Tail end clamp applied to intelligent pollution discharge robot and pollution discharge method

Abstract

According to the tail end clamp applied to the intelligent pollution discharge robot and the pollution discharge method, the tail end clamp comprises a clamping assembly and a buckling assembly, the buckling assembly comprises a sliding sleeve, a fixing sleeve, a connecting sleeve and a hinge rod, the sliding sleeve is slidably connected to a pollution suction pipeline, and the fixing sleeve is fixed to the end of the pollution suction pipeline; the two ends of the hinge rod are hinged to the sliding sleeve and the fixed sleeve respectively, and the connecting sleeve is installed at the end of the drain outlet so that the hinge rod can be buckled; the clamping assembly comprises a clamping base, clamping jaws, a push plate, a first driving part and a second driving part, the clamping base is installed at the tail end of the sewage discharging robot, and the clamping jaws are symmetrically arranged on the two sides of the clamping base and relatively slide along the clamping base under driving of the first driving part so as to clamp a sewage suction pipeline; the second driving parts are symmetrically arranged on the two sides of the clamping base and connected with the push plate so that the push plate can be driven to clamp the sliding sleeve under the sliding of the clamping jaw, and the push plate can drive the sliding sleeve to slide under the driving of the second driving parts so that the hinge rod can be buckled with the connecting sleeve.

Description

Technical Field

[0001] The present invention relates to the technical field of train sewage disposal equipment, and particularly relates to an end fixture for an intelligent sewage disposal robot and a sewage disposal method. Background Art

[0002] With the rapid expansion of China's rail transit network and the increase in the operation density of high-speed trains and multiple unit trains, the demand for the intelligence and high efficiency of train sewage disposal operations is becoming increasingly urgent. At present, train sewage disposal mainly relies on the traditional manual operation mode. With the development of industrial intelligence, there are also some solutions that use sewage disposal robots to replace manual labor for train sewage disposal. The specific process is as follows: The sewage disposal robot drives the sewage suction box to move to the sewage disposal box of each carriage, and then clamps the sewage suction pipe on the sewage suction box and connects the sewage suction pipe to the train sewage outlet. During the connection process, the sewage disposal robot clamps the sewage suction pipe and rotates it so that the sewage suction pipe is threadedly connected and sealed with the sewage outlet. Then, the sewage suction box extracts the dirt in the sewage disposal box through the sewage suction pipe. Since the connection between the sewage suction pipe and the sewage outlet adopts a threaded connection method, there will be situations of thread misalignment and thread stripping during the connection process, and the entire connection process takes a long time, seriously affecting the efficiency of train sewage disposal operations. In view of this, the present invention is proposed. Summary of the Invention

[0003] In order to solve the problems of thread misalignment, thread stripping, and low connection efficiency when the sewage disposal robot clamps the sewage suction pipe to connect with the sewage outlet, the present invention provides an end fixture for an intelligent sewage disposal robot and a sewage disposal method.

[0004] To solve the above technical problems, the present invention provides an end fixture for an intelligent sewage disposal robot. The end fixture includes a clamping assembly and a fastening assembly. The clamping assembly is installed at the end of the sewage disposal robot to clamp the sewage suction pipe, and the fastening assembly is installed at the end of the sewage suction pipe to connect with the train sewage outlet;

[0005] The fastening assembly includes a sliding sleeve, a fixed sleeve, a connecting sleeve, and a hinge rod. The sliding sleeve is slidably connected to the sewage suction pipe, the fixed sleeve is fixed to the end of the sewage suction pipe, both ends of the hinge rod are respectively hinged to the sliding sleeve and the fixed sleeve, and the connecting sleeve is installed at the end of the sewage outlet for the hinge rod to be fastened;

[0006] The clamping assembly includes a clamping base, a clamping claw, a push plate, a first driving member and a second driving member. The clamping base is installed at the end of the sewage discharge robot. The clamping claws are symmetrically arranged on both sides of the clamping base and slide relatively along the clamping base under the drive of the first driving member to clamp the sewage suction pipe. The second driving member is symmetrically arranged on both sides of the clamping base and connected to the push plate, so that the push plate can clamp the sliding sleeve under the sliding of the clamping claw, and the push plate can drive the sliding sleeve to slide and make the hinge rod and the connecting sleeve engage under the drive of the second driving member.

[0007] In an embodiment of the present invention, the articulated rod includes a first connecting rod, a second connecting rod and a third connecting rod, the sliding sleeve is provided with a first articulated seat for the first connecting rod to be articulated, the fixed sleeve is provided with a second articulated seat for the second connecting rod to be articulated and a third articulated seat for the third connecting rod to be articulated, the first connecting rod is hingedly connected to the second connecting rod, the second connecting rod is provided with a bending portion at one end away from the first connecting rod, and the two ends of the third connecting rod are respectively provided with a sliding groove and a buckling portion, the bending portion is slidably connected to the sliding groove, and the sliding of the bending portion along the sliding groove can make the buckling portion buckle with the connecting sleeve.

