CN113028889A - Movable condenser cleaning robot based on series-parallel mechanism - Google Patents
Movable condenser cleaning robot based on series-parallel mechanism Download PDFInfo
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- CN113028889A CN113028889A CN202110191423.6A CN202110191423A CN113028889A CN 113028889 A CN113028889 A CN 113028889A CN 202110191423 A CN202110191423 A CN 202110191423A CN 113028889 A CN113028889 A CN 113028889A
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- branched chain
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
- F28G9/00—Cleaning by flushing or washing, e.g. with chemical solvents
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
- F28G15/00—Details
- F28G15/003—Control arrangements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
- F28G15/00—Details
- F28G15/04—Feeding and driving arrangements, e.g. power operation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
- F28G15/00—Details
- F28G15/08—Locating position of cleaning appliances within conduits
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
Abstract
The invention discloses a movable condenser cleaning robot based on a series-parallel mechanism, which comprises a movable platform, a rotating device, a lifting device, a parallel posture adjusting mechanism, a two-degree-of-freedom adjuster, a radial adjuster, a gun feeding device and a binocular camera. The moving platform adopts a six-wheel four-wheel drive type floating wheel system to realize all-terrain contact and long-distance flexible and stable walking, so that the operation stability is improved; the robot body has six spatial degrees of freedom in motion, and the three-degree-of-freedom parallel posture adjusting mechanism can adjust the posture of the gun feeding device, so that the motion flexibility of the cleaning robot is improved. The invention can automatically complete the operation tasks of cleaning robot such as on-site environment and position judgment, condenser and condenser pipe identification, spray gun movement, adjustment, cleaning and the like, has high automation degree, meets the requirement of efficient cleaning operation of the condenser, can improve the efficiency, quality and safety of the cleaning operation, and reduces the labor intensity and production cost of operators.
Description
Technical Field
The invention belongs to the technical field of turbine condenser cleaning equipment, and particularly relates to a movable condenser cleaning robot based on a parallel-serial mechanism.
Background
The condenser is a heat exchange device widely applied to industries such as power plants, chemical engineering, pharmacy and the like, plays a role of a cold source in thermodynamic cycle, and is mainly composed of tens of thousands of condenser pipes inside. Because the cooling water is not clean, the heat exchange is often accompanied with chemical reaction and other reasons, so that after long-time use, a large amount of dirt which is not beneficial to heat transfer can be accumulated on the inner wall of the condensation pipe, the working efficiency of the steam turbine is seriously influenced, and even accidents are caused. Therefore, keeping the condenser tubes clean is an important way to prevent accidents and to improve the operating efficiency of the steam turbine. At present, the dirt of the condenser is mostly cleaned by adopting rubber balls or manual cleaning, and the rubber balls have the defects of low recovery rate, easy blockage of a condenser pipe, incapability of completely removing crystallization dirt formed by chemical reaction and the like in the cleaning process; because the number of the condenser pipes is large, the operation environment is severe, the labor intensity of manual cleaning is high, and the unit is required to be stopped or the load is reduced for operation, so that the requirements of large-scale production and safety production are difficult to meet. Therefore, the condenser cleaning robot is urgently needed to be developed aiming at the specific requirements of users of the power plant and the defects of the existing cleaning method, and the efficient cleaning operation of the condenser is realized.
Aiming at various problems of condenser cleaning, the prior patent documents provide solutions, such as summer Hanmin, Wang Guannan, etc. of the university of Hunan, a robot for cleaning a condenser by using high-pressure water jet is designed, mainly comprises a crawler traveling mechanism, a slewing bearing, a big arm, a small arm, a spray gun and the like, adopts a serial structure, has less freedom of movement, and has higher requirement on the flatness of the ground of an operation point. The chinese utility model with application number 201520575911.7 discloses an apparatus for effectively cleaning a condenser, wherein a ballast valve is installed at the lower end of the condenser, the ballast valve is suddenly opened at intervals, the dirt on the pipe wall is cleaned and loosened by cleaning liquid, and the dirt is fallen off by ballast to clean the condenser; the Chinese patent with application number 202011069839.2 discloses a cleaning system for cleaning a condenser pipeline based on a cleaning brush, wherein a cleaning mechanism comprises a cleaning brush, an impeller, bristles and a connecting body, and the cleaning mechanism can horizontally move and rotate under the pressure action of water to clean a groove on the inner wall of the condenser pipeline; the application number 201821573557.4 Chinese utility model discloses an automatic dust removal cleaning device for a condenser of a heat setting machine, wherein a guide accelerating component consisting of a limiting plate, a equalizing pipe and a guide ring is arranged outside an insertion pipe plate, so that rubber balls are shunted and accelerated at an inlet, are not easy to accumulate at the inlet, and the cleaning treatment on the inner wall of the condensation pipe is improved; chinese patent application No. 200810143135.8 discloses a visual accurate positioning method in a condenser cleaning robot. The cleaning device is mostly based on a rubber ball cleaning or chemical cleaning mode, and the cleaning robot with the tandem structure has the problems of low freedom of movement, poor structural rigidity and the like, and particularly, the cleaning device is lack of a special efficient cleaning device for the condenser for the power plant. Therefore, a special cleaning robot must be developed according to the use requirement of the condenser, and the defects of the prior art are overcome.
The condenser tubes are generally embedded on the tube plate in a square straight line, a square staggered manner, a regular triangle staggered manner and other distribution manners, and the diameter of the tube opening is only 10-35 mm. The current available condenser cleaning robot mostly adopts high-pressure water jet cleaning technology, and the high-pressure water spray gun of the cleaning equipment is required to be aligned to the pipe orifice of the condenser pipe to start jet cleaning during cleaning operation. Therefore, the efficient condenser cleaning robot has to have the characteristics of mobility, high structural rigidity, multiple freedom of movement, high operation efficiency and the like, and a main mechanism of the efficient condenser cleaning robot only can adopt a parallel-serial mechanism.
Disclosure of Invention
The invention aims to provide a movable type condenser cleaning robot based on a parallel-serial mechanism, aiming at the defects of the prior art, which can be used for efficient cleaning operation of a steam turbine condenser, improves the structural rigidity, the movement precision, the flexibility and the operation efficiency of a cleaning device, reduces the labor intensity and the labor cost, and overcomes the defects of the prior art.
