阅读说明：本技术 碗碟清洗机 (Bowl and dish cleaning machine ) 是由 王梓安 郭婷 吴腾飞 张智豪 杨淇琇 崔百通 于 2020-12-29 设计创作，主要内容包括：本发明公开了一种碗碟清洗机,碗碟清洗机利用摄像头拍摄碗碟的图像数据；位置计算单元基于图像数据计算得到待清洗碗碟位置数据；基于位置数据,抓取控制单元控制真空吸嘴抓取待清洗碗碟以送达刷洗机构,刷洗控制单元其连接位置计算单元、水泵、涡轮和刷头,刷洗控制单元控制刷头清洗碗碟,清洗完毕后,真空吸嘴抓取并叠放碗碟。碗碟清洗机模仿人工摩擦清洗餐具的过程,电机带动刷子转动,可以快速高效使碗上附着物与碗脱离,可实现叠放的不同尺寸碗碟的绿色快速清洁。(The invention discloses a bowl and dish washing machine, which utilizes a camera to shoot image data of bowls and dishes; the position calculating unit calculates position data of the dishes to be cleaned based on the image data; based on the position data, the grabbing control unit controls the vacuum suction nozzle to grab the dishes to be washed to be delivered to the brushing mechanism, the brushing control unit is connected with the position calculation unit, the water pump, the turbine and the brush head, the brushing control unit controls the brush head to wash the dishes, and after the washing is finished, the vacuum suction nozzle grabs and stacks the dishes. The bowl and dish washing machine simulates the process of manually rubbing and washing tableware, the motor drives the brush to rotate, attachments on the bowl can be quickly and efficiently separated from the bowl, and green and quick cleaning of stacked bowls and dishes with different sizes can be realized.)

1. A bowl and dish cleaning machine is characterized in that the machine comprises,

a camera which photographs image data of the dishes;

a position calculating unit calculating position data of the dishes to be washed based on the image data;

a grasping mechanism connected to the position calculating unit, the grasping mechanism including,

a first disk having a bearing provided between the first disk and the second disk with a degree of freedom to rotate around an axis,

a second disk rotatably disposed concentrically in the first disk,

a first steering engine connected with the second disk to controllably drive the second disk to rotate,

a first bracket provided on the second disc,

a second bracket pivotally connected to the first bracket,

a second steering engine connected with the second bracket to controllably drive the second bracket to rotate,

a connecting arm pivotally connected to the second bracket,

a third steering engine connected with the connecting arm to controllably drive the connecting arm to rotate,

a vacuum suction nozzle provided at the connecting arm,

an air pump connected to the vacuum nozzle to provide a predetermined suction force,

the grabbing control unit is connected with the calculation unit, the first steering engine, the second steering engine, the third steering engine and the air pump, and controls the vacuum suction nozzle to grab the dishes to be cleaned to be delivered to the brushing mechanism based on the position data of the dishes to be cleaned,

the brushing mechanism comprises a brush-cleaning mechanism and a brush-cleaning mechanism,

a turbine, which is arranged on one side of the mesh plate,

an outer sleeve shaft which is a hollow structure and is connected with the turbine to rotate,

one end of the water nozzle joint is connected with the water pump, the other end of the water nozzle joint is connected with the outer sleeve shaft to form a water flow channel,

a brush head arranged at the other side of the mesh plate, the brush head is connected with the outer sleeve shaft to spray water rotationally,

and the brushing control unit is connected with the position calculation unit, the water pump, the turbine and the brush head, controls the brush head to clean dishes, and after the dishes are cleaned, the vacuum suction nozzle grabs and stacks the dishes.

2. A bowl and dish washing machine according to claim 1 and wherein the bowl and dish washing machine preferably includes a frame in which the catch mechanism and the brush mechanism are secured.

3. A dish washing machine according to claim 2 wherein the frame includes a positioning mechanism for positioning dishes to be washed, the positioning mechanism including,

a base supported on the mesh plate, the base having a hollow structure for receiving dishes,

a plurality of claw heads respectively arranged on the periphery of the base to fix the dishes.

