Informationized intelligent auxiliary robot device and method

Abstract

The invention relates to the technical field of engineering auxiliary robots, and provides an informationized intelligent auxiliary robot device and method.The informationized intelligent auxiliary robot device comprises a crawler, a water storage chamber is formed in the top of the crawler, two cleaning mechanisms are symmetrically arranged on the upper side of the crawler, and the distance between the two cleaning mechanisms can be adjusted through an adjusting mechanism; a proper amount of solution is stored in the water storage chamber, and the solution can be water, disinfectant or descaling agent and the like and can be prepared according to actual requirements. Wherein the cleaning mechanism comprises a rotary cleaning part, a reciprocating scraping part and a transmission part connected between the rotary cleaning part and the reciprocating scraping part, and a water pump is installed in the water storage chamber and used for conveying a solution into the rotary cleaning part to enable the rotary cleaning part to rotate; therefore, the reciprocating scraping part can be driven through the transmission part, scraping, friction and showering of the side wall of the ditch are achieved at the same time, and high use value is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering assistance robots, and in particular to an information-based intelligent assistance robot device and method. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The robot can perform tasks such as operation or movement by transmitting signals through programming and computer control. In current production and life, robots are often used to assist or replace manual work. For example, an information-based intelligent auxiliary robot device and method disclosed in an existing patent (Announcement No.: CN115943877A) can be well applied to large-scale clothing crop planting areas. The robot can quickly detect the soil in the area and carry out targeted irrigation according to the soil moisture content at the location to meet the actual growth needs of clothing crops.

[0003] Water supply and drainage ditches are involved in water conservancy and hydropower projects, municipal projects, garden projects, urban traffic road construction projects and other projects. The function of water supply and drainage ditches is mainly to discharge water in rainy weather and daily life and industrial water, as well as long-distance transportation of various water. However, due to the presence of minerals in domestic water, agricultural water and industrial water, a large area of ​​scale is accumulated on the inner walls of the water supply and drainage ditches after a long period of time. In addition, due to the action of certain aquatic organisms or algae in the water, moss and other attached aquatic organisms are easily formed on the inner walls of the water supply and drainage ditches. The formation of scale and attached aquatic organisms can easily narrow the overall width of the water supply and drainage ditches, which can easily cause blockage of the water supply and drainage ditches.

[0004] Therefore, after searching, the existing patent (Announcement No.: CN106065640B) discloses a robot for scraping the wall of a water ditches in a water conservancy project, which includes a belly belt walking device, a wheeled walking device, an electric turntable, a Stewart parallel mechanism and a scraping device. The wheeled walking device is symmetrically arranged on the left and right sides of the crawler walking device, the electric turntable is located at the center of the upper end of the crawler walking device, the Stewart parallel mechanism is located between the electric turntable and the scraping device, and the lower end of the Stewart parallel mechanism is connected to the electric turntable and the upper end of the Stewart parallel mechanism is connected to the scraping device. This invention integrates multiple functions such as walking, azimuth adjustment, ditch wall scraping and ditch wall rotary sweeping, and can perform mobile scraping and cleaning operations on the walls of water ditches in water conservancy projects, and has a fast scraping and cleaning speed, flexible position adjustment, high intelligence, and high scraping and cleaning efficiency.

[0005] However, there are still some shortcomings in the above scheme:

[0006] 1. In water conservancy, municipal water supply and drainage projects, a large amount of dirt will accumulate on the walls of the water supply and drainage ditches, and a large amount of dirt will often accumulate at the bottom of the ditch due to blockage. This makes it difficult for the existing water conservancy project water supply ditch wall scraping robot to walk normally inside the ditch, which has an adverse effect on the cleaning work of the water supply ditch wall and has poor applicability;

[0007] 2. In the above scheme, the scraping device and the rotary sweeping device need to be equipped with a separate power device for driving, which has a high cost;

[0008] 3. Stubborn dirt accumulated on the walls of drainage ditches is difficult to be removed by scraping and rotary cleaning alone, and often requires water washing and chemical washing. Moreover, in the above scheme, not only will the scraper be damaged due to excessively high scraping temperature for a long time, but the dirt scraped off will also easily accumulate in the scraping claws, thereby reducing the cleaning ability of the claws. Summary of the invention

[0009] The present invention proposes an information-based intelligent auxiliary robot device and method, which solves the problems in the related art that the traditional auxiliary robots have low cleaning degree for the walls of water conveyance ditches, poor applicability and high cost.

[0010] The technical solution of the present invention is as follows: an information-based intelligent auxiliary robot device, comprising: a crawler vehicle, a water storage chamber is provided on the top of the crawler vehicle for containing a solution used for ditch cleaning;

[0011] Two cleaning mechanisms are symmetrically arranged on the upper side of the crawler vehicle for cleaning the side walls of the ditch;

[0012] An adjustment mechanism is provided on the upper side of the crawler vehicle, and a camera is provided in front of the adjustment mechanism for scanning the road conditions along the forward route of the crawler vehicle, and the relative distance between the two cleaning mechanisms is adjusted through the adjustment mechanism;

[0013] A plurality of support columns are fixedly connected to the bottom of the water storage chamber, and a Stewart parallel mechanism is installed on the top of each support column to support the regulating mechanism;

[0014] The front end of the crawler vehicle is provided with an opening mechanism for pushing away dirt accumulated on the forward path of the crawler vehicle;

[0015] The cleaning mechanism includes a rotating cleaning component, a reciprocating scraping component and a transmission component connected between the rotating cleaning component and the reciprocating scraping component. A water pump is installed inside the water storage chamber to transport solution to the rotating cleaning component, so that the rotating cleaning component can rotate, thereby driving the reciprocating scraping component through the transmission component.

