CN210500287U

CN210500287U - Cleaning robot device

Info

Publication number: CN210500287U
Application number: CN201920921562.8U
Authority: CN
Inventors: 王磊; 丁广银
Original assignee: Nanjing Zhihui Automation System Co Ltd; Shanghai Dinghu Automation System Co ltd
Current assignee: Nanjing Zhihui Automation System Co Ltd; Shanghai Dinghu Automation System Co ltd
Priority date: 2019-06-19
Filing date: 2019-06-19
Publication date: 2020-05-12
Anticipated expiration: 2029-06-19

Abstract

The utility model provides a cleaning robot device, including high pressure cleaner, high-pressure squirt, intelligence track flatcar, the robot, PLC, scrape the trigger, water filter equipment, the sedimentation tank, a water pump, the sedimentation tank is located outside the washing workshop, water pump and sedimentation tank outlet pipe, water filter equipment connects, water filter equipment and high pressure cleaner connect respectively, high pressure cleaner and high-pressure squirt are through hose connection, the washing rifle head of high-pressure squirt is fixed together with the robot front end of robot, there is the track on washing workshop ground, intelligence track flatcar is located the track upper end, two sets of robot are installed on ground, the water pump is installed in the sedimentation tank side, water filter equipment installs in the water pump side, two sets of high pressure cleaners are installed respectively in workshop track front and back both sides end, scrape the pit on trigger installation around the track and right side. This novel robot arm through robot drives high-pressure squirt and presets the time to wash work piece each angle, and time and angularly adjustable, the cleaning performance is good, does not need manual operation.

Description

Cleaning robot device

Technical Field

The utility model relates to a cleaning equipment field, especially a cleaning robot device.

Background

At present, high-pressure water is adopted for cleaning workpieces of production equipment, and the cleaning effect is good, so that the application is wide. The other mode is that the workpiece to be cleaned is driven by a trolley and passes through an injector head provided with a plurality of cleaning devices connected with the high-pressure cleaning machine, so that the cleaning device injector head sprays and cleans the workpiece to be cleaned.

The manual hand-held high-pressure water gun cleaning gun head cleaning workpiece is low in efficiency and poor in cleaning effect, meanwhile, due to the fact that the pressure of the high-pressure water gun is high, huge potential safety hazards exist for workers, cold water can bring discomfort to operators when the workers are cold, and the operators are easy to suffer from diseases such as rheumatism due to long-term contact with the cold water. The cleaning device is characterized in that a plurality of spray heads which are connected with the cleaning device through the high-pressure water pump are adopted to clean workpieces to be cleaned, and the cleaning angle of the cleaning device is fixed, so that the cleaning effect on the workpieces is not ideal (for example, the effect of cleaning the concave part of a certain equipment workpiece is not ideal).

Based on the above, it is especially necessary to provide a cleaning robot device which does not need manual operation and can automatically displace to effectively clean a workpiece to be cleaned at multiple angles in the cleaning process.

SUMMERY OF THE UTILITY MODEL

In order to overcome current manual work and adopt high pressure water cleaning equipment, and the fixed high pressure water cleaning device who sets up, because of the structure limits, the drawback that exists in the work piece cleaning operation that carries out production facility, the utility model provides an adopt and to have movable track flatcar as the carrier of required cleaning member, can conveniently transport required cleaning member into or transport out the washing region, the robot arm through the robot body able to programme drives high-pressure squirt and carries out predetermined time washing to each angle of work piece, the cleaning time, angularly adjustable to it is better to reach the cleaning performance, and does not need a cleaning robot device of manual operation.

