CN113172642B

CN113172642B - Disinfection robot

Info

Publication number: CN113172642B
Application number: CN202110434695.4A
Authority: CN
Inventors: 刘明; 卢璐
Original assignee: Beijing Fu Yun Cloud Data Technology Co ltd
Current assignee: Beijing Fu Yun Cloud Data Technology Co ltd
Priority date: 2021-04-22
Filing date: 2021-04-22
Publication date: 2021-10-22
Anticipated expiration: 2041-04-22
Also published as: CN113172642A

Abstract

A disinfection robot relates to the technical field of robots and comprises: moving the trolley; the mechanical arm is arranged on the moving trolley; the disinfection assembly is arranged at the tail end of the mechanical arm, comprises a rotating bracket, is rotatably connected with the tail end of the mechanical arm and rotates around a first axis; the nozzle is arranged on the rotating bracket, arranged beside the first axis and rotates around the second axis; the first axis is perpendicular to the second axis, and when the nozzle sprays the disinfection materials, the recoil force of the nozzle drives the rotating bracket to rotate around the first axis. With the structure, on one hand, a battery or other power elements are not needed for providing power, and the structure is simple and easy to realize; meanwhile, the production and use cost is effectively reduced. On the other hand, the spraying range of the nozzle can be enlarged, so that the disinfection range of the disinfection robot is enlarged.

Description

Disinfection robot

Technical Field

The invention relates to the technical field of robots, in particular to a disinfection robot.

Background

At present, workers generally use simple tools to spray disinfectant for disinfection, and the operation labor intensity is high and the disinfection efficiency is low. In order to overcome the above problems, various disinfection robots have been provided in the prior art, wherein a rotary disinfection robot provided under publication number CN109078785 includes: the rotating assembly comprises a turntable and a rotating motor for driving the turntable to rotate; still include atomizing component, set up on the carousel, rotate along with the carousel, atomizing component includes fan and atomizer. The rotary sterilization robot disclosed in this patent application has a sterilization assembly that requires electrical energy to provide energy, and is complex in structure and high in production cost.

Disclosure of Invention

The invention aims to provide a disinfection robot, a disinfection component of which does not need a battery or other power elements for providing power, has a simple structure and is easy to realize, and meanwhile, the production and use cost is effectively reduced. On the other hand, the spraying range of the nozzle can be enlarged, so that the disinfection range of the disinfection robot is enlarged. .

To achieve the above object, the present invention provides a robot for sterilization, comprising: moving the trolley; the mechanical arm is arranged on the moving trolley; the disinfection component is arranged at the tail end of the mechanical arm and comprises a rotating bracket which is rotatably connected with the tail end of the mechanical arm and rotates around a first axis, and a nozzle which is arranged on the rotating bracket, arranged beside the first axis and rotates around a second axis, wherein the first axis and the second axis are mutually vertical, and when the nozzle sprays disinfection materials, the recoil force of the nozzle drives the rotating bracket to rotate around the first axis.

The disinfection component also comprises a driving rod arranged at the tail end of the mechanical arm; the connecting rod mechanism is arranged on the rotating bracket in a sliding manner and is connected with the nozzle; one end of the first push rod is rotatably connected with the driving rod, and the other end of the first push rod is hinged with the connecting rod mechanism; the driving rod drives the first push rod to move along the first axis and drives the connecting rod mechanism to slide on the rotating bracket, so that the nozzle is driven to rotate around the second axis.

Preferably, the rotating bracket is provided with a T-shaped sliding chute, the T-shaped sliding chute comprises a first sliding chute, a second sliding chute and a third sliding chute which are intersected, and the third sliding chute is perpendicular to the first sliding chute and the second sliding chute; the connecting rod mechanism comprises a first connecting rod and a second connecting rod, wherein the first end of the first connecting rod and the first end of the second connecting rod are hinged to each other and slide along the third sliding groove, the second end of the first connecting rod slides along the first sliding groove, and the second end of the second connecting rod slides along the second sliding groove; the nozzle is arranged on the hinge shaft of the first connecting rod and the second connecting rod and slides along the third sliding groove under the driving of the hinge shaft.

Preferably, the disinfection assembly further comprises a shell, wherein the shell is sleeved outside the driving rod and the first push rod, an air inlet channel is arranged at one end, close to the rotating bracket, of the shell, and the air inlet channel is communicated with the nozzle through a pipeline; the rotating bracket is provided with a connecting part which is rotatably connected with the shell; the connecting portion are equipped with air outlet channel and first water conservancy diversion passageway, first water conservancy diversion passageway is followed connecting portion circumference evenly spaced sets up, just first water conservancy diversion passageway respectively with air inlet channel with air outlet channel intercommunication.

