An imaging structure for a mobile robotic arm

Abstract

This utility model relates to the field of projection imaging products, and discloses a mobile robotic arm imaging structure, including a robotic arm, a track-moving structure, an imaging screen structure, and a projection device. The robotic arm is used to carry the projection device and the imaging screen device, and includes a rotating base and a fixed arm. The rotating base connects to the fixed arm and enables the fixed arm to rotate. The imaging screen structure includes a fogging structure and a spraying structure. The spraying structure is located at one end of the lower fixed arm. The spraying structure generates an aerosol medium that cross-projects with the projection structure to produce an image. The track-moving structure consists of a track and a moving structure. The moving structure includes a drive base and a fixed base. The drive base is equipped with a drive motor, and the fixed base is equipped with a fogging structure. The robotic arm is connected to the lower part of the fixed base. This utility model has the following advantages: the robotic arm has a simple structure, moves freely, and carries the projection device and imaging screen device to achieve free movement of the image. Compared with traditional projection methods, the virtual imaging effect is more flexible and novel.

Description

Technical Field

[0001] This utility model relates to the field of projection imaging products, and specifically to a novel projection imaging moving structure. Background Technology

[0002] Existing projection imaging and related display technologies are not spatially movable, and even those that are movable are bulky. Therefore, the interaction between projected images and people is limited to static or rigid display methods. With societal progress, the limitations of these single-function displays have become increasingly apparent. Based on this, this invention designs a mobile projection spray imaging structure to solve the aforementioned problems. Utility Model Content

[0003] Technical problem to be solved: In view of the above-mentioned shortcomings of the existing technology, the present invention provides a robotic arm imaging structure.

[0004] A mobile robotic arm imaging structure includes a robotic arm, a track-moving structure, an imaging screen structure, and a projection device. The robotic arm is a long strip structure composed of a single axis or multiple axes, used to carry the projection device and the imaging screen device. The robotic arm includes a rotating base and a fixed arm; the rotating base is connected to the fixed arm and can drive the fixed arm to rotate. The imaging screen structure includes a fogging structure and a spraying structure. The spraying structure is located at one end of the lower fixed arm. The structure of the spraying structure that generates the projection medium intersects with the projection structure to generate an image. The track-moving structure consists of a track and a moving structure. The moving structure includes a drive base and a fixed base. The drive base is equipped with a drive motor, and the fixed base is equipped with a fogging structure. The robotic arm is connected to the lower part of the fixed base.

[0005] Furthermore, the track moving structure is a double-track structure with two parallel tracks. An anti-slip track is provided above the tracks, and the anti-slip track contacts the drive wheel driven by the drive motor on the drive seat. The slide rail below the tracks is connected to the slider on the fixed seat. The fixed seat is located between the two tracks and connects the left and right tracks. The drive seat is located above the fixed seat. Several tension spring positioning structures are provided between the fixed seat and the drive seat to tighten and position the track. Thus, the movement of the drive wheel drives the entire moving structure to move back and forth along the double-track structure. The tension spring positioning structure includes tension springs that can be separated or combined with positioning columns or fixers. Thus, while tightening the track vertically, the positioning columns enable the fixed seat to be movably connected to the drive seat.

[0006] Furthermore, the fogging structure includes a water tank and a fogger. The water tank is located on a fixed base in the middle of the two tracks. A fog outlet is provided on one side of the water tank. The fog outlet of the fogging structure is connected to the spray structure through a fog pipe. The rotating base has a central through hole in the middle. The rotating base drives the fixed arm below to rotate around the central through hole. The fog pipe passes through the central through hole of the rotating base and enters the fixed arm below.

[0007] A movable joint is provided between the mist outlet and the mist pipe. The movable joint is connected to the mist pipe below, and the connection between the movable joint and the mist outlet is rotatable.

[0008] Furthermore, a fogger is installed on one side of the bottom inside the water tank. The fogger is an atomizing plate that generates aerosol mist particles through ultrasonic atomization. A mist outlet is provided on one side of the upper part of the water tank. A water-blocking layer is provided between the water tank and the mist outlet. The water-blocking layer has a loose and porous three-dimensional structure. A fan is installed above the water tank. The wind pressure forces the mist particles through the water-blocking layer and sprays them out from the mist outlet, while larger water particles are filtered out by the water-blocking layer.

