Dishwasher spraying device and spraying system based on parallel manipulator

Abstract

A dishwasher spray device and spray system based on a parallel manipulator in the technical field of dishwashers, provided with a parallel manipulator, including a static platform and a dynamic platform and a mechanical arm connecting the static platform and the dynamic platform, the dynamic platform moves with the mechanical arm in two degrees of freedom XY or three degrees of freedom XYZ, and a spray mechanism is provided at the bottom of the dynamic platform; a universal shaft water-passing assembly, including a first universal joint, a water-passing shaft mechanism and a second universal joint provided with a water-passing cavity and the water-passing cavities are connected, the water-passing shaft mechanism is connected with the water-passing cavity of at least one of the first universal joint and the second universal joint through a rocker water-passing mechanism; the water-passing cavity of the first universal joint is connected with a water supply pipeline, and the water-passing cavity of the second universal joint is connected with the water inlet of the spray mechanism. The present invention can flexibly adjust the cleaning position, which is beneficial to energy saving and environmental protection.

Description

Technical Field

[0001] The present invention relates to a technology in the field of dishwashers, in particular to a dishwasher spray device and a spray system based on a parallel manipulator. Background Art

[0002] At present, most of the spray devices of dishwashers adopt a single-arm multi-nozzle structure, which is generally divided into two types. One type arranges multiple nozzles on the spray arm, and the other type arranges nozzles with different spray angles on both sides of the spray arm. The above-mentioned spray device can clean relatively fixed positions of dishes, has weak adaptability to different working conditions, and cannot be adjusted in time according to the number of dishes and the difficulty of stain cleaning, which is not conducive to energy saving and environmental protection. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention proposes a dishwasher spray device and a spray system based on a parallel manipulator, which can flexibly adjust the cleaning position and is beneficial to energy saving and environmental protection.

[0004] The present invention is achieved through the following technical solutions:

[0005] The present invention relates to a dishwasher spray device based on a parallel manipulator, comprising:

[0006] A parallel manipulator comprises a static platform and a dynamic platform and a mechanical arm connecting the static platform and the dynamic platform, wherein the dynamic platform moves with the mechanical arm in two degrees of freedom (XY) or three degrees of freedom (XYZ), and a spray mechanism is provided at the bottom of the dynamic platform;

[0007] A universal shaft water-passing assembly comprises a first universal joint, a water-passing shaft mechanism and a second universal joint, both of which are provided with a water-passing cavity and the water-passing cavities are connected. The water-passing cavity of the water-passing shaft mechanism is connected to the water-passing cavity of at least one of the first universal joint and the second universal joint through a rocker water-passing mechanism; the water-passing cavity of the first universal joint is connected to a water supply pipeline, and the water-passing cavity of the second universal joint is connected to the water inlet of a spray mechanism.

[0008] The swing rod water-passing mechanism comprises a first swing rod and a second swing rod which are provided with water-passing cavities and the water-passing cavities are connected.

[0009] The water-passing axis mechanism includes a pair of sliding guide rails fixedly connected to at least one of the first universal joint and the second universal joint, and sliding blocks are provided on the sliding guide rails, and the number of sliding blocks corresponds to the number of rocker arm water-passing mechanisms; the sliding block is provided with a water-passing cavity and is fixedly connected to the water-passing axis, and the water-passing cavity of the sliding block is connected to the water-passing cavity of the rocker arm water-passing mechanism.

[0010] The first universal joint and the second universal joint both include a first fork, a second fork and a cross shaft connecting the first fork and the second fork.

[0011] Preferably, three groups of robotic arms are connected between the static platform and the dynamic platform, and the robotic arms include active arms and driven arms. The driven arms include two parallel structural arms, which are respectively connected to the active arm and the dynamic platform through two pairs of ball hinges. The two pairs of ball hinges are fixedly connected through tension spring sets. The active arm is fixedly connected to a reduction motor through a tension sleeve. The reduction motor drives the robotic arms to move to realize the XY two-degree-of-freedom movement or XYZ three-degree-of-freedom movement of the dynamic platform.

[0012] Preferably, the spray mechanism comprises a plurality of high-pressure nozzles fixed on the moving platform, and the water inlet of the high-pressure nozzle is connected to the water flow cavity of the second universal joint.

