CN103895875B - A kind of end-effector of aircraft surfaces cleaning machine mechanical arm - Google Patents
A kind of end-effector of aircraft surfaces cleaning machine mechanical arm Download PDFInfo
- Publication number
- CN103895875B CN103895875B CN201410098700.9A CN201410098700A CN103895875B CN 103895875 B CN103895875 B CN 103895875B CN 201410098700 A CN201410098700 A CN 201410098700A CN 103895875 B CN103895875 B CN 103895875B
- Authority
- CN
- China
- Prior art keywords
- brush
- mechanical arm
- effector
- hydraulic
- cleaning machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Cleaning In General (AREA)
- Brushes (AREA)
Abstract
A kind of end-effector of aircraft surfaces cleaning machine mechanical arm.It comprises round brush handle, hydraulic actuating cylinder, multiple nozzle, hydraulic electric motor, semisphere roller brush, main rolling brush, round brush support and swing type mechanism.The end-effector of aircraft surfaces cleaning machine mechanical arm provided by the invention has rotation and beat two degree of freedom, clean in the mode that round brush rotates, sprinkler system is adopted to spray cleaning liquid and clear water flushing, drive with hydraulic efficiency pressure system, thus aircraft surfaces multi-angle, multi-azimuth cleaning can be realized, therefore compare former cleaning machine and manual cleaning mode, its work efficiency improves greatly, and integral structure is relatively simple, mechanical reliability is strong, is also convenient to manufacture, dismantle and maintenance.Meanwhile will save a large amount of human costs, thus improve the operation benefits of civil aircraft.
Description
Technical field
The invention belongs to civil aviaton's equipment technical field, particularly relate to a kind of end-effector of aircraft surfaces cleaning machine mechanical arm.
Background technology
At present, the work of domestic and international aircraft cleaning of outer surface mainly adopts the devices such as water blast gun, non-atomized spraying equipment, mop, brush, and this manual cleaning mode exists shortcomings obviously, and such as efficiency is low, the working strength of staff is large, weak effect etc.And domestic civil aviaton does not also apply aircraft surfaces cleaning machine mechanical arm.The domestic research about end-effector is at present most in dust collecting fan, snow removal machine, car washing installation, painting device, Cleaning vehicle for guardrail, tunnel cleaning etc., and does not still find the report of the end-effector for aircraft surfaces cleaning machine mechanical arm; Only have some large-scale airline companys to use large scale computer mechanical arm and the cleaning robot of aircraft surfaces cleaning abroad, but be all that physical construction is huge, complicated mostly, cost is very high, is therefore also promoted on a large scale.
Summary of the invention
In order to solve the problem, the object of the present invention is to provide a kind of integral structure relatively simple, the end-effector of the aircraft surfaces cleaning machine mechanical arm that mechanical reliability is strong.
In order to achieve the above object, the end-effector of aircraft surfaces cleaning machine mechanical arm provided by the invention comprises round brush handle, hydraulic actuating cylinder, multiple nozzle, hydraulic electric motor, semisphere roller brush, main rolling brush, round brush support and swing type mechanism; Wherein the end of swing type mechanism is connected on the base of mechanical arm or other device; The rear end of round brush handle is fixed on the front end of swing type mechanism; Round brush support is made up of vertical rod, upper bracket, lower bracket and roller brush shaft, wherein the rear end of upper bracket and lower bracket is separately fixed at the upper and lower side of vertical rod, the middle part of lower bracket is formed with a motor providing holes, roller brush shaft is arranged in the middle part of upper bracket, and the front end of round brush handle is connected to the lower end of vertical rod simultaneously; Multiple nozzle is arranged on the side of vertical rod along the vertical direction, and is connected with sprinkler system by pipeline; One end of hydraulic actuating cylinder is hinged on the middle part of round brush handle, and the other end is hinged on the upper end of vertical rod, forms triangular structure thus by vertical rod, hydraulic actuating cylinder and round brush handle; The outside of hydraulic electric motor is arranged in the motor providing holes on lower bracket, and upper and lower side is respectively equipped with output shaft and lower output shaft, and hydraulic electric motor is connected with hydraulic efficiency pressure system by pipeline with hydraulic actuating cylinder simultaneously; Main rolling brush is cylindrical shape, and the upper output shaft of hydraulic electric motor is run through at axle center place, and the upper end of upper output shaft is inserted in roller brush shaft; Semisphere roller brush is arranged on the below of lower bracket in the ventricumbent mode of ball, and the lower output shaft of hydraulic electric motor is connected in the inside center hole of semisphere roller brush.
