JP3227674U - Washing machine with two manipulators - Google Patents

Washing machine with two manipulators Download PDF

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JP3227674U
JP3227674U JP2020001974U JP2020001974U JP3227674U JP 3227674 U JP3227674 U JP 3227674U JP 2020001974 U JP2020001974 U JP 2020001974U JP 2020001974 U JP2020001974 U JP 2020001974U JP 3227674 U JP3227674 U JP 3227674U
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manipulator
vacuum drying
manipulators
reduction gear
high pressure
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正生 名越
正生 名越
顧卓
王永鋒
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シャンハイ エフイー−モヴァック プレシジョン マシーン リミテッド
シャンハイ エフイー−モヴァック プレシジョン マシーン リミテッド
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B5/00—Drying solid materials or objects by processes not involving the application of heat
    • F26B5/04—Drying solid materials or objects by processes not involving the application of heat by evaporation or sublimation of moisture under reduced pressure, e.g. in a vacuum

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Molecular Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Manipulator (AREA)
  • Cleaning Or Drying Semiconductors (AREA)

Abstract

【課題】設備内部でワークの掴み取り、ワーク搬送から高圧洗浄、真空乾燥までの全工程を完成することができる、２台のマニピュレーターを備えた洗浄機を提供する。
【解決手段】回転作業台が高圧洗浄室１と真空乾燥室２との間に設置されており、高圧洗浄室１と真空乾燥室２とが相互に独立しており、２台のマニピュレーター３、４が回転作業台に設置されており、２台のマニピュレーター３、４が高圧洗浄室１と真空乾燥室２との間で切り替えて高圧洗浄と真空乾燥を設備内部で完成できる洗浄機であり、高圧洗浄機と真空乾燥機の構造がコンパクトで、高圧洗浄と真空乾燥を同時に行うことができ、また、マニピュレーターが完全に防水可能であり、マニピュレーターにおける治具が必要に応じて交換可能であり、作業効率を大幅に向上させ、生産コストを低下させ、作業空間を節約するというメリットがある。
【選択図】図１PROBLEM TO BE SOLVED: To provide a washing machine provided with two manipulators capable of completing all processes from gripping a work, transporting the work to high-pressure washing and vacuum drying inside the equipment.
SOLUTION: A rotary work table is installed between a high pressure washer 1 and a vacuum drying chamber 2, and the high pressure washer 1 and the vacuum drying chamber 2 are independent of each other, and two manipulators 3 are provided. 4 is installed on a rotating work table, and 2 manipulators 3 and 4 are washing machines that can switch between the high pressure washing room 1 and the vacuum drying room 2 to complete high pressure washing and vacuum drying inside the equipment. The structure of the high pressure washer and the vacuum dryer is compact, high pressure washing and vacuum drying can be performed at the same time, the manipulator is completely waterproof, and the jig in the manipulator can be replaced if necessary. It has the advantages of significantly improving work efficiency, reducing production costs, and saving work space.
[Selection diagram] Fig. 1

Description

本考案は、高圧洗浄の技術分野に関し、具体的には２台のマニピュレーターを備えた洗浄機及びその洗浄方法に関する。 The present invention relates to the technical field of high-pressure washing, and specifically to a washing machine equipped with two manipulators and a washing method thereof.

既存の高圧洗浄機は、ワーク又はノズル移動装置の面積が大き過ぎて小型化できず、回転作業台に２台のマニピュレーターを設置することが困難であり、ガントリロボットの直行軸アセンブリによりワークを掴めば、設備が大きくなってマニピュレーターの動作範囲が小さくなってワークの自動搬送の実現が困難になって、設備の占用する場所の面積が相対的大きく、生産効率が相対的低く、また、市販されているマニピュレーターは防水性が悪く、１−２年毎に交換することが必要になって工業生産のコストを増加してしまう。従って、新規な高圧洗浄機システム及び洗浄方法を設計することが必要とされている。 In the existing high pressure washer, the area of the work or nozzle moving device is too large to be miniaturized, it is difficult to install two manipulators on the rotating work table, and the work can be grasped by the orthogonal axis assembly of the gantry robot. For example, the equipment becomes large and the operating range of the manipulator becomes small, making it difficult to realize automatic work transfer, the area occupied by the equipment is relatively large, the production efficiency is relatively low, and it is commercially available. Manipulators are poorly waterproof and need to be replaced every 1-2 years, increasing the cost of industrial production. Therefore, it is necessary to design a new high pressure washer system and cleaning method.

