CN113198033A - Walking equipment for epidemic prevention and disinfection of place environment - Google Patents

Walking equipment for epidemic prevention and disinfection of place environment Download PDF

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Publication number
CN113198033A
CN113198033A CN202110543412.XA CN202110543412A CN113198033A CN 113198033 A CN113198033 A CN 113198033A CN 202110543412 A CN202110543412 A CN 202110543412A CN 113198033 A CN113198033 A CN 113198033A
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CN
China
Prior art keywords
arm
liquid medicine
frame
walking
disinfection
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Granted
Application number
CN202110543412.XA
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Chinese (zh)
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CN113198033B (en
Inventor
刘阁
吴伟
舒雅婷
刘洁
颜凌宇
田美子
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Yangtze Normal University
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Yangtze Normal University
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Priority to CN202310328742.6A priority Critical patent/CN116474138A/en
Priority to CN202110543412.XA priority patent/CN113198033B/en
Publication of CN113198033A publication Critical patent/CN113198033A/en
Application granted granted Critical
Publication of CN113198033B publication Critical patent/CN113198033B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • A61L2202/10—Apparatus features
    • A61L2202/15—Biocide distribution means, e.g. nozzles, pumps, manifolds, fans, baffles, sprayers
    • 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
    • A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • General Chemical & Material Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention discloses walking equipment for site environment epidemic prevention and disinfection, which comprises a frame, wherein a wheel walking system is arranged below the frame, and a control module is arranged on the frame. The invention has the advantages of remotely controlling and realizing the disinfection of the site environment and improving the convenience, reliability and safety of the disinfection process.

Description

Walking equipment for epidemic prevention and disinfection of place environment
Technical Field
The invention belongs to the field of building environmental sanitation and disinfection equipment, and particularly relates to walking equipment for epidemic prevention and disinfection of a site environment.
Background
When some building places, such as factories, markets, schools, farms, squares and the like need to be comprehensively disinfected due to reasons such as epidemic outbreaks, disinfection personnel usually wear gas masks, and after wearing gas clothes, the gas clothes carry a disinfection device to enter the places for disinfection. However, after the disinfection personnel wear the anti-virus clothes, the disinfection personnel carry the disinfection equipment to operate, which can cause the problems of inconvenient movement, inconvenient operation and the like. Meanwhile, if the clothes are damaged by carelessness of an operator, the safety of the operator can be affected.
In addition, when disinfection is required after outbreak of epidemic situation in a building site, special epidemic situation treatment personnel are generally required to carry out disinfection treatment. Ordinary personnel generally do not allow access to the epidemic situation site for processing work, which may also increase the risk of spreading the epidemic due to untimely processing.
Therefore, if a technology capable of realizing the disinfection treatment of the field environment without the field operation of an operator is developed, the problems can be solved, and the disinfection convenience, timeliness and safety are improved.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a walking equipment for site environment epidemic prevention disinfection that can realize the disinfection of site environment by remote control, improves disinfection process convenience, reliability and security.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a place environment epidemic prevention walking equipment for disinfection, includes the frame, and the frame below is provided with wheel traveling system, is provided with control module on the frame, and its characterized in that, an arm is still installed to one end on the frame, and the arm front end is provided with the shower nozzle, and it is provided with the spray tank still to load on the frame, and the spray tank is provided with the liquid medicine pipeline and the shower nozzle links to each other, installs the hydraulic pump on the liquid medicine pipeline, still install the camera on arm or the frame, control module one end and wheel traveling system, arm and camera link to each other, and the other end and remote control unit wireless communication are connected.
Therefore, when the equipment is used for sterilizing building places, the disinfection liquid medicine can be carried by the liquid medicine box, the disinfection field condition is shot in real time by the camera and is subjected to remote image transmission and feedback, the remote control device is used for remotely controlling the equipment to walk, and the mechanical arm is controlled to operate the spray head to spray the liquid medicine to disinfect the field environment. The disinfection personnel are not required to enter the site, the disinfection operators are liberated, the potential safety hazards are eliminated, and common personnel can remotely operate the equipment to realize timely disinfection on the site environment. Therefore, the convenience, reliability and safety of site environment disinfection are greatly improved. In practice, the control module portion and the remote control device portion are mature prior art in the field of control and will not be described in detail herein. During implementation, the camera can be installed on the arm or on the frame, and the camera can be installed a plurality ofly in circumference, realizes the panorama scanning effect, and camera self structure and mounting means are ripe prior art, do not detail here.
Furthermore, the mechanical arm structure comprises a lower support arm which is vertically arranged, the lower end of the lower support arm is horizontally rotatably arranged at the front end of the frame through a horizontal rotation control mechanism, the upper end of the lower support arm is connected with the rear end of the upper support arm through a vertical rotation control mechanism, and the front end of the upper support arm is provided with a spray head.
Like this, can realize the control to the shower nozzle direction of spraying through control lower support arm horizontal rotation and the vertical rotation of upper bracket, conveniently realize treating the disinfection of each spatial position in disinfection place.
Furthermore, the horizontal rotation control mechanism comprises a lower support arm support platform which is horizontally arranged, the lower end of the lower support arm is fixedly arranged on the lower support arm support platform, a cylindrical transmission column is formed by downwards extending the lower part of the middle part of the lower support arm support platform, a retaining sleeve which is integrally vertical and cylindrical is sleeved outside the transmission column and is fixed on the frame, a bearing and the transmission column are respectively arranged at the upper end and the lower end inside the retaining sleeve in a rotatable matching manner, a lower support arm driven gear is suspended at the lower end of the transmission column and horizontally arranged, the lower support arm driven gear is meshed with a lower support arm driving gear, and the lower support arm driving gear is connected with the output end of a lower support arm rotation control motor arranged on the frame; the transmission column is vertically provided with a liquid passing channel, an upper port of the liquid passing channel is located on the upper surface of the lower support table and connected with a liquid medicine pipeline leading to the spray head, the lower support is arranged in a hollow mode and is used for the liquid medicine pipeline leading to the spray head to pass through, a circle of liquid medicine gathering chamber is formed on the inner side wall of the retaining sleeve along the circumferential direction in a concave mode, the lower end of the liquid passing channel is communicated to the liquid medicine gathering chamber, a liquid medicine interface communicated to the liquid medicine gathering chamber is arranged on the outer side wall of the retaining sleeve, and the liquid medicine interface is connected with the liquid medicine pipeline leading to the liquid medicine box.