4. A dish washing machine according to claim 3 wherein the frame includes a lid mechanism including a lid plate and a linear module for actuating the lid plate to open and close, the lid plate being disposed above the base.

5. A dish washing machine according to claim 4 wherein the drive guide plate is threadedly mounted on the linear module and the cover plate is connected to the drive guide plate by a cable to move the linear module linearly up and down to open and close the cover plate.

6. A dish washing machine according to claim 5 wherein the frame includes an electrical control section including a processing unit connected to the position calculating unit, the linear module, the grabbing control unit and the brushing control unit, which controls the timing of the operation of the linear module, the grabbing control unit and the brushing control unit by means of limit switches.

7. A dish washing machine according to claim 1, wherein the position calculating unit calculates the position of the center point of the dishes based on the image data.

8. A dish washing machine as claimed in claim 1 wherein the vacuum nozzle is movably disposed at the connecting arm.

9. A dish washing machine as claimed in claim 1 wherein the frame includes a waste area disposed below the positioning mechanism.

10. A dish washing machine as claimed in claim 1 wherein the position calculation unit includes a gaussian filter module and a Roberts operator module for edge detection.

Technical Field

The invention belongs to the technical field of intelligent home furnishing, and particularly relates to a bowl and dish cleaning machine.

Background

Dish washing is a monotonous repetitive labor, which wastes time and labor, reduces the interestingness of cooking and increases family contradictions. Along with the technical development, household appliances are more and more intelligent, the household dish washing machine greatly reduces the housework burden of people, but the popularization rate in China is lower at present.

At present, household dishwashers are generally classified into several types, such as a nozzle type dishwasher, a water flow type dishwasher, a vane type dishwasher, and an ultrasonic dishwasher, according to different washing forms.

1) A nozzle dishwasher. The structure of the dishwasher, which is also called as a shower type dishwasher, can be divided into different structures such as an upper and lower rotary nozzle type, a lower nozzle reflection type, a tower nozzle type, a porous pipe type, a rain bullet type, a rotary cylinder type and the like. The structure of the pipe is slightly different, but the working characteristics of the pipe are all the washing and showering methods in a water spraying mode, namely, water columns are sprayed to different sides and azimuth angles by utilizing pressure nozzles, and the utensils on the trough rack of the washing machine are fully washed.

2) A water flow type dishwasher. The water flow type dish washer has basically the same working principle as common pulsator washing machine, except that a pulsator is installed below a tub frame of the dish washer, and the pulsator is connected with a motor below a shell. When the dish washer is started, the motor drives the impeller disc to rotate at a high speed, so that the washing water in the machine tank is rotated and splashed, and the aim of cleaning is fulfilled.

3) Impeller type dish washer. The lower part of the machine tank frame is provided with an impeller which is connected with a motor, when the machine tank frame works, the motor drives the impeller to rotate at high speed, and washing water in the machine tank upwards splashes along with impeller blades, so that the aim of cleaning is fulfilled.

4) An ultrasonic dish washing machine. The dishwasher is characterized in that vibration elements are arranged at the bottom and the side of the dishwasher body, and the unique vibration element can generate 10-50 kHz ultrasonic frequency when the dishwasher works, and achieves the aim of cleaning treatment through the resultant force action of ultrasonic waves and water. The dishwasher has weak working noise, can effectively save water and electricity, but has low popularization rate due to high cost.

No matter be nozzle formula dish washer, water flow formula dish washer, impeller formula dish washer, ultrasonic wave dish washer when wasing, all use water as the cleaning media, use water pressure as washing power, the water consumption is big in the use, the utilization ratio of water is not enough, causes the waste. They must use a detergent for exclusive use in a dishwasher, which not only increases the financial burden of a home but also pollutes the environment, increasing the environmental burden, and these dishwashers have a motor and a water pump, thus generating a large noise, but the ultrasonic dishwashers have a problem of high price and are difficult to popularize.