The technical problem to be solved by the invention is realized by adopting the following technical scheme.
A movable condenser cleaning robot based on a series-parallel mechanism comprises a moving platform, a rotating device, a lifting device, a parallel attitude adjusting mechanism, a two-degree-of-freedom adjustor, a radial adjustor, a gun feeding device and a binocular camera. The movable platform comprises a front driving wheel train, a driven wheel train, a rear driving wheel train, a plate spring, a connecting seat, a frame, a front driving assembly and a rear driving assembly, is used for bearing a rotating device, a lifting device, a parallel posture adjusting mechanism, a two-degree-of-freedom regulator, a radial regulator and a gun feeding device, and drives the movable condenser cleaning robot to walk. The front driving wheel train and the rear driving wheel train are respectively arranged at the front end and the rear end below the frame, the driven wheel train is arranged at the middle position below the frame, and the front driving wheel train, the driven wheel train and the rear driving wheel train are connected with the frame through leaf springs and connecting seats; the two ends of the plate spring are connected with the connecting seats through hinges, and the tops of the connecting seats are connected with the frame through bolts; the two groups of front driving assemblies are symmetrically arranged on the front driving wheel system, and the two groups of rear driving assemblies are symmetrically arranged on the rear driving wheel system; the front driving assembly and the rear driving assembly respectively provide power for driving the moving platform to walk for the front driving wheel train and the rear driving wheel train; the driven gear train plays the roles of auxiliary support and stable walking. The lower end of the rotating device is fixedly arranged on a frame of the mobile platform, and the rotating device is used for driving the lifting device, the parallel posture adjusting mechanism and the two-degree-of-freedom regulator to perform rotary motion around a vertical shaft. The lower end of the lifting device is fixedly arranged at the top of the rotating device through a screw and is used for driving the parallel posture adjusting mechanism, the two-degree-of-freedom regulator and the radial regulator to perform lifting motion. The lower end of the parallel posture adjusting mechanism is fixedly arranged at the top of the lifting device and is used for supporting and driving the two-freedom-degree regulator to realize the motion and posture adjustment of three degrees of freedom including up-down telescopic movement, left-right swinging and front-back swinging. The rear end of the two-freedom-degree regulator is fixedly arranged at the top of the parallel posture adjusting mechanism, the front end of the two-freedom-degree regulator is fixedly connected with the radial regulator, and the two-freedom-degree regulator is used for realizing the front and back feeding and the rotary motion around the horizontal axis in the feeding direction of the radial regulator, the gun feeding device and the spray gun arranged on the gun feeding device. The gun feeding device is fixedly arranged at the outer side end of the radial regulator and is used for realizing the front-back feeding motion of a spray gun arranged on the gun feeding device. The binocular camera pass through screw fixed mounting on radial regulator, and be located the intermediate position near radial regulator, mainly used gathers, analysis work scene image, condenser tube bank's terminal surface, discernment and judgement condenser outside of tubes port position and cleaning state.
The front drive train includes a front axle and a front drive wheel. The front driving wheels are two and symmetrically arranged at two ends of the front axle; the front driving wheel is connected with the front axle through a bearing, and the front axle is connected with the plate spring through a U-shaped bolt. The rear driving wheel system comprises a rear axle and rear driving wheels, the two rear driving wheels are symmetrically arranged at two ends of the rear axle and are connected with the rear axle through bearings, and the rear axle is connected with the plate spring through U-shaped bolts. Driven train include driven axletree and driven wheel, two driven wheel symmetries are installed at the both ends of driven axletree, and be connected through the bearing between the driven axletree, driven axletree be connected through U type bolt with the leaf spring. Preceding drive train, driven train, back drive train and leaf spring, connecting seat have constituted moving platform's floating support train jointly, can realize that cleaning robot under uneven ground environment, front drive wheel, driven wheel and back drive wheel keep in contact with ground all the time, have improved moving platform's support ability and the stability of removal walking. The front driving wheel, the driven wheel and the rear driving wheel adopt common rubber wheels or Mecanum omni wheels. A power supply, a data acquisition card and a controller are arranged in the frame, distance measurement sensors are arranged on the front side, the rear side, the left side and the right side of the frame, and the distance measurement sensors adopt laser distance measurement sensors or ultrasonic distance measurement sensors; and a navigation sensor is also arranged in the frame, and the navigation sensor adopts a magnetic navigation sensor or a laser scanner or an infrared emitter. The power supply is used for providing electric power for the work of the mobile platform, the rotating device, the lifting device, the parallel posture adjusting mechanism, the two-degree-of-freedom regulator, the radial regulator, the gun feeding device and the binocular camera; the data acquisition card is used for acquiring sensing information of a distance measurement sensor, a navigation sensor, an angle sensor in the slewing device and a large displacement sensor in the lifting device, and graphic information from the binocular camera; the controller is used for controlling the mobile platform, the rotating device, the lifting device, the parallel posture adjusting mechanism, the two-degree-of-freedom adjuster, the radial adjuster and the gun feeding device to execute corresponding actions or task instructions.
The front driving assembly comprises a walking motor, a driving gear and a driven gear. The walking motor is fixedly arranged on the front axle through a screw and used for providing power for the rotation of the front driving wheel; the driving gear is installed on an output shaft of the walking motor and connected with the output shaft of the walking motor through a flat key, the driven gear is fixedly installed on the front driving wheel and keeps coaxial with the front driving wheel, and the driving gear and the driven gear keep a meshed state. The rear driving component and the front driving component have the same structure.
The rotating device comprises a rotating base, a rotating top cover, a rotating motor, a rotating gear and an inner gear ring. Wherein, the rotary base is fixedly arranged on the frame through screws; the rotary top cover is sleeved on the outer side of the rotary base and is connected with the rotary base through two radial bearings and a thrust bearing, the radial bearings adopt deep groove ball type radial bearings, and the thrust bearing is a cylindrical roller type thrust bearing; the rotary motor is fixedly arranged on the rotary top cover and is used for driving the rotary top cover to perform rotary motion; the rotary gear is fixedly arranged on an output shaft of the rotary motor; the inner gear ring is fixedly arranged in the rotary base through a screw and is in inner meshing with the rotary gear; an angle sensor is also arranged in the rotary top cover and used for measuring the rotation angle of the rotary top cover relative to the rotary base; the rotary motor adopts a servo speed reducing motor or a servo hydraulic motor.
