Swing arm mechanism and mobile robot

Abstract

The utility model relates to mobile robot technical field discloses a swing arm mechanism and mobile robot, swing arm mechanism includes drive part, swing arm, adjustment arm, first adjusting part and second adjusting part, swing arm is connected in the drive end of drive part, and drive part is used for driving swing arm to rotate in first plane, adjustment arm is used for connecting the export end of flexible spray pipe, first adjusting part is connected in swing arm, second adjusting part is connected in adjustment arm, wherein, the adjustable connection of second adjusting part position is in first adjusting part, and the angle of adjustment arm and swing arm in second plane is adjusted, first plane and second plane are intersected to set up, thereby can flexibly adjust the spraying range of flexible spray pipe.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot technology, specifically to a swing arm mechanism and a mobile robot. Background Technology

[0002] With the advancement of technology, the development of robots is becoming increasingly rapid. Robots can replace humans in performing some dangerous high-altitude operations, reducing safety hazards. For high-altitude walls, such as ship facades, tank walls, photovoltaic curtain walls, glass walls, etc., robots can be used for cleaning.

[0003] In related technologies, swing-arm sandblasting rust removal robots used for rust removal on ship walls typically employ fixed spray guns, which limit the spray range and make it difficult to meet user needs. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a swing arm mechanism that can flexibly adjust the spraying range of a flexible nozzle.

[0005] This utility model also proposes a mobile robot having the above-mentioned swing arm mechanism.

[0006] According to a first aspect embodiment of the present invention, a swing arm mechanism includes a driving member, a swing arm, an adjusting arm, a first adjusting member, and a second adjusting member; the swing arm is connected to the driving end of the driving member, and the driving member is used to drive the swing arm to rotate in a first plane; the adjusting arm is used to connect to the outlet end of a flexible nozzle; the first adjusting member is connected to the swing arm; the second adjusting member is connected to the adjusting arm; wherein the second adjusting member is positionally adjustable and connected to the first adjusting member to adjust the angle between the adjusting arm and the swing arm in a second plane, and the first plane and the second plane are intersecting.

[0007] The swing arm mechanism according to the embodiments of this utility model has at least the following beneficial effects: by connecting the swing arm to the driving end of the driving member, the first adjusting member to the swing arm, and the second adjusting member to the adjusting arm, and the second adjusting member being positionably connected to the first adjusting member, the driving member can drive the swing arm to rotate in the first plane. The positions of the second adjusting member and the first adjusting member are adjustable to adjust the angle between the adjusting arm and the swing arm in the second plane. When the swing arm mechanism is applied to a mobile robot, the outlet end of the flexible nozzle can be connected to the adjusting arm. Thus, when the driving member drives the swing arm to rotate in the first plane, it can drive the outlet end of the flexible nozzle to rotate synchronously. When the position of the second adjusting member relative to the first adjusting member is adjusted, the distance between the outlet end of the flexible nozzle and the working surface can be adjusted. This allows for flexible adjustment of the position of the outlet end of the flexible nozzle in multiple directions, which helps to more flexibly control the spraying range of the outlet end of the flexible nozzle.

[0008] According to some embodiments of the present invention, one of the first adjusting member and the second adjusting member is provided with a first limiting part, and the other is provided with a plurality of second limiting parts, which are arranged in a ring shape; the first limiting part can be selectively connected to a second limiting part to adjust the included angle between the adjusting arm and the swing arm on the second plane; wherein, one of the first limiting part and the second limiting part is a protruding tooth, and the other is a tooth groove, with the protruding tooth inserted into the tooth groove.

[0009] According to some embodiments of the present invention, there are multiple first limiting parts, which are arranged in a ring shape, and the first limiting parts and the second limiting parts correspond one-to-one; each first limiting part can be selectively connected to a second limiting part.

[0010] According to some embodiments of the present invention, the swing arm mechanism further includes a locking member, which passes through the first adjusting member and the second adjusting member and is used to lock or unlock the first adjusting member and the second adjusting member; a plurality of first limiting parts and a plurality of second limiting parts are arranged around the locking member.