[0008] In an embodiment of the present invention, the second connecting rod and the bending portion are arranged at an angle and the corner is hingedly connected at the second hinge seat, and the end of the bending portion is slidably connected to the slide groove. When the bending portion slides to one side of the slide groove, it drives the buckling portion to open for the sewage suction pipe and the sewage discharge port to be plugged in. When the bending portion slides to one side of the slide groove, it drives the buckling portion to buckle so that the buckling portion is buckled on the connecting sleeve after the sewage suction pipe and the sewage discharge port are plugged in.

[0009] In an embodiment of the present invention, the snap-fit assembly further comprises a spring, which is sleeved on the sewage suction pipe and has two ends respectively abutting against the sliding sleeve and the fixed sleeve to drive the sliding sleeve away from the fixed sleeve and drive the snap-fit part to maintain a snap-fit state through the hinge rod.

[0010] In an embodiment of the present invention, the inner diameter of the sliding sleeve is matched with the outer diameter of the sewage suction pipe, and the inner wall of the sliding sleeve is provided with an anti-slip ring to keep the sliding sleeve in place after the sliding sleeve moves.

[0011] In an embodiment of the present invention, at least two first hinge seats are arranged in a circumferential array along the sliding sleeve, at least two second hinge seats and third hinge seats are arranged in a circumferential array along the fixed sleeve, and the number and positions of the hinge rods correspond to those of the first hinge seats, second hinge seats, and third hinge seats. In one set of the hinge rods, the first link is hingedly connected to the corresponding first hinge seat, the second link is hingedly connected to the corresponding second hinge seat, the third link is hingedly connected to the corresponding third hinge seat, and both ends of the second link are respectively hingedly connected to the first link and the third link at the corresponding positions.

[0012] In an embodiment of the present invention, the clamping assembly further includes a sponge suction cup and a torque sensor. The sponge suction cups are symmetrically arranged on both sides of the clamping base and fixedly connected to the bottom of the clamping jaws to adsorb the side door on the train sewage discharge compartment, and the torque sensor is arranged on the clamping base to detect the force on the clamping base.

[0013] In an embodiment of the present invention, the clamping assembly further includes a pressure sensor, which is arranged in the sewage suction pipeline to detect the sewage suction pressure. The fastening assembly further includes an insertion pipe threadedly connected to the sewage discharge port. The insertion pipe is fixed to the end of the fixed sleeve, and when the insertion pipe is threadedly connected to the sewage discharge port, the torque sensor is triggered to detect the force on the clamping base, and at the same time, the sewage suction pressure detected by the pressure sensor is combined to determine whether the connection between the insertion pipe and the sewage discharge port is in place.

[0014] To solve the problems in the prior art, the present invention also provides a sewage discharge method applied to an intelligent sewage discharge robot, which is applied to the above-mentioned end fixture. The sewage discharge method includes:

[0015] The sewage discharge robot drives the clamping assembly to move, and the first driving member controls the clamping jaws to clamp the sewage suction pipeline, and at the same time drives the push plate to clamp the sliding sleeve;

[0016] The second driving member controls the push plate to extend and makes the sliding sleeve squeeze the hinge rod to rotate, and the rotated hinge rod drives the fastening part to open;

[0017] Collect an image of the sewage discharge compartment and obtain the position information of the sewage discharge port;

[0018] According to the position information of the sewage discharge port, control the clamping jaws to drive the sewage suction pipeline to move and insert the insertion pipe into the sewage discharge port until the end faces of the fixed sleeve and the connecting sleeve are in contact;

[0019] The second driving member controls the push plate to retract and makes the sliding sleeve pull the hinge rod to rotate, and the rotated hinge rod drives the fastening part to be fastened on the connecting sleeve.

[0020] In an embodiment of the present invention, in the step of collecting an image of the sewage discharge compartment and obtaining the position information of the sewage discharge port, it further includes:

[0021] Collect the image of the sewage discharge box and identify the side door from the image;

[0022] Control the clamping assembly to adjust its position and posture, and drive the sponge suction cup to adsorb and open the side door according to the position of the side door;

[0023] Collect the image of the sewage discharge box again and identify the sewage outlet from the image;

[0024] Perform coordinate transformation on the pixel coordinates of the sewage outlet to obtain the position information of the sewage outlet;

[0025] In the embodiment of the present invention, in the step of controlling the clamping jaw to drive the sewage suction pipe to move according to the position information of the sewage outlet and inserting the insertion pipe into the sewage outlet until the end faces of the fixed sleeve and the connecting sleeve are in contact, it further includes:

[0026] Control the clamping assembly to adjust its position and posture, and drive the clamping jaw to insert the insertion pipe into the sewage outlet according to the position information of the sewage outlet;

[0027] The torque sensor judges the insertion depth of the insertion pipe by detecting the force on the clamping base;