[0009] The movable joint is equipped with a U-shaped water trough on the outside. The upper mist outlet pipe wall is inserted into the U-shaped water trough of the movable joint, and a certain gap is left between them. The water in the water trough is used to seal the gap between them, and does not affect the rotation of the lower mist pipe. The outer edge of the water trough is higher than the inner edge, so that excess water flows back into the mist pipe. Alternatively, a drain outlet is provided on the inner edge to drain excess water and prevent water from overflowing.

[0010] Furthermore, the fogging structure includes a water replenishment structure, which is equipped with a water inlet and a contact switch. The water inlet is a tubular structure located on a track and is connected to an external water source. The water tank is equipped with a mating interface that can be moved and paired with the water inlet along the same moving path. The mating interface is located above the water tank and is conical for easy docking and insertion. A sensor is installed inside the water tank to monitor the water level, so that when the contact switch is turned on, it determines whether to replenish water based on the internal water level.

[0011] Furthermore, the fogging structure also includes an auxiliary water tank, which is separated from the main water tank and connected to the main water tank by a pipe. The pipe is equipped with a switch, so that when the main water tank is short of water, the auxiliary water tank can replenish the main water tank.

[0012] Furthermore, the mist pipe also includes a water suction pipe, which is connected to a water pump. The water pump is connected to the water tank of the mist-generating structure. The water suction pipe is located inside the mist pipe, and a part of the mist pipe is fixed inside the fixed arm. A drain outlet or a water suction outlet is provided at the lowest point of the horizontal plane of the mist pipe. The water suction pipe is connected to the drain outlet or the water suction outlet. The water pump draws water and returns excess water to the water tank through the water suction pipe, thereby forming a water recycling system.

[0013] Furthermore, the mist pipe located inside the fixed arm is flat, thus fitting inside the fixed arm and extending to the spray structure. The mist pipe has a branched structure, with at least two branch pipes respectively connecting to the left and right ends of the middle mist channel of the spray structure. The spray structure includes a middle mist channel and two side air channels. The middle mist channel is provided with a mist outlet. The side plates of the middle mist channel are inclined downwards, and the long strip mist outlet is located at the bottom of the middle mist channel. The cross-sectional area of ​​the mist pipe from top to bottom is greater than or equal to the cross-sectional area of ​​the mist outlet.

[0014] Furthermore, the projection structure is located inside the other end of the lower fixed arm. The front end of the light outlet of the projection structure is connected to the flip-top structure. The flip-top structure is rotated by a motor. A reflector is provided on the inside of the flip-top structure. Opening the flip-top structure can reflect the projection structure, and closing the flip-top structure can block the light outlet of the projection structure.

[0015] Furthermore, the bottom fixed arm is equipped with an extension arm, and an upper slide rail is provided between the extension arm and the fixed arm. The extension arm connects to the projection structure and can extend the distance between the projection structure and the imaging screen.

[0016] Furthermore, limit baffles are provided at both ends of the track, sensors are provided on both sides of the moving structure, and a camera is provided at the front end of the spray structure of the lowest fixed arm for detecting distance and sensing human body; the drive motor of the robotic arm is located on the uppermost fixed arm, and a gear disk is provided on the rotating seat, the gear disk is connected to a belt, and a drive motor on one side is connected to the belt to drive the rotating seat to rotate; a hoisting frame and a linear rail are provided at both ends of the track, the lower end of the hoisting frame is connected to the outside of the track, and a long L-shaped linear rail is fixed on the inside of the hoisting frame, with a built-in tank chain for placing conduits, etc.

[0017] The present invention has the following advantages: the robotic arm has a simple structure, moves freely, and is equipped with a projection device and an imaging screen to realize the free movement of images. Compared with the traditional projection method, the virtual imaging effect is more flexible and novel. Attached Figure Description

[0018] Figure 1 This is a side view of an imaging structure for a dual-axis robotic arm.

[0019] Figure 2 This is a view of the other side of a dual-axis robotic arm imaging structure after it has turned.

[0020] Figure 3 This is a diagram of a fogging structure in an imaging system for a robotic arm.

