A mechanical arm upper support arm structure for epidemic prevention and disinfection

Abstract

The present invention discloses a mechanical arm upper support arm structure for epidemic prevention and disinfection, wherein a nozzle switching device is arranged at the front end of the upper support arm, and the nozzle switching device comprises a disk-shaped nozzle mounting plate, on which a circle of nozzles are mounted, and a nozzle channel is arranged inside the disk corresponding to each nozzle, wherein an infusion column mounting groove is formed in the middle of the rear end of the nozzle mounting plate, and an infusion column which is cylindrical as a whole is arranged in the middle of the front end of the upper support arm, and a circle of limiting sleeves which are sleeve-shaped as a whole are arranged coaxially on the outer periphery of the infusion column, and a dynamic sealing structure is arranged between the outer periphery of the large diameter section of the infusion column at the front and rear positions of the front end outlet of the infusion channel and the infusion column mounting groove; the rear end of the nozzle mounting plate also has a coaxially arranged ring gear, and the ring gear is connected to a nozzle switching control motor installed at the front end of the upper support arm in transmission. The nozzle switching device has the advantages of compact structure, and the liquid medicine transmission and switching control transmission rotation are very stable and reliable.

Description

[0001] This application is a divisional application of the patent "A walking device for epidemic prevention and disinfection of local environments" with application number 202110543412.X and application date 2021-5-19. Technical Field

[0002] The present invention relates to the field of building environment sanitation and disinfection equipment, and specifically to an upper arm structure of a mechanical arm used for epidemic prevention and disinfection. Background Art

[0003] When some construction sites, such as factories, shopping malls, schools, farms, squares, etc., need to be fully disinfected due to the outbreak of an epidemic, disinfection personnel usually wear gas masks, gas-proof clothing, and carry disinfection equipment to enter the site for disinfection. However, after the disinfection personnel wear gas-proof clothing and then carry disinfection equipment to operate, they will have problems such as inconvenience in movement and operation. At the same time, if the operator's clothes are accidentally damaged, it will also affect the operator's own safety.

[0004] In addition, when disinfection is needed after an epidemic breaks out in a building, it is usually necessary for professional epidemic handling personnel to carry out the disinfection. Ordinary people are generally not allowed to enter the epidemic site for handling work, which may also increase the risk of the epidemic spreading due to untimely handling.

[0005] Therefore, if a technology is developed that can achieve on-site environmental disinfection without the need for on-site operator operation, the above problems can be solved and the convenience, timeliness and safety of disinfection can be improved. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is: how to provide a walking device for epidemic prevention and disinfection of a place environment that can be remotely controlled to achieve disinfection of the place environment and improve the convenience, reliability and safety of the disinfection process, as well as a support arm structure on a robotic arm for epidemic prevention and disinfection.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A walking device for environmental epidemic prevention and disinfection of places, comprising a frame, a wheel walking system arranged under the frame, and a control module arranged on the frame. The device is characterized in that a mechanical arm is also installed at one end of the frame, a nozzle is arranged at the front end of the mechanical arm, a liquid medicine tank is also loaded on the frame, a liquid medicine pipeline is arranged in the liquid medicine tank and 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, one end of the control module is connected to the wheel walking system, the mechanical arm and the camera, and the other end is wirelessly connected to a remote control device.

[0009] In this way, when this equipment is used for disinfection of construction sites, it can rely on the liquid tank to carry the disinfectant liquid, rely on the camera to shoot in real time and transmit remote images to feedback the disinfection site situation, use the remote control device to remotely control the equipment to move, and control the mechanical arm to operate the nozzle to spray the liquid to disinfect the on-site environment. There is no need for disinfection personnel to enter the site, which liberates the disinfection operator and eliminates its 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 site environment disinfection are greatly improved. During implementation, the control module part and the remote control device part are mature existing technologies in the control field and are not described in detail here. During implementation, the camera can be installed on the mechanical arm or on the frame, and multiple cameras can be installed in the circumferential direction to achieve a panoramic scanning effect. The camera's own structure and installation method are mature existing technologies and are not described in detail here.

[0010] Furthermore, the mechanical arm structure includes a vertically arranged lower arm, the lower end of which can be horizontally rotatably installed at the front end of the frame through a horizontal rotation control mechanism, the upper end of the lower arm is connected to the rear end of the upper arm through a vertical rotation control mechanism, and a nozzle is installed at the front end of the upper arm.

[0011] In this way, the spraying direction of the nozzle can be controlled by controlling the horizontal rotation of the lower support arm and the vertical rotation of the upper support arm, thereby facilitating the disinfection of various spatial positions in the disinfection site.

[0012] Furthermore, the horizontal rotation control mechanism includes a horizontally arranged lower support arm support platform, the lower end of the lower support arm is fixedly mounted on the lower support arm support platform, a cylindrical transmission column is extended downwardly from the lower middle part of the lower support arm support platform, the transmission column outer sleeve is provided with a retaining sleeve which is an overall vertical cylindrical shape, 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 rotatably matched, the lower end of the transmission column is suspended and horizontally provided with a lower support arm passive gear, the lower support arm passive gear is meshed with a lower support arm active gear, and the lower support arm passive gear is meshed with a lower support arm active gear. The driving gear of the support arm is connected to the output end of the lower support arm rotation control motor installed on the frame; a liquid passage is vertically arranged inside the transmission column, the upper port of the liquid passage is located on the upper surface of the lower support arm support platform and is connected to the liquid medicine pipeline leading to the nozzle, the lower support arm is hollow and allows the liquid medicine pipeline leading to the nozzle to pass through, a circle of liquid medicine convergence chamber is formed along the circumferential inward concave of the inner side wall of the retaining sleeve, the lower end of the liquid passage is connected to the liquid medicine convergence chamber, and a liquid medicine interface connected to the liquid medicine convergence chamber is arranged on the outer side wall of the retaining sleeve, and the liquid medicine interface is connected to the liquid medicine pipeline leading to the liquid medicine tank.