Like this, horizontal rotation control mechanism not only simple structure is compact, can control the horizontal rotation of lower support arm, can realize the transport intercommunication of liquid medicine moreover for the rotation of lower support arm can not cause the winding of liquid medicine pipeline, can not interfere the transport of liquid medicine, and has guaranteed the stability and the reliability that the liquid medicine was carried.
Furthermore, a dynamic sealing structure is arranged between the inner wall of the retaining sleeve at the upper end and the lower end of the liquid medicine convergence chamber and the transmission column.
Thus, leakage can be avoided, and the reliability of liquid medicine delivery can be better ensured.
As optimization, the lower support supporting platform is provided with a hollow-out region outside the position of the lower support. This allows a better reduction of the control arm weight. The rotation control is facilitated better, and the influence on the balance of the vehicle caused by overlarge weight of the control arm can be avoided.
Further, vertical rotation control mechanism, include and set up the upper boom pivot at upper boom rear end along the vertical direction, the upper boom pivot is installed on the pivot installation journal stirrup of lower boom upper end, still fixed mounting has a worm wheel in the upper boom pivot, the worm wheel meshes with an installation worm on lower boom, still fixed mounting has an upper boom driven gear on the worm, upper boom driven gear and an upper boom driving gear meshing, the upper boom driving gear is connected with the output of the upper boom rotation control motor of installation on lower boom.
Like this, simple structure is compact, and the worm gear can the auto-lock in order to guarantee the stability of upper boom front end luffing motion (rotating promptly) control, and convenient stable reliable control upper boom rotates.
Further, the worm wheel and the worm are mounted inside a protective casing at the upper end of the lower arm.
Therefore, the worm and gear can be prevented from being exposed, and the protection is improved.
Further, the upper supporting arm front end is provided with a shower nozzle auto-change over device, shower nozzle auto-change over device includes that a whole is the shower nozzle mounting disc of disc, the round shower nozzle is installed along circumference to shower nozzle mounting disc front end surface, the inside every shower nozzle that corresponds of shower nozzle mounting disc is provided with the shower nozzle passageway, shower nozzle mounting disc rear end middle part indent is formed with an infusion post mounting groove, each shower nozzle passageway front end is connected to the shower nozzle installation position, the rear end is connected to on the same circumference position of infusion post mounting groove circumference lateral wall, upper supporting arm front end middle part epirelief is provided with a whole columniform infusion post that is, the coaxial stop collar that is the whole cover of cover tube-shape that is provided with of round in infusion post periphery, infusion post front end forms the big diameter section that a diameter becomes and should big diameter section cooperation install in the infusion post mounting groove of shower nozzle mounting disc rear end, the infusion post is close to all being provided with the bearing between big diameter section position and the shower nozzle mounting disc and the outside stop collar and realizes rotatable even A transfusion channel is arranged in the whole transfusion column along the length direction, the rear end of the transfusion channel is connected with a liquid medicine pipeline, an outlet at the front end of the transfusion channel is folded backwards and is opposite to the position of a nozzle channel on the circumferential side wall of a transfusion column mounting groove, and a movable sealing structure is also arranged between the periphery of the large-diameter section of the transfusion column at the front and the rear positions of the outlet at the front end of the transfusion channel and the transfusion column mounting groove; the rear end of the spray head mounting disc is also provided with a ring gear which is coaxially arranged, and the ring gear is in transmission connection with a spray head switching control motor (which can be realized by a steering engine) arranged at the front end of the upper supporting arm.
Thus, the spray head switching control motor can drive the spray head mounting disc to stably rotate between the limiting sleeve and the infusion column through the ring gear, so that different spray head channels are switched to positions right facing the infusion channel, and further different spray heads are switched; therefore, a circle of spray heads with different types can be pre-installed, and the spray heads can be switched according to requirements when in use, so that the distance range and the coverage range of the liquid medicine sprayed by the spray heads are adjusted; the use of the device is more flexible and adjustable, and the practicability is improved. Meanwhile, the structure of the spray head switching device has the advantages of compact structure, and very stable and reliable liquid medicine transmission and switching control transmission rotation.
Furthermore, the front end of the upper supporting arm is provided with a folding section, and the spray head switching device is arranged on the folding section.
Therefore, the front end of the upper supporting arm is folded, and the angle of the spray head for spraying the liquid medicine is more conveniently adjusted.
As optimization, the middle part of the upper supporting arm is arranged in a hollow way and the liquid supply pipeline is arranged to pass through.
Like this, go up the arm fretwork and arrange and to alleviate weight and conveniently arrange the liquid medicine pipeline, lead to the pipeline winding when avoiding the support arm to rotate.
Further, go up the support and include from the main part section that links to each other forward and roll over to the section, roll over to the whole column that is of section, the whole arc platelike that is of main part section, respectively is provided with a fretwork region around along on the main part section, and the liquid medicine pipeline on the upper arm is binded and is fixed on the position between two fretwork regions.
Like this, the section of turning over can make things convenient for the installation setting of its upper spray head auto-change over device for the column, and the structure of main part section not only can greatly alleviate the weight of arm, and it makes things convenient for the arrangement and the fixed of liquid medicine pipeline on last support arm moreover.
Furthermore, the outer side of the front end of the upper support arm (specifically, the outer side of the folding section) is also provided with a camera mounting position, a front-end camera module is fixed on the camera mounting position, the front-end camera module comprises a front-end camera, and the front-end camera is a wide-angle lens which is convex forwards along the upper support arm.
Like this, front end camera and shower nozzle installation direction are unanimous, can real time monitoring shower nozzle spraying condition and shower nozzle spray liquid medicine effect to judge better and control the vehicle and advance or retreat, better and guarantee the disinfection effect.
Further, the whole cuboid that is of front end camera module, front end camera installation is fixed in front end camera module front end, the inside fan installation cavity that has of front end camera module, the installation is fixed with a forward camera fan in the fan installation cavity, be provided with the air inlet grid along circumference on the fan installation cavity perisporium at camera fan rear, still enclose all around along the front end camera on the front end terminal surface of front end camera module and establish and have arranged the round exhaust vent, exhaust vent rear end and fan installation cavity communicate with each other.
