CN217616606U

CN217616606U - Mechanical arm for cleaning robot

Info

Publication number: CN217616606U
Application number: CN202221041498.2U
Authority: CN
Inventors: 赵雷; 杨虎森; 蓝志明; 邹剑平
Original assignee: Shenzhen Yuntai Image Technology Co ltd
Current assignee: Shenzhen Yuntai Image Technology Co ltd
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2022-10-21
Anticipated expiration: 2032-04-28

Abstract

The utility model provides an arm for cleaning machines people, include: a proximal arm segment connected to the track drive system; a distal arm segment for connection with the cleaning mechanism; and at least one middle arm section arranged between the near-end arm section and the far-end arm section, wherein the arm sections and the near-end arm section are connected with the connecting seat in a manner of swinging on a first plane. The utility model discloses a multistage arm can stretch on a large scale and expand, rotates in a plurality of plane directions in a flexible way, realizes the comprehensive washing to the filtering pond.

Description

Mechanical arm for cleaning robot

Technical Field

The present invention relates to the field of cleaning machines, and more particularly, to a robot arm for a cleaning robot.

Background

The air-water backflushing filter (the penultimate treatment tank before the tap water enters the pipeline) of the filtering system in the water plant is used as a key process of the whole process of a sewage treatment plant and a clean water treatment plant, the final control effect is exerted on the treatment effect of the whole system, the quality of water produced by the water plant is directly influenced by the operation working condition of the air-water backflushing filter, the requirement on the cleanliness of the filter is high, and theoretically, the air-water backflushing filter is cleaned every day. At present, the mode of manual operation is mainly used, and the following problems exist:

a) The efficiency is low:

although the time required by water discharging and back flushing of the filter tank is short, the cleaning of the tank wall is mainly carried out by a cleaner entering the water tank by using a brush, the operation is time-consuming and labor-consuming, the cleaning frequency of the water tank is influenced, and the requirement of daily cleaning is difficult to achieve in the practical operation;

b) Sanitation hidden danger:

in the manual operation process, sundries on the working sole are easily brought into the bottom of the filter tank, thereby polluting the filter tank for filtering sand. In addition, the operation in the filter tank has high requirements on the health level of cleaners;

c) Cleaning filtered sand:

similarly, as the worker enters the pool for operation, after the cleaning is finished, part of the filtered sand is adhered to the working shoes and is scattered to the passageway along with the cleaner leaving the filter pool. On the one hand, the waste of the filtered sand is caused, and on the other hand, the difficulty is increased for cleaning the passageway.

d) The cleaning effect is difficult to judge:

at present, the cleaning effect of a water plant is mainly judged by visual inspection, and a standard and effective judging tool is lacked.

SUMMERY OF THE UTILITY MODEL

According to an embodiment of the present invention, there is provided a robot arm for a cleaning robot.

The utility model provides an arm for cleaning robot. The robot arm for a cleaning robot includes:

a proximal arm segment coupled to the orbital drive system;

a distal arm segment for connection with the cleaning mechanism; and

at least one intermediate arm segment disposed between the proximal arm segment and the distal arm segment,

the arm sections and the near-end arm section are connected with the connecting seat in a manner of swinging on the first plane.

In one embodiment, the angle cylinder is disposed between the connecting base and the moving mechanism, so that the multi-segment mechanical arm rotates around the connecting base on the second plane.

The above aspects and any possible implementations further provide an implementation in which the segments of the multi-segment robotic arm are connected by a revolute joint and can oscillate relative to each other in a first plane.

The above aspects and any possible implementations further provide an implementation where each arm segment of the multi-segment robot arm is driven by a pneumatic actuator to perform a flexion and extension motion.

The above aspect and any possible implementation further provide an implementation in which an angle sensor is provided at the rotary joint of each arm segment, and the control system determines the swing angle of each arm segment based on a signal of the angle sensor provided at the rotary joint of each arm segment.

