CN113509577B - A robotic arm for disinfection and a special trolley for environmental disinfection thereof - Google Patents

Abstract

The invention discloses a mechanical arm for disinfection, which comprises a lower support arm arranged vertically, wherein the lower end of the lower support arm is horizontally rotatably arranged at the front end of a frame through a horizontal rotation control mechanism, and the upper end of the lower support arm is connected with the rear end of an upper support arm through a vertical rotation control mechanism; the spray head is characterized in that the front end of the upper support arm is provided with the spray head, and the spray head can be connected with the liquid medicine box through a liquid medicine pipeline. Also discloses a trolley for environmental disinfection, which adopts the mechanical arm. The invention has the advantages of simple structure, reliable control, convenient liquid medicine delivery to the spray head to realize liquid medicine injection, remote control to realize the disinfection of the site environment and improvement of the convenience, reliability and safety of the disinfection process.

Description

A robotic arm for disinfection and a special trolley for environmental disinfection thereof

technical field

The invention relates to the field of sanitation and disinfection equipment for building environments, and in particular relates to a robotic arm for disinfection and a trolley dedicated to environmental disinfection.

Background technique

When some construction sites, such as factories, shopping malls, schools, farms, squares, etc., need to carry out comprehensive disinfection measures due to the outbreak of the epidemic, the disinfection personnel usually wear anti-virus masks, put on anti-virus clothing and carry disinfection equipment into the site for disinfection. However, after the disinfection personnel wear anti-virus clothing, they carry disinfection equipment for operation, which will cause problems such as inconvenient movement and inconvenient operation. At the same time, if the operator accidentally damages the clothes, it will also affect the safety of the operator himself.

In addition, when the construction site needs to be disinfected after the outbreak of the epidemic, it usually needs to be disinfected by professional epidemic handling personnel. Ordinary personnel are generally not allowed to enter the epidemic site to handle the work, which may also increase the risk of the spread of the epidemic due to untimely handling.

In order to solve the above problems, the applicant considers to design a special trolley for environmental disinfection that can be commanded by remote control, load the liquid medicine tank on the trolley, and then install a mechanical arm on the trolley to realize the spraying and disinfection of the liquid medicine by using the mechanical arm, and then install a camera to Realize remote on-site monitoring. This can prevent disinfection personnel from entering the on-site environment and improve safety.

However, how to set up the specific structure of the mechanical arm can have the advantages of simple structure, reliable control, and convenient liquid medicine delivery, which has become a problem to be considered and solved.

Contents of the invention

Aiming at the deficiencies of the above-mentioned prior art, the technical problem to be solved by the present invention is: how to provide a disinfectant manipulator with simple structure and reliable control, which can facilitate the delivery of liquid medicine to the nozzle for spraying the liquid medicine and its special trolley for environmental disinfection.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A robotic arm for disinfection, comprising a vertically arranged lower arm, the lower end of the lower arm is horizontally rotatably mounted on the front end of the vehicle frame through a horizontal rotation control mechanism, and the upper end of the lower arm is passed through a vertical rotation control mechanism and the upper arm The rear end is connected; it is characterized in that a spray head is installed at the front end of the upper support arm, and the spray head can be connected with the liquid medicine tank through the liquid medicine pipeline.

In this way, by controlling the horizontal rotation of the lower support arm and the vertical rotation of the upper support arm, the control of the spraying direction of the nozzle can be realized, which facilitates the disinfection of various spatial positions in the place to be disinfected.

Further, the horizontal rotation control mechanism includes a horizontally arranged lower arm support platform, the lower end of the lower arm support platform is fixedly installed on the lower arm support platform, and a cylindrical transmission is formed below the middle part of the lower arm support platform. There is a vertical cylindrical retaining sleeve on the outside of the transmission column. The retaining sleeve is fixed on the frame. The upper and lower ends of the retaining sleeve are respectively provided with bearings and the transmission column can be rotatably matched. The lower end of the transmission column is suspended and horizontal There is a lower arm driven gear, the lower arm driven gear meshes with a lower arm driving gear, and the lower arm driving gear is connected to the output end of the lower arm rotation control motor installed on the frame; the transmission column inside A liquid passage is arranged vertically, and the upper port of the liquid passage is located on the upper surface of the support platform of the lower arm and is connected to the liquid medicine pipeline leading to the nozzle. A ring of liquid medicine converging chamber is formed on the inner wall along the circumferential direction, and the lower end of the liquid passage is connected to the liquid medicine converging chamber, and the outer wall of the holding sleeve is provided with a liquid medicine interface connected to the liquid medicine converging chamber. The interface is connected to the liquid medicine pipeline leading to the liquid medicine tank.

In this way, the horizontal rotation control mechanism not only has a simple and compact structure, can control the horizontal rotation of the lower arm, but also can realize the communication of the liquid medicine, so that the rotation of the lower arm will not cause the winding of the liquid medicine pipeline, and will not interfere with the liquid medicine. The delivery, and to ensure the stability and reliability of liquid medicine delivery.

Further, a dynamic sealing structure is provided between the inner wall of the holding sleeve at the upper and lower ends of the liquid medicine converging chamber and the transmission column.

This can avoid leakage and better ensure the reliability of liquid medicine delivery.

As an optimization, the area outside the position where the lower arm is installed on the lower arm support platform is hollowed out. This allows for better control arm weight reduction. It is more convenient to turn and control, and it can avoid affecting the balance of the vehicle due to the excessive weight of the control arm.

Further, the vertical rotation control mechanism includes an upper arm shaft arranged vertically at the rear end of the upper arm, the upper arm shaft is mounted on the shaft mounting lug at the upper end of the lower arm, and the upper arm shaft is also fixed A worm gear is installed, and the worm gear meshes with a worm installed on the upper end of the lower arm, and a driven gear of the upper arm is fixedly installed on the worm, and the driven gear of the upper arm meshes with a driving gear of the upper arm, and the driving gear of the upper arm It is connected with the output end of the upper arm rotation control motor installed on the lower arm.

