Self-obstacle-crossing robot chassis and self-obstacle-crossing disinfection robot

Abstract

The application discloses a self-obstacle-crossing robot chassis and a self-obstacle-crossing disinfecting robot. The self-obstacle-crossing robot chassis has a front top rod and a rear top rod. When obstacles are encountered, the corresponding front driving wheel and the rear driving wheel can be respectively lifted upward through self-deformation driving of the force on the connecting rod assembly, so that the obstacles can be crossed, and the obstacle-crossing capability of the robot is improved. In the obstacle-crossing process, external force driving such as electricity and hydraulic pressure is not needed, and only the structure and force transmission characteristics of the self-obstacle-crossing robot chassis are used to realize the crossing of the obstacles. The self-obstacle-crossing robot chassis has the advantages of ingenious structure design, high reliability, energy saving and the like.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a self-obstacle-crossing robot chassis and a self-obstacle-crossing disinfection robot. Background Technology

[0002] Medical research has shown that most viruses spread primarily through the air and through contact. Therefore, it is essential to focus on disinfecting virus-contaminated air and locations. Traditional virus disinfection is mainly done manually, which is not only wasteful of manpower and resources but also prone to secondary infections. Disinfection robots, on the other hand, can effectively cut off the contact route between the source of virus infection and workers, thereby preventing cross-infection.

[0003] Universities and research institutions both domestically and internationally have successively developed various disinfection robots, among which the robot chassis is a crucial component of the robot's structure. The methods used to drive the robot chassis to move forward, backward, and turn generally employ a single wheel drive or track drive.

[0004] Tracked mobile chassis offer advantages such as high traction, resistance to slippage, and excellent off-road performance, and are typically equipped with heavy armor, making them suitable for high-intensity combat. However, tracked mobile chassis have low movement speeds, high power consumption during operation and turning, rapid parts wear, low service availability, and high maintenance requirements, making them unsuitable for long-distance maneuvers. In contrast, wheeled mobile chassis offer advantages such as low mechanical failure rates, low fuel consumption, flexible road mobility, and rapid long-range response, making them suitable for use in areas with well-developed roads or relatively flat terrain. However, wheeled mobile chassis have poor traversal capabilities in complex terrain, particularly when encountering obstacles, swamps, or climbing buildings outdoors.

[0005] This results in these robots generally having limited obstacle-crossing capabilities, severely restricting the environment and locations where disinfection robots can be used. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a self-obstacle-crossing robot chassis and a self-obstacle-crossing disinfection robot to improve the robot's obstacle-crossing ability.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0008] The self-obstacle-crossing robot chassis includes:

[0009] The chassis has two rear drive wheels symmetrically arranged at the rear end and two front drive wheels symmetrically arranged at the front end.

[0010] The self-obstacle-crossing robot chassis is characterized by further comprising:

[0011] Two front push rods are placed behind each front drive wheel, vertically and movable through the base frame;

[0012] Two rear push rods are placed behind each rear drive wheel, vertically and movable through the base frame;

[0013] Each of the aforementioned front drive wheels is connected to the underframe via a first fork, the first fork comprising:

[0014] The first adjusting beam is horizontally forward-facing and includes a first beam sleeve and a first beam rod that slide together. The rear end of the first beam sleeve is fixed to the base frame, and the front end of the first beam rod is rotatably connected to the hub of the front drive wheel.

[0015] A first spring, arranged parallel to the first adjusting beam, has one end abutting against the first beam rod and the other end abutting against the first beam sleeve or base frame; and

[0016] The first link assembly has multiple hinged links, one end of the first link assembly is rotatably connected to the first beam rod, and the other end is rotatably connected to the top of the front push rod;

[0017] The first linkage assembly can deform when the first adjusting beam retracts backward, driving the front push rod to move down below the front drive wheel and lifting the front drive wheel;

[0018] Each of the rear drive wheels is connected to the underframe via a second fork, the second fork comprising:

[0019] The second adjusting beam is horizontally rearward and includes a second beam sleeve and a second beam rod that slide together. The front end of the second beam sleeve is fixed to the base frame, and the rear end of the second beam rod is rotatably connected to the hub of the rear drive wheel.