Described semisphere roller brush and main rolling brush are hollow structure.
The bristle stiffness of described semisphere roller brush is greater than the bristle stiffness of main rolling brush.
The end-effector tool of aircraft surfaces cleaning machine mechanical arm provided by the invention has the following advantages:
1, there are rotation and beat two degree of freedom, clean in the mode that round brush rotates, sprinkler system is adopted to spray cleaning liquid and clear water flushing, drive with hydraulic efficiency pressure system, thus aircraft surfaces multi-angle, multi-azimuth cleaning can be realized, therefore compare former cleaning machine and manual cleaning mode, its work efficiency improves greatly, and integral structure is relatively simple, mechanical reliability is strong, is also convenient to manufacture, dismantle and maintenance.Meanwhile will save a large amount of human costs, thus improve the operation benefits of civil aircraft.
2, by the hinged triangular motion mechanism formed, there is very high stability by round brush handle, round brush support and hydraulic actuating cylinder, thus integral structure can be made simple and reliable.
3, can be applied to by reequiping on the washing equipment of automobile and the surface cleaning apparatus of skyscraper, thus greatly improve the surface cleaning efficiency of profile complex object.
Accompanying drawing explanation
Fig. 1 is the end effector structures block diagram of aircraft surfaces cleaning machine mechanical arm provided by the invention.
Fig. 2 is the end effector structures decomposing schematic representation of aircraft surfaces cleaning machine mechanical arm provided by the invention.
Fig. 3 is the end-effector part-structure cutaway view of aircraft surfaces cleaning machine mechanical arm provided by the invention.
Detailed description of the invention
Be described in detail below in conjunction with the end-effector of the drawings and specific embodiments to aircraft surfaces cleaning machine mechanical arm provided by the invention.
As shown in Fig. 1-Fig. 3, the end-effector of aircraft surfaces cleaning machine mechanical arm provided by the invention comprises: round brush handle 1, hydraulic actuating cylinder 2, multiple nozzle 3, hydraulic electric motor 4, semisphere roller brush 5, main rolling brush 7, round brush support 8 and swing type mechanism 9; Wherein the end of swing type mechanism 9 is connected on the base of mechanical arm or other device; The rear end of round brush handle 1 is fixed on the front end of swing type mechanism 9; Round brush support 8 is made up of vertical rod 10, upper bracket 11, lower bracket 12 and roller brush shaft 6, wherein the rear end of upper bracket 11 and lower bracket 12 is separately fixed at the upper and lower side of vertical rod 10, the middle part of lower bracket 12 is formed with a motor providing holes 13, roller brush shaft 6 is arranged in the middle part of upper bracket 11, and the front end of round brush handle 1 is connected to the lower end of vertical rod 10 simultaneously; Multiple nozzle 3 is arranged on the side of vertical rod 10 along the vertical direction, and is connected with sprinkler system by pipeline; One end of hydraulic actuating cylinder 2 is hinged on the middle part of round brush handle 1, and the other end is hinged on the upper end of vertical rod 10, forms triangular structure thus by vertical rod 10, hydraulic actuating cylinder 2 and round brush handle 1; The outside of hydraulic electric motor 4 is arranged in the motor providing holes 13 on lower bracket 12, and upper and lower side is respectively equipped with output shaft and lower output shaft, and hydraulic electric motor 4 is connected with hydraulic efficiency pressure system by pipeline with hydraulic actuating cylinder 2 simultaneously; Main rolling brush 7 is cylindrical shape, and the upper output shaft of hydraulic electric motor 4 is run through at axle center place, and the upper end of upper output shaft is inserted in roller brush shaft 6; Semisphere roller brush 5 is arranged on the below of lower bracket 12 in the ventricumbent mode of ball, and the lower output shaft of hydraulic electric motor 4 is connected in the inside center hole of semisphere roller brush 5.
Described semisphere roller brush 5 and main rolling brush 7 are hollow structure, greatly can alleviate the weight of himself like this while ensureing working strength.
The bristle stiffness of described semisphere roller brush 5 is greater than the bristle stiffness of main rolling brush 7, can clean some positions, dead angle more easily like this.