In this way, the structure is simple and compact, and the worm gear and worm can be self-locked to ensure the stability of the upper and lower swing (ie rotation) control of the front end of the upper support arm, which is convenient, stable and reliable to control the rotation of the upper support arm.

Further, the worm gear and the worm are installed inside a protective case at the upper end of the lower support arm.

This avoids the exposure of the worm gear and improves protection.

Further, the front end of the upper support arm is provided with a nozzle switching device, the nozzle switching device includes a disc-shaped nozzle mounting plate as a whole, a ring of nozzles is installed on the front surface of the nozzle mounting plate along the circumference, and the inside of the nozzle mounting plate corresponds to each nozzle. There is a nozzle channel, and an infusion column installation groove is formed in the middle of the rear end of the nozzle installation plate. An overall cylindrical infusion column is provided in the middle part of the front end of the support arm, and a sleeve-shaped stop sleeve is coaxially arranged on the outer periphery of the infusion column. The front end of the infusion column forms a large diameter section with an enlarged diameter. The diameter section is fitly installed in the infusion column installation groove at the rear end of the nozzle mounting plate. Bearings are provided between the position of the infusion column close to the large diameter section and the nozzle mounting plate, and between the nozzle mounting plate and the outer limit sleeve to realize rotatable connection. The infusion column is provided with an infusion channel along the length direction as a whole. The rear end of the infusion channel is connected to the liquid medicine pipeline. There is also a dynamic sealing structure between the outer circumference of the large-diameter section of the infusion column at the front and rear positions of the outlet of the front end of the channel and the installation groove of the infusion column; the rear end of the nozzle installation plate also has a ring gear coaxially arranged, and the ring gear is installed on the upper support. A nozzle switching control motor at the front end of the arm (which can be realized by a steering gear) is connected to the transmission.

In this way, the nozzle switching control motor can drive the nozzle mounting plate to rotate stably between the limit sleeve and the infusion column through the ring gear, so that different nozzle channels can be switched to the position facing the infusion channel, thereby realizing the switching of different nozzles; A circle of nozzles of different types can be pre-installed, and the nozzles can be switched according to the needs during use to adjust the distance and coverage of the liquid sprayed by the nozzles; making it more flexible and adjustable to improve practicability. At the same time, the nozzle switching device itself has the advantages of compact structure, very stable and reliable liquid medicine delivery and switching control drive rotation.

Furthermore, the front end of the upper support arm has a turning section, and the nozzle switching device is installed on the turning section.

In this way, the front end of the upper support arm is folded toward the setting, which makes it easier to adjust the angle at which the spray head sprays the liquid medicine.

As an optimization, the middle part of the upper support arm is hollowed out for the passage of the liquid medicine pipeline.

In this way, the hollow arrangement of the upper support arm can reduce the weight and facilitate the arrangement of the liquid medicine pipeline, avoiding the entanglement of the pipeline when the support arm rotates.

Further, the upper support arm includes a main body section and a bending section connected from the back to the front. The liquid medicine pipeline on the arm is bound and fixed at the position between the two hollow areas.

In this way, the columnar shape of the turning section can facilitate the installation of the nozzle switching device on it, and the structure of the main section can not only greatly reduce the weight of the mechanical arm, but also facilitate the arrangement and fixing of the liquid medicine pipeline on the upper arm.

Further, the outer side of the front end of the upper arm (specifically, the outer side of the folding section) also has a camera installation position, and a front-end camera module is fixed on the camera installation position. The front-end camera module includes a front-end camera. Convex wide angle lens.

In this way, the front-end camera and the nozzle are installed in the same direction, which can monitor the spraying situation of the nozzle in real time and the spraying effect of the nozzle, so as to better judge and control the vehicle to move forward or backward, and better and ensure the disinfection effect.

Further, the front-end camera module is rectangular as a whole, and the front-end camera is installed and fixed on the front end of the front-end camera module. There is a fan installation chamber inside the front-end camera module, and a forward camera fan is installed and fixed in the fan installation chamber. The fan behind the camera fan The wall of the installation cavity is provided with an air inlet grill along the circumference, and a circle of air outlet holes is arranged on the front end surface of the front camera module along the periphery of the front camera, and the rear end of the air outlet holes communicates with the fan installation chamber.

In this way, when it is necessary to disinfect the buildings in front or on the top, and when the nozzle is spraying upwards or obliquely upwards, the camera fan can be controlled and started to ensure that the air outlet holes around the front camera can be blown out by wind, and form a whole cylindrical shape. The wind curtain can prevent the liquid sprayed from the nozzle from falling backward on the camera and affecting the imaging effect of the lens. Ensure the reliability of monitoring.

Furthermore, the entire air outlet hole is arranged along the front-to-rear direction, and the front part has an inclined section inwardly close to the front-end camera. In this way, the air flow ejected from the air outlet can form a cone-shaped air flow curtain, and the front end of the air flow is closed to better prevent the liquid medicine from falling into the surface of the front camera. Furthermore, the outlets of the air outlet holes can be integrally connected to form an annular air outlet groove. The effect of the annular air curtain formed by the air outlet is further improved, and the shielding effect on the liquid medicine is improved.

The invention also discloses a special trolley for environmental disinfection, which includes a vehicle frame, a wheel walking system is arranged under the vehicle frame, and a control module is arranged on the vehicle frame. The frame is also loaded with a liquid medicine tank, which is provided with a liquid medicine pipeline connected to the nozzle, a hydraulic pump is installed on the liquid medicine pipeline, a camera is also installed on the mechanical arm or the frame, and one end of the control module and the wheel The walking system, the robotic arm and the camera are connected, and the other end is wirelessly connected to the remote control device.

