Movable condenser cleaning robot based on series-parallel mechanism
A technology for cleaning robots and hybrid mechanisms, used in washing, cleaning heat transfer devices, solar thermal power generation, etc., can solve the problems of high structural rigidity and many degrees of freedom of movement, achieve low labor intensity, high degree of automation, and meet the needs of cleaning. The effect of job requirements
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specific Embodiment approach 1
[0030] Such as figure 1 , figure 2 , image 3 and Figure 7 As shown, a mobile condenser cleaning robot based on a hybrid mechanism includes a mobile platform 1, a rotary device 2, a lifting device 3, a parallel attitude adjustment mechanism 4, a two-degree-of-freedom regulator 5, a radial regulator 6, Gun delivery device 7 and binocular camera 8. The mobile platform 1 includes a front driving wheel train 11, a driven wheel train 12, a rear driving wheel train 13, a leaf spring 14, a connecting seat 15, a vehicle frame 16, a front driving assembly 17 and a rear driving assembly 18, for bearing the rotating Device 2, lifting device 3, parallel attitude adjustment mechanism 4, two-degree-of-freedom regulator 5, radial regulator 6 and gun delivery device 7, and drives the cleaning robot to walk. Wherein, the front driving wheel system 11 and the rear driving wheel system 13 are respectively arranged at the front end and the rear end of the vehicle frame 16 below, the driven ...
specific Embodiment approach 2
[0040] Such as figure 1 and Figure 5 As shown, the axes of the first hinge 411 and the third hinge 431 are parallel to each other, the axes of the second hinge 421 and the fourth hinge 441 are parallel to each other, and the axes of the first hinge 411 and the second hinge 421 are perpendicular to each other. In the initial state, the two axes of the cross shaft of the first universal joint 413 are kept parallel to the two axes of the cross shaft of the third universal joint 433 respectively, and the two axes of the cross shaft of the second universal joint 423 are respectively parallel to the two axes of the cross shaft of the third universal joint 423 The two axes of the cross shafts of the four universal joints 443 are parallel, the axis of the first hinge 411 is parallel to one axis of the cross shafts of the first universal joint 413, and the axis of the second hinge 421 is parallel to the axis of the second universal joint 423. One axis of the cross axis remains parall...
specific Embodiment approach 3
[0043] Such as figure 1 , image 3 and Figure 7As shown, the driving column 32 in this embodiment adopts a servo electro-hydraulic cylinder or an electric push rod, the rotary motor 23 adopts a servo geared motor, the first linear drive unit 412, the second linear drive unit 422, and the third linear drive unit 432 , The fourth linear drive unit 442 all adopts servo electric push rods, the rotary table 53 adopts a numerical control rotary table, the axial slide table 51 adopts a servo electric slide table, and the radial slide table 62 adopts a servo electric slide table. This design unifies all driving power sources, all of which are driven by electricity, which not only has high efficiency, but also has a compact structure, saving air source or hydraulic pump station system. In addition, the DC servo motor can also achieve closed-loop control, which can achieve high transmission accuracy. Drive column 32, rotary motor 23, first linear drive unit 412, second linear drive ...
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