Like this, when the building disinfection of place ahead or top is disinfected to needs, the shower nozzle is upwards or during the top spout medicine to one side, can control and start the camera fan, guarantees that front end camera exhaust vent all around can have the air current blowout to form a whole air current curtain that is the tube-shape, can avoid shower nozzle spun liquid medicine to spill backward on the camera and influence camera lens formation of image effect. And the monitoring reliability is ensured.
Furthermore, the whole air outlet is arranged along the front-back direction, and the front part of the air outlet is provided with an inclined section which is inwards close to the front end camera. Therefore, the air flow sprayed out of the air outlet can form a cone-shaped air flow curtain, and the front end of the air flow is sealed, so that liquid medicine can be better prevented from falling into the surface of the front-end camera. Furthermore, the outlet of the air outlet hole can be integrally connected to form an annular air outlet groove. Further improve the annular air curtain effect formed by the air outlet and improve the shielding effect on the liquid medicine.
Further, wheel traveling system is including installing the crawler travel unit of position around the frame both sides, and crawler travel unit includes that vertical setting and relatively fixed in a whole of frame are triangle-shaped's base plate, and a drive sprocket is installed to the base plate upper end, and two corner departments respectively install a driven sprocket around the base plate lower part, and two walking wheels are installed side by side around still in base plate middle part below, the driven sprocket position is higher than the walking wheel position, drive sprocket, driven sprocket and walking wheel cooperate the cup joint outward and are provided with chain formula track.
Therefore, when the crawler traveling device is used, the power machine on the frame is controlled to drive the driving chain wheel to rotate so as to realize the traveling of the crawler traveling device, the stability of the traveling of the vehicle can be better improved by adopting the crawler traveling device, and meanwhile, the traveling trafficability of the vehicle can be conveniently improved. The specific control part is mature prior art and is not detailed here.
Furthermore, the side edge positions of the front side and the rear side of the base plate are respectively provided with a driven chain wheel mounting support arm arranged along the side edge direction, the lower end of the driven chain wheel mounting support arm is provided with the driven chain wheel, the middle part of the driven chain wheel mounting support arm is rotatably connected with the base plate through a rotating shaft, and a support arm holding spring is further arranged between the driven chain wheel mounting support arm and the base plate.
Therefore, when the support arm is kept by the spring and is not subjected to external force, the support arm is kept to be in a position parallel and consistent with the side edge of the base plate, when the vehicle moves forwards or retreats and meets an obstacle or a step, the position of the driven sprocket is firstly contacted with the obstacle or the step, when the resistance is excessively greater than the holding force of the support arm keeping spring, the lower end of the support arm for installing the driven sprocket can be lifted upwards for a certain distance, and the passing performance of the crawler walking device in the walking process is greatly improved.
Further, the lower portion of the base plate is further provided with a walking wheel mounting plate, the upper end of the walking wheel mounting plate is rotatably connected and mounted on the base plate, walking wheels are mounted at the front end and the rear end of the lower side of the walking wheel mounting plate, and a mounting plate holding spring is arranged between the walking wheel mounting plate and the base plate.
Therefore, when the walking vehicle encounters an obstacle, the two walking wheels can float and lift by a certain height from front to back, and the walking trafficability is improved.
Furthermore, a first support lug is vertically and downwards convexly arranged on one side, close to the inside, of the upper end of the driven chain wheel mounting support arm, the first support lug is hinged with one end, close to the inside, of a lever which is horizontally arranged integrally, a middle fulcrum of the lever is rotatably arranged on the base plate, and one end, close to the outside, of the lever is hinged with a second support lug which is vertically arranged on the side edge of the walking wheel mounting plate.
Like this, when the driven sprocket of base plate one end met the barrier and is forced to be raised, driven sprocket installation support arm lower extreme upwards rotated, moved sprocket installation support arm upper end and downwards rotated and can use the walking wheel mounting panel of adjacent side through the lever on for the walking wheel mounting panel of this adjacent side can upwards lift the certain distance, and the lever through the opposite side can drive the driven sprocket of opposite side simultaneously and downwards push down the certain distance in step. Therefore, a synchronous coordination effect is generated, the integrity of the crawler traveling device is improved, and the heights of the four wheels at the lower part of the base plate can be synchronously coordinated to the position where the barrier can pass through more easily when the barrier is encountered. Therefore, the barrier passing performance is further greatly improved. From the scheme, the invention particularly pays attention to improving the passing ability of the equipment when meeting obstacles, so that the environment needing disinfection is messy when people are emergently evacuated after an epidemic situation suddenly breaks out, and a large amount of discarded objects exist on the site. Therefore, the crawler belt walking device with high trafficability is adopted as the walking power device, and various improvements are made on the crawler belt walking device to further improve the trafficability performance.
Furthermore, a lever rotating shaft is fixedly arranged on the outer surface of the base plate in a protruding mode at the middle position of the lever, a strip hole is formed in the middle of the lever along the length direction, and the lever rotating shaft penetrates through the strip hole to form a lever fulcrum.
Therefore, when the driven chain wheel mounting support arm drives the lever to rotate, the lever rotating shaft serving as the fulcrum in the middle of the lever can slide in the strip hole for a certain distance left and right, so that a sufficient yielding space is formed, and the reliability of lever rotation is better ensured.
Furthermore, the driven sprocket mounting arm and the opposite side of the base plate are respectively provided with a yielding groove corresponding to the lever, and the two ends of the first support lug, the second support lug and the lever are respectively accommodated in the corresponding yielding grooves.
The two yielding grooves on the opposite side surfaces of the driven chain wheel mounting support arm and the base plate are used for achieving yielding of the lever mechanism, the base plate and the driven chain wheel mounting support arm can be arranged more tightly, and the force transmission structure is more stable and reliable.
Further, the liquid medicine box is installed on the upper surface of the frame in a covering mode along the length direction of the frame.
This can increase the amount of the chemical liquid as much as possible.
Further, still be provided with level sensor and control module on the frame and link to each other, the liquid medicine case front end is articulated to be installed on the frame, and the frame rear end still is provided with a lifting devices, and lifting devices's flexible arm upwards sets up and flexible arm upper end swing joint is at liquid medicine case rear end lower surface.
