Hydrodynamic driving vertical-horizontal conversion autonomous water injection mechanism, control method and robot

Abstract

This invention belongs to the field of mechanical engineering robot technology, and discloses a hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism, control method, and robot. A charging pile provides power to the vertical-horizontal water injection mechanism during water injection; the vertical-horizontal water injection mechanism receives water injection commands from the control system, switches between different states, and performs water injection operations; the control system controls the docking with the charging pile and sends control commands to the vertical-horizontal water injection mechanism for water injection operations. When the robot's arm is extended for spraying, the vertical-horizontal conversion mechanism is in a horizontal Z-shaped state, and the extended arm does not need to avoid obstacles, allowing normal spraying of the beam. After the extended arm, located at the front of the robot, passes through the vertical-horizontal conversion mechanism, the charging brush linked to the extended arm contacts the charging pile and triggers a contact sensor. The control system then opens the solenoid valve, injecting water into the water tank with a telescopic rod, which pushes the telescopic rod outward. The entire water injection process and its arrangement do not affect the robot's spraying operation.

Description

Technical Field

[0001] This invention belongs to the field of mechanical engineering and robotics technology, and particularly relates to a hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism, control method, and robot. Background Technology

[0002] Spray curing is a crucial step in the fabrication of precast box girders at the beam yard. ZL202111008160.7 has specifically developed a beam yard circumferential spraying robot that can significantly improve curing efficiency. It achieves several key technologies, including time-series logic analysis and detection of key nodes such as autonomous water injection, autonomous charging, and autonomous navigation, as well as network integration and coordination planning of process equipment, thus realizing factory-level curing operations. However, because the robot has two spray arms at its bottom, when passing water injection piles along the spray route, the arms need to actively or passively rotate towards the vehicle body to avoid obstacles. This action results in uneven spraying of the beam surface in the area where the spraying robot passes the water injection mechanism, affecting the system's effectiveness. How to improve the water injection mechanism to achieve low-cost vertical-to-horizontal conversion while still fulfilling the water injection function remains a pressing technical challenge.

[0003] Based on the above analysis, the problems and defects of the existing technology are as follows: the water injection process and layout of the existing technology affect the robot's spraying operation; the existing technology requires additional power for water injection, resulting in high equipment operating costs and a high probability of failure. Summary of the Invention

[0004] To overcome the problems existing in related technologies, the embodiments disclosed in this invention provide a hydrodynamically driven vertical-horizontal convertible autonomous water injection mechanism, a control method, and a robot. This invention also relates to the field of spraying robots, specifically to robotic operations for the maintenance of precast components.

[0005] The technical solution is as follows: The hydrodynamically driven vertical / horizontal conversion self-injection mechanism includes: The charging pile is connected to the control system and is used to connect and communicate with the vehicle charging brush to charge the vehicle battery. A thin film pressure sensor with a conductive copper busbar is installed in the channel of the charging pile. The pressure threshold generated by the thin film pressure sensor provides a start and stop signal for the power of the vertical and horizontal water injection mechanism. The vertical and horizontal water injection mechanism is connected to the control system and is used to receive water injection commands from the control system, switch between different states, and thus carry out water injection operations. The control system is used to control the connection between the vehicle-mounted charging brush and the charging pile, and to send control commands to the vertical and horizontal water injection mechanism for water injection operations.

[0006] In one embodiment, the charging pile is provided with a fixed angle steel, which is welded and installed with three long slotted angle steels. The upper end of the fixed angle steel is connected to a vertical support base and is fixed to the ground by steel bars to form the base of the charging pile. Two sets of first and second vertical cylinders are welded onto the vertical cylinder support base. A screw and a threaded optical shaft are respectively inserted into the first and second vertical cylinders. A clamping nut, a clamping plate, and a non-conductive four-hole grooved base are sequentially installed on the upper end of the threaded optical shaft and the screw. The non-conductive four-hole grooved base is used to fix the conductive copper busbar. The screw is positioned by a fixing nut. A fixing nut is installed on the top of the first vertical cylinder.

[0007] In one embodiment, the non-conductive four-hole slotted base and the conductive copper busbar form a charging assembly. The non-conductive four-hole slotted base includes upper and lower channels arranged in parallel. Each channel is embedded with a fitted conductive copper busbar, which is respectively connected to the positive and negative terminals of the charger of the control system.