The lifting device comprises a guide post, a driving post and a middle connecting plate. The device comprises a slewing device, a parallel posture adjusting mechanism, a driving mechanism, a guide post, a driving post and a rotating mechanism, wherein the number of the guide post and the driving post is two respectively, the guide post and the driving post are symmetrically arranged between the slewing device and the parallel posture adjusting mechanism, the bottoms of the guide post and the driving post are fixedly arranged on a slewing top cover of the slewing device through screws, and the tops of the guide post and the driving post are connected with the bottom of the parallel posture adjusting mechanism through screws; the middle connecting plate is sleeved at the middle parts of the guide column and the driving column and is fixedly connected with the lower half parts of the guide column and the driving column; the driving column adopts an air cylinder or a hydraulic cylinder or an electric push rod. And a large displacement sensor is arranged in the guide post and used for measuring displacement parameters of the parallel posture adjusting mechanism in the vertical direction.
The parallel posture adjusting mechanism is a three-degree-of-freedom parallel mechanism with a 4RPU structure, and comprises a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fixed platform and a movable platform. The upper ends of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are fixedly connected with the movable platform; the first branched chain, the second branched chain, the third branched chain and the fourth branched chain have the same structure, and the topological structures of the mechanisms are RPU structures. The first branch chain comprises a first hinge, a first linear driving unit and a first universal joint. The lower end of the first hinge is connected with the fixed platform through a screw, the upper end of the first hinge is fixedly connected with the lower end of the first linear driving unit, the upper end of the first linear driving unit is fixedly connected with the lower end of the first universal joint, and the upper end of the first universal joint is connected with the movable platform through a screw. The lower ends of a second hinge in the second branched chain, a third hinge in the third branched chain and a fourth hinge in the fourth branched chain are all connected with the fixed platform through screws, the upper ends of a second universal joint in the second branched chain, a third universal joint in the third branched chain and a fourth universal joint in the fourth branched chain are all connected with the movable platform through screws, the upper end and the lower end of a second linear driving unit in the second branched chain are fixedly connected with the lower end of the second universal joint and the upper end of the second hinge respectively, the upper end and the lower end of a third linear driving unit in the third branched chain are fixedly connected with the lower end of the third universal joint and the upper end of the third hinge respectively, and the upper end and the lower end of a fourth linear driving unit in the fourth branched chain are fixedly connected with the lower end of the fourth universal joint and the upper end of the fourth hinge respectively.
The axes of the first hinge and the third hinge are parallel to each other, the axes of the second hinge and the fourth hinge are parallel to each other, and the axes of the first hinge and the second hinge are perpendicular to each other. In an initial state, two axes of a cross of the first universal joint are respectively kept parallel to two axes of a cross of the third universal joint, two axes of a cross of the second universal joint are respectively kept parallel to two axes of a cross of the fourth universal joint, an axis of the first hinge is kept parallel to one axis of the cross of the first universal joint, and an axis of the second hinge is kept parallel to one axis of the cross of the second universal joint. Thereby ensuring that the parallel mechanism formed by the parallel posture adjusting mechanisms has three freedom degrees of movement including translation and two rotations in a determined space. The first linear driving unit, the second linear driving unit, the third linear driving unit and the fourth linear driving unit adopt servo cylinders or servo hydraulic cylinders or servo electric push rods or linear servo motors. From the mechanistic perspective, the parallel posture adjusting mechanism is a parallel mechanism with three freedom degrees of motion including space one translation and two rotations. The parallel posture adjusting mechanism, the rotating device, the lifting device and the two-degree-of-freedom regulator form a parallel-serial mechanism with five degrees of freedom including two spatial translations and three rotations, wherein the movement in the vertical direction and the rotation around a horizontal shaft in the front and back feeding directions are redundant degrees of freedom. In addition, the moving platform moves on the ground and the radial movement of the connecting slide block in the radial regulator, the invention has six degrees of freedom of movement, and the movement in the vertical direction, the front-back movement and the rotation around the horizontal shaft in the front-back feeding direction are redundant degrees of freedom or the movement in the vertical direction, the left-right movement and the rotation around the horizontal shaft in the front-back feeding direction are redundant degrees of freedom.
The two-degree-of-freedom regulator comprises an axial sliding table, a T-shaped connecting rod and a rotary table. The axial sliding table is fixedly arranged above a movable platform of the parallel posture adjusting mechanism and is connected with the movable platform through a bolt, and the axial sliding table is used for driving the radial regulator to execute a front-back feeding motion task; the front end of the T-shaped connecting rod is fixedly connected with the rotary table, and the rear end of the T-shaped connecting rod is connected with the sliding block of the axial sliding table through a screw; the rotary table is used for driving the radial regulator to execute a rotary motion task around a horizontal axis in the forward and backward feeding direction, and the rotary table adopts a rotary cylinder or a numerical control rotary table; the axial sliding table adopts a servo electric sliding table.
The radial regulator comprises a fixed support, a radial sliding table and a connecting sliding block. The fixed support is positioned at the front end of the two-degree-of-freedom regulator, is fixedly arranged at the output end of the rotary table through a screw and is mainly used for fixedly mounting the radial sliding table; the radial sliding table is fixedly arranged on the front side surface of the fixed support through a screw and is used for adjusting the radial displacement of the connecting slide block and the gun feeding device; the connecting sliding block is fixedly arranged at the motion output end of the radial sliding table and is used for fixedly arranging the gun feeding device; the gun feeding device is fixedly arranged on the connecting sliding block through screws. The radial sliding table is a servo electric sliding table or a double-acting pneumatic sliding table; the number of the radial sliding tables is the same as that of the connecting sliding blocks, and is 3-6.
The binocular camera pass through screw fixed mounting on the fixed bolster of radial regulator, binocular camera and power, the data acquisition card in the frame be connected through power cord and data line respectively, data acquisition card, range finding sensor are connected through the data line with the controller, binocular camera be equipped with LED light source.
