Manipulator and trough type cleaning machine

Abstract

The utility model relates to the technical field of groove type cleaning machines, in particular to a mechanical arm and a groove type cleaning machine. The mechanical arm comprises a driving assembly, a sliding frame, a sealing belt and a sealing plate, the sliding frame penetrates out of a sliding groove, the driving assembly drives the sliding frame to move along the sliding groove, the two ends of the sealing belt extend to the upper end and the lower end in the extending direction of the sliding groove respectively, the sealing belt comprises a sealing part and a surrounding part, and the sealing part is arranged in part of the sliding groove in a blocking mode. The surrounding part is arranged in the circumferential direction of the sliding frame in the cabinet body in a surrounding mode, the sealing part can block the part, except the part right opposite to the sliding frame, of the sliding groove, the sealing plate is arranged on the sliding frame and can block the sliding groove right opposite to the surrounding part, movable sealing of the sliding groove is jointly achieved through the sealing belt and the sealing plate, and the service life of the mechanical arm is prolonged. According to the trough type cleaning machine, the mechanical arm can be prevented from being damaged by external corrosive gas or dust through the mechanical arm, so that the trough type cleaning machine is prevented from breaking down, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tank-type cleaning machines, in particular to a manipulator and a tank-type cleaning machine. Background Art

[0002] Existing trough cleaning machines usually use a cantilever manipulator to transport workpieces. The cantilever manipulator usually includes a fixed column-type motor cabinet and a cantilever that can move up and down. A drive motor is arranged in the motor cabinet, and the output end of the drive motor is connected to the cantilever to drive the cantilever to move up and down. In order to avoid motion interference with the cantilever, a through slide slot is usually opened on the motor cabinet. The cantilever passes through both sides of the slide slot and needs to move up and down in the slide slot, which makes it difficult to seal the slide slot. External corrosive gases or dust can easily enter the motor cabinet through the slide slot and affect the service life of the drive motor. Utility Model Content

[0003] The first purpose of the utility model is to provide a manipulator that can improve the sealing performance of the manipulator, prevent external corrosive gases or dust from entering the cabinet through the slide groove, and extend the service life of the manipulator.

[0004] The second object of the utility model is to provide a tank-type cleaning machine, which can extend the service life and improve the cleaning efficiency by applying the above-mentioned manipulator.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A robot arm, comprising:

[0007] A cabinet body, wherein the cabinet body is provided with a slide groove;

[0008] A driving mechanism, the driving mechanism comprising a driving assembly and a sliding frame, the driving assembly being disposed in the cabinet and being in driving connection with the sliding frame to drive the sliding frame to move along the sliding slot, and part of the sliding frame passing through the sliding slot;

[0009] A sealing belt is fixedly installed inside the cabinet, and two ends of the sealing belt extend to the upper and lower ends of the extending direction of the slide groove respectively. The sealing belt includes a sealing portion and a surrounding portion. The sealing portion is sealed and arranged in a part of the slide groove, and the surrounding portion is arranged around the circumference of the sliding frame inside the cabinet;

[0010] A sealing plate is arranged on the sliding frame, and the sealing plate blocks another part of the sliding groove that the surrounding part faces.

[0011] Preferably, the slide groove comprises a first groove body and a second groove body that are connected, and a first step surface is provided between the first groove body and the second groove body;

[0012] The sealing plate includes a first plate and a second plate connected to each other, the first plate overlaps the first step surface, and the second plate passes through the second groove body and is connected to the sliding frame.

[0013] Preferably, the mounting platform is protrudingly provided on a side of the second plate facing away from the first plate, and the mounting platform is connected to the sliding frame.

[0014] Preferably, the outer surface of the first plate is located in the first slot or is coplanar with the outer surface of the cabinet.

[0015] Preferably, the slide groove further includes a third groove body, a second step surface is provided between the third groove body and the second groove body, the sealing portion of the sealing belt is located in the third groove body, and a side of the sealing portion close to the second groove body is tightly attached to the second step surface.

[0016] Preferably, the sliding frame comprises a main frame body and a side plate, the main frame body is located in the cabinet body and is transmission-connected to the driving assembly;

[0017] The side plate includes a connected horizontal portion and a vertical portion, the vertical portion is connected to the main frame, and the horizontal portion passes through the slide groove; the sealing plate is arranged on the vertical portion and is located below the horizontal portion.