[0011] According to some embodiments of the present invention, the first adjusting member includes a first mounting part and two first adjusting parts. The first mounting part is provided with a first mounting hole, and the swing arm passes through the first mounting hole. The two first adjusting parts are both connected to the first mounting part and are radially spaced relative to each other along the first mounting hole to form a first adjusting groove communicating with the first mounting hole. One of the first limiting part and the second limiting part is provided in the first adjusting part. The first adjusting member is provided with a first locking hole that passes through the two first adjusting parts. The locking member is threadedly connected to the first locking hole to adjust the groove width of the first adjusting groove.

[0012] According to some embodiments of the present invention, the second adjusting member includes a second mounting portion and two second adjusting portions. The second mounting portion is provided with a second mounting hole, and the adjusting arm passes through the second mounting hole. The two second adjusting portions are both connected to the second mounting portion and are radially spaced relative to each other along the second mounting hole to form a second adjusting groove communicating with the second mounting hole. The other of the first limiting portion and the second limiting portion is provided in the second adjusting portion. The second adjusting member is provided with a second locking hole that passes through the two second adjusting portions, and the locking member is also threadedly connected to the second locking hole to adjust the groove width of the second adjusting groove.

[0013] According to some embodiments of this utility model, the first adjusting member and the second adjusting member have the same structure.

[0014] A mobile robot according to a first aspect of the present invention includes a robot body, a flexible nozzle, and a swing arm mechanism as described in any of the above embodiments. The robot body is used to move on a working surface. A drive member is connected to the robot body and is used to drive the swing arm to rotate around a rotation axis. The rotation axis is set along the direction from the top to the bottom of the mobile robot and is perpendicular to a first plane. The flexible nozzle is partially connected to the swing arm, and its outlet end is connected to an adjusting arm. The flexible nozzle is used to transport a working medium, and its outlet end is used to spray the working medium onto the working surface.

[0015] According to some embodiments of the present invention, the mobile robot further includes a first detector connected to an adjusting arm for detecting the distance between the adjusting arm and the working surface; and / or, the mobile robot further includes a second detector and a third detector, the second detector being connected to the driving end of the driving component or the swing arm; the third detector being connected to the robot body or the housing of the driving component for detecting the rotation angle of the second detector.

[0016] According to some embodiments of the present invention, the mobile robot further includes a light-emitting element connected to the swing arm for illuminating the working surface; and / or, the mobile robot further includes a stop brush connected to one side of the robot body in the forward direction for brushing the working surface and blocking impurities; and / or, the mobile robot further includes a collision avoidance bar connected to the top of the robot body and extending along the left and right directions of the mobile robot; and / or, there are multiple flexible nozzles, each of which is partially connected to the swing arm and its outlet end is connected to the adjustment arm.

[0017] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0019] Figure 1 A schematic diagram of the structure of the mobile robot provided in an embodiment of the present invention is shown;

[0020] Figure 2 It shows Figure 1 A schematic diagram of the exploded structure of the China Mobile robot;

[0021] Figure 3 This diagram shows a partially exploded view of the swing arm mechanism provided in an embodiment of the present invention.

[0022] Figure 4 A schematic diagram of the structure of the first adjusting member provided in an embodiment of the present invention is shown.

[0023] Figure label:

[0024] 100 mobile robots;

[0025] Swing arm mechanism 110; drive component 111; swing arm 113; adjusting arm 115; first adjusting component 117; first mounting part 1171; first mounting hole 1179; first adjusting part 1173; protruding tooth 1181; tooth groove 1183; first adjusting groove 1175; first locking hole 1177; second adjusting component 119; second mounting part 1191; second mounting hole 1199; second adjusting part 1193; second adjusting groove 1195; second locking hole 1197;

[0026] Robot body 130; flexible nozzle 150; outlet end 151; first detector 170; second detector 190; third detector 210; light-emitting element 230; stop brush 250; anti-collision bar 270; rotation axis M. Detailed Implementation

[0027] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0028] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0030] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0031] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0032] Please see Figures 1 to 2 This application provides a mobile robot 100, which includes a robot body 130, a swing arm mechanism 110, and a flexible nozzle 150.

[0033] The robot body 130 is used to move on the working surface. The robot body 130 can be a magnetic robot body 130, a negative pressure robot body 130, or other types of robot body 130, so that the robot body 130 can move on an inclined working surface, a curved working surface, or other working surfaces.

[0034] As an example, a working surface can refer to the wall of a ship, the wall of a storage tank, the wall of a photovoltaic curtain wall, or a glass wall, etc.