[0013] Preferably, the spray mechanism includes a spray arm rotatably connected to the moving platform, and a plurality of high-pressure nozzles are fixed on the spray arm; the water inlet of the spray arm is connected to the water flow cavity of the second universal joint; the first universal joint is connected to a reduction motor, and the reduction motor drives the universal shaft water flow assembly to rotate, thereby driving the spray arm to rotate, so as to improve the efficiency of dishwashing cleaning.

[0014] Further preferably, the high-pressure nozzle is a fan-shaped nozzle or a self-rotating nozzle.

[0015] Preferably, the water supply pipeline is connected to a high-pressure pump, which supplies high-pressure water to improve the efficiency of tableware cleaning; the maximum pressure of the high-pressure water is 10MPa, and the pressure is adjustable; the following water pressures of high-pressure water can be used for flushing, such as 1MPa, 2MPa, 3MPa, 5MPa, etc.; of course, if the cleaning efficiency is not considered, normal pressure water can also be used to rinse the tableware.

[0016] The present invention relates to a spraying system, comprising: a control unit, an image processing module, an image acquisition device and the dishwasher spraying device based on the parallel manipulator as described above, wherein the image acquisition device is connected to the image processing module and outputs image information of tableware to be cleaned, the image processing module is connected to the control unit and outputs information of identified stain areas of the tableware, and the control unit is connected to a reduction motor on the dishwasher spraying device based on the parallel manipulator to output control information, so as to perform overall spray cleaning on the area where the tableware is located and / or local cleaning on the stain area on the tableware.

[0017] The image acquisition device is fixed on the moving platform.

[0018] Technical Effects

[0019] Compared with the prior art, the present invention adopts a parallel manipulator with multi-degree-of-freedom motion, which can adjust the position in time according to the number of tableware, the placement and the size of the stain area. Combined with high-pressure water washing, it can improve the cleaning efficiency and is beneficial to energy saving and environmental protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of the spray device in Example 1;

[0021] Figure 2 for Figure 1 A top view of

[0022] Figure 3 It is a cross-sectional view of the spray device in the AA direction in Example 1;

[0023] Figure 4 for Figure 3 Cross-sectional view in the middle BB direction;

[0024] Figure 5 for Figure 3 A magnified view of the structure at position I in the middle;

[0025] Figure 6 for Figure 5 Sectional view in C1-C1 direction;

[0026] Figure 7 for Figure 5 Cross-sectional view in the C2-C2 direction;

[0027] Figure 8 for Figure 1 Schematic diagram of the three-dimensional structure of the central universal shaft water-passing assembly;

[0028] Fig. 9 This is a schematic diagram of the structure of the spray system in Example 1;

[0029] In the figure: static platform 1, dynamic platform 2, mechanical arm 3, first universal joint 4, water-passing shaft mechanism 5, second universal joint 6, spray arm 7, swing arm water-passing mechanism 8, first rotating shaft 9, second rotating shaft 10, first reduction motor 11, second reduction motor 12, water inlet interface 13, active arm 31, driven arm 32, ball hinge 33, sliding guide rail 51, slider 52, fixed block 53, water-passing shaft 54, high-pressure nozzle 71, first swing arm 81, second swing arm 82, dishwasher spray device 100 based on parallel manipulator, control unit 101, image processing module 102, image acquisition device 103, first fork 200, second fork 201, cross shaft 202, sealing ring 300, spacer 301, structural arm 321. DETAILED DESCRIPTION

[0030] The present invention is described in detail below with reference to the accompanying drawings and specific implementation modes.

[0031] Example 1

[0032] This embodiment relates to a dishwasher spray device 100 based on a parallel manipulator, which includes:

[0033] like Figure 1 and Figure 4 The parallel manipulator shown comprises a static platform 1, a dynamic platform 2 and a mechanical arm 3 connecting the static platform 1 and the dynamic platform 2. The dynamic platform moves with the mechanical arm in XYZ three-degree-of-freedom. A spray arm 7 is provided at the bottom of the dynamic platform.