[0013] In this way, the horizontal rotation control mechanism is not only simple and compact in structure and can control the horizontal rotation of the lower arm, but also can realize the transportation connection of the medicine liquid, so that the rotation of the lower arm will not cause the entanglement of the medicine liquid pipeline, will not interfere with the transportation of the medicine liquid, and ensure the stability and reliability of the medicine liquid transportation.

[0014] Furthermore, a dynamic sealing structure is provided between the inner wall of the retaining sleeve and the transmission column at the upper and lower ends of the medicine liquid convergence chamber.

[0015] This can avoid leakage and better ensure the reliability of liquid medicine delivery.

[0016] As an optimization, the area outside the lower arm mounting position on the lower arm support platform is hollowed out. This can better reduce the weight of the control arm, facilitate rotation control, and avoid affecting the vehicle balance due to excessive weight of the control arm.

[0017] Furthermore, the vertical rotation control mechanism includes an upper arm rotating shaft arranged at the rear end of the upper arm in the vertical direction, the upper arm rotating shaft is installed on the rotating shaft mounting ear at the upper end of the lower arm, a worm gear is also fixedly installed on the upper arm rotating shaft, the worm gear is meshed with a worm installed at the upper end of the lower arm, an upper arm passive gear is also fixedly installed on the worm, the upper arm passive gear is meshed with an upper arm driving gear, and the upper arm driving gear is connected to the output end of the upper arm rotation control motor installed on the lower arm.

[0018] In this way, the structure is simple and compact, and the worm gear can be self-locking to ensure the stability of the up and down swinging (ie, rotation) control of the front end of the upper support arm, thereby conveniently and stably and reliably controlling the rotation of the upper support arm.

[0019] Furthermore, the worm wheel and the worm are installed inside a protective shell at the upper end of the lower support arm.

[0020] This can prevent the worm gear from being exposed and improve protection.

[0021] Furthermore, 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 in the shape of a disc as a whole, a circle of nozzles are circumferentially installed on the front end surface of the nozzle mounting plate, a nozzle channel is provided inside the nozzle mounting plate corresponding to each nozzle, and an infusion column mounting groove is formed in the middle of the rear end of the nozzle mounting plate, the front end of each nozzle channel is connected to the nozzle mounting position, and the rear end is connected to the same circumferential position of the circumferential side wall of the infusion column mounting groove, an infusion column in the shape of a cylinder as a whole is provided in the front convex part of the middle of the front end of the upper support arm, and a circle of limiting sleeves in the shape of a sleeve as a whole are coaxially provided on the outer periphery of the infusion column, and a large diameter section with an enlarged diameter is formed at the front end of the infusion column, and the large diameter section is cooperatively installed on the nozzle mounting plate. In the infusion column mounting groove at the rear end, bearings are arranged between the position of the infusion column near the large diameter section and the nozzle mounting plate, as well as between the nozzle mounting plate and the external limiting sleeve to achieve rotatable connection. An infusion channel is arranged in the infusion column as a whole along the length direction. The rear end of the infusion channel is connected to the medicine pipeline. The front end outlet of the infusion channel is folded back and faces the position of the nozzle channel on the circumferential side wall of the infusion column mounting groove. A dynamic sealing structure is also arranged between the outer periphery of the large diameter section of the infusion column and the infusion column mounting 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 coaxially arranged ring gear, which is transmission-connected to a nozzle switching control motor (which can be realized by a steering gear) installed at the front end of the upper support arm.

[0022] 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 are switched to the position facing the infusion channel, thereby realizing the switching of different nozzles; in this way, a circle of nozzles of different models can be pre-installed, and the nozzles can be switched as needed during use to adjust the distance and coverage of the nozzle spraying liquid; making it more flexible and adjustable, and improving practicality. At the same time, the nozzle switching device itself has the advantages of compact structure, and the liquid transmission and switching control transmission rotation are very stable and reliable.

[0023] Furthermore, the front end of the upper support arm has a folding section, and the nozzle switching device is installed on the folding section.

[0024] In this way, the front end of the upper support arm is folded to make it easier to adjust the angle of the spray head spraying the liquid medicine.

[0025] As an optimization, the middle part of the upper support arm is hollowed out to allow the liquid medicine pipeline to pass through.

[0026] In this way, the hollow arrangement of the upper support arm can reduce weight and facilitate the arrangement of the liquid medicine pipeline, thereby avoiding entanglement of the pipeline when the support arm rotates.

[0027] Furthermore, the upper support arm includes a main body section and a folding section connected from back to front. The folding section is generally columnar, and the main body section is generally arc-shaped. A hollow area is provided at the front and rear edges of the main body section, and the medicine liquid pipeline on the upper support arm is bound and fixed at a position between the two hollow areas.

