CN209091294U - Dish-washing machine spray equipment and spray system based on parallel manipulator - Google Patents
Dish-washing machine spray equipment and spray system based on parallel manipulator Download PDFInfo
- Publication number
- CN209091294U CN209091294U CN201821710543.2U CN201821710543U CN209091294U CN 209091294 U CN209091294 U CN 209091294U CN 201821710543 U CN201821710543 U CN 201821710543U CN 209091294 U CN209091294 U CN 209091294U
- Authority
- CN
- China
- Prior art keywords
- water
- type chamber
- universal joint
- water type
- dish
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
A kind of dish-washing machine spray equipment and spray system of the dish-washing machine technical field based on parallel manipulator, equipped with parallel manipulator, mechanical arm including silent flatform and moving platform and connection silent flatform, moving platform, the moving platform carries out the movement of XY two-freedom or the movement of XYZ Three Degree Of Freedom with mechanical arm, and the bottom of the moving platform is equipped with spraying mechanism；Universal shaft crosses water assembly, including being equipped with the first universal joint of water type chamber and water type chamber connection excessively, crossing water axis mechanism and the second universal joint, the mistake water type chamber of at least one in the mistake water type chamber and the first universal joint, the second universal joint for crossing water axis mechanism crosses water mechanism connection by swing rod；The mistake water type chamber of first universal joint is connected with water supply pipe, and the mistake water type chamber of second universal joint is connected to the water inlet of spraying mechanism.Cleaning positions can be adjusted flexibly in the utility model, be beneficial to energy conservation environmental protection.
Description
Technical field
The utility model relates to a kind of technology in dish-washing machine field, specifically a kind of washing the dishes based on parallel manipulator
Machine spray equipment and spray system.
Background technique
Most of spray equipment of dish-washing machine uses single armed multiinjector structure at present, is generally divided into two types, a type
Type is by multiple nozzle arrays on spray arm, and another seed type is by the nozzle concentrated setting of different spray angles the two of spray arm
Side.The position for the tableware that above-mentioned spray equipment can clean to is relatively fixed, weaker for the adaptability of different operating conditions, can not
It is adjusted in time according to tableware quantity, the clean complexity of spot, is unfavorable for energy conservation and environmental protection.
Utility model content
The utility model In view of the above shortcomings of the prior art, proposes a kind of dish-washing machine based on parallel manipulator
Spray equipment and spray system can be adjusted flexibly cleaning positions, be beneficial to energy conservation environmental protection.
The utility model is achieved through the following technical solutions:
The utility model relates to a kind of dish-washing machine spray equipment based on parallel manipulator, is equipped with:
Parallel manipulator, the mechanical arm including silent flatform and moving platform and connection silent flatform, moving platform, the moving platform
The movement of XY two-freedom or the movement of XYZ Three Degree Of Freedom are carried out with mechanical arm, the bottom of the moving platform is equipped with spraying mechanism；
Universal shaft crosses water assembly, including being equipped with the first universal joint of water type chamber and water type chamber connection excessively, crossing water axis mechanism
With the second universal joint, it is described cross water axis mechanism mistakes water type chamber and the first universal joint, the second universal joint at least one mistake water
Type chamber crosses water mechanism connection by swing rod；The mistake water type chamber of first universal joint is connected with water supply pipe, and described second is universal
The mistake water type chamber of section is connected to the water inlet of spraying mechanism.
It includes the first swing rod and the second swing rod for being equipped with water type chamber and crossing the connection of water type chamber that the swing rod, which crosses water dispenser structure,.
The water axis mechanism of crossing includes the pair of sliding being fixedly connected at least one in the first universal joint, the second universal joint
Guide rail, the slide rail are equipped with sliding shoe, and sliding number of blocks, with swing rod to cross water dispenser structure quantity corresponding；The sliding shoe is equipped with
It crosses water type chamber and was fixedly connected with water axis, the mistake water type chamber of the sliding shoe is connected to the mistake water type chamber that swing rod crosses water dispenser structure.