[0035] The swing arm mechanism 110 is connected to the robot body 130, and the flexible nozzle 150 is connected to the swing arm mechanism 110. The flexible nozzle 150 is used to transport the working medium and spray it out. The swing arm mechanism 110 can drive the flexible nozzle 150 to rotate back and forth to adjust the spraying range of the flexible nozzle 150 on the working surface.

[0036] The working medium can refer to sandblasting (such as copper ore sand, quartz sand, corundum, iron sand, sea sand, or other sandblasting media), rust remover, cleaning agent, or other working media. Understandably, different working media may require different materials or specifications of flexible nozzles 150.

[0037] In some embodiments, the robot body 130 may include a control module, which can control the movement state of the robot body 130 and communicate with the swing arm mechanism 110 to control the swing angle of the swing arm mechanism 110.

[0038] In some embodiments, the swing arm mechanism 110 includes a drive member 111, a swing arm 113, an adjusting arm 115, a first adjusting member 117, and a second adjusting member 119.

[0039] Among them, the drive component 111 is connected to the robot body 130, the swing arm 113 is connected to the drive end of the drive component 111, the adjusting arm 115 is connected to the swing arm 113, the adjusting arm 115 is used to connect to the outlet end 151 of the flexible nozzle 150, and the outlet end 151 of the flexible nozzle 150 is used to spray the working medium to spray onto the working surface.

[0040] The drive unit 111 is used to drive the swing arm 113 to rotate around the rotation axis M, so as to drive the swing arm 113 to rotate in the first plane. The rotation axis M is set along the direction from the top to the bottom of the mobile robot 100 and is perpendicular to the first plane. Thus, during the movement of the robot body 130, the drive unit 111 can drive the flexible nozzle 150 to rotate, so as to adjust the spraying range of the working medium sprayed at the outlet end 151 of the flexible nozzle 150.

[0041] As an example, the drive unit 111 can be connected to the top of the robot body 130 and communicate with the control module. The control module can control the drive unit 111 to drive the swing arm 113 to swing back and forth along the circumference of the robot body 130 in the first plane. The outlet end 151 of the flexible nozzle 150 can be adjusted by adjusting the arm 115 to swing synchronously with the swing arm 113, thereby adjusting the position of the outlet end 151 of the flexible nozzle 150 to adjust the spraying range of the outlet end 151. The swing angle can be set according to requirements.

[0042] Understandably, the inlet end of the flexible nozzle 150 can be used to connect to a storage device for providing the working medium, and can be powered by a pump body to enable the working medium to be ejected from the outlet end 151 of the flexible nozzle 150.

[0043] The first adjusting member 117 is connected to the swing arm 113, and the second adjusting member 119 is connected to the adjusting arm 115. The second adjusting member 119 is positionally adjustable and connected to the first adjusting member 117 to adjust the angle between the adjusting arm 115 and the swing arm 113 on the second plane. The first plane and the second plane are intersecting. Thus, the driving member 111 can drive the swing arm 113 to rotate on the first plane, thereby causing the outlet end 151 of the flexible nozzle 150 to rotate synchronously. The position of the second adjusting member 119 relative to the first adjusting member 117 is adjustable to adjust the distance between the outlet end 151 of the flexible nozzle 150 and the working surface. This allows for more flexible adjustment of the position of the outlet end 151 of the flexible nozzle 150, thereby flexibly controlling the spraying range of the flexible nozzle 150.

[0044] The first adjusting component 117 and the swing arm 113 can be connected by welding, bonding, snap-fitting, fastening, or other methods. The second adjusting component 119 and the adjusting arm 115 can also be connected by welding, bonding, snap-fitting, fastening, or other methods.

[0045] As an example, the first plane and the second plane can be perpendicular to each other, the second plane can extend approximately along the bottom of the mobile robot 100 towards the bottom, and the position of the second plane will rotate about the rotation axis M as the swing arm 113 swings.

[0046] In some embodiments, the flexible nozzle 150 is partially connected to the swing arm 113 and the outlet end 151 is connected to the adjusting arm 115, thereby allowing the flexible nozzle 150 to be fixed in multiple positions, which helps the flexible nozzle 150 to work more stably.