The utility model provides a technical scheme that its technical problem adopted is:

a cleaning robot device comprises a high-pressure cleaning machine, high-pressure water guns, an intelligent rail flat car, a robot body, a PLC, a scraper machine, a water filtering device, a sedimentation tank and a water pump, and is characterized in that the sedimentation tank is positioned outside a cleaning workshop, the upper end of the sedimentation tank is lower than the outdoor ground, the tail end of a workshop drainage ditch is positioned at the water inlet end of the sedimentation tank, the water inlet pipe of the water pump is fixedly connected with the water outlet pipe of the sedimentation tank, the water outlet end of the water pump is fixedly connected with the water inlet end of the water filtering device, the water outlet end of the water filtering device is respectively and fixedly connected with the water inlet ends of two sets of high-pressure cleaning machines, the water outlet ends of the two sets of high-pressure cleaning machines are respectively connected with the water inlet ends of the two sets of high-pressure water guns through hoses, the cleaning gun heads of the two sets of high-pressure water guns are respectively fixed with the, the lower ends of two sets of robot bodies are respectively arranged on the ground of a workshop cleaning area, the two sets of robot bodies are positioned in the middle of the front and rear side ends of two tracks, a water pump is arranged at the side end of a sedimentation tank, a water filtering device is arranged at the side end of the water pump, the lower parts of two sets of high-pressure cleaning machines are respectively arranged at the front and rear side ends of the workshop track, the lower ends of two sets of scraper machines are respectively transversely arranged in pits at the front and rear sides of the track, the lower end of a third set of scraper machine is longitudinally arranged in a pit at the right side end of the track, a PLC power supply input end and a 220V alternating current power supply are connected through a lead, two control signal output ends of the PLC and control mainboard signal input ends of the two sets of robot bodies are respectively connected through a data line, the power supply input ends of the high-, The water filtering device, the water pump and the power switch of the scraper are positioned in an electric control box in the workshop.

The sedimentation tank can be formed by excavating a deep pit on the ground or by adopting prefabricated components, and comprises a primary sedimentation tank, a secondary sedimentation tank, a tertiary sedimentation tank and a clean water tank.

The tail end of the workshop drainage ditch is positioned at the upper water inlet end of the primary sedimentation tank of the sedimentation tank, the water inlet pipe of the water pump is connected with the water outlet pipe of the clear water tank of the sedimentation tank, and the water pump can also adopt a submersible pump and directly put the submersible pump into the clear water tank.

The utility model has the advantages that: the novel cleaning device adopts the movable rail flat car as a carrier of the parts to be cleaned, the parts to be cleaned can be conveniently conveyed into or out of a cleaning area, the two sets of high-pressure water guns are respectively driven by the robot arms of the two sets of programmable robot bodies to clean two ends of a workpiece for a preset time at each angle, the cleaning time and the cleaning angle are adjustable, and under the action control of PLC programming (PLC programming is a known technology), the parts which are difficult to clean by the two sets of high-pressure water guns can respectively keep fixed cleaning angles for a longer time as required, so as to achieve better cleaning effect, and because the cleaning process does not need manpower, the cleaning device overcomes the defects that the high-pressure water guns are manually held to clean the workpieces by hands, not only has low efficiency and poor cleaning effect, but also has huge potential safety hazard to workers due to high pressure of the high-pressure water guns, and cold water can bring, the long-term contact with cold water easily causes the operator to suffer from rheumatism and other diseases, and also overcomes the defects that the cleaning effect on the workpiece is not ideal because the cleaning angle of the cleaning device is fixed when the cleaning device is provided with a plurality of spray heads connected with the high-pressure water pump to clean the workpiece to be cleaned. And after the cleaning is finished, dirt can be collected through the scraper, so that the use is more convenient. Based on the above, so this novel application prospect that has.

Drawings

The invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic view of the overall overhead structure of the present invention.

Fig. 2 is a schematic structural diagram of the utility model located in a workshop.