Therefore, the traditional Chinese medicine liquid tank in the equipment can occupy a very large space volume proportion of the equipment, and the liquid medicine tank can carry a large amount of liquid medicine when in use, and the liquid medicine has fluidity. Therefore, when the front end of the vehicle passes through a large obstacle, the liquid medicine flows backwards in the lifting process of the front end of the equipment, and the equipment is easily overturned due to instability of the gravity center when the inclination angle is too large. Therefore, the applicant has made the above improvement in a targeted manner, so that when the level sensor detects that the upward inclination angle of the front end of the vehicle is too large, the lifting device can control the rear end of the liquid medicine box to lift upwards, so that liquid medicine flows back to the front end, and the front-back weight balance of the equipment is kept. Therefore, the equipment can stably and reliably cross larger obstacles, and the passing performance of the equipment is better improved. The implementation can be further improved, so that the front end and the rear end of the lower part of the liquid medicine box are provided with lifting devices and are connected to the frame by the lifting devices. Therefore, the liquid medicine box can be lifted in the opposite direction to control balance no matter the front and back directions meet large obstacles, and the passing performance of the liquid medicine box is improved. The lifting device can be realized by a hydraulic cylinder, an electric cylinder or other mechanisms during implementation.
Furthermore, the middle part of the rear end of the frame is also provided with an auxiliary supporting wheel which is arranged at the lower end of an auxiliary supporting arm, the upper end of the auxiliary supporting arm is rotatably hinged at the middle part of the rear end of the vehicle, and the frame is also provided with a telescopic device which has the efficiency of the auxiliary supporting arm and can control the up-and-down rotation of the auxiliary supporting arm.
When the liquid medicine in the liquid medicine case runs out like this, when meeting great barrier in vehicle the place ahead and need adjusting equipment inclination, can control telescoping device and drive the auxiliary support arm lower extreme and open downwards and prop up the equipment rear end, make equipment resume balanced around, do benefit to further improvement equipment trafficability characteristic.
In conclusion, the invention has the advantages of remotely controlling and realizing the disinfection of the site environment and improving the convenience, reliability and safety of the disinfection process.
Drawings
Fig. 1 is a schematic view of the overall structure of the walking device for epidemic prevention and disinfection of the environment of a site according to the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a schematic structural view of a single horizontal rotation control mechanism portion of the apparatus of fig. 1.
Fig. 4 is a schematic diagram of a part of a single mechanical arm in the device of fig. 1, and the position of a vertical rotation control mechanism is cut off to show the internal structure.
Fig. 5 is a top view of fig. 4.
Fig. 6 is a schematic structural view of a single head switching device portion of the apparatus of fig. 1.
Fig. 7 is a cross-sectional view of fig. 6.
FIG. 8 is a schematic view of the structure of a portion of the single crawler attachment of the apparatus of FIG. 1.
Fig. 9 is a schematic structural diagram of the front camera module in fig. 1.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The best mode is as follows: as shown in fig. 1 to 9, a walking device for epidemic prevention and disinfection of a place environment comprises a frame 1, a wheel walking system is arranged below the frame 1, a control module (not shown) is arranged on the frame, wherein a mechanical arm is further installed at one end of the frame, a spray head 2 is arranged at the front end of the mechanical arm, a liquid medicine box 3 is further arranged on the frame in a load manner, a liquid medicine pipeline (not shown) is arranged in the liquid medicine box 3 and connected with the spray head 2, a hydraulic pump is installed on the liquid medicine pipeline, a camera (number 4 in the figure is a camera installation position and used for installing a front-end camera module) is further installed on the mechanical arm or the frame, one end of the control module is connected with the wheel walking system, the mechanical arm and the camera, and the other end of the control module is in wireless communication connection with a remote control device.
Therefore, when the equipment is used for sterilizing building places, the disinfection liquid medicine can be carried by the liquid medicine box, the disinfection field condition is shot in real time by the camera and is subjected to remote image transmission and feedback, the remote control device is used for remotely controlling the equipment to walk, and the mechanical arm is controlled to operate the spray head to spray the liquid medicine to disinfect the field environment. The disinfection personnel are not required to enter the site, the disinfection operators are liberated, the potential safety hazards are eliminated, and common personnel can remotely operate the equipment to realize timely disinfection on the site environment. Therefore, the convenience, reliability and safety of site environment disinfection are greatly improved. In practice, the control module portion and the remote control device portion are mature prior art in the field of control and will not be described in detail herein. During implementation, the camera can be installed on the arm or on the frame, and the camera can be installed a plurality ofly in circumference, realizes the panorama scanning effect, and camera self structure and mounting means are ripe prior art, do not detail here.
The mechanical arm structure comprises a lower support arm 5 which is vertically arranged, the lower end of the lower support arm 5 is horizontally rotatably arranged at the front end of the frame through a horizontal rotation control mechanism, the upper end of the lower support arm 5 is connected with the rear end of an upper support arm 6 through a vertical rotation control mechanism, and a spray head 2 is arranged at the front end of the upper support arm 6. When the mechanical arm is implemented, the lower support arm is integrally of a hollow frame body structure, so that the weight of the mechanical arm is reduced. The upper support arm is integrally of an arc-shaped plate structure with a hollow middle part so as to reduce the weight of the mechanical arm.
Like this, can realize the control to the shower nozzle direction of spraying through control lower support arm horizontal rotation and the vertical rotation of upper bracket, conveniently realize treating the disinfection of each spatial position in disinfection place.
The horizontal rotation control mechanism comprises a lower support arm support platform 7 which is horizontally arranged, the lower end of a lower support arm 5 is fixedly arranged on the lower support arm support platform 7, a cylindrical transmission column 8 is formed by extending downwards in the middle of the lower support arm support platform 7, a vertical cylindrical retaining sleeve 9 is sleeved outside the transmission column 8, the retaining sleeve 9 is fixed on a frame, bearings are respectively arranged at the upper end and the lower end inside the retaining sleeve 9 and are rotatably matched with the transmission column 8, a lower support arm driven gear 10 is suspended at the lower end of the transmission column and is horizontally arranged, the lower support arm driven gear 10 is meshed with a lower support arm driving gear (not shown in the figure), and the lower support arm driving gear is connected with an output end (not shown in the figure) of a lower support arm rotation control motor arranged on the frame; the inside vertical liquid passageway that is provided with of transmission post 8, cross the liquid passageway upper port and be located the lower boom brace table upper surface and connect the liquid medicine pipeline to the shower nozzle, the lower boom cavity sets up and supplies the liquid medicine pipeline to the shower nozzle to pass, it has the round liquid medicine to assemble cavity 11 to inwards form along circumference on the retaining sleeve lateral wall, cross liquid passageway lower extreme and communicate to the liquid medicine and assemble cavity 11, be provided with on the retaining sleeve lateral wall and communicate to the liquid medicine and assemble cavity 11's liquid medicine interface 12, liquid medicine interface 12 connects the liquid medicine pipeline to the liquid medicine case.