First universal joint, the second universal joint include the first plug, the second plug and connection the first plug and second
The cross axle of plug.
Preferably, be connected with three groups of mechanical arms between the silent flatform and moving platform, the mechanical arm include master arm and
Slave arm, the slave arm include two structural arms disposed in parallel, are connected respectively with master arm, moving platform by two pairs of spherical hinges
It connects, two pairs of spherical hinges pass through tension spring external member and are fixedly connected, and the master arm is fixedly connected with deceleration electricity by tensioner
Machine drives manipulator motion to realize the movement of moving platform XY two-freedom or the movement of XYZ Three Degree Of Freedom by decelerating motor.
Preferably, the spraying mechanism includes several high-pressure nozzles being fixed on moving platform, the high-pressure nozzle into
The mouth of a river is connected to the mistake water type chamber of the second universal joint.
Preferably, the spraying mechanism includes the spray arm with moving platform rotation connection, is fixed with number on the spray arm
A high-pressure nozzle；The water inlet of the spray arm is connected to the mistake water type chamber of the second universal joint；First universal joint is connected with
Decelerating motor, the decelerating motor driving universal shaft crosses water assembly rotation and drives spray arm rotation, to improve wash dishes efficiency.
It is further preferred that the high-pressure nozzle adopts fan nozzle or spinning nozzle.
Preferably, the water supply pipe is connected with high-pressure pump, supplies high pressure water by high-pressure pump, improves wash dishes effect
Rate；The maximum pressure of the high pressure water is 10MPa, pressure adjustable；Following hydraulic pressure high pressure water can be used to be rinsed, as 1MPa,
2MPa, 3MPa, 5MPa etc.；Certainly when not considering cleaning efficiency, water at atmospheric pressure can also be used, tableware is rinsed.
The utility model relates to a kind of spray systems, comprising: control unit, image processing module, image collecting device and
Dish-washing machine spray equipment based on parallel manipulator as described above, wherein image collecting device is connected simultaneously with image processing module
The tableware image information that need to be cleaned is exported, image processing module is connected with control unit and exports identified tableware stained region
Information, control unit is connected with the decelerating motor on the dish-washing machine spray equipment based on parallel manipulator exports control letter
Breath carries out stained region in whole spray cleaning and/or tableware to tableware region and locally cleans.
Described image acquisition device is fixed on moving platform.
Technical effect
Compared with prior art, the utility model uses the parallel manipulator of multifreedom motion, can be according to tableware number
Amount, placement position and stained region size carry out position adjustment in time, and cooperation high pressure water rinses, can be improved cleaning efficiency, have
Conducive to energy conservation and environmental protection.
Detailed description of the invention
Fig. 1 is spray equipment schematic perspective view in embodiment 1；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is spray equipment A-A sectional view in embodiment 1；
Fig. 4 is B-B sectional view in Fig. 3；
Fig. 5 is part-structure enlarged drawing at I in Fig. 3；
Fig. 6 is C1-C1 sectional view in Fig. 5；
Fig. 7 is C2-C2 sectional view in Fig. 5；
Fig. 8 is that universal shaft crosses water assembly schematic perspective view in Fig. 1；
Fig. 9 is spray system structural schematic diagram in embodiment 1；
In figure: silent flatform 1, mechanical arm 3, the first universal joint 4, crosses water axis mechanism 5, the second universal joint 6, spray at moving platform 2
Arm 7, swing rod cross water dispenser structure 8, the first rotation axis 9, the second rotation axis 10, first reducing motors 11, second reducing motors 12, water inlet
Interface 13, slave arm 32, spherical hinge 33, slide rail 51, sliding block 52, fixed block 53, crosses water axis 54, high pressure spray at master arm 31
First 71, first swing rod 81, the second swing rod 82, the dish-washing machine spray equipment 100 based on parallel manipulator, control unit 101, image
Processing module 102, image collecting device 103, the first plug 200, the second plug 201, cross axle 202, sealing ring 300, spacer ring
301, structural arm 321.