[0047] Please see Figures 2 to 4 In some embodiments, one of the first adjusting member 117 and the second adjusting member 119 may be provided with a first limiting part, and the other may be provided with a plurality of second limiting parts. The plurality of second limiting parts may be arranged in a ring shape. The first limiting part may be selectively connected to a second limiting part to adjust the included angle between the adjusting arm 115 and the swing arm 113 on the second plane, thereby adjusting the distance between the outlet end 151 of the flexible nozzle 150 and the working surface.

[0048] Ring-shaped can refer to circular rings, rectangular rings, or other ring-shaped structures.

[0049] One of the first limiting part and the second limiting part can be a protruding tooth 1181, and the other can be a tooth groove 1183. The protruding tooth 1181 can be inserted into the tooth groove 1183. The groove wall of the tooth groove 1183 and the protruding tooth 1181 can support each other so that the first adjusting member 117 can support the second adjusting member 119. Thus, the swing arm 113 can support the adjusting arm 115 through the first adjusting member 117 and the second adjusting member 119, and can prevent the first adjusting member 117 and the second adjusting member 119 from rotating relative to each other during the operation of the mobile robot 100.

[0050] Specifically, the first adjusting member 117 may include a first outer wall, and the second adjusting member 119 may include a second outer wall opposite to the first outer wall. One of the first outer wall and the second outer wall may be provided with a first limiting part, and the other may be provided with multiple second limiting parts. Both the first outer wall and the second outer wall are parallel to the second plane.

[0051] As an example, the first limiting part can be a protruding tooth 1181, and the second limiting part can be a toothed groove 1183. Multiple toothed grooves 1183 can be arranged in a ring on the second outer wall. The protruding tooth 1181 can be selectively inserted into one toothed groove 1183, thereby adjusting the position of the second adjusting member 119 relative to the first adjusting member 117. Furthermore, the protruding tooth 1181 can support the groove wall of the toothed groove 1183, so that the first adjusting member 117 can support the second adjusting member 119.

[0052] As another example, the first limiting part can also adopt a toothed groove 1183, and the second limiting part can adopt a protruding tooth 1181. Multiple protruding teeth 1181 can be arranged in a ring on the second outer wall. One of the protruding teeth 1181 can be selected to insert into the toothed groove 1183, thereby adjusting the position of the second adjusting member 119 relative to the first adjusting member 117. It should be noted that in this example, the adjusting member with the toothed groove 1183 (i.e., the first adjusting member 117 or the second adjusting member 119) can also be provided with a clearance groove to allow other protruding teeth 1181 besides those inserted into the toothed groove 1183 to enter, helping to avoid interference.

[0053] It should be noted that the first adjusting member 117 and the second adjusting member 119 can be fixed by the interference fit between the convex tooth 1181 and the tooth groove 1183, or by other means, so as to reduce the possibility of the first adjusting member 117 and the second adjusting member 119 separating along the convex direction of the convex tooth 1181.

[0054] The shape of the protruding tooth 1181 can be set according to requirements, and the shape of the tooth groove 1183 can be adapted to the protruding tooth 1181.

[0055] As an example, the tooth 1181 can be a rectangular protrusion, a prism-shaped protrusion, a pyramid-shaped protrusion, a cylindrical protrusion, or a protrusion of other shapes.

[0056] In some embodiments, the number of first limiting portions may be multiple, and the multiple first limiting portions may be arranged in a ring shape. The first limiting portions and the second limiting portions correspond one-to-one. Each first limiting portion may be selectively connected to a second limiting portion, so that the first adjusting member 117 and the second adjusting member 119 can be mutually supported by the multiple first limiting portions and the multiple second limiting portions. This helps the swing arm 113 to more stably support the adjusting arm 115 and the flexible nozzle 150 through the first adjusting member 117 and the second adjusting member 119.

[0057] In some embodiments, the swing arm mechanism 110 may further include a locking member, which may pass through the first adjusting member 117 and the second adjusting member 119. The locking member may be used to lock or unlock the first adjusting member 117 and the second adjusting member 119. A plurality of first limiting parts and a plurality of second limiting parts are arranged around the locking member, thereby enabling more flexible adjustment of the relative positions of the first adjusting member 117 and the second adjusting member 119, reducing the difficulty of adjustment, and helping to make the connection between the first adjusting member 117 and the second adjusting member 119 more stable, which helps to reduce the situation where the first adjusting member 117 and the second adjusting member 119 disengage from each other along the protrusion direction of the tooth 1181.

