A transfer robot and a control method

Abstract

The present invention discloses a transfer robot and a control method, belonging to the field of robot technology. The transfer robot includes a two-axis transfer truss, a control box, a clamping mechanism, and a cleaning mechanism. The clamping mechanism is arranged at the bottom of the vertical movable module in the two-axis transfer truss for clamping the anode plate. The cleaning mechanism includes a cleaning rack arranged on the side of the horizontal movable module, and the cleaning rack is provided with a flushing and cleaning unit, which is connected to a cleaning liquid supply unit. At the same time, a control method based on the above-mentioned transfer robot is disclosed. By using the above-mentioned transfer robot and control method, a cleaning function is added to the transfer robot, and the transfer efficiency is high. The reciprocating motor is used to realize the reciprocating movement of the flushing plate and two brush plates on both sides, thereby improving the cleaning effect.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a transfer manipulator and a control method thereof. Background Art

[0002] In the prior art, in order to improve the efficiency of electrolytic refining, the anode plates need to be cleaned regularly. For example, patent publication number CN115323441A discloses a cleaning device for electrolytic lead anode plates. The cleaning device includes a cleaning table, a transfer trolley that can be moved to the cleaning table, and a flushing device arranged on one side of the cleaning table. A worker pushes the transfer trolley to transfer the anode plates. The flushing device and the bottom cleaning mechanism are used to clean the end faces, sides, and bottom surfaces of the anode plates, eliminating the need for a conveying device and a clamping and lifting device. The device has a simple structure, lowers cost, and cleans the anode plates more thoroughly, making it easier to promote and use. However, the prior art still has the following problems:

[0003] (1) The existing technology uses a truss transfer robot to lift and transfer the anode plates, but the truss transfer robot has a single function and is only used to transfer the anode plates.

[0004] (2) Cleaning is done by a single flushing method, which has poor cleaning effect. Summary of the Invention

[0005] The purpose of the present invention is to provide a transfer robot and a control method to solve the above technical problems.

[0006] To achieve the above-mentioned object, the present invention provides a transfer robot, comprising a two-axis transfer truss, a control box, a clamping mechanism, and a cleaning mechanism. The clamping mechanism is arranged at the bottom of the vertical movable module in the two-axis transfer truss for clamping the anode plate. The cleaning mechanism comprises a cleaning rack arranged on the side of the horizontal movable module. The cleaning rack is provided with a flushing and cleaning unit, and the flushing and cleaning unit is connected to a cleaning liquid supply unit.

[0007] The clamping mechanism, the vertical moving module, the horizontal moving module, the flushing and cleaning unit and the cleaning liquid supply unit are all electrically connected to the control box.

[0008] Preferably, the clamping mechanism includes two parallel mounting rails arranged at the bottom of the vertical movable module, a guide rod is provided in the mounting rail, a meshing rack is provided on the side of the guide rod, the meshing rack is meshed with a driving gear, the driving gear is connected to a clamping drive motor, the clamping drive motor is installed on the side of the vertical movable module, an extension plate is provided at one end of the guide rod, a clamping plate is fixed on the extension plate, and a clamping bearing is provided on the inner side of the clamping plate;

[0009] The clamping drive motor is electrically connected to the control box.

[0010] Preferably, the cleaning rack includes an extension rod and a U-shaped frame, the U-shaped frame is connected to one end of the extension rod, and the other end of the extension rod is arranged on the side of the horizontal moving module. Strip guide through holes are opened on both sides of the U-shaped frame, and a strip guide groove is opened on the end face of the U-shaped frame. The open end of the U-shaped frame is provided with an inclined mounting plate.

