CN109481708A - A kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms - Google Patents
A kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms Download PDFInfo
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- CN109481708A CN109481708A CN201811294330.0A CN201811294330A CN109481708A CN 109481708 A CN109481708 A CN 109481708A CN 201811294330 A CN201811294330 A CN 201811294330A CN 109481708 A CN109481708 A CN 109481708A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 82
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 claims abstract description 37
- 210000000323 shoulder joint Anatomy 0.000 claims description 141
- 210000002310 elbow joint Anatomy 0.000 claims description 136
- 210000003857 wrist joint Anatomy 0.000 claims description 130
- 238000005096 rolling process Methods 0.000 claims description 77
- 230000009467 reduction Effects 0.000 claims description 34
- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 230000000712 assembly Effects 0.000 claims description 24
- 238000000429 assembly Methods 0.000 claims description 24
- 210000000707 wrist Anatomy 0.000 claims description 17
- 210000000245 forearm Anatomy 0.000 claims description 13
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 229910052744 lithium Inorganic materials 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 5
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 claims description 3
- 229910052753 mercury Inorganic materials 0.000 claims description 3
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- 230000003287 optical effect Effects 0.000 claims description 2
- 230000000930 thermomechanical effect Effects 0.000 claims 1
- 230000003993 interaction Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 description 8
- 241000894006 Bacteria Species 0.000 description 7
- 230000001954 sterilising effect Effects 0.000 description 7
- 238000006385 ozonation reaction Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000009408 flooring Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 102000004190 Enzymes Human genes 0.000 description 1
- 108090000790 Enzymes Proteins 0.000 description 1
- WQZGKKKJIJFFOK-GASJEMHNSA-N Glucose Natural products OC[C@H]1OC(O)[C@H](O)[C@@H](O)[C@@H]1O WQZGKKKJIJFFOK-GASJEMHNSA-N 0.000 description 1
- 102000004895 Lipoproteins Human genes 0.000 description 1
- 108090001030 Lipoproteins Proteins 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
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- 238000009395 breeding Methods 0.000 description 1
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- 238000007906 compression Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
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- 239000002158 endotoxin Substances 0.000 description 1
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- 230000002779 inactivation Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/20—Gaseous substances, e.g. vapours
- A61L2/202—Ozone
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultraviolet radiation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/20—Targets to be treated
- A61L2202/25—Rooms in buildings, passenger compartments
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms, the interior wheel type mobile disinfection robot includes main body mechanism and mechanical arm mechanism, and one the first from left of mechanical arm mechanism is connected to the two sides of main body mechanism rightly.The wherein setting of main body mechanism middle-ultraviolet lamp generation device and ozone generating apparatus provides three kinds of disinfection way for disinfection robot, Disinfection Effect is made to be significantly improved；Main body mechanism uses wheeled mobile platform, so that disinfection robot is run smoothly, noise is low；Sense control assembly between mutual cooperation, make the indoor moving disinfection robot can contexture by self obstacle detouring, avoidance route；When encountering special circumstances, which can inform that user, user can understand robot operating condition by mobile terminal App in various ways, the operation of disinfection robot can also be controlled by App and remote control panel, man-machine interaction is strong.
Description
Technical field
The invention belongs to intellect service robot fields, in particular to a kind of indoor wheel with six shaft mechanical arms
Formula moves disinfection robot.
Background technique
Public place densely populated place and mobility is big provides good medium for disseminating for various etiologies.It is especially right
In medical spaces such as hospital, commune hospitals, all kinds of infectiousness pathogenies are more concentrated, if environment disinfected, which is not thorough, will cause huge society
It can endanger.Currently, flooring disinfection is typically by being accomplished manually, and it is not only time-consuming and laborious, and the timeliness sterilized is difficult to
Guarantee.The present invention solves the automation sterilization problems of flooring by means of mobile robot technology, opens up for mobile robot
One completely new application field.
In existing disinfection robot, most of only to can be carried out ozonization, disinfection way is too single, leads to Disinfection Effect
It is undesirable, innocuousness, noresidue and the requirement without secondary pollution of flooring disinfection is not achieved.Meanwhile most sterilizing machine
The intelligence degree of device people is lower, and man-machine interaction is poor, often stops operating or stuck, needs after obstacle is encountered in operation
Artificial assistance is removed obstacles, and is caused disinfection efficiency low and is increased the working strength of detoxicating personnel.
Summary of the invention
In order to overcome, disinfection way is single, intelligence degree is low and man-machine interaction is poor in existing disinfection robot technology
The deficiencies of, the present invention provides a kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms, the interior wheel type mobiles
Disinfection robot disinfection way multiplicity, intelligent and high degree of automation, and man-machine interaction is good.
Correspondingly, the embodiment of the invention provides a kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms,
The interior wheel type mobile disinfection robot includes including main body mechanism and mechanical arm mechanism, and described one the first from left of mechanical arm mechanism is rightly
It is connected to the two sides of main body mechanism；
The main body mechanism includes wheel moving platform module and box module, and the box module is fastened on wheeled
The top of mobile platform module；
The mechanical arm mechanism includes shoulder joint component, large arm structural member, wrist assembly, forearm structure part and wrist joint
Component, so shoulder joint component, large arm structural member, wrist assembly, forearm structure part and wrist joint component are sequentially connected in series
It is connect afterwards with main body mechanism.
Optional embodiment, the mobile platform module of the main body mechanism include the knockdown inner skeleton of three layer flat plate
With the outer side dam assemblies that inner skeleton surrounding is arranged in；
The inner skeleton includes bottom plate, intermediate plate and top plate, is provided with body chassis and ultraviolet light below the bottom plate
Generation device, the bottom plate top are provided with charging unit, industrial personal computer and driver, lithium electricity are provided with above the intermediate plate
Pond, laser radar component and laser radar baffle, the top plate top are provided with operation panel；
The outer side dam assemblies include outside baffle arrangement and be embedded in outside baffle arrangement on annular indicator light with
And sensor module；The outside baffle arrangement is enclosed by top front apron, lower part front apron, right baffle-plate, right shell body and rear baffle
Around composition, connected between the top front apron, lower part front apron, rear baffle and left baffle and right baffle by L shape connector
And it is fixed on bottom plate and intermediate plate.