[0008] In one embodiment, the vertical and horizontal water injection mechanism consists of a first upright, a second upright, a third upright, a first connecting rod, a second connecting rod, a nut shaft, and a water cylinder push rod; The first pin connects the upright, gear, and second upright via the first positioning hole; the optical shaft connects the first upright, gear, and second upright via the first positioning hole. The first pin connects the second upright and the shank-mounted crescent gear via the second and fourth positioning holes; the third pin connects the first connecting rod and the shank-mounted crescent gear via the fifth and third positioning holes. The second and third uprights are connected by the fourth pin, the first link and the second link are connected by the optical shaft, the second upright and the second link are connected by the nut optical shaft, the second link and the third link are connected by the second pin, and the third upright and the third link are connected to the fixed differential box by the extended shafts of four bevel differential gears. The water cylinder push rod is connected to the third upright, and the fixed hinge support is fixed to the ground; after water is injected, the push rod extends outward, pushing the third upright to rotate vertically from a horizontal position around the extended axis of the four conical differential gears.

[0009] In one embodiment, the third upright and the third connecting rod are coaxially reversed via four bevel gears; the included angle between the third upright and the third connecting rod decreases. The second and third uprights and the second and third connecting rods form a parallelogram mechanism; the second upright is passively converted from a horizontal to an upright position; The second upright, the first connecting rod, the crescent-shaped toothed gear with a handle, and the second connecting rod form a single-corner point gear-constrained inverted quadrilateral mechanism. The second upright and the first connecting rod are arranged in a crisscross pattern; The first link passively changes from a horizontal to a vertical position along with the second link; the angle between the second link and the first link decreases; the first link pushes the shank-shaped crescent gear to rotate clockwise upward around the second positioning hole; the shank-shaped crescent gear drives the gear and the first link to rotate clockwise upward together around the first positioning hole; the gear is fixed to the first link.

[0010] In one embodiment, the control system includes: a communication unit, a thin-film pressure sensor, a solid-state relay, a solenoid valve, and a charger; The charger's start and stop are controlled by a solid-state relay via a set signal. The solid-state relay's on / off signal is activated or deactivated by the network relay of the communication unit based on the wireless data transmission radio communication signal. A conductive copper busbar presses down on a thin-film pressure sensor. The conductive copper busbar corresponds to the vehicle's dual-headed charging brush, with positive and negative terminals matched. The charging brush consists of an insulating tube and a copper-headed charging brush fixed to the end of the insulating tube. The copper-headed charging brush is covered with a semi-open insulating cover with a torsion spring. When the spray robot's charging brush presses against the conductive copper busbar, the pressure value of the thin-film pressure sensor changes to the set threshold of 50N, the vehicle's bottom extension arm retracts, and then the solid-state relay activates the charger to start charging. The solenoid valve is in the open position to control the water injection state into the water tank with the telescopic rod.

[0011] Another object of the present invention is to provide a control method for realizing the hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism, comprising: The four bevel differential gears include: a pair of differential gears A and B, and a pair of differential gears C and D. Differential gears C and D are connected to the fixed differential box by their own extended shafts. Differential gear A is connected to the end shaft hole of the third upright through the fixed differential box via its shaft, and differential gear B is connected to the end shaft hole of the third connecting rod through the fixed differential box via its shaft. Under the action of the adjacent water cylinder telescopic rod, the third upright rod drives the differential gear A to rotate synchronously. This conical differential gear drives the two adjacent differential gears C and D to rotate in opposite directions. The two differential gears C and D rotating in opposite directions drive the differential gear B to rotate in the opposite direction relative to the differential gear A. The third connecting rod rotates synchronously with the differential gear A. The third upright rod and the third connecting rod open and close synchronously, which is a coaxial reversal.

[0012] When the robot is charging, the control system puts the solenoid valve in the open position, fills the water tank with the telescopic rod, pushes the telescopic rod outward, and forms the drive unit; the drive unit drives the third upright rod of one bottom side of the parallelogram mechanism to rotate clockwise upward, and the third connecting rod of the other bottom side is driven to rotate in the opposite direction by the four gear set. The two long uprights of the inverted quadrilateral mechanism are intersected, and the top side is a shank crescent-shaped gear. Under the action of the third link on the bottom side of the parallelogram mechanism, the inverted quadrilateral mechanism rotates counterclockwise upwards, the shank crescent-shaped gear rotates counterclockwise, and the top gear transmission mechanism linked with the shank crescent-shaped gear rotates clockwise. The vertical-to-horizon conversion mechanism extends to form an inverted L-shape and fills the robot's water tank with water; once the water level reaches the given value, the control system causes the water cylinder of the telescopic rod to drain water outward, and the vertical-to-horizon conversion mechanism retracts to form a Z-shape. Charging stops, the spraying robot opens its arms, sprays water, and continues moving.