Now the principle of work of the end-effector of aircraft surfaces cleaning machine mechanical arm provided by the invention is described below: first utilize the mechanical arm be connected with swing type mechanism 9 this end-effector to be given rise to the position to be cleaned of aircraft surfaces, then the nozzle 3 that is connected with sprinkler system by pipeline is utilized outwards to spray cleaning liquid and clear water to rinse, primer fluid Medium-voltage Motor 4 rotates to make it simultaneously, at this moment under the drive of hydraulic electric motor 4, main rolling brush 7 and semisphere roller brush 5 by high speed rotating, thus are scrubbed aircraft surfaces.In the process of scrubbing, the luffing angle elongating or shortening to regulate semisphere roller brush 5 and main rolling brush 7 of hydraulic actuating cylinder 2 upper piston rod can be utilized as the case may be, about 90 ° of scope, and the mode of rotary rolling brush handle 1 can be utilized to make whole end-effector carry out 360 ° of rotations around round brush handle 1 center shaft, with the complex profile change making semisphere roller brush 5 and main rolling brush 7 adapt to irregularly shaped object in actual working environment, thus the degree of freedom of the end-effector increased, utilize semisphere roller brush 5 to clean the dead angle of some main rolling brush 7 less cleanings simultaneously.
Claims (3)
1. an end-effector for aircraft surfaces cleaning machine mechanical arm, is characterized in that: it comprises round brush handle (1), hydraulic actuating cylinder (2), multiple nozzle (3), hydraulic electric motor (4), semisphere roller brush (5), main rolling brush (7), round brush support (8) and swing type mechanism (9); Wherein the end of swing type mechanism (9) is connected on the base of mechanical arm or other device; The rear end of round brush handle (1) is fixed on the front end of swing type mechanism (9); Round brush support (8) is made up of vertical rod (10), upper bracket (11), lower bracket (12) and roller brush shaft (6), wherein the rear end of upper bracket (11) and lower bracket (12) is separately fixed at the upper and lower side of vertical rod (10), the middle part of lower bracket (12) is formed with a motor providing holes (13), roller brush shaft (6) is arranged on upper bracket (11) middle part, and the front end of round brush handle (1) is connected to the lower end of vertical rod (10) simultaneously; Multiple nozzle (3) is arranged on the side of vertical rod (10) along the vertical direction, and is connected with sprinkler system by pipeline; One end of hydraulic actuating cylinder (2) is hinged on the middle part of round brush handle (1), and the other end is hinged on the upper end of vertical rod (10), forms triangular structure thus by vertical rod (10), hydraulic actuating cylinder (2) and round brush handle (1); The outside of hydraulic electric motor (4) is arranged in the motor providing holes (13) on lower bracket (12), and upper and lower side is respectively equipped with output shaft and lower output shaft, and hydraulic electric motor (4) is connected with hydraulic efficiency pressure system by pipeline with hydraulic actuating cylinder (2) simultaneously; Main rolling brush (7) is cylindrical shape, and the upper output shaft of hydraulic electric motor (4) is run through at axle center place, and the upper end of upper output shaft is inserted in roller brush shaft (6); Semisphere roller brush (5) is arranged on the below of lower bracket (12) in the ventricumbent mode of ball, and the lower output shaft of hydraulic electric motor (4) is connected in the inside center hole of semisphere roller brush (5).
2. the end-effector of aircraft surfaces cleaning machine mechanical arm according to claim 1, is characterized in that: described semisphere roller brush (5) and main rolling brush (7) are hollow structure.