[0020] The second spring is arranged parallel to the second adjusting beam, with one end abutting against the second beam rod and the other end abutting against the second beam sleeve or base frame; and

[0021] The second link assembly has multiple hinged links, one end of which is rotatably connected to the second beam and the other end is rotatably connected to the top of the rear push rod.

[0022] The second linkage assembly can deform when the second adjusting beam extends forward, driving the rear push rod to move down below the rear drive wheel and lift the rear drive wheel.

[0023] A further technical solution is that the first link assembly and / or the second link assembly includes link A, link B and link C rotatably connected in sequence, link A and link C are straight rods, and link B is an angled rod, whose corner is rotatably connected to the base frame.

[0024] A further technical solution is that the first adjusting beam is provided with a front locking structure, the front locking structure comprising:

[0025] Two first locking sleeves are coaxially fixed to both sides of a first beam sleeve and communicate with the first beam sleeve. A locking plate is fixed to the outer end of each first locking sleeve. The first beam has a first locking hole coaxial with the first locking sleeve.

[0026] Two first locking rods are respectively placed in two first locking sleeves, and their outer ends can movably pass through the corresponding locking plates. The inner end of the first locking rod has a wedge-shaped surface facing forward and extends into the entrance of the first lock hole. The middle part of the first locking rod has a radially protruding pressure ring, and a first compression spring is sleeved on the first locking rod between the pressure ring and the locking plate.

[0027] A further technical solution is that the second adjusting beam is provided with a rear locking structure, the rear locking structure comprising:

[0028] Two second locking sleeves are coaxially fixed to both sides of the second beam sleeve and communicate with the second beam sleeve. A locking plate is fixed to the outer end of each second locking sleeve. The two beam rods have second locking holes coaxial with the second locking sleeves.

[0029] Two second locking rods are respectively placed inside two second locking sleeves, and their outer ends can movably pass through the corresponding locking plates. The inner end of the second locking rod has a wedge-shaped surface facing forward and extends into the entrance of the second lock hole. The middle part of the second locking rod has a radially protruding pressure ring, and a second pressure spring is sleeved on the second locking rod between the pressure ring and the locking plate.

[0030] A further technical solution is that the bottom of the front push rod and / or the rear push rod has a ball-head universal adjustment foot.

[0031] A further technical solution is that multiple adjusting springs are circumferentially fixed between the top surface of the ball joint universal adjusting foot and the side wall of the front or rear push rod.

[0032] A further technical solution is that the first spring and the second spring are both sleeved on the guide rod, the guide rod includes a rod part and a tube part that are sleeved together, one end of the guide rod is fixed to the first beam or the second beam, and the other end is fixed to the base frame.

[0033] The self-obstacle-crossing disinfection robot is characterized in that, using the self-obstacle-crossing robot chassis described in any one of the above claims, the following are fixed on the base frame:

[0034] Medicine tank, used to store medicine solutions; and

[0035] The spraying mechanism is used to spray the liquid from the medicine tank.

[0036] A further technical solution is that the spraying mechanism includes:

[0037] A base with a rotating shaft fixed at its bottom, the rotating shaft being rotatably fixed to the top of the medicine tank and being able to be driven to rotate by motor A;

[0038] The pitch axis is horizontally positioned and rotatably fixed to the base; the pitch axis can be driven to rotate by motor B.

[0039] Two nozzles are fixed at both ends of the pitch axis. The nozzles are connected to the liquid tank through hoses, and a water pump is installed on the hoses.

[0040] A further technical solution is that one or more of the following are fixed on the base frame: a warning light, an ultraviolet light, a lighting light, an ultrasonic radar, and a camera.

