Environmental protection equipment maintenance robot based on Internet of Things remote control

Abstract

An environmental protection equipment maintenance robot based on Internet of Things remote control, which relates to the technical field of environmental protection equipment maintenance and is used to realize the remote maintenance of environmental protection equipment. It includes a guide rail, a robot main body, a camera assembly, a swing arm assembly and a key assembly. The robot main body is slidably arranged on the guide rail; the camera assembly includes a camera and a support unit, and the support unit supports the camera; the swing arm assembly includes a main shaft, a shaft cylinder and a swing arm. The main shaft and the shaft cylinder are arranged inside and outside. There is a main shaft driving mechanism in the robot main body to drive the main shaft to rotate. The swing arm is fixed to the shaft cylinder, and there is a swing arm transmission mechanism between the main shaft and the shaft cylinder; the key assembly includes a key rod, a guide sleeve, a spring and a key cam. The guide sleeve is slidably connected to the swing arm. There is a guide sleeve moving unit in the swing arm to drive the guide sleeve to reciprocate. The key cam is rotatably installed in the swing arm, and there is a cam transmission mechanism between the key cam and the main shaft. The present invention can perform maintenance calibration on environmental protection equipment under remote control.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental protection equipment maintenance, and specifically to an environmental protection equipment maintenance robot based on Internet of Things remote control. Background Art

[0002] The on-line monitoring equipment for atmospheric environment needs to run continuously for 24 hours for monitoring, and the equipment utilization rate is high. The atmospheric environment monitoring equipment belongs to high-precision instruments and is greatly affected by parameters such as environmental humidity, temperature, and consumables. When the equipment operating environment and consumable parameters change greatly, it is necessary to manually calibrate the relevant reference parameters of the instrument to ensure the accuracy of the equipment operation. Therefore, it is necessary to send people to the site regularly to perform parameter maintenance and calibration on the atmospheric environment monitoring equipment. The main disadvantage of the method of sending people to the site for regular equipment maintenance is the high labor cost and long travel time. If engineers cannot arrive at the site on time due to irresistible factors, it will affect the equipment measurement data. Summary of the Invention

[0003] The purpose of the present invention is to provide an environmental protection equipment maintenance robot based on Internet of Things remote control, which is used to realize remote calibration and maintenance of environmental protection equipment.

[0004] The technical solution adopted by the present invention to solve its technical problems is as follows: An environmental protection equipment maintenance robot based on Internet of Things remote control, which includes a guide rail, a robot main body, a walking assembly, a camera assembly, a swing arm assembly and a button assembly. The guide rail is located between the environmental protection equipment and the charging equipment. The robot main body is slidably arranged on the guide rail. The walking assembly is located at the lower part of the robot main body and is used to drive the robot main body to move along the guide rail. The camera assembly includes a camera and a support unit. The support unit is located between the bottom of the camera and the upper part of the robot main body to support the camera. The swing arm assembly includes a main shaft, a shaft cylinder and a swing arm. The main shaft and the shaft cylinder are concentrically arranged inside and outside and are both rotatably connected to the robot main body. There is a main shaft driving mechanism in the robot main body to drive the main shaft to rotate. One end of the shaft cylinder extends out from the front wall of the robot main body. The swing arm is fixed to one end of the shaft cylinder. There is a swing arm transmission mechanism between the main shaft and the shaft cylinder. When the main shaft rotates, the swing arm is driven to rotate in the vertical plane through the swing arm transmission mechanism. The button assembly includes a button rod, a guide sleeve, a spring and a button cam. The guide sleeve is slidably connected to the swing arm and the sliding direction is the length direction of the swing arm. There is a guide sleeve moving unit in the swing arm to drive the guide sleeve to move back and forth. The button rod is slidably connected to the guide sleeve and the sliding direction is perpendicular to the vertical plane of the swing arm's swing. There is a spring between the guide sleeve and the button rod. Under the action of the spring, the length of one end of the button rod extending forward from the robot main body is the shortest. The button cam is rotatably installed in the swing arm and keeps in contact with the other end of the button rod. There is a cam transmission mechanism between the button cam and the main shaft. When the main shaft rotates, the button cam is driven to rotate through the cam transmission mechanism. When the button cam rotates, it drives the button rod to move along the guide sleeve.

[0005] Further, the walking assembly includes a walking motor located at the lower part of the robot main body, a driving walking gear fixed to the output end of the walking motor, and a driven walking gear meshing with the driving walking gear. The guide rails are two parallelly arranged guide rails and racks are fixed on the guide rails. The driving walking gear and the driven walking gear are located between the two racks, and the driving walking gear meshes with one of the racks, and the driven walking gear meshes with the other rack.

