Transportation device and method for air pipes in hospital

Abstract

The invention discloses a conveying device and method for an air pipe in a hospital. The conveying device comprises a rotary supporting mechanism, a translation mechanism, two driving mechanisms and a plurality of suction cup pieces, the rotary supporting mechanism is arranged in the middle of the whole conveying device and connected with the translation mechanism, the two driving mechanisms are symmetrically installed on the two sides of the translation mechanism at intervals, and the suction cup pieces are installed on the driving mechanisms. The walking motion method of the transportation device comprises a longitudinal walking motion mode, an inclined walking motion mode, a transverse walking motion mode and an in-situ rotation motion mode. The transportation device has an adsorption function and can be adsorbed on the surface of the pipeline, so that slipping is avoided when the transportation device moves on the surface of the pipeline with a large slope.

Description

Technical Field

[0001] The invention relates to the field of air duct operations in hospitals, and in particular to a transportation device and method for air duct pipelines in hospitals. Background Art

[0002] The hospital air duct forms a relatively closed space with the indoor environment through the air outlet and return air outlet. Pathogens can easily form cross-infection with the circulation of the air duct, and the air duct needs to be cleaned regularly. The pipeline environment of the hospital air duct system is complex, with various pipeline environment characteristics such as changes in pipe diameter, ramps, forks, and turns. Traditional manual cleaning methods are costly, labor-intensive, and inefficient, and there is a certain risk of personnel infection. Existing air duct transport devices usually use crawler walking without adsorption function. They are prone to slipping when moving on the surface of air ducts with large slopes. They can only move forward or backward, and cannot move horizontally or diagonally. The width of the transport device cannot be changed, and it is difficult to adapt to air duct environments of different widths. Summary of the invention

[0003] In order to solve the problems existing in the background technology, the present invention provides a transportation device and method for air duct pipelines in a hospital.

[0004] The technical solution adopted by the present invention is:

[0005] 1. A transport device for air ducts in hospitals

[0006] It includes a rotating support mechanism, a translation mechanism, two driving mechanisms and a plurality of suction cups; the rotating support mechanism is arranged in the middle of the entire transport device and is installed and connected with the translation mechanism, the two driving mechanisms are symmetrically installed on both sides of the translation mechanism, and the plurality of suction cups are installed on the driving mechanism.

[0007] The rotating support mechanism includes a servo motor, a rotating block, a rotating shaft, a rolling bearing, a cylinder shaft, a supporting cylinder and a rotating vacuum suction cup; the rotating block is fixed at the middle part of the translation mechanism, a servo motor is installed on one side of the rotating block, the upper end of the rotating shaft is rotatably installed in the rotating block through a rolling bearing, a supporting cylinder is installed at the lower end of the rotating shaft, the cylinder shaft of the supporting cylinder faces downward and is fixedly connected to the rotating vacuum suction cup, and the output shaft of the servo motor is transmission-connected to the upper end of the rotating shaft.

[0008] The translation mechanism includes a body support, two long transverse guide rails and two W-shaped connecting rod guide rail assemblies; the two long transverse guide rails are fixed to the lower surface of the body support along the transverse walking direction of the transport device, and two W-shaped connecting rod guide rail assemblies are arranged between the two long transverse guide rails.

[0009] Each W-shaped connecting rod guide rail assembly includes a short transverse guide rail, a longitudinal guide rail, a guide rail motor and four connecting rods; the four connecting rods are hinged end to end in sequence to form a W-shaped connecting rod member, the two ends of the W-shaped connecting rod member are respectively slidably connected to one end of the two long transverse guide rails via sliders, the middle hinge of the W-shaped connecting rod member is slidably connected to the short transverse guide rails via a motor slider, the short transverse guide rails are arranged parallel to the long transverse guide rails along the transverse walking direction of the transport device, the two hinges of the W-shaped lower part of the W-shaped connecting rod member are both hingedly slidably connected to the longitudinal guide rails via sliders, the longitudinal guide rails are arranged along the longitudinal walking direction of the transport device, the guide rail motor is arranged at one end of the short transverse guide rail away from the longitudinal guide rail, and the output shaft of the guide rail motor is drivingly connected to the motor slider on the short transverse guide rail.

[0010] Each of the driving mechanisms includes a driving plate, a driving motor, a synchronous belt and three synchronous pulleys; the driving plate is an isosceles triangle, and the upper surface of the driving plate is hinged to the two ends of a W-shaped connecting rod member of a W-shaped connecting rod guide assembly in the translation mechanism at two intervals, the upper surface of the driving plate is connected to the bottom surface of the body bracket of the translation mechanism via a movable limiter, and a synchronous pulley is installed at the three corners of the lower surface of the driving plate, and the driving motor is installed on the upper surface of the driving plate. The driving motor is connected to one of the three synchronous pulleys for transmission, and the three synchronous pulleys are connected by a synchronous belt, and the synchronous belt is fixedly connected to the suction cup member, and an annular groove for positioning and installing the suction cup member is provided on the edge of the upper surface of the driving plate.