Optional embodiment, the box module of the main body mechanism include box assembly and are arranged in box assembly
Ozone generating apparatus；
The box assembly includes cabinet, top cover and loudspeaker, and the surface of the cabinet is arranged in the top cover, described
Loudspeaker is arranged on the side of the cabinet；
The ozone generating apparatus includes air inlet shield, air pump air inlet pipe, centrifugal air pump, air pump discharge pipe, ozone
Generator and ozone exhaust pipe, the air inlet shield are arranged on box assembly, the air pump air inlet pipe, centrifugal air pump,
Air pump discharge pipe and ozone generator are sequentially connected；The ozone generator is arranged on the top plate, and the ozone generated is logical
Cross the space that ozone exhaust pipe is discharged to below bottom plate.
Optional embodiment, the body chassis include universal wheel component, universal wheel fixing seat, drive wheel assemblies and drive
Driving wheel independent suspension device；
The drive wheel assemblies are integrated assemblies, and wheel hub, wheel shaft, DC servo motor and photoelectricity are compiled in drive wheel assemblies
Code device integrated form installation is integrated；The drive wheel assemblies are driven by the way of two-wheel differential.
Optional embodiment, which is characterized in that the sensor module includes ultrasonic sensor and dropproof sensing
Device, the ultrasonic sensor are arranged on lower part front apron and rear baffle, and the dropproof sensor is arranged in lower part front
The middle position of plate and rear baffle lower edge；
The ultraviolet beam generating apparatus generates short wave ultraviolet by low pressure mercury lamp；
The charging unit is connected with the lithium battery, and the lithium battery provides for indoor wheel type mobile disinfection robot
24V DC power supply.
Scram button, start button, stop button and disinfection mode knob are provided on the operation panel.
Optional embodiment, the shoulder joint component of the mechanical arm mechanism include shoulder joint tilting component, shoulder joint nodule
Component and shoulder joint deflection component, the shoulder joint tilting component are connected with shoulder joint structural member, the shoulder joint beat
Component is arranged inside shoulder joint structural member, and the shoulder joint deflection component is connected with large arm structural member；
The wrist assembly of the mechanical arm mechanism includes that elbow joint rolling component, elbow joint structure part and elbow joint are bowed
Component is faced upward, the elbow joint rolling component is connected with large arm structural member, the elbow joint rolling component and elbow joint structure part
It is connected, the elbow joint tilting component is arranged inside elbow joint structure part, the elbow joint structure part and forearm structure part
It is connected；
The wrist joint component of the mechanical arm mechanism includes wrist joint rolling component, wrist joint structure part, wrist joint pitching
Component and executive module, the wrist joint rolling component are connected with forearm structure part, the wrist joint rolling component and wrist
Joint structure part is connected, and the wrist joint tilting component is arranged inside wrist joint structure part, the executive module with it is described
Wrist joint structure part is connected.
Optional embodiment, the shoulder joint tilting component include shoulder joint pitching DC servo motor component and shoulder joint
Save pitching harmonic reduction device assembly；The shoulder joint deflection component includes shoulder joint beat DC servo motor component, shoulder joint
Beat Spur Gear Driving component, shoulder joint beat harmonic reduction device assembly and shoulder joint rotating assembly；
The shoulder joint pitching DC servo motor component includes sequentially connected shoulder joint pitching photoelectric encoder, shoulder joint
Save pitching DC servo motor and shoulder joint pitching planetary reducer；
The shoulder joint beat DC servo motor component includes sequentially connected shoulder joint beat photoelectric encoder, shoulder joint
Save beat DC servo motor and shoulder joint beat planetary reducer；
The shoulder joint pitching harmonic reduction device assembly includes sequentially connected shoulder joint pitching wave producer and shoulder joint
Pitching firm gear, shoulder joint pitching flexbile gear；
The shoulder joint beat harmonic reduction device assembly includes that sequentially connected shoulder joint beat wave producer, shoulder joint are inclined
Put firm gear and shoulder joint beat flexbile gear；
The shoulder joint beat Spur Gear Driving component includes intermeshing shoulder joint beat active spur gear and shoulder joint
Save the driven spur gear of beat；
The shoulder joint rotating assembly is made of shoulder joint shaft, shoulder joint rolling bearing and shoulder joint bearing (ball) cover.
Optional embodiment, the elbow joint rolling component include that elbow joint rolling DC servo motor component and elbow close
Save rolling harmonic reduction device assembly；The elbow joint structure part includes the second structural member of elbow joint first structure part and elbow joint；
The elbow joint tilting component includes elbow joint pitching DC servo motor component, elbow joint pitching Spur Gear Driving component, elbow
Joint harmonic reduction device assembly and elbow joint rotating assembly；
The elbow joint pitching DC servo motor component includes sequentially connected elbow joint pitching photoelectric encoder, elbow pass
Save pitching DC servo motor and elbow joint pitching planetary reducer；
The elbow joint rolling harmonic reduction device assembly includes sequentially connected elbow joint rolling wave producer, elbow joint rolling
Turn firm gear and elbow joint rolling flexbile gear；
The elbow joint pitching harmonic reduction device assembly includes that sequentially connected elbow joint pitching wave producer, elbow joint are bowed
Face upward firm gear and elbow joint pitching flexbile gear；
The elbow joint pitching Spur Gear Driving component includes that intermeshing elbow joint pitching active spur gear and elbow close
Save the driven spur gear of pitching；
The elbow joint rotating assembly is made of elbow joint shaft, elbow joint rolling bearing and elbow joint bearing (ball) cover.
Optional embodiment, the wrist joint rolling component include that wrist joint rolling DC servo motor component and wrist close
Save rolling harmonic reduction device assembly；The wrist joint tilting component includes wrist joint pitching DC servo motor component, wrist joint
Pitching Spur Gear Driving component, wrist joint shaft coupling and wrist joint rotating assembly；
The wrist joint rolling DC servo motor component includes sequentially connected wrist joint rolling photoelectric encoder, wrist pass
Save rolling DC servo motor and wrist joint rolling planetary reducer；
The wrist joint pitching DC servo motor component includes sequentially connected wrist joint pitching photoelectric encoder, wrist pass
Save pitching DC servo motor and wrist joint pitching planetary reducer；
The wrist joint rolling harmonic reduction device assembly includes sequentially connected wrist joint rolling wave producer, wrist joint rolling
Turn firm gear and wrist joint rolling flexbile gear；
The wrist joint pitching Spur Gear Driving component includes that intermeshing wrist joint pitching active spur gear and wrist close
Save the driven spur gear of pitching；
The wrist joint component is made of wrist joint shaft, wrist joint rolling bearing and wrist joint bearing (ball) cover.