[0018] Preferably, the driving mechanism further comprises a pulley block, the pulley block is arranged on the main frame, and part of the sealing belt is wound around the pulley block to form the surrounding portion.

[0019] Preferably, the pulley group includes two pressing pulleys and two lifting pulleys, and the two pressing pulleys and the two lifting pulleys are circumferentially spaced apart on the main frame. The pressing pulley is arranged on the outer side of the sealing belt and is located at the junction of the sealing part and the surrounding part to press the sealing belt tightly against the slide groove. The lifting pulley is arranged on the inner side of the sealing belt to lift the sealing belt from the slide groove to form the surrounding part.

[0020] Preferably, the driving assembly comprises a screw rod and a nut block which are threadably matched, and the nut block is fixedly connected to the sliding frame.

[0021] On the other hand, the utility model further provides a tank cleaning machine, comprising a cleaning tank and a manipulator in any of the above schemes, wherein the manipulator can move in a direction approaching or away from the cleaning tank.

[0022] Beneficial effects of the utility model:

[0023] The utility model provides a manipulator, comprising a cabinet, a driving mechanism, a sealing belt and a sealing plate, the cabinet is provided with a slide slot, the driving mechanism comprises a driving assembly and a sliding frame, the driving assembly is arranged in the cabinet and is transmission-connected to the sliding frame to drive the sliding frame to move along the slide slot, a part of the sliding frame passes through the slide slot, the sealing belt is fixedly installed in the cabinet, two ends of the sealing belt respectively extend to the upper and lower ends of the slide slot extending direction, the sealing belt comprises a sealing part and a surrounding part, the sealing part is sealed and arranged in a part of the slide slot, the surrounding part is arranged around the circumference of the sliding frame inside the cabinet, the sealing part can seal the part of the slide slot except the part directly facing the sliding frame, the surrounding part is arranged around the circumference of the sliding frame, so that the sliding frame can pass through the slide slot and move up and down without being interfered by the sealing belt, the sealing plate is arranged on the sliding frame, and can seal another part of the slide slot directly facing the surrounding part, the movable sealing of the slide slot is jointly realized by the sealing belt and the sealing plate, so that the sliding frame can move up and down along the slide slot while preventing external corrosive gas or dust from entering the cabinet through the slide slot, thereby extending the service life of the manipulator.

[0024] The utility model also provides a tank cleaning machine, including a cleaning tank and the above-mentioned manipulator, wherein the manipulator can move in a direction close to or away from the cleaning tank. Through the above-mentioned manipulator, the service life of the tank cleaning machine is greatly increased, and the operation of the tank cleaning machine is not affected by failure of the manipulator, thereby improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view of the manipulator provided by the utility model;

[0026] Figure 2 It is a structural schematic diagram of the manipulator provided by the utility model;

[0027] Figure 3 yes Figure 2 A partial enlarged view of the middle A;

[0028] Figure 4 It is a schematic diagram of the installation of the sliding frame and the driving assembly of the utility model;

[0029] Figure 5 It is a cross-sectional view of the chute of the utility model;

[0030] Figure 6 It is a structural schematic diagram of the sealing plate of the utility model.

[0031] In the figure:

[0032] 100, cabinet body; 110, slide slot; 111, first slot body; 112, second slot body; 113, third slot body;

[0033] 20. Driving mechanism; 21. Driving assembly; 211. Screw rod; 212. Nut block; 22. Sliding frame; 221. Main frame; 222. Side plate; 2221. Horizontal part; 2222. Vertical part; 23. Pulley block; 231. Pressing pulley; 232. Lifting pulley;

[0034] 30. Sealing tape;

[0035] 40. Sealing plate; 41. First plate; 42. Second plate; 421. Mounting platform. DETAILED DESCRIPTION

[0036] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the present invention are further explained below with reference to the accompanying drawings and through specific implementation methods.