本考案は、従来の技術の不足を解決して、構造が新規で、安全で信頼的で、実用性が強く、従来の技術において高圧洗浄機のワーク又はノズル移動装置の面積が大き過ぎて小型化できないという欠点を解決する２台のマニピュレーターを備えた洗浄機及びその洗浄方法を提供することを目的とする。 The present invention solves the shortage of the conventional technology, has a new structure, is safe, reliable, and has strong practicality. In the conventional technology, the area of the work or nozzle moving device of the high pressure washer is too large and small. It is an object of the present invention to provide a washing machine equipped with two manipulators and a washing method thereof, which solves the drawback of not being able to be converted.

上記目的を実現するために、１つの高圧洗浄室と、１つの真空乾燥室と、２台のマニピュレーターと、１つの回転作業台とを含む２台のマニピュレーターを備えた洗浄機において、回転作業台が高圧洗浄室と真空乾燥室との間に設置されており、前記高圧洗浄室と真空乾燥室とが相互に独立しており、２台のマニピュレーターが回転作業台に設置されており、２台のマニピュレーターが高圧洗浄室と真空乾燥室との間で切り替えて高圧洗浄と真空乾燥を設備内部で完成することを実現できることを特徴とする２台のマニピュレーターを備えた洗浄機を設計した。 In order to achieve the above object, in a washing machine equipped with two manipulators including one high-pressure washing chamber, one vacuum drying chamber, two manipulators, and one rotating work table, a rotating work table is used. Is installed between the high pressure washer and the vacuum drying chamber, the high pressure washer and the vacuum drying chamber are independent of each other, two manipulators are installed on a rotating work table, and two are installed. We designed a washer equipped with two manipulators, which is characterized in that the manipulator can be switched between the high pressure washing room and the vacuum drying room to complete high pressure washing and vacuum drying inside the equipment.

前記マニピュレーターの防水構造は、前記マニピュレーターに密封筐体を含み、前記密封筐体構造に上筐体、下筐体、密封パッドが設置され、密封パッドが上筐体と下筐体との間に取り付けられて中空の密封構造を形成して外部の水、油がマニピュレーター内に入ることを防止し、前記マニピュレーター関節出力軸が中空軸構造であり、マニピュレーター配線、配管が中空軸を通過可能であり、前記マニピュレーター関節構造内に更に減速歯車セットと減速機で構成される二段減速アセンブリが設置され、前記二段減速アセンブリに減速歯車セット、減速機が設置され、減速歯車セットにおける小歯車が減速機出力軸に固定され、大歯車がマニピュレーター出力軸に固定され、モーターが減速機入力軸に固定されて動力を提供し、モーターが先に減速機により減速し、更に減速歯車セットにより減速して二段減速を実現するようになっている。 The waterproof structure of the manipulator includes a sealed housing in the manipulator, an upper housing, a lower housing, and a sealing pad are installed in the sealed housing structure, and the sealing pad is located between the upper housing and the lower housing. It is attached to form a hollow sealing structure to prevent external water and oil from entering the manipulator, the manipulator joint output shaft has a hollow shaft structure, and the manipulator wiring and piping can pass through the hollow shaft. , A two-stage reduction gear assembly composed of a reduction gear set and a reduction gear is further installed in the manipulator joint structure, a reduction gear set and a reduction gear are installed in the two-stage reduction reduction assembly, and small gears in the reduction gear set are decelerated. It is fixed to the machine output shaft, the large gear is fixed to the manipulator output shaft, the motor is fixed to the reducer input shaft to provide power, the motor first decelerates by the reducer, and then decelerates by the reduction gear set. It is designed to realize two-step deceleration.