Detailed Description

As shown in figures 1 and 2, the cleaning robot device comprises a high-pressure cleaning machine 1, a high-pressure water gun 2, an intelligent track flat car 3, a robot body 4 with a robot arm capable of moving in multiple directions, a PLC5, a scraper 6, a water filtering device 7, a sedimentation tank 8 and a water pump 9, wherein the sedimentation tank 8 is located outside a cleaning workshop, the upper end of the sedimentation tank 8 is lower than the outdoor ground, the tail end of a workshop drainage ditch is located at the water inlet end of the sedimentation tank 8 and higher than the sedimentation tank 8, a water inlet pipe of the water pump 9 is connected with a water outlet pipe of the sedimentation tank 8 through a pipeline, a water outlet end of the water pump 9 is connected with a water inlet end of the water filtering device 7 through a pipeline, a water outlet end of the water filtering device 7 is connected with water inlet ends of the two sets of high-pressure cleaning machines 1 through pipelines, water outlet ends of the two sets of high-pressure water guns 1 are respectively connected with water inlet ends of the two sets of high-pressure water guns 2 through hoses, the intelligent track flat car 3 is characterized in that the intelligent track flat car 3 is fixed together through bolts, two tracks 10 are transversely and parallelly installed on the ground of a cleaning workshop, wheels of the intelligent track flat car 3 are located at the upper ends of the two tracks 10, the lower ends of two sets of robot bodies 4 are respectively installed on the ground of a cleaning area of the workshop through the bolts, the two sets of robot bodies 4 are located in the middle of the front side end and the rear side end of the two tracks 10, robot arms of the two sets of robot bodies 4 are located on the inner sides of the two tracks 10 in a face-to-face mode, the left side end of the track 10 serves as a cleaning workpiece feeding area, the right side end of the track 10 serves as a cleaning workpiece discharging area, a rack of a water pump 9 is installed on the left side end of a sedimentation tank 8 through the bolts, the lower portion of a water filtering device 7 is installed on the ground of the left side end of the water, The high-pressure cleaning machine is positioned at the front side and the rear side of a track 10, the inner side to the outer side end of a pit is in a slope shape from high to low, the height of the outer side end of the pit is higher than that of the outdoor ground, the heights of the upper ends of two sets of

scraper machines

61 and 62 are lower than that of the track, the lower end of a third set of scraper machine 63 is longitudinally arranged in the pit at the right side end of the track 10 through a bolt, the heights of the left inner side to the right outer side end of the pit at the right side end are in a slope shape from high to low, the height of the rear side end of the pit at the right side end is higher than that of the outdoor ground, a PLC5 power supply input end is connected with a 220V alternating current power supply through a lead, two control signal output ends of a PLC5 are respectively connected with control main board signal input ends of two sets of a robot body 4 through data lines, the high-pressure cleaning machine 1, a water filtering device 7, a, The water pump 9 and the power switch of the scraper conveyor 6 are positioned in an electric control box in the workshop.

As shown in fig. 1 and 2, the model of the high-pressure cleaning machine 1 is GYB-20L/1500BAR, the model of the high-pressure water gun 2 is ZH-297-PQ, the model of the intelligent flat rail car 3 is l8.0mxw2.0mxh0.5m, the intelligent flat rail car 3 is matched with a drive-by-wire power switch, a wireless remote controller and an upper computer interface, during operation, an operator can manually operate the drive-by-wire power switch to control the operation of the flat car 3, can also control the operation of the flat car 3 through a remote control handle of the wireless remote controller, can also control the automatic operation of the flat car 3 through the upper computer, the intelligent flat rail car 3 is powered by a storage battery and is provided with an electromagnetic braking mechanism, laser scanning obstacle sensors are mounted at the front end and the rear end of the car body, during operation, the car can automatically brake and stop when encountering obstacles, and avoid the car body 3 from. The model of the robot body 4 is IRB6700, and the robot arm of the robot body 4 can move up, down, left, right, front and back at a certain distance and at a certain angle. PLC5 is a ZH-1200-DK model programmable controller. The model of the water filtering device 7 is ZH20-630-YV, the model of the scraper conveyor 6 is ZH-500-GB, the sedimentation tank 8 can be formed by excavating a deep pit on the ground or by adopting prefabricated components, and the sedimentation tank is respectively a primary sedimentation tank 81, a secondary sedimentation tank 82, a tertiary sedimentation tank 83 and a clean water tank 84 from right to left. The model of the water pump 9 is CHL4-20, the tail end of a workshop drainage ditch is positioned at the upper water inlet end of the primary sedimentation tank 81 of the sedimentation tank, the water inlet pipe of the water pump 9 is connected with the water outlet pipe of the clear water tank 84 of the sedimentation tank through a pipeline, the water pump 9 can also adopt a submersible pump, and the submersible pump is directly placed in the clear water tank 84. 12 is a cleaning workshop, 11 is an exhaust fan and mainly plays a role in keeping air circulation of the workshop.