[0037] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0039] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0040] like Figures 1 to 3As shown, this embodiment provides a manipulator, including a cabinet 100, a driving mechanism 20, a sealing belt 30 and a sealing plate 40. The cabinet 100 is provided with a slide groove 110. The driving mechanism 20 includes a driving component 21 and a sliding frame 22. The driving component 21 is arranged in the cabinet 100 and is transmission-connected to the sliding frame 22 to drive the sliding frame 22 to move along the slide groove 110. Part of the sliding frame 22 passes through the slide groove 110, wherein the part of the sliding frame 22 passing through the outside of the slide groove 110 is provided with a grasping mechanism of the manipulator, so as to facilitate the manipulator to grasp and transfer the workpiece; the sealing belt 30 is fixedly installed inside the cabinet 100, and the two ends of the sealing belt 30 extend to the upper and lower ends of the extension direction of the slide groove 110 respectively. The sealing belt 30 includes a sealing portion and a surrounding portion, and the sealing portion is provided with a sealing device. In part of the slide groove 110, the surrounding portion is arranged around the circumference of the sliding frame 22 inside the cabinet 100, and the sealing portion can seal the portion of the slide groove 110 except for the portion directly facing the sliding frame 22. The surrounding portion is arranged around the circumference of the sliding frame 22, so that the sliding frame 22 can move up and down through the slide groove 110 without being interfered with by the sealing belt 30; the sealing plate 40 is arranged on the sliding frame 22, and the sealing plate 40 seals the other part of the slide groove 110 directly facing the surrounding portion. The movable sealing of the slide groove 110 is jointly achieved by the sealing belt 30 and the sealing plate 40, so that the sliding frame 22 can move up and down along the slide groove 110 while preventing external corrosive gases or dust from entering the cabinet 100 through the slide groove 110, thereby affecting the service life of the manipulator.

[0041] like Figure 4 As shown, the sliding frame 22 includes a main frame body 221 and a side panel 222. The main frame body 221 is located in the cabinet body 100 and is transmission-connected to the driving assembly 21. The side panel 222 includes a connected horizontal portion 2221 and a vertical portion 2222. The vertical portion 2222 is connected to the main frame body 221. The horizontal portion 2221 passes through the slide groove 110. The sealing plate 40 is arranged on the vertical portion 2222 and is located below the horizontal portion 2221, thereby blocking the slide groove 110 directly opposite to the vertical portion 2222.

[0042] Among them, the vertical portion 2222 has a certain length, so that the opening area of ​​the part of the slide groove 110 facing the surrounding portion is larger. The sealing plate 40 is provided to seal the part of the slide groove 110 facing the surrounding portion, which makes up for the defect that the sealing belt 30 cannot seal the part of the slide groove 110 facing the surrounding portion, thereby achieving a good sealing effect.

[0043] In this embodiment, the driving mechanism 20 also includes a pulley block 23, which is arranged on the main frame 221. Part of the sealing belt 30 is wound around the pulley block 23 to form a surrounding portion, so that the sealing belt 30 can avoid the sliding frame 22 and avoid interfering with the up and down movement of the sliding frame 22. Specifically, a plurality of connecting members are arranged on the main frame 221 for connecting a plurality of rotating shafts of the pulley block 23. The rotating shafts are arranged around the circumference of the side plate 222, so that each roller of the pulley block 23 is distributed around the circumference of the side plate 222, so that the surrounding portion wound around the pulley block 23 can face the slide groove 110, which is conducive to the smooth sliding of the sealing belt 30, and prevents the sealing belt 30 from falling off the pulley block 23, thereby improving the stability of the operation of the manipulator.

[0044] For ease of description, the side of the sealing belt 30 close to the side plate 222 is regarded as the inner side of the sealing belt 30, and the other side of the sealing belt 30 is regarded as the outer side of the sealing belt 30. Furthermore, the pulley block 23 includes two pressing pulleys 231 and two lifting pulleys 232. Two pressing pulleys 231 and two lifting pulleys 232 are arranged at intervals along the circumferential direction on the main frame 221. The pressing pulley 231 is arranged on the outer side of the sealing belt 30 and is located at the intersection of the sealing portion and the surrounding portion, so as to press the sealing belt 30 against the slide groove 110, thereby forming a sealing portion, and make the side of the sealing portion close to the second groove body 112 close to the second step surface, thereby increasing the contact surface between the sealing portion and the slide groove 110. The lifting pulley 232 is arranged on the inner side of the sealing belt 30 to lift the sealing belt 30 from the slide groove 110 to form a surrounding portion. The two pressing pulleys 231 and the two lifting pulleys 232 cooperate with each other, so that the sealing belt 30 can move relative to the pulley, so that the surrounding portion can move up and down with the main frame 221, and the position of the sealing portion changes accordingly, thereby avoiding the sealing belt 30 from causing motion interference to the sliding frame 22, and realizing the movable sealing of the slide groove 110.