作業する時に、マニピュレーター（３）が設備の外から洗浄されるワークＡを掴んで高圧洗浄室（１）に入り、洗浄を完成した後、回転作業台（５）がマニピュレーター（３）とマニピュレーター（４）とを動かして回転し、マニピュレーター（３）が洗浄された後のワークＡを把持して真空乾燥室（２）に入り、真空乾燥を開始し、それと同時にマニピュレーター（４）が設備の外から洗浄されるワークＢを掴んで高圧洗浄室（１）に入り、高圧洗浄を開始し、ワークＡが乾燥した後、マニピュレーター（３）がワークＡを設備から搬出し、回転作業台（５）がマニピュレーター（３）とマニピュレーター（４）とを動かして回転し、マニピュレーター（４）が洗浄された後のワークＢを把持して真空乾燥室（２）に入り、真空乾燥を開始し、それと同時にマニピュレーター（３）が設備の外から洗浄されるワークＣを掴んで高圧洗浄室（１）に入り、高圧洗浄を開始することを特徴とする前記の２台のマニピュレーターを備えた洗浄機を用いる洗浄方法を更に設計した。 When working, the manipulator (3) grabs the work A to be cleaned from outside the equipment and enters the high-pressure cleaning chamber (1). 4) is moved and rotated to grasp the work A after the manipulator (3) has been washed and enter the vacuum drying chamber (2) to start vacuum drying, and at the same time, the manipulator (4) is outside the equipment. Grab the work B to be washed from the above, enter the high-pressure washing room (1), start the high-pressure washing, and after the work A dries, the manipulator (3) removes the work A from the equipment and the rotary work table (5). Moves the manipulator (3) and the manipulator (4) to rotate, grasps the work B after the manipulator (4) has been washed, enters the vacuum drying chamber (2), starts vacuum drying, and at the same time. Cleaning using a washing machine equipped with the above-mentioned two manipulators, wherein the manipulator (3) grabs the work C to be washed from the outside of the equipment, enters the high-pressure washing room (1), and starts high-pressure washing. The method was further designed.

本考案は従来の技術に比べて、組合せ構造が簡単で実施可能であり、プロセスが新規であることに加えて、高圧洗浄機と真空乾燥機の構造がコンパクトで、設備内部でワークの掴み取り、ワーク搬送から高圧洗浄、真空乾燥までの全工程を完成することができ、高圧洗浄と真空乾燥を同時に行うことができ、また、マニピュレーターが完全に防水可能であり、マニピュレーターにおける治具が必要に応じて交換可能であり、作業効率を大幅に向上させ、生産コストを低下させ、作業空間を節約するというメリットがある。 Compared with the conventional technology, the present invention has a simpler combination structure and can be implemented, and in addition to a new process, the structure of the high pressure washer and the vacuum dryer is compact, and the work can be grasped inside the equipment. The entire process from workpiece transfer to high pressure cleaning and vacuum drying can be completed, high pressure cleaning and vacuum drying can be performed at the same time, the manipulator is completely waterproof, and the jig in the manipulator is required. It has the advantages of being replaceable, greatly improving work efficiency, reducing production costs, and saving work space.

本考案の２台のマニピュレーターを備えた洗浄機の構成図である。It is a block diagram of the washing machine equipped with two manipulators of this invention. 本考案の２台のマニピュレーターを備えた洗浄機の回転作業台の作業模式図である。It is a working schematic diagram of the rotary workbench of the washing machine equipped with two manipulators of this invention. 本考案の２台のマニピュレーターを備えた洗浄機のマニピュレーター防水構造の上面図である。It is a top view of the manipulator waterproof structure of the washing machine equipped with two manipulators of this invention. 図３のＡ−Ａに沿った断面図である。It is sectional drawing which follows AA of FIG.

以下、図面を参照して本考案を更に説明し、このような装置及び方法の構造と原理は当業者にとって明らかなものである。ここに記載の具体的な実施例は本考案を限定せず、本考案を解釈するためのものに過ぎないことを理解すべきである。 Hereinafter, the present invention will be further described with reference to the drawings, and the structures and principles of such devices and methods will be apparent to those skilled in the art. It should be understood that the specific examples described herein are not intended to limit the present invention, but merely to interpret the present invention.