[0016] Preferably, the cleaning mechanism further comprises a panel, a rotating cylinder is rotatably sleeved inside the panel, a right-angle frame is fixedly connected to the outer wall of the panel on one side of the rotating cylinder, a fixed tube is fixedly sleeved inside the right-angle frame, and the fixed tube is rotatably connected to the rotating cylinder.

[0017] Preferably, the rotating cleaning component includes a rotating hollow disk fixedly connected to the rotating cylinder, bristles are evenly distributed on the outer wall of the rotating hollow disk away from the panel, and a plurality of groups of inclined liquid spray pipes are arranged from the inside to the outside on the outer wall of the rotating hollow disk located on the inner side of the bristles, and the plurality of groups of inclined liquid spray pipes are distributed on the outer wall of the rotating hollow disk in a circular array, and the inclined liquid spray pipes are connected to the interior of the rotating hollow disk.

[0018] Preferably, the reciprocating scraping component includes a swing plate, at least two groups of wheel grooves are opened on the outer wall of the swing plate close to the panel, a plurality of rotating wheels are clamped inside each of the wheel grooves, a transverse axis is connected between the rotating wheel and the panel, one end of the transverse axis is fixed to the panel, and the other end of the transverse axis is rotatably connected to the rotating wheel, a plurality of Y-shaped scrapers are equidistantly distributed on the outer wall of the swing plate away from the panel, the Y-shaped scrapers slide and extend into a buffer cavity opened inside the panel, and a plurality of connecting springs are connected between the buffer cavity and the Y-shaped scraper.

[0019] Preferably, a plurality of wedge-shaped guide blocks are provided on the upper outer wall of the panel, the number of the wedge-shaped guide blocks is the same as that of the Y-shaped scraper and they correspond one to one, the wedge-shaped guide blocks are fixed to the panel via a fixing block, and a shifting component is provided between the wedge-shaped guide blocks and the Y-shaped scraper;

[0020] The dislocation component comprises two dislocation plates arranged in parallel, the dislocation plates are slidably clamped inside the swing plate, and the two dislocation plates are slidably fitted with the side walls of the Y-shaped scraper, a second round block is arranged above the dislocation plate, the second round block is fixedly connected to the top of the swing plate, a first round block is arranged above the second round block, a Y-shaped wheel axle is fixedly sleeved inside the first round block, the Y-shaped wheel axle slides through the inside of the second round block, and the bottom ends of the Y-shaped wheel axle are respectively fixedly connected to the two dislocation plates, the top end of the Y-shaped wheel axle is rotatably connected to a guide wheel matched with the wedge-shaped guide block, and a return spring is connected between the first round block and the second round block;

[0021] The transmission component includes a first gear fixedly mounted on the outer wall of the rotating cylinder, a second gear meshingly connected to one side of the first gear, the second gear is rotatably connected to the panel, a transmission column is eccentrically fixed to the outer wall of the second gear, and a push-pull rod is hingedly connected between the transmission column and the swing plate.

[0022] Preferably, a water inlet pipe is provided on one side of the outer wall of the water pump, a three-way drainage pipe is provided on the top of the water pump, and two ends of the three-way drainage pipe away from the water pump are connected to the fixed pipe through infusion pipes respectively.

[0023] Preferably, the adjustment mechanism includes a rectangular frame, two cross beams are symmetrically fixed to the top of the rectangular frame, two guide beams are fixed to the top of the rectangular frame located between the two cross beams, two track rods are symmetrically fixed to the top of each guide beam, a track frame is slidably sleeved on the outside of each track rod, the track frame is connected to the panel, electric telescopic rods are installed on the top of the two cross beams, and a placement plate is commonly fixed between the two guide beams.

[0024] Preferably, a linkage assembly is provided on the upper side of the placement plate, and the linkage assembly includes a rotating plate rotatably connected to the top of the placement plate, both ends of the rotating plate are hinged with a connecting shaft, and the other ends of the two connecting shafts are hinged with push-pull plates, the push-pull plates are connected to the electric telescopic rod, and the push-pull plates are fixedly connected to the track frame at the bottom.

[0025] Preferably, the opening mechanism includes two mounting frames which are detachably fixed to the outer wall of the tracked vehicle by bolts, a large transmission frame is commonly fixed between the two mounting frames, two swing arms are symmetrically hinged on the inner side of the large transmission frame, side plates are fixed to the outer walls of the two swing arms, connecting rods are hinged on the inner sides of the two swing arms, a small transmission frame is commonly hinged between the two connecting rods, an electric hydraulic press is fixedly installed inside the large transmission frame, and the end of the hydraulic rod on the electric hydraulic press is fixedly connected to the small transmission frame.

[0026] A method for an information-based intelligent auxiliary robot device comprises the following steps:

[0027] The first step is to adjust the relative distance between the two cleaning mechanisms by adjusting the adjustment mechanism according to the distance between the two side walls of the ditch when the crawler vehicle is in the drainage ditch. Specifically, two electric telescopic rods are started to push and pull one of the push-pull plates. At this time, with the cooperation of the connecting shaft and the rotating plate, the two push-pull plates can move in opposite directions, so that the distance between the two cleaning mechanisms can be adjusted.