[0028] When the torque detected by the torque sensor is equal to the preset torque, it is determined that the insertion pipe is completely inserted into the sewage outlet, and at this time, the end face of the fixed sleeve is in contact with the end face of the connecting sleeve.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] The first driving member drives the clamping jaw to clamp the sewage suction pipe, and the push plate follows the clamping jaw to move synchronously and clamp the sliding sleeve. Then, the second driving member drives the push plate to slide along the sewage suction pipe and drives the hinge rod to rotate so that the hinge rod opens, so that the sewage discharge robot can control the clamping assembly to drive the sewage suction pipe to move, and connect the sewage suction pipe with the sewage outlet in a plug-in manner. Finally, the second driving member drives the push plate to slide reversely along the sewage suction pipe and drives the hinge rod to rotate reversely, so that the hinge rod is buckled on the sewage outlet, thereby realizing the quick connection between the sewage suction pipe and the sewage outlet. Compared with the threaded connection method in the prior art, the end fixture of the present invention can greatly improve the connection speed between the sewage suction pipe and the sewage outlet and improve the sewage discharge efficiency of the train sewage discharge operation.

[0031] Other features and advantages of the embodiments of the present invention will be described in the subsequent specific implementation embodiments section. Brief Description of the Drawings

[0032] To more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 Schematic three-dimensional structure diagram of the end effector mounted on the sewage cleaning robot provided by the embodiment of the present application;

[0034] Figure 2 Schematic diagram of the first state structure of the end effector provided by the embodiment of the present application;

[0035] Figure 3 Schematic diagram of the second state structure of the end effector provided by the embodiment of the present application;

[0036] Figure 4 For Figure 2 The enlarged view at position A in

[0037] Figure 5 For Figure 3 The enlarged view at position B in

[0038] Figure 6 Flowchart of the steps of the sewage cleaning method provided by the embodiment of the present application;

[0039] Figure 7 Flowchart of the further steps in step S4 of the sewage cleaning method provided by the embodiment of the present application;

[0040] Figure 8 Flowchart of the further steps in step S3 of the sewage cleaning method provided by the embodiment of the present application.

[0041] Among them, the reference numerals are explained as follows:

[0042] 1. End effector; 2. Sewage cleaning robot; 3. Sewage suction pipe; 4. Sewage outlet; 11. Clamping assembly; 12. Buckling assembly; 111. Clamping base; 112. Claw; 113. Push plate; 114. Second driving member; 115. Sponge suction cup; 116. Torque sensor; 121. Sliding sleeve; 122. Fixed sleeve; 123. Connecting sleeve; 124. Hinge rod; 125. Spring; 126. Insertion pipe; 1211. First hinge seat; 1221. Second hinge seat; 1222. Third hinge seat; 1241. First connecting rod; 1242. Second connecting rod; 1243. Third connecting rod. Specific embodiments

[0043] Descriptions of terms such as "second direction", "first direction", "third direction", "inner", "outer", etc. indicating orientation or positional relationships, unless otherwise specifically stated, are understood to be based on the orientation or positional relationships shown in the drawings. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present application.

[0044] In addition, features limited by "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Features limited by "first" and "second" may explicitly or implicitly include at least one of the limited features. When the description "a plurality" appears, the general meaning is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0045] In the present application, unless otherwise clearly specified and limited, terms such as "installed", "connected", "joined", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection, can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0046] In the description of this specification, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples.

[0047] Referring to Figures 1 - 5 , in order to solve the problems in the prior art, the present invention provides an end fixture 1 applied to an intelligent sewage discharge robot. The end fixture 1 includes a clamping assembly 11 and a fastening assembly 12. The clamping assembly 11 is installed at the end of the sewage discharge robot 2 to clamp the sewage suction pipe 3, and the fastening assembly 12 is installed at the end of the sewage suction pipe 3 to be connected to the sewage discharge port 4 of the train;

[0048] The fastening assembly 12 includes a sliding sleeve 121, a fixed sleeve 122, a connecting sleeve 123 and a hinge rod 124. The sliding sleeve 121 is slidably connected to the sewage suction pipe 3. The fixed sleeve 122 is fixed to the end of the sewage suction pipe 3. Two ends of the hinge rod 124 are respectively hinged to the sliding sleeve 121 and the fixed sleeve 122. The connecting sleeve 123 is installed at the end of the sewage discharge port 4 for the hinge rod 124 to fasten.

[0049] The clamping assembly 11 includes a clamping base 111, clamping jaws 112, a push plate 113, a first driving member (not shown in the figure) and a second driving member 114. The clamping base 111 is installed at the end of the sewage discharging robot 2. The clamping jaws 112 are symmetrically arranged on both sides of the clamping base 111 and relatively slide along the clamping base 111 under the drive of the first driving member to clamp the sewage suction pipe 3. The second driving members 114 are symmetrically arranged on both sides of the clamping base 111 and connected to the push plate 113 to drive the push plate 113 to clamp the sliding sleeve 121 under the sliding of the clamping jaws 112, and drive the push plate 113 to drive the sliding sleeve 121 to slide under the drive of the second driving member 114 and make the hinge rod 124 fasten to the connecting sleeve 123.