[0011] Preferably, the flushing and cleaning unit includes a flushing plate and two brush plates, the two brush plates are connected by a C-shaped connecting plate, the flushing plate is arranged between the two brush plates and is connected to the C-shaped connecting plate by an angle adjustment mechanism, one of the brush plates is connected to an electric telescopic cylinder, a slider is provided at the bottom of the electric telescopic cylinder, the slider is provided in a strip guide groove, and the electric telescopic cylinder is connected to a linkage plate, the linkage plate is connected to one end of the driving rod through a telescopic rod, the other end of the driving rod is connected to a driving connecting rod through a strip guide through hole, the driving connecting rod is connected to a driving turntable, and the two driving turntables are arranged at both ends of the rotating shaft, the rotating shaft is mounted on a U-shaped frame through a bearing seat and is connected to the reciprocating motor through a gear set;

[0012] The electric telescopic cylinder and the reciprocating motor are both electrically connected to the control box.

[0013] Preferably, a first side flushing nozzle is provided on the inner side of the sealing end of the U-shaped frame, a second side flushing nozzle is provided on the mounting plate, and several front flushing nozzles are provided in parallel on the flushing plate. The front flushing nozzle, the first side flushing nozzle and the second side flushing nozzle are all connected to the cleaning liquid supply unit.

[0014] Preferably, the cleaning liquid supply unit includes a liquid storage tank, a booster pump is provided in the liquid storage tank, a water outlet pipe of the booster pump is connected to an electromagnetic tee, a first water outlet pipe of the electromagnetic tee is connected to a first three-way connecting pipe, two water outlet ends of the first three-way connecting pipe are respectively connected to the first side flushing nozzle and the second side flushing nozzle through pipes, the second water outlet pipe of the electromagnetic tee is connected to a second three-way connecting pipe, and two water outlet ends of the second three-way connecting pipe are respectively connected to the front flushing nozzles of the two flushing plates through pipes;

[0015] The booster pump and the electromagnetic three-way head are both electrically connected to the control box.

[0016] Preferably, the angle adjustment mechanism includes an angle adjustment motor mounted on a C-shaped connecting plate.

[0017] Based on the above-mentioned control method of the transfer robot, the specific steps are as follows:

[0018] Step S1: When the anode plate needs to be replaced, the two-axis transfer truss is started to move the clamping mechanism above the anode plate to be replaced, and the vertical moving module is started to lower the clamping mechanism and place it opposite to the anode plate;

[0019] Step S2: After the clamping mechanism is activated to clamp the anode plate, the vertical moving module is activated to raise the clamping mechanism to a set height;

[0020] Step S3: Start the lateral moving module to carry out lateral transfer, and simultaneously start the cleaning mechanism and the vertical moving module to clean the anode plates;

[0021] Step S4: After being transferred horizontally to the placement rack, the vertical moving module is activated to lower the clamping mechanism and release the anode plate. The horizontal moving module is activated to move to the position of the anode plate after drying, and the clamping mechanism is activated to clamp the anode plate after drying.

[0022] Step S5: Start the vertical moving module to make the clamping mechanism rise to the set height, start the horizontal moving module to move the anode plate to the reaction position, start the vertical moving module to make the clamping mechanism descend to the set height, and start the clamping mechanism to release the anode plate to complete the transfer and replacement of the anode plate.

[0023] Preferably, in step S3, the cleaning process is as follows:

[0024] Turn on the electromagnetic three-way head, booster pump, reciprocating motor and electric telescopic cylinder, so that the first side flushing nozzle, the second side flushing nozzle and the front flushing nozzle spray cleaning liquid; at the same time, the reciprocating motor drives the driving turntables at both ends of the rotating shaft to rotate, so that the driving rod moves back and forth in the strip guide through hole, and the electric telescopic cylinder moves back and forth in the strip guide groove, and the electric telescopic cylinder changes from a retracted state to an extended state, so that the brush plate fits the anode plate for brushing; start the vertical moving module to make the anode plate rise at a set speed until the flushing plate moves to the lower end of the anode plate to complete the cleaning of the two sides and the front and back sides, start the vertical moving module to continue rising to the set height and then stop, start the angle adjustment mechanism, so that the front flushing nozzle is set relative to the bottom surface of the anode plate, after the set time, close the electromagnetic three-way valve, and start the angle adjustment mechanism to make the front flushing nozzle return to the original angle to complete the cleaning of the entire anode plate.