Optional embodiment, the mechanical arm mechanism are six shaft mechanical arms, freedom degree that there are six the mechanical arm mechanisms,
It is respectively as follows: shoulder joint pitch freedom, shoulder joint beat freedom degree, elbow joint roll freedom, elbow joint pitch freedom, wrist
Joint roll freedom and wrist joint pitch freedom；
Wherein, shoulder joint pitch freedom is first axle, and shoulder joint beat freedom degree is the second axis, and elbow joint rolling is free
Degree is third axis, and elbow joint pitch freedom is the 4th axis, and wrist joint roll freedom is the 5th axis, wrist joint pitch freedom
For the 6th axis.
The present invention provides a kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms, the interior wheel type mobiles
There are three types of the mode of disinfection, disinfection way multiplicity to significantly improve disinfection doggie for disinfection robot；User can be artificial by operation panel
Disinfection way is selected, disinfection way can also be selected by mobile terminal App；Its chassis system is wheeled mobile platform, operation
Steadily, noise is low；Sense control assembly between mutual cooperation, make the indoor moving disinfection robot can contexture by self get over
The route of barrier, avoidance.When encounter special circumstances such as barrier it is excessive can not obstacle detouring, avoidance when, disinfection robot can pass through sensual pleasure
Mode prompts user, while can communicate information to the mobile terminal APP of user, and user arrives in-situ processing after can receiving information.
When user can not arrive in time scene, mechanical arm mechanism can be enabled and remotely removed obstacles, the joint structure of the mechanical arm mechanism apery
Type can carry various apparatus for work, complete various movements, significantly reduce the labor intensity of cleanup crew.As it can be seen that the interior wheel
The mobile sterilization machine disinfection way multiplicity of formula, intelligent and high degree of automation, and human-computer interaction is strong.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it is clear that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the three-dimensional structure view of indoor wheel type mobile disinfection robot in the embodiment of the present invention；
Fig. 2 is the three-dimensional structure view of indoor wheel type mobile disinfection robot main body mechanism in the embodiment of the present invention；
Fig. 3 is the three-dimensional structure view of middle fuselage of embodiment of the present invention mechanism mobile platform module；
Fig. 4 is the positive three-dimensional structure view of mobile platform inside modules skeleton in the embodiment of the present invention；
Fig. 5 is the three-dimensional structure view of mobile platform inside modules skeleton bottom in the embodiment of the present invention；
Fig. 6 is the three-dimensional structure view of the outer side baffle of mobile platform module in the embodiment of the present invention；
Fig. 7 is indoor wheel type mobile disinfection robot box module half sectional view in the embodiment of the present invention；
Fig. 8 is the three-dimensional structure view of indoor wheel type mobile disinfection robot mechanical arm mechanism in the embodiment of the present invention；
Fig. 9 is the three-dimensional structure view of mechanical arm mechanism shoulder joint component in the embodiment of the present invention；
Figure 10 is the three-dimensional structure view of mechanical arm mechanism wrist assembly in the embodiment of the present invention；
Figure 11 is the three-dimensional structure view of mechanical arm mechanism wrist joint component in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is the three-dimensional structure view of indoor wheel type mobile disinfection robot in the embodiment of the present invention, the embodiment of the present invention
A kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms is provided, which includes
Main body mechanism 1 and mechanical arm mechanism 2, described 2 one the first from left of mechanical arm mechanism are connected to the two sides of main body mechanism 1 rightly.
Fig. 2 is the three-dimensional structure view of indoor wheel type mobile disinfection robot main body mechanism in the embodiment of the present invention, described
Main body mechanism 1 includes mobile platform module 3 and box module 4, and the box module 4 is fastened on mobile platform module 3
Top.
Fig. 3 is the three-dimensional structure view of middle fuselage of embodiment of the present invention mechanism mobile platform module, and Fig. 4 is of the invention real
The positive three-dimensional structure view of mobile platform inside modules skeleton in example is applied, Fig. 5 is mobile platform module in the embodiment of the present invention
The three-dimensional structure view of inner skeleton bottom, Fig. 6 are the three-dimensional structures of the outer side baffle of mobile platform module in the embodiment of the present invention
View.
The mobile platform module 3 includes inner skeleton 5 and outer side dam assemblies 6, and the outer setting of side dam assemblies 6 exists
The surrounding of inner skeleton 5 plays protective effect to inner skeleton 5.
Wherein, the inner skeleton 5 is three layer flat plate fabricated structure, including bottom plate 51, intermediate plate 52 and top plate 53,
The bottom plate 51 and intermediate plate 52 are connected and fixed by four short support columns, and the intermediate plate 52 and top plate 53 pass through four root long branch
Dagger is connected and fixed.
Specifically, the lower section of bottom plate 51 is provided with body chassis 7 and two sets of ultraviolet beam generating apparatus 511；The chassis machine
Structure 7 includes that four drive wheel assemblies 73 of universal wheel fixing seat 72, two of universal wheel component 71, four and two sets of driving wheels independently hang
Hang device 74；Specifically, four universal wheel components 71 are connect by bolt arrangement with four universal wheel fixing seats 72 respectively
Fixed, four universal wheel fixing seats 72 are fastened on the lower section of bottom plate 51 by bolt arrangement two front, two rearly；Specifically
, the drive wheel assemblies 73 are integrated assemblies, wheel hub, wheel shaft, DC servo motor and photoelectric coding in drive wheel assemblies
The installation of device integrated form is integrated, and described two drive wheel assemblies 73 are mounted on bottom by respective driving wheel independent suspension device 74
The lower section of plate 51；Specifically, two sets of driving wheel independent suspension devices, 74 mirror image two sides below bottom plate 51, institute are set
Stating driving wheel independent suspension device 74 includes oscillating bar assembly 75, pin shaft (not shown), swing rod support 741 and damper assembly
76.Wherein, oscillating bar assembly 75 includes driving wheel fixing seat 751 and swing rod 752, and the wheel shaft of the drive wheel assemblies 73 passes through driving
The two is simultaneously connected and fixed by locking nut by the through-hole of 751 lower section of wheel fixing seat, and the top of the driving wheel fixing seat 751 is logical
The one end for crossing bolt arrangement and the swing rod 752 is connected and fixed；The other end of the swing rod 722 is provided with through-hole, the pin shaft
It is articulated on the swing rod support 741 across its both ends after the through-hole；The swing rod support 741 is connected solid by bolt arrangement
It is scheduled on the lower section of bottom plate 51；Wherein, the damper assembly 76 includes spring oil pressure damper 761, upper fixed seat 762 and lower solid
Reservation 763, fixed seat 762 are fastened on the lower section of the intermediate plate 52, the lower fixed seat by bolt arrangement
763 are connected by screw to the middle position for being fixed on swing rod 752, and the spring oil pressure damper 761 is passed through and reserved on bottom plate 52
Through-hole and its both ends it is hinged with upper fixed seat 762 and lower fixed seat 763 respectively；Particularly, when ground has it is uneven when, subtract
Vibration device assembly 76 is stretched or compresses and play the role of vibration damping；Specifically, the ultraviolet beam generating apparatus 511 passes through spiral shell
Nail is fastened on the lower section of bottom plate 52, goes out short wave ultraviolet direct irradiation by the mercury lamp emission of ultraviolet beam generating apparatus 511
Neighbouring ground carries out disinfection.It should be noted that short wave ultraviolet refers to that wavelength is the ultraviolet light of 200~275nm, short wavelength UV
Line can destroy DNA of bacteria structure, be allowed to lose the function of breeding and self-replacation to achieve the purpose that sterilizing.