In this way, when the equipment is used for disinfection in construction sites, it can rely on the liquid tank to carry the disinfectant liquid, rely on the camera to take real-time pictures and perform remote image transmission to feed back the disinfection site situation, use the remote control device to remotely command the equipment to walk, and control the robotic arm to operate the nozzle to spray The liquid medicine is used for on-site environmental disinfection. There is no need for disinfection personnel to enter the site, which liberates the disinfection operators and eliminates their safety hazards. Ordinary personnel can also remotely operate the equipment to achieve timely disinfection of the site environment. Therefore, the convenience, reliability and safety of the disinfection of the place environment are greatly improved. During implementation, the control module part and the remote control device part are mature existing technologies in the control field, and will not be introduced in detail here. During implementation, the camera can be installed on the mechanical arm or on the vehicle frame, and multiple cameras can be installed in the circumferential direction to achieve a panoramic scanning effect. The structure and installation method of the camera itself are mature existing technologies and will not be described in detail here.

Further, the wheel running system includes crawler running devices installed at the front and rear positions on both sides of the frame. The crawler running device includes a triangular-shaped base plate that is vertically arranged and relatively fixed to the frame. A driving sprocket is installed on the upper end of the base plate. A driven sprocket is installed at the front and rear corners of the lower part of the base plate, and two running wheels are installed side by side at the bottom of the base plate. The position of the driven sprocket is higher than that of the running wheels. The sprocket and the traveling wheel are externally fitted with a chain type track.

In this way, when in use, the power machine on the vehicle frame drives the driving sprocket to rotate to realize the walking of the crawler running device. The use of the crawler running device can better improve the stability of the vehicle's walking, and at the same time facilitate the improvement of the vehicle's walking performance. The specific control part is a mature prior art and will not be described in detail here.

Further, the base plate is located at the side positions of the front and rear sides, and each has a driven sprocket installation arm arranged along the side direction, the driven sprocket is installed at the lower end of the driven sprocket installation arm, and the driven sprocket installation arm The middle part of the arm is rotatably connected and installed on the base plate through a rotating shaft, and a spring for maintaining the arm is also arranged between the driven sprocket installation arm and the base plate.

In this way, when the driven sprocket installation arm is not subjected to external force, the spring for supporting the arm keeps the driven sprocket installation arm at a position parallel to the side of the base plate. When stepping, the position of the driven sprocket first contacts with obstacles or steps. When the resistance is too large and greater than the holding force of the spring for supporting the arm, the lower end of the supporting arm on which the driven sprocket is installed can be lifted up for a certain distance, which is very convenient. Greatly improved the passing performance of the crawler walking device during walking.

Further, the lower part of the base plate is also provided with a traveling wheel mounting plate, the upper end of the traveling wheel mounting plate is rotatably connected and mounted on the base plate, and the traveling wheels are installed at the front and rear ends of the lower side of the traveling wheel mounting plate, between the traveling wheel mounting plate and the base plate A spring for holding the mounting plate is provided.

In this way, when an obstacle is encountered, the two traveling wheels can also be floated back and forth and raised to a certain height, so as to improve the walking passability.

Further, the inner side of the upper end of the driven sprocket mounting support arm protrudes vertically downwards and is provided with a first lug, the first lug is hinged to the inner end of a horizontally arranged lever as a whole, and the fulcrum in the middle of the lever can be rotated Ground is installed on the base plate, and the outer end of the lever is hinged with a second lug that is vertically installed on the side of the traveling wheel mounting plate.

In this way, when the driven sprocket at one end of the base plate encounters an obstacle and is forced to lift up, the lower end of the driven sprocket mounting arm turns upward, and the upper end of the moving sprocket mounting arm turns downward and can be leveraged to the adjacent side. The walking wheel mounting plate on the adjacent side can be lifted up a certain distance, and the driven sprocket on the other side can be driven down a certain distance synchronously by the lever on the other side. This produces a synchronous coordination effect, improves the integrity of the crawler running device, and can coordinate the height of the four wheels at the bottom of the base plate to a position where it is easier to pass obstacles when encountering obstacles. Therefore, its passability to obstacles is further greatly improved. It can be seen from the above scheme that in the present invention, special attention is paid to improving the passability of the equipment when encountering obstacles. This is because the environment that needs to be disinfected tends to be more messy when the emergency evacuation occurs when the epidemic suddenly breaks out. There will be a lot of discards on the field. Therefore, in the present invention, the crawler belt traveling device with high passability is adopted as the walking power device, and various improvements are made on the basis of it to further improve its passability.

Further, the outer surface of the substrate is located in the middle of the lever, and a lever shaft is fixedly protruded, and the middle of the lever is provided with a bar hole along the length direction, and the lever shaft passes through the bar hole to form a lever fulcrum.

In this way, when the driven sprocket mounting arm drives the lever to rotate, the lever shaft as the fulcrum of the middle part of the lever can slide a certain distance left and right in the bar hole, forming enough space to make way, and better ensuring the reliability of the lever rotation.

Further, on the opposite side of the driven sprocket mounting arm and the base plate, a relief groove is provided corresponding to the position of the lever, and the first lug, the second lug, and the two ends of the lever are respectively accommodated in the corresponding relief groove Inside.

In this way, relying on the two relief grooves on the opposite side of the driven sprocket mounting arm and the base plate to realize the displacement of the lever mechanism, the base plate and the driven sprocket mounting arm can be arranged more closely, and the force transmission structure is more stable reliable.

Further, the liquid medicine tank is installed on the upper surface of the vehicle frame in a covering manner along the length direction of the vehicle frame.

This can maximize the liquid loading capacity.

Further, the vehicle frame is also provided with a level sensor connected to the control module, the front end of the liquid medicine tank is hingedly mounted on the vehicle frame, and a lifting device is provided at the rear end of the vehicle frame, the telescopic arm of the lifting device is set upward and The upper end of the telescopic arm is movably connected to the lower surface of the rear end of the liquid medicine tank.