Therefore, the problems that the existing dish washing machine is difficult to accept, the water consumption is large, and a special detergent is needed are solved.

The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Disclosure of Invention

Aiming at the problems of large water consumption, need of special detergent and the like in the prior art, the invention provides a bowl and dish washing machine, which simulates the process of manually rubbing and washing tableware, drives a brush to rotate by a motor, can quickly and efficiently separate attachments on bowls from the bowls, has unique self-adaptive design, and can realize green and quick cleaning of stacked bowls and dishes with different sizes.

The invention aims to realize the purpose by the following technical proposal that the bowl and dish cleaning machine comprises,

a camera which photographs image data of the dishes;

a position calculating unit calculating position data of the dishes to be washed based on the image data;

a grasping mechanism connected to the position calculating unit, the grasping mechanism including,

a first disk having a bearing provided between the first disk and the second disk with a degree of freedom to rotate around an axis,

a second disk rotatably disposed concentrically in the first disk,

a first steering engine connected with the second disk to controllably drive the second disk to rotate,

a first bracket provided on the second disc,

a second bracket pivotally connected to the first bracket,

a second steering engine connected with the second bracket to controllably drive the second bracket to rotate,

a connecting arm pivotally connected to the second bracket,

a third steering engine connected with the connecting arm to controllably drive the connecting arm to rotate,

a vacuum suction nozzle provided at the connecting arm,

an air pump connected to the vacuum nozzle to provide a predetermined suction force,

the grabbing control unit is connected with the calculation unit, the first steering engine, the second steering engine, the third steering engine and the air pump, and controls the vacuum suction nozzle to grab the dishes to be cleaned to be delivered to the brushing mechanism based on the position data of the dishes to be cleaned,

the brushing mechanism comprises a brush-cleaning mechanism and a brush-cleaning mechanism,

a turbine, which is arranged on one side of the mesh plate,

an outer sleeve shaft which is a hollow structure and is connected with the turbine to rotate,

one end of the water nozzle joint is connected with the water pump, the other end of the water nozzle joint is connected with the outer sleeve shaft to form a water flow channel,

a brush head arranged at the other side of the mesh plate, the brush head is connected with the outer sleeve shaft to spray water rotationally,

and the brushing control unit is connected with the position calculation unit, the water pump, the turbine and the brush head, controls the brush head to clean dishes, and after the dishes are cleaned, the vacuum suction nozzle grabs and stacks the dishes.

In the bowl and dish washing machine, the bowl and dish washing machine comprises a frame, and the grabbing mechanism and the brushing mechanism are fixed in the frame.

In the bowl and dish washing machine, the frame comprises a positioning mechanism for positioning the bowls and dishes to be washed, the positioning mechanism comprises,

a base supported on the mesh plate, the base having a hollow structure for receiving dishes,

a plurality of claw heads respectively arranged on the periphery of the base to fix the dishes.

In the bowl and dish washing machine, the frame comprises a cover plate mechanism, the cover plate mechanism comprises a cover plate and a linear module for driving the cover plate to open and close, and the cover plate is arranged above the base.

In the bowl and dish cleaning machine, the driving guide plate is installed on the linear module through threads, the cover plate is connected with the driving guide plate through a steel wire rope, and when the linear module moves up and down linearly, the cover plate is driven to be opened and closed.

In the bowl and dish washing machine, the frame comprises an electric control area which comprises a connection position calculation unit, a linear module, a grabbing control unit and a brushing control unit, and the working time sequence of the linear module, the grabbing control unit and the brushing control unit is controlled by a limit switch.

In the dish washing machine, the position calculating unit calculates the position of the center point of the dish based on the image data.

In the bowl and dish washing machine, the vacuum suction nozzle is movably arranged on the connecting arm.

In the bowl and dish washing machine, the frame comprises a sewage discharge area arranged below the positioning mechanism.

In the bowl and dish washing machine, the position calculation unit comprises a Gaussian filter module and a Roberts operator module for edge detection.