図１に示すように、前記の２台のマニピュレーターを備えた洗浄機において、１つの高圧洗浄室（１）、１つの真空乾燥室（２）、１台のマニピュレーター（３）、１台のマニピュレーター（４）、１つの回転作業台（５）が設置されており、２台のマニピュレーターがそれぞれワークを掴んだり搬送したりすることができ、また、マニピュレーターにおける治具が必要に応じて交換可能であり、回転作業台（５）が高圧洗浄室（１）と真空乾燥室（２）との間に設置されており、高圧洗浄室と真空乾燥室とが相互に独立しており、ワークの洗浄と乾燥を同時に行うことができ、マニピュレーター（３）とマニピュレーター（４）が回転作業台（５）に設置されており、図２に示すように、回転作業台（５）がマニピュレーター（３）とマニピュレーター（４）を動かして高圧洗浄室（１）と真空乾燥室（２）との間で切り替えることが可能である。 As shown in FIG. 1, in the washing machine equipped with the two manipulators, one high-pressure washing chamber (1), one vacuum drying chamber (2), one manipulator (3), and one manipulator. (4) One rotating workbench (5) is installed, and two manipulators can grab and transport the work respectively, and the jig in the manipulator can be replaced as needed. There is a rotary workbench (5) installed between the high-pressure cleaning chamber (1) and the vacuum drying chamber (2), and the high-pressure cleaning chamber and the vacuum drying chamber are independent of each other to clean the work. And drying can be performed at the same time, the manipulator (3) and the manipulator (4) are installed on the rotating workbench (5), and as shown in FIG. 2, the rotating workbench (5) is the manipulator (3). It is possible to move the manipulator (4) to switch between the high-pressure washing chamber (1) and the vacuum drying chamber (2).

図３−４に示すように、前記マニピュレーター防水構造は、前記マニピュレーターに密封筐体を含み、マニピュレーター関節構造に減速装置、密封筐体構造、中空軸構造が設置されるようになっている。 As shown in FIG. 3-4, the manipulator waterproof structure includes a sealed housing in the manipulator, and a speed reducer, a sealed housing structure, and a hollow shaft structure are installed in the manipulator joint structure.

前記減速装置には大歯車（６）、小歯車（７）で構成される減速歯車セットと減速機が設置されており、減速歯車セットと減速機とが二段減速を形成し、モーター（９）が動力を提供する。 The reduction gear is equipped with a reduction gear set consisting of large gears (6) and small gears (7) and a reduction gear. The reduction gear set and the reduction gear form a two-stage reduction, and the motor (9) ) Provides power.

前記密封筐体構造には上筐体（１２）、密封パッド（１１）、下筐体（１０）が設置されており、三者が中空の密封構造を形成する。 An upper housing (12), a sealing pad (11), and a lower housing (10) are installed in the sealed housing structure, and the three parties form a hollow sealed structure.

前記中空軸構造は中空のマニピュレーター関節出力軸（１３）、出力軸（１４）であり、マニピュレーター配線、配管が出力軸（１３）、出力軸（１４）を通過可能である。 The hollow shaft structure is a hollow manipulator joint output shaft (13) and output shaft (14), and manipulator wiring and piping can pass through the output shaft (13) and output shaft (14).

以上述べたところを総合すれば、モーター（９）が大歯車（６）、小歯車（７）で構成される減速歯車セットと減速機により減速し、上筐体（１２）、密封パッド（１１）、下筐体（１０）が中空の密封構造を形成し、マニピュレーター配線、配管がマニピュレーター関節出力軸（１３）、出力軸（１４）を通過して新規なマニピュレーター関節構造を形成する。 Summarizing the above, the motor (9) is decelerated by the reduction gear set consisting of the large gear (6) and the small gear (7) and the reduction gear, and the upper housing (12) and the sealing pad (11) are decelerated. ), The lower housing (10) forms a hollow sealed structure, and the manipulator wiring and piping pass through the manipulator joint output shafts (13) and output shafts (14) to form a new manipulator joint structure.