[0028] The second step is to store a proper amount of solution in the water storage chamber after the distance between the two cleaning mechanisms is adjusted. Then, the water pump is started to suck the solution through the water inlet pipe and discharge it into the two infusion pipes through the three-way drainage pipe. The solution is transported to the inside of the rotating cylinder through the fixed pipe, and then transported to the inside of the rotating hollow disk through the rotating cylinder. The solution inside the rotating hollow disk is discharged through the inclined liquid spraying pipe. Under the action of centrifugal force, the rotating hollow disk drives the rotating cylinder to rotate, so that the inclined liquid spraying pipe can rub and clean the side walls of the ditch through the bristles distributed on the outer wall of the rotating hollow disk while spraying to the side walls of the ditch;

[0029] Step 3: During the rotation of the rotating drum, the first gear is driven to rotate, the first gear drives the second gear to rotate, the second gear drives the transmission column to revolve, the revolving transmission column pushes and pulls the swing plate back and forth through the push-pull rod, so that the wheel groove slides back and forth on the rotating wheel, thereby driving the Y-shaped scraper to slide back and forth, and the Y-shaped scraper is used to scrape and clean the side wall of the ditch;

[0030] Step 4. When the swing plate drives the Y-shaped scraper to move back and forth, the second round block drives the Y-shaped wheel shaft to move back and forth, and the Y-shaped wheel shaft drives the guide wheel to move back and forth. While the guide wheel moves back and forth, it will be squeezed with the wedge-shaped guide block, so that the guide wheel can move back and forth while also being able to move up and down under the action of the first round block and the reset spring, thereby driving the displacing plate to move up and down and shake back and forth, shaking and discharging the dirt scraped under the Y-shaped scraper and accumulated on one side of the Y-shaped scraper, so as to avoid a large amount of dirt accumulating on one side of the Y-shaped scraper;

[0031] Step 5. During the movement of the crawler vehicle, the inside of the ditch can be scanned by a camera. When a large amount of dirt is found accumulated inside the ditch, in order to avoid affecting the normal movement of the crawler vehicle, the two side plates combined into a V shape are extended into the dirt. Then, the electric hydraulic valve is started to push the small transmission frame forward, so that the two connecting rods open the two swing arms, separate the two side plates, and guide the dirt to the sides of the crawler vehicle.

[0032] The working principle and beneficial effects of the present invention are:

[0033] 1. In the present invention, during the movement of the crawler vehicle, the camera can be started by an external control device to scan the inside of the ditch. When a large amount of dirt is found to be accumulated inside the ditch, in order to avoid affecting the normal movement of the crawler vehicle, the two side plates combined into a V-shape are extended into the dirt. After that, the external control device starts the electric hydraulic device, and the electric hydraulic device pushes the small transmission frame forward, so that the two connecting rods open the two swing arms, so that the two side plates are separated, and the dirt is pushed and guided to the two sides of the crawler vehicle, so as to avoid the crawler vehicle and the accumulated dirt from directly colliding with each other and affecting the normal movement of the crawler vehicle. The present invention has good applicability.

[0034] 2. In the present invention, after the distance between the two cleaning mechanisms is adjusted by the adjusting mechanism, a proper amount of solution is stored in the water storage chamber. The solution can be water, disinfectant or descaling agent, etc., and can be prepared according to actual needs. After that, the water pump is started, and the water pump sucks the solution through the water inlet pipe, and discharges it into the two infusion pipes through the three-way drainage pipe. The solution is transported to the inside of the rotating cylinder through the fixed pipe, and then transported to the inside of the rotating hollow disk through the rotating cylinder. The solution inside the rotating hollow disk is discharged through the inclined liquid spray pipe. Under the action of centrifugal force, the rotating hollow disk drives the rotating cylinder to rotate, so that the inclined liquid spray pipe can rub and clean the side walls of the ditch through the bristles distributed on the outer wall of the rotating hollow disk while spraying on the side walls of the ditch, thereby greatly improving the cleaning power;

[0035] 3. In the present invention, while the bristles distributed on the outer wall of the rotating hollow disk perform friction cleaning and flushing on the ditch side wall, there is no need to equip additional driving equipment. The rotating cylinder can drive the first gear to rotate, the first gear drives the second gear to rotate, the second gear drives the transmission column to reciprocate, and the reciprocating transmission column pushes and pulls the swing plate back and forth through the push-pull rod, so that the wheel groove slides back and forth on the rotating wheel, thereby driving the Y-shaped scraper to slide back and forth, and the Y-shaped scraper is used to scrape and clean the ditch side wall preliminarily, and then the bristles are used to rub and flush the ditch side wall, which saves costs and further improves the cleaning strength of the ditch side wall;

[0036] 4. In the present invention, in the process that the swing plate drives the Y-type scraper to move back and forth, the second round block drives the Y-type wheel shaft to move back and forth, and the Y-type wheel shaft drives the guide wheel to move back and forth. While moving back and forth, the guide wheel will be squeezed with the wedge-shaped guide block, so that while the guide wheel moves back and forth left and right, it can also perform reciprocating lifting and lowering motion under the action of the first round block and the reset spring, thereby driving the offset plate to perform reciprocating lifting and lowering shaking, and shaking and discharging the dirt scraped under the Y-type scraper and accumulated on one side of the Y-type scraper, thereby avoiding a large amount of dirt accumulating on one side of the Y-type scraper and reducing the scraping effect of the Y-type scraper. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] Figure 1 A schematic diagram of the three-dimensional structure of an information-based intelligent auxiliary robot device proposed by the present invention;

[0039] Figure 2 This is a schematic diagram of the structure of the opening mechanism proposed by the present invention;

[0040] Figure 3 This is a schematic diagram of the assembly structure of the adjustment mechanism proposed by the present invention;

[0041] Figure 4 This is a schematic diagram of the cleaning mechanism and water pump assembly structure proposed by the present invention;