[0028] In this way, the columnar shape of the turning section can facilitate the installation of the nozzle switching device thereon, and the structure of the main section can not only greatly reduce the weight of the robot arm, but also facilitate the arrangement and fixation of the liquid medicine pipeline on the upper support arm.

[0029] Furthermore, 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, and a front-end camera module is fixed on the camera installation position. The front-end camera module includes a front-end camera, and the front-end camera is a wide-angle lens protruding forward along the upper support arm.

[0030] In this way, the front-end camera and the nozzle are installed in the same direction, and the nozzle spraying situation and the effect of the nozzle spraying liquid can be monitored in real time, so as to better judge and control the vehicle to move forward or backward, and better ensure the disinfection effect.

[0031] Furthermore, the front-end camera module is generally rectangular in shape, and the front-end camera is installed and fixed at the front end of the front-end camera module. The front-end camera module has a fan installation cavity inside, and a forward-facing camera fan is installed and fixed in the fan installation cavity. An air inlet grille is circumferentially arranged on the peripheral wall of the fan installation cavity behind the camera fan, and a circle of air outlet holes is arranged around the front-end camera on the upper edge of the front end face of the front-end camera module, and the rear end of the air outlet holes is communicated with the fan installation cavity.

[0032] In this way, when the building in front or on top needs to be disinfected and the nozzle sprays upward or diagonally upward, the camera fan can be controlled to start to ensure that the air outlets around the front camera can spray out air and form an overall cylindrical air curtain, which can prevent the liquid sprayed from the nozzle from falling backward onto the camera and affecting the lens imaging effect, ensuring the reliability of monitoring.

[0033] Furthermore, the air outlet is arranged along the front-to-back direction as a whole, and the front part has an inclined section inwardly close to the front camera. In this way, the wind flow ejected from the air outlet can form a cone-shaped wind flow curtain, and the front end of the wind flow is closed to better prevent the liquid medicine from falling onto the surface of the front camera. Furthermore, the outlet of the air outlet can be connected as a whole to form an annular air outlet slot. The annular wind curtain effect formed by the air outlet is further improved, and the shielding effect on the liquid medicine is improved.

[0034] Furthermore, the wheel traveling system includes a crawler traveling device installed at the front and rear positions on both sides of the frame. The crawler traveling device includes a triangular base plate which is vertically arranged and relatively fixed to the frame. A driving sprocket is installed on the upper end of the base plate, and a driven sprocket is installed at each of the front and rear corners of the lower part of the base plate. Two traveling wheels are also installed in parallel front and rear at the lower middle part of the base plate. The position of the driven sprocket is higher than the position of the traveling wheel. The driving sprocket, the driven sprocket and the traveling wheel are externally fitted with a chain-type crawler.

[0035] In this way, when in use, the power machine on the frame is controlled to drive the driving sprocket to rotate to realize the walking of the crawler walking device. The crawler walking device can better improve the stability of the vehicle walking and at the same time facilitate the improvement of the vehicle walking passability. The specific control part is a mature existing technology and is not described in detail here.

[0036] Furthermore, the substrate has a driven sprocket mounting arm arranged along the side direction on each of the front and rear side positions, the driven sprocket mounting arm is installed on the lower end of the driven sprocket mounting arm, the middle part of the driven sprocket mounting arm is rotatably connected to the substrate through a rotating shaft, and a spring for holding the arm is also arranged between the driven sprocket mounting arm and the substrate.

[0037] In this way, when the driven sprocket mounting arm is not subjected to external force, the arm holding spring keeps the driven sprocket mounting arm in a position parallel to the side of the base plate; when the vehicle encounters an obstacle or step during forward or backward movement, the position of the driven sprocket first contacts the obstacle or step; when the resistance is too large and greater than the holding force of the arm holding spring, the lower end of the driven sprocket mounting arm can be lifted upward by a certain distance, thereby greatly improving the passing performance of the crawler walking device during walking.

[0038] Furthermore, a walking wheel mounting plate is also provided at the lower part of the base plate, the upper end of which is rotatably connected and mounted on the base plate, the walking wheels are mounted on the front and rear ends of the lower side of the walking wheel mounting plate, and a mounting plate retaining spring is provided between the walking wheel mounting plate and the base plate.

[0039] In this way, when encountering obstacles, the two traveling wheels can also float back and forth and be lifted to a certain height to improve the walking passability.

[0040] Furthermore, a first ear is provided on the inner side of the upper end of the driven sprocket mounting arm and protrudes vertically downward. The first ear is hinged to the inner end of a lever that is horizontally arranged as a whole. The middle fulcrum of the lever is rotatably mounted on the base plate, and the outer end of the lever is hinged to a second ear that is vertically mounted on the side of the walking wheel mounting plate.

[0041] In this way, when the driven sprocket at one end of the substrate encounters an obstacle and is forced to rise, the lower end of the driven sprocket mounting arm rotates upward, and the upper end of the moving sprocket mounting arm rotates downward and can act on the walking wheel mounting plate on the adjacent side through a lever, so that the walking wheel mounting plate on the adjacent side can be lifted up a certain distance, and at the same time, the lever on the other side can drive the driven sprocket on the other side to be pressed down a certain distance synchronously. In this way, a synchronous coordination effect is produced, the integrity of the crawler walking device is improved, and when encountering an obstacle, the height of the four wheels at the bottom of the substrate can be synchronized and coordinated to a position that is easier to pass through the obstacle. Therefore, its passability to obstacles is further greatly improved. It can be seen from the above scheme that the present invention pays special attention to improving the passability of the equipment when encountering obstacles. This is because when the epidemic breaks out suddenly and the personnel are evacuated urgently, the environment that needs to be disinfected often appears to be more messy, and there will be a large amount of discarded objects on the site. Therefore, the present invention adopts a crawler walking device with high passability as a walking power device, and various improvements are made on its basis to further improve its passability.