[0045] Optionally, the designer may adaptively adjust the number of the pressing pulleys 231 according to the size, material or sealing requirements of the sealing belt 30, which is not limited here. In other embodiments, the number of the lifting pulleys 232 may also be adaptively adjusted according to the shape of the side plate 222, so that the sealing belt 30 can smoothly slide around the circumference of the side plate 222, which is not limited here.

[0046] In this embodiment, the drive assembly 21 includes a screw rod 211 and a nut block 212 that are threaded together, and the nut block 212 is fixedly connected to the main frame body 221, thereby driving the main frame body 221 to move up and down. The screw rod 211 and the nut block 212 that are threaded together improve the accuracy and stability of the movement of the sliding frame 22 along the extension direction of the slide groove 110. It can be understood that the drive assembly 21 also includes a driving member, such as a motor. The output end of the driving member is connected to the screw rod 211 to drive the sliding frame 22 to move along the extension direction of the slide groove 110 through the screw rod 211 and the nut block 212 that are threaded together. Among them, the connection method between the nut block 212 and the main frame body 221 includes but is not limited to bolts, screws or buckles, etc., and this embodiment does not limit its connection method. In other embodiments, the nut block 212 can also be directly fixedly connected to the side plate 222.

[0047] like Figure 5-6 Combined with Figure 4 As shown, in order to improve the sealing performance of the sealing plate 40 to the slide 110, the slide 110 includes a first slot body 111 and a second slot body 112 that are connected, and a first step surface is provided between the first slot body 111 and the second slot body 112. The sealing plate 40 includes a first plate 41 and a second plate 42 that are connected, and the first plate 41 is overlapped on the first step surface, so that the contact area between the sealing plate 40 and the slide 110 is increased, and even if there is a gap between the sealing plate 40 and the slide 110, the gap channel has a tortuous shape, which can effectively prevent external corrosive gas or dust from entering the cabinet 100. The second plate 42 passes through the second slot body 112 and is connected to the sliding frame 22, so that the sealing plate 40 can move up and down with the side plate 222. Specifically, the second plate 42 is connected to the vertical portion 2222 by fasteners such as bolts to facilitate the installation or removal of the sealing plate 40.

[0048] In this embodiment, a mounting platform 421 is convexly provided on the side of the second plate 42 facing away from the first plate 41, and the mounting platform 421 is connected to the sliding frame 22 (i.e., the vertical portion 2222 of the sliding frame 22), so as to facilitate the connection of the sealing plate 40 with the side plate 222. In this embodiment, the horizontal portion 2221 and the vertical portion 2222 of the side plate 222 are transitioned by an arc. In order to avoid the arc portion of the side plate 222, the upper portion of the mounting platform 421 is shortened to form a step shape, so that the sealing plate 40 can block the slide groove 110 directly facing the vertical portion 2222 to the greatest extent. In other embodiments, the shape of the mounting platform 421 can also be adaptively adjusted according to the shape of the side plate 222, which is not limited here.

[0049] Preferably, the outer surface of the first plate 41 is located in the first groove body 111 or is coplanar with the outer surface of the cabinet 100 , thereby ensuring the flatness and aesthetics of the outer surface of the cabinet 100 .

[0050] Furthermore, the slide groove 110 also includes a third groove body 113, and a second step surface is provided between the third groove body 113 and the second groove body 112. The sealing portion of the sealing belt 30 is located in the third groove body 113, and a side of the sealing portion close to the second groove body 112 is tightly attached to the second step surface, thereby increasing the contact area between the sealing portion and the slide groove 110, which is beneficial to improving the sealing performance of the sealing portion to the slide groove 110.