[0013] Another objective of this invention is to provide a prefabricated component maintenance robot equipped with the aforementioned hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism.

[0014] Another objective of this invention is to provide a nursery maintenance robot equipped with the aforementioned hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism.

[0015] Another objective of this invention is to provide a water-washing industry cleaning robot equipped with the aforementioned hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism.

[0016] Combining all the above technical solutions, the advantages and positive effects of this invention are as follows: First, in view of the technical problems existing in the prior art and the difficulty of solving these problems, and closely combining the technical solution to be protected by this invention with the results and data during the research and development process, this paper analyzes in detail how the technical solution of this invention solves the technical problems, and the inventive technical effects brought about after solving the problems, as described in detail below: The height of the charging pile of this invention can be adjusted according to the site conditions, which improves its practicality; In this invention, the vertical-to-horizontal conversion mechanism is in a horizontal Z-shaped state when the robot arm is extended for spraying. The extended arm does not need to avoid obstacles and can spray the beam normally. After the extended arm, which is located at the front of the robot, passes through the vertical-to-horizontal conversion mechanism, the charging brush linked to the extended arm contacts the charging pile and triggers the contact sensor. The control system puts the solenoid valve in the open position and fills the water tank with the telescopic rod with water. The telescopic rod is pushed outward. The vertical-to-horizontal conversion mechanism extends to form an inverted L-shape and fills the robot's water tank with water. After the water is filled to a given value, the control system causes the water tank with the telescopic rod to drain water outward, and the vertical-to-horizontal conversion mechanism returns to the inverted Z-shape. The entire water filling process and arrangement do not affect the robot's spraying operation.

[0017] This invention requires no additional power; it is driven entirely by the power generated during the water injection process, thus saving system costs and reducing system risks.

[0018] Secondly, considering the technical solution as a whole or from the perspective of the product, the technical effects and advantages of the technical solution to be protected by this invention are specifically described as follows: The main technical problem solved by this invention is to provide a hydrodynamically driven, vertical-horizontal convertible autonomous water injection mechanism. When a robot is operating and spraying water along a beam in a circumferential manner, the water injection mechanism can be converted from vertical to horizontal as needed, thereby ensuring that the spraying effect of the robot's spray arm on the beam is not affected. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure; Figure 1 This is an assembly drawing of a charging pile provided in an embodiment of the present invention; Figure 2 This is an exploded view of the conductive device provided in an embodiment of the present invention; Figure 3 This is an exploded view of a charging pile provided in an embodiment of the present invention; Figure 4 This is a horizontal state diagram of the vertical and horizontal water injection mechanism provided in an embodiment of the present invention; Figure 5 This is a diagram of the semi-expanded state of the vertical and horizontal water injection mechanism provided in an embodiment of the present invention; Figure 6 Figure 1 shows the joint of the vertical / horizontal water injection mechanism provided in this embodiment of the invention; Figure 7 This is an exploded view of joint 1 of the vertical and horizontal water injection mechanism provided in an embodiment of the present invention; Figure 8 Figure 2 shows the joint of the vertical / horizontal water injection mechanism provided in this embodiment of the invention; Figure 9 Figure 3 shows the joint of the vertical and horizontal water injection mechanism provided in this embodiment of the invention; Figure 10 This is an exploded view of joint 3 of the vertical and horizontal water injection mechanism provided in an embodiment of the present invention; Figure 11 This is a diagram of the first upright of the vertical / horizontal water injection mechanism component provided in an embodiment of the present invention; Figure 12 This is a diagram of the second upright of the vertical / horizontal water injection mechanism component provided in an embodiment of the present invention; Figure 13 This is a diagram of the third upright of the vertical / horizontal water injection mechanism provided in an embodiment of the present invention; Figure 14 This is a diagram of the first connecting rod of the vertical / horizontal water injection mechanism provided in an embodiment of the present invention; Figure 15 This is a diagram of the second connecting rod of the vertical / horizontal water injection mechanism provided in an embodiment of the present invention; Figure 16 This is a diagram of the third link of the vertical / horizontal water injection mechanism provided in an embodiment of the present invention; Figure 17 This is a schematic diagram of the spraying robot about to be charged according to an embodiment of the present invention; Figure 18 This is a schematic diagram of the spray robot charging process provided in an embodiment of the present invention; Figure 19 This is a schematic diagram of the structure of the spraying robot provided in an embodiment of the present invention; In the diagram: 10. Charging pile; 11. Compression nut; 12. Compression plate; 13. Non-conductive four-hole grooved base; 14. Conductive copper busbar; 15. Screw; 16. Fixing nut; 17. First vertical cylinder; 18. Threaded optical shaft; 19. Second vertical cylinder; 20. Vertical support base; 21. Fixed angle steel; 22. Long channel angle steel; 30. Vertical / Horizontal Water Injection Mechanism; 31. First Vertical Rod; 32. Second Vertical Rod; 321. First Positioning Hole; 322. Second Positioning Hole; 33. Third Vertical Rod; 331. Fourth Pin; 34. First Connecting Rod; 341. Third Positioning Hole; 35. Second Connecting Rod; 351. Smooth Shaft Body; 36. Nut Smooth Shaft; 37. Water Cylinder Push Rod; 371. Fixed Hinge Support; 38. Third Connecting Rod; 381. Second Pin; 39. Fixed Differential Box; 391. Bevel Differential Gear; 41. Crimson toothed gear with handle; 411. Fourth positioning hole; 412. Fifth positioning hole; 413. Third pin; 42. Gear; 421. First pin; 50. Spraying robot; 51. Charging brush with copper head. Implementation

