Cleaning and maintaining device based on robot

Abstract

A cleaning and maintaining device based on a robot comprises a cleaning and maintaining equipment body, a draught fan, a shell and a ventilation pipe and further comprises a detection circuit and a dust removal mechanism. The dust removal mechanism comprises a dust hood, a dust removal tank, an electromagnetic valve and an exhaust pipe, the side end of the dust hood is installed at the side end of the motor shell, the lower end of the shell is installed on the rear rack, and the dust removal tank and the fan are installed at the lower end in the shell; two branch pipes are arranged on one side of the upper end of the shell, a connecting pipe of the dust hood is connected with the other branch pipe, the lower portion of the other branch pipe is connected with one ends of two electromagnetic valves, the other end of the first electromagnetic valve is connected with a tap water pipe, the other end of the second electromagnetic valve is connected with the upper end of an exhaust pipe, and a negative pressure pipe is installed on the side portion of the exhaust pipe. The upper end of the negative-pressure pipe is connected with a fan air outlet pipe; and the detection circuit is arranged in the electric control box. Dust and the like can be adsorbed into water in the dust removal tank, the problem that the dust pollutes the environment and affects the health of workers is solved, and tap water can be controlled to wash the surface of a workpiece with cleaning water.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot application, in particular to a cleaning and maintenance device based on a robot. Background Art

[0002] With the development of robot technology and the advancement of artificial intelligence technology, electric cleaning and maintenance equipment based on intelligent industrial robots has been widely used in relevant production areas. When working, the multi-axis robot arm of the industrial robot (including intelligent robots with self-propelled capabilities) is controlled through the application software of the industrial robot's supporting control system (the application software installed in the host computer) to drive the cleaning head of the electric cleaning and maintenance equipment (generally a cotton circular cleaning disk, etc.) to wipe and clean the surface of the workpiece (specifically, the rear end of the motor housing of the electric cleaning and maintenance equipment is installed on the front end of the forearm of the industrial robot. When working, the application software of the industrial robot's supporting control system is used to control the clockwise and counterclockwise directions of the industrial robot's rotating seat, the left and right directions of the vertical axis, the front and rear directions of the rear arm, and the clockwise and counterclockwise directions of the forearm, thereby driving the cleaning head angle of the electric cleaning and maintenance equipment and the change of the contact force between the cleaning head and the workpiece surface to clean the workpiece surface).

[0003] Although the existing robot-based cleaning and maintenance equipment, under the coordinated action of the control system, has met the operational needs to a certain extent, it is still limited by the structure and still has the following technical problems that need to be solved urgently. Specifically, when cleaning the surface of the workpiece, the dust generated by the cleaning of the workpiece surface cannot be extracted, and the dust floats into the air, causing air pollution, which in turn will have an adverse effect on the health of nearby workers. In summary, it is particularly necessary to provide a robot-based cleaning and maintenance equipment that can extract and effectively treat the dust while cleaning the surface of the workpiece. Utility Model Content

[0004] In order to overcome the drawbacks of existing robot-based cleaning and maintenance equipment due to structural limitations as described in the background, the utility model provides a robot-based cleaning and maintenance device that, under the joint action of relevant mechanisms, can exhaust the dust generated in the cleaning process by means of negative pressure while the cleaning head of the electric cleaning and maintenance equipment cleans the surface of the workpiece, and adsorbs the dust into a dust removal tank, and can also clean the surface of the workpiece with tap water when necessary, thereby reducing air pollution caused by dust and the adverse effects on the health of nearby workers.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A robot-based cleaning and maintenance device comprises a cleaning and maintenance device body, a fan, a housing, and a ventilating pipe, characterized in that it also comprises a detection circuit and a dust removal mechanism; the dust removal mechanism comprises a dust hood, a dust removal tank, a solenoid valve, and an exhaust pipe, the lower end of the dust hood is a trumpet-shaped structure, the side end of the dust hood is mounted on the side end of the motor housing of the cleaning and maintenance device body, the lower end of the housing is mounted on the rear frame of the cleaning and maintenance device body, the dust removal tank is mounted on the lower end of the housing, and the fan is mounted on the lower end of the housing; one side of the upper end of the housing has two openings, and branch pipes are respectively mounted in the two openings, wherein the upper end of one branch pipe is mounted with a ventilating pipe, the connecting pipe of the dust hood is connected to the other branch pipe via a pipeline, the lower end of the other branch pipe is connected in parallel with one end of the two solenoid valves, the other end of the first solenoid valve is connected to the tap water pipe via a hose A, and the other end of the second solenoid valve is connected to the upper end of the exhaust pipe; a negative pressure pipe is mounted on the side of the exhaust pipe, and the upper end of the negative pressure pipe is connected to the air outlet pipe of the fan; the detection circuit is mounted in an electric control box.