使用する時に、減速歯車セットにおける小歯車が減速機出力軸に固定され、大歯車がマニピュレーター出力軸に固定され、モーターが減速機入力軸に固定されて動力を提供する。モーターが先に減速機により減速し、更に減速歯車セットにより減速して二段減速を実現し、減速歯車セットの存在により、減速機の負荷が小さくなり、減速機の剛性と負荷に対する要求が低く、減速構造がコンパクトである。上筐体（１２）、密封パッド（１１）、下筐体（１０）が中空の密封構造を形成して外部の水、油がマニピュレーター内に入ることを防止する。マニピュレーター配線、配管が出力軸（１３）、出力軸（１４）を通過可能である。 When in use, the small gears in the reduction gear set are fixed to the reducer output shaft, the large gears are fixed to the manipulator output shaft, and the motor is fixed to the reduction gear input shaft to provide power. The motor decelerates first with the reduction gear, then decelerates with the reduction gear set to realize two-stage deceleration, and the presence of the reduction gear set reduces the load on the reduction gear, and the demand for rigidity and load of the reduction gear is low. , The reduction structure is compact. The upper housing (12), the sealing pad (11), and the lower housing (10) form a hollow sealing structure to prevent external water and oil from entering the manipulator. Manipulator wiring and piping can pass through the output shaft (13) and output shaft (14).

このような新規なマニピュレーター関節構造は簡単で、既存のマニピュレーター防水構造の減速機の負荷が大きく、配線、配管が配置しにくく、操作しにくいという問題を効果的に解決した。
（実施例） Such a new manipulator joint structure is simple, and the problem that the speed reducer of the existing manipulator waterproof structure is heavy, wiring and piping are difficult to arrange, and it is difficult to operate is effectively solved.
(Example)

作業する時に、マニピュレーター（３）が設備の外から洗浄されるワークＡを掴んで高圧洗浄室（１）に入り、洗浄を完成した後、回転作業台（５）がマニピュレーター（３）とマニピュレーター（４）とを動かして回転し、マニピュレーター（３）が洗浄された後のワークＡを把持して真空乾燥室（２）に入り、真空乾燥を開始し、それと同時にマニピュレーター（４）が設備の外から洗浄されるワークＢを掴んで高圧洗浄室（１）に入り、高圧洗浄を開始した。ワークＡが乾燥した後、マニピュレーター（３）がワークＡを設備から搬出した。回転作業台（５）がマニピュレーター（３）とマニピュレーター（４）とを動かして回転し、マニピュレーター（４）が洗浄された後のワークＢを把持して真空乾燥室（２）に入り、真空乾燥を開始し、それと同時にマニピュレーター（３）が設備の外から洗浄されるワークＣを掴んで高圧洗浄室（１）に入り、高圧洗浄を開始した。 When working, the manipulator (3) grabs the work A to be cleaned from outside the equipment and enters the high pressure washer (1), and after the cleaning is completed, the rotating workbench (5) is the manipulator (3) and the manipulator (3). 4) is moved and rotated to grasp the work A after the manipulator (3) has been washed and enter the vacuum drying chamber (2) to start vacuum drying, and at the same time, the manipulator (4) is outside the equipment. The work B to be cleaned from the above was grabbed and entered into the high pressure cleaning chamber (1) to start high pressure cleaning. After the work A was dried, the manipulator (3) carried the work A out of the facility. The rotating workbench (5) rotates by moving the manipulator (3) and the manipulator (4), grasps the work B after the manipulator (4) has been washed, enters the vacuum drying chamber (2), and vacuum dries. At the same time, the manipulator (3) grabbed the work C to be cleaned from the outside of the equipment and entered the high-pressure cleaning chamber (1) to start high-pressure cleaning.

以上の設計によれば、高圧洗浄機と真空乾燥機の構造がコンパクトで、設備内部でワークの掴み取り、ワーク搬送から高圧洗浄、真空乾燥までの全工程を完成することができ、高圧洗浄と真空乾燥を同時に行うことができ、マニピュレーターが完全に防水可能であり、マニピュレーターにおける治具が必要に応じて交換可能であり、作業効率を大幅に向上させ、生産コストを低下させ、作業空間を節約する。 According to the above design, the structure of the high pressure washer and the vacuum dryer is compact, and the entire process from gripping the work, transporting the work to high pressure washing and vacuum drying can be completed inside the equipment, and high pressure washing and vacuum drying can be completed. Drying can be done at the same time, the manipulator is completely waterproof, the jigs in the manipulator can be replaced as needed, greatly improving work efficiency, reducing production costs and saving work space. ..

本考案における実施例は実用新案登録請求の範囲を限定せず、本考案を説明するためのものに過ぎず、当業者が想到し得る他の実質的に同等な取り替えは、全て本考案の実用新案登録請求の範囲に含まれる。 The embodiments in the present invention do not limit the scope of claims for utility model registration, but are merely for explaining the present invention, and all other substantially equivalent replacements that can be conceived by those skilled in the art are practical use of the present invention. It is included in the scope of claims for new proposal registration.