[0011] The three synchronous pulleys are respectively a driving wheel and two driven wheels, the driving motor of the driving mechanism is transmission-connected with the driving wheel, and the driving wheel is connected with the two driven wheels through the synchronous belt of the driving mechanism.

[0012] Each of the suction cup components includes an adsorption roller, a roller bracket, a cylinder fixing plate, a double-bar cylinder, a suction cup bracket and two adsorption vacuum suction cups; the roller bracket is embedded in the annular groove of the driving plate in the driving mechanism, the roller bracket is equipped with an adsorption roller, the adsorption roller and the groove wall of the annular groove are rollingly connected, the cylinder fixing plate is fixed to the synchronous belt in the driving mechanism, the double-bar cylinder is installed on the cylinder fixing plate, the double-bar cylinder is fixed to the roller bracket at the same time, the output rod of the double-bar cylinder faces downward and is fixedly connected to the suction cup bracket, and an adsorption vacuum suction cup is fixedly connected to both sides of the lower surface of the suction cup bracket.

[0013] 2. A walking motion method for a transport device for air ducts in hospitals

[0014] The walking motion method is performed in four modes: a longitudinal walking motion mode, an oblique walking motion mode, a lateral walking motion mode, and an in-situ rotation motion mode:

[0015] Longitudinal walking motion mode: the supporting cylinder controls the rotating vacuum suction cup to not adsorb the pipe surface, and only controls all the suction cup parts installed on the triangular base side of the driving plate in the two driving mechanisms to adsorb to the pipe surface. The driving motors of the two driving mechanisms drive their corresponding synchronous belts to move clockwise in opposite directions to each other. By controlling the head and tail suction cup parts on the triangular base side of the driving plate to be alternately adsorbed to the pipe surface, the driving plate and the body bracket are driven to move gradually as a whole, thereby realizing the longitudinal walking motion of the transport device.

[0016] Oblique walking motion mode: the supporting cylinder controls the rotating vacuum suction cup not to adsorb the pipe surface, and only controls all the suction cup parts connected to the two parallel waist sides of the triangle of the driving plate in the two driving mechanisms to adsorb to the pipe surface. The driving motors of the two driving mechanisms drive their corresponding synchronous belts to move clockwise in opposite directions. By controlling the head and tail suction cup parts on the waist side of the triangle of the driving plate to be alternately adsorbed to the pipe surface, the driving plate and the body bracket are driven to move gradually as a whole, thereby realizing the oblique walking motion of the transport device.

[0017] Lateral walking motion mode: the supporting cylinder controls the rotating vacuum suction cup not to be adsorbed to the pipe surface, and first only controls all the suction cup parts connected to the first driving plate located on the rear side of the lateral walking motion direction to be adsorbed to the pipe surface, and then controls and drives the second driving plate to move in the lateral walking motion direction, and then only controls all the suction cup parts connected to the second driving plate to be adsorbed to the pipe surface, and then controls and drives the first driving plate to move in the lateral walking motion direction, by controlling the two driving plates and the suction cup parts connected to them to be alternately adsorbed to the pipe surface, thereby driving the two driving plates and the body bracket to move gradually as a whole, thereby realizing the lateral walking motion of the transport device.

[0018] In-situ rotation motion mode: the supporting cylinder controls the rotating vacuum suction cup to adsorb to the pipe surface, and the rotation of the servo motor drives the transport device to rotate in-situ, thereby realizing the in-situ rotation motion of the transport device, controlling the rotating vacuum suction cup to adsorb to the pipe surface, and controlling all the suction cup parts connected to the two driving plates not to adsorb to the pipe surface; controlling the servo motor to drive the rotating block to rotate, and then driving the two translation mechanisms, the driving mechanism and all the suction cup parts to rotate as a whole, thereby realizing the in-situ rotation motion of the transport device.

[0019] The longitudinal walking motion mode includes:

[0020] S1, first control a suction cup member on the triangular bottom side of the driving plate located at the rear side in the forward direction to deflate and not adsorb.

[0021] S2, controlling the synchronous belt to move, a suction cup member is inserted into the triangular bottom side of the driving plate at the front side in the forward direction as a new suction cup member.

[0022] S3, then controlling the new suction cup to perform vacuum adsorption after entering the triangular bottom side of the driving plate.

[0023] S4. Finally, the above-mentioned S1-S3 movements are repeated continuously to drive the driving plate to gradually move along the bottom side of the triangle, thereby realizing the longitudinal walking movement.

[0024] The oblique walking motion mode includes:

[0025] D1. First, control a suction cup on the triangular waist side of the driving plate, which is located at the rearmost side in the forward direction, to deflate and not adsorb.

[0026] D2. Control the movement of the synchronous belt, and the triangular waist side of the driving plate is located at the front side in the forward direction and enters a suction cup part as a new suction cup part.

[0027] D3, then control the new suction cup to perform vacuum adsorption after entering the triangular waist side of the driving plate.