This is because the liquid medicine tank in this device occupies a very large proportion of the space volume of the equipment. When in use, the liquid medicine tank will carry a large amount of liquid medicine, and the liquid medicine has fluidity. Therefore, when the front end of the vehicle passes through a large obstacle, the liquid medicine will flow backward during the lifting process of the front end of the equipment. When the inclination angle is too large, it is easy to cause the equipment to overturn due to the instability of the center of gravity. Therefore, the applicant has carried out the above improvements in a targeted manner, so that when the level sensor detects that the front end of the vehicle is tilted upwards too much, the rear end of the liquid medicine tank can be controlled to lift upward through the lifting device, so that the liquid medicine flows back to the front end, keeping the front and back of the equipment weight balance. In this way, the equipment can go over larger obstacles more stably and reliably, and better improve the passability of the equipment. It can also be further improved during implementation, so that the front and rear ends of the lower part of the liquid medicine tank are provided with lifting devices and are connected to the vehicle frame by means of the lifting devices. In this way, regardless of the large obstacles encountered in the front and rear directions, the liquid tank can be lifted in the opposite direction to control the balance and improve its passability. During implementation, the lifting device can be realized by mechanisms such as hydraulic cylinders or electric cylinders.

Further, an auxiliary supporting wheel is also provided in the middle part of the rear end of the vehicle frame, the auxiliary supporting wheel is installed at the lower end of an auxiliary supporting arm, the upper end of the auxiliary supporting arm is rotatably hinged at the middle part of the rear end of the vehicle, and the vehicle frame is also provided with an auxiliary supporting wheel. The telescoping device with high arm efficiency and the ability to control the up and down rotation of the auxiliary support arm.

In this way, when the liquid medicine in the liquid medicine tank is used up and the vehicle encounters a large obstacle in front of the vehicle and needs to adjust the tilt angle of the equipment, the telescopic device can be controlled to drive the lower end of the auxiliary support arm to open downward and prop up the rear end of the equipment to restore the equipment. The front and rear balance is conducive to further improving the passability of the equipment.

To sum up, the present invention has the advantages of simple structure, reliable control, convenient delivery of liquid medicine to the nozzle for spraying liquid medicine, remote control for environmental disinfection of places, and improved convenience, reliability and safety of the disinfection process.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the special trolley for environmental disinfection of the present invention.

Fig. 2 is a left side view of Fig. 1 .

Fig. 3 is a structural schematic diagram of a separate horizontal rotation control mechanism part of the device in Fig. 1 .

Fig. 4 is a schematic diagram showing the structure of the individual mechanical arm part of the device in Fig. 1, and the position of the vertical rotation control mechanism is cut away to show the internal structure.

Fig. 5 is a top view of Fig. 4 .

Fig. 6 is a schematic structural diagram of a separate nozzle switching device in the device in Fig. 1 .

FIG. 7 is a cross-sectional view of FIG. 6 .

Fig. 8 is a schematic diagram of the structure of the separate crawler walking device part of the equipment in Fig. 1 .

FIG. 9 is a schematic structural diagram of the front-end camera module in FIG. 1 .

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

Optimum implementation mode: as shown in Figures 1 to 9, a special trolley for environmental disinfection includes a frame 1, a wheel walking system is provided under the frame 1, and a control module (not shown in the figure) is provided on the frame. Wherein, a mechanical arm is installed on one end of the vehicle frame, a nozzle 2 is arranged at the front end of the mechanical arm, and a liquid medicine tank 3 is also loaded on the vehicle frame, and a liquid medicine pipeline (not shown in the figure) and The nozzles 2 are connected, a hydraulic pump is installed on the liquid medicine pipeline, a camera is also installed on the mechanical arm or the frame (the number 4 in the figure is the camera installation position, which is used to install the front camera module), one end of the control module and the wheel walking system , the robotic arm and the camera are connected, and the other end is wirelessly connected with the remote control device.

In this way, when the equipment is used for disinfection in construction sites, it can rely on the liquid tank to carry the disinfectant liquid, rely on the camera to take real-time pictures and perform remote image transmission to feed back the disinfection site situation, use the remote control device to remotely command the equipment to walk, and control the robotic arm to operate the nozzle to spray The liquid medicine is used for on-site environmental disinfection. There is no need for disinfection personnel to enter the site, which liberates the disinfection operators and eliminates their safety hazards. Ordinary personnel can also remotely operate the equipment to achieve timely disinfection of the site environment. Therefore, the convenience, reliability and safety of the disinfection of the place environment are greatly improved. During implementation, the control module part and the remote control device part are mature existing technologies in the control field, and will not be introduced in detail here. During implementation, the camera can be installed on the mechanical arm or on the vehicle frame, and multiple cameras can be installed in the circumferential direction to achieve a panoramic scanning effect. The structure and installation method of the camera itself are mature existing technologies and will not be described in detail here. The size of the trolley of this equipment is usually smaller than that of a driving vehicle, subject to the convenience of entering the place, it is usually driven by electricity.

Wherein, the mechanical arm structure includes a vertical lower support arm 5, the lower end of the lower support arm 5 is horizontally rotatably mounted on the front end of the vehicle frame through a horizontal rotation control mechanism, and the upper end of the lower support arm 5 is passed through a vertical rotation control mechanism and The rear ends of the upper support arms 6 are connected, and the front ends of the upper support arms 6 are equipped with the shower head 2 . The overall lower support arm is implemented as a hollow frame structure to reduce the weight of the mechanical arm. The upper support arm as a whole is a curved plate-shaped structure with a hollowed out middle to reduce the weight of the robotic arm.

In this way, by controlling the horizontal rotation of the lower support arm and the vertical rotation of the upper support arm, the control of the spraying direction of the nozzle can be realized, which facilitates the disinfection of various spatial positions in the place to be disinfected.