When the spray gun is used, the spray gun with proper diameter and working parameters is selected according to the requirement of the task of the cleaning operation of the condenser. Then, the front driving assembly and the rear driving assembly are started according to operation requirements to enable the mobile platform to move and walk to a designated operation position on an operation site, then the revolving device and the lifting device are respectively adjusted according to operation postures and height requirements, the parallel attitude adjusting mechanism of the invention adjusts the two-degree-of-freedom adjustor and the radial adjustor to proper operation postures through the extension or shortening of the first linear driving unit, the second linear driving unit, the third linear driving unit and the fourth linear driving unit, the front and rear positions and angles of the radial adjustor are respectively adjusted through adjusting the axial servo motor and the revolving platform of the axial sliding platform, and finally the gun feeding device and the spray gun which are installed on each connecting slide block are adjusted to the initial operation position through the radial sliding platform.
Image information acquired by the binocular camera, sensing information of a distance measuring sensor, a navigation sensor, an angle sensor in the slewing device, a large displacement sensor in the lifting device and the like are acquired and processed by the data acquisition card, and information analysis and processing tasks such as posture adjustment and operation tasks of the cleaning robot are completed by the controller.
In the cleaning operation process, the initial operation position of the cleaning robot is determined according to the position of the condenser obtained by the binocular camera, the action area of each spray gun is determined according to the end surface pollution condition of the condenser, the layout condition of the condenser in the condenser and the number of the selected operation spray guns, and the operation path and the movement track of each spray gun are planned. When cleaning, the outer end face of the condenser pipe is cleaned, and then cleaning tasks are executed according to the sequence from outside to inside or from inside to outside.
Compared with the prior art, the movable platform has the advantages that the floating gear train is adopted, so that all-terrain contact and stable support with the ground of a working site are realized; the long-distance stable walking of the cleaning robot can be guaranteed, and the supporting stability of operation can be improved. The robot body has three movements of lifting, front-back stretching and radial movement and six degrees of freedom of movement of three rotations around a vertical shaft and two horizontal shafts respectively besides the movement and walking of a six-wheel four-wheel drive type moving platform, the revolving device and the revolving platform can respectively realize the whole-circle revolving around the vertical shaft and the horizontal shafts, the lifting device and the radial regulator can respectively realize the lifting regulation in the vertical direction and the radial regulation, and the three-degree-of-freedom parallel posture regulating mechanism can carry out the posture regulation on the gun feeding device, thereby obviously expanding the working space of the robot and improving the movement flexibility of the cleaning robot; the invention can meet the requirement of the cleaning operation of the condenser, improve the cleaning efficiency, the cleaning quality and the cleaning safety, reduce the labor intensity and the production cost of operators, automatically complete the operation tasks of the cleaning robot such as the judgment of the site environment and the position, the identification of the condenser and a condenser pipe, the movement of a spray gun, the adjustment, the cleaning and the like through the information fusion of a distance measuring sensor, a navigation sensor, an angle sensor in a slewing device, a large displacement sensor in a lifting device and a binocular camera and a plurality of sensors, and has high automation degree, high working efficiency and low labor intensity; the invention also has the advantages of compact structure, small occupied space of equipment, low production cost, high safety, strong adaptability, convenient replacement of the spray gun, simple and convenient operation and maintenance and the like, and can overcome the defects of the prior art.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic view showing the connection relationship between the front driving wheel train, the driven wheel train and the rear driving wheel train;
FIG. 3 is a schematic structural diagram of a front drive train and a front drive assembly according to the present invention;
FIG. 4 is a schematic structural diagram of a rotating device according to the present invention;
FIG. 5 is a schematic structural diagram of a parallel posture adjustment mechanism of the present invention;
FIG. 6 is a schematic view of the radial adjuster and gun feeder of the present invention;
fig. 7 is a schematic view of the mounting position of the spray gun on the gun feeder of the present invention.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments and the drawings.
The first embodiment is as follows:
as shown in fig. 1, 2, 3 and 7, a movable condenser cleaning robot based on a series-parallel mechanism comprises a moving platform 1, a rotating device 2, a lifting device 3, a parallel posture adjusting mechanism 4, a two-degree-of-freedom adjuster 5, a radial adjuster 6, a gun feeding device 7 and a binocular camera 8. The moving platform 1 comprises a front driving wheel train 11, a driven wheel train 12, a rear driving wheel train 13, a plate spring 14, a connecting seat 15, a frame 16, a front driving assembly 17 and a rear driving assembly 18, is used for bearing the rotating device 2, the lifting device 3, the parallel posture adjusting mechanism 4, the two-degree-of-freedom regulator 5, the radial regulator 6 and the gun feeding device 7, and drives the cleaning robot to walk. The front driving wheel system 11 and the rear driving wheel system 13 are respectively arranged at the front end and the rear end below the frame 16, the driven wheel system 12 is arranged at the middle position below the frame 16, and the front driving wheel system 11, the driven wheel system 12 and the rear driving wheel system 13 are connected with the frame 16 through a plate spring 14 and a connecting seat 15; both ends of the plate spring 14 are connected with a connecting seat 15 through hinges, and the top of the connecting seat 15 is connected with a frame 16 through bolts; two groups of front driving components 17 are symmetrically arranged on the front driving gear train 11, and two groups of rear driving components 18 are symmetrically arranged on the rear driving gear train 13; the front driving assembly 17 and the rear driving assembly 18 respectively provide power for driving the front driving wheel train 11 and the rear driving wheel train 13 to drive the mobile platform 1 to walk; the driven gear train 12 plays a role in auxiliary support and stable walking. The lower end of the rotating device 2 is fixedly arranged on a frame 16 of the mobile platform 1, and the rotating device 2 is used for driving the lifting device 3, the parallel posture adjusting mechanism 4 and the two-degree-of-freedom regulator 5 to rotate around a vertical shaft. The lower end of the lifting device 3 is fixedly arranged at the top of the rotating device 2 through a screw and is used for driving the parallel posture adjusting mechanism 4, the two-degree-of-freedom regulator 5 and the radial regulator 6 to perform lifting movement. The lower end of the parallel posture adjusting mechanism 4 is fixedly arranged at the top of the lifting device 3 and is used for supporting and driving the two-freedom-degree regulator 5 to realize the motion and posture adjustment of three degrees of freedom including up-down telescopic movement, left-right swinging and front-back swinging. The rear end of the two-degree-of-freedom regulator 5 is fixedly arranged at the top of the parallel posture adjusting mechanism 4, the front end of the two-degree-of-freedom regulator 5 is fixedly connected with the radial regulator 6, and the two-degree-of-freedom regulator 5 is used for realizing the front and back feeding and the rotary motion around the horizontal axis of the feeding direction of the radial regulator 6, the gun feeding device 7 and the spray gun 9 arranged on the gun feeding device 7. The gun feeding device 7 is fixedly arranged at the outer side end of the radial regulator 6 and is used for realizing the forward and backward feeding movement of a spray gun 9 arranged on the gun feeding device 7. Binocular camera 8 pass through screw fixed mounting on radial regulator 6, and be located the intermediate position near radial regulator 6, mainly used gathers, analysis work scene image, condenser tube bank's terminal surface, discernment and judgement condenser outside of tubes port position and cleaning state.