As shown in fig. 1 and 2, when the robot is used, an operator places a workpiece to be cleaned on the body of an intelligent rail flat car 3 in a feeding area, controls the flat car 2 to move rightwards along a rail 10 by operating a control switch of the flat car 3, transfers the workpiece to a cleaning area in a workshop and stops the workshop, the workpiece is positioned on the inner side between two sets of robot bodies 4, and the operator controls the operation of the flat car 4 to be in place by manually operating a vehicle-mounted wire control power switch in a specific control mode; the intelligent rail flat car is adopted to transport the workpieces, so that labor can be saved, and the aim of improving the working efficiency is fulfilled. After the workpieces are in place, an operator can teach and program the two sets of robot bodies through the PLC5 according to the shapes of the workpieces and the positions to be cleaned, so that each workpiece is ensured to have a corresponding cleaning program, the programmer can limit the high-pressure water guns 2 clamped by the robot arms of the two sets of robot bodies 4 through programming according to different cleaning positions of the workpieces, the parts of the workpieces which are difficult to clean can be kept at fixed cleaning angles for a long time, and in the process of cleaning the moving angles, the two sets of high-pressure water guns 2 and the workpieces can be respectively limited to keep fixed cleaning intervals and stable cleaning speeds through programming, so that the consistency of the overall cleaning effect of the same workpieces is realized, and the problem of low efficiency caused by repeated cleaning is solved; the residence time of the high-pressure water gun 2 at the position easy to clean is short, and the residence time of the high-pressure water gun 2 at the position difficult to clean is relatively long. During cleaning operation of the robot body 4, an operator inputs the code of a workpiece to be cleaned currently to the robot body 4 through a Programmable Logic Controller (PLC), the robot body 4 automatically performs cleaning operation of the same workpiece according to a cleaning program corresponding to the loaded workpiece, and the operator only needs to stand at an operation table to observe the work of the robot during cleaning; after an operator turns on a control power switch for controlling the high-pressure cleaning machine 1, the water filtering device 7 and the water pump 9, the water pump 9 is powered on to work to pump out clean water in the clean water tank 84 of the city sedimentation tank and filter the clean water in the water filtering device 7, the filtered water respectively enters the water inlet ends of the two sets of high-pressure water guns 2 from the two water outlet ends of the water filtering device 7, then the front end injector heads of the two sets of high pressure water guns 2 respectively spray water with pressure, the water is respectively controlled by the robot arms of the two sets of robot bodies 4, the front part and the rear part of the workpiece are cleaned at preset time from all angles (front, rear, left, right, upper and lower sides) at the same time, the cleaning time and the cleaning angle are adjustable, under the action control of PLC5 programming (PLC programming is a known technology), the two sets of high-pressure water guns 2 can respectively keep fixed cleaning angles for parts of the workpiece which are difficult to clean for a long time according to needs, and a better cleaning effect is achieved. The cleaned water flows into the outdoor sedimentation tank 8, the sewage is sedimentated by the first-stage sedimentation tank 81, the second-stage sedimentation tank 82 and the third-stage sedimentation tank 83 of the sedimentation tank 8, flows into the clean water tank 84 and is pumped out again by the water pump 9 into the filtering device 7, so that the water is recycled (when the water amount is too small, the tap water can be put into the clean water tank 84). After the PLC controls the robot body 4 to clean the workpiece, an operator transfers the workpiece to a discharge area through the rail 10 by operating a control switch of the flat car 3 to discharge the workpiece. And after unloading, operating the flat car 3 again to the feeding area for feeding, and further carrying out the next workpiece cleaning cycle. When the ground filth is too much after, the operator can open the power control switch that three sets of scrape trigger 6, three sets of scrape trigger 6 and get the electric work back, the both sides around the workshop can be scraped with the ground filth to