[0006] Further, there is a groove at the bottom of the robot main body. The upper part of the guide rail extends into the groove. There is a guide block at the lower part of the robot main body. There is a chute on the side wall of the guide block. There is a limiting rod on the side wall of the guide rail that extends into the chute and is slidably matched with the chute.

[0007] Further, the support unit includes a support rod, a connecting rod, a height adjustment cam, a height adjustment motor, and a swing mechanism. The support rod is vertically arranged and rotatably connected to the robot body. The swing mechanism drives the support rod to swing left and right in the horizontal plane. A support plate is fixed on the support rod. The height adjustment motor is fixed on the support plate. The height adjustment cam is fixed to the output end of the height adjustment motor. One end of the connecting rod is hinged to a camera ear plate at the bottom of the camera, and the other end of the connecting rod is hinged to the height adjustment cam, and the hinge point is eccentrically arranged on the height adjustment cam.

[0008] Further, the swing mechanism includes a swing motor, a swing worm fixed to the output end of the swing motor, and a swing worm wheel engaged with the swing worm and fixedly connected to the support rod.

[0009] Further, the main shaft drive mechanism includes a main shaft motor, a main shaft worm fixed to the output end of the main shaft motor, and a main shaft worm wheel engaged with the main shaft worm and fixedly connected to the main shaft.

[0010] Further, the swing arm transmission mechanism includes a swing arm gear ring and a first planet gear. The swing arm gear ring is located inside the shaft cylinder and fixedly connected to the shaft cylinder. The main shaft has a sun gear. The robot body has a first driving member for driving the first planet gear to move axially along the main shaft. When the first planet gear moves between the sun gear and the swing arm gear ring, the rotation of the main shaft drives the rotation of the swing arm gear ring.

[0011] Further, the guide sleeve moving unit includes a sprocket, a chain, and a sprocket transmission mechanism. One of the sprockets is rotatably installed in the shaft cylinder, and the other sprocket is rotatably installed in the swing arm. The chain connects the two sprockets. There is a synchronizing block between the chain and the guide sleeve. The sprocket transmission mechanism is between the main shaft and the sprocket. When the main shaft rotates, it drives the sprocket to rotate through the sprocket transmission mechanism.

[0012] Further, the sprocket transmission mechanism includes a sprocket transmission gear ring and a second planet gear. The sprocket transmission gear ring is rotatably installed in the shaft cylinder and coaxially arranged with the sprocket located in the shaft cylinder. The main shaft has a sun gear. The robot body has a second driving member for driving the second planet gear to move axially along the main shaft. When the second planet gear moves between the sun gear and the sprocket transmission gear ring, the rotation of the main shaft drives the rotation of the sprocket transmission gear ring.

[0013] Further, the cam transmission mechanism includes a cam transmission gear ring, a driving bevel gear, a driven bevel gear and a third planet gear. The cam transmission gear ring is rotatably installed in the shaft cylinder and is coaxially arranged with the driving bevel gear. The driven bevel gear meshes with the driving bevel gear and is coaxially arranged with the key cam. The robot body is provided with a third driving member for driving the third planet gear to move along the axial direction of the main shaft. When the third planet gear moves between the sun gear and the cam transmission gear ring, the rotation of the main shaft drives the rotation of the cam transmission gear ring.

[0014] Further, the first driving member, the second driving member and the third driving member are electric push rods.

[0015] The beneficial effects of the present invention are as follows: The robot of the present invention is arranged between the environmental protection equipment and the charging equipment. When the robot reaches one side of the environmental protection equipment, it performs equipment maintenance under remote control. When the robot body reaches one side of the charging equipment, it is charged. The setting of the guide rail enables the robot to move between the environmental protection equipment and the charging equipment, ensuring the displacement accuracy of the robot body. The setting of the camera facilitates the management personnel to remotely view the state of the environmental protection equipment. The rotation of the swing arm in the vertical plane, the movement of the key rod along the length direction of the swing arm, and the adjustment of the rotation angle of the swing arm in the vertical plane and the position of the key rod on the swing arm can enable the key rod to accurately reach the position to be keyed. By remotely controlling the robot, the maintenance and calibration of the environmental protection equipment are realized, and there is no need for personnel to reach the site. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the front view of the present invention;

[0017] Figure 2 is the front view of the robot body of the present invention;

[0018] Figure 3 is the left view of the robot body of the present invention;

[0019] Figure 4 is the schematic internal structure diagram of the robot body of the present invention;

[0020] Figure 5 is the top view assembly drawing of the driving and driven traveling gears and the rack;

[0021] Figure 6 is the left view assembly drawing of the camera and the support unit;

[0022] Figure 7 is the front view assembly drawing of the camera and the support unit;