Preferably, the housing is provided with a second flow guide channel, and the second flow guide channel is respectively communicated with the air inlet channel and the first flow guide channel.

Preferably, an annular groove is axially formed in one end, close to the connecting portion, of the housing, and an annular boss is axially formed in the connecting portion and embedded into the annular groove.

Preferably, the connecting portion is provided with a first annular flange along the circumferential direction, the housing is provided with a second annular flange matched with the first annular flange, and an adjusting bolt is arranged between the first annular flange and the second annular flange and used for adjusting the friction force between the first annular flange and the second annular flange.

Preferably, the disinfection assembly further comprises a second push rod, one end of the second push rod is fixedly connected with the driving rod, and the other end of the second push rod is rotatably connected with the first push rod.

Preferably, the mobile trolley comprises an automatic cruise device and a cockpit.

Preferably, a lifting platform is arranged on the moving trolley, and the mechanical arm is arranged on the lifting platform.

The technical scheme of the embodiment of the invention has the following advantages:

according to the disinfection robot provided by the embodiment of the invention, the movable trolley and the mechanical arm are adopted to drive the disinfection component to disinfect the environment, so that the efficiency is high; furthermore, the rotating bracket rotates around the first axis, the nozzle is arranged on the rotating bracket and beside the first axis and rotates around the second axis, and when the nozzle sprays the sterilizing material, the recoil force of the nozzle drives the rotating bracket to rotate around the first axis. With the structure, on one hand, a battery or other power elements are not needed for providing power, and the structure is simple and easy to realize; meanwhile, the production and use cost is effectively reduced. On the other hand, the spraying range of the nozzle can be enlarged, the circumferential spraying track of the nozzle can be realized, so that the disinfection range of the disinfection robot is enlarged, the disinfection efficiency is improved, and the disinfection of the inner wall of the pipeline is particularly facilitated. Specifically, the nozzle rotates about the first axis and the nozzle rotates about the second axis with the rotating bracket, so that the spray path of the nozzle is approximately a sphere.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of an overall assembly structure of a sterilization robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a sterilization assembly in an embodiment of the present invention;

FIG. 3 is a schematic structural view showing a specific example of a pivoting bracket according to the embodiment of the present invention;

fig. 4 is a schematic structural view of a specific example of the housing in the embodiment of the invention;

reference numerals:

1-moving trolley, 11-lifting table, 2-mechanical arm, 21-camera, 3-disinfection component, 31-rotating bracket, 311-first sliding chute, 312-second sliding chute, 313-third sliding chute, 314-connecting part, 3141-air outlet channel, 3142-first guide channel, 3143-annular boss, 3144-first annular convex edge, 32-nozzle, 33-miniature electric push rod, 341-first connecting rod, 342-second connecting rod, 351-first push rod, 352-second push rod, 4-shell, 41-air inlet channel, 42-second guide channel, 43-annular groove and 44-second annular convex edge.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In describing the present invention, it is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises" and/or "comprising," when used in this specification, are intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Examples

Referring to fig. 1 to 4, a sterilization robot of the present invention, as shown in fig. 1, includes: a moving trolley 1; the mechanical arm 2 is arranged on the movable trolley 1; the disinfection component 3 is arranged at the tail end of the mechanical arm 2 and comprises a rotating bracket 31 which is rotatably connected with the tail end of the mechanical arm 2 and rotates around a first axis, a nozzle 32 is arranged on the rotating bracket 31 and is arranged beside the first axis and rotates around a second axis, the first axis is perpendicular to the second axis, and when the nozzle 32 sprays disinfection materials, the recoil force of the nozzle 32 drives the rotating bracket 31 to rotate around the first axis.

