CN112571428A

CN112571428A - Cleaning manipulator

Info

Publication number: CN112571428A
Application number: CN202011382066.3A
Authority: CN
Inventors: 赵尚; 刘源; 孙儒政
Original assignee: Army Military Transportation University of PLA Zhenjiang
Current assignee: Army Military Transportation University of PLA Zhenjiang
Priority date: 2020-12-01
Filing date: 2020-12-01
Publication date: 2021-03-30

Abstract

The invention discloses a cleaning manipulator which comprises a base, a grabbing mechanism and a cleaning mechanism, wherein the grabbing mechanism is arranged on the base; the grabbing mechanism is arranged on the base and used for grabbing the object to be cleaned, and the cleaning mechanism is arranged on the base and used for cleaning the object to be cleaned grabbed by the grabbing mechanism. The invention adopts a cooperative mode to work, and the grabbing mechanism grabs the propeller during working, so that the propeller cannot generate displacement in the cleaning process; meanwhile, the surface of the grabbed propeller is subjected to moving cleaning by using a cleaning mechanism. Simple structure, it is convenient to maintain, also can satisfy the user demand in the function.

Description

Cleaning manipulator

Technical Field

The invention relates to a manipulator, in particular to a cleaning manipulator.

Background

At present, the domestic cleaning and brushing means for ship attachments mainly uses a high-pressure water jet cleaning technology for cleaning and brushing. The application research of the high-pressure water jet cleaning technology in underwater cleaning is not mature precedent, the cleaning effect on shellfish attachments such as oysters is not ideal, and the cleaning technology is complex and tedious in use and maintenance.

Disclosure of Invention

The invention aims to provide a cleaning manipulator which is simple in structure, convenient to maintain and capable of meeting the use requirement in function.

The invention adopts the following technical scheme for realizing the aim of the invention:

the present invention provides a cleaning robot, comprising:

a base;

the grabbing mechanism is arranged on the base and used for grabbing an object to be cleaned;

and the cleaning mechanism is arranged on the base and used for cleaning the object to be cleaned grabbed by the grabbing mechanism.

Further, the grasping mechanism includes:

the first large arm can be horizontally and rotatably arranged on the base;

the first driving mechanism is used for driving the first large arm to horizontally rotate on the base;

the first swing arm assembly is vertically arranged on the first big arm in a swinging mode;

and the mechanical claw assembly is arranged on the first swing arm assembly and used for grabbing the object to be cleaned.

Further, the first drive mechanism includes:

a first drive motor;

the first worm is connected with an output shaft of the first driving motor;

the first rotating body is rotatably arranged on the base, and the first large arm is fixedly arranged on the first rotating body;

and the first worm wheel is connected with the first rotating body and is in coaxial transmission with the first rotating body, and the first worm wheel is in meshed transmission with the first worm.

Further, the first swing arm assembly includes:

the first swing arm is rotatably arranged on the first big arm;

the second driving motor is arranged on the first big arm, and an output shaft is connected with the first swing arm and used for driving the first swing arm to vertically swing on the first big arm;

the second swing arm is rotatably arranged on the first swing arm;

and the third driving motor is arranged on the first big arm, and an output shaft is connected with the second swing arm through a transmission mechanism and used for driving the second swing arm to vertically swing on the first swing arm.

Further, the mechanical claw assembly comprises:

the first hydraulic cylinder is arranged on the second swing arm;

and the mechanical claw is provided with at least two clamping arms and is connected with the piston rod of the first hydraulic cylinder, and the mechanical claw performs folding or unfolding actions under the driving of the piston rod of the first hydraulic cylinder.

Further, the first transmission mechanism includes:

one end of the first connecting rod is fixedly connected with an output shaft of the third driving motor;

and one end of the second connecting rod is rotatably connected with the other end of the first connecting rod, and the other end of the second connecting rod is rotatably connected with the second swing arm.

Further, the cleaning mechanism includes:

the second large arm can be horizontally and rotatably arranged on the base;

the second driving mechanism is used for driving the second large arm to horizontally rotate on the base;

the second swing arm assembly is vertically arranged on the second big arm in a swinging mode;

and the brushing component is arranged on the second swing arm component and is used for brushing the object to be cleaned grabbed by the grabbing mechanism.

Further, the second driving mechanism includes:

a fourth drive motor;

the second worm is connected with an output shaft of the fourth driving motor;

the second rotating body is rotatably arranged on the base, and the second large arm is fixedly arranged on the second rotating body;

and the second turbine is connected with the second rotating body and is in coaxial transmission with the second rotating body, and the second turbine is in meshing transmission with the second worm.