[0023] Figure 8 is the front view assembly drawing of the height adjustment cam and the connecting rod;

[0024] Figure 9It is the front view assembly drawing of the swing arm assembly and the shaft cylinder;

[0025] Figure 10 It is the top view assembly drawing of the swing arm assembly and the shaft cylinder;

[0026] Figure 11 It is Figure 10 the A - A sectional view in

[0027] Figure 12 It is Figure 10 the B - B sectional view in

[0028] Figure 13 It is Figure 10 the C - C sectional view in

[0029] Figure 14 It is the front view assembly drawing of the sprocket and the sprocket drive gear ring;

[0030] Figure 15 It is the 3D drawing of the sprocket and the sprocket drive gear ring;

[0031] Figure 16 It is Figure 14 the D - D sectional view in

[0032] Figure 17 It is the top view of the shaft cylinder;

[0033] Figure 18 It is Figure 17 the E - E sectional view in

[0034] Figure 19 It is the 3D assembly drawing of the cam drive gear ring and the driving bevel gear;

[0035] Figure 20 It is the right view of the cam drive gear ring and the driving bevel gear;

[0036] Figure 21 It is the top view assembly drawing of the cam drive gear ring, the driving bevel gear, the driven bevel gear and the key cam;

[0037] Figure 22 It is the top view assembly drawing of the key rod, the guide sleeve, the spring, the slider and the spring plate;

[0038] Figure 23 It is the sectional view of the key rod, the guide sleeve, the spring, the slider and the spring plate;

[0039] Figure 24 It is the left view assembly drawing of the key cam and the key assembly;

[0040] Figure 25 It is the rear view assembly drawing of the shaft cylinder, the main shaft, the sun gear, the planet gear, the swing arm gear ring, the sprocket drive gear ring and the cam drive gear ring;

[0041] Figure 26 It is a top view assembly drawing of the main shaft, sun gear, swing arm gear ring, sprocket drive gear ring and cam drive gear ring;

[0042] Figure 27 It is a schematic diagram of the swing of the swing arm and the movement of the key lever;

[0043] Figure 28 It is a schematic diagram of the application of the robot of the present invention;

[0044] In the figure: 1 guide rail, 11 limit rod, 12 rack, 13 environmental protection equipment, 14 charging equipment, 2 robot main body, 20 circular groove, 21 groove, 22 guide block, 221 chute, 222 mounting plate, 23 rack groove, 24 lower partition board, 25 middle partition board, 26 upper partition board, 261 mounting frame, 27 first battery, 28 traveling motor, 281 traveling gear shaft, 282 active traveling gear, 283 driven traveling gear, 29 second battery, 3 camera, 31 spherical groove, 32 camera ear plate, 33 support rod, 331 support ball, 34 support plate, 35 connecting rod, 36 height adjustment cam, 37 height adjustment motor, 38 cam ear plate, 39 swing motor, 391 swing worm, 392 swing worm gear, 4 main shaft, 41 sun gear, 42 main shaft worm gear, 43 main shaft worm, 44 main shaft motor, 45 first planet gear, 46 second planet gear, 47 third planet gear, 48 electric push rod, 5 shaft cylinder, 51 swing arm gear ring, 6 swing arm, 61 long hole, 62 shaft seat, 7 key lever, 71 guide sleeve, 72 slider, 73 spring plate, 74 spring, 75 synchronizing block, 76 sprocket, 77 chain, 8 sprocket drive gear ring, 81 circular groove, 82 internal teeth, 9 cam drive gear ring, 91 driving bevel gear, 92 driven bevel gear, 93 bevel gear shaft, 94 key cam, 10 bearing. Detailed implementation manners

[0045] As Figures 1 to 28 shown, the present invention includes a guide rail 1, a robot main body 2, a traveling assembly, a camera assembly, a swing arm assembly and a key assembly, and the present invention will be described in detail below with reference to the accompanying drawings.

[0046] As Figures 1 to 28 shown, the environmental protection equipment maintenance robot based on Internet of Things remote control includes a guide rail 1, a robot main body 2, a traveling assembly, a camera assembly, a swing arm assembly and a key assembly, as Figure 28As shown in the figure, the guide rail 1 is located between the environmental protection device 13 and the charging device 14. The robot body 3 is slidably arranged on the guide rail 2. The robot body 2 moves along the guide rail 1 and can accurately reach the side of the environmental protection device 13 or the side of the charging device 14. When the robot body 2 reaches the side of the environmental protection device 13, the device maintenance is carried out by remotely controlling the robot body 2. When the robot body 2 reaches the side of the charging device 14, the charging interface of the robot body 2 is docked with the charging device 14 for charging.