[0025] Preferably, in step S5, when transferring the anode plate after drying, the electric telescopic cylinder is started to make the two brush plates fit the anode plate, and after reaching the reaction position, the electric telescopic cylinder is started to make the brush plates return to the initial position.

[0026] Therefore, the present invention adopts the above-mentioned transfer robot and control method, which has the following beneficial effects:

[0027] (1) The transfer robot is equipped with a cleaning mechanism to clean the anode plate during the transfer process, which increases the function of the transfer robot. The cleaning mechanism can also apply uniform pressure to the front and back sides of the anode plate to avoid large-scale shaking of the anode plate when the horizontal moving module slows down or accelerates. There is no need to wait for the anode plate to be stable before placing it, which improves the transfer efficiency.

[0028] (2) The cleaning mechanism is provided with a flushing plate and two brush plates. The flushing plate is arranged between the two brush plates, and the flushing plate and the two brush plates on both sides are reciprocated by a reciprocating motor to improve the cleaning effect.

[0029] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic structural diagram of a transfer robot according to the present invention;

[0031] Figure 2 This is a schematic structural diagram of the clamping mechanism and cleaning mechanism of the present invention;

[0032] Figure 3 This is a distribution diagram of the flushing plate and the brush plate of the present invention;

[0033] Figure 4 This is a schematic structural diagram of the angle adjustment mechanism of the present invention;

[0034] Figure 5 This is a structural schematic diagram of the cleaning liquid supply unit of the present invention.

[0035] Reference numerals

[0036] 1. Two-axis transfer truss; 11. Vertical moving module; 12. Horizontal moving module; 2. Clamping mechanism; 21. Mounting rail; 22. Guide rod; 23. Meshing rack; 24. Drive gear; 25. Clamping drive motor; 26. Extension plate; 27. Clamping plate; 28. Clamping bearing; 3. Cleaning mechanism; 31. Cleaning rack; 311. Extension rod; 312. U-shaped frame; 313. Strip guide hole; 314. Strip guide groove; 315. Mounting plate; 32. Flushing and cleaning unit; 321. Flushing plate; 322. Brush plate; 323 , C-shaped connecting plate; 324, electric telescopic cylinder; 325, driving rod; 326, telescopic rod; 327, driving connecting rod; 328, driving turntable; 329, rotating shaft; 3210, reciprocating motor; 3211, first side flushing nozzle; 3212, second side flushing nozzle; 3213, front flushing nozzle; 33, cleaning liquid supply unit; 331, liquid storage tank; 332, booster pump; 333, electromagnetic three-way head; 334, first three-way connecting pipe; 335, second three-way connecting pipe; 34, angle adjustment motor; 4, anode plate. DETAILED DESCRIPTION

[0037] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is usually placed when in use. These are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In the description of the present invention, it should also be noted that, unless otherwise expressly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0039] like Figure 1 As shown, a transfer robot includes a two-axis transfer truss 1 and a control box (the control part is an existing conventional setting, and its specific electronic model and structure are not limited here). A clamping mechanism 2 and a cleaning mechanism 3 are set on the two-axis transfer truss 1. The clamping mechanism 2 is set at the bottom of the vertical moving module 11 in the two-axis transfer truss 1 for clamping the anode plate 4. The clamping mechanism 2 includes two parallel mounting rails 21 set at the bottom of the vertical moving module 11. A guide rod 22 is set in the mounting rail 21. A meshing rack 23 is set on the side of the guide rod 22. The meshing rack 23 is connected to the driving gear 24. The driving gear 24 is engaged, and the clamping driving motor 25 is connected to the clamping driving motor 25. The clamping driving motor 25 is installed on the side of the vertical moving module 11. An extension plate 26 is provided at one end of the guide rod 22, and a clamping plate 27 is fixed on the extension plate 26. A clamping bearing 28 is provided on the inner side of the clamping plate 27; the clamping driving motor 25 is electrically connected to the control box, and the forward and reverse rotation of the clamping driving motor 25 is used to realize the mutual approach and distance of the clamping plates 27, thereby realizing the clamping of the anode plate 4. At the same time, the anode plate 4 is clamped by means of the clamping bearing 28, so that the anode plate 4 remains in a vertical state under the action of gravity, which is convenient for the placement of the anode plate 4.