[0042] Figure 5 This is a schematic diagram of the assembly structure of the transmission components proposed by the present invention;

[0043] Figure 6 This is a schematic diagram of the structure of the rotary cleaning component proposed by the present invention;

[0044] Figure 7 This is a schematic diagram of the structure of the reciprocating scraping component proposed by the present invention;

[0045] Figure 8 for Figure 7 The enlarged structural diagram at A in the middle;

[0046] Fig. 9 It is a schematic diagram of the assembly structure of the Y-type scraper and the panel;

[0047] In the figure: 1. crawler; 2. opening mechanism; 21. electric hydraulic device; 22. mounting frame; 23. large transmission frame; 24. swing arm; 25. small transmission frame; 26. connecting rod; 27. side plate; 3. support column; 4. Stewart parallel mechanism; 5. cleaning mechanism; 51. right angle frame; 52. fixed pipe; 53. panel; 531. buffer chamber; 54. rotating cylinder; 55. rotating cleaning component; 551. rotating hollow disk; 552. bristles; 553. inclined spray pipe; 56. reciprocating scraping component; 561. fixed block; 562. wedge-shaped guide block; 563. horizontal axis; 564. rotating wheel; 565. swing plate; 566. wheel groove; 567. Y-type scraper; 568. shifting part Components; 5681, guide wheel; 5682, Y-type axle; 5683, first round block; 5684, shift plate; 5685, reset spring; 5686, second round block; 57, transmission component; 571, first gear; 572, second gear; 573, push-pull rod; 574, transmission column; 58, connecting spring; 6, adjustment mechanism; 61, rectangular frame; 62, crossbeam; 63, guide beam; 64, electric telescopic rod; 65, placement plate; 66, track rod; 67, track frame; 68, linkage assembly; 681, push-pull plate; 682, connecting shaft; 683, rotating plate; 7, camera; 8, water storage chamber; 9, water pump; 91, water inlet pipe; 92, three-way drainage pipe; 93, infusion tube. DETAILED DESCRIPTION

[0048] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Example 1

[0050] See also Figure 1 and Figure 3 An information-based intelligent auxiliary robot device and method, comprising: a crawler vehicle 1, a water storage chamber 8 is provided on the top of the crawler vehicle 1 for containing a solution used for cleaning a ditch. Two cleaning mechanisms 5 are symmetrically arranged on the upper side of the crawler vehicle 1 for cleaning the sidewall of the ditch. An adjustment mechanism 6 is arranged on the upper side of the crawler vehicle 1, and the relative distance between the two cleaning mechanisms 5 is adjusted by the adjustment mechanism 6.

[0051] In addition, a plurality of support columns 3 are fixedly connected to the bottom of the water storage chamber 8 , and a Stewart parallel mechanism 4 is installed on the top of the support column 3 . The regulating mechanism 6 is supported by the Stewart parallel mechanism 4 , and the position of the regulating mechanism 6 can be adjusted.

[0052] Specifically, the adjustment mechanism 6 includes a rectangular frame 61, and two cross beams 62 are symmetrically fixed to the top of the rectangular frame 61. Two guide beams 63 are fixed to the top of the rectangular frame 61 located between the two cross beams 62. Two track rods 66 are symmetrically fixed to the top of each guide beam 63. A track frame 67 is slidably sleeved on the outer side of each track rod 66. The track frame 67 is connected to the cleaning mechanism 5. Electric telescopic rods 64 are installed on the tops of the two cross beams 62, and a placement plate 65 is fixed between the two guide beams 63.

[0053] Furthermore, a linkage assembly 68 is provided on the upper side of the placement plate 65, and the linkage assembly 68 includes a rotating plate 683 rotatably connected to the top of the placement plate 65, and both ends of the rotating plate 683 are hinged with a connecting shaft 682, and the other ends of the two connecting shafts 682 are hinged with a push-pull plate 681, and the push-pull plate 681 is connected to the electric telescopic rod 64, and the push-pull plate 681 is fixedly connected to the track frame 67 at its bottom.

[0054] In this embodiment, when the tracked vehicle 1 is in the drainage ditch, the relative spacing between the two cleaning mechanisms 5 is adjusted by the adjustment mechanism 6 according to the distance between the two side walls of the ditch. Specifically, the two electric telescopic rods 64 are started, and one of the push-pull plates 681 is pushed and pulled by the electric telescopic rods 64. At this time, with the cooperation of the connecting shaft 682 and the rotating plate 683, the two push-pull plates 681 can be moved in opposite directions, so that the distance between the two cleaning mechanisms 5 can be adjusted.

[0055] Example 2

[0056] See also Figure 1 and Figure 2 , an information-based intelligent auxiliary robot device and method, including all the contents of embodiment 1, in addition, a camera 7 is arranged in front of the adjustment mechanism 6, which is used to scan the road conditions of the tracked vehicle 1. The front end of the tracked vehicle 1 is provided with an opening mechanism 2, which is used to push away the dirt accumulated on the tracked vehicle 1.

[0057] Specifically, the opening mechanism 2 includes two mounting frames 22 which are detachably fixed to the outer wall of the crawler vehicle 1 by bolts, a large transmission frame 23 is commonly fixed between the two mounting frames 22, two swing arms 24 are symmetrically hinged on the inner side of the large transmission frame 23, side plates 27 are fixed to the outer walls of the two swing arms 24, connecting rods 26 are hinged on the inner sides of the two swing arms 24, a small transmission frame 25 is commonly hinged between the two connecting rods 26, an electric hydraulic press 21 is fixedly installed inside the large transmission frame 23, and the end of the hydraulic rod on the electric hydraulic press 21 is fixedly connected to the small transmission frame 25.