Specifically, the top of bottom plate 51 is provided with charging unit 512, industrial personal computer 513 and driver 514；The charging dress
512 rears that bottom plate 51 is set are set, the charging unit 512 is that the lithium battery 521 on intermediate plate 52 provides charging interface,
Charging interface passes through the fluting on rear baffle and exposes；The middle position of bottom plate 51, the industrial personal computer is arranged in the industrial personal computer 513
513 be the maincenter of robot various information processing；The front of bottom plate 51 is arranged in the driver 514, is responsible for sterilization machine
The DC servo motor of Ren Ge mechanism sends control instruction.
Specifically, the top of intermediate plate 52 is provided with lithium battery 521, laser radar component 54, laser radar baffle 522；
The middle position of intermediate plate 52 is arranged in the lithium battery 521, and predominantly disinfection robot provides the DC power supply of 24V；It is described
The front of intermediate plate 52 is arranged in laser radar component 54, and laser radar component 54 includes laser radar 541 and laser radar
Fixed plate 542, the laser radar 541, which is connected by screw to, to be fixed in laser radar fixed plate 542, and the laser radar is solid
Fixed board 542 is fastened on the lower section of intermediate plate 52 by bolt arrangement, and the sweep test of the laser radar 541 is from intermediate plate
It passes through and exposes in 52 round hole, laser radar component 54 establishes environmental map by way of laser scanning；It is described to swash
Optical radar baffle 522 is fastened on intermediate plate 52 by bolt arrangement, and the laser radar baffle 522 is for preventing laser
The space of internal body is arrived in the scanning of radar component 54.
Specifically, the top of top plate 53 is provided with operation panel 531, the operation panel 531 is connected by screw to fixation
At the rear of top plate 53, the operation panel 531 provides the button and knob of robot manipulation for user, including scram button,
Start button, stop button and disinfection mode knob.
Wherein, the outer side dam assemblies 6 include by top front apron 61, lower part front apron 62, right baffle-plate 63, right shell body
64, rear baffle 65 is around the outside baffle arrangement formed and the annular indicator light 66 being embedded on the baffle arrangement of outside and sensing
Device assembly 67.Specifically, the top front baffle board 61, lower part front apron 62 and rear baffle 64 by multiple L shape connectors 68 with
Right baffle-plate 63 and right shell body 64 connect, and are fixed by screw, to form the outside baffle arrangement of an entirety；It is described
The top of L shape connector 68 is connected and fixed with intermediate plate 52 and top plate 53 respectively by screw；Specifically, 63 He of right baffle-plate
The middle position of right shell body 64 is equipped with the circular groove for installing annular indicator light 66, and the annular indicator light 66 is embedded in described
It is fixed in circular groove and by screw, annular indicator light 66 can be indicated locating for robot by different lighting effects
Working condition allows user to intuitively understand the operating condition of robot；Specifically, the sensor module 67 includes six ultrasounds
Wave sensor 671 and two dropproof sensors 672.Six ultrasonic sensors 671 are used for before and after sniffing robot
Barrier, wherein three are arranged on lower part front apron 61, the top of rear baffle 65 is arranged in the other three；It is described two to prevent falling
Sensor 672 is fallen for detecting the situation of landform, is separately fixed at the centre of 65 lower edge of lower part front apron 61 and rear baffle
Position.
Fig. 7 is indoor wheel type mobile disinfection robot box module half sectional view, the box body formwork in the embodiment of the present invention
Block 4 includes WiFi equipment 41, box assembly 42 and ozone generating apparatus 43, and box assembly 42 is arranged in the WiFi equipment 41
The inside of box assembly 42 is arranged in top, the ozone generating apparatus 43.Specifically, box assembly 42 includes cabinet 421, top
Lid 422 and loudspeaker 423, the cabinet 421 are fastened on the top plate 53 by bolt arrangement, and the top cover 422 is logical
It crosses bolt arrangement to be fastened on the cabinet 421, the loudspeaker 423 is arranged in the reserved hole location of cabinet 421 and leads to
It crosses bolt arrangement to be fixed, the loudspeaker is used to play voice prompting to user；Specifically, the WiFi equipment 41 includes
WiFi antenna 411 and WiFi host 412, the WiFi host 412 is connected by screw to the lower section for being fixed on top cover 422, described
The through-hole that the lower section of WiFi antenna 411 passes through on the top cover 422 is connected with WiFi host, and WiFi equipment is used for and mobile device
Terminal such as mobile phone, platform computer and remote control panel etc. are communicated, and user can understand the operation conditions of robot by mobile phone, are met
Mechanical arm mechanism 2 can be remotely controlled by remote control panel when can not clear up to barrier to remove obstacles；Specifically, the ozone generates
Device 43, which is connected by screw to, to be fixed on top plate 53, and ozone generating apparatus 43 includes air inlet shield 431, air pump air inlet pipe
432, centrifugal air pump 433, air pump discharge pipe 434, ozone generator 435 and ozone exhaust pipe (not shown).It is described into
Port shield 431 is fastened on cabinet 421 by bolt arrangement, and air inlet shield 431 can prevent the biggish object of volume
It is accidentally drawn into ozone generating apparatus 43；The air pump air inlet pipe 432, centrifugal air pump 433, air pump discharge pipe 434 and smelly
Oxygen Generator 435 is sequentially connected, and under the drive of 433 rotary blade of centrifugal air pump, air-flow is through air inlet shield 431 and air pump
Air inlet pipe 432 enters blade space, and under the action of inertia force, air-flow leaves wheel space along radial direction, and arranges from air pump
Tracheae 434 flows out, subsequently into ozone generator 435；Ozone generator 435 makes air by way of high-voltage corona discharge
In oxygen decomposition be polymerized to ozone, ozone exhaust pipe one end is connected with the ozone outlet of ozone generator 435, another
End sequentially passes through the ozone outlet being equipped with after the through-hole on top plate 53 and intermediate plate 52 with bottom plate 51 and is connected.Ozone generator
435 ozone generated are by carrying out ozonization to neighbouring ground in the space below ozone emission by exhaust pipe to bottom plate.It needs
Illustrate, ozone is a kind of strong oxidizer, and ozonization belongs to chemical mode disinfection, and ozonization mainly passes through several
Mode sterilizes: first, enzyme needed for ozone energy oxygenolysis bacterium endogenous glucose keeps bacteria inactivation dead；Second, ozone is straight
Connect with bacterium, virus function, destroy their organelle and DNA, RNA, make bacterium metabolism destroyed, lead to bacterium
It is dead；Third, ozone penetrate cell membrane tissue, and intrusion is intracellular, act on the lipoprotein and internal lipopolysaccharides of outer membrane, make thin
Bacterium occurs penetrating sex distortion and dissolves death.