[0028] D4. Finally, the above D1-D3 movements are repeated continuously to drive the driving plate to gradually move along the waist direction of the triangle, thereby realizing the oblique walking movement.

[0029] The lateral walking motion mode includes:

[0030] R1, first control all the suction cups connected to the first driving plate located at the rear side of the lateral walking direction to be adsorbed to the pipe surface.

[0031] R2, controls and drives the second driving plate to move in the lateral walking direction.

[0032] R3, then only controls all suction cups connected to the second driving plate to be adsorbed to the pipe surface.

[0033] R4, then controls and drives the first driving plate to move in the lateral walking direction.

[0034] R5. Finally, the above R1 to R4 movements are repeated continuously to drive the two driving plates to gradually move in the direction of lateral walking, thereby realizing lateral walking movement.

[0035] The beneficial effects of the present invention are:

[0036] The transport device of the present invention has an adsorption function and can be adsorbed on the surface of the pipeline, thereby avoiding slipping when moving on the pipeline surface with a large slope. The transport device of the present invention has a longitudinal walking motion mode, an oblique walking motion mode, a lateral walking motion mode and an in-situ rotation motion mode, and can also increase or decrease the transport operation width of the transport device, so that the transport device can adapt to the air duct environment of different widths. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Attached Figure 1 It is a schematic diagram of the working state of the transport device;

[0038] Attached Figure 2 It is a top view of the transport device;

[0039] Attached Figure 3 It is a three-dimensional structural diagram of the rotating support mechanism;

[0040] Attached Figure 4 It is a three-dimensional structural diagram of the translation mechanism;

[0041] Attached Figure 5 is a three-dimensional structural diagram of the driving mechanism;

[0042] Attached Figure 6 It is a three-dimensional structural diagram of the adsorption mechanism;

[0043] Attached Figure 7 It is a schematic diagram of the motion state of the transport device;

[0044] Attached Figure 8 This is a schematic diagram of the adsorption foot distribution of the transport device;

[0045] Attached Fig. 9 It is a schematic diagram of the posture change of the transport device;

[0046] Attached Fig.10 It is the longitudinal walking motion state diagram of the transport device;

[0047] Attached Fig.11 It is the motion state diagram of the transport device moving obliquely;

[0048] Attached Fig.12 It is the state diagram of the lateral movement of the transport device;

[0049] Attached Fig.13 This is the state diagram of the transport device's in-situ rotation motion.

[0050] In the figure: 1. Rotating support mechanism; 2. Translation mechanism; 3. Two driving mechanisms; 4. Suction cup member; 101. Servo motor; 102. Rotating block; 103. Rotating shaft; 104. Rolling bearing; 105. Cylinder shaft; 106. Support cylinder; 107. Suction cup shaft; 108. Rotating vacuum suction cup; 201. Body bracket; 202. Front transverse long guide rail; 203. Rear transverse long guide rail; 204. Left longitudinal guide rail; 205. Right longitudinal guide rail; 206. Sliding block; 207. Long connecting rod; 208. Short connecting rod; 209. Left transverse short guide rail; 210. Right transverse short guide rail; 211. Left guide rail motor; 212. Right guide rail motor ; 213, left motor slider; 214 right motor slider; 301, left drive plate; 302, right drive plate; 303, slider fixing plate; 304, left drive motor; 305, right drive motor; 306, left driving wheel; 307, right driving wheel; 308, left driven wheel; 309, right driven wheel; 310, left synchronous belt; 311, right synchronous belt; 312, left drag chain; 313, right drag chain; 314, left conductive pneumatic slip ring; 315, right conductive pneumatic slip ring; 401, adsorption roller; 402, roller bracket; 403, cylinder fixing plate; 404, double-bar cylinder; 405, suction cup bracket; 406, adsorption vacuum suction cup. DETAILED DESCRIPTION

[0051] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] like Figure 1 and Figure 2 As shown, a transport device for air ducts in hospitals of the present invention comprises: a rotating support mechanism 1, a translation mechanism 2, two driving mechanisms 3 and a plurality of suction cup members 4; the rotating support mechanism 1 is arranged in the middle of the overall transport device and is installed and connected with the translation mechanism 2, the two driving mechanisms 3 are symmetrically installed on both sides of the translation mechanism 2, and a plurality of suction cup members 4 are installed on the driving mechanism 3.

[0053] like Figure 3 As shown, the rotating support mechanism 1 includes a servo motor 101, a rotating block 102, a rotating shaft 103, a rolling bearing 104, a cylinder shaft 105, a supporting cylinder 106, a suction cup shaft 107 and a rotating vacuum suction cup 108; the rotating block 102 is fixed in the middle of the translation mechanism 2, and the servo motor 101 is installed on one side of the rotating block 102. The upper end of the rotating shaft 103 is rotatably installed in the rotating block 102 through the rolling bearing 104, and the supporting cylinder 106 is fixedly installed at the lower end of the rotating shaft 103. The cylinder shaft 105 of the supporting cylinder 106 faces downward and is fixedly connected to the suction cup shaft 107 of the rotating vacuum suction cup 108, and the output shaft of the servo motor 101 is connected to the upper end of the rotating shaft 103 by a bevel gear transmission.