[0020] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0021] I. Explanation of the Implementation Example: This invention provides a hydrodynamically driven, vertical-horizontal conversion self-injection water mechanism, comprising: The charging pile 10 is connected to the control system and is used to connect with the vehicle charging brush to charge the vehicle battery. The charging pile 10 has a thin film pressure sensor in the channel, which is arranged by the downward pressure of the conductive copper busbar 14. The sensor pressure threshold generated by the sensor provides start and stop signals for the vertical and horizontal water injection mechanism 30. The vertical and horizontal water injection mechanism 30 is connected to the control system and is used to receive water injection commands from the control system, switch between different states, and perform water injection operations. The control system is used to control the docking of the vehicle-mounted charging brush with the charging pile 10, and to send control commands to the vertical and horizontal water injection mechanism 30 for water injection operations. Example

[0022] like Figures 1-3 As shown in the figure, an embodiment of the present invention provides a hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism, including a charging pile 10, a vertical-horizontal water injection mechanism 30, and a control system. The control system includes a communication unit, a thin-film pressure sensor, a solid-state relay, two solenoid valves, and a charger.

[0023] The charging pile 10 consists of a support base, a vertically adjustable sleeve, and a charging assembly; The support base includes: a vertical support base 20, a fixed angle steel 21, and a long slotted angle steel 22; the fixed angle steel 21 is installed at the lower part of the vertical support base 20; the vertical support base 20 is bolted to the groove opened in the long slotted angle steel 22.

[0024] The vertically adjustable sleeve includes: a clamping nut 11, a clamping plate 12, a screw 15, a fixing nut 16, a first vertical cylinder 17, a threaded optical shaft 18, and a second vertical cylinder 19; The charging assembly includes: a non-conductive four-hole slotted base 13 and a conductive copper busbar 14; the conductive copper busbar 14 covers the outside of the non-conductive four-hole slotted base 13. The screw 15 is inserted into the non-conductive four-hole grooved base 13 and is tightened at the top by the clamping nut 11; The charging component comprises two layers, upper and lower. In the charging pile 10 structural system, the upper and lower layers of the charging component are presented as two parallel channels. Each channel is embedded with a bonding conductive copper busbar 14, which is connected to the positive and negative terminals of the charger respectively. The charger's start and stop are controlled by a solid-state relay via a set signal. The solid-state relay's on / off signal is activated or deactivated by a network relay based on a wireless data transmission radio communication signal. The conductive copper busbar 14 presses down on the thin-film pressure sensor; the conductive copper busbar 14 corresponds to the dual-headed charging brush on the vehicle, with positive and negative terminals matched; the charging brush consists of an insulating tube and a charging brush 51 with a copper head fixed to the end of the insulating tube, and the charging brush 51 with a copper head (e.g.) Figure 18 Externally fitted with a torsion spring-loaded semi-open insulating cover; When the charging brush of the spraying robot 50 presses against the conductive copper busbar 14, the pressure value of the thin film pressure sensor changes to the set threshold of 50N, the under-mounted extension arm retracts, and then the solid-state relay turns on the charger to start charging. like Figures 4-16 As shown, the three sets of rods of the vertical and horizontal water injection mechanism 30, namely the first upright rod 31, the second upright rod 32, and the third upright rod 33, are driven by two sets of gears, which can enable the charging pile 10 to switch between a Z-shape and an inverted L-shape as needed. In this embodiment of the invention, the water injection mechanism is composed of, from bottom to top, a set of driving units and a set of mechanical units that achieve parallelogram mechanism assistance through coaxial reversal. The parallelogram mechanism has a four-gear set between the two adjacent sides at the bottom (such as...). Figure 6 This gear set can achieve coaxial reversal, consisting of a set of inverted quadrilateral mechanisms with gear constraints at a single corner, and a set of gear transmission mechanisms; the four are coupled together.