The above aspects and any possible implementation manners further provide an implementation manner, wherein a pneumatic system is further provided, the pneumatic system includes an air compressor and an air storage tank, the air compressor provides high-pressure gas as power, and the high-pressure gas is stored in the air storage tank and then supplied to the pneumatic actuator.

The utility model discloses a multistage arm can stretch on a large scale and expand, rotates in a flexible way in a plurality of plane directions, has ensured the washing scope, and the gesture that realizes adjusting multistage arm makes cleaning brush laminating pond wall wash, realizes wasing comprehensively in filtering pond.

It should be understood that what is described in this summary section is not intended to limit key or critical features of embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

The above and other features, advantages and aspects of various embodiments of the present invention will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters denote like or similar elements, and wherein:

fig. 1 shows a schematic structural diagram of a cleaning robot provided by an embodiment of the present invention;

fig. 2 shows a schematic structural diagram of a cleaning robot provided by an embodiment of the present invention;

fig. 3 shows a schematic structural diagram of a cleaning mechanism provided by an embodiment of the present invention;

fig. 4 shows a schematic structural diagram of a cleaning mechanism provided by an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 to fig. 4 is:

100 track drive systems;

200 sections of mechanical arms, 211 a first mechanical arm section, 212 a second mechanical arm section, 213 a third mechanical arm section, 221 a first pneumatic actuator cylinder, 222 a second pneumatic actuator cylinder, 223 a third pneumatic actuator cylinder, 240 a connecting seat, 241X-axis angle cylinders and 250 a cleaning mechanism mounting part;

300 cleaning mechanism, 310 cleaning brush, 320 squirt.

Detailed Description

To make the objects, technical solutions and advantages of the present invention clearer, a detailed description of an embodiment of the present invention will be given with reference to the accompanying drawings, and obviously, the described embodiment is an example of implementing the present invention and does not constitute a limitation to the scope of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

A robot arm for a cleaning robot provided by an embodiment of the present invention is described below with reference to fig. 1 to 4.

As shown in fig. 1 and 2, a cleaning robot according to an embodiment of the present invention includes: a track drive system 100, a multi-segment robotic arm 200, a cleaning mechanism 300, an angle sensor, a pneumatic system. The track drive system 100 supports the multi-segment robot arm 200 to move along the rails of the track drive system 100 and cleans a cleaning region located below the rails of the track drive system 100 using the cleaning mechanism 300 supported by the multi-segment robot arm 200.

The track driving system 100 is arranged along the pool side and comprises a guide rail, a guide rail support, a moving mechanism, a driving mechanism, a seat plate and a brake caliper. In the present embodiment, the inner side is the side facing the filter chamber, and is the right direction as in fig. 1; the outer side is the side facing away from the filter, such as the left side in fig. 1. The guide rail supports are arranged around the tank edge, the guide rail is arranged on the inner side of the guide rail supports, the guide rail is supported by the guide rail supports to be arranged around the filter tank, and the guide rail extends along the tank edge and is in arc transition at the corners, as shown in figure 4. The moving mechanism comprises at least one pair of wheels, the two wheels of the pair of wheels are U-shaped grooved wheels, the groove surfaces are matched with the curved surfaces of the guide rails, and the two wheels are clamped on the two sides of the guide rails and slide along the guide rails. In the present embodiment, two sets of pairs of wheels are provided. The driving mechanism is connected with one of the pair of wheels and drives the moving mechanism to slide along the guide rail. The seat plate is formed in a plate shape vertically arranged, is connected to the inner side of the moving mechanism, and is connected to the multi-stage robot arm 200 through the seat plate. And a brake caliper is arranged between the two pairs of wheels of the moving mechanism, embraces the guide rail, applies resistance and provides braking force. The moving mechanism clamps the guide rail and runs along the guide rail, and the multi-section mechanical arm 200 is connected with the moving mechanism to drive the multi-section mechanical arm 200 to run along the guide rail and perform cleaning action.