In the embodiment, the movable trolley 1 and the mechanical arm 2 are adopted to drive the disinfection component 3 to disinfect, so that the operation safety is high; specifically, the mechanical arm 2 of the disinfection robot is arranged on the movable trolley 1 and moves to a working space along with the movable trolley 1, and the disinfection component 3 is arranged at the tail end of the mechanical arm 2 and reaches a position to be disinfected by adjusting the posture of the mechanical arm 2. The sterilizing assembly 3 comprises a nozzle 32 and a rotating bracket 31 supporting the nozzle 32, wherein the rotating bracket 31 is rotatably connected with the mechanical arm 2 and can rotate around a first axis, the nozzle 32 is mounted on the rotating bracket 31 and rotates around a second axis and is arranged beside the first axis, so that when the disinfectant is sprayed out from the nozzle 32, the nozzle 32 gives a recoil force F to the rotating bracket 31, and the nozzle 32 is arranged at one side of the first axis and is away from the first axis by a length L (L >0) to give a moment of inertia to the rotating bracket 31, so that the rotating bracket 31 rotates around the mechanical arm 2, and the nozzle 32 is driven to rotate around the second axis. Furthermore, the first axis and the second axis are perpendicular to each other, so that the moment arm L is maximized for the same overall dimensions. With the structure, on one hand, a battery or other power elements are not needed for providing power, and the structure is simple and easy to realize; meanwhile, the production and use cost is effectively reduced. On the other hand, the spraying range of the nozzle 32 can be expanded, so that the nozzle 32 can realize circumferential spraying tracks, thereby expanding the disinfection range of the disinfection robot, and being particularly beneficial to the disinfection of the inner wall of the pipeline. Specifically, the rotation of the nozzle 32 about the first axis and the rotation of the nozzle 32 about the second axis with the rotating bracket 31 make the spray trajectory of the nozzle 32 nearly a sphere.

As shown in fig. 2, the sterilizing assembly 3 further includes a driving rod disposed at the distal end of the robot arm 2; a link mechanism slidably provided on the rotating bracket 31 and connected to the nozzle 32; a push rod 351, one end of which is rotatably connected with the driving rod, and the other end of which is hinged with the connecting rod mechanism; the driving rod drives the first pushing rod 351 to move along the first axis, and drives the link mechanism to slide on the rotating bracket 31, so as to drive the nozzle 32 to rotate around the second axis.

In this embodiment, the driving rod is a micro electric push rod 33, and the micro electric push rod 33 has a small volume and is convenient to control. The driving lever drives the link mechanism connected thereto to move by driving the first push rod 351. Specifically, the micro electric push rod 33 is fixedly installed at the end of the mechanical arm 2, and the first push rod 351 is rotatably connected to the driving end of the driving rod, so that the driving rod can drive the first push rod 351 to move along the first axis on one hand, and the first push rod 351 can rotate relative to the driving rod on the other hand, that is, the rotating bracket 31 is driven to rotate relative to the driving rod. Further, the nozzle 32 is rotatably connected to a link mechanism, and when the link mechanism slides on the rotating bracket 31, the link mechanism drives the nozzle 32 to rotate around a second axis, specifically, the second axis is an axis of a hinge shaft of the nozzle 32 and the link mechanism, and the first axis is an axis of the driving rod.

Alternatively, as shown in fig. 3, the rotating bracket 31 is provided with a T-shaped sliding chute, the T-shaped sliding chute comprises a first sliding chute 311, a second sliding chute 312 and a third sliding chute 313 which are intersected, and the third sliding chute 313 is perpendicular to the first sliding chute 311 and the second sliding chute 312; the link mechanism comprises a first link 341 and a second link 342, a first end of the first link 341 and a first end of the second link 342 are hinged to each other and slide along the third sliding slot 313, a second end of the first link 341 slides along the first sliding slot 311, and a second end of the second link 342 slides along the second sliding slot 312; the nozzle 32 is provided at the hinge shaft of the first and

second links

341 and 342,

and slides along the third sliding groove under the driving of the hinge shaft.

In this embodiment, because the nozzle 32 generates a large recoil force when ejecting the gas, the link mechanism is adopted to drive the nozzle 32 to slide along the chute, so that the nozzle 32 rotates around the second axis, and the movement of the nozzle 32 is more stable. Further, the nozzle 32 is rotatably connected to the first end of the first connecting rod 341, and is fixedly connected to the second end of the first connecting rod 341, and is driven by the first connecting rod 341 to rotate around the first end of the first connecting rod 341, so as to rotate the nozzle 32 around the second axis.