[0041] The beneficial effects of adopting the above technical solution are as follows:

[0042] The self-obstacle-crossing robot chassis has a front push rod and a rear push rod. When encountering an obstacle, the linkage assembly is driven by self-deformation after being subjected to force, which can lift the corresponding front drive wheel and rear drive wheel upward to achieve obstacle crossing and improve the robot's obstacle crossing ability. Moreover, during the obstacle crossing process, it does not need to rely on external forces such as electricity or hydraulics. It can cross obstacles by relying on its own structure and force transmission characteristics. It has the advantages of ingenious structural design, high reliability, and energy saving.

[0043] The self-obstacle-crossing disinfection robot using this self-obstacle-crossing robot chassis also has the above advantages, with excellent obstacle-crossing ability, and can be used in a variety of environments and places. Attached Figure Description

[0044] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0045] Figure 1 This is a schematic diagram of the axonal structure of the obstacle-crossing disinfection robot in this invention;

[0046] Figure 2 This is a schematic diagram of the axonal structure of the self-obstacle-crossing robot chassis in this invention;

[0047] Figure 3 This is a top view of the self-obstacle-crossing robot chassis in this invention.

[0048] Figure 4 This is a schematic diagram of the structure of the first fork frame in this invention;

[0049] Figure 5 This is a structural schematic diagram of the self-obstacle-crossing robot chassis in normal driving state in this invention;

[0050] Figure 6This is a schematic diagram of the structure of the self-obstacle-crossing robot chassis after both the front and rear drive wheels are lifted.

[0051] Figure 7 This is a cross-sectional structural diagram of the chassis of the obstacle-crossing robot in this invention;

[0052] Figure 8 yes Figure 7 A magnified structural diagram of part A in the middle;

[0053] Figure 9 yes Figure 7 A magnified structural diagram of part B in the middle section;

[0054] Figure 10 This is a schematic diagram of the structure of the ball joint universal adjustment foot part in this invention;

[0055] Figure 11 This is an axonometric structural diagram of the medicine tank and spraying mechanism in the self-obstacle-crossing disinfection robot of the present invention;

[0056] Figure 12 This is a cross-sectional structural diagram of the medicine tank and spraying mechanism of the self-obstacle-crossing disinfection robot of the present invention. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0059] Example 1

[0060] like Figures 2 to 10 As shown, the self-obstacle-crossing robot chassis includes a base frame 100, with two rear drive wheels 101 symmetrically arranged at its rear end and two front drive wheels 102 symmetrically arranged at its front end. The two rear drive wheels 101 and the two front drive wheels 102 are equipped with drive motors that drive their rotation, and the four drive wheels are arranged in a rectangular shape.

[0061] The self-obstacle-crossing robot chassis also includes two front push rods 10, which are respectively positioned behind each front drive wheel 102 and vertically and movably pass through the base frame 100. Each front drive wheel 102 is connected to the base frame 100 via a first fork 30, and each front push rod 10 is linked to the corresponding first fork 30.

[0062] The first fork 30 includes a first adjusting beam, a first spring 33, and a first connecting rod assembly 34.

[0063] The first adjusting beam is horizontally forward-facing and includes a first beam sleeve 31 and a first beam rod 32 that slide together. The rear end of the first beam sleeve 31 is fixed to the base frame 100 by welding or other means. The front end of the first beam rod 32 can be U-shaped and rotatably connected to the hub of the front drive wheel 102.

[0064] The first spring 33 is arranged parallel to the first adjusting beam, with one end abutting against the first beam rod 32 and the other end abutting against the first beam sleeve 31 or the base frame 100. When the first beam rod 32 moves backward along the first beam sleeve 31, that is, the first adjusting beam retracts horizontally backward, the first spring 33 is compressed and stores energy.

[0065] Two first springs 33 are provided, symmetrically arranged on both sides of the first adjusting beam, so that the force is more evenly distributed and the restoring force driving the first adjusting beam is enhanced. The first springs 33 can be sleeved on the guide rod 06. The guide rod 06 can passively extend with the first adjusting beam to guide the movement of the first springs 33, so that it moves synchronously and in the same direction as the movement of the first adjusting beam. The guide rod 06 includes a rod part and a tube part that fit together. One end of the guide rod 06 is fixed to the first beam rod 32, and the other end is fixed to the base frame 100.