Specific embodiment
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Embodiment 1
The present embodiment is related to a kind of dish-washing machine spray equipment 100 based on parallel manipulator, is equipped with:
Parallel manipulator as shown in Figure 1 and Figure 4, including silent flatform 1 and moving platform 2 and connection silent flatform 1, moving platform
2 mechanical arm 3, the moving platform carry out the movement of XYZ Three Degree Of Freedom with mechanical arm, and the bottom of the moving platform is equipped with spray arm
7；
Universal shaft as shown in figures 3 and 8 crosses water assembly, including being equipped with water type chamber and crossing the 10000th of the connection of water type chamber
To section 4, cross water axis mechanism 5 and the second universal joint 6, the mistake water type of the mistake water type chamber for crossing water axis mechanism 5 and the first universal joint 4
Chamber is crossed water dispenser structure 8 by swing rod and is connected to；The mistake water type chamber of first universal joint 4 is connected with water supply pipe, and described second is universal
The mistake water type chamber of section 6 is connected to the water inlet of spray arm 7.
First universal joint 4, the second universal joint 6 include the first fork of the first plug 200, the second plug 201 and connection
First 200 and second plug 201 cross axle 202.
As shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, it includes being equipped with water type chamber and crossing water type chamber to connect that the swing rod, which crosses water dispenser structure 8,
Logical the first swing rod 81 and the second swing rod 82, the mistake of the second plug 201 in the mistake water type chamber of the first swing rod 81 and the first universal joint 4
The connection of water type chamber.
The water axis mechanism 5 of crossing includes the pair of sliding guide rail 51 being fixedly connected with the first universal joint 4, the slide rail
51 are fixedly connected on fixed block 53 and are equipped with the sliding shoe 52 moved up and down, it is preferable that a pair of of swing rod is fixed on sliding block 52
Cross water dispenser structure 8；The sliding shoe 52 was equipped with water type chamber and was fixedly connected with water axis 54, the mistake water type chamber of the sliding shoe 52
It is connected to the mistake water type chamber of the second swing rod 82；The mistake water type chamber of described mistake water type chamber one end for crossing water axis 54 and sliding shoe 52 connects
Logical, the other end is connected to the mistake water type chamber of the first plug 200 in the second universal joint 6.
As depicted in figs. 1 and 2, three groups of mechanical arms 3, the mechanical arm 3 are connected between the silent flatform 1 and moving platform 2
Including master arm 31 and slave arm 32, the slave arm 32 includes two structural arms 321 disposed in parallel, passes through two pairs of spherical hinges 33
It is connect respectively with master arm 31, moving platform 2, two pairs of spherical hinges 33 are fixedly connected by tension spring external member, the master arm
31 are fixedly connected with first reducing motors 11 by tensioner, drive manipulator motion to realize by first reducing motors 11 dynamic flat
The movement of platform XYZ Three Degree Of Freedom.
The spray arm 7 is fixed with symmetrically arranged a pair of of high-pressure nozzle 71；The spray arm 7 and the first rotation axis 9 connect
It connects, it is preferable that use thread connection；First rotation axis 9 is threaded through on moving platform 2 by bearing, first rotation axis 9
It was equipped with water type chamber and was connected to respectively with the mistake water type chamber of the second plug 201 in spray arm 71 and the second universal joint 6；Described first
Universal joint 4 is connected with the second rotation axis 10, and the second rotation axis 10 was equipped with water type chamber, mistake water type chamber one end of the second rotation axis 10
Be connected to water supply pipe water inlet interface 13, the other end is connected to the mistake water type chamber of the first plug 200 in the first universal joint 4, second
Rotation axis 10 is threaded through on silent flatform 1 by bearing, and second rotation axis 10 is connected with second reducing motors 12, and second slows down
Motor 12 drives universal shaft to cross water assembly rotation and drives spray arm 7 to rotate, improve wash dishes efficiency.
First rotation axis 9 is sealed with moving platform 2 by upper-lower seal circle 300.
Second rotation axis, 10 corresponding shaft bearing is equipped with spacer ring 301.
The high-pressure nozzle 71 adopts fan nozzle or spinning nozzle.