Optionally, as shown in fig. 2 to 4, the disinfecting assembly 3 further includes a housing 4, which is sleeved outside the driving rod and the first push rod 351, and one end of the housing 4 close to the rotating bracket 31 is provided with a liquid inlet channel 41, and the liquid inlet channel 41 is communicated with the nozzle 32 through a pipeline; the rotating bracket 31 has a connecting portion 314, and the connecting portion 314 is rotatably connected to the housing 4; the connecting portion 314 is provided with a liquid outlet channel 3141 and a first guide channel 3142, the first guide channel 3142 is uniformly arranged along the circumferential direction of the connecting portion 314 at intervals, and the first guide channel 3142 is respectively communicated with the liquid inlet channel 41 and the liquid outlet channel 3141.

In this embodiment, the disinfectant is contained in a container in a box body of the trolley, enters the first diversion channel 3142 through a pipeline and the liquid inlet channel 41, and then enters the nozzle 32 from the liquid outlet channel 3141 through a pipeline. Specifically, the first flow guiding channels 3142 are uniformly spaced along the circumferential direction of the connecting portion 314, and are mainly used for dispersing the gaseous disinfectant, so that the rotating bracket 31 is uniformly stressed. The nozzle 32 and the liquid outlet channel 3141 are generally connected by a flexible pipe, and when the rotating bracket 31 rotates around the first axis, the first flow guide channel 3142 can uniformly disperse the entering liquid, thereby preventing the phenomenon of uneven liquid distribution or winding of the liquid spray pipe caused by the rotation of the rotating bracket 31.

Optionally, the housing 4 is provided with a second guiding passage 42, and the second guiding passage 42 is respectively communicated with the liquid inlet passage 41 and the first guiding passage 3142.

In this embodiment, the housing 4 is provided with a second flow guiding channel 42, and the disinfectant enters the second flow guiding channel 42 through the liquid inlet channel 41, then enters the first flow guiding channel 3142, and then enters the nozzle 32 through the liquid outlet channel 3141. The housing 4 is provided with the second flow guiding channel 42 to disperse the gas before entering the first flow guiding channel 3142, so that the mist disinfectant can be uniformly dispersed in the second flow guiding channel, and the rotating bracket 31 is more stable when rotating. Specifically, the second flow guide channel 42 provided in the housing 4 may be a channel along the axial direction, or may be a channel arranged at regular intervals in the circumferential direction like the first flow guide channel 3142.

Alternatively, one end of the housing 4 near the connecting portion 314 is provided with an annular groove 43 in the axial direction, and the connecting portion 314 is provided with an annular boss 3143 in the axial direction, and the annular boss 3143 is embedded in the annular groove 43.

In this embodiment, the rotating bracket 31 is rotatably connected to the housing 4 by inserting the annular protrusion 3143 of the connecting portion 314 into the annular groove 43 of the housing 4, so that the rotating bracket 31 rotates around the first axis more stably and is not easy to fall off.

Alternatively, as shown in fig. 3-4, the connecting portion 314 is provided with a first annular rim 3144 along the circumferential direction, the housing 4 is provided with a second annular rim 44 matched with the first annular rim 3144, and an adjusting bolt is arranged between the first annular rim 3144 and the second annular rim 44 for adjusting the friction force between the first annular rim 3144 and the second annular rim 44.

In this embodiment, the adjusting bolt adjusts the friction force when the rotating bracket 31 rotates relative to the push rod by adjusting the friction force between the first annular flange 3144 and the second annular flange 44, thereby adjusting the rotating speed of the rotating bracket 31. The friction force can be adjusted by adjusting the tightness degree of the adjusting bolt, and specifically, when the rotating speed of the bracket 31 needs to be increased a little, the friction force between the first annular convex edge 3144 and the second annular convex edge 44 needs to be decreased a little, and the adjusting bolt needs to be loosened a little; when the rotation speed of the rotating bracket 31 is slower, the adjusting bolt needs to be tightened a little. When only one direction of the nozzle 32 needle is needed for sterilization, the adjusting bolt can be locked, and the nozzle 32 can not rotate relative to the push rod when working. The structure can realize the purpose of disinfection according to different requirements of disinfection, and is simple and convenient and strong in operability.

Optionally, as shown in fig. 2, the disinfecting assembly 3 further includes a second push rod 352, one end of the second push rod 352 is fixedly connected to the driving rod, and the other end is rotatably connected to the first push rod 351.

In this embodiment, the second push rod 352 is disposed between the driving rod and the first push rod 351, and a structure rotating in cooperation with the driving rod and a structure fixedly connected to the first push rod 351 are respectively disposed at two ends of the second push rod 352. The connection between the first push rod 351 and the driving rod may be facilitated on the one hand. On the other hand, the abrasion of the driving rod caused by relative rotation can be reduced.