Like this, horizontal rotation control mechanism not only simple structure is compact, can control the horizontal rotation of lower support arm, can realize the transport intercommunication of liquid medicine moreover for the rotation of lower support arm can not cause the winding of liquid medicine pipeline, can not interfere the transport of liquid medicine, and has guaranteed the stability and the reliability that the liquid medicine was carried.
In practice, the lower arm support platform 7 may be hollowed out except the area where the lower arm is mounted, so as to reduce the weight of the control arm. The rotation control is facilitated better, and the influence on the balance of the vehicle caused by overlarge weight of the control arm can be avoided.
Wherein, a dynamic sealing structure is arranged between the inner wall of the retaining sleeve 9 at the upper end and the lower end of the liquid medicine convergence cavity 11 and the transmission column 8.
Thus, leakage can be avoided, and the reliability of liquid medicine delivery can be better ensured.
Wherein, vertical rotation control mechanism, include that the vertical direction sets up the upper boom pivot 13 at the 6 rear ends of upper boom, upper boom pivot 13 is installed on pivot installation journal stirrup 14 of lower boom upper end, still fixed mounting has a worm wheel 15 on the upper boom pivot 13, worm wheel 15 meshes with a worm 16 of installing in lower boom upper end, still fixed mounting has an upper boom driven gear 17 on the worm 16, upper boom driven gear 17 meshes with an upper boom driving gear 18, upper boom driving gear 18 is connected with the output of installing upper boom rotation control motor 19 on lower boom 5.
Like this, simple structure is compact, and the worm gear can the auto-lock in order to guarantee the stability of upper boom front end luffing motion (rotating promptly) control, and convenient stable reliable control upper boom rotates.
Wherein the worm wheel and worm are mounted inside a protective casing 20 at the upper end of the lower arm.
Therefore, the worm and gear can be prevented from being exposed, and the protection is improved.
Wherein, the upper arm front end is provided with a shower nozzle auto-change over device, shower nozzle auto-change over device includes that a whole is the shower nozzle mounting disc 21 of disc, round shower nozzle 2 is installed along circumference to shower nozzle mounting disc 21 front end surface, the inside every shower nozzle that corresponds of shower nozzle mounting disc 21 is provided with shower nozzle passageway 22, shower nozzle mounting disc 21 rear end middle part indent is formed with a infusion post mounting groove, each shower nozzle passageway 22 front end is connected to the shower nozzle installation position, the rear end is connected to on the same circumference position of infusion post mounting groove circumference lateral wall, the upper arm front end middle part epirelief is provided with a whole columniform infusion post 23 that is, the coaxial stop collar 24 that is the whole cover tube-shape of round that is provided with of infusion post periphery, infusion post 23 front end forms the big diameter section that a diameter becomes and this big diameter section cooperation is installed in the infusion post mounting groove of shower nozzle mounting disc rear end, infusion post 23 is close to all setting up between big diameter section position and the shower nozzle mounting disc and the outside and between shower nozzle mounting disc and the stop collar The bearing is used for realizing rotatable connection, a transfusion channel 25 is arranged in the transfusion column 23 along the length direction, the rear end of the transfusion channel 25 is connected with a liquid medicine pipeline, the outlet at the front end of the transfusion channel 25 is folded backwards and is opposite to the position of the nozzle channel 22 on the circumferential side wall of the transfusion column mounting groove, and a dynamic sealing structure is also arranged between the periphery of the large-diameter section of the transfusion column at the front and the rear positions of the outlet at the front end of the transfusion channel 25 and the transfusion column mounting groove; the rear end of the spray head mounting plate is also provided with a ring gear 26 which is coaxially arranged, and the ring gear 26 is in transmission connection with a spray head switching control motor 27 (which can be realized by a steering engine) arranged at the front end of the upper supporting arm.
Thus, the spray head switching control motor can drive the spray head mounting disc to stably rotate between the limiting sleeve and the infusion column through the ring gear, so that different spray head channels are switched to positions right facing the infusion channel, and further different spray heads are switched; therefore, a circle of spray heads with different types can be pre-installed, and the spray heads can be switched according to requirements when in use, so that the distance range and the coverage range of the liquid medicine sprayed by the spray heads are adjusted; the use of the device is more flexible and adjustable, and the practicability is improved. Meanwhile, the structure of the spray head switching device has the advantages of compact structure, and very stable and reliable liquid medicine transmission and switching control transmission rotation.
Wherein, the front end of the upper supporting arm 6 is provided with a folding section 28, and the spray head switching device is arranged on the folding section.
Therefore, the front end of the upper supporting arm is folded, and the angle of the spray head for spraying the liquid medicine is more conveniently adjusted.
Wherein, the middle part of the upper supporting arm 6 is provided with a hollow part and a liquid medicine supply pipeline is arranged and passed through.
Like this, go up the arm fretwork and arrange and to alleviate weight and conveniently arrange the liquid medicine pipeline, lead to the pipeline winding when avoiding the support arm to rotate.
Wherein, go up the arm 6 and include from the main part section that links to each other forward and roll over to section 28, roll over to the whole column that is of section, the whole arc platelike that is of main part section, respectively is provided with a fretwork region 43 around along the main part section, goes up the liquid medicine pipeline on the arm and bindes and fix on the position between two fretwork regions 43.
Like this, the section of turning over can make things convenient for the installation setting of its upper spray head auto-change over device for the column, and the structure of main part section not only can greatly alleviate the weight of arm, and it makes things convenient for the arrangement and the fixed of liquid medicine pipeline on last support arm moreover.
The outer side of the front end of the upper arm (specifically the outer side of the folding section) is also provided with a camera mounting position 4, a front-end camera module 44 is fixed on the camera mounting position, and the front-end camera module 44 comprises a front-end camera 45; the front camera 45 preferably employs a wide-angle lens that is forward convex along the upper arm.
