 3 groups of defrosting brushes 3 and brush motors 4 are respectively arranged at 120 degrees with equal angles, and the defrosting brushes 3 are driven by the brush motors 4 to rotate so as to defrost the refrigeration house calandria and fins. When the refrigerator calandria defrosting robot runs across the obstacle, when the refrigerator calandria defrosting robot encounters a steel frame obstacle supporting the calandria, the obstacle sensor 1 detects the obstacle and transmits the obstacle to the control system 7, the control system 7 controls the track motor 6 and the brush motor 4 to stop, controls the defrosting annular support rotating mechanism 11 to rotate 90 degrees, is in a horizontal state and is parallel to the refrigerator calandria; subsequently, the control system 7 controls the spur gear drive unit 8 to work, and the lifting arm 5 drives the defrosting robot to ascend, so that the defrosting annular bracket 2 is slightly higher than the cold storage rack pipe; controlling the crawler belt 10 to continue to advance; when the obstacle sensor 1 detects that no obstacle exists in the front direction and the rear direction, the obstacle sensor crosses the steel frame obstacle and transmits the obstacle to the control system 7; the control system 7 controls the defrosting annular bracket rotating mechanism 11 to rotate 90 degrees in the reverse direction, so that the defrosting annular bracket is recovered to be in a vertical state; controlling the straight-toothed spur gear driving group 8 to work, and driving the defrosting robot to descend by the lifting arm 5 to recover to the height of the defrosting working state; and the track motor 6 and the brush motor 4 are recovered to run, and the freezer calandria defrosting robot continues to advance and defrost. When the frost that falls clears away the state, when falling the frost fill 13 in clean the full case of frost that falls, weight sensor 15 sends full case signal to control system 7, the defrosting robot stops the defrosting operation, and send full case warning to remote monitoring's cell-phone and computer through defrosting robot year alarm lamp and warning loudspeaker and wireless communication system, remind the staff to clear away the frost that falls in the frost fill 13, fall behind frost fill 13 in the frost is clear away and is put back the frost fill support 14 that falls, closely install through the hasp, whether defrosting robot automated inspection hasp sensor 16 is normal, and resume to defrosting operating condition. In conclusion, the full-automatic defrosting device can realize full-automatic obstacle crossing, falling frost collection, full-box reminding, automatic detection and continuous defrosting operation.
The protection scope of the present invention is not limited to the above-mentioned embodiments, and it falls within the protection scope of the present invention as long as the structure is the same as the structural schematic diagram of the defrosting device for the refrigerator.
Claims (9)
1. The utility model provides a freezer calandria evaporimeter defrosting robot, includes defrost system, moving system, hinders system, control system more, its characterized in that: the defrosting system comprises a defrosting annular support rotating mechanism (11), a defrosting annular support (2) arranged on the defrosting annular support rotating mechanism (11), three pairs of brush motors (4) arranged at 120 degrees and arranged on the defrosting annular support (2), one defrosting brush (3) arranged on each brush motor (4), a frost falling hopper support (14) arranged on the center shaft of the defrosting robot body and two frost falling hoppers (13) positioned at two sides of the frost falling hopper support (14), wherein the frost falling hopper (13) is tightly connected with the frost falling hopper support (14) through a lock catch, a lock catch sensor (16) sends a lock catch mounting signal to a control system (7), and a weight sensor (15) is arranged between the frost falling hopper (13) and the frost falling hopper support (14) to detect whether frost in the frost falling hopper (13) is full and needs to be removed; the defrosting annular bracket rotating mechanism (11) is connected with a lifting arm (5) in the obstacle crossing system; during defrosting, the brush motor (4) drives the defrosting brush (3) to rotate at a high speed to defrost the refrigerator discharge pipe and the fins, and the removed frost falls into the frost falling hopper (13); the moving system comprises a crawler motor (6), a transmission mechanism (9), crawlers (10) and guide rails (12), wherein the crawlers (10) are arranged on the guide rails (12) parallel to the refrigerator rack pipes and are positioned on two sides of the defrosting robot body, the crawler motor (6) is connected with the crawlers (10) through the transmission mechanism (9) arranged in the defrosting robot body, and the crawler motor (6) drives the crawlers (10) to move back and forth on the guide rails (12) through the transmission mechanism (9), so that the defrosting of different positions of the rack pipes is realized; the obstacle crossing system comprises an obstacle sensor (1), a lifting arm (5) and a spur gear driving group (8), wherein the obstacle sensor (1) is arranged on the defrosting annular bracket (2), and the lifting arm (5) is arranged on the defrosting robot body and is connected with the spur gear driving group (8); the control system (7) is respectively connected with three pairs of brush motors (4), a track motor (6), a straight-tooth cylindrical gear driving group (8), a defrosting annular support rotating mechanism (11), an obstacle sensor (1), a frost falling weight sensor (15) and a lock catch sensor (16) and is used for controlling the defrosting robot to switch among a defrosting working state, a crossing obstacle state and a frost falling clearing state so as to realize continuous defrosting operation.
2. The freezer calandria evaporator defrosting robot of claim 1 wherein: an opening radian of 120 degrees is arranged right below the defrosting annular bracket (2), so that the defrosting system can conveniently cross steel frame obstacles.