[0042] Furthermore, a lever shaft is fixedly provided on the outer surface of the substrate at the middle of the lever, and a bar hole is provided in the middle of the lever along the length direction, and the lever shaft passes through the bar hole to form a lever fulcrum.

[0043] In this way, when the driven sprocket mounting arm drives the lever to rotate, the lever shaft serving as the fulcrum in the middle of the lever can slide left and right a certain distance in the bar hole, forming sufficient clearance space to better ensure the reliability of the lever rotation.

[0044] Furthermore, a clearance groove is provided on the opposite sides of the driven sprocket mounting arm and the base plate respectively corresponding to the lever position, and the first ear, the second ear and the two ends of the lever are respectively accommodated in the corresponding clearance groove.

[0045] In this way, the lever mechanism is given way by relying on two give-way grooves on the opposite sides of the driven sprocket mounting arm and the base plate, so that the base plate and the driven sprocket mounting arm can be arranged more closely, and the force transmission structure is more stable and reliable.

[0046] Furthermore, the liquid medicine tank is installed in a covering manner on the upper surface of the frame along the length direction of the frame.

[0047] This can maximize the amount of liquid medicine loaded.

[0048] Furthermore, a horizontal sensor connected to the control module is provided on the frame, the front end of the medicine liquid tank is hingedly mounted on the frame, and a lifting device is provided at the rear end of the frame. The telescopic arm of the lifting device is arranged upward and the upper end of the telescopic arm is movably connected to the lower surface of the rear end of the medicine liquid tank.

[0049] This is because the liquid medicine tank in the device will occupy a very large proportion of the space volume of the device. 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 backwards during the lifting process of the front end of the device. When the tilt angle is too large, it is easy to cause the device to tip over due to instability of the center of gravity. Therefore, the applicant has made the above improvements in a targeted manner. In this way, when the horizontal sensor detects that the front end of the vehicle is tilted upward at a large angle, 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 to maintain the weight balance of the front and rear of the device. In this way, the device can cross larger obstacles more stably and reliably, and better improve the passability of the device. Further improvements can be made during implementation, so that lifting devices are set at both ends of the lower front and rear of the liquid medicine tank and connected to the frame by the lifting device. In this way, no matter whether a large obstacle is encountered in the front and rear directions, the balance can be controlled by lifting the liquid medicine tank in the opposite direction to improve its passability. During implementation, the lifting device can be implemented by mechanisms such as hydraulic cylinders or electric cylinders.

[0050] Furthermore, an auxiliary support wheel is provided in the middle of the rear end of the frame, the auxiliary support wheel is installed at the lower end of an auxiliary support arm, the upper end of the auxiliary support arm is rotatably hinged at the middle of the rear end of the vehicle, and the frame is also provided with a telescopic device that is efficient with the auxiliary support arm and can control the up and down rotation of the auxiliary support arm.

[0051] In this way, when the liquid in the liquid tank is used up, and a large obstacle is encountered in front of the vehicle and the tilt angle of the equipment needs to be adjusted, 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, so that the equipment can be restored to front and rear balance, which is conducive to further improving the passability of the equipment.

[0052] In summary, the present invention has the advantages of being able to remotely control the disinfection of the site environment and improving the convenience, reliability and safety of the disinfection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of the overall structure of the walking equipment for epidemic prevention and disinfection of the site environment of the present invention.

[0054] Figure 2 for Figure 1 Left view of .

[0055] Figure 3 for Figure 1 Schematic diagram of the structure of the separate horizontal rotation control mechanism part of the device.

[0056] Figure 4 for Figure 1 The structure of the individual robotic arm in the device, with the vertical rotation control mechanism cut away to show the schematic diagram of the internal structure.

[0057] Figure 5 for Figure 4Top view.

[0058] Figure 6 for Figure 1 Schematic diagram of the structure of the individual nozzle switching device part of the equipment.

[0059] Figure 7 for Figure 6 sectional view of .

[0060] Figure 8 for Figure 1 Schematic diagram of the structure of the separate crawler walking device part of the equipment.

[0061] Fig. 9 for Figure 1 Schematic diagram of the structure of the front-end camera module. DETAILED DESCRIPTION

[0062] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0063] Best practice: Figures 1 to 9 As shown, a walking device for epidemic prevention and disinfection of a place environment includes a frame 1, a wheel walking system is arranged under the frame 1, and a control module (not shown in the figure) is arranged on the frame, wherein a mechanical arm is also installed at one end of the 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 frame, a liquid medicine pipeline (not shown in the figure) is arranged in the liquid medicine tank 3 and connected to the nozzle 2, a hydraulic pump is installed on the liquid medicine pipeline, and a camera is also installed on the mechanical arm or the frame (the number 4 in the figure is a camera installation position for installing a front-end camera module), one end of the control module is connected to the wheel walking system, the mechanical arm and the camera, and the other end is wirelessly connected to the remote control device.