[0050] By installing the clamping assembly 11 at the end of the sewage discharging robot 2 and installing the fastening assembly 12 at the end of the sewage suction pipe 3, when discharging sewage from the train, the sewage discharging robot 2 drives the clamping assembly 11 to move, and the clamping jaws 112 are driven by the first driving member to clamp the sewage suction pipe 3. The push plate 113 moves synchronously with the clamping jaws 112 and clamps the sliding sleeve 121. Subsequently, the second driving member 114 drives the push plate 113 to slide along the sewage suction pipe 3 and drive the hinge rod 124 to rotate, so that the hinge rod 124 is opened. Then, the sewage discharging robot 2 controls the clamping assembly 11 to drive the sewage suction pipe 3 to move, and the sewage suction pipe 3 is inserted and connected to the sewage discharge port 4. Finally, the second driving member 114 drives the push plate 113 to slide reversely along the sewage suction pipe 3 and drive the hinge rod 124 to rotate reversely, so that the hinge rod 124 is fastened to the sewage discharge port 4, thereby realizing the quick connection between the sewage suction pipe 3 and the sewage discharge port 4. Compared with the threaded connection method in the prior art, the end fixture 1 of the present invention can greatly improve the connection speed between the sewage suction pipe 3 and the sewage discharge port 4 and improve the sewage discharging efficiency of the train sewage discharging operation.

[0051] As Figure 2 and Figure 3 shown, after the clamping jaws 112 clamp the sewage suction pipe 3 under the action of the first driving member, the second driving member 114 drives the push plate 113 to drive the sliding sleeve 121 to move to the right, and the moved state is as Figure 2As shown, in this state, the sliding sleeve 121 pushes the articulated rod 124 to rotate, and the end of the articulated rod 124 forms an open state, so as to facilitate the insertion connection between the sewage suction pipe 3 and the sewage discharge port 4. After the sewage suction pipe 3 and the sewage discharge port 4 are inserted and connected, the second driving member 114 drives the push plate 113 to drive the sliding sleeve 121 to move leftward, and the state after movement is as shown in Figure 3 As shown, in this state, the sliding sleeve 121 pulls the articulated rod 124 to rotate, and the end of the articulated rod 124 forms a buckling state, so that the articulated rod 124 buckles with the connecting sleeve 123 to prevent the sewage suction pipe 3 from detaching from the sewage discharge port 4.

[0052] Referring to Figure 3 and Figure 4 , in the embodiment of the present invention, the articulated rod 124 includes a first connecting rod 1241, a second connecting rod 1242 and a third connecting rod 1243. A first hinge seat 1211 for the first connecting rod 1241 to be hinged is provided on the sliding sleeve 121. A second hinge seat 1221 for the second connecting rod 1242 to be hinged and a third hinge seat 1222 for the third connecting rod 1243 to be hinged are provided on the fixed sleeve 122. The first connecting rod 1241 is hinged to the second connecting rod 1242. A bending portion is provided at one end of the second connecting rod 1242 away from the first connecting rod 1241. A sliding groove and a buckling portion are respectively provided at both ends of the third connecting rod 1243. The bending portion is slidably connected to the sliding groove, and the buckling portion can be buckled with the connecting sleeve 123 by sliding the bending portion along the sliding groove.

[0053] When the sliding sleeve 121 moves to the right, it can push the first connecting rod 1241 to move to the right, and at the same time make the first connecting rod 1241 rotate outward around the first hinge seat 1211. During the rotation process, the second connecting rod 1242 is driven to rotate outward around the second hinge base. The bending portion moves from the leftmost side of the sliding groove to the rightmost side and drives the third connecting rod 1243 to rotate around the third hinge seat 1222, so that the buckling portion forms an open state, so as to facilitate the insertion connection between the sewage suction pipe 3 and the sewage discharge port 4. On the contrary, when the sliding sleeve 121 moves to the left, it can pull the first connecting rod 1241 to move to the left, and at the same time make the first connecting rod 1241 rotate inward around the first hinge seat 1211. During the rotation process, the second connecting rod 1242 is driven to rotate inward around the second hinge base. The bending portion moves from the rightmost side of the sliding groove to the leftmost side and drives the third connecting rod 1243 to rotate around the third hinge seat 1222, so that the buckling portion forms a buckling state, so that the buckling portion buckles on the connecting sleeve 123 to prevent the sewage suction pipe 3 from detaching from the sewage discharge port 4.

[0054] In an embodiment of the present invention, the second connecting rod 1242 and the bending portion are arranged at an angle, and the corner is hinged to the second hinge seat 1221, so that when the second connecting rod 1242 rotates, it drives the bending portion to rotate synchronously. The end of the bending portion is slidably connected to the chute. When the bending portion slides to one side of the chute, it drives the fastening portion to open for the sewage suction pipe 3 to be inserted into the sewage discharge port 4. When the bending portion slides to one side of the chute, it drives the fastening portion to fasten, so that after the sewage suction pipe 3 is inserted into the sewage discharge port 4, the fastening portion is fastened to the connecting sleeve 123, thereby realizing the quick connection between the sewage suction pipe 3 and the sewage discharge port 4 and improving the sewage discharge efficiency of the train.