[0021] Figure 4 This is a top view of a dual-axis robotic arm imaging structure.

[0022] Figure 5 This is a diagram of the imaging structure of a single-axis robotic arm.

[0023] Figure 6 This is an imaging structure diagram of another single-axis robotic arm.

[0024] Figure 7 This is a diagram of another embodiment of a robotic arm.

[0025] Figure 8 This is a stereoscopic view of the imaging structure of a dual-axis robotic arm.

[0026] Explanation of reference numerals in the attached drawings: Robotic arm 1, Rotary seat 11, Central through hole 110, Fixed arm 12, Extension arm 121, Slide rail 122, Track moving structure 2, Track 21, Moving structure 22, Lifting frame 211, Drive wheel 212, Linear rail 213, Drive seat 221, Fixed seat 222, Slider 214, Tension spring positioning structure 215, Sensor 216, Camera 217, Imaging screen structure 3, Fog-making structure 31, Sprayer Fog structure 32, fog pipe 33, water tank 311, fog generator 312, fog outlet 313, movable joint 314, water barrier 315, water inlet 316, interface 317, sensor 318, U-shaped groove 319, auxiliary water tank 320, middle fog channel 321, side air channels 322, fog outlet 323, water suction pipe 331, water suction port 332, drain port 333, projection equipment 4, reflector 41, flip cover structure 42. Detailed Implementation

[0027] Example 1: As Figure 1 As shown, a mobile robotic arm imaging structure includes a robotic arm 1, a track moving structure 2, an imaging screen structure 3, and a projection device 4. The track moving structure 2 consists of a track 21 and a moving structure 22. The moving structure 22 includes a drive base 221 and a fixed base 222. A drive motor is provided on the drive base 221. The moving structure 22 is connected to the robotic arm 1.

[0028] like Figure 2 As shown, the track moving structure 2 is a double-track structure with two parallel tracks 21. An anti-slip track is provided above the tracks 21, and the anti-slip track contacts the drive wheel 212 driven by the drive motor on the drive seat 221. The slide rail below the tracks 21 is connected to the slider 214 above the fixed seat 222. The fixed seat 222 is located between the two tracks 21 and connects the tracks 21 on the left and right sides. When the drive seat 221 is located above the fixed seat 222, multiple tension spring positioning structures 215 are provided between the fixed seat 222 and the drive seat 221. While the tension spring positioning structures 215 are elastically tightened up and down, a positioning post is provided in the middle to achieve positioning connection. The tension of the fixed seat 222 connects the lower robotic arm 1 and the tension spring positioning structure 215, so that the upper drive wheel 212 is in close contact with the track. Thus, the drive wheel 212 moves, driving the entire moving structure 22 to move back and forth along the double-track structure 21.

[0029] The transmission scheme can also be other alternatives. A rack is provided above the track 21, and the drive wheel 212 is a gear structure. The gear is connected to the rack, so that the entire moving structure 22 moves back and forth along the double track structure 21 through the movement of the drive wheel 212. In this structure, the tension spring positioning structure 215 only serves a positioning function.

[0030] Alternatively, the drive seat 221 and the fixed seat 222 can be reversed, or the drive seat 221 can be placed externally on the track 21, and the fixed seat 222 can be moved freely along the track 21 by belt transmission.

[0031] The robotic arm 1 is connected below the fixed base 222. The robotic arm 1 is composed of a two-axis long strip structure and is used to carry the projection device 4 and the imaging screen structure 3. The robotic arm 1 includes a rotating base 11 and a fixed arm 12. The fixed arm 12 is a double long strip structure with a connecting strip between the two long strips. The upper rotating base 11 is connected to one long strip of the lower fixed arm 12, and the lower rotating base 11 is connected to the other long strip of the fixed arm 12. The spray structure 32 is located at one end of the other long strip at the bottom of the fixed arm 12. The structure of the spray structure 32 generates the projection medium and intersects with the projection device 4 to generate an image.