As shown in fig. 1, 2 and 3, the front drive train 11 includes a front axle 111 and front drive wheels 112. Two front driving wheels 112 are symmetrically arranged at two ends of the front axle 111; the front driving wheels 112 are connected with the front axle 111 through bearings, and the front axle 111 is connected with the plate spring 14 through U-shaped bolts. The rear driving wheel system 13 comprises a rear axle 131 and rear driving wheels 132, the two rear driving wheels 132 are symmetrically arranged at two ends of the rear axle 131 and are connected with the rear axle 131 through bearings, and the rear axle 131 is connected with the plate spring 14 through U-shaped bolts. The driven gear train 12 comprises a driven axle 121 and driven wheels 122, the two driven wheels 122 are symmetrically arranged at two ends of the driven axle 121 and are connected with the driven axle 121 through bearings, and the driven axle 121 is connected with the plate spring 14 through a U-shaped bolt. The front driving wheel train 11, the driven wheel train 12, the rear driving wheel train 13, the plate spring 14 and the connecting seat 15 jointly form a floating supporting wheel train of the mobile platform 1, so that the cleaning robot can keep contact with the ground all the time under the uneven ground environment, the front driving wheel 112, the driven wheel 122 and the rear driving wheel 132, and the supporting capacity and the stability of moving and walking of the mobile platform 1 are improved. The front drive wheels 112, the driven wheels 122 and the rear drive wheels 132 are ordinary rubber wheels or mecanum omni wheels. A power supply, a data acquisition card and a controller are arranged in the frame 16, distance measurement sensors 161 are arranged on the front side, the rear side, the left side and the right side of the frame 16, and the distance measurement sensors 161 adopt laser distance measurement sensors or ultrasonic distance measurement sensors; a navigation sensor is also arranged in the frame 16, and the navigation sensor adopts a magnetic navigation sensor or a laser scanner or an infrared emitter. The power supply is used for providing electric power for the work of the mobile platform 1, the revolving device 2, the lifting device 3, the parallel posture adjusting mechanism 4, the two-degree-of-freedom regulator 5, the radial regulator 6, the gun feeding device 7 and the binocular camera 8; the data acquisition card is used for acquiring sensing information of the distance measurement sensor 161, the navigation sensor, an angle sensor in the slewing device and a large displacement sensor in the lifting device, and graphic information from the binocular camera 8; the controller is used for controlling the mobile platform 1, the rotating device 2, the lifting device 3, the parallel posture adjusting mechanism 4, the two-degree-of-freedom adjuster 5, the radial adjuster 6 and the gun feeding device 7 to execute corresponding actions or task instructions.
As shown in fig. 1, 2 and 3, the front driving assembly 17 includes a travel motor 171, a driving gear 172 and a driven gear 173. Wherein, the walking motor 171 is fixedly arranged on the front axle 111 through a screw and is used for providing power for the rotation of the front driving wheel 112; the driving gear 172 is mounted on an output shaft of the traveling motor 171 and connected to the output shaft of the traveling motor 171 through a flat key, the driven gear 173 is fixedly mounted on the front driving wheel 112 and is coaxial with the front driving wheel 112, and the driving gear 172 and the driven gear 173 are in a meshed state. The rear driving assembly 18 and the front driving assembly 17 have the same structure.
As shown in fig. 1 and 4, the swiveling device 2 includes a swiveling base 21, a swiveling top cover 22, a swiveling motor 23, a swiveling gear 24, and an internal gear 25. Wherein, the rotary base 21 is fixedly arranged on the frame 16 through screws; the rotary top cover 22 is sleeved on the outer side of the rotary base 21 and is connected with the rotary base 21 through two radial bearings and a thrust bearing, the radial bearings adopt deep groove ball type radial bearings, and the thrust bearing is a cylindrical roller type thrust bearing; the rotary motor 23 is fixedly arranged on the rotary top cover 22 and is used for driving the rotary top cover 22 to perform rotary motion; the rotary gear 24 is fixedly arranged on an output shaft of the rotary motor 23; the inner gear ring 25 is fixedly installed in the rotary base 21 through a screw and is meshed with the rotary gear 24 in a maintaining mode; an angle sensor is also arranged in the rotary top cover 21 and used for measuring the rotation angle of the rotary top cover 22 relative to the rotary base 21; the rotary motor 23 adopts a servo speed reducing motor or a servo hydraulic motor.
As shown in fig. 1, the lifting device 3 includes two guide columns 31, two driving columns 32 and a middle connecting plate 33, the two guide columns 31 and the two driving columns 32 are symmetrically installed between the revolving device 2 and the parallel posture adjusting mechanism 4, the bottoms of the guide columns 31 and the driving columns 32 are fixedly installed on the revolving top cover 22 of the revolving device 2 through screws, and the tops of the guide columns 31 and the driving columns 32 are connected with the bottom of the parallel posture adjusting mechanism 4 through screws; the middle connecting plate 33 is sleeved at the middle parts of the guide column 31 and the driving column 32 and fixedly connected with the lower half parts of the guide column 31 and the driving column 32; the driving column 32 adopts an air cylinder or a hydraulic cylinder or an electric push rod. And a large displacement sensor is arranged in the guide column 31 and is used for measuring the displacement parameters of the parallel posture adjusting mechanism 4 in the vertical direction.