[0055] In an embodiment of the present invention, the fastening assembly 12 further includes a spring 125. The spring 125 is sleeved on the sewage suction pipe 3, and its two ends respectively abut against the sliding sleeve 121 and the fixed sleeve 122 to drive the sliding sleeve 121 away from the fixed sleeve 122 and drive the fastening portion to maintain the fastening state through the hinge rod 124. Thus, after the sewage suction pipe 3 is connected to the sewage discharge port 4, the first driving member can directly control the clamping jaw 112 to release the sewage suction pipe 3, and at the same time, the push plate 113 releases the sliding sleeve 121. At this time, under the action of the spring 125, the elastic force is released to push the sliding sleeve 121 to move leftward, thereby driving the fastening portion to fasten to the connecting sleeve 123, improving the connection efficiency between the sewage suction pipe 3 and the sewage discharge port 4. At the same time, under the elastic force of the spring 125, it prevents the fastening portion from detaching from the connecting sleeve 123, improving the connection stability between the sewage suction pipe 3 and the sewage discharge port 4.

[0056] In an embodiment of the present invention, the sliding sleeve 121 and the sewage suction pipe 3 adopt an interference fit. The inner diameter of the sliding sleeve 121 is adapted to the outer diameter of the sewage suction pipe 3, and an anti-slip ring is provided on the inner wall of the sliding sleeve 121 to keep the sliding sleeve 121 in place after it moves. Thus, after the sewage suction pipe 3 is connected to the sewage discharge port 4, the second driving member 114 controls the push plate 113 to retract and pulls the sliding sleeve 121 to move leftward, thereby driving the fastening portion to fasten to the connecting sleeve 123, improving the connection efficiency between the sewage suction pipe 3 and the sewage discharge port 4. At this time, the first driving member can control the clamping jaw 112 to release the sewage suction pipe 3, and at the same time, the push plate 113 releases the sliding sleeve 121. The sliding sleeve 121 is kept in a fixed position on the sewage suction pipe 3 under the action of the anti-slip ring to prevent the anti-slip sleeve from shifting, which may cause the fastening portion to detach from the connecting sleeve 123, improving the connection stability between the sewage suction pipe 3 and the sewage discharge port 4.

[0057] In an embodiment of the present invention, at least two first hinge seats 1211 are arranged in a circumferential array along the sliding sleeve 121, and at least two second hinge seats 1221 and third hinge seats 1222 are arranged in a circumferential array along the fixed sleeve 122. The number and positions of the hinge rods 124 correspond to those of the first hinge seats 1211, second hinge seats 1221, and third hinge seats 1222. The first link 1241 in one set of hinge rods 124 is hingedly connected to the corresponding first hinge seat 1211, the second link 1242 is hingedly connected to the corresponding second hinge seat 1221, and the third link 1243 is hingedly connected to the corresponding third hinge seat 1222. The two ends of the second link are respectively hingedly connected to the corresponding first link 1241 and third link 1243. When the second driving member 114 drives the sliding sleeve 121 to slide, at least two sets of hinge rods 124 are driven to rotate synchronously, so that the fastening portion fastens around the connecting sleeve 123, improving the fastening stability between the fastening portion and the connecting sleeve 123.

[0058] In an embodiment of the present invention, the clamping assembly 11 further includes a sponge suction cup 115 and a torque sensor 116. The sponge suction cups 115 are symmetrically arranged on both sides of the clamping base 111 and fixedly connected to the bottom of the clamping jaws 112 to adsorb the side door on the train sewage discharge compartment. The torque sensor 116 is arranged on the clamping base 111 to detect the force on the clamping base 111. During the connection process of the sewage suction pipe 3 and the sewage discharge port 4, the sewage cleaning robot 2 determines whether the sewage suction pipe 3 and the sewage discharge port 4 are connected in place according to the force detected by the torque sensor 116. Then, after the sewage suction pipe 3 and the sewage discharge port 4 are connected in place, the second driving member 114 drives the push plate 113 to pull the sliding sleeve 121 to move leftward, so that the hinge rods 124 rotate and drive the fastening portion to fasten onto the connecting sleeve 123.