[0007] Furthermore, the two solenoid valves are normally closed valve core solenoid valves.

[0008] Furthermore, a movable cover is installed on the other side of the upper end of the shell, water is filled in the dust removal tank, and the lower end of the exhaust pipe is spaced a distance from the lower end of the dust removal tank.

[0009] Furthermore, the height of the lower end of the dust hood is greater than the height of the grinding head of the electric cleaning and maintenance equipment body.

[0010] Furthermore, the detection circuit includes a light source lamp, a phototransistor and a prompt sub-circuit. The light source lamp and the phototransistor are respectively sealed and insulated and installed on both sides of the lower part of the dust removal tank. The light-emitting surface of the light source lamp and the light-receiving surface of the phototransistor are in a face-to-face structure.

[0011] Furthermore, the prompt subcircuit includes an electrically connected resistor, a relay, and a buzzer, and is connected to the light source lamp and the phototransistor. The positive power input terminal of the light source lamp is connected to one end of the first resistor, the positive pole of the relay and the control power input terminal. The other end of the first resistor is connected to the collector of the phototransistor, the emitter of the phototransistor is connected to one end of the second resistor, the other end of the second resistor is connected to the base of the transistor, the collector of the transistor is connected to the negative power input terminal of the relay, the normally closed contact terminal of the relay is connected to the positive power input terminal of the buzzer, and the emitter of the transistor is connected to the negative power input terminal of the buzzer and the negative power input terminal of the light source lamp.

[0012] The beneficial effects of the utility model are as follows: (1) The robot arm of the intelligent industrial robot of the utility model drives the cleaning head of the electric cleaning and maintenance equipment to clean the surface of the corresponding workpiece. When the fan is working, it blows air from top to bottom to the exhaust pipe to generate negative pressure. In this way, the lower end of the dust hood can generate negative pressure, and the dust generated during the cleaning process is adsorbed into the water in the dust removal tank, reducing the problem of dust directly discharged into the air to pollute the environment and affect the health of the workers; (2) The utility model can also control the tap water to wash the surface of the workpiece according to the needs, and the function is more perfect. In summary, the utility model has a good application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0015] Figure 2 It is a partial structural schematic diagram of the utility model.

[0016] Figure 3 It is a circuit diagram of the utility model. DETAILED DESCRIPTION

[0017] Figure 1 , 2As shown in , 3, a robot-based cleaning and maintenance device includes an intelligent industrial robot 1 and an electric cleaning and maintenance device body 1 (1.5KW), a power module A1, a power switch, a fan 3, a housing 4, a vent 5 (the air in the housing is exhausted and the external air can enter the housing), the rear side end of the motor (sealed waterproof motor) housing of the electric cleaning and maintenance device body 2 is installed on the front side end of the forearm 101 of the industrial robot, and also has a detection circuit 6 and a dust removal mechanism; the dust removal mechanism includes a dust hood 71 and a dust removal tank 72, solenoid valves DC and DC1, the lower end of the dust cover 71 is a trumpet-shaped structure, the left outer end of the dust cover 71 is welded to the right outer end of the motor housing, the lower end of the housing 4 is welded to the middle of the upper end of the rear frame (located on the rear end of the rotating seat) of the industrial robot body 1, the lower end of the dust removal tank 72 is welded to the lower left end of the housing 4, and the lower end of the fan 3 is bolted to the support platform 41 at the right end of the housing 4; there are two openings on the left side of the upper end of the housing 4, and a branch pipe 8 is welded in each of the two openings, and the lower end of the air inlet pipe of the ventilation pipe 5 and one of the branch pipes are connected to the lower end of the air inlet pipe 5. The upper end of the pipe 8 is connected by threads, the connecting pipe at the upper end of the dust cover 71 is connected to the upper end of the other branch pipe 8 by a hose 10 with a certain hardness (the hose 10 with a length margin is sleeved in a plurality of annular rings 11 pre-welded at the outer end of the robot arm of the industrial robot to play a limiting role), the lower end of the other branch pipe 8 is connected to the first end of a three-way joint by threads, there are two solenoid valves, the second end and the third end of the three-way joint are respectively connected to one end of the two solenoid valves DC and DC1 by threads, the other end of the first solenoid valve DC is installed with a pipe and a self-contained The water pipe is connected through a hose A (not shown) with a length margin (the hose A is led out through the opening at the right end of the shell), and the other end of the second solenoid valve DC1 is threadedly connected to an exhaust pipe 12; a negative pressure pipe 13 with a lower left side and a higher right side and interconnected with the exhaust pipe is welded on the right side of the exhaust pipe 12 below the second solenoid valve, and the upper right end of the negative pressure pipe 13 is connected to the outlet pipe of the fan 3 through a pipe joint; the power module A1, the power switch, and the detection circuit 6 are installed on the circuit board in the electric control box 14 of the industrial robot body.