The water supply pipe is connected with high-pressure pump, supplies high pressure water by high-pressure pump, improves wash dishes efficiency；The height
The maximum pressure for pressing water is 10MPa.
As shown in figure 9, the present embodiment is related to a kind of spray system, comprising: control unit 101, image processing module 102,
Image collecting device 103 and as described above the dish-washing machine spray equipment 100 based on parallel manipulator, wherein image collecting device
103 are connected with image processing module 102 and export the tableware image information that need to be cleaned, image processing module 102 and control unit
101 are connected and export identified tableware stained region information, control unit 101 and the dish-washing machine based on parallel manipulator
First reducing motors, second reducing motors on spray equipment 100, which are connected, exports control information, carries out to tableware region whole
Stained region is locally cleaned in the cleaning of body spray and/or tableware.
Described image acquisition device is fixed on moving platform.
It is emphasized that: the above is only the preferred embodiment of the present utility model, not appoints to the utility model
What formal limitation, any simple modification made by the above technical examples according to the technical essence of the present invention, etc.
With variation and modification, it is still within the scope of the technical solutions of the present invention.
Claims (10)
1. a kind of dish-washing machine spray equipment based on parallel manipulator, which is characterized in that be equipped with:
Parallel manipulator, the mechanical arm including silent flatform and moving platform and connection silent flatform, moving platform, the moving platform are random
Tool arm carries out the movement of XY two-freedom or the movement of XYZ Three Degree Of Freedom, and the bottom of the moving platform is equipped with spraying mechanism；
Universal shaft crosses water assembly, including being equipped with water type chamber and crossing the first universal joint of water type chamber connection, cross water axis mechanism and the
Two universal joints, at least one mistake water type chamber in the mistake water type chamber and the first universal joint, the second universal joint for crossing water axis mechanism
Water mechanism connection is crossed by swing rod；The mistake water type chamber of first universal joint is connected with water supply pipe, second universal joint
Water type chamber is crossed to be connected to the water inlet of spraying mechanism.
2. the dish-washing machine spray equipment based on parallel manipulator according to claim 1, characterized in that the swing rod crosses water dispenser
Structure includes the first swing rod and the second swing rod for being equipped with water type chamber and crossing the connection of water type chamber.
3. the dish-washing machine spray equipment based on parallel manipulator according to claim 1, characterized in that described to cross water axis mechanism
Including the pair of sliding guide rail being fixedly connected at least one in the first universal joint, the second universal joint, set on the slide rail
There is a sliding shoe, sliding number of blocks, with swing rod to cross water dispenser structure quantity corresponding；The sliding shoe was equipped with water type chamber and was fixedly connected with
Water axis is crossed, the mistake water type chamber of the sliding shoe is connected to the mistake water type chamber that swing rod crosses water dispenser structure.
4. according to claim 1 or the 3 dish-washing machine spray equipments based on parallel manipulator, characterized in that the described 10000th
Xiang Jie, the second universal joint include the first plug, the second plug and the cross axle for connecting the first plug and the second plug.
5. the dish-washing machine spray equipment based on parallel manipulator according to claim 1, characterized in that the silent flatform and dynamic
Three groups of mechanical arms are connected between platform, the mechanical arm includes master arm and slave arm, and the slave arm is set in parallel including two
The structural arm set is connect with master arm, moving platform respectively by two pairs of spherical hinges, and two pairs of spherical hinges pass through tension spring external member
It is fixedly connected, the master arm is fixedly connected with decelerating motor by tensioner, drives manipulator motion real by decelerating motor
The movement of existing moving platform XY two-freedom or the movement of XYZ Three Degree Of Freedom.
6. according to claim 1 or the 3 dish-washing machine spray equipments based on parallel manipulator, characterized in that the spray thrower
Structure includes several high-pressure nozzles being fixed on moving platform, the mistake water type chamber of the water inlet of the high-pressure nozzle and the second universal joint
Connection.