[0040] like Figure 2As shown, the cleaning mechanism 3 includes a cleaning rack 31 arranged on the side of the transverse moving module 12. The cleaning rack 31 includes an extension rod 311 and a U-shaped frame 312. The U-shaped frame 312 is connected to one end of the extension rod 311, and the other end of the extension rod 311 is arranged on the side of the transverse moving module 12. Strip guide holes 313 are opened on both sides of the U-shaped frame 312, and strip guide grooves 314 are opened on the end surface of the U-shaped frame 312. An inclined mounting plate 315 is provided at the open end of the U-shaped frame 312. A flushing cleaning unit 32 is provided on the cleaning rack 31. The flushing cleaning unit 32 includes a flushing plate 321 and two brush plates 322. The two brush plates 322 are connected by a C-shaped connecting plate 323, as shown in FIG. Figure 3 - Figure 4 As shown, the flushing plate 321 is arranged between the two brush plates 322 and is connected to the C-shaped connecting plate 323 through an angle adjustment mechanism. The angle adjustment mechanism includes an angle adjustment motor 34 installed on the C-shaped connecting plate 323 to achieve angle adjustment of the flushing plate 321 for flushing the bottom surface of the anode plate 4. One of the brush plates 322 is connected to an electric telescopic cylinder 324, a slider is provided at the bottom of the electric telescopic cylinder 324, the slider is provided in the strip guide groove 314, and the electric telescopic cylinder 324 is connected to a linkage plate, which is connected to one end of the driving rod 325 through a telescopic rod 326, and the other end of the driving rod 325 is connected to a driving connecting rod 327 through the strip guide through hole 313, and the driving connecting rod 327 is connected to a driving turntable 328. The two driving turntables 328 are provided at both ends of the rotating shaft 329, and the rotating shaft 329 is installed on the U-shaped frame 312 through a bearing seat and is connected to the reciprocating motor 3210 through a gear set. The electric telescopic cylinder 324 and the reciprocating motor 3210 are both electrically connected to the control box to realize the reciprocating movement of the flushing plate 321, the two brush plates 322 and the electric push rod. A first side flushing nozzle 3211 is provided on the inner side of the sealing end of the U-shaped frame 312 , a second side flushing nozzle 3212 is provided on the mounting plate 315 , and a plurality of front flushing nozzles 3213 are provided in parallel on the flushing plate 321 .

[0041] The flushing and cleaning unit 32 is connected to a cleaning liquid supply unit 33, such as Figure 5As shown, the cleaning liquid supply unit 33 includes a liquid storage tank 331, a booster pump 332 is provided in the liquid storage tank 331, and the outlet pipe of the booster pump 332 is connected to an electromagnetic tee 333. The first outlet pipe of the electromagnetic tee 333 is connected to a first three-way connecting pipe 334. The two outlet ends of the first three-way connecting pipe 334 are respectively connected to the first side flushing nozzle 3211 and the second side flushing nozzle 3212 through pipes. The second outlet pipe of the electromagnetic tee 333 is connected to a second three-way connecting pipe 335. The two outlet ends of the second three-way connecting pipe 335 are respectively connected to the front flushing nozzles 3213 of the two flushing plates 321 through pipes. The booster pump 332 and the electromagnetic tee 333 are both electrically connected to the control box. The spraying of the first side flushing nozzle 3211, the second side flushing nozzle 3212, and the front flushing nozzle 3213 is controlled by controlling the booster pump 332 and the electromagnetic tee 333.

[0042] Based on the above-mentioned control method of the transfer robot, the specific steps are as follows:

[0043] Step S1: When the anode plate 4 needs to be replaced, the two-axis transfer truss 1 is started, the clamping mechanism 2 is moved above the anode plate 4 to be replaced, and the vertical moving module 11 is started to lower the clamping mechanism 2 and place it opposite to the anode plate 4.