[0066] The first linkage assembly 34 has multiple hinged links. One end of the first linkage assembly 34 is rotatably connected to the first beam 32, and the other end is rotatably connected to the top of the front push rod 10. The first linkage assembly 34 can deform when the first adjusting beam retracts backward, driving the front push rod 10 to move down below the front drive wheel 102, thus lifting the front drive wheel 102.

[0067] Specifically, the first linkage assembly 34 includes sequentially rotatably connected linkages A01, B02, and C03. Linkages A01 and C03 are straight rods, while linkage B02 is an angled rod, with its corner rotatably connected to the base frame 100.

[0068] When the self-obstacle-crossing robot chassis encounters a large obstacle while moving forward, the front drive wheel 102 will press against the obstacle under the driving force. At this time, due to the resistance of the obstacle and the forward driving force of the rear drive wheel 101, the first fork 30 and the base frame 100 will move relative to each other. The first beam rod 32 of the first adjusting beam slides backward into the first beam sleeve 31, that is, the first adjusting beam retracts backward as a whole. The backward movement of the first beam rod 32 drives the first linkage assembly 34 to move. Specifically, the connecting rod A01 moves backward with the first beam rod 32, driving the connecting rod B02 to rotate clockwise along its corner, thereby causing the connecting rod C03 to pull the front push rod 10 downward, thus causing the first linkage assembly 34 to drive the front push rod 10 downward, so that the front push rod 10 supports the front drive wheel 102 upward. At this time, the rear drive wheel 101 touches the ground. Under the forward driving force of the rear drive wheel 101, the front drive wheel 102 can be guaranteed to cross the obstacle. Figure 6 As shown. After the front drive wheel 102 passes the obstacle, the first fork 30 returns to its original position under the action of the first spring 33, the front push rod 10 retracts upwards again, and the front drive wheel 102 touches the ground.

[0069] The self-obstacle-crossing robot chassis also includes two rear push rods 20, which are respectively positioned behind each rear drive wheel 101 and vertically and movably pass through the base frame 100. Each rear drive wheel 101 is connected to the base frame 100 via a second fork 40, and each rear push rod 20 is linked with the corresponding second fork 40.

[0070] The second fork 40 includes a second adjusting beam, a second spring 43, and a second link assembly 44.

[0071] The second adjusting beam is horizontally rearward and includes a second beam sleeve 41 and a second beam rod 42 that slide together. The front end of the second beam sleeve 41 is fixed to the base frame 100 by welding or other means, and the rear end of the second beam rod 42 can be U-shaped and rotatably connected to the hub of the rear drive wheel 101.

[0072] The second spring 43 is arranged parallel to the second adjusting beam, with one end abutting against the second beam rod 42 and the other end abutting against the second beam sleeve 41 or the base frame 100. When the second beam rod 42 moves forward along the second beam sleeve 41, that is, the second adjusting beam retracts horizontally forward, the second spring is compressed and stores energy.

[0073] Two second springs 43 are provided, symmetrically arranged on both sides of the second adjusting beam, making the force more even and enhancing the restoring force driving the second adjusting beam. The second springs 43 can be sleeved on the guide rod 06, which can passively extend with the second adjusting beam to guide the movement of the second springs 43, making it synchronous and in the same direction as the movement of the second adjusting beam. The guide rod 06 includes a rod part and a tube part that fit together. One end of the guide rod 06 is fixed to the second beam rod 42, and the other end is fixed to the base frame 100.

[0074] The second linkage assembly 44 has multiple hinged links. One end of the second linkage assembly 44 is rotatably connected to the second beam 42, and the other end is rotatably connected to the top of the rear push rod 20. The second linkage assembly 44 can deform when the second adjusting beam extends forward, driving the rear push rod 20 to move down below the rear drive wheel 101, thus lifting the rear drive wheel 101.