Like this, front end camera and shower nozzle installation direction are unanimous, can real time monitoring shower nozzle spraying condition and shower nozzle spray liquid medicine effect to judge better and control the vehicle and advance or retreat, better and guarantee the disinfection effect.
The front-end camera module 44 is integrally rectangular, the front-end camera 45 is fixedly mounted at the front end of the front-end camera module, a fan mounting cavity is formed in the front-end camera module, a forward camera fan 46 is fixedly mounted in the fan mounting cavity, an air inlet grille 47 is arranged on the circumferential wall of the fan mounting cavity behind the camera fan along the circumferential direction, a circle of air outlet holes 48 are further arranged on the front end face of the front-end camera module along the periphery of the front-end camera, and the rear ends of the air outlet holes are communicated with the fan mounting cavity.
Like this, when the building disinfection of place ahead or top is disinfected to needs, the shower nozzle is upwards or during the top spout medicine to one side, can control and start the camera fan, guarantees that front end camera exhaust vent all around can have the air current blowout to form a whole air current curtain that is the tube-shape, can avoid shower nozzle spun liquid medicine to spill backward on the camera and influence camera lens formation of image effect. And the monitoring reliability is ensured. In addition, during implementation, the bottom of the front-end camera module can be provided with an air inlet hole or an air inlet grating to replace the circumferentially arranged air inlet grating, so that sprayed vaporific liquid medicine can be better prevented from being sucked by the air inlet grating.
Wherein, the whole exhaust vent 47 sets up and the front portion has a section of slope section that is close to the front end camera inwards along fore-and-aft direction. Therefore, the air flow sprayed out of the air outlet can form a cone-shaped air flow curtain, and the front end of the air flow is sealed, so that liquid medicine can be better prevented from falling into the surface of the front-end camera. Furthermore, the outlet of the air outlet hole can be integrally connected to form an annular air outlet groove. Further improve the annular air curtain effect formed by the air outlet and improve the shielding effect on the liquid medicine.
Wherein, wheel traveling system is including installing the crawler travel unit of position around the frame both sides, and crawler travel unit includes vertical setting and relatively fixed in frame 1's a whole base plate 29 that is triangle-shaped, and a drive sprocket 30 is installed to base plate 29 upper end, and two corner departments respectively install a driven sprocket 31 around the base plate lower part, and two walking wheels 32 are installed side by side around still in base plate middle part below, driven sprocket 31 position is higher than walking wheel 32 position, drive sprocket 30, driven sprocket 31 and walking wheel 32 fit outside cup joints and is provided with chain formula track 33.
Therefore, when the crawler traveling device is used, the power machine on the frame is controlled to drive the driving chain wheel to rotate so as to realize the traveling of the crawler traveling device, the stability of the traveling of the vehicle can be better improved by adopting the crawler traveling device, and meanwhile, the traveling trafficability of the vehicle can be conveniently improved. The specific control part is mature prior art and is not detailed here.
The base plate 29 is provided with a driven sprocket mounting arm 34 at each of the front and rear side edges along the side edge direction, the driven sprocket 31 is mounted at the lower end of the driven sprocket mounting arm 34, the middle part of the driven sprocket mounting arm 34 is rotatably connected to the base plate 29 through a rotating shaft, and an arm holding spring (not shown) is further provided between the driven sprocket mounting arm and the base plate.
Therefore, when the support arm is kept by the spring and is not subjected to external force, the support arm is kept to be in a position parallel and consistent with the side edge of the base plate, when the vehicle moves forwards or retreats and meets an obstacle or a step, the position of the driven sprocket is firstly contacted with the obstacle or the step, when the resistance is excessively greater than the holding force of the support arm keeping spring, the lower end of the support arm for installing the driven sprocket can be lifted upwards for a certain distance, and the passing performance of the crawler walking device in the walking process is greatly improved.
Wherein, the lower part of the base plate 29 is also provided with a walking wheel mounting plate 35, the upper end of the walking wheel mounting plate 35 is rotatably connected and mounted on the base plate 29, the walking wheel 32 is mounted at the front and rear ends of the lower side of the walking wheel mounting plate 35, and a mounting plate holding spring (not shown in the figure) is arranged between the walking wheel mounting plate 35 and the base plate 29.
Therefore, when the walking vehicle encounters an obstacle, the two walking wheels can float and lift by a certain height from front to back, and the walking trafficability is improved.
Wherein, the side of the driven sprocket installation support arm 34 near the inside is provided with the first lug 36 vertically and downwardly in a protruding way, the first lug 36 is hinged with a lever 37 which is integrally arranged along the horizontal direction and near the inside end, the middle fulcrum of the lever 37 is rotatably arranged on the base plate, and the end of the lever 37 near the outside is hinged with a second lug 38 which is vertically arranged at the side of the walking wheel installation plate 35.
Like this, when the driven sprocket of base plate one end met the barrier and is forced to be raised, driven sprocket installation support arm lower extreme upwards rotated, moved sprocket installation support arm upper end and downwards rotated and can use the walking wheel mounting panel of adjacent side through the lever on for the walking wheel mounting panel of this adjacent side can upwards lift the certain distance, and the lever through the opposite side can drive the driven sprocket of opposite side simultaneously and downwards push down the certain distance in step. Therefore, a synchronous coordination effect is generated, the integrity of the crawler traveling device is improved, and the heights of the four wheels at the lower part of the base plate can be synchronously coordinated to the position where the barrier can pass through more easily when the barrier is encountered. Therefore, the barrier passing performance is further greatly improved. From the scheme, the invention particularly pays attention to improving the passing ability of the equipment when meeting obstacles, so that the environment needing disinfection is messy when people are emergently evacuated after an epidemic situation suddenly breaks out, and a large amount of discarded objects exist on the site. Therefore, the crawler belt walking device with high trafficability is adopted as the walking power device, and various improvements are made on the crawler belt walking device to further improve the trafficability performance.
The outer surface of the base plate is convexly and fixedly provided with a lever rotating shaft at the middle position of the lever, the middle part of the lever is provided with a strip hole along the length direction, and the lever rotating shaft penetrates through the strip hole to form a lever fulcrum.
Therefore, when the driven chain wheel mounting support arm drives the lever to rotate, the lever rotating shaft serving as the fulcrum in the middle of the lever can slide in the strip hole for a certain distance left and right, so that a sufficient yielding space is formed, and the reliability of lever rotation is better ensured.