[0054] The output shaft of the servo motor 101 is arranged horizontally, and is connected to the upper end of the rotating shaft 103 through a bevel gear transmission, so that the servo motor 101 drives the rotating shaft 103 to rotate.

[0055] When the rotating vacuum suction cup 108 sucks onto the inner surface of the air duct, the rotating shaft 103 and the supporting cylinder 106 remain fixed. At this time, the operation of the servo motor 101 drives the servo motor 101 and the rotating block 102 to rotate around the rotating shaft 103 through the bevel gear transmission, thereby driving the body bracket 201 of the translation mechanism 2 fixedly connected to the rotating block 102 to rotate horizontally around the rotating shaft 103.

[0056] like Figure 4 As shown, the translation mechanism 2 includes a body support 201, two transverse long guide rails and two W-shaped connecting rod guide rail assemblies; the two transverse long guide rails are fixed to the lower surface of the body support 201 along the transverse walking direction of the transport device, and two W-shaped connecting rod guide rail assemblies are arranged between the two transverse long guide rails. The two W-shaped connecting rod guide rail assemblies are symmetrically arranged on both sides with the longitudinal walking direction of the transport device as the symmetry axis;

[0057] Each W-shaped connecting rod guide rail assembly includes a short transverse guide rail, a longitudinal guide rail, a guide rail motor and four connecting rods; the four connecting rods are hinged end to end in sequence to form a W-shaped connecting rod member, and the two ends of the W-shaped connecting rod member are respectively slidably connected to one end of the two long transverse guide rails via a slider 206, and the hinge between the two short connecting rods 208 in the middle of the W-shaped connecting rod member is slidably connected to the short transverse guide rail via a motor slider, and the short transverse guide rail is arranged along the transverse walking direction of the transport device parallel to the long transverse guide rail, and the two hinges of the W-shaped lower part of the W-shaped connecting rod member are hingedly slidably connected to the longitudinal guide rail via a slider 206, and the longitudinal guide rail is arranged along the longitudinal walking direction of the transport device, and the transverse short guide rail is perpendicular to the middle of the longitudinal guide rail, and the guide rail motor is arranged at one end of the short transverse guide rail away from the longitudinal guide rail, and the output shaft of the guide rail motor is drivingly connected to the motor slider on the short transverse guide rail.

[0058] In the above structure, the end of the rod is slidably connected to the guide rail via a slider. Specifically, the end of the rod is hinged to the slider first, and the slider is slidably installed on the guide rail to form a connection.

[0059] The two long transverse guide rails are respectively the front long transverse guide rail 202 and the rear long transverse guide rail 203; the two short transverse guide rails are respectively the left short transverse guide rail 209 and the right short transverse guide rail 210; the two longitudinal guide rails are respectively the left longitudinal guide rail 204 and the right longitudinal guide rail 205; the two guide rail motors are respectively the left guide rail motor 211 and the right guide rail motor 212, the motor slider connected to the left guide rail motor 211 is the left motor slider 213, and the motor slider connected to the right guide rail motor 212 is the right motor slider 214; the four connecting rods of the W-shaped connecting rod member are respectively the long connecting rod 207, the short connecting rod 208, the short connecting rod 208 and the long connecting rod 207.

[0060] like Figure 4 The front transverse long guide rail 202 and the rear transverse long guide rail 203 are respectively located on the front and rear sides of the forward direction of the transport device, the left transverse short guide rail 209 and the right transverse short guide rail 210 are respectively located on the left and right sides of the forward direction of the transport device, and the left longitudinal guide rail 204 and the right longitudinal guide rail 205 are also respectively located on the left and right sides of the forward direction of the transport device.

[0061] When the guide rail motor moves, the guide rail motor drives the slider 206 connected to the transverse short guide rail to move, and this sliding thereby drives the entire W-shaped connecting rod member to slide.

[0062] like Figure 5 As shown, each driving mechanism 3 includes a driving plate, a driving motor, a synchronous belt and three synchronous pulleys; the driving plate is an isosceles triangle, and the upper surface of the driving plate is hinged at two intervals through two slider fixing plates 303 and the two ends of a W-shaped connecting rod member of a W-shaped connecting rod guide assembly in the translation mechanism 2, and the upper surface of the driving plate is connected to the bottom surface of the body bracket 201 of the translation mechanism 2 through a movable limit member, and a synchronous pulley is installed at the three corners of the lower surface of the driving plate, and a driving motor is installed on the upper surface of the driving plate, and the driving motor is connected to one of the three synchronous pulleys for transmission, and the three synchronous pulleys are connected by a synchronous belt, and the synchronous belt is fixedly connected to the suction cup member 4, and an annular groove for positioning and installing the suction cup member 4 is provided on the edge of the upper surface of the driving plate.

[0063] The three synchronous pulleys are a driving wheel and two driven wheels respectively. The driving motor of the driving mechanism 3 is connected to the driving wheel through transmission, and the driving wheel is connected to the two driven wheels through the synchronous belt of the driving mechanism 3.