[0075] Specifically, the second linkage assembly 44 includes sequentially rotatably connected linkages A01, B02, and C03. Linkages A01 and C03 are straight rods, while linkage B02 is an angled rod, with its corner rotatably connected to the base frame 100.

[0076] The obstacle crossing method of the rear drive wheel 101 is similar to that of the front drive wheel 102. Under the action of driving force, the rear drive wheel 101 will abut against the obstacle. At this time, due to the resistance of the obstacle and the forward driving force of the front drive wheel 102, the second fork 40 and the base frame 100 will move relative to each other. The second beam sleeve 41 of the second adjusting beam slides forward (relatively, the second beam rod 42 moves backward), that is, the second adjusting beam extends forward as a whole. The second beam 42 moves backward, driving the second linkage assembly 44 to move. Specifically, linkage A01 moves backward with the first beam 32, driving linkage B02 to rotate clockwise around its corner, thereby causing linkage C03 to pull the rear push rod 20 downward. This causes the second linkage assembly 44 to drive the rear push rod 20 downward, enabling the rear push rod 20 to support the rear drive wheel 101 upward. At this time, the front drive wheel 102 touches the ground. Under the forward driving action of the front drive wheel 102, the rear drive wheel 101 can be ensured to cross obstacles, such as... Figure 6 As shown. After the rear drive wheel 101 crosses the obstacle, the second fork 40 returns to its original position under the action of the second spring 43, the rear push rod 20 retracts upwards again, and the rear drive wheel 101 touches the ground.

[0077] The self-obstacle-crossing robot chassis has a front push rod 10 and a rear push rod 20. When encountering an obstacle, the linkage assembly is driven by self-deformation after being subjected to force, which can lift the corresponding front drive wheel 102 and rear drive wheel 101 upwards respectively to achieve obstacle crossing and improve the robot's obstacle crossing ability. Moreover, during the obstacle crossing process, it does not need to rely on external forces such as electricity or hydraulics. It can cross obstacles by relying on its own structure and force transmission characteristics. It has the advantages of ingenious structural design, high reliability, and energy saving.

[0078] Example 2

[0079] To prevent the support mechanism from being easily triggered during operation, a front locking structure 50 is provided on the first adjusting beam. Normally, the front locking mechanism is in a locked state, locking the first fork 30 to the underframe 100. The front locking mechanism will only be opened under the action of external force when encountering an obstacle that the front drive wheel 102 cannot overcome.

[0080] The front locking structure 50 includes two first locking sleeves 51 and two first locking rods 52.

[0081] Two first locking sleeves 51 are coaxially fixed to both sides of the first beam sleeve 31 and communicate with the first beam sleeve 31. A locking plate is fixed to the outer end of the first locking sleeve 51. The first beam rod 32 has a first locking hole coaxial with the first locking sleeve 51. Two first locking rods 52 are respectively placed inside the two first locking sleeves 51. Their outer ends can movably pass through the corresponding locking plates. The inner end of the first locking rod 52 has a wedge-shaped surface facing forward and extends into the entrance of the first locking hole. The middle part of the first locking rod 52 has a radially protruding pressure ring. A first compression spring 53 is sleeved on the first locking rod 52 between the pressure ring and the locking plate.

[0082] During normal driving, the first locking rod 52 is inserted into the entrance of the first locking hole. When encountering an obstacle, the first beam rod 32 is subjected to a backward force. Since the inner end of the first locking rod 52 has a wedge-shaped surface facing forward, the first locking rod 52 can be driven to move axially outward when the first beam rod 32 moves backward, disengaging from the first locking hole. This allows the first adjusting rod to retract freely backward, achieving the purpose of overcoming the obstacle. When the first locking rod 52 disengages from the first locking hole, it compresses the first compression spring 53, causing the first compression spring 53 to store force. After the front drive wheel 102 has overcome the obstacle, the first adjusting rod resets. Under the action of the first compression spring 53, the first locking rod 52 can re-enter the first locking hole, achieving re-locking of the first adjusting beam.