Wherein, the horizontal rotation control mechanism includes a horizontally arranged lower arm support platform 7, the lower end of the lower arm support platform 5 is fixedly installed on the lower arm support platform 7, and a bottom part of the lower arm support platform 7 extends downward to form a Cylindrical transmission column 8, the outer cover of transmission column 8 is provided with a vertical cylindrical retaining sleeve 9 as a whole, the retaining sleeve 9 is fixed on the vehicle frame, and the inner upper and lower ends of the retaining sleeve 9 are respectively provided with bearings and transmission column 8 Rotatable fit, the lower end of the transmission column is suspended and horizontally provided with a lower arm driven gear 10, the lower arm driven gear 10 meshes with a lower arm driving gear (not shown in the figure), the lower arm driving gear and the lower arm driving gear are installed on the vehicle The output end of the lower arm rotation control motor on the frame (not shown in the figure) is connected; the inside of the transmission column 8 is vertically provided with a liquid passage, and the upper port of the liquid passage is located on the upper surface of the lower arm support platform and connected to the The liquid medicine pipeline of the spray head, the lower arm is hollowly set and allows the liquid medicine pipeline leading to the spray head to pass through, and a ring of liquid medicine converging chambers 11 is formed on the inner wall of the holding sleeve along the circumferential direction, and the lower end of the liquid passage is connected to the medicine liquid pipeline. The liquid converging chamber 11 is provided with a liquid medicine interface 12 connected to the liquid medicine converging chamber 11 on the outer wall of the holding sleeve, and the liquid medicine interface 12 is connected to a liquid medicine pipeline leading to the liquid medicine tank.

In this way, the horizontal rotation control mechanism not only has a simple and compact structure, can control the horizontal rotation of the lower arm, but also can realize the communication of the liquid medicine, so that the rotation of the lower arm will not cause the winding of the liquid medicine pipeline, and will not interfere with the liquid medicine. The delivery, and to ensure the stability and reliability of liquid medicine delivery.

During implementation, except the area where the lower arm is installed on the lower arm support platform 7, the remaining areas can be hollowed out to reduce the weight of the control arm. It is more convenient to turn and control, and it can avoid affecting the balance of the vehicle due to the excessive weight of the control arm.

Wherein, a dynamic sealing structure is provided between the inner wall of the holding sleeve 9 at the upper and lower ends of the liquid medicine converging chamber 11 and the transmission column 8 .

This can avoid leakage and better ensure the reliability of liquid medicine delivery.

Wherein, the vertical rotation control mechanism includes an upper arm shaft 13 arranged vertically on the rear end of the upper arm 6, the upper arm shaft 13 is installed on the shaft mounting lug 14 at the upper end of the lower arm, and the upper arm shaft A worm gear 15 is also fixedly installed on the 13, and the worm gear 15 meshes with a worm screw 16 installed on the upper end of the lower support arm. An upper support arm driven gear 17 is also fixedly installed on the worm screw 16. The upper support arm driven gear 17 and an upper support arm The arm driving gear 18 is engaged, and the upper arm driving gear 18 is connected with the output end of the upper arm rotation control motor 19 installed on the lower arm 5 .

In this way, the structure is simple and compact, and the worm gear and worm can be self-locked to ensure the stability of the upper and lower swing (ie rotation) control of the front end of the upper support arm, which is convenient, stable and reliable to control the rotation of the upper support arm.

Wherein, the worm gear and the worm are installed inside a protective shell 20 at the upper end of the lower support arm.

This avoids the exposure of the worm gear and improves protection.

Wherein, a nozzle switching device is provided at the front end of the upper support arm, and the nozzle switching device includes a nozzle mounting plate 21 which is in the shape of a disc as a whole. Each nozzle is provided with a nozzle channel 22, and an infusion column installation groove is formed in the middle part of the rear end of the nozzle installation plate 21. The front end of each nozzle channel 22 is connected to the nozzle installation position, and the rear end is connected to the circumferential side wall of the infusion column installation groove. On the same circumferential position, an overall cylindrical infusion column 23 is arranged on the protruding middle part of the front end of the upper support arm, and a sleeve-shaped stop sleeve 24 is arranged coaxially on the outer circumference of the infusion column. The front end of the infusion column 23 forms a diameter The enlarged large-diameter section and the large-diameter section are installed in the infusion column installation groove at the rear end of the nozzle installation plate. The infusion column 23 is close to the position between the large-diameter section and the nozzle installation plate and between the nozzle installation plate and the outer limit sleeve. Bearings are arranged between them to realize rotatable connection. The infusion column 23 is provided with an infusion channel 25 along the length direction as a whole. The rear end of the infusion channel 25 is connected with the liquid medicine pipeline. On the side wall, there is a dynamic sealing structure between the outer periphery of the large-diameter section of the infusion column and the installation groove of the infusion column at the front and rear positions of the outlet of the front end of the infusion channel 25; the rear end of the nozzle installation plate also has a A ring gear 26 arranged coaxially, and the ring gear 26 is in drive connection with a nozzle switching control motor 27 (which can be realized by a steering gear) installed at the front end of the upper support arm.

In this way, the nozzle switching control motor can drive the nozzle mounting plate to rotate stably between the limit sleeve and the infusion column through the ring gear, so that different nozzle channels can be switched to the position facing the infusion channel, thereby realizing the switching of different nozzles; A circle of nozzles of different types can be pre-installed, and the nozzles can be switched according to the needs during use to adjust the distance and coverage of the liquid sprayed by the nozzles; making it more flexible and adjustable to improve practicability. At the same time, the nozzle switching device itself has the advantages of compact structure, very stable and reliable liquid medicine delivery and switching control drive rotation.

Wherein, the front end of the upper support arm 6 has a turning section 28, and the nozzle switching device is installed on the turning section.

In this way, the front end of the upper support arm is folded toward the setting, which makes it easier to adjust the angle at which the spray head sprays the liquid medicine.

Wherein, the middle part of the upper support arm 6 is hollowed out and provided for the passage of the liquid medicine pipeline.

In this way, the hollow arrangement of the upper support arm can reduce the weight and facilitate the arrangement of the liquid medicine pipeline, avoiding the entanglement of the pipeline when the support arm rotates.