[0064] When the driving motor moves, the driving motor drives the driving wheel to move, and the driving wheel drives the two driven wheels to move together through the synchronous belt, and the movement of the synchronous belt drives the suction cup member 4 to rotate together.

[0065] The two driving mechanisms 3 are respectively located on the left and right sides of the forward direction of the transport device, the two driving plates are respectively the left driving plate 301 and the right driving plate 302, the two driving motors are respectively the left driving motor 304 and the right driving motor 305, the two synchronous belts are respectively the left synchronous belt 310 and the right synchronous belt 311, the three synchronous belt pulleys on the left driving mechanism 3 are respectively the left driving wheel 306 and the two left driven wheels 308, the three synchronous belt pulleys on the right driving mechanism 3 are respectively the right driving wheel 307 and the two right driven wheels 309, the left driving mechanism 3 The movable limiting member is a left drag chain 312, which is used to organize the wires leading to the left guide motor 211 and limit the moving position. The movable limiting member on the right driving mechanism 3 is a right drag chain 313, which is used to organize the wires leading to the right guide motor 212 and limit the moving position. The left driving mechanism 3 also has a left conductive pneumatic slip ring 314, which is used to organize the remaining wires on the left driving plate 301. The right driving mechanism 3 also has a right conductive pneumatic slip ring 315, which is used to organize the remaining wires on the right driving plate 302.

[0066] like Figure 7 , Figure 8 and Fig. 9 As shown, the left driving plate 301 is located on the left side of the forward direction of the transport device, and the right driving plate 302 is located on the right side of the forward direction of the transport device, the bottom side of the triangle of the left driving plate 301 is the left A section 11, the waist side of the triangle of the left bracket 301 connected to the front end of the left A section 11 along the forward direction is the left B section 12, and the other waist side of the triangle of the left driving plate 301 is the left C section 13, the bottom side of the triangle of the right driving plate 302 is the right A section 21, the waist side of the triangle of the right driving plate 302 connected to the front end of the right A section 21 along the forward direction is the right B section 22, and the other waist side of the triangle of the right driving plate 302 is the right C section 23.

[0067] like Figure 6 As shown, each suction cup component 4 includes an adsorption roller 401, a roller bracket 402, a cylinder fixing plate 403, a double-bar cylinder 404, a suction cup bracket 405 and two adsorption vacuum suction cups 406; the roller bracket 402 is embedded in the annular groove of the driving plate in the driving mechanism 3, and the adsorption roller 401 is installed on the roller bracket 402, and the adsorption roller 401 and the groove wall of the annular groove are rollingly connected, the cylinder fixing plate 403 is fixed on the synchronous belt in the driving mechanism 3, and the double-bar cylinder 404 is installed on the cylinder fixing plate 403, and the double-bar cylinder 404 is fixed to the roller bracket 402 at the same time, and the output rod of the double-bar cylinder 404 faces downward and is fixedly connected to the suction cup bracket 405, and an adsorption vacuum suction cup 406 is fixedly connected to both sides of the lower surface of the suction cup bracket 405.

[0068] like Figure 7 , Figure 8 and Fig. 9 As shown, a walking motion method of a transport device for an air duct in a hospital according to the present invention is performed in four modes: a longitudinal walking motion mode, an oblique walking motion mode, a lateral walking motion mode, and an in-situ rotation motion mode:

[0069] like Fig.10 As shown, the longitudinal walking motion mode: the supporting cylinder 106 controls the rotating vacuum suction cup 108 not to adsorb the pipe surface, and only controls all the suction cup members 4 installed on the triangular bottom side of the driving plate in the two driving mechanisms 3 to adsorb to the pipe surface, and the driving motors of the two driving mechanisms 3 drive their respective corresponding synchronous belts to move clockwise in opposite directions to each other, and the suction cup members 4 at the head and tail on the triangular bottom side of the driving plate are controlled to be alternately adsorbed to the pipe surface, thereby driving the driving plate and the body bracket 201 to move forward step by step as a whole, thereby realizing the longitudinal walking motion of the transport device.

[0070] The vertical walking motion modes include:

[0071] S1, first control a suction cup member 4 on the triangular bottom side of the driving plate and located at the rearmost side in the forward direction to deflate and not adsorb.

[0072] S2. Control the synchronous belt to move, and a suction cup member 4 is inserted into the triangular bottom side of the driving plate at the front side in the forward direction as a new suction cup member.

[0073] S3, then control the new suction cup to perform vacuum adsorption after entering the triangular bottom side of the driving plate.

[0074] S4. Finally, the above-mentioned S1-S3 movements are repeated continuously to drive the driving plate to gradually move along the bottom side of the triangle, thereby realizing the longitudinal walking movement.