[0058] In this embodiment, during the movement of the crawler vehicle 1, the camera 7 can be started by an external control device to scan the inside of the ditch, wherein the camera 7 can also be replaced by an infrared scanner or other instrument, the purpose of which is to detect whether there is excessive accumulation of dirt in the ditch. When a large amount of dirt is found to be accumulated inside the ditch, in order to avoid affecting the normal movement of the crawler vehicle 1, the crawler vehicle 1 extends the two side plates 27 combined into a V-shape into the dirt when moving, and then the external control device starts the electric hydraulic device 21, and the electric hydraulic device 21 pushes the small transmission frame 25 forward, so that the two connecting rods 26 open the two swing arms 24, so that the two side plates 27 are separated, and the dirt is pushed and guided to the two sides of the crawler vehicle 1, so as to avoid the crawler vehicle 1 and the accumulated dirt from directly contacting each other and affecting the normal movement of the crawler vehicle 1.

[0059] Example 3

[0060] See also Figure 1 , Figure 3 , Figure 4 as well as Figure 6 , an information-based intelligent auxiliary robot device and method, including all the contents of Example 2, in addition, the cleaning mechanism 5 includes a rotating cleaning component 55, a reciprocating scraping component 56, and a transmission component 57 connected between the rotating cleaning component 55 and the reciprocating scraping component 56, and a water pump 9 is installed inside the water storage chamber 8 for delivering solution to the rotating cleaning component 55, so that the rotating cleaning component 55 can rotate, so that the reciprocating scraping component 56 can be driven by the transmission component 57. The cleaning mechanism 5 also includes a panel 53 connected to the end of the track frame 67, and a rotating cylinder 54 is rotatably sleeved inside the panel 53, and a right-angle frame 51 is fixedly connected to the outer wall of the panel 53 on one side of the rotating cylinder 54, and a fixed tube 52 is fixedly sleeved inside the right-angle frame 51, and the fixed tube 52 is rotatably connected to the rotating cylinder 54.

[0061] Furthermore, the rotating cleaning component 55 includes a rotating hollow disk 551 fixedly connected to the rotating cylinder 54, and bristles 552 are evenly distributed on the outer wall of the rotating hollow disk 551 away from the panel 53. A plurality of groups of inclined liquid spray pipes 553 are arranged from the inside to the outside on the outer wall of the rotating hollow disk 551 located on the inner side of the bristles 552. The plurality of groups of inclined liquid spray pipes 553 are distributed in a circular array on the outer wall of the rotating hollow disk 551, and the inclined liquid spray pipes 553 are connected to the interior of the rotating hollow disk 551.

[0062] Furthermore, a water inlet pipe 91 is provided on one side of the outer wall of the water pump 9, and a three-way drainage pipe 92 is provided on the top of the water pump 9. The two ends of the three-way drainage pipe 92 away from the water pump 9 are connected to the fixed pipe 52 through the infusion pipe 93 respectively.

[0063] In this embodiment, after the distance between the two cleaning mechanisms 5 is adjusted, an appropriate amount of solution is stored in the water storage chamber 8. Thereafter, the water pump 9 is started. The water pump 9 sucks the solution through the water inlet pipe 91 and discharges it into the two infusion pipes 93 through the three-way drainage pipe 92. The solution is transported to the inside of the rotating cylinder 54 through the fixed pipe 52, and then transported to the inside of the rotating hollow disk 551 through the rotating cylinder 54. The solution inside the rotating hollow disk 551 is discharged through the inclined spray pipe 553. Under the action of centrifugal force, the rotating hollow disk 551 drives the rotating cylinder 54 to rotate, so that the inclined spray pipe 553 can spray the side walls of the ditch while rubbing and cleaning the side walls of the ditch through the bristles 552 distributed on the outer wall of the rotating hollow disk 551.

[0064] Example 4

[0065] See also Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 as well as Fig. 9 , an information-based intelligent auxiliary robot device and method, including all the contents of Example 3, in addition, the reciprocating scraping component 56 includes a swing plate 565, and at least two groups of wheel grooves 566 are opened on the outer wall of the swing plate 565 close to the panel 53, and a plurality of rotating wheels 564 are clamped inside each wheel groove 566, and a horizontal axis 563 is connected between the rotating wheel 564 and the panel 53, one end of the horizontal axis 563 is fixed to the panel 53, and the other end of the horizontal axis 563 is rotatably connected to the rotating wheel 564, and a plurality of Y-shaped scrapers 567 are evenly distributed on the outer wall of the swing plate 565 away from the panel 53, and the Y-shaped scraper 567 slides and extends into the buffer cavity 531 opened inside the panel 53, and a plurality of connecting springs 58 are connected between the buffer cavity 531 and the Y-shaped scraper 567.

[0066] Furthermore, a plurality of wedge-shaped guide blocks 562 are provided on the upper outer wall of the panel 53. The number of the wedge-shaped guide blocks 562 and the Y-shaped scraper 567 are the same and correspond one to one. The wedge-shaped guide blocks 562 are fixed to the panel 53 via a fixing block 561. A shifting component 568 is provided between the wedge-shaped guide blocks 562 and the Y-shaped scraper 567.