[0051] The utility model also provides a trough type cleaning machine, including a cleaning trough and the above-mentioned manipulator, wherein the manipulator can move in a direction close to or away from the cleaning trough, and the interior of the cabinet 100 of the manipulator is sealed by the cooperation of the sealing belt 30 and the sealing plate 40, thereby preventing external corrosive gases or dust from entering the cabinet 100 through the slide groove 110 and affecting the service life of the drive component 21, thereby extending the service life of the trough type cleaning machine and further improving the cleaning efficiency.

[0052] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A robot, characterized in that: include: A cabinet (100), wherein the cabinet (100) is provided with a slide groove (110); A driving mechanism (20), the driving mechanism (20) comprising a driving component (21) and a sliding frame (22), the driving component (21) being arranged in the cabinet (100) and being in driving connection with the sliding frame (22) so as to drive the sliding frame (22) to move along the sliding groove (110), and a part of the sliding frame (22) passing through the sliding groove (110); A sealing belt (30) is fixedly installed inside the cabinet (100), and two ends of the sealing belt (30) respectively extend to the upper and lower ends of the extending direction of the slide groove (110), and the sealing belt (30) comprises a sealing portion and a surrounding portion, the sealing portion is sealed and arranged in a part of the slide groove (110), and the surrounding portion is arranged around the circumference of the sliding frame (22) inside the cabinet (100); A sealing plate (40) is arranged on the sliding frame (22), and the sealing plate (40) blocks another part of the sliding groove (110) that the surrounding portion faces.

2. The robot according to claim 1, characterized in that: The slide groove (110) comprises a first groove body (111) and a second groove body (112) which are connected to each other, and a first step surface is provided between the first groove body (111) and the second groove body (112); The sealing plate (40) comprises a first plate (41) and a second plate (42) which are connected to each other. The first plate (41) is overlapped on the first step surface, and the second plate (42) passes through the second groove body (112) and is connected to the sliding frame (22).

3. The robot according to claim 2, characterized in that: A mounting platform (421) is protrudingly provided on a side of the second plate (42) facing away from the first plate (41), and the mounting platform (421) is connected to the sliding frame (22).

4. The robot according to claim 2, characterized in that: The outer surface of the first plate (41) is located inside the first slot (111) or is coplanar with the outer surface of the cabinet (100).

5. The robot according to claim 2, characterized in that: The slide groove (110) further comprises a third groove body (113), a second step surface is provided between the third groove body (113) and the second groove body (112), a sealing portion of the sealing belt (30) is located in the third groove body (113), and a surface of the sealing portion close to the second groove body (112) is tightly attached to the second step surface.

6. The robot according to claim 1, characterized in that: The sliding frame (22) comprises a main frame body (221) and a side plate (222); the main frame body (221) is located in the cabinet (100) and is drivingly connected to the driving assembly (21); The side plate (222) comprises a connected horizontal portion (2221) and a vertical portion (2222); the vertical portion (2222) is connected to the main frame (221); and the horizontal portion (2221) passes through the slide groove (110); the sealing plate (40) is arranged on the vertical portion (2222) and is located below the horizontal portion (2221).

7. The robot according to claim 6, characterized in that: The driving mechanism (20) further comprises a pulley block (23), wherein the pulley block (23) is arranged on the main frame (221), and a portion of the sealing belt (30) is wound around the pulley block (23) to form the surrounding portion.

8. The robot according to claim 7, characterized in that: The pulley group (23) includes two pressing pulleys (231) and two lifting pulleys (232). The two pressing pulleys (231) and the two lifting pulleys (232) are arranged on the main frame (221) at intervals along the circumferential direction. The pressing pulley (231) is arranged on the outer side of the sealing belt (30) and is located at the intersection of the sealing part and the surrounding part to press the sealing belt (30) against the slide groove (110). The lifting pulley (232) is arranged on the inner side of the sealing belt (30) to lift the sealing belt (30) from the slide groove (110) to form the surrounding part.

9. The robot according to any one of claims 1 to 8, characterized in that: The driving assembly (21) comprises a threaded screw (211) and a nut block (212), and the nut block (212) is fixedly connected to the sliding frame (22).

10. A tank cleaning machine, characterized in that: The invention comprises a cleaning tank and a robot as claimed in any one of claims 1 to 9, wherein the robot can move in a direction approaching or away from the cleaning tank.

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