[0075] like Fig.11 As shown, the oblique walking motion mode: the supporting cylinder 106 controls the rotating vacuum suction cup 108 not to adsorb the pipe surface, and only controls all the suction cup members 4 connected to the two parallel waist sides of the triangle of the driving plates in the two driving mechanisms 3 to adsorb to the pipe surface, and the driving motors of the two driving mechanisms 3 drive their respective corresponding synchronous belts to move clockwise in opposite directions to each other, and control the suction cup members 4 at the head and tail on the waist sides of the triangle of the driving plate to be alternately adsorbed to the pipe surface, thereby driving the driving plate and the body bracket 201 to move forward step by step as a whole, thereby realizing the oblique walking motion of the transport device.

[0076] The oblique walking motion pattern includes:

[0077] D1. First, control a suction cup member 4 on the triangular waist side of the driving plate and located at the rearmost side in the forward direction to deflate and not adsorb.

[0078] D2. Control the synchronous belt to move, and the triangular waist side of the driving plate is located at the front side in the forward direction and enters a suction cup member 4 as a new suction cup member.

[0079] D3, then control the new suction cup to perform vacuum adsorption after entering the triangular waist side of the driving plate.

[0080] D4. Finally, the above D1-D3 movements are repeated continuously to drive the driving plate to gradually move along the waist direction of the triangle, thereby realizing the oblique walking movement.

[0081] like Fig.12 As shown, the lateral walking motion mode: the supporting cylinder 106 controls the rotating vacuum suction cup 108 not to be adsorbed to the pipe surface, and firstly controls all suction cup members 4 connected to the first driving plate located at the rear side of the lateral walking motion direction to be adsorbed to the pipe surface, controls the second driving plate to move in the lateral walking motion direction, and then controls all suction cup members 4 connected to the second driving plate to be adsorbed to the pipe surface, and then controls the first driving plate to move in the lateral walking motion direction, and controls the two driving plates and the suction cup members 4 connected thereto to be alternately adsorbed to the pipe surface, thereby driving the two driving plates and the body bracket 201 to move step by step as a whole, thereby realizing the lateral walking motion of the transport device;

[0082] Lateral walking motion patterns include:

[0083] R1. First, only control all suction cups 4 connected to the first driving plate at the rear side of the lateral walking direction to be adsorbed to the surface of the pipeline.

[0084] When executing step R5, this step is specifically as follows: first control all suction cup parts 4 connected to the triangle of the rear driving plate in the required lateral walking movement direction to be adsorbed to the pipe surface, and then control all suction cup parts 4 connected to the triangle of the front driving plate in the required lateral walking movement direction not to be adsorbed to the pipe surface.

[0085] R2, controls and drives the second driving plate to move in the lateral walking direction.

[0086] R3, then only controls all suction cups 4 connected to the second driving plate to be adsorbed to the surface of the pipe.

[0087] This step specifically involves first controlling all suction cup members 4 connected to the triangle of the front driving plate in the desired lateral walking direction to be adsorbed to the pipe surface, and then controlling all suction cup members 4 connected to the triangle of the rear driving plate in the desired lateral walking direction not to be adsorbed to the pipe surface.

[0088] R4, then controls and drives the first driving plate to move in the lateral walking direction.

[0089] R5. Finally, the above R1 to R4 movements are repeated continuously to drive the two driving plates to gradually move in the direction of lateral walking, thereby realizing lateral walking movement.

[0090] like Fig.13 As shown, the in-situ rotation mode: the supporting cylinder 106 controls the rotating vacuum suction cup 108 to be adsorbed to the pipe surface, and the servo motor 101 is rotated to drive the transport device to rotate in-situ, thereby realizing the in-situ rotation of the transport device. The rotating vacuum suction cup 108 is controlled to be adsorbed to the pipe surface, and all the suction cup parts 4 connected to the two driving plates are controlled not to adsorb to the pipe surface; the servo motor 101 is controlled to drive the rotating block 102 to rotate, and then the two translation mechanisms 2, the driving mechanism 3 and all the suction cup parts 4 are rotated as a whole, thereby realizing the in-situ rotation of the transport device.

[0091] The method for increasing the width of the transport operation is specifically as follows: the supporting cylinder 106 controls the rotating vacuum suction cup 108 to be adsorbed on the surface of the pipe, and only controls all the suction cup parts 4 connected to the bottom side of the triangle of the rear side driving plate in the direction of the required increase in the width of the transport operation to be adsorbed on the surface of the pipe, and controls the guide rail motor corresponding to the driving plate on the front side in the direction of the required increase in the width of the transport operation to drive the connected motor slider to move in the opposite direction of the direction of increasing the width of the transport operation, so that the two ends of the corresponding W-shaped connecting rod parts move in the direction of increasing the width of the transport operation, and then drives the driving mechanism 3 on the front side in the direction of increasing the width of the transport operation to move as a whole in the direction of increasing the width of the transport operation.

[0092] The transport device of the present invention has an adsorption function and can be adsorbed on the surface of the pipe, thereby avoiding slipping when moving on the surface of the air duct with a large slope; the driving mechanism can make the transport device move forward or backward, and also has the function of oblique movement; the translation mechanism can make the transport device translate to the left or right, and can also increase or decrease the transport operation width of the transport device, so that the transport device can adapt to air duct environments of different widths.