[0083] Example 3

[0084] To prevent the support mechanism from being easily triggered during operation, a rear locking structure 60 is provided on the second adjusting beam. Under normal circumstances, the rear locking mechanism is in a locked state, locking the second fork 40 to the base frame 100. The rear locking structure 60 will only be opened under the action of external force when encountering an obstacle that the rear drive wheel 101 cannot cross.

[0085] The rear locking structure 60 includes two second locking sleeves 61 and two second locking rods 62.

[0086] Two second locking sleeves 61 are coaxially fixed to both sides of the second beam sleeve 41 and communicate with the second beam sleeve 41. A locking plate is fixed to the outer end of the second locking sleeve 61. The two beams have second locking holes coaxial with the second locking sleeves 61. Two second locking rods 62 are respectively placed inside the two second locking sleeves 61. Their outer ends can movably pass through the corresponding locking plates. The inner end of the second locking rod 62 has a wedge-shaped surface facing forward and extends into the entrance of the second locking hole. The middle part of the second locking rod 62 has a radially protruding pressure ring. A second compression spring 63 is sleeved on the second locking rod 62 between the pressure ring and the locking plate.

[0087] During normal driving, the second locking rod 62 is inserted into the entrance of the second locking hole. When encountering an obstacle, the second beam rod 42 is subjected to a backward force. Since the inner end of the second locking rod 62 has a wedge-shaped surface facing forward, the backward movement of the second beam rod 42 can drive the second locking rod 62 to move axially outward and disengage from the second locking hole, allowing the second adjusting rod to extend freely backward to achieve the purpose of overcoming obstacles. When the second locking rod 62 disengages from the second locking hole, it compresses the second compression spring 63, causing the second compression spring 63 to store force. After the rear drive wheel 101 has overcome the obstacle, the second adjusting rod returns to its original position. Under the action of the second compression spring 63, the second locking rod 62 can re-enter the second locking hole, thereby re-locking the second adjusting beam.

[0088] Example 4

[0089] To prevent the support mechanism from being easily triggered during operation, a front locking structure 50 is provided on the first adjusting beam, and a rear locking structure 60 is provided on the second adjusting beam. This embodiment is a combination of Embodiments Two and Three.

[0090] Example 5

[0091] The bottom of the front push rod 10 and the rear push rod 20 has a ball-head universal adjustment foot 04, which forms a spherical kinematic pair to ensure that the support point can adapt to various terrains.

[0092] Furthermore, multiple adjusting springs 05 are circumferentially fixed between the top surface of the ball joint universal adjusting foot 04 and the side wall of the front push rod 10 or the rear push rod 20, which serve to reset the ball joint universal adjusting foot 04.

[0093] Example 6

[0094] Self-obstacle-crossing disinfection robots, such as Figure 1 As shown, using any of the above-mentioned obstacle-crossing robot chassis, a medicine tank 200 and a spraying mechanism are fixed on the base frame 100. The medicine tank 200 is used to store medicine, and the spraying mechanism is used to spray the liquid in the medicine tank 200.

[0095] The self-obstacle-crossing disinfection robot using this self-obstacle-crossing robot chassis also has the above advantages, with excellent obstacle-crossing ability, and can be used in a variety of environments and places.

[0096] Example 7

[0097] like Figure 1 , Figure 11 and Figure 12 As shown, the spraying mechanism of the obstacle-crossing disinfection robot includes a base 210, a pitch axis 220, and two nozzles 230.

[0098] A rotating shaft is fixed to the bottom of the base 210. The shaft rotatably fixes the top of the medicine tank 200 via bearings. Gear B is fixed to the rotating shaft, and motor A is fixed to the medicine tank 200. Gear A, meshing with gear B, is fixed to the motor shaft of motor A, allowing motor A to drive the base 210 to rotate. A horizontally positioned pitch shaft 220 is rotatably fixed to the base 210 via bearings. A bevel gear B is fixed to the pitch shaft 220, and motor B is fixed to the base 210. Bevel gear A, meshing with bevel gear B, is fixed to the motor shaft of motor B, allowing motor B to rotate the pitch shaft 220. Two nozzles 230 are fixed to the two ends of the pitch shaft 220. The nozzles 230 are connected to the medicine tank 200 via hoses, and a water pump is installed on the hoses. Starting motor A allows the nozzles 230 to rotate 360° in the horizontal plane, and starting motor B allows the nozzles 230 to pitch.