[0058] Locking devices can be bolts, screws, or other locking mechanisms.

[0059] As an example, taking a screw as the locking element, the locking element can be threadedly connected to the first adjusting element 117 and the second adjusting element 119. When it is necessary to adjust the relative position of the first adjusting element 117 and the second adjusting element 119, the user can turn the screw to unlock the first adjusting element 117 and the second adjusting element 119. At this time, the protruding teeth 1181 disengage from the tooth grooves 1183. The user can then turn the second adjusting element 119 to adjust the tooth grooves 1183 corresponding to each protruding tooth 1181. After the position of the second adjusting element 119 is determined, the protruding teeth 1181 are inserted into the corresponding tooth grooves 1183 after adjustment. The user can then turn the screw again to lock the first adjusting element 117 and the second adjusting element 119, thereby adjusting the relative position of the first adjusting element 117 and the second adjusting element 119 to adjust the included angle between the adjusting arm 115 and the swing arm 113, and thus adjust the distance between the outlet end 151 of the flexible nozzle 150 and the working surface.

[0060] In some embodiments, the first adjusting member 117 may include a first mounting portion 1171 and two first adjusting portions 1173.

[0061] The first mounting part 1171 may be provided with a first mounting hole 1179, and the swing arm 113 may be inserted through the first mounting hole 1179.

[0062] Both first adjustment parts 1173 can be connected to the first mounting part 1171, and the two first adjustment parts 1173 can be radially spaced relative to each other along the first mounting hole 1179 to form a first adjustment groove 1175 communicating with the first mounting hole 1179. The first adjustment member 117 is provided with a first locking hole 1177 penetrating the two first adjustment parts 1173. The locking member is threadedly connected to the first locking hole 1177 to adjust the groove width of the first adjustment groove 1175, thereby adjusting the hole diameter of the first mounting hole 1179 or deforming the first mounting hole 1179 so that the hole wall of the first mounting hole 1179 can clamp the swing arm 113 to fix the first adjustment member 117 on the swing arm 113.

[0063] One of the first limiting part and the second limiting part is provided in the first adjusting part 1173, that is, the first adjusting part 1173 facing the second adjusting member 119 may include the first outer wall.

[0064] Furthermore, in this embodiment, the locking member can also loosen the two first adjustment parts 1173 so that the first adjustment member 117 can move on the swing arm 113 through the first mounting hole 1179, thereby flexibly adjusting the position of the first adjustment member 117 on the swing arm 113. The locking member can lock the first adjustment member 117 at any position on the swing arm 113, thereby flexibly adjusting the position of the outlet end 151 of the flexible nozzle 150 along the length direction of the swing arm 113, which helps to more flexibly adjust the spraying range of the outlet end 151 of the flexible nozzle 150.

[0065] In some embodiments, the second adjusting member 119 may include a second mounting portion 1191 and two second adjusting portions 1193.

[0066] The second mounting part 1191 may be provided with a second mounting hole 1199, and the adjusting arm 115 may be inserted through the second mounting hole 1199.

[0067] Both second adjustment parts 1193 can be connected to the second mounting part 1191, and the two second adjustment parts 1193 can be radially spaced relative to each other along the second mounting hole 1199 to form a second adjustment groove 1195 communicating with the second mounting hole 1199. The second adjustment member 119 can be provided with a second locking hole 1197 penetrating the two second adjustment parts 1193. The locking member is also threadedly connected to the second locking hole 1197 to adjust the groove width of the second adjustment groove 1195, thereby adjusting the hole diameter of the second mounting hole 1199 or deforming the second mounting hole 1199 so that the hole wall of the second mounting hole 1199 can clamp the adjustment arm 115 to fix the first adjustment member 117 on the adjustment arm 115.

[0068] The other of the first limiting part and the second limiting part is provided in the second adjusting part 1193. That is, the second adjusting part 1193 facing the first adjusting part 1173 may include a second outer wall. When the locking member locks the first adjusting member 117 and the second adjusting member 119, the protruding tooth 1181 can be inserted more stably into the tooth groove 1183.