[0025] The specific operating principle is as follows: Four conical differential gears 391 include: a paired differential gear A and a paired differential gear B, and a paired differential gear C and a differential gear D. Differential gears A, B, C, and D are arranged in a cross shape. Differential gears C and D are connected to a fixed differential box 39 by their own extended shafts. Differential gear A is connected to the end shaft hole of the third upright 33 via a shaft through the fixed differential box 39. Differential gear B is connected to the end shaft hole of the third connecting rod 38 via a shaft through the fixed differential box 39. The shafts of differential gears A, B, C, and D are all broken shafts and are not connected to the opposite conical differential gears 391. Under the action of the adjacent water cylinder telescopic rod, the third upright rod 33 drives the differential gear A connected to it to rotate synchronously. The conical differential gear 391 drives the two adjacent differential gears C and D to rotate in opposite directions. The two differential gears C and D rotating in opposite directions drive the differential gear B to rotate in the opposite direction relative to the differential gear A. The third connecting rod 38 rotates synchronously with the differential gear A. The third upright rod 33 and the third connecting rod 38 open and close synchronously, which is a coaxial reversal.

[0026] When the robot is charging, the control system opens the solenoid valve to allow water to flow into the water tank with the telescopic rod. The telescopic rod pushes outward, forming a drive unit. The drive unit drives the third vertical rod 33 on one bottom side of the parallelogram mechanism to rotate clockwise upward, while the third connecting rod 38 on the adjacent bottom side is driven to rotate in the opposite direction by a four-gear set. Overall, the parallelogram mechanism is converted from horizontal to vertical. The third connecting rod 38 on the bottom side is the power input for the inverted quadrilateral mechanism in the middle section of the vertical-horizontal conversion mechanism. The two long uprights of the inverted quadrilateral mechanism are intersected, and the top edge is a shank-shaped crescent gear. Under the action of the third link 38 at the bottom edge of the parallelogram mechanism, the inverted quadrilateral mechanism rotates counterclockwise upwards, the shank-shaped crescent gear rotates counterclockwise, and the top gear transmission mechanism linked with the shank-shaped crescent gear rotates clockwise. Finally, the vertical-to-horizontal conversion mechanism extends to form an inverted L shape and fills the robot's water tank with water. Once the water level reaches the set value, the control system causes the water cylinder on the telescopic rod to drain water outwards, and the vertical-to-horizontal conversion mechanism retracts to form a Z shape. Charging stops, the spraying robot 50 opens its arms, sprays water, and continues moving. The entire water filling process and layout do not affect the robot's spraying operation. Example

[0027] In this embodiment of the invention, the charging pile 10 is formed by welding a fixed angle steel 21 and three long slotted angle steels 22. The upper end is connected to a vertical support base 20 and is fixed to the ground by steel bars to form the base of the charging pile 10. The long slotted angle steels 22 can realize the flexible positioning of the charging pile 10 on site. The threaded optical shaft 18 and the screw 15 are sequentially fitted with a clamping nut 11, a clamping plate 12, and a non-conductive 4-hole grooved base 13; the non-conductive 4-hole grooved base 13 is fixed with a conductive copper busbar 14. The screw 15 is positioned by the fixing nut 16; the threaded shaft 18 and the screw 15 are respectively inserted into the second vertical cylinder 19 and the first vertical cylinder 17.

[0028] Two first vertical tubes 17 and two second vertical tubes 19 are welded onto the vertical tube support 20; The top of the first vertical tube 17 is fixed with a fixing nut 16; The above design allows for easy adjustment of the charging components (conductive devices, such as...). Figure 2 (height) Example

[0029] The vertical / horizontal water injection mechanism 30 consists of a first vertical rod 31; a second vertical rod 32 and a first connecting rod 34; a third vertical rod 33 and a second connecting rod 35; and a water cylinder push rod 37; as shown below. Figures 4-5 As shown; like Figures 6-7 As shown, the first pin 421 connects the first upright 31, the gear 42, and the two sections of the second upright 32 together through the first positioning hole 321; The first upright 31, gear 42, and second upright 32 are connected together by an optical axis through the first positioning hole 321.