[0034] like Figure 3 and Figure 8 The universal shaft water-passing assembly shown includes a first universal joint 4, a water-passing shaft mechanism 5, and a second universal joint 6, which are provided with a water-passing cavity and the water-passing cavities are connected. The water-passing cavity of the water-passing shaft mechanism 5 is connected to the water-passing cavity of the first universal joint 4 through a rocker water-passing mechanism 8; the water-passing cavity of the first universal joint 4 is connected to a water supply pipeline, and the water-passing cavity of the second universal joint 6 is connected to the water inlet of the spray arm 7.

[0035] The first universal joint 4 and the second universal joint 6 each include a first fork 200 , a second fork 201 and a cross shaft 202 connecting the first fork 200 and the second fork 201 .

[0036] like Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, the rocker water-passing mechanism 8 includes a first rocker 81 and a second rocker 82 provided with water-passing cavities and the water-passing cavities are connected. The water-passing cavity of the first rocker 81 is connected to the water-passing cavity of the second fork 201 in the first universal joint 4.

[0037] The water-passing axis mechanism 5 includes a pair of sliding guide rails 51 fixedly connected to the first universal joint 4, the sliding guide rails 51 are fixedly connected to the fixed block 53 and are provided with a sliding block 52 that moves up and down, preferably, a pair of rocker arm water-passing mechanisms 8 are fixed on the slider 52; the sliding block 52 is provided with a water-passing cavity and is fixedly connected to a water-passing axis 54, the water-passing cavity of the sliding block 52 is connected to the water-passing cavity of the second rocker arm 82; one end of the water-passing cavity of the water-passing axis 54 is connected to the water-passing cavity of the sliding block 52, and the other end is connected to the water-passing cavity of the first fork 200 in the second universal joint 6.

[0038] like Figure 1 and Figure 2 As shown, three groups of robotic arms 3 are connected between the static platform 1 and the dynamic platform 2. The robotic arms 3 include an active arm 31 and a driven arm 32. The driven arm 32 includes two parallel structural arms 321, which are respectively connected to the active arm 31 and the dynamic platform 2 through two pairs of ball hinges 33. The two pairs of ball hinges 33 are fixedly connected through tension spring sets. The active arm 31 is fixedly connected to the first reduction motor 11 through a tension sleeve. The first reduction motor 11 drives the robotic arm to move to realize the three-degree-of-freedom movement of the dynamic platform XYZ.

[0039] The spray arm 7 is fixed with a pair of symmetrically arranged high-pressure nozzles 71; the spray arm 7 is connected to the first rotating shaft 9, preferably, by threaded connection; the first rotating shaft 9 is passed through the moving platform 2 through a bearing, the first rotating shaft 9 is provided with a water-passing cavity and is respectively connected with the spray arm 71 and the water-passing cavity of the second fork 201 in the second universal joint 6; the first universal joint 4 is connected with the second rotating shaft 10, the second rotating shaft 10 is provided with a water-passing cavity, one end of the water-passing cavity of the second rotating shaft 10 is connected with the water inlet interface 13 of the water supply pipeline, and the other end is connected with the water-passing cavity of the first fork 200 in the first universal joint 4, the second rotating shaft 10 is passed through the static platform 1 through a bearing, the second rotating shaft 10 is connected with the second reduction motor 12, the second reduction motor 12 drives the universal shaft water-passing assembly to rotate and drive the spray arm 7 to rotate, thereby improving the efficiency of dishwashing cleaning.

[0040] The first rotating shaft 9 and the moving platform 2 are sealed by upper and lower sealing rings 300 .

[0041] The second rotating shaft 10 is provided with a spacer ring 301 corresponding to the bearing.

[0042] The high pressure nozzle 71 is a fan-shaped nozzle or a self-rotating nozzle.

[0043] The water supply pipeline is connected to a high-pressure pump, and high-pressure water is supplied through the high-pressure pump to improve the efficiency of dishwashing; the maximum pressure of the high-pressure water is 10MPa.

[0044] like Fig. 9 As shown, the present embodiment relates to a spray system, comprising: a control unit 101, an image processing module 102, an image acquisition device 103 and the dishwasher spray device 100 based on the parallel manipulator as described above, wherein the image acquisition device 103 is connected to the image processing module 102 and outputs image information of tableware to be cleaned, the image processing module 102 is connected to the control unit 101 and outputs information of identified tableware stain areas, the control unit 101 is connected to the first reduction motor and the second reduction motor on the dishwasher spray device 100 based on the parallel manipulator to output control information, and performs overall spray cleaning on the area where the tableware is located and / or local cleaning on the stain area on the tableware.