[0069] Furthermore, in this embodiment, the locking member can also release the two second adjustment parts 1193 so that the second adjustment member 119 can move on the adjustment arm 115 through the first mounting hole 1179, thereby flexibly adjusting the position of the second adjustment member 119 on the adjustment arm 115. The locking member can lock the second adjustment member 119 at any position on the adjustment arm 115, thereby flexibly adjusting the position of the outlet end 151 of the flexible nozzle 150 relative to the second adjustment member 119, which helps to more flexibly adjust the spray range of the outlet end 151 of the flexible nozzle 150.

[0070] In some embodiments, the first adjusting member 117 and the second adjusting member 119 have the same structure, so there is no need to design the first adjusting member 117 and the second adjusting member 119 separately, which helps to reduce the design difficulty.

[0071] Specifically, when the first adjusting member 117 and the second adjusting member 119 have the same structure, the first mounting portion 1171 and the two first adjusting portions 1173 of the first adjusting member 117 have the same structure as the second mounting portion 1191 and the two second adjusting portions 1193 of the second adjusting member 119, and the first limiting portion and the second limiting portion also have the same structure.

[0072] As an example, when the first adjusting member 117 and the second adjusting member 119 have the same structure, the first limiting portion may include a plurality of protruding teeth 1181 arranged in a ring at intervals, and a tooth groove 1183 may be formed between any two adjacent protruding teeth 1181. The second limiting portion has the same structure as the first limiting portion, and the second limiting portion also includes a plurality of protruding teeth 1181 arranged in a ring at intervals, and a tooth groove 1183 may be formed between any two adjacent protruding teeth 1181. The protruding teeth 1181 of the first limiting portion can be inserted into the tooth groove 1183 of the second limiting portion, and the protruding teeth 1181 of the second limiting portion can be inserted into the tooth groove 1183 of the first limiting portion.

[0073] In some embodiments, the mobile robot 100 may also include a first detector 170, which may be connected to the adjusting arm 115 to detect the distance between the adjusting arm 115 and the working surface, thereby avoiding the situation where the adjusting arm 115 collides with the working surface or the swing arm mechanism 110 falls.

[0074] The first detector 170 can be a photoelectric position sensor, a limit switch, or other detectors.

[0075] As an example, the first detector 170 can be a photoelectric position sensor. The first detector 170 can detect the distance between its position and the working surface. When the detected distance is less than the set distance, the first detector 170 can send a first signal. After receiving the first signal, the control module sends a warning signal to remind the user that the adjustment arm 115 or the swing arm 113 is loose, and the swing arm mechanism 110 may fall.

[0076] As another example, the first detector 170 can be a limit switch. When the limit switch contacts the working surface, the limit switch sends a second signal. After receiving the second signal, the control module sends a warning signal to remind the user that the adjusting arm 115 or the swing arm 113 is loose, and the swing arm mechanism 110 may fall.

[0077] In some embodiments, the mobile robot 100 may also include a second detector 190 and a third detector 210.

[0078] The second detector 190 can be connected to the drive end of the drive unit 111 or the swing arm 113, and the second detector 190 can rotate synchronously with the drive end of the drive unit 111 or with the swing arm 113.

[0079] The third detector 210 is connected to the outer shell of the robot body 130 or the drive unit 111, that is, the position of the second detector 190 on the robot body 130 is fixed.

[0080] The third detector 210 is used to detect the rotation angle of the second detector 190, thereby enabling the detection of the swing angle of the swing arm mechanism 110, which helps the control module to flexibly control the swing angle of the swing arm mechanism 110.

[0081] As an example, the second detector 190 can be a sensor plate, and the third detector 210 can be a position sensor. The third detector 210 can be located on the left or right side of the drive end of the drive unit 111 facing the robot body 130. When the second detector 190 and the third detector 210 form a 90-degree angle, the control module can determine that the swing arm mechanism 110 is in the initial position. The third detector 210 can detect the position of the second detector 190 to detect the rotation angle of the second detector 190, thereby detecting the rotation angle of the swing arm mechanism 110. In the initial position, the length direction of the swing arm 113 can be set along the left-right direction of the robot body 130. The drive unit 111 can drive the swing arm 113 to rotate 80° forward of the robot from the initial position as the zero point to the first position, and drive the swing arm 113 to rotate -160° from the first position to the rear of the robot body 130. The drive unit 111 can drive the swing arm 113 to swing back and forth between the initial position and the range [80°, -80°]. The outlet end 151 of the flexible nozzle 150 can follow the swing arm 113 to swing back and forth synchronously in the range [80°, -80°] through the adjusting arm 115, the second adjusting member 119 and the first adjusting member 117.