The main body mechanism 1 provides short wave ultraviolet disinfection, ozonization and short wave ultraviolet and combines three kinds of ozonization
Disinfection way, disinfection way is more diversified, carries out disinfection with the method that physics and chemistry combine, significantly improves disinfection
Effect；Meanwhile the environmental map that laser radar can be established it by laser scanning is fed back to industrial personal computer, industrial personal computer is according to laser
The feedback of radar and sensor module, the disinfection path of contexture by self obstacle detouring, avoidance.It obstacle detouring and can not be kept away when barrier is excessive
When barrier, annular indicator light 67 and loudspeaker 423 can prompt user's processing by sensual pleasure, while information can be passed by WiFi equipment 41
It is delivered to the mobile terminal of user, when user can not arrive in-situ processing in time, the remote control panel remote control of mechanical arm mechanism 2 can be passed through
Mechanical arm mechanism is removed obstacles, the significant labor intensity for mitigating cleanup crew；Body chassis uses wheel moving platform, with leg foot
Formula is compared with crawler-type mobile platform, is had the good characteristics such as movement velocity is fast, run smoothly, noise is low, is more suitable for indoors
Various apparatus for work are carried under environment completes service role.
Fig. 8 is the three-dimensional structure view of indoor wheel type mobile disinfection robot mechanical arm mechanism in the embodiment of the present invention, institute
Stating mechanical arm mechanism 2 includes shoulder joint component 9, large arm structural member 10, wrist assembly 11, forearm structure part 12 and wrist joint group
Part 13.Specifically, this sixdegree-of-freedom simulation is tandem mechanical arm, the shoulder joint component 9, large arm structural member 10, elbow are closed
Section component 11, forearm structure part 12 and wrist joint component 13 are re-used as a totality after being sequentially connected and connect with main body mechanism 3.
Fig. 9 is the three-dimensional structure view of mechanical arm mechanism shoulder joint component in the embodiment of the present invention, the shoulder joint component 9
Including shoulder joint tilting component 91, shoulder joint structural member 92 and shoulder joint deflection component 93.Wherein, shoulder joint tilting component 91
Including shoulder joint pitching DC servo motor component 911 and shoulder joint pitching harmonic reduction device assembly 912；Specifically, direct current is watched
The output shaft for taking electric machine assembly 911 is connect with the wave producer of shoulder joint pitching harmonic reduction device assembly 912；Specifically, shoulder joint
The shoulder joint pitching firm gear of section pitching harmonic reduction device assembly 912, which is bolted, to be fixed on main body mechanism 3, and shoulder joint is bowed
It is fixed by screw and shoulder joint structural member 92 to face upward flexbile gear.Wherein, shoulder joint deflection component 93 includes that shoulder joint beat direct current is watched
Take electric machine assembly 931, shoulder joint beat Spur Gear Driving component 932, shoulder joint beat harmonic reduction device assembly 933 and shoulder joint
Rotating assembly 934；Specifically, the shell of shoulder joint beat DC servo motor component 931 is fixed by screws in shoulder joint nodule
On component 92, output shaft transfers power to shoulder joint beat by shoulder joint beat Spur Gear Driving component band component 932
The shoulder joint beat wave producer input shaft of harmonic reduction device assembly 933；The shoulder joint of shoulder joint beat reducer assemblies 933 is inclined
Pendulum firm gear, which is bolted, to be fixed on shoulder joint structural member 92, and shoulder joint beat flexbile gear, which is bolted, is fixed on large arm
The side of 10 upper end of structural member；Specifically, shoulder joint rotating assembly 934 is by shoulder joint shaft, shoulder joint rolling bearing and shoulder
Oscillating bearing end cap composition；The upper end other side of large arm structural member 10 is connected and fixed by screw and shoulder joint shaft, shoulder joint
Cooperate at the axle journal of shaft with shoulder joint bearing inner race, bearing hole of the shoulder joint bearing outer ring again with shoulder joint structural member 92 is matched
It closes, and compresses the outer ring of shoulder joint bearings by shoulder joint bearing (ball) cover, the outer rim of shoulder joint bearing (ball) cover is connected by screw to
It is fixed on shoulder joint structural member 92.