[0099] By combining the torsional motion of the base 210 and the pitching motion of the nozzle 230, three-dimensional spraying can be achieved, increasing the spraying range of the agent and achieving disinfection without dead angles.

[0100] Example 8

[0101] The self-obstacle-crossing disinfection robot has one or more of the following fixed on its base frame 100: warning light 1, ultraviolet light 2, lighting light 3, ultrasonic radar 4, and camera 5.

[0102] Based on existing technology, various modules are installed on the base frame 100 of the self-obstacle-crossing disinfection robot. The ultrasonic radar 4 can monitor surrounding obstacles in real time, helping the robot avoid them promptly; the wireless receiving module enables remote control of the robot; the warning light 1 emits warning signals to remind people to maintain a safe distance to avoid being sprayed with disinfectant; the solar panel provides continuous power to the robot, ensuring it can perform disinfection work outdoors; the energy and control module includes electronic and electrical components such as a battery, controller, and driver, providing power and controlling the robot's operation; the ultraviolet disinfection lamp enables non-contact disinfection of viruses and bacteria; the voice interaction device enables real-time interaction between remote and on-site personnel; and the material storage box stores epidemic prevention materials, facilitating their storage and transportation.

[0103] The above are merely preferred embodiments of the present invention. Any simple modifications, variations, and equivalent substitutions made by any person based on the content of the present invention shall fall within the protection scope of the present invention.

Claims

1. A self-obstacle-crossing robot chassis, comprising: The base frame (100) has two rear drive wheels (102) symmetrically arranged at its rear end and two front drive wheels (101) symmetrically arranged at its front end. The self-obstacle-crossing robot chassis is characterized by further comprising: Two front push rods (10) are respectively placed behind each front drive wheel (101) and pass through the vertical and movable base frame (100). Two rear push rods (20) are respectively placed behind each rear drive wheel (102) and pass through the vertical and movable base frame (100). Each of the aforementioned front drive wheels (101) is connected to the underframe (100) via a first fork (30), the first fork (30) comprising: The first adjusting beam is horizontally forward and includes a first beam sleeve (31) and a first beam rod (32) that are slidably engaged. The rear end of the first beam sleeve (31) is fixed to the base frame (100), and the front end of the first beam rod (32) is rotatably connected to the hub of the front drive wheel (101). The first spring (33) is arranged parallel to the first adjusting beam, with one end abutting against the first beam rod (32) and the other end abutting against the first beam sleeve (31) or the base frame (100); and The first link assembly (34) has multiple hinged links. One end of the first link assembly (34) is rotatably connected to the first beam rod (32), and the other end is rotatably connected to the top of the front push rod (10). The first linkage assembly (34) can deform when the first adjusting beam retracts backward, driving the front push rod (10) to move down below the front drive wheel (101) and lift the front drive wheel (101); Each of the rear drive wheels (102) is connected to the underframe (100) via a second fork (40), the second fork (40) comprising: The second adjusting beam is horizontally rearward and includes a second beam sleeve (41) and a second beam rod (42) that are slidably engaged. The front end of the second beam sleeve (41) is fixed to the base frame (100), and the rear end of the second beam rod (42) is rotatably connected to the hub of the rear drive wheel (102). The second spring (43) is arranged parallel to the second adjusting beam, with one end abutting against the second beam rod (42) and the other end abutting against the second beam sleeve (41) or the base frame (100); and The second link assembly (44) has multiple hinged links. One end of the second link assembly (44) is rotatably connected to the second beam rod (42), and the other end is rotatably connected to the top of the rear top rod (20). The second linkage assembly (44) can deform when the second adjusting beam extends forward, driving the rear push rod (20) to move down below the rear drive wheel (102) and lifting the rear drive wheel (102); The first adjusting beam is provided with a front locking structure (50), the front locking structure (50) includes: Two first locking sleeves (51) are coaxially fixed to both sides of the first beam sleeve (31) and communicate with the first beam sleeve (31). A locking plate is fixed to the outer end of each first locking sleeve (51). The first beam rod (32) has a first locking hole coaxial with the first locking sleeve (51). Two first locking rods (52) are respectively placed inside two first locking sleeves (51), and their outer ends can movably pass through the corresponding locking plates. The inner end of the first locking rod (52) has a wedge-shaped surface facing forward and extends into the entrance of the first lock hole. The middle part of the first locking rod (52) has a radially protruding pressure ring. A first compression spring (53) is sleeved on the first locking rod (52) between the pressure ring and the locking plate.