3. the end-effector of aircraft surfaces cleaning machine mechanical arm according to claim 1, is characterized in that: the bristle stiffness of described semisphere roller brush (5) is greater than the bristle stiffness of main rolling brush (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410098700.9A CN103895875B (en) | 2014-03-17 | 2014-03-17 | A kind of end-effector of aircraft surfaces cleaning machine mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410098700.9A CN103895875B (en) | 2014-03-17 | 2014-03-17 | A kind of end-effector of aircraft surfaces cleaning machine mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103895875A CN103895875A (en) | 2014-07-02 |
| CN103895875B true CN103895875B (en) | 2015-12-09 |
Family
ID=50987525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410098700.9A Expired - Fee Related CN103895875B (en) | 2014-03-17 | 2014-03-17 | A kind of end-effector of aircraft surfaces cleaning machine mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103895875B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3668688B1 (en) * | 2017-08-20 | 2024-05-01 | Nordic Aerowash Equipment AB | Aircraft cleaning robot |
| CN110775294B (en) * | 2019-10-12 | 2023-07-28 | 中航通飞华南飞机工业有限公司 | Spherical window belt cleaning device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4035519A1 (en) * | 1989-11-15 | 1991-05-16 | Putzmeister Maschf | Brush head for large manipulators for cleaning complicated shapes - has two motor-driven facing brush rollers adjustable at various angles |
| DE4428734A1 (en) * | 1993-08-13 | 1995-02-23 | Fraunhofer Ges Forschung | Method of treating an object, in particular an aeroplane |
| US5592710A (en) * | 1992-10-02 | 1997-01-14 | Putzmeister-Werk Maschinenfabrik Gmbh | Brush head for cleaning surfaces |
| CN201445469U (en) * | 2009-07-20 | 2010-05-05 | 昆山市工业技术研究院有限责任公司 | Curtain wall automatic cleaning mechanism |
| CN203740144U (en) * | 2014-03-17 | 2014-07-30 | 中国民航大学 | End effector of aircraft surface washing mechanical arm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2730762B2 (en) * | 1989-06-21 | 1998-03-25 | 鈴木技研工業株式会社 | Aircraft cleaning equipment |
-
2014
- 2014-03-17 CN CN201410098700.9A patent/CN103895875B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4035519A1 (en) * | 1989-11-15 | 1991-05-16 | Putzmeister Maschf | Brush head for large manipulators for cleaning complicated shapes - has two motor-driven facing brush rollers adjustable at various angles |
| US5592710A (en) * | 1992-10-02 | 1997-01-14 | Putzmeister-Werk Maschinenfabrik Gmbh | Brush head for cleaning surfaces |
| DE4428734A1 (en) * | 1993-08-13 | 1995-02-23 | Fraunhofer Ges Forschung | Method of treating an object, in particular an aeroplane |
| CN201445469U (en) * | 2009-07-20 | 2010-05-05 | 昆山市工业技术研究院有限责任公司 | Curtain wall automatic cleaning mechanism |
| CN203740144U (en) * | 2014-03-17 | 2014-07-30 | 中国民航大学 | End effector of aircraft surface washing mechanical arm |
Non-Patent Citations (1)
| Title |
|---|
| 基于D-H法的飞机表面清洗臂运动学分析及仿真;金玉阳等;《中国民航大学学报》;20130831(第4期);第15-18页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103895875A (en) | 2014-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103251357B (en) | Exterior wall cleaning machine | |
| CN205217536U (en) | Pipeline inner wall cleaning device | |
| CN108705991B (en) | Automatic cleaning device for automobile | |
| CN101337539B (en) | Automatic rotating water-injection double-face cleaning device | |
| CN109730579B (en) | Glass curtain wall cleaning device | |
| CN203902502U (en) | Light type multifunctional automatic car washer capable of air-drying and wipe-drying cars comprehensively | |
| CN202962972U (en) | Device for clearing insulator at multiple angles | |
| CN208810380U (en) | A kind of tubular part derusting spraying integrated device | |
| CN103895875B (en) | A kind of end-effector of aircraft surfaces cleaning machine mechanical arm | |
| CN202910004U (en) | Portable ultrasonic wave cleaner | |
| CN105618444B (en) | The medical test tubes cleaning device of interior water spray | |
| CN101744591B (en) | Water-spraying cleaning device of wall cleaning robot | |
| CN109985865A (en) | A kind of washing and cleaning operation device of pipeline cleaning robot | |
| CN203740144U (en) | End effector of aircraft surface washing mechanical arm | |
| CN201291216Y (en) | Cylinder inner-cavity cleaner | |
| CN201214778Y (en) | Rotating head structure for cleaning vehicle for guardrail | |
| CN105882614B (en) | A kind of automatic car washing machine | |
| CN206001220U (en) | A kind of airborne dust spraying apparatus | |
| CN107283414A (en) | It is a kind of to make the drive mechanism of stable oscillation before and after pivoted arm in spray robot | |
| CN203144943U (en) | Multifunctional high-altitude washing vehicle | |
| CN202235139U (en) | High-rising building outer layer glass washing device | |
| CN216940160U (en) | High-pressure water spraying rust removal device for track and dock bottom vehicle | |
| CN104921674A (en) | Rail type automatic curtain washing machine | |
| CN108043801A (en) | A kind of head signboard cleaning device | |
| CN104414595A (en) | Novel automatic external wall cleaner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151209 Termination date: 20170317 |