Further, the second swing arm assembly includes:

the third swing arm is rotatably arranged on the second big arm;

the fifth driving motor is arranged on the second big arm, and an output shaft of the fifth driving motor is connected with the third swing arm and used for driving the third swing arm to vertically swing on the second big arm;

the fourth swing arm is rotatably arranged on the third swing arm;

and the sixth driving motor is arranged on the second big arm, and an output shaft is connected with the fourth swing arm through a second transmission mechanism and used for driving the fourth swing arm to vertically swing on the third swing arm.

Further, the scrubbing assembly includes:

the second hydraulic cylinder is arranged on the fourth swing arm;

the seventh driving motor is connected with a piston rod of the second hydraulic cylinder;

and the cleaning brush is connected with the output shaft of the seventh driving motor.

Further, the second transmission mechanism includes:

one end of the third connecting rod is fixedly connected with an output shaft of the sixth driving motor;

and one end of the fourth connecting rod is rotatably connected with the other end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected with the fourth swing arm.

The invention has the following beneficial effects:

the invention adopts a cooperative mode to work, and the grabbing mechanism grabs the propeller during working, so that the propeller cannot generate displacement in the cleaning process; meanwhile, the surface of the grabbed propeller is subjected to moving cleaning by using a cleaning mechanism. Simple structure, it is convenient to maintain, also can satisfy the user demand in the function.

Drawings

FIG. 1 is a schematic structural diagram of a brushing robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the grasping mechanism in FIG. 1;

FIG. 3 is a schematic view of the gripper of FIG. 2;

FIG. 4 is a schematic structural view of the cleaning mechanism of FIG. 1;

FIG. 5 is a schematic diagram of the internal structure of the first driving mechanism in FIG. 2 and the second driving mechanism in FIG. 4;

FIG. 6 is a schematic diagram of the operation of a brushing robot according to an embodiment of the present invention;

fig. 7 is a flowchart illustrating an operation of the brushing robot according to an embodiment of the present invention.

Detailed Description

Referring to fig. 1 to 7, the present invention provides a cleaning robot, including a base 100, a gripping mechanism 200, and a cleaning mechanism 300; the grabbing mechanism 200 is disposed on the base 100 and used for grabbing an object to be cleaned, and the cleaning mechanism 300 is disposed on the base 100 and used for cleaning the object to be cleaned grabbed by the grabbing mechanism 200.

The grabbing mechanism 200 comprises a first large arm 201, a first driving mechanism 202, a first swing arm assembly 203 and a mechanical claw assembly 204; the first big arm 201 can be horizontally arranged on the base 100, the first driving mechanism is used for driving the first big arm 201 to horizontally rotate on the base 100, the first swing arm assembly 203 can be vertically arranged on the first big arm 201 in a swinging manner, and the mechanical claw assembly 204 is arranged on the first swing arm assembly 203 and used for grabbing an object to be cleaned.

The first drive mechanism 202 includes a first drive motor 2021, a first worm 2022, a first rotor 2023, a first turbine 2024; the first worm 2022 is connected to an output shaft of the first driving motor 2021, the first rotating body 2023 is rotatably disposed on the base 100 through a rotating shaft, the first large arm 201 is fixedly disposed on the first rotating body 2023, the first worm wheel 2024 is tightly sleeved on the rotating shaft corresponding to the first rotating body 2023 and coaxially drives the rotating shaft, and the first worm wheel 2024 is meshed with the first worm 2022 for driving.

The first swing arm assembly 203 includes a first swing arm 2031, a second drive motor 2032, a second swing arm 2033, and a third drive motor 2034; first swing arm 203 is rotatable to be set up on first big arm 201, second driving motor 2032 sets up on first big arm 201, the output shaft links to each other with first swing arm 2031, be used for driving first swing arm 2031 vertical oscillation on first big arm 201, second swing arm 2033 is rotatable to be set up on first swing arm 2031, third driving motor 2034 sets up on first big arm 201, the output shaft links to each other through first drive mechanism 2035 with second swing arm 2033, be used for driving second swing arm 2033 vertical oscillation on first swing arm 2031.

The gripper assembly 204 includes a first hydraulic cylinder 2041, a gripper 2042; the first hydraulic cylinder 2041 is disposed on the second swing arm 2033, the gripper 2042 has at least two gripping arms, and is connected to the piston rod of the first hydraulic cylinder 2041, and the gripper 2042 performs a closing or opening motion under the driving of the piston rod of the first hydraulic cylinder 2041.