Optionally, the mobile trolley 1 comprises an automatic cruise device and a cockpit.

In this embodiment, when the distance is far away, the worker can drive the trolley to the position near the destination, then remotely control the trolley to work in a dangerous environment, and then the mechanical arm 2 works again. The advantage of this is, when far away from, also can control disinfection robot, makes the transportation of robot more convenient, and far and near distance adopts different modes, can enlarge disinfection robot's working range.

Alternatively, the mobile cart 1 is provided with an elevating platform 11, and the robot arm 2 is provided on the elevating platform 11.

In this embodiment, the lifting table 11 is used to adjust the height of the robot arm 2, so that the range of motion of the robot arm 2 can be increased.

Further, the robot arm 2 is a six-degree-of-freedom robot arm 2. The tail end of the six-freedom-degree mechanical arm 2 has a larger movement range, is more flexible to disinfect and has a larger disinfection space. Specifically, the camera 21 is installed at the end of the mechanical arm 2, and can collect information including the position information of the disinfection component 3, the disinfection degree information and the like. Further, as shown in fig. 3, the rotating bracket 31 is provided with a hollow structure to reduce the mass of the rotating bracket 31.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. A sanitizing robot, comprising: moving the trolley; the mechanical arm is arranged on the moving trolley; the disinfection component is arranged at the tail end of the mechanical arm and comprises a rotating bracket, a nozzle, a first rotating shaft, a second rotating shaft, a rotating shaft and a disinfection component, wherein the rotating bracket is rotatably connected with the tail end of the mechanical arm and rotates around a first axis; the disinfection component also comprises a driving rod arranged at the tail end of the mechanical arm; the connecting rod mechanism is arranged on the rotating bracket in a sliding manner and is connected with the nozzle; one end of the first push rod is rotatably connected with the driving rod, and the other end of the first push rod is hinged with the connecting rod mechanism; the driving rod drives the first push rod to move along the first axis and drives the connecting rod mechanism to slide on the rotating bracket, so that the nozzle is driven to rotate around the second axis.

2. A disinfecting robot as recited in claim 1, characterized in that the rotating bracket is provided with a T-shaped chute comprising first, second and third intersecting chutes, and the third chute is perpendicular to the first and second chutes; the connecting rod mechanism comprises a first connecting rod and a second connecting rod, wherein the first end of the first connecting rod and the first end of the second connecting rod are hinged to each other and slide along the third sliding groove, the second end of the first connecting rod slides along the first sliding groove, and the second end of the second connecting rod slides along the second sliding groove; the nozzle is arranged on the hinge shaft of the first connecting rod and the second connecting rod and slides along the third sliding groove under the driving of the hinge shaft.

3. The disinfection robot as claimed in claim 2, wherein the disinfection assembly further comprises a housing, the housing is sleeved outside the driving rod and the first push rod, an air inlet channel is arranged at one end of the housing close to the rotating bracket, and the air inlet channel is communicated with the nozzle through a pipeline; the rotating bracket is provided with a connecting part which is rotatably connected with the shell; the connecting portion are equipped with air outlet channel and first water conservancy diversion passageway, first water conservancy diversion passageway is followed connecting portion circumference evenly spaced sets up, just first water conservancy diversion passageway respectively with air inlet channel with air outlet channel intercommunication.

4. A sterilising robot as claimed in claim 3, wherein the housing is provided with a second flow channel communicating with the air inlet channel and the first flow channel respectively.

5. A disinfecting robot as recited in any one of claims 3 or 4, characterized in that the end of the housing near the connecting portion is provided with an annular groove in the axial direction, and the connecting portion is provided with an annular projection in the axial direction, which is fitted into the annular groove.

6. A disinfecting robot as recited in claim 5, characterized in that the connecting portion is circumferentially provided with a first annular ledge, the housing is provided with a second annular ledge which cooperates with the first annular ledge, and an adjusting bolt is provided between the first and second annular ledges for adjusting the frictional force between the first and second annular ledges.

7. The sanitizing robot according to claim 6, wherein said sanitizing assembly further comprises a second push rod, one end of said second push rod being fixedly connected to said drive rod and the other end of said second push rod being rotatably connected to said first push rod.

8. A sterilising robot according to claim 1, wherein the mobile trolley comprises an auto cruise device and a cockpit.

9. A disinfecting robot as recited in claim 1, characterized in that a lift table is provided on the mobile carriage, and the robotic arm is disposed on the lift table.