scrape trigger

61 and 62 that are located track 10 front and back both sides, the trigger 63 that scrapes that is located track 10 right side can scrape the workshop right side with the ground filth, make things convenient for people's clearance, because the mud scraping plate of scraping trigger 6 is the rubber material, can not produce big noise with ground contact, the influence that the noise brought operating personnel has been reduced, it is more humanized to use. And after all cleaning procedures are finished, all control power switches are closed. This is novel because the cleaning process does not need artifically, the manual work is handed high pressure squirt washing rifle head cleaning workpiece has been overcome, and is not only inefficient, the cleaning performance is poor, simultaneously because high pressure squirt pressure is high there is huge potential safety hazard to the workman, and when cold day, cold water can bring the discomfort for the operator, long-term contact cold water leads to the operator to suffer from the shortcoming of diseases such as rheumatism easily, still overcome the shower nozzle that installs a plurality of and high pressure water pump belt cleaning device that links to each other and wash required cleaning workpiece, because belt cleaning device's washing angle is fixed, the shortcoming unsatisfactory to the cleaning performance of work piece. And after the cleaning is finished, dirt can be collected through the scraper, so that the use is more convenient. Based on the above, so this novel application prospect that has.

Having shown and described the fundamental principles and essential features of the invention, and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A cleaning robot device comprises a high-pressure cleaning machine, high-pressure water guns, an intelligent rail flat car, a robot body, a PLC, a scraper machine, a water filtering device, a sedimentation tank and a water pump, and is characterized in that the sedimentation tank is positioned outside a cleaning workshop, the upper end of the sedimentation tank is lower than the outdoor ground, the tail end of a workshop drainage ditch is positioned at the water inlet end of the sedimentation tank, the water inlet pipe of the water pump is fixedly connected with the water outlet pipe of the sedimentation tank, the water outlet end of the water pump is fixedly connected with the water inlet end of the water filtering device, the water outlet end of the water filtering device is respectively and fixedly connected with the water inlet ends of two sets of high-pressure cleaning machines, the water outlet ends of the two sets of high-pressure cleaning machines are respectively connected with the water inlet ends of the two sets of high-pressure water guns through hoses, the cleaning gun heads of the two sets of high-pressure water guns are respectively fixed with the, the lower ends of two sets of robot bodies are respectively arranged on the ground of a workshop cleaning area, the two sets of robot bodies are positioned in the middle of the front and rear side ends of two tracks, a water pump is arranged at the side end of a sedimentation tank, a water filtering device is arranged at the side end of the water pump, the lower parts of two sets of high-pressure cleaning machines are respectively arranged at the front and rear side ends of the workshop track, the lower ends of two sets of scraper machines are respectively transversely arranged in pits at the front and rear sides of the track, the lower end of a third set of scraper machine is longitudinally arranged in a pit at the right side end of the track, a PLC power supply input end and a 220V alternating current power supply are connected through a lead, two control signal output ends of the PLC and control mainboard signal input ends of the two sets of robot bodies are respectively connected through a data line, the power supply input ends of the high-, The water filtering device, the water pump and the power switch of the scraper are positioned in an electric control box in the workshop.

2. The robot cleaner as claimed in claim 1, wherein the settling tank is formed by digging a pit on the ground or by using prefabricated parts, and the settling tank is formed by a primary settling tank, a secondary settling tank, a tertiary settling tank and a clean water tank.

3. The robot cleaner of claim 1, wherein the end of the workshop drain is located at the upper water inlet end of the primary sedimentation tank of the sedimentation tank, the water inlet pipe of the water pump is connected with the water outlet pipe of the clear water tank of the sedimentation tank, and the water pump can be a submersible pump and can be directly placed into the clear water tank.