[0064] In this way, when this equipment is used for disinfection of construction sites, it can rely on the liquid tank to carry the disinfectant liquid, rely on the camera to shoot in real time and transmit remote images to feedback the disinfection site situation, use the remote control device to remotely control the equipment to move, and control the mechanical arm to operate the nozzle to spray the liquid to disinfect the on-site environment. There is no need for disinfection personnel to enter the site, which liberates the disinfection operator and eliminates its 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 site environment disinfection are greatly improved. During implementation, the control module part and the remote control device part are mature existing technologies in the control field and are not described in detail here. During implementation, the camera can be installed on the mechanical arm or on the frame, and multiple cameras can be installed in the circumferential direction to achieve a panoramic scanning effect. The camera's own structure and installation method are mature existing technologies and are not described in detail here.

[0065] The mechanical arm structure includes a vertically arranged lower arm 5, the lower end of which is horizontally rotatably mounted on the front end of the frame through a horizontal rotation control mechanism, the upper end of which is connected to the rear end of an upper arm 6 through a vertical rotation control mechanism, and a nozzle 2 is mounted on the front end of the upper arm 6. During implementation, the lower arm is a hollow frame structure to reduce the weight of the mechanical arm. The upper arm is a hollow arc plate structure to reduce the weight of the mechanical arm.

[0066] In this way, the spraying direction of the nozzle can be controlled by controlling the horizontal rotation of the lower support arm and the vertical rotation of the upper support arm, thereby facilitating the disinfection of various spatial positions in the disinfection site.

[0067] The horizontal rotation control mechanism includes a horizontally arranged lower arm support platform 7, the lower end of the lower arm 5 is fixedly installed on the lower arm support platform 7, and a cylindrical transmission column 8 is formed by extending downward from the middle of the lower arm support platform 7. A retaining sleeve 9 which is in the shape of a vertical cylinder as a whole is provided on the outer sleeve of the transmission column 8. The retaining sleeve 9 is fixed on the frame. The upper and lower ends of the retaining sleeve 9 are respectively provided with bearings and the transmission column 8 for rotatable cooperation. The lower end of the transmission column is suspended and horizontally provided with a lower arm passive gear 10. The lower arm passive gear 10 is meshed with a lower arm active gear (not shown in the figure). The driving gear of the lower arm is connected to the output end of the lower arm rotation control motor installed on the frame (not shown in the figure); a liquid passage is vertically arranged inside the transmission column 8, and the upper end of the liquid passage is located on the upper surface of the lower arm support platform and is connected to the liquid medicine pipeline leading to the nozzle. The lower arm is hollow and the liquid medicine pipeline leading to the nozzle passes through. A circle of liquid medicine convergence chamber 11 is formed along the circumferential inward concave on the inner side wall of the retaining sleeve. The lower end of the liquid passage is connected to the liquid medicine convergence chamber 11, and a liquid medicine interface 12 connected to the liquid medicine convergence chamber 11 is arranged on the outer side wall of the retaining sleeve. The liquid medicine interface 12 is connected to the liquid medicine pipeline leading to the liquid medicine tank.

[0068] In this way, the horizontal rotation control mechanism is not only simple and compact in structure and can control the horizontal rotation of the lower arm, but also can realize the transportation connection of the medicine liquid, so that the rotation of the lower arm will not cause the entanglement of the medicine liquid pipeline, will not interfere with the transportation of the medicine liquid, and ensure the stability and reliability of the medicine liquid transportation.

[0069] During implementation, except for the area where the lower arm is installed, the rest of the area on the lower arm support platform 7 can be hollowed out to reduce the weight of the control arm, facilitate rotation control, and avoid affecting the balance of the vehicle due to the excessive weight of the control arm.

[0070] A dynamic sealing structure is provided between the inner wall of the retaining sleeve 9 and the transmission column 8 at the upper and lower ends of the medicine liquid convergence chamber 11 .

[0071] This can avoid leakage and better ensure the reliability of liquid medicine delivery.

[0072] Among them, the vertical rotation control mechanism includes an upper arm shaft 13 arranged at the rear end of the upper arm 6 in the vertical direction, the upper arm shaft 13 is installed on the shaft mounting lug 14 at the upper end of the lower arm, and a worm gear 15 is fixedly installed on the upper arm shaft 13. The worm gear 15 is meshed with a worm 16 installed at the upper end of the lower arm, and an upper arm passive gear 17 is fixedly installed on the worm 16. The upper arm passive gear 17 is meshed with an upper arm driving gear 18, and the upper arm driving gear 18 is connected to the output end of the upper arm rotation control motor 19 installed on the lower arm 5.

[0073] In this way, the structure is simple and compact, and the worm gear can be self-locking to ensure the stability of the up and down swinging (ie, rotation) control of the front end of the upper support arm, thereby conveniently and stably and reliably controlling the rotation of the upper support arm.

[0074] The worm wheel and the worm are installed inside a protective shell 20 at the upper end of the lower support arm.

[0075] This can prevent the worm gear from being exposed and improve protection.