[0082] It should be noted that the second detector 190 and the third detector 210 can also be other sensors or position detectors.

[0083] In some embodiments, the mobile robot 100 may also include a light-emitting element 230, which may be connected to the swing arm 113 for illuminating the working surface, thereby facilitating the worker's observation of the working medium on the working surface.

[0084] The position of the light-emitting element 230 on the swing arm 113 is adjustable, so that the light-emitting element 230 can be better focused on the working surface by adjusting the position of the light-emitting element 230.

[0085] The light-emitting element 230 can be installed on the swing arm 113 by means of the first adjusting element 117 being installed on the swing arm 113 through the first mounting hole 1179 in the above embodiment, so that the position of the light-emitting element 230 on the swing arm 113 is adjustable, which will not be described in detail here.

[0086] The light-emitting element 230 can be a spotlight or other light-emitting element 230.

[0087] In some embodiments, the mobile robot 100 may also include a baffle brush 250, which may be connected to one side of the robot body 130 in the forward direction for brushing the working surface and blocking impurities, thereby reducing the entry of impurities into the bottom of the robot body 130 and affecting the stability of the robot body 130 in the forward direction.

[0088] As an example, the robot body 130 can be a wheeled magnetic robot body 130, which includes two wheeled magnetic drive modules and a mounting frame. The two wheeled magnetic drive modules are respectively connected to opposite sides of the mounting frame, and the drive component 111 can be connected to the mounting frame and located between the two wheeled magnetic drive modules. The wheeled magnetic robot body 130 can move on the working surface via the two wheeled magnetic drive modules. There can be two stop brushes 250, each connected to one end of the two wheeled magnetic drive modules in the forward direction, thereby blocking impurities from entering the wheeled magnetic drive modules and affecting the magnetic attraction effect of the magnetic components and the working surface.

[0089] In some embodiments, the mobile robot 100 may also include a crash bar 270, which can be connected to the top of the robot body 130 and extends along the left and right directions of the mobile robot 100, helping to reduce the possibility of the robot falling due to collisions with other structures.

[0090] In some embodiments, there are multiple flexible nozzles 150, each of which is partially connected to the swing arm 113 and its outlet end 151 is connected to the adjusting arm 115, thereby allowing for flexible selection of the number of flexible nozzles 150 in operation to adjust the amount of working medium ejected.

[0091] The flexible nozzle 150 can be connected to the swing arm 113 through an intermediate structure, and the outlet end 151 of the flexible nozzle 150 can also be connected to the adjusting arm 115 through an intermediate structure. The intermediate structure can be a clamp, a rope, or other fixing structure.

[0092] In the swing arm mechanism 110 and mobile robot 100 provided in this application embodiment, the swing arm 113 is connected to the driving end of the driving member 111, the first adjusting member 117 is connected to the swing arm 113, and the second adjusting member 119 is connected to the adjusting arm 115. The second adjusting member 119 is positionally adjustable to the first adjusting member 117. The driving member 111 can drive the swing arm 113 to rotate in the first plane. The positions of the second adjusting member 119 and the first adjusting member 117 are adjustable to adjust the angle between the adjusting arm 115 and the swing arm 113 in the second plane. When the swing arm mechanism 110 is applied to the mobile robot... In case 100, the outlet end 151 of the flexible nozzle 150 can be connected to the adjusting arm 115, so that when the driving member 111 drives the swing arm 113 to rotate in the first plane, it can drive the outlet end 151 of the flexible nozzle 150 to rotate synchronously. When the second adjusting member 119 adjusts its position relative to the first adjusting member 117, it can adjust the distance between the outlet end 151 of the flexible nozzle 150 and the working surface, so that the position of the outlet end 151 of the flexible nozzle 150 can be flexibly adjusted in multiple directions, which helps to control the spraying range of the outlet end 151 of the flexible nozzle 150 more flexibly.