As shown in fig. 1 and 5, the parallel posture adjustment mechanism 4 is a three-degree-of-freedom parallel mechanism with a 4RPU structure, and the parallel posture adjustment mechanism 4 includes a first branched chain 41, a second branched chain 42, a third branched chain 43, a fourth branched chain 44, a fixed platform 45, and a movable platform 46. The first branched chain 41 and the third branched chain 42 are symmetrically arranged on the front side and the rear side of the top of the fixed platform 45, the second branched chain 42 and the fourth branched chain 44 are symmetrically arranged on the left side and the right side of the top of the fixed platform 45, the lower ends of the first branched chain 41, the second branched chain 42, the third branched chain 43 and the fourth branched chain 44 are fixedly connected with the fixed platform 45, and the upper ends of the first branched chain 41, the second branched chain 42, the third branched chain 43 and the fourth branched chain 44 are fixedly connected with the movable platform 46; the first branched chain 41, the second branched chain 42, the third branched chain 43 and the fourth branched chain 44 have the same structure, and the topological structures of the structures are all RPU structures. The first branch chain 41 includes a first hinge 411, a first linear driving unit 412 and a first universal joint 413. The lower end of the first hinge 411 is connected with the fixed platform 45 through a screw, the upper end of the first hinge 411 is fixedly connected with the lower end of the first linear driving unit 412, the upper end of the first linear driving unit 412 is fixedly connected with the lower end of the first universal joint 413, and the upper end of the first universal joint 413 is connected with the movable platform 46 through a screw. The lower ends of the second hinge 421 in the second branched chain 42, the third hinge 431 in the third branched chain 43, and the fourth hinge 441 in the fourth branched chain 44 are all connected to the fixed platform 45 by screws, the upper ends of the second universal joint 423 in the second branched chain 42, the third universal joint 433 in the third branched chain 43, and the fourth universal joint 443 in the fourth branched chain 44 are all connected to the movable platform 46 by screws, the upper and lower ends of the second linear driving unit 422 in the second branched chain 42 are respectively fixedly connected to the lower end of the second universal joint 423 and the upper end of the second hinge 421, the upper and lower ends of the third linear driving unit 432 in the third branched chain 43 are respectively fixedly connected to the lower end of the third universal joint 433 and the upper end of the third hinge 431, and the upper and lower ends of the fourth linear driving unit 442 in the fourth branched chain 44 are respectively fixedly connected to the lower end of the fourth universal joint 443 and the upper end of the fourth hinge 441.
As shown in fig. 1, the two-degree-of-freedom actuator 5 includes an axial slide table 51, a T-shaped link 52, and a turn table 53. The axial sliding table 51 is fixedly installed above the movable platform 46 of the parallel posture adjusting mechanism 4 and connected with the movable platform 46 through bolts, and the axial sliding table 51 is used for driving the radial regulator 6 to execute a front-back feeding motion task; the front end of the T-shaped connecting rod 52 is fixedly connected with the rotary table 53, and the rear end of the T-shaped connecting rod 52 is connected with the sliding block of the axial sliding table 51 through a screw; the rotary table 53 is used for driving the radial regulator 6 to execute a rotary motion task around a horizontal axis in the forward and backward feeding direction, and the rotary table 53 adopts a rotary cylinder or a numerical control rotary table; the axial sliding table 51 is a servo electric sliding table.
As shown in fig. 1 and 6, the radial adjuster 6 includes a fixing bracket 61, a radial slide 62, and a connecting slider 63. The fixed support 61 is positioned at the front end of the two-degree-of-freedom regulator 5, is fixedly mounted at the output end of the rotary table 53 through a screw, and is mainly used for fixedly mounting the radial sliding table 62; the radial sliding table 62 is fixedly arranged on the front side surface of the fixed support 61 through a screw and is used for adjusting the radial displacement of the connecting slide block 63 and the gun feeding device 7; the connecting slide block 63 is fixedly arranged at the motion output end of the radial sliding table 62 and is used for fixedly arranging the gun feeding device 7; the gun feeding device 7 is fixedly arranged on the connecting slide block 63 through screws. The radial sliding table 62 adopts a servo electric sliding table or a double-acting pneumatic sliding table; the number of the radial sliding table 62 and the number of the connecting sliding blocks 63 are 4.
As shown in fig. 1 and 6, the binocular camera 8 is fixedly mounted on the fixing bracket 61 of the radial adjuster 6 through screws, the binocular camera 8 is connected with the power supply and the data acquisition card in the frame 16 through power lines and data lines respectively, the data acquisition card and the distance measuring sensor 161 are connected with the controller through data lines, and the binocular camera 8 is provided with an LED illumination light source.
The second embodiment is as follows:
as shown in fig. 1 and 5, the axes of the first hinge 411 and the third hinge 431 are parallel to each other, the axes of the second hinge 421 and the fourth hinge 441 are parallel to each other, and the axes of the first hinge 411 and the second hinge 421 are perpendicular to each other. In the initial state, the two axes of the cross of the first universal joint 413 are parallel to the two axes of the cross of the third universal joint 433, the two axes of the cross of the second universal joint 423 are parallel to the two axes of the cross of the fourth universal joint 443, the axis of the first hinge 411 is parallel to one axis of the cross of the first universal joint 413, and the axis of the second hinge 421 is parallel to one axis of the cross of the second universal joint 423. Thereby ensuring that the parallel mechanism formed by the parallel posture adjusting mechanisms 4 has three freedom degrees of movement including translation and two rotations in a determined space. The first linear driving unit 412, the second linear driving unit 422, the third linear driving unit 432 and the fourth linear driving unit 442 adopt servo cylinders or servo electric push rods. From the mechanistic perspective, the parallel posture adjusting mechanism 4 is a parallel mechanism with three freedom degrees of motion, namely, translation and rotation. The parallel posture adjusting mechanism 4, the rotating device 2, the lifting device 3 and the two-degree-of-freedom regulator 5 form a parallel-serial mechanism with five degrees of freedom including two spatial translations and three rotations, wherein the movement in the vertical direction and the rotation around a horizontal shaft in the front and back feeding directions are redundant degrees of freedom. In addition to the movement of the mobile platform 1 on the ground and the radial movement of the connecting slide block 63 in the radial regulator 6, the present invention has six degrees of freedom of movement, and the movement in the vertical direction, the back-and-forth movement and the rotation around the horizontal axis in the front-and-back feeding direction are redundant degrees of freedom.