[0076] Among them, a nozzle switching device is arranged at the front end of the upper support arm, and the nozzle switching device includes a nozzle mounting plate 21 which is an overall disc-shaped, and a circle of nozzles 2 are circumferentially installed on the front end surface of the nozzle mounting plate 21, and a nozzle channel 22 is arranged inside the nozzle mounting plate 21 corresponding to each nozzle, and an infusion column mounting groove is formed in the middle of the rear end of the nozzle mounting plate 21, and the front end of each nozzle channel 22 is connected to the nozzle mounting position, and the rear end is connected to the same circumferential position of the circumferential side wall of the infusion column mounting groove, and an infusion column 23 which is an overall cylindrical infusion column 23 is convexly arranged in the middle of the front end of the upper support arm, and a circle of sleeve-shaped limiting sleeves 24 which are coaxially arranged on the outer periphery of the infusion column, and a large diameter section with an enlarged diameter is formed at the front end of the infusion column 23, and the large diameter section is installed in cooperation with the rear end of the nozzle mounting plate. In the infusion column mounting groove at the end, bearings are arranged between the infusion column 23 near the large diameter section and the nozzle mounting disk, and between the nozzle mounting disk and the external limiting sleeve to realize rotatable connection. An infusion channel 25 is arranged in the infusion column 23 as a whole along the length direction. The rear end of the infusion channel 25 is connected to the medicine pipeline. The front end outlet of the infusion channel 25 is folded back and is opposite to the position of the nozzle channel 22 on the circumferential side wall of the infusion column mounting groove. A dynamic sealing structure is also arranged between the outer periphery of the large diameter section of the infusion column and the infusion column mounting groove at the front and rear positions of the front end outlet of the infusion channel 25; the rear end of the nozzle mounting disk also has a coaxially arranged ring gear 26, and the ring gear 26 is transmission-connected to a nozzle switching control motor 27 (which can be realized by a steering gear) installed at the front end of the upper support arm.

[0077] 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 are switched to the position facing the infusion channel, thereby realizing the switching of different nozzles; in this way, a circle of nozzles of different models can be pre-installed, and the nozzles can be switched as needed during use to adjust the distance and coverage of the nozzle spraying liquid; making it more flexible and adjustable, and improving practicality. At the same time, the nozzle switching device itself has the advantages of compact structure, and the liquid transmission and switching control transmission rotation are very stable and reliable.

[0078] The front end of the upper support arm 6 has a folding section 28, and the nozzle switching device is installed on the folding section.

[0079] In this way, the front end of the upper support arm is folded to make it easier to adjust the angle of the spray head spraying the liquid medicine.

[0080] The middle part of the upper support arm 6 is hollowed out to allow the liquid medicine pipeline to pass through.

[0081] In this way, the hollow arrangement of the upper support arm can reduce weight and facilitate the arrangement of the liquid medicine pipeline, thereby avoiding entanglement of the pipeline when the support arm rotates.

[0082] Among them, the upper support arm 6 includes a main body section and a folding section 28 connected from back to front. The folding section is generally columnar, and the main body section is generally arc-shaped. A hollow area 43 is provided on the front and back of the upper edge of the main body section. The medicine liquid pipeline on the upper support arm is bound and fixed at a position between the two hollow areas 43.

[0083] In this way, the columnar shape of the turning section can facilitate the installation of the nozzle switching device thereon, and the structure of the main section can not only greatly reduce the weight of the robot arm, but also facilitate the arrangement and fixation of the liquid medicine pipeline on the upper support arm.

[0084] Among them, 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, on which a front end camera module 44 is fixed, and the front end camera module 44 includes a front end camera 45; the front end camera 45 preferably adopts a wide-angle lens protruding forward along the upper support arm.

[0085] In this way, the front-end camera and the nozzle are installed in the same direction, and the nozzle spraying situation and the effect of the nozzle spraying liquid can be monitored in real time, so as to better judge and control the vehicle to move forward or backward, and better ensure the disinfection effect.

[0086] Among them, the front-end camera module 44 is a rectangular body as a whole, the front-end camera 45 is installed and fixed at the front end of the front-end camera module, the front-end camera module has a fan installation cavity inside, a forward-facing camera fan 46 is installed and fixed in the fan installation cavity, and an air inlet grille 47 is circumferentially arranged on the peripheral edge of the fan installation cavity wall behind the camera fan, and a circle of air outlet holes 48 are arranged around the front end face of the front-end camera module on the upper edge, and the rear end of the air outlet holes is communicated with the fan installation cavity.

[0087] In this way, when it is necessary to disinfect the building in front or on the top and the nozzle sprays upward or diagonally upward, the camera fan can be controlled to start to ensure that the air outlets around the front camera can spray out wind and form an overall cylindrical wind curtain, which can prevent the liquid sprayed from the nozzle from falling backward onto the camera and affecting the lens imaging effect. Ensure the reliability of monitoring. In addition, during implementation, an air inlet hole or air inlet grille can be set at the bottom of the front camera module to replace the circumferential air inlet grille, which can better prevent the sprayed mist liquid from being sucked into the air inlet grille.

[0088] The air outlet 47 is arranged along the front-to-back direction as a whole, and the front part has an inclined section inwardly close to the front camera. In this way, the wind flow ejected from the air outlet can form a cone-shaped wind flow curtain, and the front end of the wind flow is closed to better prevent the liquid medicine from falling onto the surface of the front camera. Furthermore, the outlet of the air outlet can be connected as a whole to form an annular air outlet slot. The annular wind curtain effect formed by the air outlet is further improved, and the shielding effect on the liquid medicine is improved.