Compared with the prior art, the invention has the following advantages:

the invention has the functions of separating stacked bowls and dishes and stacking the washed bowls and dishes together, thereby omitting the steps that other dish washing machines need people to place bowls and dishes, and being more intelligent; the dish washing machine has the advantages that the dish washing function is realized, the running time is shorter when the dishes are fewer, and the requirement for washing a large number of dishes can be met, in addition, each dish is sufficiently washed by the running mode, and the problems that the lower layer of dishes are not cleanly washed due to the fact that the residue of the upper layer of dishes falls into the lower layer of the mainstream dish washing machine, the dishes placed at the edge are not cleanly washed, and the deep soup bowl occupies a large space are solved; the mode of brushing is adopted, the hand washing of human is simulated, the vision is easier to be accepted by people, and meanwhile, the water resource is saved; the self-adaptation to the bowl dish size is realized to the adoption unique design, and the bowl dish of multiple size all can wash, has solved the extravagant problem in space that traditional dish washer leads to because bowl dish size.

Drawings

Various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. Also, like parts are designated by like reference numerals throughout the drawings.

In the drawings:

FIG. 1 is a schematic diagram of the general structure of an intelligent dish washing machine;

FIG. 2 is a schematic view of the structure of a frame portion of an intelligent dish washing machine;

FIG. 3 is a partial structural view of a cover of the intelligent dish washing machine;

FIG. 4 is a schematic structural diagram of a positioning mechanism of an intelligent bowl and dish washing machine;

FIG. 5 is a schematic structural diagram of a brushing mechanism of an intelligent bowl and dish washing machine;

fig. 6 is a schematic structural diagram of a grabbing mechanism of the intelligent bowl and dish washing machine.

The invention is further explained below with reference to the figures and examples.

Detailed Description

Specific embodiments of the present invention will be described in more detail below with reference to fig. 1 to 6. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

It should be noted that certain terms are used throughout the description and claims to refer to particular components. As one skilled in the art will appreciate, various names may be used to refer to a component. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The description which follows is a preferred embodiment of the invention, but is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.

For the purpose of facilitating understanding of the embodiments of the present invention, the following description will be made by taking specific embodiments as examples with reference to the accompanying drawings, and the drawings are not to be construed as limiting the embodiments of the present invention.

For better understanding, as shown in fig. 1 to 4, the dish washing machine includes,

a camera which photographs image data of the dishes;

a position calculating unit calculating position data of the dishes to be washed based on the image data;

a grasping mechanism connected to the position calculating unit, the grasping mechanism including,

a first disk 710, which allows a bearing 706 provided between the first disk 710 and a second disk 711 to have a degree of freedom to rotate around an axis,

a second disk 711 rotatably disposed concentrically in the first disk 710,

a first steering gear 708 connected with the second disk 711 to controllably drive the second disk 711 to rotate,

a first bracket 712 provided on the second disc 711,

a second bracket 714 pivotally connected to the first bracket 712,

a second steering gear 705 which is connected with the second bracket 714 to controllably drive the second bracket 714 to rotate,

a connecting arm 701 pivotally connecting the second bracket 714,

a third steering gear 717 coupled to the connecting arm 701 for controllably driving the connecting arm 701 to rotate,

a vacuum nozzle 703, provided at said connecting arm 701,

an air pump connected to the vacuum nozzle 703 to provide a predetermined suction force,

a grabbing control unit which is connected with the computing unit, the first steering engine 708, the second steering engine 705, the third steering engine 717 and the air pump, based on the position data of the dishes to be cleaned, the grabbing control unit controls the vacuum suction nozzle 703 to grab the dishes to be cleaned to be delivered to the brushing mechanism 4,

the brushing mechanism 4 is comprised of a brush mechanism,

a turbine 415, which is provided on one side of the mesh plate 709,

an outer sleeve shaft 406, which is a hollow structure, the outer sleeve shaft 406 is connected to a turbine 415 for rotation,

a water nozzle joint 413, one end of which is connected with the water pump, the other end of which is connected with the outer sleeve shaft 406 to form a water flow channel,

a brush head provided on the other side of the mesh plate 709, the brush head being connected to the outer sleeve 406 to rotatably spray water,

and the brushing control unit is connected with the position calculation unit, the water pump, the turbine 415 and the brush head, controls the brush head to clean dishes, and after the dishes are cleaned, the vacuum suction nozzle 703 grabs and stacks the dishes.