Wherein, the corresponding lever position of driven sprocket installation support arm and base plate is provided with one respectively and gives way the groove 39, and the both ends of first journal stirrup, second journal stirrup and lever are held respectively and are got into the inslot that gives way that corresponds.
The two yielding grooves on the opposite side surfaces of the driven chain wheel mounting support arm and the base plate are used for achieving yielding of the lever mechanism, the base plate and the driven chain wheel mounting support arm can be arranged more tightly, and the force transmission structure is more stable and reliable.
Wherein, the liquid medicine box 3 is arranged on the upper surface of the frame in a covering manner along the length direction of the frame 1.
This can increase the amount of the chemical liquid as much as possible.
Wherein, still be provided with level sensor (not shown in the figure) on frame 1 and link to each other with control module, 3 case front end below of liquid medicine are articulated to be installed on frame 1, and frame 1 rear end still is provided with a lifting devices 39, and lifting devices 39's flexible arm upwards sets up and flexible arm upper end swing joint is at 3 rear end lower surfaces of liquid medicine case.
Therefore, the traditional Chinese medicine liquid tank in the equipment can occupy a very large space volume proportion of the equipment, and the liquid medicine tank can carry a large amount of liquid medicine when in use, and the liquid medicine has fluidity. Therefore, when the front end of the vehicle passes through a large obstacle, the liquid medicine flows backwards in the lifting process of the front end of the equipment, and the equipment is easily overturned due to instability of the gravity center when the inclination angle is too large. Therefore, the applicant has made the above improvement in a targeted manner, so that when the level sensor detects that the upward inclination angle of the front end of the vehicle is too large, the lifting device can control the rear end of the liquid medicine box to lift upwards, so that liquid medicine flows back to the front end, and the front-back weight balance of the equipment is kept. Therefore, the equipment can stably and reliably cross larger obstacles, and the passing performance of the equipment is better improved. The implementation can be further improved, so that the front end and the rear end of the lower part of the liquid medicine box are provided with lifting devices and are connected to the frame by the lifting devices. Therefore, the liquid medicine box can be lifted in the opposite direction to control balance no matter the front and back directions meet large obstacles, and the passing performance of the liquid medicine box is improved. The lifting device can be realized by a hydraulic cylinder, an electric cylinder or other mechanisms during implementation.
The middle part of the rear end of the frame is also provided with an auxiliary supporting wheel 40, the auxiliary supporting wheel 40 is arranged at the lower end of an auxiliary supporting arm 41, the upper end of the auxiliary supporting arm is rotatably hinged at the middle part of the rear end of the vehicle, and the frame is also provided with a telescopic device 42 which has the efficiency of the auxiliary supporting arm and can control the auxiliary supporting arm to rotate up and down.
When the liquid medicine in the liquid medicine case runs out like this, when meeting great barrier in vehicle the place ahead and need adjusting vehicle inclination, can control telescoping device and drive the auxiliary support arm lower extreme and open downwards and prop up the equipment rear end, make equipment resume balanced around, do benefit to further improvement equipment trafficability characteristic.

Claims (10)

1. The utility model provides a place environment epidemic prevention walking equipment for disinfection, includes the frame, and the frame below is provided with wheel traveling system, is provided with control module on the frame, and its characterized in that, an arm is still installed to one end on the frame, and the arm front end is provided with the shower nozzle, and it is provided with the spray tank still to load on the frame, and the spray tank is provided with the liquid medicine pipeline and the shower nozzle links to each other, installs the hydraulic pump on the liquid medicine pipeline, still install the camera on arm or the frame, control module one end and wheel traveling system, arm and camera link to each other, and the other end and remote control unit wireless communication are connected.
2. The walking equipment for epidemic prevention and disinfection of site environment as claimed in claim 1, wherein said mechanical arm structure comprises a lower arm vertically arranged, the lower end of the lower arm is horizontally rotatably mounted at the front end of the frame through a horizontal rotation control mechanism, the upper end of the lower arm is connected with the rear end of the upper arm through a vertical rotation control mechanism, and the front end of the upper arm is provided with a spray head.
3. The walking equipment for epidemic prevention and disinfection of the site environment according to claim 2, wherein the horizontal rotation control mechanism comprises a lower arm support platform horizontally arranged, the lower end of the lower arm is fixedly mounted on the lower arm support platform, a cylindrical transmission column is formed by extending downwards from the lower middle part of the lower arm support platform, a retaining sleeve which is integrally vertical cylindrical is sleeved outside the transmission column and is fixed on the frame, the upper end and the lower end inside the retaining sleeve are respectively provided with a bearing and the transmission column in rotatable fit, the lower end of the transmission column is suspended and horizontally provided with a lower arm driven gear, the lower arm driven gear is meshed with a lower arm driving gear, and the lower arm driving gear is connected with the output end of a lower arm rotation control motor mounted on the frame; the transmission column is vertically provided with a liquid passing channel, an upper port of the liquid passing channel is located on the upper surface of the lower support table and connected with a liquid medicine pipeline leading to the spray head, the lower support is arranged in a hollow mode and is used for the liquid medicine pipeline leading to the spray head to pass through, a circle of liquid medicine gathering chamber is formed on the inner side wall of the retaining sleeve along the circumferential direction in a concave mode, the lower end of the liquid passing channel is communicated to the liquid medicine gathering chamber, a liquid medicine interface communicated to the liquid medicine gathering chamber is arranged on the outer side wall of the retaining sleeve, and the liquid medicine interface is connected with the liquid medicine pipeline leading to the liquid medicine box.
4. The walking equipment for epidemic prevention and disinfection of the site environment according to claim 3, wherein a dynamic sealing structure is provided between the inner wall of the retaining sleeve and the transmission column at the upper and lower ends of the liquid medicine converging chamber.
5. The walking equipment for epidemic prevention and disinfection of the site environment according to claim 2, wherein the vertical rotation control mechanism comprises an upper arm rotating shaft arranged at the rear end of the upper arm in the vertical direction, the upper arm rotating shaft is mounted on a rotating shaft mounting lug at the upper end of the lower arm, a worm gear is further fixedly mounted on the upper arm rotating shaft, the worm gear is meshed with a worm mounted at the upper end of the lower arm, an upper arm driven gear is further fixedly mounted on the worm, the upper arm driven gear is meshed with an upper arm driving gear, and the upper arm driving gear is connected with the output end of an upper arm rotation control motor mounted on the lower arm;
the worm wheel and the worm are arranged in a protective shell at the upper end of the lower support arm.