[0089] Among them, the wheel walking system includes a crawler walking device installed at the front and rear positions on both sides of the frame. The crawler walking device includes a base plate 29 that is vertically arranged and relatively fixed to the frame 1 and is in the shape of a triangle as a whole. A driving sprocket 30 is installed on the upper end of the base plate 29, and a driven sprocket 31 is installed at each of the front and rear corners of the lower part of the base plate. Two walking wheels 32 are also installed in parallel in the front and rear at the lower middle part of the base plate. The position of the driven sprocket 31 is higher than the position of the walking wheel 32. The driving sprocket 30, the driven sprocket 31 and the walking wheel 32 are externally matched and sleeved with a chain-type crawler 33.

[0090] In this way, when in use, the power machine on the frame is controlled to drive the driving sprocket to rotate to realize the walking of the crawler walking device. The crawler walking device can better improve the stability of the vehicle walking and at the same time facilitate the improvement of the vehicle walking passability. The specific control part is a mature existing technology and is not described in detail here.

[0091] Among them, the base plate 29 is located at the side positions of the front and rear sides, each of which has a driven sprocket mounting arm 34 arranged along the side direction. The driven sprocket mounting arm 34 is installed at the lower end of the driven sprocket mounting arm 34. The middle part of the driven sprocket mounting arm 34 is rotatably connected and installed on the base plate 29 through a rotating shaft. A spring for holding the driven sprocket mounting arm (not shown in the figure) is also arranged between the driven sprocket mounting arm and the base plate.

[0092] In this way, when the driven sprocket mounting arm is not subjected to external force, the arm holding spring keeps the driven sprocket mounting arm in a position parallel to the side of the base plate; when the vehicle encounters an obstacle or step during forward or backward movement, the position of the driven sprocket first contacts the obstacle or step; when the resistance is too large and greater than the holding force of the arm holding spring, the lower end of the driven sprocket mounting arm can be lifted upward by a certain distance, thereby greatly improving the passing performance of the crawler walking device during walking.

[0093] Among them, a walking wheel mounting plate 35 is also provided at the lower part of the base plate 29, and the upper end of the walking wheel mounting plate 35 is rotatably connected and mounted on the base plate 29, and the walking wheel 32 is mounted on the front and rear ends of the lower side of the walking wheel mounting plate 35. A mounting plate retaining spring (not shown in the figure) is provided between the walking wheel mounting plate 35 and the base plate 29.

[0094] In this way, when encountering obstacles, the two traveling wheels can also float back and forth and be lifted to a certain height to improve the walking passability.

[0095] Among them, a first ear 36 is provided on the inner side of the upper end of the driven sprocket mounting arm 34, which protrudes vertically downward. The first ear 36 is hinged to the inner end of a lever 37 that is horizontally arranged as a whole. The middle fulcrum of the lever 37 is rotatably mounted on the base plate, and the outer end of the lever 37 is hinged to a second ear 38 that is vertically mounted on the side of the walking wheel mounting plate 35.

[0096] In this way, when the driven sprocket at one end of the substrate encounters an obstacle and is forced to rise, the lower end of the driven sprocket mounting arm rotates upward, and the upper end of the moving sprocket mounting arm rotates downward and can act on the walking wheel mounting plate on the adjacent side through a lever, so that the walking wheel mounting plate on the adjacent side can be lifted up a certain distance, and at the same time, the lever on the other side can drive the driven sprocket on the other side to be pressed down a certain distance synchronously. In this way, a synchronous coordination effect is produced, the integrity of the crawler walking device is improved, and when encountering an obstacle, the height of the four wheels at the bottom of the substrate can be synchronized and coordinated to a position that is easier to pass through the obstacle. Therefore, its passability to obstacles is further greatly improved. It can be seen from the above scheme that the present invention pays special attention to improving the passability of the equipment when encountering obstacles. This is because when the epidemic breaks out suddenly and the personnel are evacuated urgently, the environment that needs to be disinfected often appears to be more messy, and there will be a large amount of discarded objects on the site. Therefore, the present invention adopts a crawler walking device with high passability as a walking power device, and various improvements are made on its basis to further improve its passability.

[0097] Wherein, a lever shaft is fixedly provided on the outer surface of the substrate at the middle of the lever, and a bar hole is provided in the middle of the lever along the length direction, and the lever shaft passes through the bar hole to form a lever fulcrum.

[0098] In this way, when the driven sprocket mounting arm drives the lever to rotate, the lever shaft serving as the fulcrum in the middle of the lever can slide left and right a certain distance in the bar hole, forming sufficient clearance space to better ensure the reliability of the lever rotation.

[0099] A clearance groove 39 is provided on the opposite sides of the driven sprocket mounting arm and the base plate at respective positions corresponding to the lever, and the first ear, the second ear and both ends of the lever are respectively accommodated in the corresponding clearance grooves.

[0100] In this way, the lever mechanism is given way by relying on two give-way grooves on the opposite sides of the driven sprocket mounting arm and the base plate, so that the base plate and the driven sprocket mounting arm can be arranged more closely, and the force transmission structure is more stable and reliable.

[0101] The liquid medicine tank 3 is installed on the upper surface of the frame in a covering manner along the length direction of the frame 1 .

[0102] This can maximize the amount of liquid medicine loaded.