The gripper 2042 is mainly composed of a tension link, a transmission link, and a gripper head, and the remaining accessories include rubber gripper head pads, pins, and the like. The tensioning connecting rod is a connecting rod with a pin hole at the head, and the transmission connecting rods at two sides can be connected together through the pin hole and driven to move together. In order to increase the stability and the grabbing strength of the claw head, the transmission connecting rod is designed into an assembly body consisting of two connecting rods, one connecting rod is a main connecting rod connected with the tensioning connecting rod, the other connecting rod is an auxiliary connecting rod for enhancing the strength, one end of each of the two connecting rods is fixed on the mechanical claw cover plate through a pin, and the other end of each of the two connecting rods is folded through a claw head clamping groove. The claw head consists of a claw head and a claw head protection pad, and the claw head protection pad is made of rubber materials and prevents the screw propeller from being damaged due to overlarge gripping force. The claw head is arranged on the claw head clamping groove, and secondary reinforcement is carried out on the bottom of the clamping groove by screws so as to provide enough grabbing force.

The first transmission mechanism 2035 comprises a first link 2035A and a second link 2035A, wherein one end of the first link 2035A is fixedly connected to an output shaft of the third driving motor 2034; one end of the second link 2035A is rotatably connected to the other end of the first link 2035A, and the other end is rotatably connected to the second swing arm 2033.

The cleaning mechanism 300 comprises a second big arm 301, a second driving mechanism 302, a second swing arm assembly 303 and a cleaning and brushing assembly 304; the second big arm 301 can be horizontally arranged on the base 100 in a rotating mode, the second driving mechanism 302 is used for driving the second big arm to horizontally rotate on the base, the second swing arm assembly 303 can be vertically arranged on the second big arm in a swinging mode, and the brushing assembly 304 is arranged on the second swing arm assembly 303 and used for brushing the object to be cleaned grabbed by the grabbing mechanism 200.

The second drive mechanism 302 includes a fourth drive motor 3021, a second worm 3022, a second rotating body 3023, and a second worm wheel 3024; the second worm 3022 is connected to an output shaft of the fourth driving motor 3021, the second rotating body 3023 is rotatably disposed on the base 100 through a rotating shaft, the second large arm 301 is fixedly disposed on the second rotating body 3023, the second worm wheel 3024 is tightly sleeved on the rotating shaft corresponding to the second rotating body 3023 and is coaxially driven with the rotating shaft, and the second worm wheel 3024 is meshed with the second worm 3022 for driving.

The second swing arm assembly 303 comprises a third swing arm 3031, a fifth driving motor 3032, a fourth swing arm 3033 and a sixth driving motor 3034, the third swing arm 3031 is rotatably arranged on the second large arm 301, the fifth driving motor 3032 is arranged on the second large arm 301, an output shaft is connected with the third swing arm 3031 and used for driving the third swing arm 3031 to vertically swing on the second large arm 301, the fourth swing arm 3033 is rotatably arranged on the third swing arm 3031, the sixth driving motor 3034 is arranged on the second large arm 301, and the output shaft is connected with the fourth swing arm 3033 through a second transmission mechanism 3035 and used for driving the fourth swing arm 3033 to vertically swing on the third swing arm 3031.

The large arm plays a role in supporting and connecting, so that the stability of the large arm structure is improved in design and the weight is reduced as much as possible. Therefore, during design, the triangular hollow-out arrangement is adopted, and reinforcing ribs are arranged to reinforce the structure. The motion function of the large arm to be realized is mainly rotation, and the effect and influence on enlarging the working space are not obvious, so that the longitudinal size of the large arm is reduced during design, the proportion of the large arm in the working distance is reduced, meanwhile, in order to realize the target of bilateral control, sufficient space needs to be reserved for the assembly of the motor and the installation of the connecting rod for the elbow, the elbow is designed to be of a concave structure, and the motors are arranged on two sides.

The main functions of the first swing arm 2031 and the third swing arm 3031 are to increase the degree of freedom of the mechanical arm, enlarge the working space, and realize the expected brushing action. The design of the swing arm continues to use the design idea of the big arm, and the simplicity and the reliability are ensured as much as possible. Because the swing arm needs to be matched with the large arm and the connecting rod, the elbow joint still adopts a concave structure and is matched with the elbow structure of the large arm. In order to lighten the load of the motor, reduce the occupied space of the front end of the swing arm and increase the flexibility of the manipulator, the tail end of the swing arm is fine and thin on a design thought, and the whole swing arm is wedge-shaped.

The cleaning assembly 304 includes a second hydraulic cylinder 3041, a seventh driving motor 3042, and a cleaning brush 3043, the second hydraulic cylinder 3041 is disposed on the fourth swing arm 3033, the seventh driving motor 3042 is connected to a piston rod of the second hydraulic cylinder 3041, and the cleaning brush 3043 is connected to an output shaft of the seventh driving motor 3042. The second hydraulic cylinder 3041 plays a role of pushing the seventh driving motor 3042 so that the cleaning brush 3043 driven by the seventh driving motor 3042 can be closely attached to the surface to be cleaned.