[0059] In an embodiment of the present invention, the clamping assembly 11 further includes a pressure sensor, which is arranged inside the sewage suction pipe 3 to detect the sewage suction pressure. The fastening assembly 12 further includes an insertion pipe 126 threadedly connected to the sewage discharge port. The insertion pipe 126 is fixed to the end of the fixed sleeve 122, and when the insertion pipe 126 is threadedly connected to the sewage discharge port 4, the torque sensor is triggered to detect the force on the clamping base 111. At the same time, in combination with the sewage suction pressure detected by the pressure sensor, it is determined whether the connection between the insertion pipe and the sewage discharge port is in place. That is, when the sewage cleaning robot 2 drives the end fixture 1 to rotate the sewage suction pipe 3 and threadedly connect it to the sewage discharge port 4, the insertion pipe 126 is brought close to the sewage discharge port 4, and the torque sensor is used to detect the force on the clamping base 111 to determine whether the threaded connection between the insertion pipe 126 and the sewage discharge port 4 is slipping or misaligned.

[0060] When the thread of the insertion pipe 126 and the sewage discharge port 4 becomes loose, the sewage disposal robot 2 drives the end fixture 1 to clamp the sewage suction pipe 3 and rotate it in the reverse direction, so that the insertion pipe 126 is withdrawn from the sewage discharge port 4, facilitating the sewage disposal robot 2 to drive the insertion pipe 126 to reconnect with the sewage discharge port 4 by threading; when the teeth of the insertion pipe 126 and the sewage discharge port 4 are misaligned, the sewage disposal robot 2 drives the end fixture 1 to clamp the sewage suction pipe 3 and rotate it in the reverse direction, so that the insertion pipe 126 is withdrawn from the sewage discharge port 4, and at the same time, an alarm prompt is issued, facilitating the operator to replace the loose-threaded insertion pipe 126; after the threaded connection between the insertion pipe 126 and the sewage discharge port 4 is in place, by opening the sewage suction valve on the sewage suction box, the sewage discharge valve on the sewage discharge port 4 remains closed, so that the sewage suction box tests the adsorption through the sewage suction pipe 3, and the pressure sensor detects the pressure in the sewage suction pipe, thereby determining whether there is leakage in the connection between the insertion pipe 126 and the sewage discharge port 4. When it is detected that there is no leakage in the connection between the insertion pipe 126 and the sewage discharge port 3, the sewage discharge valve on the sewage discharge port 4 can be opened, so that the sewage suction pipe 3 extracts the dirt in the sewage disposal box through the sewage discharge port 4. At the same time, during the sewage suction operation, the pressure sensor continuously detects the pressure in the sewage suction pipe 3 to detect whether the sewage suction pipe 3 is blocked and whether the sewage suction is completed.

[0061] In an embodiment of the present invention, a sealing ring is provided on the circumferential surface of the insertion pipe 126 to seal the sewage discharge port 4, so that after the sewage suction pipe 3 is connected to the sewage discharge port 4, the sealing performance of the connection between the sewage suction pipe 3 and the sewage discharge port 4 is increased under the action of the sealing ring, preventing leakage during the train sewage disposal operation.

[0062] Refer to Figure 6 , to solve the problems in the prior art, the present invention also provides a sewage disposal method applied to an intelligent sewage disposal robot, which is applied to the above-mentioned end fixture. The sewage disposal method includes:

[0063] S1: The sewage disposal robot drives the clamping assembly to move, and the first driving member controls the jaws to clamp the sewage suction pipe, and at the same time drives the push plate to clamp the sliding sleeve;

[0064] S2: The second driving member controls the push plate to extend and makes the sliding sleeve squeeze the hinge rod to rotate, and the rotated hinge rod drives the fastening part to open;

[0065] S3: Collect the image of the sewage disposal box and obtain the position information of the sewage discharge port;

[0066] S4: According to the position information of the sewage discharge port, control the jaws to drive the sewage suction pipe to move and insert the insertion pipe into the sewage discharge port until the end faces of the fixed sleeve and the connecting sleeve are in contact;

[0067] S5: The second driving member controls the push plate to retract and makes the sliding sleeve pull the hinge rod to rotate, and the rotated hinge rod drives the fastening part to fasten on the connecting sleeve.

[0068] When performing the train sewage discharge operation, first install the end fixture at the end of the sewage discharge robot, so that the sewage discharge robot drives the fixture to move and makes the jaws clamp the sewage suction pipe, and at the same time makes the push plate clamp the sliding sleeve. Then, control the second driving member to extend to push the push plate to move towards one side of the fixed sleeve, drive the articulated rod to rotate at the same time, and make the articulated rod open. Then, control the image acquisition device on the sewage discharge robot to collect the position information of the sewage discharge port, so that the sewage discharge robot drives the jaws to insert the sewage suction pipe into the sewage discharge port according to the position information of the sewage discharge port, that is, insert the insertion pipe into the sewage discharge port until the end faces of the fixed sleeve and the connecting sleeve are in contact. Finally, control the second driving member to retract to pull the push plate to move in the reverse direction, drive the articulated rod to rotate in the reverse direction at the same time, and then make the articulated rod buckle, and make the buckling part buckle to the connecting sleeve, so as to realize the rapid connection between the sewage suction pipe and the sewage discharge port. Compared with the threaded connection method in the prior art, the end fixture of the present invention can greatly improve the connection speed between the sewage suction pipe and the sewage discharge port and improve the sewage discharge efficiency of the train sewage discharge operation.