3. The freezer calandria evaporator defrosting robot of claim 1 wherein: the distance between the brush motors (4) is slightly wider than the tube arranging fins, and the length of the defrosting brush (3) is longer than the height of the tube arranging fins.
4. The freezer calandria evaporator defrosting robot of claim 1 wherein: the obstacle sensor (1) is an obstacle sensor with limiting functions in the front and back directions, and the limiting detection length of the obstacle sensor is longer than that of the defrosting annular support (2), so that the defrosting annular support (2) is driven by the defrosting annular support rotating mechanism (11) to rotate to the horizontal state and return to the vertical state in the front and back movement of the defrosting robot when encountering steel frame obstacles, and the defrosting annular support does not collide with the steel frame obstacles.
5. The freezer calandria evaporator defrosting robot of claim 1 wherein: and a wireless communication module in the control system (7) is connected with a computer or a mobile phone terminal through a wireless network to realize remote monitoring.
6. The freezer calandria evaporator defrosting robot of claim 1 wherein: when the removed frost is full of the frost falling hopper, the frost falling weight sensor (15) sends a signal to the control system (7), on one hand, the control system (7) outputs control to enable the defrosting robot to suspend defrosting work, on the other hand, the defrosting robot alarms through a built-in alarm horn, and meanwhile, an alarm signal is sent to the monitoring terminal through a wireless network.
7. The freezer calandria evaporator defrosting robot of claim 1 wherein: the guide rail (12) is completely parallel to the freezer calandria and is slightly longer than the calandria, and on one hand, the guide rail is used as a support for the forward and backward movement of the defrosting robot crawler; on the other hand, the power supply device supplies power to the defrosting robot, and keeps contact with the power taking end of the defrosting robot through the built-in wiring end of the guide rail (12) to supply power continuously.
8. The freezer calandria evaporator defrosting robot of claim 1 wherein: when falling the frost and fighting full case of frost in fighting, when the entering falls the frost and clears away the state, fall the frost and fight support (14) and fall the weight sensor between frost fill (13) bottom and send full case signal to control system (7), brush motor (4) and track motor (6) are all shut down, remind the staff to clear away the frost that falls in the frost fill, clear away the back and will fall the frost and fight after the correct installation, hasp sensor (16) send hasp installation signal to control system (7), resume to defrosting operating condition.
9. The freezer calandria evaporator defrosting robot of claim 1 wherein: when the defrosting robot runs into a steel frame obstacle for supporting the pipe arrangement and enters a state of crossing the obstacle, an obstacle sensor (1) of the obstacle crossing system detects the obstacle; the brush motor (4) and the crawler motor (6) are both stopped, the defrosting annular bracket rotating mechanism (11) rotates 90 degrees, and the defrosting annular bracket (2) rotates from a vertical state to a horizontal state and is parallel to the freezer calandria; the straight-tooth cylindrical gear driving group (8) works to enable the lifting arm (5) to ascend to drive the defrosting system to move upwards integrally, the defrosting system is arranged above the refrigerator rack pipe, the track motor (6) is started, and the defrosting robot continues to travel, so that the defrosting robot crosses a steel frame obstacle; after crossing the obstacle, control system (7) control track motor (6) pause work, at this moment, obstacle sensor (1) detects the equal accessible in the place ahead and rear, and straight-tooth spur gear drive group (8) reverse work, and lifing arm (5) descend, and defrosting ring carrier rotary mechanism (11) reverse rotation 90 will defrost ring carrier (2) by the rotation of level state to the vertical state, get into the defrosting operating condition, and brush motor (4) and track motor (6) all restart, realize the operation of defrosting in succession.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010776137.1A CN111811191A (en) | 2020-08-05 | 2020-08-05 | Defrosting robot for refrigeration house calandria evaporator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010776137.1A CN111811191A (en) | 2020-08-05 | 2020-08-05 | Defrosting robot for refrigeration house calandria evaporator |
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| Publication Number | Publication Date |
|---|---|
| CN111811191A true CN111811191A (en) | 2020-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010776137.1A Pending CN111811191A (en) | 2020-08-05 | 2020-08-05 | Defrosting robot for refrigeration house calandria evaporator |
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| Country | Link |
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| CN (1) | CN111811191A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113739503A (en) * | 2021-11-08 | 2021-12-03 | 烟台永诚制冷科技有限公司 | Aluminum row pipeline defroster with intelligent regulation function |
| CN114427777A (en) * | 2022-01-14 | 2022-05-03 | 凌忠平 | Freezer calandria defrosting and deicing machine adaptable to different pipe distances |
-
2020
- 2020-08-05 CN CN202010776137.1A patent/CN111811191A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113739503A (en) * | 2021-11-08 | 2021-12-03 | 烟台永诚制冷科技有限公司 | Aluminum row pipeline defroster with intelligent regulation function |
| CN113739503B (en) * | 2021-11-08 | 2022-02-08 | 烟台永诚制冷科技有限公司 | Aluminum row pipeline defroster with intelligent regulation function |
| CN114427777A (en) * | 2022-01-14 | 2022-05-03 | 凌忠平 | Freezer calandria defrosting and deicing machine adaptable to different pipe distances |
| CN114427777B (en) * | 2022-01-14 | 2023-09-01 | 延长县沃康果业有限责任公司 | Refrigerator calandria defrosting and ice removing machine adaptable to different pipe pitches |
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