１高圧洗浄室 ２真空乾燥室 ３マニピュレーター ４マニピュレーター ５回転作業台 ６大歯車 ７小歯車 ８減速機 ９モーター １０下筐体 １１密封パッド １２上筐体 １３出力軸１ １４出力軸２ １５配線 1 High-pressure washing room 2 Vacuum drying room 3 Manipulator 4 Manipulator 5 Rotating work table 6 Large gear 7 Small gear 8 Reducer 9 Motor 10 Lower housing 11 Sealing pad 12 Upper housing 13 Output shaft 1 14 Output shaft 2 15 Wiring

Claims (2)

１つの高圧洗浄室と、１つの真空乾燥室と、２台のマニピュレーターと、１つの回転作業台とを含む２台のマニピュレーターを備えた洗浄機において、
回転作業台が高圧洗浄室と真空乾燥室との間に設置されており、
前記高圧洗浄室と前記真空乾燥室とが相互に独立しており、
前記２台のマニピュレーターが前記回転作業台に設置されており、
前記２台のマニピュレーターの配置が前記高圧洗浄室と前記真空乾燥室との間で切り替わることによって、高圧洗浄と真空乾燥を設備内部で完成することを実現できることを特徴とする２台のマニピュレーターを備えた洗浄機。 In a washer equipped with two manipulators, including one high pressure washer, one vacuum drying chamber, two manipulators and one rotary workbench.
A rotating workbench is installed between the high-pressure washing room and the vacuum drying room.
The high-pressure washing chamber and the vacuum drying chamber are independent of each other.
The two manipulators are installed on the rotating workbench.
By switching the arrangement of the two manipulators between the high-pressure washing chamber and the vacuum drying chamber, it is possible to realize high-pressure washing and vacuum drying inside the equipment, and the two manipulators are provided. Washing machine. 前記マニピュレーターの防水構造は、前記マニピュレーターに密封筐体を含み、
前記密封筐体は、
上筐体、下筐体、密封パッドにより形成されており、
前記上筐体と前記下筐体との間に前記密封パッドを取り付けることによって、中空の密封構造を形成して外部の水、油が前記マニピュレーター内に入ることを防止し、
マニピュレーター関節構造は、前記密封筐体の中空の密封構造に、マニピュレーター関節出力軸、二段減速アセンブリ及びモーターを配置することによって形成され、
前記マニピュレーター関節出力軸は、中空軸構造であり、マニピュレーター配線、配管が中空軸を通過可能であり、
前記二段減速アセンブリは、減速歯車セットと減速機で構成され、
前記減速歯車セットは、小歯車と大歯車とで構成され、
前記小歯車が減速機出力軸に固定され、
前記大歯車が前記マニピュレーター関節出力軸に固定され、
前記モーターが減速機入力軸に固定されて動力を提供し、前記モーターが先に前記減速機により減速し、更に前記減速歯車セットにより減速して二段減速を実現するようになっていることを特徴とする請求項１に記載の２台のマニピュレーターを備えた洗浄機。 The waterproof structure of the manipulator includes a sealed housing in the manipulator.
The sealed housing is
It is made up of an upper housing, a lower housing, and a sealing pad.
By attaching the sealing pad between the upper housing and the lower housing, a hollow sealing structure is formed to prevent external water and oil from entering the manipulator.
The manipulator joint structure is formed by arranging the manipulator joint output shaft, the two-stage deceleration assembly and the motor in the hollow sealed structure of the sealed housing.
The manipulator joint output shaft has a hollow shaft structure, and manipulator wiring and piping can pass through the hollow shaft.
The two-stage reduction assembly consists of a reduction gear set and a reduction gear.
The reduction gear set is composed of a small gear and a large gear.
The small gear is fixed to the reducer output shaft,
The large gear is fixed to the manipulator joint output shaft,
The motor is fixed to the reduction gear input shaft to provide power, and the motor is first decelerated by the reduction gear and then decelerated by the reduction gear set to realize two-stage deceleration. A washing machine provided with the two manipulators according to claim 1, which is characteristic.
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