Claims

1. A transport device for air ducts in hospitals, characterized in that: The invention comprises a rotating support mechanism (1), a translation mechanism (2), two driving mechanisms (3) and a plurality of suction cup members (4); the rotating support mechanism (1) is arranged in the middle of the entire transport device and is connected to the translation mechanism (2); the two driving mechanisms (3) are symmetrically installed on both sides of the translation mechanism (2); and the plurality of suction cup members (4) are installed on the driving mechanisms (3).

2. A transport device for air ducts in hospitals according to claim 1, characterized in that: The rotary support mechanism (1) comprises a servo motor (101), a rotary block (102), a rotary shaft (103), a rolling bearing (104), a cylinder shaft (105), a supporting cylinder (106) and a rotary vacuum suction cup (108); the rotary block (102) is fixed at the middle of the translation mechanism (2); a servo motor (101) is mounted on one side of the rotary block (102); the upper end of the rotary shaft (103) is rotatably mounted in the rotary block (102) via a rolling bearing (104); a supporting cylinder (106) is mounted on the lower end of the rotary shaft (103); the cylinder shaft (105) of the supporting cylinder (106) faces downward and is fixedly connected to the rotary vacuum suction cup (108); and the output shaft of the servo motor (101) is transmission-connected to the upper end of the rotary shaft (103).

3. The device for transporting air ducts in hospitals according to claim 1, characterized in that: The translation mechanism (2) comprises a machine body support (201), two transverse long guide rails and two W-shaped connecting rod guide rail assemblies; the two transverse long guide rails are fixed to the lower surface of the machine body support (201) along the transverse walking direction of the transport device, and two W-shaped connecting rod guide rail assemblies are arranged between the two transverse long guide rails; Each W-shaped connecting rod guide rail assembly comprises a short transverse guide rail, a longitudinal guide rail, a guide rail motor and four connecting rods; the four connecting rods are hinged end to end in sequence to form a W-shaped connecting rod member, the two ends of the W-shaped connecting rod member are respectively slidably connected to one end of the two long transverse guide rails via a slider (206), the middlemost hinge of the W-shaped connecting rod member is slidably connected to the short transverse guide rail via a motor slider, the short transverse guide rail is arranged parallel to the long transverse guide rail along the transverse walking direction of the transport device, the two hinges of the W-shaped lower part of the W-shaped connecting rod member are both hingedly slidably connected to the longitudinal guide rail via a slider (206), the longitudinal guide rail is arranged along the longitudinal walking direction of the transport device, the guide rail motor is arranged at one end of the short transverse guide rail away from the longitudinal guide rail, and the output shaft of the guide rail motor is drivingly connected to the motor slider on the short transverse guide rail.

4. A transport device for air ducts in hospitals according to claim 3, characterized in that: Each of the driving mechanisms (3) comprises a driving plate, a driving motor, a synchronous belt and three synchronous pulleys; the driving plate is in the shape of an isosceles triangle, and two intervals on the upper surface of the driving plate are respectively hinged to the two ends of a W-shaped connecting rod member of a W-shaped connecting rod guide assembly in the translation mechanism (2), the upper surface of the driving plate is connected to the bottom surface of the body bracket (201) of the translation mechanism (2) via a movable limiter, and a synchronous pulley is installed at each of the three corners of the lower surface of the driving plate, and a driving motor is installed on the upper surface of the driving plate, and the driving motor is connected to one of the three synchronous pulleys in transmission, and the three synchronous pulleys are connected by a synchronous belt, and the synchronous belt is fixedly connected to the suction cup member (4), and an annular groove for positioning and installing the suction cup member (4) is provided on the edge of the upper surface of the driving plate.

5. A transport device for air ducts in hospitals according to claim 4, characterized in that: The three synchronous belt wheels are respectively a driving wheel and two driven wheels, the driving motor of the driving mechanism (3) is transmission-connected to the driving wheel, and the driving wheel is connected to the two driven wheels via a synchronous belt of the driving mechanism (3).

6. A transport device for air ducts in hospitals according to claim 4, characterized in that: Each suction cup component (4) comprises a suction roller (401), a roller bracket (402), a cylinder fixing plate (403), a double-bar cylinder (404), a suction cup bracket (405) and two suction vacuum suction cups (406); the roller bracket (402) is embedded in the annular groove of the driving plate in the driving mechanism (3); the roller bracket (402) is provided with a suction roller (401); the suction roller (401) and the groove wall of the annular groove are rollingly connected; the cylinder fixing plate (403) is fixed on the synchronous belt in the driving mechanism (3); the double-bar cylinder (404) is provided on the cylinder fixing plate (403); the double-bar cylinder (404) is fixed to the roller bracket (402) at the same time; the output rod of the double-bar cylinder (404) faces downward and is fixedly connected to the suction cup bracket (405); and an suction vacuum suction cup (406) is fixedly connected to both sides of the lower surface of the suction cup bracket (405).