As shown in fig. 1 and 2, the multi-segment robot arm 200 has three segments, including a first arm segment 211, a second arm segment 212, and a third arm segment 213, wherein a proximal end of the first arm segment 211 is connected to the track driving system 100, the second arm segment 212 is connected to a distal end of the first arm segment 211, the third arm segment 213 is connected to a distal end of the second arm segment 212, and a cleaning mechanism 300 is disposed at a distal end of the third arm segment 213, i.e., the first arm segment 211 is a proximal arm segment connected to the track driving system 100, the third arm segment 213 is a distal arm segment connected to the cleaning mechanism 300, and the second arm segment 212 is disposed at an intermediate arm segment between the proximal arm segment and the distal arm segment. The mechanical arm segments are connected through a rotary joint, so that the mechanical arm segments can swing on a first plane, and the first plane is an XZ plane as shown in figure 2. The rotary joint can adopt a step bearing or a double-cone shaft to be matched with a plurality of groups of bearings, so that the stability of each mechanical arm section during telescopic motion and the matching precision of each mechanical arm section are ensured.

One end of the multi-segment robot arm 200, i.e., the proximal end of the first robot arm segment 211, is connected to the inner plane of the seat plate through the connecting seat 240, so that the multi-segment robot arm 200 is fixed to the inner plane of the seat plate 150, thereby connecting the multi-segment robot arm 200 to the track driving system 100. An X-axis rotation cylinder 241 is disposed between the connection seat 240 and the seat plate to rotate the connection seat 240 around an X-axis, which is shown in fig. 2, that is, the connection seat 240 drives the multi-stage mechanical arm 200 to rotate around the connection seat 240 on a second plane, which is a YZ plane shown in fig. 2.

Each arm section is driven by a pneumatic actuator cylinder to perform a bending and stretching action, one end of the first pneumatic actuator cylinder 221 is rotatably connected with an extension part extending from the inner side wall surface of the connecting seat 240, and the other end of the first pneumatic actuator cylinder is connected with the middle part of the first arm section 211. The second pneumatic actuator 222 is connected at one end to the middle of the first robot section 211 and at the other end to the second robot section 212, the second robot section 212 having an extension extending from the connection with the first robot section 211 in the direction of the second robot section 212, the second pneumatic actuator 222 being connected at the other end to the end of the extension. A third pneumatic ram 223 is connected between the middle of the second arm segment 212 and the middle of the third arm segment 213. The material of each section of mechanical arm adopts aluminum alloy or carbon fiber, makes whole arm lightweight, reduces the upset moment that the focus skew brought when the arm moves, prolongs the maintenance cycle, and the range of length is 800mm to 1200mm.

The multi-section mechanical arm 200 can swing on a plane in two directions at the same time through the X-axis angle cylinder 241 and each air pressure actuator cylinder, so that the third mechanical arm section 213 is opposite to a cleaning area, and the motions of multi-angle and multi-direction bending, stretching, unfolding, rotation around the horizontal direction and the like are performed, thereby ensuring the large range and flexibility of the motion of the multi-section mechanical arm 200. And the pneumatic actuator cylinder is used, so that compared with a hydraulic cylinder, sundries such as hydraulic oil and the like are prevented from falling into the pool to pollute the filter pool.

The cleaning mechanism 300 includes a cleaning brush 310 and a water gun 320, the cleaning brush 310 is used for brushing an area to be cleaned, a brush of the cleaning brush 310 extends from the center to the outside in a spreading shape, and the water gun 320 is used for spraying water to the area to be cleaned.

A distal end portion of the third arm segment 213 is provided with a cleaning mechanism mounting portion 250 for mounting the cleaning mechanism 300, and an end portion of the cleaning mechanism mounting portion 250 is opened to form a shape of "20866. The washing mechanism 300 is connected to the cleaning mechanism mounting portion 250.