[0103] Among them, a horizontal sensor (not shown in the figure) is also provided on the frame 1 and is connected to the control module. The lower front end of the medicine liquid tank 3 is hingedly installed on the frame 1, and a lifting device 59 is also provided at the rear end of the frame 1. The telescopic arm of the lifting device 59 is arranged upward and the upper end of the telescopic arm is movably connected to the lower surface of the rear end of the medicine liquid tank 3.

[0104] This is because the liquid medicine tank in the device will occupy a very large proportion of the space volume of the device. 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 backwards during the lifting process of the front end of the device. When the tilt angle is too large, it is easy to cause the device to tip over due to instability of the center of gravity. Therefore, the applicant has made the above improvements in a targeted manner. In this way, when the horizontal sensor detects that the front end of the vehicle is tilted upward at a large angle, 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 to maintain the weight balance of the front and rear of the device. In this way, the device can cross larger obstacles more stably and reliably, and better improve the passability of the device. Further improvements can be made during implementation, so that lifting devices are set at both ends of the lower front and rear of the liquid medicine tank and connected to the frame by the lifting device. In this way, no matter whether a large obstacle is encountered in the front and rear directions, the balance can be controlled by lifting the liquid medicine tank in the opposite direction to improve its passability. During implementation, the lifting device can be implemented by mechanisms such as hydraulic cylinders or electric cylinders.

[0105] Among them, an auxiliary support wheel 40 is also provided in the middle of the rear end of the frame, and the auxiliary support wheel 40 is installed at the lower end of an auxiliary support arm 41. The upper end of the auxiliary support arm is rotatably hinged at the middle of the rear end of the vehicle. The frame is also provided with a telescopic device 42 which is efficient with the auxiliary support arm and can control the up and down rotation of the auxiliary support arm.

[0106] In this way, when the liquid in the liquid tank is used up, and the vehicle encounters a large obstacle in front of it and needs to adjust its tilt angle, 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, so that the equipment can be restored to front and rear balance, which is conducive to further improving the equipment's passability.

Claims

1. A mechanical arm upper support arm structure for epidemic prevention and disinfection, wherein a nozzle switching device is arranged at the front end of the upper support arm, and the nozzle switching device comprises a nozzle mounting plate which is in the shape of a disk as a whole, and a circle of nozzles is arranged on the front end surface of the nozzle mounting plate along the circumferential direction, and a nozzle channel is arranged inside the nozzle mounting plate corresponding to each nozzle, characterized in that: An infusion column mounting groove is formed in the middle of the rear end of the nozzle mounting plate, the front end of each nozzle channel is connected to the nozzle mounting position, and the rear end is connected to the same circumferential position of the circumferential side wall of the infusion column mounting groove. An infusion column that is an overall cylindrical shape is convexly arranged in the middle of the front end of the upper support arm, and a circle of limiting sleeves that are an overall sleeve shape are coaxially arranged on the outer periphery of the infusion column. A large diameter section with an enlarged diameter is formed at the front end of the infusion column, and the large diameter section is installed in the infusion column mounting groove at the rear end of the nozzle mounting plate. The infusion column is close to the large diameter section and between the nozzle mounting plate and the nozzle mounting plate. Bearings are arranged between the external limiting sleeves to realize rotatable connection. An infusion channel is arranged inside the infusion column along the length direction. The rear end of the infusion channel is connected to the medicine pipeline. The front end outlet of the infusion channel is bent back and faces the position of the nozzle channel on the circumferential side wall of the infusion column installation groove. A dynamic sealing structure is also arranged 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 installation plate also has a coaxially arranged ring gear, which is connected to a nozzle switching control motor installed at the front end of the upper support arm; The front end of the upper support arm is provided with a folding section, and the nozzle switching device is installed on the folding section; The upper support arm includes a main body section and a folding section connected from back to front. The folding section is generally columnar, and the main body section is generally arc-shaped. A hollow area is arranged at the front and rear of the upper edge of the main body section. The liquid medicine pipeline on the upper support arm is bound and fixed at a position between the two hollow areas.

2. The upper arm structure of the robot arm for epidemic prevention and disinfection as claimed in claim 1, characterized in that: The nozzle switching control motor is realized by a servo.

3. The upper arm structure of the robot arm for epidemic prevention and disinfection as claimed in claim 1, characterized in that: The middle part of the upper support arm is hollowed out to allow the liquid medicine pipeline to pass through.

4. The upper arm structure of the robot arm for epidemic prevention and disinfection as claimed in claim 1, characterized in that: The outer side of the front end of the upper support arm is also provided with 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, and the front-end camera is a wide-angle lens protruding forward along the upper support arm.

5. The upper arm structure of the robot arm for epidemic prevention and disinfection as claimed in claim 4, characterized in that: The front-end camera module is rectangular as a whole. The front-end camera is installed and fixed at the front end of the front-end camera module. There is a fan installation cavity inside the front-end camera module. A forward-facing camera fan is installed and fixed in the fan installation cavity. An air inlet grille is circumferentially arranged on the peripheral wall of the fan installation cavity behind the camera fan. A circle of air outlet holes is also arranged around the front camera on the upper edge of the front end face of the front-end camera module, and the rear end of the air outlet holes is connected to the fan installation cavity.

6. The upper arm structure of the robot arm for epidemic prevention and disinfection as claimed in claim 5, characterized in that: The air outlet is arranged along the front-to-back direction as a whole and has a slanted section at the front that faces inwards and is close to the front camera.

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