6. The walking device for epidemic prevention and disinfection in the site environment according to claim 2, wherein the upper arm is provided at its front end with a nozzle switching device comprising a nozzle mounting plate having a disk shape integrally, a ring of nozzles are circumferentially mounted on the front end surface of the nozzle mounting plate, a nozzle channel is provided inside the nozzle mounting plate corresponding to each nozzle, a liquid delivery column mounting groove is concavely formed in the middle of the rear end of the nozzle mounting plate, the front end of each nozzle channel is connected to a nozzle mounting position, the rear end is connected to the same circumferential position of the circumferential side wall of the liquid delivery column mounting groove, an integrally cylindrical liquid delivery column is convexly provided in the middle of the front end of the upper arm, a ring of integrally cylindrical sleeve-shaped stop collar is coaxially provided around the liquid delivery column, the front end of the liquid delivery column forms a large diameter section with an enlarged diameter and the large diameter section is fittingly mounted in the liquid delivery column mounting groove at the rear end of the nozzle mounting plate, bearings are arranged between the position of the infusion column close to the large-diameter section and the nozzle mounting disc and between the nozzle mounting disc and an external limiting sleeve to realize rotatable connection, an infusion channel is arranged in the infusion column integrally along the length direction, the rear end of the infusion channel is connected with a liquid medicine pipeline, the position of the nozzle channel on the circumferential side wall of the infusion column mounting groove is opposite to the position of the outlet at the front end of the infusion channel after being folded, and a movable sealing structure is also arranged between the periphery of the large-diameter section of the infusion column at the front and the rear positions of the outlet at the front end of the infusion channel and the infusion column mounting groove; the rear end of the spray head mounting disc is also provided with a ring gear which is coaxially arranged, and the ring gear is in transmission connection with a spray head switching control motor which is arranged at the front end of the upper supporting arm.
7. The walking equipment for epidemic prevention and disinfection of the site environment according to claim 6, wherein the front end of the upper arm has a turning section, the nozzle switching device is installed on the turning section, the middle part of the upper arm is hollowed out and the liquid supply pipeline is arranged to pass through;
the upper supporting arm comprises a main body section and a folding section which are connected from back to front, the folding section is integrally columnar, the main body section is integrally arc-shaped plate-shaped, the front edge and the back edge of the upper edge of the main body section are respectively provided with a hollow area, and a liquid medicine pipeline on the upper supporting arm is bound and fixed at a position between the two hollow areas;
the outer side of the front end of the upper arm is also provided with a camera mounting position, a front-end camera module is fixed on the camera mounting position, and the front-end camera module comprises a front-end camera;
the front-end camera module is integrally rectangular, the front-end camera is fixedly installed at the front end of the front-end camera module, a fan installation cavity is formed in the front-end camera module, a forward camera fan is fixedly installed in the fan installation cavity, an air inlet grille is arranged on the peripheral wall of the fan installation cavity behind the camera fan along the circumferential direction, a circle of air outlet holes are further formed in the front-end face of the front-end camera module along the periphery of the front-end camera, and the rear ends of the air outlet holes are communicated with the fan installation cavity; the whole exhaust vent sets up and the front portion has a section of slope section that is inwards close to the front end camera along fore-and-aft direction.
8. The walking device for epidemic prevention and disinfection of the site environment as claimed in claim 1, wherein the wheel walking system comprises a crawler walking device installed at the front and rear positions of both sides of the frame, the crawler walking device comprises a generally triangular base plate vertically installed and relatively fixed to the frame, a driving sprocket is installed at the upper end of the base plate, a driven sprocket is installed at each of the front and rear corners of the lower portion of the base plate, two walking wheels are installed in parallel at the front and rear positions below the middle portion of the base plate, the driven sprocket is higher than the walking wheels, and a chain type crawler is installed outside the driving sprocket, the driven sprocket and the walking wheels in a matching and sleeving manner.
9. The walking equipment for epidemic prevention and disinfection of site environment as claimed in claim 8, wherein the base plate has a driven sprocket mounting arm at each of the front and rear side edges, the driven sprocket mounting arm having a driven sprocket mounted at the lower end thereof, the driven sprocket mounting arm being rotatably coupled to the base plate at the middle portion thereof via a shaft, and a spring for holding the driven sprocket mounting arm and the base plate;
the lower part of the base plate is also provided with a walking wheel mounting plate, the upper end of the walking wheel mounting plate is rotatably connected and mounted on the base plate, the walking wheels are mounted at the front end and the rear end of the lower side of the walking wheel mounting plate, and a mounting plate holding spring is arranged between the walking wheel mounting plate and the base plate;
the upper end of the driven sprocket mounting arm is provided with a first support lug which is vertically and downwardly protruded from one side close to the inside, the first support lug is hinged with one end close to the inside of a lever which is horizontally arranged integrally, a middle fulcrum of the lever is rotatably arranged on a base plate, and one end close to the outside of the lever is hinged with a second support lug which is vertically arranged on the side edge of the traveling wheel mounting plate.
10. The walking equipment for epidemic prevention and disinfection of the site environment as claimed in claim 1, wherein said liquid medicine tank is coveredly mounted on the upper surface of the frame along the length direction of the frame;
still be provided with level sensor and control module on the frame and link to each other, the articulated installation of liquid medicine case front end is on the frame, and the frame rear end still is provided with a lifting devices, and lifting devices's flexible arm upwards sets up and flexible arm upper end swing joint is at liquid medicine case rear end lower surface.
CN202110543412.XA 2021-05-19 2021-05-19 Walking equipment for epidemic prevention and disinfection of place environment Active CN113198033B (en)

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CN113877737A (en) * 2021-12-08 2022-01-04 昌乐县人民医院 Multifunctional injection device
CN114227718A (en) * 2021-12-31 2022-03-25 国家石油天然气管网集团有限公司 Floating cabin detection robot
CN114559444A (en) * 2022-03-08 2022-05-31 长源动力（北京）科技有限公司 Ambulatory medical device
CN114923094A (en) * 2022-06-15 2022-08-19 泰州市创新电子有限公司 Be applied to three-dimensional laser scanner measuring support frame

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