The second transmission mechanism 3035 comprises a third connecting rod 3035A and a fourth connecting rod 3035A, one end of the third connecting rod 3035A is fixedly connected with an output shaft of the sixth driving motor 3034, one end of the fourth connecting rod 3035A is rotatably connected with the other end of the third connecting rod 3035A, and the other end of the fourth connecting rod 3033 is rotatably connected with the fourth swing arm 3033.

The difference between the arrangement of the mechanical claw and the arrangement of the cleaning brush is that a seventh driving motor of the swing arm of the cleaning brush and the cleaning brush are replaced by the mechanical claw which is driven by hydraulic pressure. The mechanical claw is used for fixing the propeller, and the propeller is precise, so that the mechanical claw is required to avoid scratching the surface of the propeller or deforming the propeller as much as possible.

Because the area of the ship body is large, the radian of the brushing surface is small, and therefore the plane rectangular brush head can be adopted when the ship body is brushed, the design of the common cleaning brush is a 230 mm-90 mm rectangular brush head, the radian of the propeller is large, and the brushing range is narrow, so that the brushing efficiency of the brush head in unit volume needs to be improved in the design, namely, the brushing surface is enlarged under the condition of smaller brush head volume. Therefore, when the cleaning brush head of the propeller is designed, the columnar brush head can be used.

Generally, an industrial robot consists of 3 major parts and 6 subsystems. 3 are mostly a mechanical part, a sensing part and a control part. The 6 subsystems can be divided into a mechanical structure system, a driving system, a sensing system, a robot and environment interaction system, a man-machine interaction system and a control system. The working system of the manipulator is similar to that of an industrial robot, so according to the division, the design can be roughly divided into an overwater part module and an underwater part module, wherein the overwater PC is a man-machine interaction part, a master controller is a control part, actuating elements such as a motor and an oil pump form a driving system, and a sensing system and a robot and environment interaction system are formed by various sensors.

During operation, the PC firstly transmits an instruction, the instruction is processed by the master controller and is transmitted to the execution element, and after receiving a signal, the sensor arranged on the manipulator feeds back an underwater picture, the form and the grabbing force to the master controller. After the mechanical claw reaches the proper position of the leading edge or the trailing edge of the propeller through adjustment, the oil pump can be controlled to convey oil, power is provided for the mechanical claw, and the propeller is grabbed. And then, the position of the cleaning brush is adjusted, namely, a seventh driving motor is operated to pre-accelerate when the cleaning brush is attached, and then the cleaning brush is slowly and stably cleaned. In cleaning, the attachments are dispersed, broken, and peeled mainly by a grinding force, an impact force, and the like generated by rotation of the cleaning brush. Because the brushing effect is not easy to realize by single brushing, the manipulator needs to move for many times and brush repeatedly. When moving, the sweeping type movement is mainly carried out by the swing arm assembly, so that the effect of cleaning in a large range is achieved. If the clamping position and the main brushing direction need to be adjusted, the base is required to provide moving power for integral displacement and transformation.

While the preferred embodiments of the present invention have been illustrated and described, it will be appreciated that the invention may be embodied otherwise than as specifically described and that equivalent alterations and modifications, which may be effected thereto by those skilled in the art without departing from the spirit of the invention, are deemed to be within the scope and spirit of the invention.

Claims

1. A cleaning robot, comprising:

a base;

2. The cleaning robot as set forth in claim 1, wherein the grasping mechanism comprises:

the first large arm can be horizontally and rotatably arranged on the base;

3. The cleaning robot of claim 2, wherein the first drive mechanism comprises:

a first drive motor;

the first worm is connected with an output shaft of the first driving motor;

4. The cleaning robot of claim 3, wherein the first swing arm assembly comprises:

the first swing arm is rotatably arranged on the first big arm;

the second swing arm is rotatably arranged on the first swing arm;

and the third driving motor is arranged on the first big arm, and an output shaft is connected with the second swing arm through a first transmission mechanism and used for driving the second swing arm to vertically swing on the first swing arm.

5. The cleaning robot of claim 4, wherein the robot gripper assembly comprises:

the first hydraulic cylinder is arranged on the second swing arm;

6. The cleaning robot as claimed in claim 4 or 5, wherein the first transmission mechanism comprises:

7. The cleaning robot of claim 1, wherein the cleaning mechanism comprises:

the second large arm can be horizontally and rotatably arranged on the base;

8. The cleaning robot of claim 7, wherein the second drive mechanism comprises:

a fourth drive motor;

the second worm is connected with an output shaft of the fourth driving motor;

9. The cleaning robot of claim 8, wherein the second swing arm assembly comprises:

the third swing arm is rotatably arranged on the second big arm;

the fourth swing arm is rotatably arranged on the third swing arm;

10. The cleaning robot of claim 9, wherein the brush assembly comprises:

the second hydraulic cylinder is arranged on the fourth swing arm;

11. The cleaning robot as claimed in claim 9 or 10, wherein the second transmission mechanism comprises: