CN217958212U

CN217958212U - Brush ring robot

Info

Publication number: CN217958212U
Application number: CN202221571111.4U
Authority: CN
Inventors: 张玉良; 李腾; 木东良; 赵潇铭; 冀文周
Original assignee: Muyuan Foods Co Ltd
Current assignee: Muyuan Foods Co Ltd
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-12-06
Anticipated expiration: 2032-06-22

Abstract

The utility model relates to the technical field of livestock-raising, and discloses a brushing robot, which comprises a moving chassis for walking, wherein an upper bracket is arranged on the moving chassis, a pipe coiling device is arranged on the upper bracket, and a flexible conveying pipe is wound on the pipe coiling device; the multi-axis mechanical arm is used for installing a water pipe, the multi-axis mechanical arm is provided with a plurality of moving joints, so that the tail end of the multi-axis mechanical arm can move in multiple degrees of freedom, the tail end of the multi-axis mechanical arm is provided with a nozzle, a water inlet of the water pipe is connected with the conveying pipe, and a water outlet of the water pipe is connected with the nozzle, so that the distance between the nozzle and a target object is shortened through the rotating, swinging and/or telescopic motion process of the multi-axis mechanical arm. The utility model discloses the effectual serious problem of atomizing of having solved because the water under high pressure is too far away from the washing thing and bringing has improved the cleaning performance greatly.

Description

Brush ring robot

Technical Field

The utility model belongs to the technical field of livestock-raising, especially, relate to a brush circle robot.

Background

In the pig raising production process, the inside of each pig raising unit is brushed after every pig raising batch. Because the space in the nursing house is narrow and small, the overall arrangement is complicated, and the pigsty of nursing house is scrubbed all to the handheld high-pressure squirt of people at present, and intensity of labour is very big.

In order to solve the above problems, in the prior art, there is also a nursing house cleaning device, which includes an electric push rod, an arm, a high pressure water pipe connected to the arm, and a high pressure nozzle connected to the high pressure water pipe at the front end of the arm; during operation, the arms are opened by the electric push rod, and the nursing house is washed by the high-pressure spray head at the front end of the arms.

However, in practical work, the arm of the nursing house cleaning device has no flexible degree of freedom, and the high-pressure water is too far away from the cleaned objects to cause serious atomization, so the cleaning effect is not good.

SUMMERY OF THE UTILITY MODEL

In order to overcome the above shortcoming of prior art, the utility model provides a brush circle robot has effectually solved because the serious problem of atomizing that the high pressure water distance wasing the thing and bring too far has improved the cleaning performance greatly.

In order to achieve the purpose, the utility model discloses a brushing circle robot, which comprises a moving chassis for walking, wherein an upper bracket is arranged on the moving chassis, a pipe coiling device is arranged on the upper bracket, and a flexible conveying pipe is wound on the pipe coiling device; the multi-axis mechanical arm is used for installing a water pipe, the multi-axis mechanical arm is provided with a plurality of moving joints, the tail end of the multi-axis mechanical arm can move in multiple degrees of freedom, the tail end of the multi-axis mechanical arm is provided with a nozzle, a water inlet of the water pipe is connected with the conveying pipe, and a water outlet of the water pipe is connected with the nozzle, so that the distance between the nozzle and a target object is shortened when the multi-axis mechanical arm rotates, swings and/or stretches.

Because of the application of above-mentioned technical scheme, compared with the prior art, the utility model has the following advantage: adopt the multiaxis arm, its degree of freedom that has improved the arm greatly, the convenience is rotatory, is swung or is flexible to the water pipe, not only can control the nozzle and be close to the washing thing, solves because the nozzle is too far away from the target object, and it is serious to lead to spun water column atomizing, and the not good problem of cleaning performance has enlarged the cleaning range moreover, washs more comprehensively, more accords with actual abluent needs.

In addition, according to the utility model provides a technical scheme can also have following technical characterstic:

in any one of the above technical solutions, the upper bracket includes the installation frame, the installation frame is provided with the cavity, the reelpipe ware set up in the cavity, the multiaxis arm is fixed in the top of installation frame.

See among this technical scheme, provided the structure of an upper bracket, can realize the rational arrangement to reelpipe ware and multiaxis arm.

In any one of the above technical solutions, the water inlet end of the conveying pipe is connected with the water inlet pipe, and the water inlet pipe is connected with the electromagnetic valve for controlling whether to spray water

In the technical scheme, the design of adding the electromagnetic valve into the water pipe is convenient for controlling the start and stop of water in the water pipe; when the water pipe is required to spray water, the water pipe can be electrically controlled to discharge water through the electromagnetic valve, and when the water pipe is not required to discharge water, the water pipe can be electrically controlled to stop discharging water through the electromagnetic valve

In any one of the above technical solutions, the end of the multi-axis mechanical arm is provided with a joint, the joint is provided with a rotating elbow and the nozzle, and the water outlet of the water pipe is connected with the nozzle through the rotating elbow and the joint.

In this technical scheme, make things convenient for water pipe and articulate through turning the head, through connecting the nozzle of easy to assemble, finally guarantee that the nozzle passes through the joint and installs the end at triaxial arm, simultaneously with second water pipe intercommunication.

In any of the above technical solutions, the water inlet pipe and the water pipe are both high pressure water pipes, the joint is a high pressure joint, and the nozzle is a high pressure nozzle.

In this technical scheme, the lead to pipe is high pressure water pipe, connects to be high pressure joint, and the nozzle is high pressure nozzle's design, can match the installation needs of water under high pressure, lets in high pressure water through the reelpipe ware, has improved the dynamics of nozzle spun water column, further improves spray rinsing efficiency and effect.

In any one of the above technical solutions, a rotating base is fixed on the mounting frame, and the multi-axis mechanical arm is mounted on the rotating base so as to rotate the multi-axis mechanical arm.

In the technical scheme, the multi-axis mechanical arm can rotate through the design of the rotating base, so that the flexibility of the multi-axis mechanical arm is improved.

In any one of the above technical solutions, the multi-axis mechanical arm includes a plurality of mechanical arm sections, the plurality of mechanical arm sections are connected to the rotating base through the plurality of movement joints, and the mechanical arm sections include fixed-length arm sections and/or telescopic arm sections.

In the technical scheme, the degree of freedom of the mechanical arm can be effectively improved through the arrangement of the plurality of motion joints, and the cleaning distance between the mechanical arm and a target object or a target area is reduced.

In any of the above technical solutions, the plurality of mechanical arms includes a first mechanical arm and a second mechanical arm, the plurality of kinematic joints includes a first joint module, a second joint module and a third joint module, the first joint module is installed on the rotating base, the first mechanical arm is connected with the first joint module through the second joint module, and the first mechanical arm is connected with the second mechanical arm through the third joint module.

In any of the above technical solutions, the second joint module and the third joint module are pitch swing joints.

In this technical scheme, can make the triaxial arm rotatory in the horizontal direction for the upper bracket through first joint module, realize that the nozzle horizontal direction is rotatory promptly, can wash robot washing thing all around, can make first arm luffing motion through second joint module, realize that the nozzle reciprocates promptly, can wash robot washing thing from top to bottom, can realize through third joint module that the second arm is flexible from left to right, realize promptly that the nozzle is close to or keeps away from washing thing, can be close to washing to the washing thing of robot far away.

In any one of the above technical solutions, the pipe coiling device further comprises a pressure gauge, the pipe coiling device is connected with a three-way valve through a straight-through head, and the three-way valve is respectively connected with the pressure gauge and the water pipe.

In this technical scheme, make things convenient for the tee junction pipe reelpipe ware through the straight-through head, realize one side through the three-way valve and connect the manometer, one side is connected the water pipe, can real-time detection water pressure state in the water pipe through the manometer.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a brush ring robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a three-axis robot arm according to an embodiment of the present invention;

fig. 3 is a cross-sectional view of one side of a three-axis robotic arm in accordance with an embodiment of the present invention;

fig. 4 is a cross-sectional view of the other side of the three-axis robotic arm according to an embodiment of the present invention.

The reference numbers are as follows:

1. moving the chassis; 2. an upper bracket; 3. a pipe coiling device; 4. a kinematic joint; 41. a first joint module; 42. a second joint module; 43. a third joint module; 5. a nozzle; 6. a first water pipe; 7. a second water pipe; 8. an electromagnetic valve; 9. a joint; 10. turning an elbow; 11. a first robot arm; 12. a second mechanical arm; 13. a straight-through head; 14. a three-way valve; 15. a pressure gauge; 16. fixing a bracket; 17. a solenoid valve bracket; 18. the base is rotated.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.

Referring to fig. 1-2, the utility model discloses a brush circle robot, including the removal chassis 1 that is used for the walking, remove chassis 1 and can be crawler chassis or four-wheel chassis, this novel preferred crawler chassis for, it is applicable to complicated ground environment for four-wheel chassis, the walking is stable, is difficult to skid, is provided with upper bracket 2 on the removal chassis 1. The upper bracket 2 is provided with a pipe coiling device 3 which is wound with a flexible conveying pipe. Through the design of the pipe coiling device 3, the internal coil spring provides power, the water pipe which cannot be used can be automatically wound, and the unnecessary water pipe cannot be exposed on the ground, so that the robot can walk conveniently. The brushing ring robot also comprises a multi-shaft mechanical arm which is arranged on the upper bracket 2 and used for installing a water pipe. The multi-axis mechanical arm is provided with a plurality of moving joints, so that the tail end of the multi-axis mechanical arm can move with multiple degrees of freedom, the tail end is provided with a nozzle 5, a water inlet of a water pipe is connected with the conveying pipe, and a water outlet of the water pipe is connected with the nozzle 5, so that the distance between the nozzle 5 and a cleaning object is shortened through the rotating, swinging and/or telescopic motion process of the multi-axis mechanical arm. In some embodiments, the multi-axis robot arm is provided with a plurality of kinematic joints so that the tip thereof can perform horizontal rotation, up-and-down swinging, side-to-side swinging, or the like. Furthermore, a telescopic structure can be arranged at the tail end of the multi-axis mechanical arm, or the tail end of the multi-axis mechanical arm is the tail end of the multi-axis mechanical arm, and it needs to be noted that the multi-axis mechanical arm is the prior art, has high degree of freedom, and is widely applied to robot design.

In some embodiments, the upper bracket 2 may adopt a frame structure. The installation frame is provided with the cavity, sets up the reelpipe ware in the cavity to be fixed in the top of this installation frame with the multiaxis arm, thereby realize the reasonable installation to reelpipe ware and multiaxis arm.

Use the triaxial arm as an example, during the use, can carry out horizontal rotation, luffing motion or control flexible to the water pipe through the triaxial arm, not only can control the nozzle and be close to target object (for example colony house), solve because 5 distances of nozzle wash the thing too far away, lead to spun water column atomizing serious, the not good problem of cleaning performance has enlarged the cleaning range moreover, washs more comprehensively, more accords with actual abluent needs.

In some embodiments, the water inlet end of the delivery pipe is connected with a water inlet pipe, and the water inlet pipe is connected with a solenoid valve for controlling whether water spraying is performed or not. The water inlet pipe can be connected with a water supply pump through an electromagnetic valve so as to realize the control of water supply pressure.

Connect above-mentioned embodiment, for the convenience of explanation, what be connected with the main epaxial water inlet of reelpipe ware can be first water pipe 6, the water pipe that sets up on the multiaxis arm can be second water pipe 7, the conveyer pipe of winding on the main shaft of reelpipe ware 3 is connected to first water pipe 6 one side, it is specific, be provided with fixed water inlet on the main shaft of reelpipe ware, this water inlet can connect the conveyer pipe, the conveyer pipe winding is on this reelpipe ware, can pull out when using, after the use, can retrieve the coiled state through drive (spring, it is electronic, hand), and can lead to water under the state of pulling out or rolling. The other side of the first water pipe may be connected with a solenoid valve 8, thereby realizing water supply control. Through the design that solenoid valve 8 is connected, the start of convenient control water stops to when the water pipe water spray of needs, can the electric control water pipe play water through solenoid valve 8, when not needing the play water, can the electric control water pipe stop the play water through solenoid valve 8.

The second water pipe 7 is installed on the triaxial mechanical arm, and a water outlet of the second water pipe 7 is connected with the nozzle 5. Wherein, the solenoid valve 8 is installed on the upper bracket 2 through a solenoid valve bracket 17, and the second water pipe 7 is installed on the triaxial mechanical arm 4 through a fixing bracket 16.

More specifically, the end of the triaxial mechanical arm is provided with a joint 9, the joint 9 is provided with a rotating elbow 10 and a nozzle 5, the water outlet of the second water pipe 7 is connected with the water inlet of the joint 9 through the rotating elbow 10, and the water outlet of the joint 9 is connected with the nozzle 5, so that water in the second water pipe 7 can be sprayed out through the nozzle 5.

In the embodiment, as shown in fig. 3 and 4, a rotating base is fixed above the upper frame 2. A first joint module 41 for horizontally rotating the robot is attached to the rotating base.

The second joint module 42 is connected to the first joint module 41 to vertically swing the first arm 11, the second joint module 42 is connected to a third joint module 43 for horizontally extending and contracting the second arm 12 via the first arm 11, and the second arm 12 is connected to the joint 9. During operation, the first joint module 41 is connected with the upper bracket 2 through the rotating base 18, and when the first joint module 41 works, the three-axis mechanical arm can horizontally rotate, namely the second joint module 42, the third joint module 43, the first mechanical arm 11 and the second mechanical arm 12 horizontally rotate, so that the nozzle 5 horizontally rotates, and the cleaning objects around the robot can be washed.

When the second joint module 42 works, the first mechanical arm 11 can be driven to swing up and down, that is, the third joint module 43 and the second mechanical arm 12 are driven to swing up and down, so that the nozzle 5 moves up and down, and the washing objects around the robot can be washed up and down.

When the third joint module 43 works, the second mechanical arm 12 can be driven to extend and retract left and right, so that the nozzle 5 moves in the left-right direction, when the second mechanical arm 12 is extended, the nozzle 5 is close to the target object, and when the second mechanical arm 12 is retracted, the nozzle 5 is far away from the cleaning object. It should be noted that the joint is the prior art, the joint (RGM) models used in the present invention are RR-HA-20 and RR-HA-100, and the joint may include a frameless torque motor, a harmonic reducer, a brake, an input encoder, an output encoder, and the like.

It is to be understood that the above-mentioned structure in which the first mechanical arm is a fixed-length mechanical arm and the second mechanical arm is a retractable mechanical arm is only illustrative and not restrictive, and those skilled in the art can also configure each mechanical arm structure to be a retractable structure or a fixed-length structure.

In connection with the above embodiment, it is more preferable that in order to match the water spraying components (such as joints, water pipes, nozzles, etc.) on the robot with the high-pressure water, the high-pressure water is introduced into the pipe coiling device 3, the first water pipe 6 and the second water pipe 7 are both high-pressure water pipes, the joint 9 is a high-pressure joint, and the nozzle 5 is a high-pressure nozzle.

In connection with the above embodiment, it is more preferable that, in order to detect the pressure of the water in the water pipe in real time and ensure the flushing effect, the pipe coiling device 6 further includes a pressure gauge 15, the pipe coiling device 6 is connected to a three-way valve 14 through a straight-through head 13, and the three-way valve 14 is respectively connected to the pressure gauge 15 and the first water pipe 6.

To sum up, the utility model drives the robot to move through the movable chassis 1 during working, the pipe coiling device 6 is arranged on the upper bracket 2 on the movable chassis 1, the water inlet on one side of the pipe coiling device 6 is connected with the water supply position through the water inlet pipe, the conveying pipe wound on the pipe coiling device is connected with the nozzle 5 through the water pipe, and the real-time water supply is achieved; in the removal chassis 1 removal in-process, according to the position of wasing the thing, the work of three-axis arm 4, realize the horizontal rotation of nozzle 5 through first joint module 41, realize the luffing motion of nozzle 5 through second joint module 42, realize that nozzle 5 stretches out and draws back about through third joint module 43, not only can make nozzle 5 be close to and wash the thing, the effectual serious problem of atomizing of having solved because the high pressure water distance washs the thing and brings too far has improved the cleaning performance greatly, and the cleaning range is bigger moreover, the cleaning range can cover whole pigsty.

It should be noted that the three-axis robot arm described above is only an example of a multi-axis connector, and those skilled in the art may also arrange other types of robot arms according to actual needs, for example, a six-axis robot arm, etc.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A circle brushing robot is characterized by comprising a movable chassis for walking, wherein an upper support is arranged on the movable chassis, a pipe coiling device is arranged on the upper support, and a flexible conveying pipe is wound on the pipe coiling device; the multi-axis mechanical arm is used for installing a water pipe, the multi-axis mechanical arm is provided with a plurality of moving joints, so that the tail end of the multi-axis mechanical arm can move in multiple degrees of freedom, the tail end of the multi-axis mechanical arm is provided with a nozzle, a water inlet of the water pipe is connected with the conveying pipe, and a water outlet of the water pipe is connected with the nozzle, so that the distance between the nozzle and a target object is shortened through the rotating, swinging and/or telescopic motion process of the multi-axis mechanical arm.

2. A circle brushing robot according to claim 1, wherein the upper bracket comprises a mounting frame, the mounting frame is provided with a cavity, the tube coiling device is arranged in the cavity, and the multi-axis mechanical arm is fixed on the top of the mounting frame.

3. The robot for brushing rings of claim 1, characterized in that the water inlet end of the delivery pipe is connected with a water inlet pipe, and the water inlet pipe is connected with a solenoid valve for controlling whether water spraying is performed or not.

4. The brush ring robot as claimed in claim 3, wherein the multi-axis mechanical arm has a joint at its end, the joint has a turning head and the nozzle, and the water outlet of the water pipe is connected to the nozzle through the turning head and the joint.

5. The brush ring robot of claim 4, wherein the water inlet pipe and the water pipe are both high pressure water pipes, the joint is a high pressure joint, and the nozzle is a high pressure nozzle.

6. A brush ring robot as claimed in claim 2, wherein a rotating base is fixed to the mounting frame, and the multi-axis robot arm is mounted to the rotating base so as to rotate the multi-axis robot arm.

7. A brush ring robot according to claim 6, characterized in that the multi-axis robot arm comprises a plurality of arm segments connected with the rotating base by the plurality of kinematic joints, the arm segments comprising fixed length arm segments and/or telescopic arm segments.

8. The brush ring robot of claim 7, wherein the plurality of robotic arms comprise a first robotic arm and a second robotic arm, the plurality of kinematic joints comprise a first joint module, a second joint module, and a third joint module, the first joint module is mounted on the rotating base, the first robotic arm is connected to the first joint module through the second joint module, and the first robotic arm is connected to the second robotic arm through the third joint module.

9. A brush ring robot according to claim 8, characterized in that said second and third joint modules are pitch-yaw joints.

10. The brush ring robot as claimed in any one of claims 3 to 5, further comprising a pressure gauge, wherein the delivery pipe wound on the pipe coiling device is connected with a three-way valve through a straight-through head, and the three-way valve is respectively connected with the pressure gauge and the water inlet pipe.