[0047] As Figure 4 shown, inside the robot body 2, there are an upper partition 26, a middle partition 25 and a lower partition 24 arranged in sequence from top to bottom. The settings of the upper partition 26, the middle partition 25 and the lower partition 24 divide the inner cavity of the robot body 2 into four cavities arranged from top to bottom, namely the first cavity, the second cavity, the third cavity and the fourth cavity.

[0048] As Figure 4 shown, the traveling assembly is located in the fourth cavity. The traveling assembly is used to drive the robot body 2 to move along the guide rail 1. The traveling assembly includes a traveling motor 28 located at the lower part of the robot body 2 (i.e., the fourth cavity), a driving traveling gear 282 fixed to the output end of the traveling motor 28, and a driven traveling gear 283 meshing with the driving traveling gear 282. As Figure 1 shown, there are two parallel guide rails 1, and a rack 12 is fixed on the guide rail 1. As Figure 5 shown, the driving traveling gear 282 and the driven traveling gear 283 are located between the two racks 12, and the driving traveling gear 282 meshes with one of the racks 12, and the driven traveling gear 283 meshes with the other rack 12. The output end of the traveling motor 28 is fixedly connected to the driving traveling gear 282 through a traveling gear shaft 281. When the traveling motor 28 outputs a rotational motion, the driving traveling gear 282 and the driven traveling gear 283 act synchronously but in opposite directions. Also, because the rack 12 is fixed on the guide rail 1, the robot body 2 is made to move along the guide rail 1. As Figure 2 shown, the bottom of the robot body 2 has a groove 21. As Figure 1 shown, the upper part of the guide rail 1 extends into the groove 21. As Figure 2 shown, the lower part of the robot body 2 has a guide block 22. The side wall of the guide block 22 has a chute 221. The side wall of the guide rail 1 has a limiting rod 11 extending into the chute 221 and slidingly cooperating with the chute 221. Both the limiting rod 11 and the chute 221 are semicircular. The setting and cooperation of the limiting rod 11 and the chute 221 are for one thing to reduce the friction between the guide rail 1 and the robot body 2, and for another thing to prevent the robot body 2 from tipping over along the length direction of the guide rail 1. For the convenience of installing the guide block 22, a mounting plate 222 is arranged in the fourth cavity, and the guide block 22 is fixed on the vertically arranged mounting plate 222. As Figure 2As shown in the figure, a rack groove 23 for avoiding the rack 12 is provided on the inner wall of the groove 21. After the robot main body 2 is installed on the guide rail 1, the rack 12 extends into the rack groove 23. As Figure 4 shown, a first battery 27 is provided in the fourth cavity. The first battery 27 is used to supply electrical energy to the traveling motor 28. A second battery 29 is provided in the third cavity. The second battery 29 is fixed on the lower partition plate 24. The second battery 29 is used to supply electrical energy to the swing arm assembly and the camera assembly. The first and second batteries are arranged at the lower part of the robot main body 2, which is beneficial to reducing the center of gravity of the robot main body 2.

[0049] As Figures 1 to 4 shown, the camera assembly includes a camera 3 and a support unit. The camera 3 is located above the robot main body 2. The support unit is located between the bottom of the camera 3 and the upper part of the robot main body 2 to support the camera 3. The lower part of the support unit is located in the first cavity. The support unit includes a support rod 33, a connecting rod 35, a height adjustment cam 36, a height adjustment motor 37 and a swing mechanism. The support rod 33 is arranged vertically. As Figure 6 shown, a support ball 331 is provided at the top of the support rod 33, and a spherical groove 31 is provided at the bottom of the camera 3. The support ball 331 is located in the spherical groove 31 to realize the rotational connection between the top of the support rod 33 and the robot main body 2. The swing mechanism is used to drive the support rod 33 to swing left and right in the horizontal plane. As Figure 4 shown, a mounting bracket 261 is fixed on the upper partition plate 26. The swing mechanism is located between the mounting bracket 261 and the upper partition plate 26. The swing mechanism includes a swing motor 39, a swing worm 391 fixed to the output end of the swing motor 39, and a swing worm gear 392 that meshes with the swing worm 391 and is fixedly connected to the support rod 33. The lower part of the support rod 33 passes through the mounting bracket 261 from top to bottom and then extends between the mounting bracket 261 and the upper partition plate 26. The support rod 33 is rotatably connected to the upper partition plate 26 and the robot main body 2 through bearings. A support plate 34 is fixed on the support rod 33. The support plate 34 contacts the upper surface of the mounting bracket 261. The height adjustment motor 37 is fixed on the support plate 34. As Figures 6 to 8 shown, the height adjustment cam 36 is fixed to the output end of the height adjustment motor 37. One end of the connecting rod 35 is hinged to a camera ear plate 32 at the bottom of the camera 3. The other end of the connecting rod 35 is hinged to the height adjustment cam 36, and the hinge point is eccentrically arranged on the height adjustment cam 36. A cam ear plate 38 for supporting the height adjustment cam 36 is fixed on the support plate 34. When the height adjustment motor 37 works, it drives the height adjustment cam 36 to rotate, and then pulls the front end of the camera 3 downward or pushes the front end of the camera 3 upward through the connecting rod 35. The swing mechanism drives the support rod 33 to swing left and right, driving the left and right swing of the camera 3, thereby facilitating image acquisition of the left and right blind areas of the robot main body 2.