Wherein, the upper support arm 6 includes a main body section and a folding section 28 connected from the back to the front. The liquid medicine pipeline on the upper support arm is bound and fixed at the position between the two hollow areas 43 .

In this way, the columnar shape of the turning section can facilitate the installation of the nozzle switching device on it, and the structure of the main section can not only greatly reduce the weight of the mechanical arm, but also facilitate the arrangement and fixing of the liquid medicine pipeline on the upper arm.

Wherein, the outer side of the front end of the upper support arm (specifically the outer side of the folding section) also has a camera installation position 4, and a front-end camera module 44 is fixed on the camera installation position, and the front-end camera module 44 includes a front-end camera 45; the front-end camera 45 preferably adopts A wide angle shot of the lordosis along the upper arm.

In this way, the front-end camera and the nozzle are installed in the same direction, which can monitor the spraying situation of the nozzle in real time and the spraying effect of the nozzle, so as to better judge and control the vehicle to move forward or backward, and better and ensure the disinfection effect.

Wherein, the front-end camera module 44 is rectangular as a whole, and the front-end camera 45 is installed and fixed on the front end of the front-end camera module. There is a fan installation chamber inside the front-end camera module, and a forward camera fan 46 is installed and fixed in the fan installation chamber. The surrounding wall of the fan installation cavity is provided with an air inlet grille 47 along the circumference, and a circle of air outlet holes 48 is arranged on the front end surface of the front camera module along the front end camera.

In this way, when it is necessary to disinfect the buildings in front or on the top, and when the nozzle is spraying upwards or obliquely upwards, the camera fan can be controlled and started to ensure that the air outlet holes around the front camera can be blown out by wind, and form a whole cylindrical shape. The wind curtain can prevent the liquid sprayed from the nozzle from falling backward on the camera and affecting the imaging effect of the lens. Ensure the reliability of monitoring. In addition, during implementation, air inlet holes or air intake grilles can also be provided at the bottom of the front camera module to replace the circumferentially arranged air intake grilles, which can better prevent the sprayed mist liquid from being sucked by the air intake grilles .

Wherein, the air outlet hole 47 is arranged along the front-rear direction as a whole, and the front portion has an inclined section inwardly close to the front-end camera. In this way, the air flow ejected from the air outlet can form a cone-shaped air flow curtain, and the front end of the air flow is closed to better prevent the liquid medicine from falling into the surface of the front camera. Furthermore, the outlets of the air outlet holes can be integrally connected to form an annular air outlet groove. The effect of the annular air curtain formed by the air outlet is further improved, and the shielding effect on the liquid medicine is improved.

Among them, the wheel walking system includes crawler belt running devices installed at the front and back positions on both sides of the vehicle frame. The crawler belt running equipment includes a triangular-shaped base plate 29 that is vertically arranged and relatively fixed on the vehicle frame 1, and an active chain is installed on the upper end of the base plate 29. Wheel 30, a driven sprocket 31 is respectively installed at the front and rear corners of the lower part of the base plate, and two running wheels 32 are installed side by side at the bottom of the middle part of the base plate. The position of the driven sprocket 31 is higher than that of the running wheel 32, so The driving sprocket 30 , the driven sprocket 31 and the traveling wheel 32 are fitted with a chain crawler belt 33 .

In this way, when in use, the power machine on the vehicle frame drives the driving sprocket to rotate to realize the walking of the crawler running device. The use of the crawler running device can better improve the stability of the vehicle's walking, and at the same time facilitate the improvement of the vehicle's walking performance. The specific control part is a mature prior art and will not be described in detail here.

Wherein, the base plate 29 is located at the side positions of the front and rear sides and each has a driven sprocket installation arm 34 arranged along the side direction, and the driven sprocket 31 is installed at the lower end of the driven sprocket installation arm 34, and the driven chain The middle part of the wheel mounting arm 34 is rotatably connected and mounted on the base plate 29 through a rotating shaft, and a spring (not shown) for maintaining the arm is also provided between the driven sprocket mounting arm and the base plate.

In this way, when the driven sprocket installation arm is not subjected to external force, the spring for supporting the arm keeps the driven sprocket installation arm at a position parallel to the side of the base plate. When stepping, the position of the driven sprocket first contacts with obstacles or steps. When the resistance is too large and greater than the holding force of the spring for supporting the arm, the lower end of the supporting arm on which the driven sprocket is installed can be lifted up for a certain distance, which is very convenient. Greatly improved the passing performance of the crawler walking device during walking.

Wherein, the bottom of the base plate 29 is also provided with a road wheel mounting plate 35, the upper end of the road wheel mounting plate 35 is rotatably connected and mounted on the base plate 29, the road wheels 32 are installed on the front and rear ends of the road wheel mounting plate 35 lower side, the road wheels are installed A mounting plate holding spring (not shown) is provided between the plate 35 and the base plate 29 .

In this way, when an obstacle is encountered, the two traveling wheels can also be floated back and forth and raised to a certain height, so as to improve the walking passability.

Wherein, the inner side of the upper end of the driven sprocket mounting support arm 34 protrudes vertically downwards to be provided with a first lug 36, and the first lug 36 is hinged to the inner end of a lever 37 which is arranged horizontally as a whole, and the lever 37 The middle fulcrum is rotatably installed on the base plate, and the outer end of the lever 37 is hinged with a second lug 38 vertically installed on the side of the road wheel mounting plate 35 .

In this way, when the driven sprocket at one end of the base plate encounters an obstacle and is forced to lift up, the lower end of the driven sprocket mounting arm turns upward, and the upper end of the moving sprocket mounting arm turns downward and can be leveraged to the adjacent side. The walking wheel mounting plate on the adjacent side can be lifted up a certain distance, and the driven sprocket on the other side can be driven down a certain distance synchronously by the lever on the other side. This produces a synchronous coordination effect, improves the integrity of the crawler running device, and can coordinate the height of the four wheels at the bottom of the base plate to a position where it is easier to pass obstacles when encountering obstacles. Therefore, its passability to obstacles is further greatly improved. It can be seen from the above scheme that in the present invention, special attention is paid to improving the passability of the equipment when encountering obstacles. This is because the environment that needs to be disinfected tends to be more messy when the emergency evacuation occurs when the epidemic suddenly breaks out. There will be a lot of discards on the field. Therefore, in the present invention, the crawler belt traveling device with high passability is adopted as the walking power device, and various improvements are made on the basis of it to further improve its passability.