By the design, the linear driving unit is used for realizing the function of the moving pair in the four branched chains of the parallel posture adjusting mechanism 4, the structure is simple and compact, the structural rigidity and the torsion resistance of the moving pair in the first branched chain 41, the second branched chain 42, the third branched chain 43 and the fourth branched chain 44 can be ensured, and the cost of driving power in the moving pair can be effectively reduced; by strictly defining the dimension constraint types among the axes of the first hinge 411, the second hinge 421, the third hinge 431 and the fourth hinge 441 in the first branch chain 41, the second branch chain 42 and the third branch chain 43, and the axes of the cross shafts of the first universal joint 413, the second universal joint 423, the third universal joint 433 and the fourth universal joint 443, namely defining the parallel or vertical relationship among the axes, the three-degree-of-freedom parallel mechanism formed by the parallel posture adjusting mechanism 4 can be uniquely defined to accurately move and adjust the posture according to three degrees of freedom including one translation and two rotations in a set space. Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode:
as shown in fig. 1, 3 and 7, in the present embodiment, the driving column 32 employs a servo electro-hydraulic cylinder or an electric push rod, the rotary motor 23 employs a servo reduction motor, the first linear driving unit 412, the second linear driving unit 422, the third linear driving unit 432 and the fourth linear driving unit 442 employ a servo electric push rod, the rotary table 53 employs a numerical control rotary table, the axial sliding table 51 employs a servo electric sliding table, and the radial sliding table 62 employs a servo electric sliding table. By the design, all driving power sources are unified, electric driving is adopted, efficiency is high, the structure is compact, and an air source or a hydraulic pump station system is saved. In addition, the direct current servo motor can also realize closed-loop control and can realize higher transmission precision. The driving column 32, the rotary motor 23, the first linear driving unit 412, the second linear driving unit 422, the third linear driving unit 432, the fourth linear driving unit 442, the rotary table 53, the axial sliding table 51, and the radial sliding table 62 are respectively connected to the controller through cables. Other components and connections are the same as in one or both of the embodiments.
When in use, the spray gun 9 with proper diameter and working parameters is selected according to the requirement of the cleaning task of the condenser. Then, the front driving assembly 17 and the rear driving assembly 18 are started according to the operation requirement to make the mobile platform 1 move and travel to the designated operation position on the operation site, the revolving device 2 and the lifting device 3 are respectively adjusted according to the operation posture and the height requirement, the parallel posture adjusting mechanism 4 of the invention is adjusted to the proper operation posture through the extension or shortening of the first linear driving unit 412, the second linear driving unit 422, the third linear driving unit 432 and the fourth linear driving unit 442, the front and rear positions and angles of the two-degree-of-freedom regulator 5 and the radial regulator 6 are respectively adjusted through the axial servo motor 511 and the revolving platform 53 of the adjusting axial sliding table 51, and finally the gun feeding device 7 and the spray gun 9 mounted on each connecting slide block 63 are adjusted to the initial operation position through the radial sliding table 62.
Image information acquired by the binocular camera 8 and sensing information of the distance measuring sensor 161, the navigation sensor, the angle sensor in the slewing device 2 and the large displacement sensor in the lifting device 3 are collected and processed by the data acquisition card, and information analysis and processing tasks such as posture adjustment and operation tasks of the cleaning robot are completed by the controller.
In the cleaning process, the initial operation position of the cleaning robot is determined according to the position of the condenser obtained by the binocular camera 8, the action area of each spray gun is determined according to the end surface pollution condition of the condenser pipe, the layout condition of the condenser pipe in the condenser and the number of the selected operation spray guns 9, and the operation path and the movement track of each spray gun are planned. When cleaning, the outer end face of the condenser pipe is cleaned, and then cleaning tasks are executed according to the sequence from outside to inside or from inside to outside.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "horizontal", "top", "bottom", "inner", "outer", "front", "rear", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
The foregoing illustrates and describes the principles, general features, and advantages of the present 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 described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a movable condenser cleaning robot based on series-parallel connection mechanism, includes moving platform, slewer, elevating gear, parallelly connected accent appearance mechanism, two degree of freedom regulators, radial regulator, send rifle device and binocular camera, its characterized in that: the movable platform comprises a front driving wheel train, a driven wheel train, a rear driving wheel train, a plate spring, a connecting seat, a frame, a front driving assembly and a rear driving assembly, wherein the front driving wheel train and the rear driving wheel train are respectively arranged at the front end and the rear end below the frame; the lower end of the rotating device is fixedly arranged on a frame of the mobile platform, and the lower end of the lifting device is fixedly arranged on the top of the rotating device through a screw; the lower end of the parallel posture adjusting mechanism is fixedly arranged at the top of the lifting device, the rear end of the two-degree-of-freedom adjuster is fixedly arranged at the top of the parallel posture adjusting mechanism, and the front end of the two-degree-of-freedom adjuster is fixedly connected with the radial adjuster; the gun feeding device is fixedly arranged at the outer side end of the radial regulator, and the binocular camera is fixedly arranged on the radial regulator through a screw and is positioned at the middle position close to the radial regulator;
the front driving wheel system comprises a front axle and front driving wheels, the two front driving wheels are symmetrically arranged at two ends of the front axle and are connected with the front axle through bearings, and the front axle is connected with the plate spring through U-shaped bolts; the rear driving wheel system comprises a rear axle and rear driving wheels, the two rear driving wheels are symmetrically arranged at two ends of the rear axle and are connected with the rear axle through bearings, and the rear axle is connected with the plate spring through U-shaped bolts; the driven wheel train comprises a driven axle and driven wheels, the two driven wheels are symmetrically arranged at two ends of the driven axle and are connected with the driven axle through bearings, and the driven axle is connected with the plate spring through U-shaped bolts; a power supply, a data acquisition card and a controller are arranged in the frame, and distance measuring sensors are arranged on the front side surface, the rear side surface, the left side surface and the right side surface of the frame;