[0032] Example 2: As Figure 1 Figure 2 and Figure 3 and Figure 8 As shown, a mobile robotic arm imaging structure includes a fogging structure 31 comprising a water tank 311 and a fogger 312. The water tank 311 is mounted on a fixed base 222 located between two tracks 21. A fog outlet 313 is provided on one side of the water tank 311. The fog outlet 313 of the fogging structure 31 is connected to a spray structure 32 via a fog pipe 33. A central through hole 110 is provided in the middle of the rotating base 11. The rotating base 11 drives the lower fixed arm 12 to rotate around the central through hole 110. The central through hole has a diameter of 50 mm or more. The fog pipe 33 passes through the central through hole 110 of the rotating base 11 and enters the lower fixed arm 12.

[0033] An external water supply pipe connects to a water tank 311. A mist generator 312 is located at the bottom of the water tank 311. The mist generator 312 is an atomizing plate that generates mist particles via ultrasonic waves. A mist outlet 313 is located on one side of the upper part of the water tank 311. A water-blocking layer 315, which is a sponge structure, is located between the water tank 311 and the mist outlet 313. A fan is located above the water tank 311. A movable joint 314 connects the mist outlet 313 and the mist pipe 33 below. The movable joint 314 and the mist outlet 313 are rotatably connected. The mist generator 312 atomizes to produce aerosol mist particles. The fan blows the mist particles toward the mist outlet 313. When the mist particles pass through the water-blocking layer 315, the sponge filters out excess liquid droplets and returns them to the water tank. The aerosol mist particles enter the mist tube 33 after passing through the mist outlet 313. The diameter of the mist tube 33 is generally above 50mm, which can effectively ensure that the mist tube 33 can output enough aerosol mist particles to the spray structure 32.

[0034] The movable joint 314 is provided with a U-shaped water trough 319 on the outside. The upper mist outlet 313 is inserted into the U-shaped water trough 319 of the movable joint 314, with a certain gap between them. The outer side of the U-shaped water trough 319 is higher than the inner side, or a drain outlet is provided on the inner side. When the mist passes through the movable joint 314, the condensate accumulated, causing a small amount of water to remain in the U-shaped trough 319. The water can effectively activate the sealing function to prevent air leakage. As the fixed arm 12 below drives the mist pipe 33 to rotate and move, the movable joint 314 can ensure that the mist pipe 33 can rotate freely. At the same time, when the internal mist accumulates for a long time and forms water droplets, resulting in a lot of water in the U-shaped trough 319, the excess water flows back to the lower mist pipe 33 due to the lower part of the inner wall and will not overflow from the outer wall.

[0035] like Figure 1 As shown, the mist pipe 33 also includes a water suction pipe 331, which is connected to a water pump. The water pump is connected to the mist-making structure 31, which is preferably a mist-making water tank. Part of the water suction pipe 331 is located inside the mist pipe 33, and a portion of the mist pipe 33 is fixed inside the fixed arm 12. The mist pipe 33 has a water intake port 332 at the lowest horizontal position inside the fixed arm 12. The water suction pipe 331 is connected to the water intake port 332. The water pump draws water and returns excess water to the mist-making structure 31 through the water suction pipe 331, thereby recycling the water.

[0036] The mist pipe 33 delivers aerosol mist particles to the spray structure 32, where they are shaped and then sprayed out, forming a flowing aerosol mist cloth that can be imaged in the air. The image is then generated by rear projection through the projection device 4.

[0037] Example 3: As Figure 5 As shown, a mobile robotic arm imaging structure includes a fogging structure 31 comprising a water replenishment structure. The water replenishment structure is provided with a water inlet 316 and a contact switch. A connection interface 317 is provided on the water tank 311 at a position corresponding to the moving trajectory. The connection interface 317 is located above the water tank 311. A water level sensor 318 is provided inside the water tank for monitoring the water replenishment level.

[0038] The water inlet 316 and the connecting port 317 are interlocking structures, one being a conical tube that can be inserted into the other. The water inlet 316 is a tubular structure and is located at one end of the track 21. The water inlet 316 is connected to an external water source.

[0039] The interface 317 is equipped with a sealing gasket. The interface 317 is connected to the bottom of the water tank through a pipe. When the track moving structure 2 drives the imaging screen structure 3 to move to one side of the track 21, the water inlet 316 connects to the interface 317 and triggers the contact switch. When the water level sensor 318 detects that the water level is lower than the set value, it automatically replenishes water to the water tank 311.