Wherein, the outer surface of the substrate is located in the middle of the lever and is fixedly provided with a lever rotating shaft, and the middle of the lever is provided with a bar hole along the length direction, and the lever rotating shaft passes through the bar hole to form a lever fulcrum.

In this way, when the driven sprocket mounting arm drives the lever to rotate, the lever shaft as the fulcrum of the middle part of the lever can slide a certain distance left and right in the bar hole, forming enough space to make way, and better ensuring the reliability of the lever rotation.

Wherein, on the opposite side of the driven sprocket mounting support arm and the base plate, a relief groove 39 is respectively arranged corresponding to the position of the lever, and the first lug, the second lug and the two ends of the lever are accommodated in the corresponding relief groove respectively. Inside.

In this way, relying on the two relief grooves on the opposite side of the driven sprocket mounting arm and the base plate to realize the displacement of the lever mechanism, the base plate and the driven sprocket mounting arm can be arranged more closely, and the force transmission structure is more stable reliable.

Wherein, the liquid medicine tank 3 is installed on the upper surface of the vehicle frame 1 along the length direction of the vehicle frame in a covering manner.

This can maximize the liquid loading capacity.

Wherein, the vehicle frame 1 is also provided with a level sensor (not shown in the figure) which is connected to the control module, and the bottom of the front end of the liquid medicine 3 box is hingedly installed on the vehicle frame 1, and a lifting device is provided at the rear end of the vehicle frame 1 39. The telescopic arm of the lifting device 39 is set upwards and the upper end of the telescopic arm is movably connected to the lower surface of the rear end of the liquid medicine tank 3 .

This is because the liquid medicine tank in this device occupies a very large proportion of the space volume of the equipment. When in use, the liquid medicine tank will carry a large amount of liquid medicine, and the liquid medicine has fluidity. Therefore, when the front end of the vehicle passes through a large obstacle, the liquid medicine will flow backward during the lifting process of the front end of the equipment. When the inclination angle is too large, it is easy to cause the equipment to overturn due to the instability of the center of gravity. Therefore, the applicant has carried out the above improvements in a targeted manner, so that when the level sensor detects that the front end of the vehicle is tilted upwards too much, the rear end of the liquid medicine tank can be controlled to lift upward through the lifting device, so that the liquid medicine flows back to the front end, keeping the front and back of the equipment weight balance. In this way, the equipment can go over larger obstacles more stably and reliably, and better improve the passability of the equipment. It can also be further improved during implementation, so that the front and rear ends of the lower part of the liquid medicine tank are provided with lifting devices and are connected to the vehicle frame by means of the lifting devices. In this way, regardless of the large obstacles encountered in the front and rear directions, the liquid tank can be lifted in the opposite direction to control the balance and improve its passability. During implementation, the lifting device can be realized by mechanisms such as hydraulic cylinders or electric cylinders.

Wherein, an auxiliary supporting wheel 40 is also provided at the middle part of the rear end of the vehicle frame, and the auxiliary supporting wheel 40 is installed at the lower end of an auxiliary supporting arm 41, and the upper end of the auxiliary supporting arm is rotatably hinged at the middle part of the rear end of the vehicle, and the vehicle frame is also provided with and The auxiliary support arm is efficient and can control the telescoping device 42 that the auxiliary support arm rotates up and down.

In this way, when the liquid medicine in the liquid medicine tank is used up, and the front of the vehicle encounters a large obstacle and needs to adjust the tilt angle of the vehicle, the telescopic device can be controlled to drive the lower end of the auxiliary support arm to open downward and prop up the rear end of the equipment to restore the equipment. The front and rear balance is conducive to further improving the passability of the equipment.

Claims (7)