[0093] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A swing arm mechanism, characterized by, include: Drive components; A swing arm, which is connected to the drive end of the drive member, and the drive member is used to drive the swing arm to rotate in a first plane; An adjusting arm, which is used to connect to the outlet end of a flexible nozzle; A first adjusting member is connected to the swing arm; as well as A second adjusting member is connected to the adjusting arm; The second adjusting member is adjustablely connected to the first adjusting member to adjust the angle between the adjusting arm and the swing arm on a second plane, wherein the first plane and the second plane are intersecting.

2. The swing arm mechanism of claim 1, wherein One of the first adjusting member and the second adjusting member is provided with a first limiting part, and the other is provided with a plurality of second limiting parts, which are arranged in a ring shape; the first limiting part can be selectively connected to a second limiting part to adjust the angle between the adjusting arm and the swing arm in the second plane; In this configuration, one of the first limiting portion and the second limiting portion is a protruding tooth, and the other is a tooth groove, with the protruding tooth inserted into the tooth groove.

3. The swing arm mechanism of claim 2, wherein There are multiple first limiting parts, which are arranged in a ring shape, and the first limiting parts and the second limiting parts correspond one-to-one. Each of the first limiting parts may be selectively connected to a second limiting part.

4. The swing arm mechanism of claim 3, wherein The swing arm mechanism further includes a locking member, which passes through the first adjusting member and the second adjusting member and is used to lock or unlock the first adjusting member and the second adjusting member; Multiple first limiting portions and multiple second limiting portions are arranged around the locking member.

5. The swing arm mechanism of claim 4, wherein, The first adjusting member includes a first mounting part and two first adjusting parts. The first mounting part is provided with a first mounting hole, and the swing arm passes through the first mounting hole. Both of the first adjustment parts are connected to the first mounting part and are radially spaced relative to each other along the first mounting hole to form a first adjustment groove communicating with the first mounting hole; One of the first limiting part and the second limiting part is provided in the first adjusting part; The first adjusting member is provided with a first locking hole that passes through the two first adjusting parts; the locking member is threadedly connected to the first locking hole to adjust the groove width of the first adjusting groove.

6. The swing arm mechanism of claim 5, wherein, The second adjusting member includes a second mounting part and two second adjusting parts. The second mounting part is provided with a second mounting hole, and the adjusting arm passes through the second mounting hole. Both of the second adjustment parts are connected to the second mounting part and are radially spaced opposite each other along the second mounting hole to form a second adjustment groove communicating with the second mounting hole; The other of the first limiting part and the second limiting part is provided in the second adjusting part; The second adjusting member is provided with a second locking hole that passes through the two second adjusting parts, and the locking member is also threadedly connected to the second locking hole to adjust the groove width of the second adjusting groove.

7. The swing arm mechanism of claim 1, wherein The first adjusting member and the second adjusting member have the same structure.

8. A mobile robot, characterized by include: The robot body, used for moving on the work surface; According to any one of claims 1 to 7, the swing arm mechanism, wherein the drive member is connected to the robot body, the drive member is used to drive the swing arm to rotate about a rotation axis, the rotation axis being arranged along the top to bottom direction of the mobile robot, and the rotation axis being perpendicular to the first plane; and A flexible nozzle is partially connected to the swing arm, and its outlet end is connected to the adjusting arm; the flexible nozzle is used to transport the working medium, and the outlet end is used to spray the working medium outwards toward the working surface.

9. The mobile robot according to claim 8, characterized in that, The mobile robot also includes a first detector connected to the adjusting arm, used to detect the distance between the adjusting arm and the working surface; And / or, the mobile robot further includes a second detector and a third detector, the second detector being connected to the drive end of the drive unit or the swing arm; the third detector being connected to the robot body or the housing of the drive unit, for detecting the rotation angle of the second detector.

10. The mobile robot of claim 8, wherein, The mobile robot also includes a light-emitting element connected to the swing arm for illuminating the working surface; And / or, the mobile robot further includes a baffle brush, which is connected to one side of the robot body in the forward direction and is used to scrub the working surface and block impurities. And / or, the mobile robot further includes a collision avoidance bar connected to the top of the robot body and extending along the left-right direction of the mobile robot; And / or, the number of flexible nozzles is multiple, each of the flexible nozzles is partially connected to the swing arm, and the outlet end of each is connected to the adjusting arm.

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