[0050] As Figure 2 and Figure 4As shown, the swing arm assembly includes a main shaft 4, a shaft cylinder 5, and a swing arm 6. The main shaft 4 and the shaft cylinder 5 are concentrically arranged inside and outside and are both rotatably connected to the robot body 2. A main shaft drive mechanism for driving the rotation of the main shaft 4 is provided inside the robot body 2. Specifically, the main shaft 4 is located on the axis of the shaft cylinder 5. The shaft cylinder 5 is arranged outside one end of the main shaft 4, and the other end of the main shaft 4 is rotatably connected to the robot body 2, as Figure 4 shown. The main shaft drive mechanism includes a main shaft motor 44, a main shaft worm 43 fixed to the output end of the main shaft motor 44, and a main shaft worm gear 42 that meshes with the main shaft worm 43 and is fixedly connected to the main shaft 4. After the main shaft motor 44 starts working, the main shaft worm 42 rotates, driving the main shaft worm gear 43 to rotate, and then driving the main shaft 4 to rotate.

[0051] As Figure 1 shown, one end of the shaft cylinder 5 extends out from the front wall of the robot body 2, and the other end of the shaft cylinder 5 extends into the robot body 2 and is rotatably connected to the robot body 2 through a bearing. As Figure 9 shown, the swing arm 6 is fixed to one end of the shaft cylinder 5. A swing arm transmission mechanism is provided between the main shaft 4 and the shaft cylinder 5 to enable the rotation of the main shaft 4 to drive the swing arm 6 to rotate in the vertical plane through the swing arm transmission mechanism. As Figure 9 、 Figure 10 、 Figure 12 and Figure 25 shown, the swing arm transmission mechanism includes a swing arm gear ring 51 and a first planet gear 45. The swing arm gear ring 51 is located inside the shaft cylinder 5 and is fixedly connected to the inner wall of the shaft cylinder 5. As Figure 4 shown, a sun gear 41 is provided on the main shaft 4, and a first driving member for driving the first planet gear 45 to move axially along the main shaft 4 is provided on the robot body 2. When the first planet gear 45 moves between the sun gear 41 and the swing arm gear ring 51, the rotation of the main shaft 4 drives the rotation of the swing arm gear ring 51. The rotation of the swing arm gear ring 51 drives the rotation of the shaft cylinder 5 fixedly connected thereto, and the rotation of the shaft cylinder 5 drives the swing arm 6 fixedly connected thereto to rotate around the main shaft 4. As Figure 2 shown, to guide and assist the swinging of the swing arm 6, a circular groove 20 is provided on the front wall of the robot body 2, and a positioning block is provided on the swing arm 6. The positioning block is slidably arranged in the circular groove 20.

[0052] As Figure 11 、 Figure 13 、 Figure 22 and Figure 23 shown, the button assembly includes a button rod 7, a guide sleeve 71, a spring 74, and a button cam 94. As Figure 11As shown in the figure, one end of the guide sleeve 71 is provided with a slider 72, and the side wall of the swing arm 6 is provided with a long slot 61. The slider 72 is slidably arranged in the long slot 61, so as to realize the sliding connection between the guide sleeve 71 and the swing arm 6, and the sliding direction is the length direction of the swing arm 6. Both the guide sleeve 71 and the slider 72 are of hollow structure. The key rod 7 passes through the guide sleeve 71 and the slider 72, and the key rod 7 is slidably connected to both the guide sleeve 71 and the slider 72. The sliding direction between the key rod 7 and the guide sleeve 71 is perpendicular to the vertical plane of swing arm rotation and parallel to the axial direction of the main shaft 4. The key rod 7 is provided with a spring plate 73, and a spring 74 is arranged between the spring plate 73 and the slider 72. Under the action of the spring 74, the length of one end of the key rod 7 extending forward from the robot main body 2 is the shortest.