Figure 10 is the three-dimensional structure view of mechanical arm mechanism wrist assembly in the embodiment of the present invention, the wrist assembly
11 include elbow joint rolling component 111, elbow joint structure part 112 and elbow joint tilting component 113.Wherein, elbow joint structure part
112 include elbow joint first structure part 1121 and the second structural member of elbow joint 1122, and the two is connected with each other.Wherein, elbow joint rolls
Turning component 111 includes elbow joint rolling DC servo motor component 1111 and elbow joint rolling harmonic reduction device assembly 1112；Tool
Body, the shell of elbow joint rolling DC servo motor component 1111 is connect by screw with the lower end of large arm structural member 10 solid
Fixed, the output shaft of elbow joint rolling DC servo motor component 1111 and the elbow joint of elbow joint rolling harmonic speed reducer 1112 roll
Turn wave producer connection；Specifically, the elbow joint rolling firm gear of elbow joint rolling harmonic speed reducer 1112 is connected by screw to admittedly
It is scheduled on large arm structural member 10, elbow joint rolling flexbile gear is connected and fixed by screw with elbow joint first structure part 1121.Wherein,
Elbow joint tilting component 113 includes elbow joint pitching DC servo motor component 1131, elbow joint pitching Spur Gear Driving component
1132, elbow joint pitching harmonic reduction device assembly 1133 and elbow joint rotating assembly 1134；Specifically, elbow joint pitching direct current is watched
The shell for taking electric machine assembly 1131 is fixed by screws on elbow joint first structure part 1121, and output shaft is bowed by elbow joint
Face upward the elbow joint wave producer input that spur gear arrangement 1132 transfers power to elbow joint pitching harmonic reduction device assembly 1133
On axis；The elbow joint pitching steel wheel of elbow joint pitching harmonic reduction device assembly 1133, which is connected by screw to, is fixed on elbow joint first
On structural member 1121, elbow joint pitching flexbile gear, which is connected by screw to, to be fixed on the second structural member of elbow joint 1122；Elbow joint turns
The shaft of shaft assembly 1134 is connected by key structure and is connected and fixed with elbow joint first structure part 1121；Specifically, elbow joint turns
Shaft assembly 1134 is made of elbow joint shaft, elbow joint rolling bearing and elbow joint bearing (ball) cover；The axle journal of elbow joint shaft
Place cooperates with elbow joint bearing inner race, and elbow joint bearing outer ring cooperates with the bearing hole of the second structural member of elbow joint 1122 again, and
The outer ring of bearing is compressed by elbow joint bearing (ball) cover, the outer rim of elbow joint bearing (ball) cover, which is connected by screw to, is fixed on elbow joint
On first structure part 1121.Wherein, the second structural member of elbow joint 1132 is connected and fixed by screw and 12 upper end of forearm structure part.
Figure 11 is the three-dimensional structure view of mechanical arm mechanism wrist joint component in the embodiment of the present invention, the wrist joint component
13 include wrist joint rolling component 131, wrist joint structure part 132, wrist joint tilting component 133 and execution connection component 134.Its
In, wrist joint rolling component 131 includes wrist joint rolling DC servo motor component 1311 and wrist joint rolling harmonic speed reducer
Component 1312；Specifically, the output shaft of wrist joint rolling DC servo motor component 1311 and wrist joint rolling harmonic speed reducer
The wrist joint rolling wave producer of component 1312 connects；Specifically, the wrist joint of wrist joint rolling harmonic reduction device assembly 1312
Rolling firm gear is connected and fixed by screw and 12 lower end of forearm structure part, and wrist joint rolling flexbile gear passes through screw and wrist joint structure
Part 132 is connected and fixed.Wherein, wrist joint tilting component 133 includes wrist joint pitching DC servo motor component 1331, wrist joint
Pitching Spur Gear Driving component 1332, wrist joint pitching shaft coupling 1333 and wrist joint rotating assembly 1334；Specifically, wrist joint
The shell of pitching DC servo motor component 1331 is fixed by screws on wrist joint structure part 1332, and output shaft passes through wrist
Joint pitching Spur Gear Driving component 1332 transfers power on the output shaft of the driven spur gear of wrist joint pitching, output shaft with
Wrist joint pitching shaft coupling 1333 connects；Specifically, wrist joint component 1334 by wrist joint shaft, wrist joint rolling bearing and
Wrist joint bearing (ball) cover composition；It executes 134 one end of connection component and passes through the output of execution connection component bearing and driven synchronizing wheel
Axis connection, and the outer ring by executing connection component bearing (ball) cover compression execution connection component bearing, execute connection component bearing
The outer rim of end cap is connected by screw to be fixed on and execute on connection component 134.Execute 134 other end of connection component by screw with
Wrist joint pitching shaft coupling 1333 and wrist joint shaft are connected and fixed, and axle journal and the wrist joint bearing inner race of wrist joint shaft are matched
It closes, wrist joint bearing outer ring cooperates with the bearing hole of wrist joint structure part 132 again, and compresses wrist by wrist joint bearing (ball) cover and close
The outer ring of bearings, the outer rim of wrist joint bearing (ball) cover, which is connected by screw to, to be fixed on wrist joint structure part 132.
It should be noted that DC servo motor component is by DC servo motor, planetary reducer and photoelectric coding
Device composition, three are coaxial integrated structure.Each DC servo motor is acted according to the instruction that servo-driver provides.
It should be noted that harmonic speed reducer is a kind of by fixed internal circular spline, flexbile gear and to make flexbile gear that radial become occur
The wave producer of shape forms, and harmonic drive is one of gear reduction unit novel drive structure, it is to utilize flexibility
Gear generates controllable elastic deformation wave, and firm gear side set opposite with the between cog of flexbile gear is caused to transmit power and movement.It is this
Transmission has difference substantially with the transmitting of general gear, calculates in mesh theory, set and structure design aspect has spy
Different property.Harmonic gear reducer has many advantages, such as high-precision, high-bearing capacity, compares with common retarder, due to the material used
Lack 50%, volume and weight at least reduce 1/3.
It should be noted that the shoulder joint beat Spur Gear Driving component 932 includes intermeshing shoulder joint beat
Active spur gear and the driven spur gear of shoulder joint beat, shoulder joint beat active spur gear are input terminal, and shoulder joint beat is driven
Spur gear is output end；The elbow joint pitching Spur Gear Driving component 1132 includes that intermeshing elbow joint pitching is actively straight
Gear and the driven spur gear of elbow joint pitching, elbow joint pitching active spur gear are input terminal, the driven spur gear of elbow joint pitching
For output end；The wrist joint pitching Spur Gear Driving component 1332 include intermeshing wrist joint pitching active spur gear and
The driven spur gear of wrist joint pitching, wrist joint pitching active spur gear are input terminal, and the driven spur gear of wrist joint pitching is output
End.Spur Gear Driving has many advantages, such as that reduction ratio is constant, transmitting torque is big, and belt is easily loose when can effectively avoid toothed belt transmission
The deficiencies of relaxing, be easy to wear.