[0030] The second upright 32 and the shank crescent toothed gear 41 are connected together by a pin through the second positioning hole 322 and the fourth positioning hole 411. The first connecting rod 34 and the shank crescent gear 41 are connected together by a pin through the fifth positioning hole 412, the third pin 413, and the third positioning hole 341. The second upright 32 and the third upright 33 are connected by the fourth pin 331; The first link 34 is connected to the optical axis 351 of the second link 35; like Figure 8As shown, the second upright 32 and the second connecting rod 35 are connected by a nut optical shaft 36; like Figure 9 As shown, the second link 35 and the third link 38 are connected by the second pin 381; like Figure 10 As shown, the third upright 33 and the third connecting rod 38 are connected to the fixed differential box 39 through the extended shafts of four bevel differential gears 391; The water cylinder push rod 37 is connected to the third upright rod 33, and the fixed hinge support 371 is fixed to the ground. After water is injected, the push rod 37 extends outward, pushing the third upright rod 33 to rotate vertically around the extended axis of the four conical differential gears 391 from a horizontal position. The third upright 33 and the third connecting rod 38 are coaxially reversed through four bevel gears 391; the included angle between the third upright 33 and the third connecting rod 38 becomes smaller. like Figures 11-16 As shown, the second upright 32 and the third upright 33, the second connecting rod 35 and the third connecting rod 38 form a parallelogram mechanism; the second upright 32 is passively converted from a horizontal to an upright position. The second upright 32, the first connecting rod 34, the crescent-tooth gear 41 with a handle, and the second connecting rod 35 form a single-corner point gear-constrained inverted quadrilateral mechanism; the second upright 32 and the first connecting rod 34 are arranged in a cross shape; the first connecting rod 34 passively changes from a horizontal to an upright position as the second connecting rod 35 moves; the angle between the second upright 32 and the first connecting rod 34 decreases. The first connecting rod 34 pushes the handle-loaded crescent gear 41 to rotate clockwise upward around the second positioning hole 322; The shank-mounted crescent gear 41 drives the gear 42 and the first upright rod 31 to rotate clockwise upward around the first positioning hole 321; the gear 42 is fixed to the first upright rod 31. Example

[0031] like Figures 17-19 As shown, the spraying robot 50 operates in a circumferential manner, with its extended arm passing through the horizontal water injection mechanism 10. When the charging brush 51 with copper head, which is linked to the extended arm, contacts the charging pile 10 and triggers the thin-film pressure sensor, the control system controls the bottom extended arm to rotate back to the vehicle body and starts the charger to perform charging operations. The control system puts the solenoid valve in the open position, filling the water cylinder with the telescopic rod, and the telescopic rod pushes outward; the vertical-horizontal conversion mechanism extends to form an inverted L shape and fills the robot's water tank with water; when the water level reaches the given value, the control system causes the water cylinder with the telescopic rod to drain water outward, and the vertical-horizontal conversion mechanism retracts to form a Z shape.

[0032] Once charging stops, the spraying robot 50 opens its arms, sprays water, and continues moving forward. The entire water filling process and setup do not affect the robot's spraying operation. Example

[0033] The hydrodynamically driven vertical-horizontal convertible autonomous water injection mechanism of this invention is mainly used in the spraying and curing operations of precast concrete component manufacturing beam yards. It only needs to be installed at an appropriate position on the operating path of the spraying robot 50. The working process of the hydrodynamically driven vertical-horizontal convertible autonomous water injection mechanism of this invention is as follows: When the robot's arm is extended for spraying, the vertical-to-horizontal conversion mechanism is in a horizontal Z-shaped state, allowing the arm to spray the beam normally without obstacle avoidance. After the extended arm, positioned at the front of the robot, passes through the vertical-to-horizontal conversion mechanism, the charging brush linked to the extended arm contacts the charging pile 10 and triggers the thin-film pressure sensor. The control system then opens the solenoid valve, filling the water tank with the telescopic rod, which pushes outward. The vertical-to-horizontal conversion mechanism extends to form an inverted L-shape and fills the robot's water tank. Once the water level reaches a set value, the control system drains water from the water tank with the telescopic rod, and the vertical-to-horizontal conversion mechanism retracts to form a Z-shape. The entire water filling process and its arrangement do not affect the robot's spraying operation.

[0034] The present invention relates to a hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism. By using hydrodynamic power to drive the water injection mechanism to switch between vertical and horizontal positions, the water injection mechanism avoids the impact of the water injection mechanism on the spraying effect, laying the foundation for the operation of the spraying robot in the beam yard.