[0053] There is a guide sleeve moving unit in the swing arm 6 for driving the guide sleeve 71 to move back and forth, such as Figure 11 shown in the figure. The guide sleeve moving unit includes a sprocket 76, a chain 77 and a sprocket transmission mechanism. One sprocket 76 is rotatably installed in the shaft cylinder 5, and the other sprocket 76 is rotatably installed in the swing arm 6. The chain 77 connects the two sprockets 76. There is a synchronizing block 75 between the chain 77 and the guide sleeve 71. When the sprocket 76 rotates to drive the chain 77 to move, the guide sleeve 71 is synchronously moved through the synchronizing block 75. The sprocket transmission mechanism is between the main shaft 4 and the sprocket 76. When the main shaft 4 rotates, the sprocket 76 is driven to rotate through the sprocket transmission mechanism.

[0054] such as Figure 11 、 Figure 12 、 Figure 25 shown in the figure. The sprocket transmission mechanism includes a sprocket transmission gear ring 8 and a second planet gear 46. The sprocket transmission gear ring 8 is rotatably installed on the inner wall of the shaft cylinder 5 through a bearing 10, such as Figures 14 to 16 shown in the figure. The sprocket transmission gear ring 8 is coaxially arranged with the sprocket 76 located in the shaft cylinder 5, such as Figure 4 shown in the figure. The main shaft 4 is provided with a sun gear 41, and the robot main body 2 is provided with a second driving member for driving the second planet gear 46 to move along the axial direction of the main shaft 4. When the second planet gear 46 moves between the sun gear 41 and the sprocket transmission gear ring 8, the rotation of the main shaft 4 drives the rotation of the sprocket transmission gear ring 8. Specifically, as Figure 15 shown in the figure, the end face of the sprocket transmission gear ring 8 is provided with a circular groove 81, and the inner wall of the circular groove 81 is provided with internal teeth 82 arranged circumferentially. When the second planet gear 46 moves between the internal teeth 82 and the sun gear 41, the rotation of the sun gear 41 drives the rotation of the sprocket transmission gear ring 8 through the second planet gear 46.

[0055] such as Figure 13 、 Figure 24As shown, the key cam 94 is rotatably mounted in the swing arm 6 through the shaft seat 62 and remains in contact with the other end of the key rod 7. There is a cam transmission mechanism between the key cam 94 and the main shaft 4. When the main shaft 4 rotates, it drives the key cam 94 through the cam transmission mechanism, and the key cam 94 drives the key rod 7 to move along the guide sleeve 71.

[0056] As Figure 13 , Figure 17 , Figure 18 , Figure 21 and Figure 25 shown, the cam transmission mechanism includes a cam transmission gear ring 9, a driving bevel gear 91, a driven bevel gear 92 and a third planet gear 47. The cam transmission gear ring 9 is rotatably mounted in the shaft cylinder 5. As Figure 19 , Figure 20 shown, the cam transmission gear ring 9 and the driving bevel gear 91 are coaxially arranged. As Figure 21 shown, the driven bevel gear 92 meshes with the driving bevel gear 91, and the driven bevel gear 92 is coaxially arranged with the key cam 94 through the bevel gear shaft 93. There is a third driving member on the robot main body 2 that drives the third planet gear 47 to move axially along the main shaft 4. When the third planet gear 47 moves between the sun gear 41 and the cam transmission gear ring 9, the rotation of the main shaft 4 drives the rotation of the cam transmission gear ring 9.