[0069] Refer to Figure 7 In the embodiment of the present invention, in the step of collecting the image of the sewage discharge compartment and obtaining the position information of the sewage discharge port, it further includes:

[0070] S31: Collect the image of the sewage discharge compartment and identify the side door from the image;

[0071] S32: Control the clamping assembly to adjust the pose and drive the sponge suction cup to adsorb and open the side door according to the position of the side door;

[0072] S33: Collect the image of the sewage discharge compartment again and identify the sewage discharge port from the image;

[0073] S34: Perform coordinate transformation on the pixel coordinates of the sewage discharge port to obtain the position information of the sewage discharge port;

[0074] After the image acquisition device on the sewage discharge robot collects and identifies the side door, control the clamping assembly to adjust the pose so that the sponge suction cup at the bottom of the jaws faces the side door directly, drive the sponge suction cup to adsorb on the side door under the movement of the sewage discharge robot, then open the side door and expose the sewage discharge port. Subsequently, the image acquisition device collects and identifies the sewage discharge port, and obtains the position information of the sewage discharge port by means of coordinate transformation, so as to facilitate the subsequent connection between the sewage suction pipe and the sewage discharge port.

[0075] Refer to Figure 8 In the embodiment of the present invention, in the step of controlling the jaws to drive the sewage suction pipe to move according to the position information of the sewage discharge port and insert the insertion pipe into the sewage discharge port until the end faces of the fixed sleeve and the connecting sleeve are in contact, it further includes:

[0076] S41: Control the clamping assembly to adjust its position and pose, and drive the jaws to insert the insertion pipe into the sewage outlet according to the position information of the sewage outlet;

[0077] S42: The torque sensor determines the insertion depth of the insertion pipe by detecting the force on the clamping base;

[0078] S43: When the torque detected by the torque sensor is equal to the preset torque, it is determined that the insertion pipe is fully inserted into the sewage outlet. At this time, the end face of the fixing sleeve is in contact with the end face of the connecting sleeve.

[0079] After obtaining the position information of the sewage outlet, control the sewage robot to drive the clamping assembly to adjust its position and pose, so that the jaws drive the sewage suction pipe to move and make the position of the sewage suction pipe correspond to the sewage outlet. Subsequently, control the sewage robot to drive the sewage suction pipe to advance towards the sewage outlet direction, so that the insertion pipe is inserted into the sewage outlet. During the insertion process, the torque detected by the torque sensor is used to determine the insertion depth of the insertion pipe. When the torque detected by the torque sensor is equal to the preset torque, it is determined that the insertion pipe is fully inserted into the sewage outlet. At this time, the end face of the fixing sleeve is in contact with the end face of the connecting sleeve. Furthermore, the second driving member can be controlled to pull the push plate to retract, and the sliding sleeve is made to pull the hinge joint to rotate, so that the fastening portion is fastened to the connecting sleeve, preventing the sewage suction pipe from separating from the sewage outlet.

[0080] The above-described technical features can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification, as long as such a combination does not exist in contradiction.

[0081] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: they can still adjust the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these adjustments or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An end fixture applied to an intelligent sewage drainage robot, characterized in that The end fixture includes a clamping component and a fastening component. The clamping component is installed at the end of the sewage robot to clamp the sewage suction pipe, and the fastening component is installed at the end of the sewage suction pipe to connect with the sewage outlet of the train. The fastening component includes a sliding sleeve, a fixed sleeve, a connecting sleeve, and a hinged rod. The sliding sleeve is slidably connected to the sewage suction pipe. The fixed sleeve is fixed to the end of the sewage suction pipe. The two ends of the hinged rod are respectively hinged to the sliding sleeve and the fixed sleeve. The connecting sleeve is installed at the end of the sewage outlet for the hinged rod to fasten. The clamping component includes a clamping base, clamping jaws, a push plate, a first driving member, and a second driving member. The clamping base is installed at the end of the sewage robot. The clamping jaws are symmetrically arranged on both sides of the clamping base and relatively slide along the clamping base under the drive of the first driving member to clamp the sewage suction pipe. The second driving members are symmetrically arranged on both sides of the clamping base and connected to the push plate to drive the push plate to clamp the sliding sleeve under the sliding of the clamping jaws, and drive the push plate to drive the sliding sleeve to slide under the drive of the second driving member so that the hinged rod is fastened to the connecting sleeve.

2. The end effector according to claim 1, wherein, The hinged rod includes a first connecting rod, a second connecting rod, and a third connecting rod. A first hinge seat for the first connecting rod to be hinged is arranged on the sliding sleeve. A second hinge seat for the second connecting rod to be hinged and a third hinge seat for the third connecting rod to be hinged are arranged on the fixed sleeve. The first connecting rod is hingedly connected to the second connecting rod. A bending portion is arranged at one end of the second connecting rod away from the first connecting rod. A chute and a fastening portion are respectively arranged at both ends of the third connecting rod. The bending portion is slidably connected to the chute, and the fastening portion can be fastened to the connecting sleeve when the bending portion slides along the chute.