There are six freedom degrees, that is, six axis for mechanical arm mechanism 2 in the embodiment of the present invention.Wherein, shoulder joint pitching is free
Degree is first axle, and shoulder joint beat freedom degree is the second axis, and elbow joint roll freedom is third axis, elbow joint pitch freedom
For the 4th axis, wrist joint roll freedom is the 5th axis, and wrist joint pitch freedom is the 6th axis.Wherein, first and third, five axis
Using the driving method of " DC servo motor → planetary reducer → harmonic speed reducer → driven member ", second, four
Axis uses the drive of " DC servo motor → planetary reducer → Spur Gear Driving → harmonic speed reducer → driven member "
Flowing mode, the 6th axis use the driving of " DC servo motor → planetary reducer → Spur Gear Driving → driven member "
Mode.
Shoulder joint component 9, large arm structural member 10, wrist assembly 11,12 and of forearm structure part of the mechanical arm mechanism 2
Wrist joint component 13 is sequentially connected in series, and the joint configuration of apery keeps mechanical arm compact-sized and transmission performance is good；DC servo
The setting of electric machine assembly, make user can the movement as needed to each axis control；Planetary reducer and harmonic reduction
The setting of device assembly, reduction of speed while, improve the torque of output, dramatically improve the operation precision of mechanical arm；Spur gear
Transmission has many advantages, such as that reduction ratio is constant, transmitting torque is big, belt easily loose, easy to wear etc. when can effectively avoid toothed belt transmission
It is insufficient.
The present invention provides a kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms, the interior wheel type mobiles
There are three types of the mode of disinfection, disinfection way multiplicity to significantly improve disinfection doggie for disinfection robot；User can be artificial by operation panel
Disinfection way is selected, disinfection way can also be selected by mobile terminal App；Its chassis system is wheeled mobile platform, operation
Steadily, noise is low；Sense control assembly between mutual cooperation, make the indoor moving disinfection robot can contexture by self get over
The route of barrier, avoidance.When encounter special circumstances such as barrier it is excessive can not obstacle detouring, avoidance when, disinfection robot can pass through sensual pleasure
Mode prompts user, while can communicate information to the mobile terminal APP of user, and user arrives in-situ processing after can receiving information.
When user can not arrive in time scene, mechanical arm mechanism can be enabled and remotely removed obstacles, the joint structure of the mechanical arm mechanism apery
Type can carry various apparatus for work, complete various movements, significantly reduce the labor intensity of cleanup crew.As it can be seen that the interior wheel
The mobile sterilization machine disinfection way multiplicity of formula, intelligent and high degree of automation, and human-computer interaction is strong.
In addition, being provided for the embodiments of the invention a kind of indoor wheel type mobile sterilizing machine with six shaft mechanical arms above
Device people is described in detail, herein should use a specific example illustrates the principle and implementation of the invention,
The above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile for the one of this field
As technical staff, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up institute
It states, the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms, which is characterized in that the interior wheel type mobile
Disinfection robot includes main body mechanism and mechanical arm mechanism, and described one the first from left of mechanical arm mechanism is connected to the two of main body mechanism rightly
Side；
The main body mechanism includes wheel moving platform module and box module, and the box module is fastened on wheel type mobile
The top of console module；
The mechanical arm mechanism includes shoulder joint component, large arm structural member, wrist assembly, forearm structure part and wrist joint group
Part, so after shoulder joint component, large arm structural member, wrist assembly, forearm structure part and wrist joint component are sequentially connected in series
It is connect with main body mechanism.
2. interior wheel type mobile disinfection robot according to claim 1, which is characterized in that the movement of the main body mechanism
Console module includes the knockdown inner skeleton of three layer flat plate and the outer side dam assemblies that inner skeleton surrounding is arranged in；
The inner skeleton includes bottom plate, intermediate plate and top plate, and body chassis is provided with below the bottom plate and ultraviolet light generates
Device, the bottom plate top are provided with charging unit, industrial personal computer and driver, lithium battery are provided with above the intermediate plate, is swashed
Optical radar component and laser radar baffle, the top plate top are provided with operation panel；
The outer side dam assemblies include outside baffle arrangement and the annular indicator light being embedded on the baffle arrangement of outside and biography
Sensor component；The outside baffle arrangement surrounds group by top front apron, lower part front apron, right baffle-plate, right shell body and rear baffle
At being connected between the top front apron, lower part front apron, rear baffle and left baffle and right baffle by L shape connector and solid
It is scheduled on bottom plate and intermediate plate.
3. interior wheel type mobile disinfection robot according to claim 1, which is characterized in that the cabinet of the main body mechanism
Module includes box assembly and the ozone generating apparatus that is arranged in box assembly；
The box assembly includes cabinet, top cover and loudspeaker, and the surface of the cabinet, the loudspeaking is arranged in the top cover
Device is arranged on the side of the cabinet；
The ozone generating apparatus includes air inlet shield, air pump air inlet pipe, centrifugal air pump, air pump discharge pipe, ozone generation
Device and ozone exhaust pipe, the air inlet shield are arranged on box assembly, the air pump air inlet pipe, centrifugal air pump, air pump
Exhaust pipe and ozone generator are sequentially connected；The ozone generator is arranged on the top plate, and the ozone generated passes through smelly
Oxygen exhaust pipe is discharged to the space below bottom plate.
4. interior wheel type mobile disinfection robot according to claim 2, which is characterized in that the body chassis includes ten thousand
To wheel assembly, universal wheel fixing seat, drive wheel assemblies and driving wheel independent suspension device；
The drive wheel assemblies are integrated assemblies, wheel hub, wheel shaft, DC servo motor and photoelectric encoder in drive wheel assemblies
Integrated form installation is integrated；The drive wheel assemblies are driven by the way of two-wheel differential.
5. interior wheel type mobile disinfection robot according to claim 2, which is characterized in that the sensor module includes
Ultrasonic sensor and dropproof sensor, the ultrasonic sensor are arranged on lower part front apron and rear baffle, described anti-
Fall the middle position that lower part front apron and rear baffle lower edge is arranged in sensor；
The ultraviolet beam generating apparatus generates short wave ultraviolet by low pressure mercury lamp；
The charging unit is connected with the lithium battery, and the lithium battery provides 24V for indoor wheel type mobile disinfection robot
DC power supply；
Scram button, start button, stop button and disinfection mode knob are provided on the operation panel.