[0067] Furthermore, the offset component 568 includes two offset plates 5684 arranged in parallel, the offset plates 5684 are slidably clamped inside the swing plate 565, and the two offset plates 5684 are slidably fitted with the side walls of the Y-shaped scraper 567, a second round block 5686 is arranged above the offset plate 5684, the second round block 5686 is fixedly connected to the top of the swing plate 565, a first round block 5683 is arranged above the second round block 5686, a Y-shaped wheel shaft 5682 is fixedly sleeved inside the first round block 5683, the Y-shaped wheel shaft 5682 slides through the inside of the second round block 5686, and the bottom ends of the Y-shaped wheel shaft 5682 are respectively fixedly connected to the two offset plates 5684, the top end of the Y-shaped wheel shaft 5682 is rotatably connected to a guide wheel 5681 that matches the wedge-shaped guide block 562, and a return spring 5685 is connected between the first round block 5683 and the second round block 5686.

[0068] Specifically, the transmission component 57 includes a first gear 571 fixedly mounted on the outer wall of the rotating cylinder 54, a second gear 572 is meshingly connected to one side of the first gear 571, the second gear 572 is rotatably connected to the panel 53, a transmission column 574 is eccentrically fixed to the outer wall of the second gear 572, and a push-pull rod 573 is hingedly connected between the transmission column 574 and the swing plate 565.

[0069] In this embodiment, during the rotation of the rotating drum 54, it can drive the first gear 571 to rotate, the first gear 571 drives the second gear 572 to rotate, the second gear 572 drives the transmission column 574 to revolve, and the revolving transmission column 574 pushes and pulls the swing plate 565 back and forth through the push-pull rod 573, so that the wheel groove 566 slides back and forth on the rotating wheel 564, thereby driving the Y-shaped scraper 567 to slide back and forth, and the Y-shaped scraper 567 is used to scrape and clean the side wall of the ditch.

[0070] When the swing plate 565 drives the Y-shaped scraper 567 to move back and forth, the second round block 5686 drives the Y-shaped wheel shaft 5682 to move back and forth, and the Y-shaped wheel shaft 5682 drives the guide wheel 5681 to move back and forth. While moving back and forth, the guide wheel 5681 will be squeezed with the wedge-shaped guide block 562, so that the guide wheel 5681 can move back and forth while also being able to move back and forth under the action of the first round block 5683 and the return spring 5685. Reciprocating lifting motion, thereby driving the offset plate 5684 to reciprocate and shake, and shaking the dirt scraped under the Y-shaped scraper 567 and accumulated on one side of the Y-shaped scraper 567 to avoid a large amount of dirt accumulating on one side of the Y-shaped scraper 567.

[0071] Working principle and usage process: When the tracked vehicle 1 is in the drainage ditch, the relative distance between the two cleaning mechanisms 5 is adjusted by the adjustment mechanism 6 according to the distance between the two side walls of the ditch. Specifically, the two electric telescopic rods 64 are started, and one of the push-pull plates 681 is pushed and pulled by the electric telescopic rods 64. At this time, with the cooperation of the connecting shaft 682 and the rotating plate 683, the two push-pull plates 681 can be moved in opposite directions, so that the distance between the two cleaning mechanisms 5 can be adjusted.

[0072] After the distance between the two cleaning mechanisms 5 is adjusted, a proper amount of solution is stored in the water storage chamber 8. Then, the water pump 9 is started. The water pump 9 sucks the solution through the water inlet pipe 91 and discharges it into the two infusion pipes 93 through the three-way drainage pipe 92. The solution is transported to the inside of the rotating cylinder 54 through the fixed pipe 52, and then transported to the inside of the rotating hollow disk 551 through the rotating cylinder 54. The solution inside the rotating hollow disk 551 is discharged through the inclined spray pipe 553. Under the action of centrifugal force, the rotating hollow disk 551 drives the rotating cylinder 54 to rotate, so that the inclined spray pipe 553 can spray the side walls of the ditch at the same time, and can frictionally clean the side walls of the ditch through the bristles 552 distributed on the outer wall of the rotating hollow disk 551.

[0073] During the rotation of the rotating drum 54, it can drive the first gear 571 to rotate, the first gear 571 drives the second gear 572 to rotate, the second gear 572 drives the transmission column 574 to revolve, and the revolving transmission column 574 pushes and pulls the swing plate 565 back and forth through the push-pull rod 573, so that the wheel groove 566 slides back and forth on the rotating wheel 564, thereby driving the Y-shaped scraper 567 to slide back and forth, and the side wall of the ditch is scraped and cleaned by the Y-shaped scraper 567.

[0074] When the swing plate 565 drives the Y-shaped scraper 567 to move back and forth, the second round block 5686 drives the Y-shaped wheel shaft 5682 to move back and forth, and the Y-shaped wheel shaft 5682 drives the guide wheel 5681 to move back and forth. While moving back and forth, the guide wheel 5681 will be squeezed with the wedge-shaped guide block 562, so that the guide wheel 5681 can move back and forth while also being able to move back and forth under the action of the first round block 5683 and the return spring 5685. Reciprocating lifting motion, thereby driving the offset plate 5684 to reciprocate and shake, and shaking the dirt scraped under the Y-shaped scraper 567 and accumulated on one side of the Y-shaped scraper 567 to avoid a large amount of dirt accumulating on one side of the Y-shaped scraper 567.

[0075] During the movement of the tracked vehicle 1, the inside of the ditch can be scanned by the camera 7. When a large amount of dirt is found accumulated inside the ditch, in order to avoid affecting the normal movement of the tracked vehicle 1, the two side plates 27 combined into a V-shape are extended into the dirt. Then, the electric hydraulic machine 21 is started to push the small transmission frame 25 forward, so that the two connecting rods 26 open the two swing arms 24, so that the two side plates 27 are separated, and the dirt is pushed and guided to the two sides of the tracked vehicle 1.