7. according to claim 1 or the 3 dish-washing machine spray equipments based on parallel manipulator, characterized in that the spray thrower
Structure includes the spray arm with moving platform rotation connection, is fixed with several high-pressure nozzles on the spray arm；The spray arm into
The mouth of a river is connected to the mistake water type chamber of the second universal joint；First universal joint is connected with decelerating motor, the decelerating motor driving
Universal shaft crosses water assembly rotation and drives spray arm rotation.
8. the dish-washing machine spray equipment based on parallel manipulator according to claim 1, characterized in that the water supply pipe with
High-pressure pump is connected, and supplies high pressure water by high-pressure pump, the maximum pressure of the high pressure water is 10MPa.
9. a kind of spray system characterized by comprising control unit, image processing module, image collecting device and such as right
It is required that the dish-washing machine spray equipment described in 1~8 any one based on parallel manipulator, wherein image collecting device and image procossing
Module is connected and exports the tableware image information that need to be cleaned, and image processing module is connected with control unit and exports identified meal
Have stained region information, the decelerating motor Xiang Binglian in control unit and the dish-washing machine spray equipment based on parallel manipulator
Output control information carries out stained region in whole spray cleaning and/or tableware to tableware region and locally cleans.
10. spray system according to claim 9, characterized in that described image acquisition device is fixed on moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821710543.2U CN209091294U (en) | 2018-10-22 | 2018-10-22 | Dish-washing machine spray equipment and spray system based on parallel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821710543.2U CN209091294U (en) | 2018-10-22 | 2018-10-22 | Dish-washing machine spray equipment and spray system based on parallel manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209091294U true CN209091294U (en) | 2019-07-12 |
Family
ID=67155941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821710543.2U Expired - Fee Related CN209091294U (en) | 2018-10-22 | 2018-10-22 | Dish-washing machine spray equipment and spray system based on parallel manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209091294U (en) |
-
2018
- 2018-10-22 CN CN201821710543.2U patent/CN209091294U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109124531A (en) | Dish-washing machine spray equipment and spray system based on parallel manipulator | |
| CN202505274U (en) | Height glass wipe robot | |
| CN109225989A (en) | It is a kind of for cleaning the maintenance device of solar panels | |
| CN205253698U (en) | A manipulator device for rinsing solar photovoltaic board | |
| CN108502326A (en) | A kind of power equipment transport fixing device | |
| CN109909248A (en) | A kind of laboratory automatic bottle washer | |
| CN209091294U (en) | Dish-washing machine spray equipment and spray system based on parallel manipulator | |
| CN113875558A (en) | Irrigation equipment for irrigation and water conservancy project | |
| CN108934439A (en) | A kind of drive lacking flexible retainer | |
| CN209430500U (en) | Water pump automatic flushing device | |
| CN114273925A (en) | Flexible production automatic device for machining cylinder cover of automobile engine | |
| CN204018341U (en) | A kind of photovoltaic solar board cleaning machine folding swing arm and dust suction dust exhaust | |
| CN109124523A (en) | Dish-washing machine spray equipment and its spray system based on link mechanism | |
| CN201889305U (en) | Cleaning machine for damping cylinder of motorcycle | |
| CN209663562U (en) | A kind of fixed spray-painting plant of the multistation of solid wood furniture | |
| CN108393919A (en) | Adaptive end gripper based on mobile robot | |
| CN209203179U (en) | Dish-washing machine spray equipment and its spray system based on link mechanism | |
| CN109176561A (en) | A kind of high efficiency automatic shuffling head massage machine people | |
| CN208508875U (en) | A kind of photovoltaic module with automatic displacement cleaning device | |
| CN208495259U (en) | A kind of building pipe internal cleaning device | |
| CN209918836U (en) | Sand shooting nozzle | |
| CN113870643A (en) | Korean is study with exercise bracelet equipment platform with oneself | |
| CN209203180U (en) | Novel dish-washing machines spray equipment | |
| CN202971164U (en) | Plunger pump device with exhaust function in spray cleaning machine | |
| CN106607916A (en) | Connecting rod type variable-degree-of-freedom painting mechanical arm driven by servo motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190712 Termination date: 20211022 |