[0040] like Figure 3As shown, when an auxiliary water tank 320 is also provided, its water replenishment structure prioritizes filling the auxiliary water tank 320 with water. An isolation is provided between the auxiliary water tank 320 and the main water tank 311, and a pipe is provided to connect to the main water tank 311. The pipe is connected to a water pump or is equipped with a switch. When the main water tank 31 is short of water, the auxiliary water tank 320 replenishes the main water tank 31 with water, thereby ensuring that the working water level of the atomizing plate 312 meets the requirements. The auxiliary water tank 320 can store more backup water, thereby reducing the volume of the fogging structure 31.

[0041] The fog-generating structure 31 generates aerosol fog particles, which enter the fog pipe 33 through the fog outlet 313 of the water tank 311. A movable joint 314 is provided between the fog outlet 313 and the lower fog pipe 33. The movable joint 314 is provided with a sealing ring and a groove. The sealing ring is located in the groove and contacts the upper and lower pipe walls to activate the sealing function.

[0042] like Figure 2 As shown, the mist pipe 33 also includes a water suction pipe 331, which is connected to a water pump. The water pump is connected to a water tank 311. A part of the mist pipe 33 is fixed inside the fixed arm 12. A drain outlet 333 is provided at the lowest point of the horizontal plane of the mist pipe 33. The water pump is connected to the drain outlet 333 to draw water and return excess water to the water tank 311 through the water suction pipe 331, thereby forming a water recycling system.

[0043] like Figure 1 and Figure 4 and Figure 8 As shown, the mist pipe 33 located within the fixed arm 12 is flat and extends to the spray structure 32. The mist pipe 33 has a bifurcated structure, with at least two branch pipes connecting to the left and right ends of the middle mist channel 321 of the spray structure 32. The spray structure 32 includes the middle mist channel 321 and two side air channels 322. The middle mist channel 321 is provided with a mist outlet 323. The two side plates of the middle mist channel are inclined downwards at an angle of 60-80 degrees. The elongated mist outlet 323 is located at the bottom of the middle mist channel 321. The width of the mist outlet 323 is more than 5mm. The cross-sectional dimension of the mist pipe 33 from top to bottom is greater than or equal to the size of the mist outlet 323, thereby ensuring the total number of aerosol imaging mist particles transmitted. The mist is sprayed outwards through the spray structure 32 to form an imaging fog screen. The concentration of aerosol mist particles can ensure the effect of projection imaging.

[0044] Example 4: Figure 5 and Figure 6 As shown, the robotic arm structure 1 is a single-arm structure. The fixed base connects the rotating base 11 below and the fixed arm 12. One side of the fixed arm 12 is connected to the spray structure 32, and the other side of the fixed arm 12 is provided with an extension arm 121. An upper slide rail 122 is provided between the extension arm 121 and the fixed arm 12. The extension arm 121 is connected to the projection device 4, and the extension arm 121 can extend the distance between the projection device 4 and the imaging screen.

[0045] The track 21 has limit baffles 218 at both ends, the moving structure 22 has sensors 216 on both sides, the spray structure 32 of the lowest fixed arm 12 has a camera 217 at the front end, the drive motor on the robotic arm 1 is located on the uppermost fixed arm 12, the rotating seat 11 has a gear disk, the gear disk is connected to a belt, and the belt is connected to a drive motor on one side to drive the rotation.

[0046] When the robotic arm 1 is moved by the moving structure 22, the limiting plates 218 on both sides and the sensor 216 limit the forward and backward range of the robotic arm 1. When the camera 217 at the front captures and recognizes a person, the controller starts the drive seat 221 to move the entire robotic arm. At the same time, the rotating seat 11 also adjusts the rotation angle according to the setting to control the direction of the fixed arm 12 below, so that the image generated by the spray structure 32 and the projection device 4 can be moved to the required position.

[0047] like Figure 6 and Figure 2 As shown: The track 21 is equipped with a hoisting frame 211 and a linear rail 213 at both ends. The lower end of the hoisting frame 211 is connected to the outside of the track 21. The inner side of the hoisting frame 211 is fixed with a long L-shaped linear rail 213, and a built-in tank chain is used to install conduits, etc.