An angle sensor is arranged at the rotating joint of each mechanical arm section, and the control system determines the swinging angle of each mechanical arm section based on the signal of the angle sensor arranged at the rotating joint of each mechanical arm section. The angle sensor uses a rotary angular displacement sensor to position each arm segment by detecting a change in angle, and counts once by the number of turns and amount of rotation of the shaft, and the count increases when rotating in one direction and decreases when rotating in a direction. The measured number is fed back to the control system through a voltage pulse signal, the control system processes the signal and sends an instruction to control the opening and closing of the electromagnetic valve, and therefore the stretching amount of each mechanical arm section is controlled.

The pneumatic system comprises an air compressor, an air storage tank and a high-pressure water pump, wherein the air compressor provides high-pressure gas as power, the high-pressure gas is stored in the air storage tank firstly and then is supplied to the first pneumatic actuator 221, the second pneumatic actuator 222, the third pneumatic actuator 223, the X-axis angle cylinder 241, the brake caliper and the water gun 320. The first pneumatic cylinder 221, the second pneumatic cylinder 222, the third pneumatic cylinder 223, the X-axis angular cylinder 241 and the air storage tank are respectively provided with an electromagnetic valve on a pipeline. The water gun 320 is connected with the gas storage tank and the high-pressure water pump in parallel, the water sprayed in the water gun 320 is pressurized by the high-pressure water pump in a first stage, and is pressurized by the high-pressure air pump in a second stage at the same time, and high-pressure gas-water flow is formed. The air compressor is provided with a barometer, can automatically detect the air pressure in the air storage tank and automatically supply air to maintain the constant air pressure.

As shown in fig. 1, the multi-stage robotic arm 200 can be folded into a stowed position driven by the pneumatic ram, such that the cleaning mechanism 300 is stowed adjacent to the track drive system 100. Under the driving of the pneumatic actuator, the multi-stage mechanical arm 200 performs a bending and extending action to a working position, the depth of the multi-stage mechanical arm 200 reaches about 3 meters at the maximum, as shown in fig. 2, when the tank wall is cleaned, the multi-stage mechanical arm 200 is pushed downwards, and the third mechanical arm section 213 is in a horizontal state, so that the cleaning brush 310 and the water gun 320 are opposite to the tank wall; as shown in FIG. 3, during cleaning of the drain, the multi-stage robotic arm 200 is lowered such that the cleaning brush 310 extends into the drain.

In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood broadly, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

In the description of the present application, the description of the terms "one embodiment," "some embodiments," etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot arm for a cleaning robot, comprising:

a proximal arm segment connected to the rail drive system (100);

a distal arm segment for connection with a cleaning mechanism (300); and

the arm segments and the proximal arm segment and the connecting seat (240) are connected in a manner of swinging on a first plane.

2. The robot arm for a cleaning robot according to claim 1,

an angle cylinder is arranged between the connecting seat (240) and a seat plate of the track driving system, so that the mechanical arm rotates around the connecting seat (240) on a second plane.

3. The robot arm for a cleaning robot according to claim 1,

the mechanical arm sections are connected through a rotary joint and can swing on a first plane.

4. The robot arm for a cleaning robot according to claim 1,

and each mechanical arm section of the mechanical arm is driven by the air pressure actuator cylinder to perform flexion and extension actions.

5. A robot arm for a cleaning robot according to claim 1,

an angle sensor is arranged at the rotating joint of each mechanical arm section, and the control system determines the swinging angle of each mechanical arm section based on the signal of the angle sensor arranged at the rotating joint of each mechanical arm section.

6. The robot arm for a cleaning robot according to claim 4,

the pneumatic system comprises an air compressor and an air storage tank, high-pressure gas is provided by the air compressor as power, and is stored in the air storage tank and then supplied to the pneumatic actuator cylinder.