1. A mechanical arm for disinfection, comprising a vertically arranged lower arm, the lower end of the lower arm is horizontally rotatably mounted on the front end of the vehicle frame through a horizontal rotation control mechanism, and the upper end of the lower arm is connected to the upper end by a vertical rotation control mechanism. The back end of the support arm is connected; it is characterized in that a spray head is installed at the front end of the upper support arm, and the spray head can be connected with the liquid medicine tank through the liquid medicine pipeline; The horizontal rotation control mechanism includes a horizontally arranged lower arm support platform, the lower end of the lower arm support platform is fixedly installed on the lower arm support platform, and a cylindrical transmission column extends downward from the middle part of the lower arm support platform. The column outer cover is provided with a vertical cylindrical retaining sleeve as a whole, the retaining sleeve is fixed on the frame, the upper and lower ends of the retaining sleeve are respectively provided with bearings and the transmission column can be rotatably matched, and the lower end of the transmission column is suspended and horizontally provided with a The driven gear of the lower arm, the driven gear of the lower arm meshes with a driving gear of the lower arm, and the driving gear of the lower arm is connected with the output end of the rotation control motor of the lower arm installed on the frame; the transmission column is vertically arranged inside There is a liquid passage, and the upper port of the liquid passage is located on the upper surface of the support platform of the lower arm and connected to the liquid medicine pipeline leading to the nozzle. The lower arm is hollow and allows the liquid medicine pipe leading to the nozzle to pass through. A ring of liquid medicine converging chambers is formed in the circumferential direction. The lower end of the liquid passage is connected to the liquid medicine converging chamber. The outer wall of the holding sleeve is provided with a liquid medicine interface connected to the liquid medicine converging chamber. The liquid medicine interface is connected to the The liquid medicine pipeline to the liquid medicine tank; The vertical rotation control mechanism includes an upper arm shaft vertically arranged at the rear end of the upper arm, the upper arm shaft is installed on the shaft mounting lug at the upper end of the lower arm, and a shaft is fixedly installed on the upper arm shaft The worm gear, the worm gear meshes with a worm installed on the upper end of the lower arm, and a driven gear of the upper arm is fixedly installed on the worm, the driven gear of the upper arm meshes with a driving gear of the upper arm, and the driving gear of the upper arm is installed on the lower arm. The output end of the upper support arm rotation control motor on the support arm is connected; There is a nozzle switching device at the front end of the upper support arm. The nozzle switching device includes a disc-shaped nozzle mounting plate. Channel, the middle part of the rear end of the nozzle mounting plate is concavely formed with an infusion column installation groove. The front end of each nozzle channel has an axial section coaxial with the nozzle mounting plate and is connected to the nozzle mounting position. The radial section in the diameter direction is connected to the same circumferential position on the circumferential side wall of the infusion column installation groove. An overall cylindrical infusion column is provided on the front protruding middle of the front end of the upper arm. Sleeve-shaped limit sleeve, the front end of the infusion column forms a large-diameter section with an enlarged diameter, and the large-diameter section is fitted in the infusion column installation groove at the rear end of the nozzle installation plate, and the infusion column is installed close to the position of the large-diameter section and the nozzle There are bearings between the discs and between the nozzle mounting disc and the outer limit sleeve to realize the rotatable connection. The infusion column is provided with an infusion channel along the length direction. It is opposite to the position of the nozzle channel on the circumferential side wall of the infusion column installation groove, and there is a dynamic sealing structure between the outer periphery of the large diameter section of the infusion column and the infusion column installation groove at the front and rear positions of the front end outlet of the infusion channel ; The rear end of the nozzle mounting plate also has a coaxial ring gear, and the ring gear is connected with a nozzle switching control motor installed at the front end of the upper support arm. 2 . The robotic arm for disinfection according to claim 1 , wherein a dynamic sealing structure is provided between the inner wall of the holding sleeve at the upper and lower ends of the liquid medicine converging chamber and the transmission column. 3 . 3. The robotic arm for disinfection according to claim 1, characterized in that, the area outside the position where the lower arm is installed on the support platform of the lower arm is hollowed out. 4. The robotic arm for disinfection according to claim 1, wherein the worm gear and the worm are installed inside a protective shell at the upper end of the lower arm. 5. The robotic arm for disinfection according to claim 1, wherein the upper arm includes a main body section and a bending section connected from back to front, the bending section is generally columnar, and the main body is generally arc-shaped. , a hollow area is arranged on the front and back of the upper edge of the main body section, and the liquid medicine pipeline on the upper arm is bound and fixed at a position between the two hollow areas. 6. The robotic arm for disinfection as claimed in claim 1, wherein the outer side of the front end of the upper support arm also has a camera mounting position, and a front-end camera module is fixed on the camera mounting position, and the front-end camera module includes a front-end camera. The camera is a wide-angle lens protruding forward along the upper arm; the front-end camera module is in the shape of a rectangle as a whole, and the front-end camera is installed and fixed on the front end of the front-end camera module. There is a fan installation cavity inside the front-end camera module, and a forward For the camera fan, the fan installation cavity behind the camera fan is provided with an air intake grille along the circumference, and a circle of air outlet holes is arranged on the front end surface of the front camera module along the periphery of the front camera, and the rear end of the air outlet hole and the fan The installation chambers communicate with each other. 7. A special trolley for environmental disinfection, comprising a vehicle frame, a wheel walking system is arranged under the vehicle frame, and a control module is arranged on the vehicle frame, and it is characterized in that, one end of the vehicle frame is also equipped with a A mechanical arm according to claim 1, the vehicle frame is also equipped with a liquid medicine tank, and a liquid medicine pipeline is arranged in the liquid medicine tank to connect with the spray head, a hydraulic pump is installed on the liquid medicine pipeline, and the mechanical arm or the vehicle frame A camera is also installed, one end of the control module is connected to the wheel walking system, the mechanical arm and the camera, and the other end is connected to the remote control device for wireless communication; The wheel running system includes crawler belt running devices installed at the front and rear positions on both sides of the frame. The crawler belt running device includes a triangular base plate that is vertically arranged and relatively fixed on the frame. A driven sprocket is installed at each of the two corners, and two running wheels are installed side by side under the middle of the base plate. The position of the driven sprocket is higher than that of the running wheels. The outside of the walking wheel is fitted with a chain track; The base plate is located at the side positions of the front and rear sides, and each has a driven sprocket installation arm arranged along the side direction. The driven sprocket is installed at the lower end of the driven sprocket installation arm, and the middle part of the driven sprocket installation arm passes through The rotating shaft is rotatably connected and installed on the base plate, and a spring for maintaining the arm is also arranged between the driven sprocket installation arm and the base plate; The lower part of the base plate is also provided with a walking wheel mounting plate, the upper end of the walking wheel mounting plate is rotatably connected and installed on the base plate, the walking wheels are installed at the front and rear ends of the lower side of the walking wheel mounting plate, and there is a mounting plate between the walking wheel mounting plate and the base plate. plate holding spring; The inner side of the upper end of the driven sprocket installation support arm protrudes vertically downwards and is provided with a first lug, the first lug is hinged with the inner end of a horizontally arranged lever as a whole, and the fulcrum in the middle of the lever is rotatably installed on the On the base plate, the outer end of the lever is hinged to a second lug vertically installed on the side of the traveling wheel mounting plate; The liquid medicine tank is covered and installed on the upper surface of the vehicle frame along the length direction of the vehicle frame; the vehicle frame is also provided with a level sensor connected to the control module, the front end of the liquid medicine tank is hingedly mounted on the vehicle frame, and the rear end of the vehicle frame is also connected to the vehicle frame. A lifting device is provided, the telescopic arm of the lifting device is arranged upwards and the upper end of the telescopic arm is movably connected to the lower surface of the rear end of the liquid medicine tank.

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