[0045] The image acquisition device is fixed on the moving platform.

[0046] It should be emphasized that the above are only preferred embodiments of the present invention and do not limit the present invention in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A dishwasher spray device based on a parallel manipulator, characterized in that: Features: The parallel manipulator comprises a static platform, a dynamic platform and three sets of mechanical arms connecting the static platform and the dynamic platform, wherein a spray mechanism is provided at the bottom of the dynamic platform; A universal shaft water-passing assembly, comprising a first universal joint provided with a water-passing cavity and the water-passing cavities are connected, a water-passing shaft mechanism and a second universal joint, the water-passing cavity of the water-passing shaft mechanism is connected with the water-passing cavity of at least one of the first universal joint and the second universal joint through a rocker water-passing mechanism; the water-passing cavity of the first universal joint is connected with a water supply pipeline, and the water-passing cavity of the second universal joint is connected with the water inlet of the spray mechanism; the water-passing shaft mechanism comprises a pair of sliding guide rails fixedly connected with at least one of the first universal joint and the second universal joint, the sliding guide rails are provided with sliding blocks, and the number of the sliding blocks corresponds to the number of the rocker water-passing mechanisms; the sliding blocks are provided with a water-passing cavity and are fixedly connected with the water-passing shaft, and the water-passing cavity of the sliding blocks is connected with the water-passing cavity of the rocker water-passing mechanism; The robotic arm includes an active arm and a driven arm. The driven arm includes two parallel structural arms, which are respectively connected to the active arm and the moving platform through two pairs of ball hinges. The two pairs of ball hinges are fixedly connected through a tension spring set. The active arm is fixedly connected to a reduction motor through a tension sleeve. The reduction motor drives the robotic arm to move to realize the movement of the moving platform with two degrees of freedom (XY) or three degrees of freedom (XYZ).

2. The dishwasher spray device based on the parallel manipulator according to claim 1 is characterized in that: The swing rod water-passing mechanism comprises a first swing rod and a second swing rod which are provided with water-passing cavities and the water-passing cavities are connected.

3. The dishwasher spray device based on the parallel manipulator according to claim 1 is characterized in that: The first universal joint and the second universal joint both include a first fork, a second fork and a cross shaft connecting the first fork and the second fork.

4. The dishwasher spray device based on the parallel manipulator according to claim 1 is characterized in that: The spray mechanism comprises a plurality of high-pressure spray heads fixed on the moving platform, and the water inlet of the high-pressure spray head is communicated with the water-passing cavity of the second universal joint.

5. The dishwasher spray device based on the parallel manipulator according to claim 1 is characterized in that: The spray mechanism includes a spray arm rotatably connected to the moving platform, and a plurality of high-pressure nozzles are fixed on the spray arm; the water inlet of the spray arm is connected to the water flow cavity of the second universal joint; the first universal joint is connected to a reduction motor, and the reduction motor drives the universal shaft water flow assembly to rotate and drive the spray arm to rotate.

6. The dishwasher spray device based on the parallel manipulator according to claim 1 is characterized in that: The water supply pipeline is connected to a high-pressure pump, and high-pressure water is supplied through the high-pressure pump. The maximum pressure of the high-pressure water is 10 MPa.

7. A spray system, characterized in that: include: A control unit, an image processing module, an image acquisition device and a dishwasher spray device based on a parallel manipulator as claimed in any one of claims 1 to 6, wherein the image acquisition device is connected to the image processing module and outputs image information of tableware to be cleaned, the image processing module is connected to the control unit and outputs information on the identified stain area of ​​the tableware, and the control unit is connected in parallel with the reduction motor on the dishwasher spray device based on the parallel manipulator to output control information, so as to perform overall spray cleaning on the area where the tableware is located and / or local cleaning on the stain area on the tableware.

8. The spray system according to claim 7, characterized in that: The image acquisition device is fixed on the moving platform.

Images