[0018] Figure 1 , 2As shown in , 3, the two solenoid valves DC and DC1 are normally closed valve core solenoid valves. The right end of the shell is an open structure, and a movable cover 51 is hingedly installed on the right end of the shell (the left side of the movable cover and the left side of the right end of the shell are hingedly installed together through hinges, which is convenient for opening the movable cover to add water to the dust removal tank 72). The dust removal tank 72 is filled with two-thirds of water, and the lower end of the exhaust pipe 12 and the lower end of the dust removal tank 72 are separated by 1 cm. The lower end height of the dust hood 71 is greater than the height of the grinding head 21 of the electric cleaning and maintenance equipment body. A sewage pipe 15 communicating with the interior is welded to the lower left end of the dust removal tank 72, and a manual valve 16 is installed at the left end of the sewage pipe 15 (located outside the shell, open the valve to release sewage with high turbidity). The detection circuit 6 includes a light source lamp H, a photoelectric transistor Q1 and a prompt sub-circuit. The light source lamp H and the photoelectric transistor Q1 are respectively installed in a glass cover 61 with sealing insulation. The left and right outer sides of the two glass covers 61 are respectively glued to the left and right sides of the lower part of the dust removal tank 72 with glue, and the two glass covers 61 are horizontally in a straight line. The light-emitting surface of the light source lamp H and the light-receiving surface of the photoelectric transistor Q1 are in a face-to-face structure (the wires connected to the light source lamp and the photoelectric transistor are led outward through the opening at the upper end of the glass cover 61, and are led upward from the third opening at the upper end of the shell 5, and the opening is sealed with sealant). The prompt subcircuit includes resistors R1 and R2, relay K1, buzzer B connected via a circuit board, and is connected to the light source lamp H and phototransistor Q1 via wires. The positive power input end of the light source lamp Q1 is connected to one end of the first resistor R1, the positive pole of relay K1 and the control power input end. The other end of the first resistor R1 is connected to the collector of phototransistor Q1, the emitter of phototransistor Q1 is connected to one end of the second resistor R2, the other end of the second resistor R2 is connected to the base of transistor Q2, the collector of transistor Q2 is connected to the negative power input end of relay K1, the normally closed contact end of relay K1 is connected to the positive power input end of buzzer B, and the emitter of transistor Q2 is connected to the negative power input end of buzzer B and the negative power input end of light source lamp H. The power input ends of the electric cleaning and maintenance equipment 2 and the fan 3 are connected in series through a power switch and connected to the two poles of the AC 220V power supply via wires. The power input terminals 1 and 2 of the power module A1 are connected to the two levels of the AC 220V power supply through wires, the positive power output terminal 3 of the power module A1 is connected to the power input terminals of the two power switches S and S1, and one end of the positive power input resistor R1 of the detection circuit through wires, the power output terminals of the two power switches S and S1 are connected to the positive power input terminals of the two solenoid valves DC and DC1 through wires, and the negative power input terminals of the two solenoid valves DC and DC1 and the emitter of the negative power input transistor Q2 of the detection circuit are connected to the negative power output terminal 4 of the power module A1 through wires. All power switch handles are located outside the front end of the electric control box.