6. interior wheel type mobile disinfection robot according to claim 1, which is characterized in that the shoulder of the mechanical arm mechanism
Joint assembly includes shoulder joint tilting component, shoulder joint structural member and shoulder joint deflection component, the shoulder joint tilting component
It is connected with shoulder joint structural member, the shoulder joint deflection component is arranged inside shoulder joint structural member, the shoulder joint beat
Component is connected with large arm structural member；
The wrist assembly of the mechanical arm mechanism includes elbow joint rolling component, elbow joint structure part and elbow joint pitching group
Part, the elbow joint rolling component are connected with large arm structural member, and the elbow joint rolling component is connected with elbow joint structure part
It connects, the elbow joint tilting component is arranged inside elbow joint structure part, and the elbow joint structure part is connected with forearm structure part
It connects；
The wrist joint component of the mechanical arm mechanism includes wrist joint rolling component, wrist joint structure part, wrist joint tilting component
And executive module, the wrist joint rolling component are connected with forearm structure part, the wrist joint rolling component and wrist joint
Structural member is connected, and the wrist joint tilting component is arranged inside wrist joint structure part, and the executive module and the wrist close
Nodule component is connected.
7. interior wheel type mobile disinfection robot according to claim 4, which is characterized in that the shoulder joint tilting component
Including shoulder joint pitching DC servo motor component and shoulder joint pitching harmonic reduction device assembly；The shoulder joint deflection component packet
Include shoulder joint beat DC servo motor component, shoulder joint beat Spur Gear Driving component, shoulder joint beat harmonic speed reducer group
Part and shoulder joint rotating assembly；
The shoulder joint pitching DC servo motor component includes that sequentially connected shoulder joint pitching photoelectric encoder, shoulder joint are bowed
Face upward DC servo motor and shoulder joint pitching planetary reducer；
The shoulder joint beat DC servo motor component includes that sequentially connected shoulder joint beat photoelectric encoder, shoulder joint are inclined
Straighten flow servo motor and shoulder joint beat planetary reducer；
The shoulder joint pitching harmonic reduction device assembly includes sequentially connected shoulder joint pitching wave producer and shoulder joint pitching
Firm gear, shoulder joint pitching flexbile gear；
The shoulder joint beat harmonic reduction device assembly includes that sequentially connected shoulder joint beat wave producer, shoulder joint beat are rigid
Wheel and shoulder joint beat flexbile gear；
The shoulder joint beat Spur Gear Driving component includes that intermeshing shoulder joint beat active spur gear and shoulder joint are inclined
Put driven spur gear；
The shoulder joint rotating assembly is made of shoulder joint shaft, shoulder joint rolling bearing and shoulder joint bearing (ball) cover.
8. interior wheel type mobile disinfection robot according to claim 4, which is characterized in that the elbow joint rolling component
Including elbow joint rolling DC servo motor component and elbow joint rolling harmonic reduction device assembly；The elbow joint structure part includes
The second structural member of elbow joint first structure part and elbow joint；The elbow joint tilting component includes elbow joint pitching DC servo electricity
Thermomechanical components, elbow joint pitching Spur Gear Driving component, elbow joint harmonic reduction device assembly and elbow joint rotating assembly；
The elbow joint pitching DC servo motor component includes that sequentially connected elbow joint pitching photoelectric encoder, elbow joint are bowed
Face upward DC servo motor and elbow joint pitching planetary reducer；
The elbow joint rolling harmonic reduction device assembly includes that sequentially connected elbow joint rolling wave producer, elbow joint rolling are rigid
Wheel and elbow joint rolling flexbile gear；
The elbow joint pitching harmonic reduction device assembly includes that sequentially connected elbow joint pitching wave producer, elbow joint pitching are rigid
Wheel and elbow joint pitching flexbile gear；
The elbow joint pitching Spur Gear Driving component includes that intermeshing elbow joint pitching active spur gear and elbow joint are bowed
Face upward driven spur gear；
The elbow joint rotating assembly is made of elbow joint shaft, elbow joint rolling bearing and elbow joint bearing (ball) cover.
9. interior wheel type mobile disinfection robot according to claim 4, which is characterized in that the wrist joint rolling component
Including wrist joint rolling DC servo motor component and wrist joint rolling harmonic reduction device assembly；The wrist joint tilting component packet
Wrist joint pitching DC servo motor component, wrist joint pitching Spur Gear Driving component, wrist joint shaft coupling and wrist joint is included to turn
Shaft assembly；
The wrist joint rolling DC servo motor component includes sequentially connected wrist joint rolling photoelectric encoder, wrist joint rolling
Turn DC servo motor and wrist joint rolling planetary reducer；
The wrist joint pitching DC servo motor component includes that sequentially connected wrist joint pitching photoelectric encoder, wrist joint are bowed
Face upward DC servo motor and wrist joint pitching planetary reducer；
The wrist joint rolling harmonic reduction device assembly includes that sequentially connected wrist joint rolling wave producer, wrist joint rolling are rigid
Wheel and wrist joint rolling flexbile gear；
The wrist joint pitching Spur Gear Driving component includes that intermeshing wrist joint pitching active spur gear and wrist joint are bowed
Face upward driven spur gear；
The wrist joint component is made of wrist joint shaft, wrist joint rolling bearing and wrist joint bearing (ball) cover.
10. interior wheel type mobile disinfection robot according to claim 1, which is characterized in that the mechanical arm mechanism is
Six shaft mechanical arms, there are six freedom degrees for the mechanical arm mechanism, and it is free to be respectively as follows: shoulder joint pitch freedom, shoulder joint beat
Degree, elbow joint roll freedom, elbow joint pitch freedom, wrist joint roll freedom and wrist joint pitch freedom；
Wherein, shoulder joint pitch freedom is first axle, and shoulder joint beat freedom degree is the second axis, and elbow joint roll freedom is
Third axis, elbow joint pitch freedom are the 4th axis, and wrist joint roll freedom is the 5th axis, and wrist joint pitch freedom is the
Six axis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811294330.0A CN109481708A (en) | 2018-11-01 | 2018-11-01 | A kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms |
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| CN201811294330.0A CN109481708A (en) | 2018-11-01 | 2018-11-01 | A kind of indoor wheel type mobile disinfection robot with six shaft mechanical arms |
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| US11583597B2 (en) | 2019-03-15 | 2023-02-21 | Ecolab Usa Inc. | Reducing microbial growth on food preparation, storage, or processing apparatus |
| US11819581B2 (en) | 2019-07-03 | 2023-11-21 | Ecolab Usa Inc. | Touch screen display surface sanitization using antimicrobial light |
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Application publication date: 20190319 |