the rotary device comprises a rotary base, a rotary top cover, a rotary motor, a rotary gear and an inner gear ring, wherein the rotary base is fixedly arranged on the frame through screws; the rotary top cover is sleeved on the outer side of the rotary base and is connected with the rotary base through two deep groove spherical radial bearings and a cylindrical roller type thrust bearing; the rotary motor is fixedly arranged on the rotary top cover, and the rotary gear is fixedly arranged on an output shaft of the rotary motor; the inner gear ring is fixedly arranged in the rotary base through a screw and is in inner meshing with the rotary gear; an angle sensor is also arranged in the rotary top cover; the rotary motor adopts a servo speed reducing motor or a servo hydraulic motor;
the lifting device comprises two guide columns, two driving columns and a middle connecting plate, the two guide columns and the two driving columns are symmetrically arranged between the slewing device and the parallel posture adjusting mechanism, the bottoms of the guide columns and the driving columns are fixedly arranged on a slewing top cover of the slewing device through screws, and the tops of the guide columns and the driving columns are connected with the bottom of the parallel posture adjusting mechanism through screws; the middle connecting plate is sleeved at the middle parts of the guide column and the driving column and is fixedly connected with the lower half parts of the guide column and the driving column; the driving column adopts an air cylinder or a hydraulic cylinder or an electric push rod;
the parallel posture adjusting mechanism is a three-degree-of-freedom parallel mechanism with a 4RPU structure, and comprises a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fixed platform and a movable platform, wherein the first branched chain and the third branched chain are symmetrically arranged on the front side and the rear side of the top of the fixed platform, the second branched chain and the fourth branched chain are symmetrically arranged on the left side and the right side of the top of the fixed platform, the lower ends of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are fixedly connected with the fixed platform, and the upper ends of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are fixedly connected with the movable platform; the first branched chain, the second branched chain, the third branched chain and the fourth branched chain have the same structure, and the topological structures of the mechanisms are RPU structures;
the two-degree-of-freedom regulator comprises an axial sliding table, a T-shaped connecting rod and a rotary table, wherein the axial sliding table is fixedly arranged above a movable platform of the parallel posture adjusting mechanism through a bolt; the front end of the T-shaped connecting rod is fixedly connected with the rotary table, and the rear end of the T-shaped connecting rod is connected with the sliding block of the axial sliding table through a screw; the rotary table adopts a rotary cylinder or a numerical control rotary table; the axial sliding table adopts a servo electric sliding table;
the radial regulator comprises a fixed support, a radial sliding table and a connecting sliding block, the fixed support is positioned at the front end of the two-degree-of-freedom regulator and is fixedly arranged at the output end of the rotary table through a screw, the radial sliding table is fixedly arranged on the front side surface of the fixed support through a screw, and the connecting sliding block is fixedly arranged at the motion output end of the radial sliding table; the gun feeding device is fixedly arranged on the connecting sliding block through a screw;
the binocular camera pass through screw fixed mounting on the fixed bolster of radial regulator, binocular camera and power, the data acquisition card in the frame be connected through power cord and data line respectively, the data acquisition card range sensor be connected through the data line with the controller, the binocular camera be equipped with LED light source.
2. The movable condenser cleaning robot based on the series-parallel connection mechanism as claimed in claim 1, wherein: the first supporting chain comprises a first hinge, a first linear driving unit and a first universal joint, the lower end of the first hinge is connected with the fixed platform through a screw, the upper end of the first hinge is fixedly connected with the lower end of the first linear driving unit, the upper end of the first linear driving unit is fixedly connected with the lower end of the first universal joint, and the upper end of the first universal joint is connected with the movable platform through a screw; the lower ends of a second hinge in the second branched chain, a third hinge in the third branched chain and a fourth hinge in the fourth branched chain are all connected with the fixed platform through screws, the upper ends of a second universal joint in the second branched chain, a third universal joint in the third branched chain and a fourth universal joint in the fourth branched chain are all connected with the movable platform through screws, the upper end and the lower end of a second linear driving unit in the second branched chain are fixedly connected with the lower end of the second universal joint and the upper end of the second hinge respectively, the upper end and the lower end of a third linear driving unit in the third branched chain are fixedly connected with the lower end of the third universal joint and the upper end of the third hinge respectively, and the upper end and the lower end of a fourth linear driving unit in the fourth branched chain are fixedly connected with the lower end of the fourth universal joint and the upper end of the fourth hinge respectively; the axes of the first hinge and the third hinge are parallel to each other, the axes of the second hinge and the fourth hinge are parallel to each other, and the axes of the first hinge and the second hinge are vertical to each other; in an initial state, two axes of a cross of the first universal joint are respectively kept parallel to two axes of a cross of the third universal joint, two axes of a cross of the second universal joint are respectively kept parallel to two axes of a cross of the fourth universal joint, an axis of the first hinge is kept parallel to one axis of the cross of the first universal joint, and an axis of the second hinge is kept parallel to one axis of the cross of the second universal joint.
3. The movable condenser cleaning robot based on the series-parallel connection mechanism as claimed in claim 1, wherein: the front driving assembly comprises a traveling motor, a driving gear and a driven gear, the traveling motor is fixedly mounted on a front axle through screws, the driving gear is mounted on an output shaft of the traveling motor and is connected with the output shaft of the traveling motor through a flat key, the driven gear is fixedly mounted on a front driving wheel and keeps coaxial with the front driving wheel, and the driving gear and the driven gear keep a meshed state.
4. A mobile condenser cleaning robot based on a series-parallel mechanism according to claim 1 or claim 3, characterized in that: the rear driving component and the front driving component have the same structure.
5. The movable condenser cleaning robot based on the series-parallel connection mechanism as claimed in claim 2, wherein: the first linear driving unit, the second linear driving unit, the third linear driving unit and the fourth linear driving unit adopt servo cylinders or servo hydraulic cylinders or servo electric push rods or linear servo motors.
6. The movable condenser cleaning robot based on the series-parallel connection mechanism as claimed in claim 1, wherein: the number of the radial sliding tables is the same as that of the connecting sliding blocks, and is 3-6; the radial sliding table is a servo electric sliding table or a double-acting pneumatic sliding table.
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| CN202110191423.6A CN113028889B (en) | 2021-02-19 | 2021-02-19 | Movable condenser cleaning robot based on series-parallel mechanism |
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