[0019] Figure 1 , 2As shown in 3, after turning on the power switch of the electric cleaning and maintenance equipment 2, it is powered on and works; when working, the application software of the industrial robot supporting control system is used to control the clockwise and counterclockwise directions of the rotating seat 102 of the industrial robot (including the industrial robot body with self-propelled ability), the left and right directions of the vertical axis 103, the front and rear directions of the rear arm 104, and the clockwise and counterclockwise directions of the front arm 105, so as to drive the cleaning head angle of the electric cleaning and maintenance equipment and the contact force between the cleaning head and the workpiece surface to clean the workpiece surface; the above is an existing mature technology and will not be repeated in this application. After the AC 220V power supply enters the power input terminal of the power module A1, the 3rd and 4th pins of the power module A1 output a stable DC 12V power supply which enters the power switch S, S1 and the power input terminal of the detection circuit. After the staff turns on the power switch S (S1 is closed), the solenoid valve DC is energized to open the valve core, so that tap water will be sprayed out at high speed through the hose through the front end of the dust hood 71 to rinse the surface of the workpiece. After turning off the power switch S, the tap water stops flowing into the dust hood 71 (the dust hood 71 is located at the right end of the cleaning head). After turning on the power switch S1 and the power switch of the fan 3 (turning off the power switch S), the solenoid valve DC1 is energized to open the valve core, and the fan 3 is energized to generate high-speed air to blow the exhaust pipe 12 and the negative pressure pipe 13 from top to bottom to generate negative pressure. In this way, the lower end of the dust hood 71 can generate negative pressure, and the dust generated during the cleaning process is adsorbed into the water in the dust removal tank 71. Due to the adsorption effect of water, the problem of dust directly discharged into the air to pollute the environment and affect the health of the staff is reduced. After the dust in the air is washed with water, the air is discharged to the outside through the ventilation pipe 5. After the detection circuit is energized and working, the light emitted by the light source lamp H shines on the light receiving surface of the phototransistor Q1. When the water turbidity in the dust removal tank is not large and the light transmittance is relatively good, the brightness of the light shining on the light receiving surface of the phototransistor Q1 is relatively large, and the internal resistance of the phototransistor Q1 is relatively small. The 12V power supply enters the collector of the phototransistor Q1 through the resistor R1 for voltage reduction and current limiting. The voltage signal output by the emitter of the phototransistor Q1 enters the base of the transistor Q2 through the resistor R2 for voltage reduction and current limiting, which is higher than 0.7V. The transistor Q2 is turned on and the collector outputs a low level and enters the negative power input terminal of the relay K1. The relay K1 is energized and its control power input terminal and the normally closed contact terminal are open. The buzzer B will not be energized to make a sound, indicating that the water turbidity in the dust removal tank is relatively small and does not need to be replaced.When the water in the dust removal tank is highly polluted and has poor light transmittance, the brightness of the light irradiated on the light receiving surface of the phototransistor Q1 is relatively small, and the internal resistance of the phototransistor Q1 is relatively large. The 12V power supply enters the collector of the phototransistor Q1 through the resistor R1 to reduce the voltage and limit the current. The voltage signal output by the emitter of the phototransistor Q1 enters the base of the transistor Q2 through the resistor R2 to reduce the voltage and limit the current, which is lower than 0.7V. The collector of the transistor Q2 is cut off and no longer outputs a low level to enter the negative power input terminal of the relay K1. When the relay K1 loses power, it no longer attracts its control power input terminal and the normally closed contact terminal to close. The buzzer B will be powered and sound, indicating that the water in the dust removal tank is relatively polluted and needs to be replaced. When the equipment is not working, the subsequent staff can open the valve 16 to discharge the sewage, and then close the valve 16 to re-add clean water to the dust removal tank and use it again.