[0035] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0036] The information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of the present invention. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0037] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments.

[0038] II. Application Examples: Application Example 1: The hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism provided in this embodiment of the invention can be applied to a precast component maintenance robot.

[0039] Application Example 2: The hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism provided in the embodiments of the present invention can be applied to a nursery maintenance robot.

[0040] Application Example 3: The hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism provided in the embodiments of the present invention can be applied to cleaning robots in the washing industry.

[0041] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A hydrodynamically driven, vertical-horizontal conversion self-contained water injection mechanism, characterized in that, The hydrodynamically driven vertical / horizontal conversion autonomous water injection mechanism includes: The charging pile (10) is connected to the control system and is used to connect with the vehicle charging brush to charge the vehicle battery. The charging pile (10) is equipped with a thin film pressure sensor arranged by the downward pressure of the conductive copper busbar (14). The pressure threshold generated by the thin film pressure sensor provides a start and stop signal for the power of the vertical and horizontal water injection mechanism (30). The vertical and horizontal water injection mechanism (30) is connected to the control system and is used to receive water injection instructions from the control system and switch between different states to carry out water injection operations. The vertical and horizontal water injection mechanism (30) can switch between vertical and horizontal as needed, so as not to affect the spraying effect of the spray arm carried by the robot on the beam. The control system is used to control the docking of the vehicle-mounted charging brush with the charging pile (10) and to send control commands to the vertical and horizontal water injection mechanism (30) for water injection operations.

2. The hydrodynamically driven vertical / horizontal conversion self-injection water mechanism according to claim 1, characterized in that, The charging pile (10) is provided with a fixed angle steel (21), which is welded and installed with three long slot angle steels (22). The upper end of the fixed angle steel (21) is connected to the vertical support base (20) and fixed to the ground by steel bars to form the base of the charging pile (10). Two sets of first vertical cylinders (17) and second vertical cylinders (19) are welded on the vertical cylinder support base (20). The first vertical cylinder (17) and the second vertical cylinder (19) are respectively inserted with screws (15) and threaded optical shafts (18). The upper ends of the threaded optical shafts (18) and screws (15) are sequentially equipped with clamping nuts (11), clamping plates (12) and non-conductive four-hole grooved bases (13). The non-conductive four-hole grooved bases (13) are used to fix conductive copper busbars (14). The screws (15) are positioned by fixing nuts (16). The top of the first vertical cylinder (17) is equipped with fixing nuts (16).

3. The hydrodynamically driven vertical / horizontal conversion self-injection water mechanism according to claim 2, characterized in that, The non-conductive four-hole slotted base (13) and the conductive copper busbar (14) form a charging assembly. The non-conductive four-hole slotted base (13) includes two layers of slots, which are arranged in parallel. Each slot is embedded with a fitted conductive copper busbar (14) and is connected to the positive and negative terminals of the charger of the control system.

4. The hydrodynamically driven vertical / horizontal conversion self-injection water mechanism according to claim 1, characterized in that, The vertical and horizontal water injection mechanism (30) consists of a first upright rod (31), a second upright rod (32), a third upright rod (33), a first connecting rod (34), a second connecting rod (35), a nut shaft (36), and a water cylinder push rod (37); The first pin (421) connects the first upright (31), gear (42), and second upright (32) through the first positioning hole (321); the optical shaft (351) connects the first upright (31), gear (42), and second upright (32) through the first positioning hole (321); The first pin (421) connects the second upright (32) and the shank crescent gear (41) via the second positioning hole (322) and the fourth positioning hole (411); the third pin (413) connects the first connecting rod (34) and the shank crescent gear (41) via the fifth positioning hole (412) and the third positioning hole (341). The second upright (32) and the third upright (33) are connected by the fourth pin (331), the first connecting rod (34) and the second connecting rod (35) are connected by the optical shaft body (351), the second upright (32) and the second connecting rod (35) are connected by the nut optical shaft (36), the second connecting rod (35) and the third connecting rod (38) are connected by the second pin (381), and the third upright (33) and the third connecting rod (38) are connected to the fixed differential box (39) by the extended shafts of four bevel differential gears (391). The water cylinder push rod (37) is connected to the third upright rod (33), and the fixed hinge support (371) is fixed to the ground. After water is injected, the water cylinder push rod (37) extends outward and pushes the third upright rod (33) to rotate vertically around the extended axis of the four conical differential gears (391) from a horizontal position.