[0044] Step S2: After the clamping mechanism 2 is started to clamp the anode plate 4, the vertical moving module 11 is started to move the clamping mechanism 2 up to a set height.

[0045] Step S3: Start the lateral moving module 12 to carry out lateral transfer, and simultaneously start the cleaning mechanism 3 and the vertical moving module 11 to clean the anode plate 4.

[0046] The cleaning process is as follows:

[0047] Turn on the electromagnetic three-way head 333, the booster pump 332, the reciprocating motor 3210 and the electric telescopic cylinder 324, so that the first side washing nozzle 3211, the second side washing nozzle 3212 and the front washing nozzle 3213 spray the cleaning liquid; at the same time, the reciprocating motor 3210 drives the driving turntable 328 at both ends of the rotating shaft 329 to rotate, so that the driving rod 325 moves back and forth in the strip guide through hole 313, so that the electric telescopic cylinder 324 moves back and forth in the strip guide groove 314, and the electric telescopic cylinder 324 changes from a retracted state to an extended state, so that The brush plate 322 is placed against the anode plate 4 for brushing; the vertical moving module 11 is started to make the anode plate 4 rise at a set speed until the flushing plate 321 moves to the lower end of the anode plate 4 to complete the cleaning of the two sides and the front and back surfaces; the vertical moving module 11 is started to continue to rise to the set height and then stops; the angle adjustment mechanism is started so that the front flushing nozzle 3213 is set relative to the bottom surface of the anode plate 4; after the set time, the electromagnetic three-way valve is closed, and the angle adjustment mechanism is started so that the front flushing nozzle 3213 is restored to the original angle to complete the cleaning of the entire anode plate 4. During the flushing process, the water pressure on both sides is kept consistent, so that the anode plate 4 will not swing significantly.

[0048] Step S4: After being transferred horizontally to the placement rack, the vertical moving module 11 is activated to lower the clamping mechanism 2 and release the anode plate 4. The horizontal moving module 12 is activated to move to the position of the dried anode plate 4 and the clamping mechanism 2 is activated to clamp the dried anode plate 4.

[0049] Step S5: After activating the vertical movement module 11 to raise the clamping mechanism 2 to the set height, the horizontal movement module 12 is activated to move the anode plate 4 to the reaction position. The vertical movement module 11 is then activated to lower the clamping mechanism 2 to the set height. The clamping mechanism 2 is then activated to release the anode plate 4, completing the transfer and replacement of the anode plate 4. When transferring the dried anode plate 4, the electric telescopic cylinder 324 is activated to force the two brush plates 322 into contact with the anode plate 4. After reaching the reaction position, the electric telescopic cylinder 324 is activated to return the brush plates 322 to their initial positions. This prevents the anode plate 4 from swinging significantly during transportation.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A transfer robot, comprising a two-axis transfer truss and a control box, characterized in that: The scouring pad is connected to the cleaning plate by a toothpick mechanism and a toothpick brush connected to the cleaning plate by a toothpick brush. The electric telescopic cylinder and the reciprocating motor are both electrically connected to the control box; The clamping mechanism, the vertical moving module, the horizontal moving module, the flushing and cleaning unit and the cleaning liquid supply unit are all electrically connected to the control box.

2. A transfer robot according to claim 1, characterized in that: The clamping mechanism includes two parallel mounting rails arranged at the bottom of the vertical movable module, a guide rod is arranged in the mounting rail, a meshing rack is arranged on the side of the guide rod, the meshing rack is meshed with a drive gear, the drive gear is connected to a clamping drive motor, and the clamping drive motor is installed on the side of the vertical movable module, an extension plate is provided at one end of the guide rod, a clamping plate is fixed on the extension plate, and a clamping bearing is provided on the inner side of the clamping plate; The clamping drive motor is electrically connected to the control box.