[0076] It is worth noting that the circuits, electronic components and control modules involved in the present invention are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to software and methods.

[0077] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An information-based intelligent auxiliary robot device, comprising: A crawler vehicle (1), characterized in that a water storage chamber (8) is provided on the top of the crawler vehicle (1) for containing a solution used for cleaning the ditch; Two cleaning mechanisms (5) are symmetrically arranged on the upper side of the crawler vehicle (1) for cleaning the side walls of the ditch; An adjustment mechanism (6) is arranged on the upper side of the crawler vehicle (1), and a camera (7) is arranged in front of the adjustment mechanism (6) for scanning the road conditions along the route of the crawler vehicle (1), and adjusting the relative distance between the two cleaning mechanisms (5) through the adjustment mechanism (6); A plurality of support columns (3) are fixedly connected to the bottom of the water storage chamber (8), and a Stewart parallel mechanism (4) is installed on the top of the support column (3), so that the regulating mechanism (6) is supported by the Stewart parallel mechanism (4); The front end of the crawler vehicle (1) is provided with an opening mechanism (2) for pushing away dirt accumulated on the forward path of the crawler vehicle (1); The cleaning mechanism (5) comprises a rotating cleaning component (55), a reciprocating scraping component (56), and a transmission component (57) connected between the rotating cleaning component (55) and the reciprocating scraping component (56); a water pump (9) is installed inside the water storage chamber (8) for conveying solution into the rotating cleaning component (55), so as to enable the rotating cleaning component (55) to perform a rotating motion, thereby driving the reciprocating scraping component (56) through the transmission component (57).

2. The information-based intelligent auxiliary robot device according to claim 1, characterized in that: The cleaning mechanism (5) further comprises a panel (53), a rotating cylinder (54) being rotatably sleeved inside the panel (53), a right-angle frame (51) being fixedly connected to the outer wall of the panel (53) on one side of the rotating cylinder (54), a fixed tube (52) being fixedly sleeved inside the right-angle frame (51), and the fixed tube (52) being rotatably connected to the rotating cylinder (54).

3. The information-based intelligent auxiliary robot device according to claim 2, characterized in that: The rotating cleaning component (55) comprises a rotating hollow disk (551) fixedly connected to the rotating cylinder (54); bristles (552) are evenly distributed on the outer wall of the rotating hollow disk (551) on the side away from the panel (53); a plurality of groups of inclined liquid spraying pipes (553) are arranged from the inside to the outside on the outer wall of the rotating hollow disk (551) located inside the bristles (552); the plurality of groups of inclined liquid spraying pipes (553) are distributed in a circular array on the outer wall of the rotating hollow disk (551), and the inclined liquid spraying pipes (553) are connected to the inside of the rotating hollow disk (551).

4. The information-based intelligent auxiliary robot device according to claim 3, characterized in that: The reciprocating scraping component (56) comprises a swing plate (565), and at least two groups of wheel grooves (566) are provided on the outer wall of the swing plate (565) on the side close to the panel (53), and a plurality of rotating wheels (564) are clamped inside each of the wheel grooves (566). A transverse axis (563) is connected between the rotating wheel (564) and the panel (53), and one end of the transverse axis (563) is fixedly connected to the panel (53), and the other end of the transverse axis (563) is rotatably connected to the rotating wheel (564). A plurality of Y-shaped scrapers (567) are evenly distributed on the outer wall of the swing plate (565) on the side away from the panel (53), and the Y-shaped scrapers (567) slide and extend into a buffer cavity (531) provided inside the panel (53), and a plurality of connecting springs (58) are connected between the buffer cavity (531) and the Y-shaped scrapers (567).

5. The information-based intelligent auxiliary robot device according to claim 4, characterized in that: A plurality of wedge-shaped guide blocks (562) are arranged on the upper outer wall of the panel (53); the number of the wedge-shaped guide blocks (562) and the Y-shaped scraper (567) are the same and correspond to each other; the wedge-shaped guide blocks (562) and the panel (53) are fixedly connected via a fixing block (561); and a shifting component (568) is arranged between the wedge-shaped guide blocks (562) and the Y-shaped scraper (567); The shifting component (568) includes two shifting plates (5684) arranged in parallel, the shifting plates (5684) are slidably clamped inside the swing plate (565), and the two shifting plates (5684) are slidably fitted with the side walls of the Y-shaped scraper (567), a second round block (5686) is arranged above the shifting plate (5684), the second round block (5686) is fixedly connected to the top of the swing plate (565), a first round block (5683) is arranged above the second round block (5686), and the first round block (5683) is arranged above the second round block (5686). A Y-shaped axle (5682) is fixedly sleeved inside a round block (5683), and the Y-shaped axle (5682) slides through the inside of the second round block (5686), and the bottom ends of the Y-shaped axle (5682) are respectively fixedly connected to two offset plates (5684), and the top end of the Y-shaped axle (5682) is rotatably connected to a guide wheel (5681) that matches the wedge-shaped guide block (562), and a return spring (5685) is connected between the first round block (5683) and the second round block (5686); The transmission component (57) includes a first gear (571) fixedly mounted on the outer wall of the rotating cylinder (54); one side of the first gear (571) is meshingly connected with a second gear (572); the second gear (572) is rotationally connected to the panel (53); a transmission column (574) is eccentrically fixed to the outer wall of the second gear (572); a push-pull rod (573) is hingedly connected between the transmission column (574) and the swing plate (565).