5. The hydrodynamically driven vertical / horizontal conversion self-injection water mechanism according to claim 4, characterized in that, The third upright (33) and the third connecting rod (38) are coaxially reversed through four bevel differential gears (391); the included angle between the third upright (33) and the third connecting rod (38) becomes smaller; The second upright (32) and the third upright (33), along with the second connecting rod (35) and the third connecting rod (38), form a parallelogram mechanism; the second upright (32) passively changes from a horizontal to an upright position; The second upright (32), the first connecting rod (34), the crescent toothed gear (41) with a handle, and the second connecting rod (35) form a single-corner point gear-constrained inverted quadrilateral mechanism. The second upright (32) and the first connecting rod (34) are arranged in a cross shape; The first link (34) is passively converted from horizontal to vertical along with the second link (35); the angle between the second upright (32) and the first link (34) decreases; the first link (34) pushes the shank crescent toothed gear (41) to rotate clockwise upward around the second positioning hole (322); the shank crescent toothed gear (41) drives the gear (42) and the first upright (31) to rotate clockwise upward together around the first positioning hole (321); the gear (42) and the first upright (31) are fixed together.

6. The hydrodynamically driven vertical / horizontal conversion self-injection water mechanism according to claim 1, characterized in that, The control system includes: a communication unit, a thin-film pressure sensor, a solid-state relay, a solenoid valve, and a charger; The start and stop of the charger are controlled by a solid-state relay through a set signal. The on / off signal of the solid-state relay is started or stopped by the network relay of the communication unit according to the wireless data transmission radio communication signal. The conductive copper bus (14) presses down on the thin film pressure sensor. The conductive copper bus (14) corresponds to the dual-headed charging brush on the vehicle, and the positive and negative poles are matched. The charging brush consists of an insulating tube and a copper-headed charging brush (51) fixed at the end of the insulating tube. The copper-headed charging brush (51) is equipped with a torsion spring semi-open insulating cover. When the charging brush of the spraying robot (50) presses down on the conductive copper bus (14), the pressure value of the thin film pressure sensor changes to the set threshold, the bottom extension arm of the vehicle retracts, and the solid-state relay turns on the charger to start charging. The solenoid valve is in the pass to control the state of water injection into the water tank with telescopic rod.

7. A control method for implementing the hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism according to any one of claims 1-6, characterized in that, The control method includes: Differential gear C and differential gear D of the four bevel differential gears (391) are connected to the fixed differential box (39) by their own extended shafts; differential gear A of the four bevel differential gears (391) is connected to the end shaft hole of the third upright (33) through the fixed differential box (39) via the shaft, and differential gear B is connected to the end shaft hole of the third connecting rod (38) through the fixed differential box (39) via the shaft; The third upright rod (33) drives the differential gear A to rotate synchronously under the action of the adjacent water cylinder telescopic rod. The conical differential gear (391) drives the two adjacent differential gears C and D to rotate in opposite directions. The two differential gears C and D rotating in opposite directions drive the differential gear B to rotate in the opposite direction relative to the differential gear A. The third connecting rod (38) rotates synchronously with the differential gear A. The third upright rod (33) and the third connecting rod (38) open and close synchronously. When the robot is charging, the control system puts the solenoid valve in the open position, injects water into the water tank with the telescopic rod, and pushes the telescopic rod outward to form a drive unit; the drive unit drives the third upright rod (33) on one bottom side of the parallelogram mechanism to rotate clockwise upward, and the third connecting rod (38) on the other bottom side is driven to rotate in the opposite direction by the four gear set. The two long uprights of the single-corner point gear-constrained inverted quadrilateral mechanism are intersected, and the top edge is a shank crescent toothed gear (41); under the action of the third link (38) at the bottom edge of the parallelogram mechanism, the single-corner point gear-constrained inverted quadrilateral mechanism rotates counterclockwise upward as a whole, and the shank crescent toothed gear (41) rotates counterclockwise; the top gear transmission mechanism linked with the shank crescent toothed gear (41) rotates clockwise; The vertical and horizontal water injection mechanism (30) extends to form an inverted L shape and injects water into the robot's water tank; when the water is injected to a given value, the control system causes the water cylinder of the telescopic rod to drain water outward, and the vertical and horizontal conversion mechanism retracts to form a Z shape. Charging stops, the spraying robot (50) opens its arms, sprays water, and continues to move.

8. A precast component maintenance robot equipped with a hydrodynamically driven vertical-horizontal conversion autonomous water injection mechanism as described in any one of claims 1-6.

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