[0057] As Figure 25 , Figure 26As shown, the sprocket drive gear ring 8, the swing arm gear ring 51, and the cam drive gear ring 9 are arranged in sequence along the axial direction of the main shaft 4, and the sprocket drive gear ring 8 is closer to the front side of the robot body 1. The circumferential diameters of the teeth on the sprocket drive gear ring 8, the swing arm gear ring 51, and the cam drive gear ring 9 gradually increase. When the first planet gear 45, the second planet gear 46, and the third planet gear 47 are coplanar, the first planet gear 45, the second planet gear 46, and the third planet gear 47 are evenly arranged on the same circumference. Under the above structure and positional relationship, when the first driving member drives the first planet gear 45 to pass through the cam drive gear ring 9 and the swing arm gear ring 51 and enter between the sprocket drive gear ring 8 and the sun gear 41, the first planet gear 45 will not mesh with the teeth on the cam drive gear ring 9 and the swing arm gear ring 51; when the second driving member drives the second planet gear 46 to pass through the cam drive gear ring 9 and enter between the swing arm gear ring 51 and the sun gear 41, the second planet gear 46 will not mesh with the teeth on the cam drive gear ring 9; the third driving member directly drives the third planet gear 47 to enter between the cam drive gear ring 9 and the sun gear 41. When the first planet gear 45, the second planet gear 46, and the third planet gear 47 are coplanar, the first planet gear 45, the second planet gear 46, and the third planet gear 47 are evenly arranged on the same circumference, which can avoid the movement interference between the first planet gear 45, the second planet gear 46, and the third planet gear 47 when they move along the axial direction of the main shaft 4. The first driving member, the second driving member, and the third driving member are electric push rods 48, and the electric push rods 48 are arranged inside the robot body 2. Under the action of the push rod 48, when the first planet gear 45, the second planet gear 46, and the third planet gear 47 are in the initial state, the first planet gear 45, the second planet gear 46, and the third planet gear 47 are not meshed with the sun gear 41, and the first planet gear 45, the second planet gear 46, and the third planet gear 47 are all located at the rear side of the cam drive gear ring 9. When it is necessary to drive the swing arm 6 to swing, the second planet gear 46 moves to drive power between the sun gear 41 and the swing arm gear ring 51 under the action of the electric push rod 48. After the second planet gear 46 withdraws from between the sun gear 41 and the swing arm gear ring 51, in order to keep the swing arm 6 fixed with the robot body 2, an electromagnet is provided between the other end of the shaft cylinder 5 (i.e., the end extending into the robot body 2) and the robot body 2. The on-off state of the electromagnet is controlled by the elongation of the electric push rod 48, so that when the second planet gear 46 is about to mesh with the swing arm gear ring 51, the electromagnet is powered off; when the second planet gear 46 is about to separate from the swing arm gear ring 51, the electromagnet is powered on to attract the shaft cylinder 5. The use of the electromagnet is prior art and will not be elaborated here. When it is necessary to drive the sprocket 76 to rotate, the first planet gear 45 moves to drive power between the sun gear 41 and the sprocket drive gear ring 8 under the action of the electric push rod 48. When it is necessary to drive the key cam 94 to rotate, the third planet gear 47 moves to drive power between the sun gear 41 and the cam drive gear ring 9 under the action of the electric push rod 48. The second battery 29 provides electrical energy for the camera 3, the height adjustment motor 37, the electric push rod 48, the main shaft motor 44, and the swing motor 39.

[0058] As Figure 27 shown, through the swinging of the swing arm 6 and the movement of the guide sleeve 71 along the length of the swing arm 6, the key lever 7 is accurately moved to the position corresponding to the key on the environmental protection device 13. Subsequently, by driving the rotation of the key cam 94, the key lever 7 is driven to move forward to the front side of the robot main body 2. At this time, the key lever 7 presses the key on the environmental protection device 13 to achieve the maintenance and calibration of the environmental protection device.

[0059] The robot of the present invention is arranged between the environmental protection device and the charging device. When the robot reaches one side of the environmental protection device, it performs equipment maintenance under remote control. When the robot main body reaches one side of the charging device, it is charged; the setting of the guide rail enables the robot to move between the environmental protection device and the charging device, ensuring the displacement accuracy of the robot main body; the setting of the camera facilitates the management personnel to remotely view the status of the environmental protection device. The rotation of the swing arm in the vertical plane, the movement of the key lever along the length direction of the swing arm, as well as adjusting the rotation angle of the swing arm in the vertical plane and adjusting the position of the key lever on the swing arm, can make the key lever accurately reach the position where the key is to be pressed. By remotely controlling the robot, the maintenance and calibration of the environmental protection device are realized without the need for personnel to reach the site.

Claims

1. An environmental protection equipment maintenance robot based on Internet of Things remote control, characterized in that, It includes a guide rail, a robot body, a walking component, a camera component, a swing arm component and a key component. The guide rail is located between the environmental protection equipment and the charging equipment. The robot body is slidably arranged on the guide rail. The walking component is located at the lower part of the robot body and is used to drive the robot body to move along the guide rail. The camera component includes a camera and a support unit. The support unit is located between the bottom of the camera and the upper part of the robot body to support the camera. The swing arm component includes a main shaft, a shaft cylinder and a swing arm. The main shaft and the shaft cylinder are concentrically arranged inside and outside and are both rotatably connected to the robot body. There is a main shaft driving mechanism in the robot body to drive the main shaft to rotate. One end of the shaft cylinder extends out from the front wall of the robot body. The swing arm is fixed at one end of the shaft cylinder. There is a swing arm transmission mechanism between the main shaft and the shaft cylinder. When the main shaft rotates, the swing arm is driven to rotate in the vertical plane through the swing arm transmission mechanism. The key component includes a key rod, a guide sleeve, a spring and a key cam. The guide sleeve is slidably connected to the swing arm and the sliding direction is the length direction of the swing arm. There is a guide sleeve moving unit in the swing arm to drive the guide sleeve to move back and forth. The key rod is slidably connected to the guide sleeve and the sliding direction is perpendicular to the vertical plane of the swing arm swing. There is a spring between the guide sleeve and the key rod. Under the action of the spring, the length of one end of the key rod extending forward from the robot body is the shortest. The key cam is rotatably installed in the swing arm and keeps in contact with the other end of the key rod. There is a cam transmission mechanism between the key cam and the main shaft. When the main shaft rotates, the key cam is driven to rotate through the cam transmission mechanism. When the key cam rotates, it drives the key rod to move along the guide sleeve.