[0020] Figure 1 , 2 As shown in Figure 3, through the above, the robot arm of the new intelligent industrial robot can drive the cleaning head of the electric cleaning and maintenance equipment to clean the surface of the corresponding workpiece. When the fan is working, it blows air from top to bottom on the exhaust pipe to generate negative pressure. In this way, the lower end of the dust hood can generate negative pressure, and the dust generated during the cleaning process is adsorbed into the water in the dust removal tank, reducing the problem of dust directly discharged into the air to pollute the environment and affect the health of the workers; (it can also control tap water to wash the workpiece surface according to needs, and the function is more perfect. Figure 3 As shown, power module A1 is a finished product of an AC 220V to DC 12V switching power module; the resistance values ​​of resistors R1 and R2 are 100Ω and 4.7K respectively; transistor Q2 is a 9013 NPN transistor; the light source lamp H is a 10W incandescent lamp; the phototransistor Q1 model is 3DU5C; the relay K1 model is DC12V; the buzzer B is a finished buzzer model SFM-27 (working voltage 12V); the solenoid valve DC, DC1 power 2W; the fan 2 includes a motor (1KW), a volute, and blades. The motor is installed in the middle of the right end of the volute and its shaft is located in the volute. The middle of the blade is installed at the left end of the shaft and is located in the volute. The upper end of the volute has an air inlet, and the middle of the left end has an air outlet.

[0021] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. For those skilled in the art, it is obvious that the utility model is limited to the details of the above exemplary embodiments, and the utility model can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is defined by the attached claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the utility model.

[0022] In addition, it should be understood that although the present specification is described according to the implementation mode, the implementation mode does not only include an independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot-based cleaning and maintenance device, comprising a cleaning and maintenance device body, a fan, a housing, and a vent pipe, characterized in that: The invention also has a detection circuit and a dust removal mechanism; the dust removal mechanism includes a dust hood, a dust removal tank, a solenoid valve, and an exhaust pipe. The lower end of the dust hood is a trumpet-shaped structure, the side end of the dust hood is installed on the side end of the motor housing of the cleaning and maintenance equipment body, the lower end of the shell is installed on the rear frame of the cleaning and maintenance equipment body, the dust removal tank is installed at the lower end of the shell, and the fan is installed at the other end of the shell; there are two openings on one side of the upper end of the shell, and branch pipes are installed in the two openings respectively, one of which is provided with a ventilation pipe at the upper end, the connecting pipe of the dust hood is connected to the other branch pipe via a pipeline, the lower end of the other branch pipe is connected in parallel with one end of the two solenoid valves, the other end of the first solenoid valve is connected to the tap water pipe via a hose A, and the other end of the second solenoid valve is connected to the upper end of the exhaust pipe; a negative pressure pipe is installed on the side of the exhaust pipe, and the upper end of the negative pressure pipe is connected to the outlet pipe of the fan; the detection circuit is installed in the electric control box.

2. A robot-based cleaning and maintenance device according to claim 1, characterized in that: The two solenoid valves are normally closed spool solenoid valves.

3. A robot-based cleaning and maintenance device according to claim 1, characterized in that: A movable cover is installed on the other side of the upper end of the shell, water is filled in the dust removal tank, and a distance is set between the lower end of the exhaust pipe and the lower end of the dust removal tank.

4. A robot-based cleaning and maintenance device according to claim 1, characterized in that: The height of the lower end of the dust hood is greater than the height of the grinding head of the electric cleaning and maintenance equipment body.

5. The robot-based cleaning and maintenance device according to claim 1, characterized in that: The detection circuit includes a light source lamp, a phototransistor and a prompt sub-circuit. The light source lamp and the phototransistor are respectively installed on both sides of the lower part of the dust removal tank in a sealed and insulated manner. The light-emitting surface of the light source lamp and the light-receiving surface of the phototransistor are in a face-to-face structure.

6. A robot-based cleaning and maintenance device according to claim 5, characterized in that: The prompt subcircuit includes an electrically connected resistor, a relay, and a buzzer, and is connected to a light source lamp and a phototransistor. The positive power input terminal of the light source lamp is connected to one end of the first resistor, the positive pole of the relay and the control power input terminal. The other end of the first resistor is connected to the collector of the phototransistor, the emitter of the phototransistor is connected to one end of the second resistor, the other end of the second resistor is connected to the base of the transistor, the collector of the transistor is connected to the negative power input terminal of the relay, the normally closed contact terminal of the relay is connected to the positive power input terminal of the buzzer, and the emitter of the transistor is connected to the negative power input terminal of the buzzer and the negative power input terminal of the light source lamp.

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