7. A walking motion method for a transport device for air ducts in a hospital as described in any one of claims 1 to 6, characterized in that: The walking motion method is performed in four modes: a longitudinal walking motion mode, an oblique walking motion mode, a lateral walking motion mode, and an in-situ rotation motion mode: Longitudinal walking motion mode: The supporting cylinder (106) controls the rotating vacuum suction cup (108) not to adsorb the pipe surface, and only controls all suction cup members (4) installed on the triangular bottom side of the driving plate in the two driving mechanisms (3) to adsorb to the pipe surface. The driving motors of the two driving mechanisms (3) drive their corresponding synchronous belts to move clockwise in opposite directions. By controlling the first and last suction cup members (4) on the triangular bottom side of the driving plate to adsorb to the pipe surface alternately, the driving plate and the body bracket (201) are driven to move gradually as a whole, thereby realizing the longitudinal walking movement of the transport device. Oblique walking motion mode: The supporting cylinder (106) controls the rotating vacuum suction cup (108) not to adsorb the pipe surface, and only controls all suction cup members (4) connected to the two parallel waist sides of the driving plates in the triangle of the two driving mechanisms (3) to adsorb to the pipe surface. The driving motors of the two driving mechanisms (3) drive their corresponding synchronous belts to move in opposite clockwise directions. By controlling the suction cup members (4) at the head and tail of the waist sides of the driving plates to adsorb to the pipe surface alternately, the driving plates and the body bracket (201) are driven to move step by step as a whole, thereby realizing the oblique walking movement of the transport device. Lateral walking motion mode: The supporting cylinder (106) controls the rotating vacuum suction cup (108) not to be adsorbed onto the pipe surface, and firstly controls all suction cup members (4) connected to the first driving plate located at the rear side of the lateral walking direction to be adsorbed onto the pipe surface, and controls the second driving plate to move in the lateral walking direction, and then controls all suction cup members (4) connected to the second driving plate to be adsorbed onto the pipe surface, and then controls the first driving plate to move in the lateral walking direction, and controls the two driving plates and the suction cup members (4) connected thereto to be alternately adsorbed onto the pipe surface, thereby driving the two driving plates and the body support (201) to move gradually as a whole, thereby realizing the lateral walking movement of the transport device; Rotation in place mode: The supporting cylinder (106) controls the rotating vacuum suction cup (108) to be adsorbed onto the surface of the pipe, and the rotation of the servo motor (101) drives the transport device to rotate in situ, thereby realizing the in situ rotation movement of the transport device, controlling the rotating vacuum suction cup (108) to be adsorbed onto the surface of the pipe, and controlling all suction cup components (4) connected to the two driving plates not to be adsorbed onto the surface of the pipe; controlling the servo motor (101) to drive the rotating block (102) to rotate, thereby driving the two translation mechanisms (2), the driving mechanism (3) and all suction cup components (4) to rotate as a whole, thereby realizing the in situ rotation movement of the transport device.

8. A walking motion method for a transport device for air ducts in a hospital according to claim 7, characterized in that: The longitudinal walking motion mode includes: S1, first control a suction cup member (4) on the triangular bottom side of the driving plate and located at the rearmost side in the forward direction to deflate and not adsorb; S2, controlling the synchronous belt to move, so that a suction cup member (4) located at the front side of the triangular bottom side of the driving plate in the forward direction enters as a new suction cup member; S3, then controlling the new suction cup to perform vacuum adsorption after entering the triangular bottom side of the driving plate; S4. Finally, the above-mentioned S1-S3 movements are repeated continuously to drive the driving plate to gradually move along the bottom side of the triangle, thereby realizing the longitudinal walking movement.

9. A walking motion method for a transport device for air ducts in a hospital according to claim 7, characterized in that: The oblique walking motion mode includes: D1, first control a suction cup member (4) on the triangular waist side of the driving plate and located at the rearmost side in the forward direction to deflate and not adsorb; D2, controlling the synchronous belt to move, the triangular waist side of the driving plate is located at the front side in the forward direction and enters a suction cup member (4) as a new suction cup member; D3, then controlling the new suction cup to perform vacuum adsorption after entering the triangular waist side of the driving plate; D4. Finally, the above D1-D3 movements are repeated continuously to drive the driving plate to gradually move along the waist direction of the triangle, thereby realizing the oblique walking movement.

10. A walking motion method for a transport device for air ducts in a hospital according to claim 7, characterized in that: The lateral walking motion mode includes: R1, firstly, only control all the suction cups (4) connected to the first driving plate located at the rear side of the lateral walking direction to be adsorbed onto the surface of the pipeline; R2, controls and drives the second driving plate to move in the lateral walking direction; R3, then only controls all suction cups (4) connected to the second driving plate to be adsorbed onto the surface of the pipe; R4, then controls and drives the first driving plate to move in the lateral walking direction; R5. Finally, the above R1 to R4 movements are repeated continuously to drive the two driving plates to gradually move in the direction of lateral walking, thereby realizing lateral walking movement.

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