2. The self-obstacle-crossing robot chassis according to claim 1, characterized in that, The first link assembly (34) and / or the second link assembly (44) include a link A (01), a link B (02) and a link C (03) that are rotatably connected in sequence. The link A (01) and the link C (03) are straight rods, and the link B (02) is an angled rod whose corner is rotatably connected to the base frame (100).

3. The self-obstacle-crossing robot chassis according to claim 1, characterized in that, The second adjusting beam is provided with a rear locking structure (60), the rear locking structure (60) comprising: Two second locking sleeves (61) are coaxially fixed to both sides of the second beam sleeve (41) and communicate with the second beam sleeve (41). A locking plate is fixed to the outer end of each second locking sleeve (61). The two beam rods have second locking holes coaxial with the second locking sleeves (61). Two second locking rods (62) are respectively placed inside two second locking sleeves (61), and their outer ends can movably pass through the corresponding locking plates. The inner end of the second locking rod (62) has a wedge-shaped surface facing forward and extends into the entrance of the second lock hole. The middle part of the second locking rod (62) has a radially protruding pressure ring. A second pressure spring (63) is sleeved on the second locking rod (62) between the pressure ring and the locking plate.

4. The self-obstacle-crossing robot chassis according to claim 1, characterized in that, The bottom of the front push rod (10) and / or the rear push rod (20) has a ball-head universal adjustment foot (04).

5. The self-obstacle-crossing robot chassis according to claim 4, characterized in that, Multiple adjusting springs (05) are circumferentially fixed between the top surface of the ball joint universal adjusting foot (04) and the side wall of the front push rod (10) or the rear push rod (20).

6. The self-obstacle-crossing robot chassis according to claim 1, characterized in that, The first spring (33) and the second spring (43) are both sleeved on the guide rod (06). The guide rod (06) includes a rod part and a tube part that are sleeved together. One end of the guide rod (06) is fixed to the first beam rod (32) or the second beam rod (42), and the other end is fixed to the base frame (100).

7. A self-obstacle-crossing disinfection robot, characterized in that: The self-obstacle-crossing robot chassis according to any one of claims 1-6 is fixed on the base frame (100) with: Medicine tank (200), used for storing medicine solutions; and A spraying mechanism for spraying liquid from the medicine tank (200).

8. The self-obstacle-crossing disinfection robot according to claim 7, characterized in that, The spraying mechanism includes: The base (210) has a rotating shaft fixed at its bottom, which is rotatably fixed to the top of the liquid tank (200) and can be driven to rotate by a motor A; A pitch axis (220) is horizontally positioned and rotatably fixed to a base (210). The pitch axis (220) can be driven to rotate by a motor B. Two nozzles (230) are fixed at both ends of the pitch axis (220). The nozzles (230) are connected to the liquid tank (200) through a hose, and a water pump is provided on the hose.

9. The self-obstacle-crossing disinfection robot according to claim 7, characterized in that, One or more of the following are fixed on the base frame (100): warning light (1), ultraviolet light (2), lighting light (3), ultrasonic radar (4) and camera (5).

Images