The invention utilizes the brush head to clean the bowl and the dish, simulates manual cleaning of the bowl and the dish, achieves the cleaning effect and saves water resources at the same time. In addition, brushing is automatic in the whole process, and using convenience is greatly improved.

In the preferred embodiment of the bowl and dish washing machine, the bowl and dish washing machine comprises a frame 1, and the grabbing mechanism 7 and the brushing mechanism 4 are fixed in the frame 1.

In the preferred embodiment of the dish washing machine, the frame 1 comprises a positioning mechanism 3 for positioning the dishes to be washed, the positioning mechanism 3 comprising,

a base 302 supported by the mesh plate 709, the base 302 having a hollow structure for receiving dishes,

a plurality of claw heads 304 respectively provided at the periphery of the base 302 to fix dishes.

In the preferred embodiment of the bowl and dish washing machine, the frame 1 includes a cover plate mechanism 2, the cover plate mechanism 2 includes a cover plate 201 and a linear module 202 for driving the cover plate 201 to open and close, and the cover plate 201 is disposed above the base 302.

In the preferred embodiment of the bowl and dish washing machine, the driving guide plate 203 is installed on the linear module 202 through threads, the cover plate 201 is connected with the driving guide plate 203 through a steel wire rope 204, and when the linear module 202 moves up and down linearly, the cover plate 201 is driven to open and close.

In the preferred embodiment of the bowl and dish washing machine, the frame 1 includes an electric control area 6, which includes a processing unit connected to a position calculating unit, a linear module 202, a grabbing control unit and a brushing control unit, and controls the working timing sequence of the linear module 202, the grabbing control unit and the brushing control unit through a limit switch.

In a preferred embodiment of the dish washing machine, the position calculating unit calculates the position of the center point of the dishes based on the image data.

In the preferred embodiment of the dish washing machine, the vacuum suction nozzle 703 is movably disposed on the connecting arm 701.

In the preferred embodiment of the dish washing machine, the frame 1 comprises a drainage area 5 arranged below the positioning mechanism 3.

In a preferred embodiment of the dish washing machine, the position calculation unit comprises a gaussian filter module and a Roberts operator module for edge detection.

The bowl and dish cleaning machine divides each functional area into frame 1, apron mechanism 2, positioning mechanism 3, scrubbing mechanism 4, snatch mechanism 7, drainage zone 5 and automatically controlled district 6, and each functional area mutually supports each other to accomplish cleaning function, realize high-efficient and improve space utilization. The connecting arm 701 moves the vacuum suction nozzle 703 at the tail end to the center point of the dish located by visual recognition under the driving of the motor, the dish is grabbed due to negative pressure generated by the vacuum suction nozzle 703 after the air pump is started, the dish is placed at the top end of the brushing mechanism 4 by the connecting arm 701 after the cover plate 201 slides along with the driving guide plate 203 driven by the motor and is opened, the connecting arm 701 is separated from the rear cover plate 201 and is closed, the brushing mechanism 4 rotationally sprays water under the combined action of the motor and the water pump to brush the dish, the cover plate 201 is opened after the brushing is finished, the connecting arm 701 grabs the dish and is stacked, the cover plate 201 is closed, and the. The intelligent bowl and dish washing machine provided by the invention can be used for washing and stacking bowls and dishes with different depths and different diameters.

In order to further understand the invention, in one embodiment, each functional area of the dish washing machine is divided into a frame 1, a cover plate mechanism 2, a positioning mechanism 3, a brushing mechanism 4, a grabbing mechanism 7, a water discharging area 5 and an electric control area 6.

Frame 1 includes aluminum alloy pole 101, realizes the supporting role, and will intelligence bowl dish cleaning machine divides into different functional areas.