2. The environmental protection equipment maintenance robot based on Internet of Things remote control according to claim 1, wherein The walking component includes a walking motor located at the lower part of the robot body, a driving walking gear fixed at the output end of the walking motor, and a driven walking gear meshing with the driving walking gear. The guide rails are two parallel ones and racks are fixed on the guide rails. The driving walking gear and the driven walking gear are located between the two racks, and the driving walking gear meshes with one of the racks, and the driven walking gear meshes with the other rack.

3. The environmental protection equipment maintenance robot based on Internet of Things remote control according to claim 2, characterized in that, There is a groove at the bottom of the robot body. The upper part of the guide rail extends into the groove. There is a guide block at the lower part of the robot body. There is a chute on the side wall of the guide block. There is a limiting rod on the side wall of the guide rail that extends into the chute and is slidably matched with the chute.

4. The environmental protection equipment maintenance robot based on Internet of Things remote control according to claim 1, characterized in that, The support unit includes a support rod, a connecting rod, a height adjustment cam, a height adjustment motor and a swing mechanism. The support rod is vertically arranged and is rotatably connected to the robot body. The swing mechanism drives the support rod to swing left and right in the horizontal plane. A support plate is fixed on the support rod. The height adjustment motor is fixed on the support plate. The height adjustment cam is fixed at the output end of the height adjustment motor. One end of the connecting rod is hinged to the camera ear plate at the bottom of the camera, and the other end of the connecting rod is hinged to the height adjustment cam and the hinge point is eccentrically arranged on the height adjustment cam.

5. The environmental protection equipment maintenance robot based on Internet of Things remote control according to claim 4, wherein, The swing mechanism includes a swing motor, a swing worm fixed at the output end of the swing motor, and a swing worm gear meshing with the swing worm and fixed to the support rod.

6. The environmental protection equipment maintenance robot based on Internet of Things remote control according to claim 1, characterized in that, The spindle drive mechanism includes a spindle motor, a spindle worm fixed to the output end of the spindle motor, and a spindle worm gear that meshes with the spindle worm and is fixedly connected to the spindle.

7. The environmental protection equipment maintenance robot based on Internet of Things remote control according to claim 1, characterized in that The swing arm transmission mechanism includes a swing arm gear ring and a first planetary gear. The swing arm gear ring is located inside the shaft cylinder and is fixedly connected to the shaft cylinder. A sun gear is provided on the spindle. The robot body is provided with a first driving member for driving the first planetary gear to move axially along the spindle. When the first planetary gear moves between the sun gear and the swing arm gear ring, the rotation of the spindle drives the rotation of the swing arm gear ring.

8. The environmental protection equipment maintenance robot based on Internet of Things remote control according to claim 1, characterized in that, The guide sleeve moving unit includes a sprocket, a chain, and a sprocket transmission mechanism. One of the sprockets is rotatably installed in the shaft cylinder, and the other sprocket is rotatably installed in the swing arm. The chain connects the two sprockets. A synchronous block is provided between the chain and the guide sleeve. The sprocket transmission mechanism is located between the spindle and the sprocket. When the spindle rotates, it drives the sprocket to rotate through the sprocket transmission mechanism.

9. The environmental protection equipment maintenance robot based on Internet of Things remote control according to claim 8, characterized in that, The sprocket transmission mechanism includes a sprocket transmission gear ring and a second planetary gear. The sprocket transmission gear ring is rotatably installed in the shaft cylinder and is coaxially arranged with the sprocket located in the shaft cylinder. A sun gear is provided on the spindle. The robot body is provided with a second driving member for driving the second planetary gear to move axially along the spindle. When the second planetary gear moves between the sun gear and the sprocket transmission gear ring, the rotation of the spindle drives the rotation of the sprocket transmission gear ring.

10. The environmental protection equipment maintenance robot based on Internet of Things remote control according to claim 1, characterized in that, The cam transmission mechanism includes a cam transmission gear ring, a driving bevel gear, a driven bevel gear, and a third planetary gear. The cam transmission gear ring is rotatably installed in the shaft cylinder and is coaxially arranged with the driving bevel gear. The driven bevel gear meshes with the driving bevel gear and is coaxially arranged with the key cam. The robot body is provided with a third driving member for driving the third planetary gear to move axially along the spindle. When the third planetary gear moves between the sun gear and the cam transmission gear ring, the rotation of the spindle drives the rotation of the cam transmission gear ring.

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