6. The information-based intelligent auxiliary robot device according to claim 5, characterized in that: A water inlet pipe (91) is arranged on one side of the outer wall of the water pump (9), and a three-way drainage pipe (92) is arranged on the top of the water pump (9). The two ends of the three-way drainage pipe (92) away from the water pump (9) are respectively connected to the fixed pipe (52) through the infusion pipe (93).

7. The information-based intelligent auxiliary robot device according to claim 6, characterized in that: The adjusting mechanism (6) comprises a rectangular frame (61), the top of the rectangular frame (61) is symmetrically fixed with two cross beams (62), the top of the rectangular frame (61) located between the two cross beams (62) is fixed with two guide beams (63), the top of each guide beam (63) is symmetrically fixed with two track rods (66), the outer side of each track rod (66) is slidably sleeved with a track frame (67), the track frame (67) is connected to the panel (53), the tops of the two cross beams (62) are both equipped with electric telescopic rods (64), and a placement plate (65) is commonly fixed between the two guide beams (63).

8. The information-based intelligent auxiliary robot device according to claim 7, characterized in that: A linkage assembly (68) is provided on the upper side of the placement plate (65), and the linkage assembly (68) includes a rotating plate (683) rotatably connected to the top of the placement plate (65), and both ends of the rotating plate (683) are hinged with a connecting shaft (682), and the other ends of the two connecting shafts (682) are hinged with a push-pull plate (681), and the push-pull plate (681) is connected to the electric telescopic rod (64), and the push-pull plate (681) is fixedly connected to the track frame (67) at its bottom.

9. The information-based intelligent auxiliary robot device according to claim 8, characterized in that: The opening mechanism (2) comprises two mounting frames (22) detachably fixed to the outer wall of the crawler vehicle (1) by bolts, a large transmission frame (23) is fixedly connected between the two mounting frames (22), two swing arms (24) are symmetrically hinged on the inner side of the large transmission frame (23), the outer walls of the two swing arms (24) are fixedly connected to side plates (27), the inner sides of the two swing arms (24) are hinged with connecting rods (26), a small transmission frame (25) is hingedly connected between the two connecting rods (26), an electric hydraulic device (21) is fixedly installed inside the large transmission frame (23), and the end of the hydraulic rod on the electric hydraulic device (21) is fixedly connected to the small transmission frame (25).

10. A method for an information-based intelligent assistive robot device, using any information-based intelligent assistive robot device as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1. When the crawler vehicle (1) is in a drainage ditch, the relative spacing between the two cleaning mechanisms (5) is adjusted by the adjusting mechanism (6) according to the distance between the two side walls of the ditch. Specifically, two electric telescopic rods (64) are started, and one of the push-pull plates (681) is pushed and pulled by the electric telescopic rods (64). At this time, with the cooperation of the connecting shaft (682) and the rotating plate (683), the two push-pull plates (681) can be moved in opposite directions, so that the distance between the two cleaning mechanisms (5) can be adjusted. S2. After the distance between the two cleaning mechanisms (5) is adjusted, a proper amount of solution is stored in the water storage chamber (8). Then, the water pump (9) is started. The water pump (9) sucks the solution through the water inlet pipe (91) and discharges the solution into the two liquid infusion pipes (93) through the three-way drainage pipe (92). The solution is transported to the inside of the rotating cylinder (54) through the fixed pipe (52), and then transported to the inside of the rotating hollow disk (551) through the rotating cylinder (54). The solution in the rotating hollow disk (551) is discharged through the inclined liquid spraying pipe (553). Under the action of centrifugal force, the rotating hollow disk (551) drives the rotating cylinder (54) to rotate, so that the inclined liquid spraying pipe (553) can spray the side wall of the ditch and clean the side wall of the ditch by friction through the bristles (552) distributed on the outer wall of the rotating hollow disk (551); S3, during the rotation of the rotating drum (54), the first gear (571) can be driven to rotate, the first gear (571) drives the second gear (572) to rotate, the second gear (572) drives the transmission column (574) to revolve, the revolving transmission column (574) pushes and pulls the swing plate (565) back and forth through the push-pull rod (573), so that the wheel groove (566) slides back and forth on the rotating wheel (564), thereby driving the Y-shaped scraper (567) to slide back and forth, and the Y-shaped scraper (567) is used to scrape and clean the side wall of the ditch; S4. When the swing plate (565) drives the Y-shaped scraper (567) to move back and forth, the second round block (5686) drives the Y-shaped wheel shaft (5682) to move back and forth, and the Y-shaped wheel shaft (5682) drives the guide wheel (5681) to move back and forth. When the guide wheel (5681) moves back and forth, it will be squeezed with the wedge-shaped guide block (562), so that when the guide wheel (5681) moves back and forth, it can also move up and down reciprocatingly under the action of the first round block (5683) and the return spring (5685), thereby driving the shifting plate (5684) to move up and down reciprocatingly, so as to shake and discharge the dirt scraped under the Y-shaped scraper (567) and accumulated on one side of the Y-shaped scraper (567), thereby preventing a large amount of dirt from accumulating on one side of the Y-shaped scraper (567); S5. During the movement of the crawler vehicle (1), the camera (7) can be used to scan the interior of the ditch. When a large amount of dirt is found to be accumulated in the ditch, in order to avoid affecting the normal movement of the crawler vehicle (1), the two side plates (27) combined into a V-shape are extended into the dirt. Then, the electric hydraulic device (21) is started, and the electric hydraulic device (21) pushes the small transmission frame (25) forward, so that the two connecting rods (26) open the two swing arms (24), so that the two side plates (27) are separated, and the dirt is pushed and guided to the two sides of the crawler vehicle (1).

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