The cover plate mechanism 2 includes: the cover plate 201 realizes the isolation function to prevent water from splashing during cleaning. The linear module 202 is driven by the motor to slide the active guide plate 203 up and down, and the cover plate 201 is opened and closed through the steel wire 204.

The positioning mechanism 3 includes: and the base 302 is used for fixedly connecting the positioning mechanism with the frame 1 so as to realize the fixation of the relative position between the positioning mechanism and the frame 1. The claw head 304 and the middle section 301 are connected with the base 302 through nylon ropes 303, and the claw head 304 and the middle section 301 can be pulled through the nylon ropes 303, so that dishes can be fixed.

The brush mechanism 4 includes: and the middle shaft water spraying gland 401 is used for capping the water spraying port to prevent foreign matters from entering and simultaneously enable water to spread to the periphery. And the mesh aluminum plate is used for realizing the connection of the frame 1 and the positioning mechanism and simultaneously allowing redundant water to flow to the drainage area. The substrate 410, which protects the motor from water flow. The connection plate 405, together with the substrate 410 and the mesh aluminum plate 404, which have a buffering function are connected and fixed by using a threaded nut, and provides support for the gear motor bracket 411, the brush base 412 and the like. The outer sleeve 406, which is hollow, guides the water flow. And a reduction motor bracket 411 for fixing and supporting the reduction motor. A brush base 412, which provides support for the bearings, and which is connected to a nozzle fitting 413 to provide a water flow conduit. The turbine 415 is fixed with the outer sleeve shaft 406 and transmits the force provided by the motor to realize rotary cleaning. The central supporting shaft 416 is connected with the central shaft water spraying gland 401 at the upper part and connected with the water nozzle joint 413 at the lower part, so that the functions of supporting and guiding water flow are realized. And a spring 417 connected to the large bottom plate 409 and the middle bottom plate 408, which can adjust the positions of the two bottom plates according to the shape of the dishes to be needed, thereby realizing the function of size self-adaptation of the dishes. And the bearing provides a supporting function for the shaft and enables the shaft to realize a rotating effect. The brush middle seat 403 and the brush upper seat 407 support and connect.

And (5) drainage area: the bottom is provided with a drain hole which is the lowest part of the drainage area, and the used waste water is drained through the drain hole.

An electric control area 6: and controlling each functional area of the intelligent bowl and dish washing machine, and controlling synchronous or sequential execution of actions, thereby realizing the functions of the intelligent bowl and dish washing machine.

The grasping portion 7 includes: the steering gears and the three steering gears can realize the four-degree-of-freedom motion of the vacuum suction nozzle 703 of the connecting arm 701 under the combined action. A rudder plate is used for connecting the base machine and the connecting arm 701 and transmitting power. The vacuum suction nozzle 703 is a part connected with the air pump on the connecting arm 701, when the air pump pumps air, the vacuum suction nozzle 703 generates negative pressure, the dish can be grabbed, and when the air pump stops working, the grabbed dish is released. The first disk 710, attached to the lower mesh aluminum plate by a bracket, provides support for the second disk 711 and the entire connecting arm 701. The second disk 711 supports upper parts, is connected with the first disk 710 through the deep groove ball bearing 706, and can realize rotation of the connecting arm 701 around the Z axis by taking the output of the steering engine at the lower end as power. The steering engine disc plays a supporting role for the steering engine below, and meanwhile, the middle of the steering engine disc is provided with a hole, so that the output end of the steering engine can be connected with the second disc 711. The long U-shaped bracket, the inclined bracket, the connecting arm 701 and the like play a role in connection and support. Further, brackets 713 are arranged on two sides of the second steering engine 705.

In the intelligent dish washing machine, the brushing mechanism 4 is made of relatively soft basic material.

In the intelligent bowl and dish cleaning machine, the manipulator and the frame 1 are made of aluminum alloy as basic materials.