3. The end effector according to claim 2, wherein, The second connecting rod and the bending portion are arranged at an angle, and the corner is hingedly connected to the second hinge seat. The end of the bending portion is slidably connected to the chute. When the bending portion slides to one side of the chute, it drives the fastening portion to open for the sewage suction pipe to be inserted into the sewage outlet. When the bending portion slides to one side of the chute, it drives the fastening portion to be fastened to fasten the fastening portion on the connecting sleeve after the sewage suction pipe is inserted into the sewage outlet.

4. The end effector according to claim 2, wherein, The fastening component further includes a spring. The spring is sleeved on the sewage suction pipe, and both ends of the spring respectively abut against the sliding sleeve and the fixed sleeve to drive the sliding sleeve away from the fixed sleeve and drive the fastening portion to maintain a fastened state through the hinged rod.

5. The end effector according to claim 2, wherein, The inner diameter of the sliding sleeve is adapted to the outer diameter of the sewage suction pipe, and an anti-slip ring is arranged on the inner wall of the sliding sleeve so that the sliding sleeve remains in place after moving.

6. The end effector according to claim 2, wherein At least two first hinge seats are arranged in a circumferential array along the sliding sleeve, at least two second hinge seats and third hinge seats are arranged in a circumferential array along the fixed sleeve, and the number and positions of the hinge rods correspond to those of the first hinge seats, second hinge seats, and third hinge seats. The first link in one group of the hinge rods is hinged to the corresponding first hinge seat, the second link is hinged to the corresponding second hinge seat, and the third link is hinged to the corresponding third hinge seat. The two ends of the second link are respectively hinged to the corresponding first link and third link.

7. The end effector according to claim 1, wherein The clamping assembly further includes a sponge suction cup and a torque sensor. The sponge suction cups are symmetrically arranged on both sides of the clamping base and fixedly connected to the bottom of the clamping jaws to adsorb the side door on the train sewage discharge compartment. The torque sensor is arranged on the clamping base to detect the force on the clamping base.

8. The end effector according to claim 7, characterized in that, The clamping assembly further includes a pressure sensor, which is arranged in the sewage suction pipe to detect the sewage suction pressure. The fastening assembly further includes an insertion pipe threadedly connected to the sewage discharge port. The insertion pipe is fixed to the end of the fixed sleeve, and when the insertion pipe is threadedly connected to the sewage discharge port, the torque sensor is triggered to detect the force on the clamping base, and at the same time, the sewage suction pressure detected by the pressure sensor is combined to judge whether the connection between the insertion pipe and the sewage discharge port is in place.

9. A sewage discharge method applied to an intelligent sewage discharge robot, which is applied to the end fixture according to any one of claims 1-8, and is characterized in that, The sewage discharge method includes: The sewage discharge robot drives the clamping assembly to move, and the first driving member controls the clamping jaws to clamp the sewage suction pipe, and at the same time drives the push plate to clamp the sliding sleeve; The second driving member controls the push plate to extend and makes the sliding sleeve squeeze the hinge rod to rotate, and the rotated hinge rod drives the fastening part to open; Collect the image of the sewage discharge compartment and obtain the position information of the sewage discharge port; According to the position information of the sewage discharge port, control the clamping jaws to drive the sewage suction pipe to move and insert the insertion pipe into the sewage discharge port until the end faces of the fixed sleeve and the connecting sleeve are in contact; The second driving member controls the push plate to retract and makes the sliding sleeve pull the hinge rod to rotate, and the rotated hinge rod drives the fastening part to be fastened on the connecting sleeve.

10. The sewage discharge method according to claim 9, characterized in that, In the step of collecting the image of the sewage discharge compartment and obtaining the position information of the sewage discharge port, it further includes: Collect the image of the sewage discharge compartment and identify the side door from the image; Control the clamping assembly to adjust its pose, and drive the sponge suction cup to adsorb and open the side door according to the position of the side door; Collect the image of the sewage discharge compartment again and identify the sewage discharge port from the image; Perform coordinate transformation on the pixel coordinates of the sewage discharge port to obtain the position information of the sewage discharge port; In the step of controlling the clamping jaws to drive the sewage suction pipe to move and insert the insertion pipe into the sewage discharge port until the end faces of the fixed sleeve and the connecting sleeve are in contact according to the position information of the sewage discharge port, it further includes: Control the clamping assembly to adjust its pose, and drive the clamping jaws to insert the insertion pipe into the sewage discharge port according to the position information of the sewage discharge port; The torque sensor judges the insertion depth of the insertion pipe by detecting the force on the clamping base; When the torque detected by the torque sensor is equal to the preset torque, it is determined that the insertion pipe is completely inserted into the sewage discharge port, and at this time, the end face of the fixed sleeve is in contact with the end face of the connecting sleeve.

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