3. A transfer robot according to claim 1, characterized in that: The cleaning rack includes an extension rod and a U-shaped frame. The U-shaped frame is connected to one end of the extension rod. The other end of the extension rod is arranged on the side of the horizontal moving module. Strip guide through holes are opened on both sides of the U-shaped frame. The end face of the U-shaped frame is opened with a strip guide groove. The open end of the U-shaped frame is provided with an inclined mounting plate.

4. A transfer robot according to claim 3, characterized in that: A first side flushing nozzle is arranged on the inner side of the sealing end of the U-shaped frame, a second side flushing nozzle is arranged on the mounting plate, and several front flushing nozzles are arranged in parallel on the flushing plate. The front flushing nozzle, the first side flushing nozzle and the second side flushing nozzle are all connected to the cleaning liquid supply unit.

5. A transfer robot according to claim 4, characterized in that: The cleaning liquid supply unit includes a liquid storage tank, a booster pump is provided in the liquid storage tank, a water outlet pipe of the booster pump is connected to an electromagnetic tee, a first water outlet pipe of the electromagnetic tee is connected to a first three-way connecting pipe, two water outlet ends of the first three-way connecting pipe are respectively connected to a first side flushing nozzle and a second side flushing nozzle through pipes, a second water outlet pipe of the electromagnetic tee is connected to a second three-way connecting pipe, two water outlet ends of the second three-way connecting pipe are respectively connected to the front flushing nozzles of the two flushing plates through pipes; The booster pump and the electromagnetic three-way head are both electrically connected to the control box.

6. A transfer robot according to claim 5, characterized in that: The angle adjustment mechanism includes an angle adjustment motor mounted on a C-shaped connecting plate.

7. A control method for a transfer robot according to claim 6, characterized in that: The specific steps are as follows: Step S1: When the anode plate needs to be replaced, the two-axis transfer truss is started to move the clamping mechanism above the anode plate to be replaced, and the vertical moving module is started to lower the clamping mechanism and place it opposite to the anode plate; Step S2: After the clamping mechanism is activated to clamp the anode plate, the vertical moving module is activated to raise the clamping mechanism to a set height; Step S3: Start the lateral moving module to carry out lateral transfer, and simultaneously start the cleaning mechanism and the vertical moving module to clean the anode plates; Step S4: After being transferred horizontally to the placement rack, the vertical moving module is activated to lower the clamping mechanism and release the anode plate. The horizontal moving module is activated to move to the position of the anode plate after drying, and the clamping mechanism is activated to clamp the anode plate after drying; Step S5: Start the vertical moving module to make the clamping mechanism rise to the set height, start the horizontal moving module to move the anode plate to the reaction position, start the vertical moving module to make the clamping mechanism descend to the set height, and start the clamping mechanism to release the anode plate to complete the transfer and replacement of the anode plate.

8. The control method of a transfer robot according to claim 7, characterized in that: In step S3, the cleaning process is as follows: Turn on the electromagnetic three-way head, booster pump, reciprocating motor and electric telescopic cylinder, so that the first side flushing nozzle, the second side flushing nozzle and the front flushing nozzle spray cleaning liquid; at the same time, the reciprocating motor drives the driving turntables at both ends of the rotating shaft to rotate, so that the driving rod moves back and forth in the strip guide through hole, and the electric telescopic cylinder moves back and forth in the strip guide groove, and the electric telescopic cylinder changes from a retracted state to an extended state, so that the brush plate fits the anode plate for brushing; start the vertical moving module to make the anode plate rise at a set speed until the flushing plate moves to the lower end of the anode plate to complete the cleaning of the two sides and the front and back sides, start the vertical moving module to continue rising to the set height and then stop, start the angle adjustment mechanism, so that the front flushing nozzle is set relative to the bottom surface of the anode plate, after the set time, close the electromagnetic three-way valve, and start the angle adjustment mechanism to make the front flushing nozzle return to the original angle to complete the cleaning of the entire anode plate.

9. A control method for a transfer robot according to claim 8, characterized in that: In step S5, when transferring the anode plate after drying, the electric telescopic cylinder is started to make the two brush plates fit the anode plate. After reaching the reaction position, the electric telescopic cylinder is started to return the brush plates to the initial position.

Images