[0048] like Figure 6 As shown, the projection device 4 is mounted on the fixed arm 12. The front end of the light output hole of the projection device 4 is connected to the flip cover structure 42. The flip cover structure 42 is rotated by a motor. A reflector 41 is provided on the inner side of the flip cover structure 42. Opening the flip cover structure 42 can reflect the projection device 4, and closing the flip cover structure 42 can block the light output hole of the projection device 4, thereby preventing dust from entering.

[0049] Example 5: Figure 7 As shown, the robotic arm 1 consists of a rotating base 11 and several fixed arms 12. The rotating base 11 is connected to several fixed arms 12. A spray structure 32 is fixed to one end of the outer side of the first fixed arm 12, and a projection device 4 is fixed to the outer side of the second fixed arm. The projection device 4 and the spray structure 32 are not on the same fixed arm 12, but as the rotating base 11 moves, the fixed arm 12 drives the projection device 4 and the spray structure 32 to move to the same projection intersection imaging position, so that they meet the same rear projection effect. The implementation scheme is equivalent to the effect of the same fixed arm 12 in the above embodiment.

[0050] In this application, the water inlet 316 and the mating interface 317 are on the same moving position path and are interchangeable male and female concave and convex docking structures.

[0051] In this application, the water-blocking layer 315 is preferably a loose and porous three-dimensional structure.

[0052] The above embodiments are merely preferred technical solutions of this utility model and should not be considered as limitations on this utility model. The protection scope of this utility model should be the technical solution described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the protection scope of this utility model.

Claims

1. A mobile robotic arm imaging structure, comprising a robotic arm (1), a track-moving structure (2), an imaging screen structure (3), and a projection device (4), characterized in that: The robotic arm (1) is a long strip structure composed of a single axis or multiple axes, used to carry the projection device (4) and the imaging screen structure (3). The robotic arm (1) includes a rotating seat (11) and a fixed arm (12). The rotating seat (11) is connected to the fixed arm (12) and can make the fixed arm (12) rotate. The imaging screen structure (3) includes a fogging structure (31) and a spraying structure (32). The spraying structure (32) is located at one end of the lower fixed arm (12). The structure of the spraying structure (32) generates the projection medium and intersects with the projection device (4) to generate an image. The track moving structure (2) is composed of a track (21) and a moving structure (22). The moving structure (22) includes a drive seat (221) and a fixed seat (222). The drive seat (221) is equipped with a drive motor. The fixed seat (222) is equipped with a fogging structure (31). The robotic arm (1) is connected to the bottom of the fixed seat (222).

2. The imaging structure for a mobile robotic arm according to claim 1, characterized in that: The track moving structure (2) is a double-track structure with two parallel tracks (21). A track is provided above the track (21). The track is in contact with the drive wheel (212) driven by the drive motor on the drive seat (221). The slide rail below the track (21) is connected to the slider (214) on the fixed seat (222). The fixed seat (222) is located between the two tracks (21) and connects the left and right tracks (21). The drive seat (221) is located above the fixed seat (222). Several tension spring positioning structures (215) are provided between the fixed seat (222) and the drive seat (221) to tighten and position the connection. Thus, the entire moving structure (22) moves back and forth along the track (21) by the movement of the drive wheel (212). The tension spring positioning structure (215) includes a tension spring and a positioning column that can be separated or combined.

3. The imaging structure for a mobile robotic arm according to claim 1 or claim 2, characterized in that: The fogging structure (31) includes a water tank (311) and a fogger (312). The water tank (311) is located on a fixed seat (222) in the middle of two tracks (21). A fog outlet (313) is left on one side of the water tank (311). The fog outlet (313) of the fogging structure (31) is connected to the spray structure (32) through a fog pipe (33). The rotating seat (11) has a central through hole (110) in the middle. The rotating seat (11) drives the lower fixed arm (12) to rotate around the central through hole (110). The fog pipe (33) passes through the central through hole (110) of the rotating seat (11) and enters the lower fixed arm (12). A movable joint (314) is provided between the mist outlet (313) and the mist pipe (33). The movable joint (314) is connected to the lower mist pipe (33), and the movable joint (314) and the mist outlet (313) are rotatably connected.