And opening the switch, shooting a picture of the area to be washed by the camera, and performing edge detection by using Gaussian filtering and Roberts operators to obtain the positions of the bowls and the dishes. The connecting arm 701 moves the vacuum suction nozzle 703 at the end to the center point of the dish where the visual recognition is located under the driving of the motor, the air pump is turned on, the vacuum suction nozzle 703 generates suction force, and the dish is grabbed. When the connecting arm 701 drives the dishes to move to a certain position, the limit switch is triggered, the motor of the cover plate mechanism 2 starts to operate, the active guide plate 203 slides under the action of the linear module 202 and opens the cover plate 201 through the steel wire rope 204, the dishes are grabbed by the connecting arm 701 and move to the top end of the brushing mechanism 4, the air pump is closed, the dishes are put down, the connecting arm 701 leaves, and the cover plate 201 is closed. Due to the unique design of the spring 417, the brushing mechanism 4 can realize self-adaptation to the sizes of bowls and dishes, the motor of the brushing mechanism 4 is started to enable the brush head to rotate, the water pump is started to enable water flow to be sprayed out from the top end of the brushing mechanism 4, and rotary water-spraying brushing of bowls and dishes with different sizes is realized. After the brushing is finished, the cover plate 201 is opened, the connecting arm 701 grabs the dishes and stacks the dishes to the cleaned area, the cover plate 201 is closed, and the cleaning is finished.

In one embodiment, in the cover mechanism 2, the active guide plate 203 is installed on the linear module 202 through a screw thread, and the cover 201 is connected with the active guide plate 203 through a wire rope 204, so that the cover 201 is driven to open and close when the linear module 202 moves linearly up and down. The positioning mechanism 3, the middle section 301, the claw head 304 and the base 302 are connected with the nylon rope 303 through a torsion spring, a screw rod and the nylon rope 303, the nylon rope 303 is fixed at the bottom of the cover plate, the positioning part is driven to be unfolded through the nylon rope 303 when the cover plate is opened, and the positioning part is closed through the torsion spring when the cover plate is closed.

In one embodiment, in the brushing mechanism 4, the top central shaft water spraying gland 401 is in threaded connection with the central support shaft 416, the outer shaft sleeve 406 is fixed on the upper seat 407, the middle bottom plate 408, the large bottom plate 409 and the spring 417, so that the dish size self-adaption and the water spraying function are realized, the bearing a402, the bearing B414 and the central support shaft 416 are fixed through the middle brush seats 403 and 412, the rotating resistance is reduced, the brush base 412 is fixed through the connecting plate 405, the motor is fixed through the speed reduction motor bracket 411, and the power is transmitted through the turbine 415 fixed on the outer shaft sleeve 406. The electric control area is located at the lower part of the dish grabbing part and comprises a single chip microcomputer and a PLC (programmable logic controller), the PLC controls the linear module 202 of the cover plate part 2, the motor, the vacuum pump and the water pump work timing sequence of the brushing part 4 through a limit switch, and the single chip microcomputer controls the dish position visual identification and the dish grabbing motion of the dish grabbing part 7.

In one embodiment, the dish gripping part 7 takes a photograph of dishes through a camera, obtains positions of the dishes through data processing, grips the dishes through the vacuum suction nozzle 703, and transfers the dishes through the four-degree-of-freedom robot arm.

In one embodiment, the grasping mechanism is further provided with a fourth steering gear 702. The long U-bracket a704 and the long U-bracket B714 are arranged in parallel to form a second bracket, the first steering gear 708 is arranged in the steering gear disc 707, in one embodiment, the second bracket is connected with a fourth bracket formed by an inclined bracket a715 and an inclined bracket B716, and in one embodiment, the connecting arm is connected with the fourth bracket via a multifunctional bracket B718. It can be appreciated that the grasping mechanism can achieve multiple degrees of freedom of precise grasping.

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments and application fields, and the above-described embodiments are illustrative, instructive, and not restrictive. Those skilled in the art, having the benefit of this disclosure, may effect numerous modifications thereto without departing from the scope of the invention as defined by the appended claims.