4. The imaging structure for a mobile robotic arm according to claim 3, characterized in that: The bottom of the water tank (311) is provided with a fogger (312), and a fog outlet (313) is provided on one side of the upper part of the water tank (311). A water baffle (315) is provided between the water tank (311) and the fog outlet (313), and a fan is provided above the water tank (311). The movable joint (314) is provided with a U-shaped water trough (319) on the outside. The wall of the mist outlet (313) above is inserted into the U-shaped water trough (319) of the movable joint (314) and a certain gap is left between it and the U-shaped water trough (319). The water in the water trough (319) is used to seal the gap between the two, and does not affect the rotation of the mist pipe (33). The outer edge of the water trough (319) is higher than the inner edge.

5. The imaging structure for a mobile robotic arm according to claim 3, characterized in that: The fogging structure (31) includes a water replenishment structure. The water replenishment structure is equipped with a water inlet (316) and a contact switch. The water inlet (316) is a tubular structure located on the track (21). The water inlet (316) is connected to an external water source. The water tank (311) is equipped with a movable mating interface (317). The mating interface (317) is located above the water tank. The water tank (311) is equipped with a sensor (318). The sensor (318) is used to monitor the water replenishment level. Therefore, when the contact switch is turned on, it is determined whether to replenish water based on the internal water level.

6. The imaging structure for a mobile robotic arm according to claim 5, characterized in that: The fogging structure (31) also includes an auxiliary water tank (320). The auxiliary water tank (320) is separated from the water tank (311) and is connected to the water tank (311) by a pipe. The pipe is equipped with a switch. When the water tank (311) is short of water, the auxiliary water tank (320) replenishes the water tank (311) with water.

7. The imaging structure for a mobile robotic arm according to claim 3, characterized in that: The mist pipe (33) also includes a water suction pipe (331), which is connected to a water pump. The water pump is connected to the mist-making structure (31). A part of the mist pipe (33) is fixed inside the fixed arm (12). A drain outlet (333) is provided at the lowest horizontal position of the mist pipe (33). The water suction pipe (331) is connected to the drain outlet (333). The water pump draws water and returns excess water to the water tank (311) through the water suction pipe (331), thereby forming a water recycling system.

8. The imaging structure for a mobile robotic arm according to claim 7, characterized in that: The mist pipe (33) located in the fixed arm (12) is flat and extends to the spray structure (32). The mist pipe (33) is a branched structure, with at least two branch pipes connecting to the left and right ends of the middle mist channel (321) of the spray structure (32). The spray structure (32) includes the middle mist channel (321) and the two side air channels (322). The middle mist channel (321) is provided with a mist outlet (323). The two side plates of the middle mist channel are inclined downward. The long strip mist outlet (323) is located at the bottom of the middle mist channel (321). The cross-sectional area of ​​the mist pipe (33) from top to bottom is greater than or equal to the cross-sectional area of ​​the mist outlet (323).

9. The imaging structure for a mobile robotic arm according to claim 1, characterized in that: The projection device (4) is located inside the other end of the lower fixed arm (12). The front end of the light outlet of the projection device (4) is connected to the flip cover structure (42). The flip cover structure (42) can be rotated by a motor. The flip cover structure (42) is provided with a reflector (41) inside. When the flip cover structure (42) is closed, it blocks the light outlet of the projection device (4). When the flip cover structure (42) is opened, it can reflect the projection device (4).

10. The imaging structure for a mobile robotic arm according to claim 1, characterized in that: The track (21) is provided with limit baffles (218) at both ends, and the moving structure (22) is provided with sensors (216) on both sides. The spray structure (32) of the lowest fixed arm (12) is provided with a camera (217) at the front end, which is used to detect distance and sense human body. The drive motor on the robotic arm (1) is located on the uppermost fixed arm (12). The rotating seat (11) is provided with a gear disk, which is connected to a belt. The belt is connected to a drive motor on one side to drive rotation. The track (21) is provided with a hoisting frame (211) and a linear rail (213) at both ends. The lower end of the hoisting frame (211) is connected to the outside of the track (21), and the inner side of the hoisting frame (211) is fixed with a long L-shaped linear rail (213) with a built-in tank chain.

Images