CN113198033B - Walking equipment for epidemic prevention and disinfection of place environment - Google Patents

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

Info

Publication number
CN113198033B
CN113198033B CN202110543412.XA CN202110543412A CN113198033B CN 113198033 B CN113198033 B CN 113198033B CN 202110543412 A CN202110543412 A CN 202110543412A CN 113198033 B CN113198033 B CN 113198033B
Authority
CN
China
Prior art keywords
support arm
liquid medicine
spray head
frame
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110543412.XA
Other languages
Chinese (zh)
Other versions
CN113198033A (en
Inventor
刘阁
吴伟
舒雅婷
刘洁
颜凌宇
田美子
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yangtze Normal University
Original Assignee
Yangtze Normal University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yangtze Normal University filed Critical Yangtze Normal University
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
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Abstract

The invention discloses walking equipment for epidemic prevention and disinfection in a place environment, 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 realizing the disinfection of the site environment by remote control 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 environment sanitation and disinfection equipment, and particularly relates to walking equipment for epidemic prevention and disinfection of a place environment.
Background
When some building sites, such as factories, shops, schools, farms, squares and the like, need to be subjected to comprehensive disinfection measures due to epidemic outbreaks and the like, disinfection personnel wear gas masks, and carry disinfection devices to enter the sites for disinfection after wearing gas-proof clothes. However, after the disinfection personnel wear the anti-virus clothes, the disinfection equipment is carried for operation, so that the problems of inconvenient action, inconvenient operation and the like are caused. And if the operator carelessly damages the clothes, the safety of the operator is affected.
In addition, when disinfection is required after epidemic outbreak in a building site, disinfection treatment is usually required by professional epidemic situation treatment personnel. Common personnel are generally not allowed to enter epidemic places for treatment work, and thus the risk of epidemic spread is increased due to untimely treatment.
Therefore, if a technology capable of realizing the disinfection treatment of the field environment without the field operation of operators is developed, the problems can be solved, and the disinfection convenience, timeliness and safety are improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problems that: how to provide a walking device for epidemic prevention and disinfection of the site environment, which can realize the disinfection of the site environment by remote control and improve the convenience, reliability and safety of the disinfection process.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a walking equipment for epidemic prevention disinfection in place environment, includes the frame, and the frame below is provided with wheel traveling system, is provided with control module on the frame, and a serial communication port, the one end still installs a arm on the frame, and the arm front end is provided with the shower nozzle, and the load is provided with the liquid medicine case on the frame, and the liquid medicine incasement is provided with liquid medicine pipeline and shower nozzle and 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 links to each other with wheel traveling system, arm and camera, and the other end and remote control device wireless communication are connected.
Therefore, when the device is used for sterilizing a building site, sterilizing liquid medicine can be carried by the liquid medicine box, real-time shooting is carried out by the camera, remote image transmission feedback sterilization site conditions are carried out, the remote control device is used for remotely controlling the walking of the device, and the mechanical arm is controlled to operate the spray head to spray the liquid medicine for site environment sterilization. The disinfection personnel do not need to enter the site, so that the disinfection operators are liberated, the potential safety hazard is eliminated, and the common personnel can remotely operate the equipment to realize the timely disinfection of the site environment. So the convenience, reliability and safety of the disinfection of the place environment are greatly improved. In implementation, the control module part and the remote control device part are mature prior art in the control field, and are not described in detail herein. When implementing, the camera can be installed on the arm or on the frame, and the camera can be installed a plurality of in circumference, realizes panoramic scanning effect, and camera self structure and mounting means are ripe prior art, and detailed description is not here.
Further, 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 a spray head is arranged at the front end of the upper support arm.
Therefore, the control of the spray direction of the spray head can be realized by controlling the horizontal rotation of the lower support arm and the vertical rotation of the upper support arm, so that the disinfection of each space position of a place to be disinfected can be conveniently realized.
Further, the horizontal rotation control mechanism comprises a lower support arm supporting table which is horizontally arranged, the lower end of the lower support arm is fixedly arranged on the lower support arm supporting table, a cylindrical transmission column is formed by extending downwards from the lower part of the middle part of the lower support arm supporting table, a retaining sleeve which is vertical and cylindrical as a whole is sleeved outside the transmission column, the retaining sleeve is fixed on a frame, the upper end and the lower end in the retaining sleeve are respectively provided with a bearing and the transmission column which are in rotatable fit, the lower end of the transmission column is suspended and horizontally provided with a lower support arm driven gear, 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 passage, an upper port of the liquid passage is positioned on the upper surface of the lower support arm supporting table and is connected with a liquid medicine pipeline leading to the spray head, the lower support arm is arranged in a hollow mode and is used for allowing the liquid medicine pipeline leading to the spray head to pass through, a circle of liquid medicine converging chamber is formed on the inner side wall of the retaining sleeve along the circumferential indent, the lower end of the liquid passage is communicated to the liquid medicine converging chamber, a liquid medicine interface communicated to the liquid medicine converging 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 is simple structure compact not only, 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 guaranteed the stability and the reliability of liquid medicine transport.
Further, a dynamic sealing structure is arranged between the inner walls of the retaining sleeves at the upper end and the lower end of the liquid medicine converging cavity and the transmission column.
Thus, leakage can be avoided, and the reliability of liquid medicine conveying is better ensured.
As optimization, the lower support arm support table is provided with a hollow area outside the position of the lower support arm. This allows a better reduction in the weight of the control arm. The rotation control is better facilitated, and the influence on the balance of the vehicle due to the excessive weight of the control arm can be avoided.
Further, the vertical rotation control mechanism comprises an upper support arm rotating shaft arranged at the rear end of the upper support arm along the vertical direction, the upper support arm rotating shaft is arranged on a rotating shaft mounting lug at the upper end of the lower support arm, a worm wheel is fixedly arranged on the upper support arm rotating shaft, the worm wheel is meshed with a worm arranged at the upper end of the lower support arm, an upper support arm driven gear is fixedly arranged on the worm, the upper support arm driven gear is meshed with an upper support arm driving gear, and the upper support arm driving gear is connected with the output end of an upper support arm rotation control motor arranged on the lower support arm.
Therefore, the structure is simple and compact, the worm gear can be self-locked to ensure the stability of the up-and-down swing (namely rotation) control of the front end of the upper support arm, and the rotation of the upper support arm is conveniently, stably and reliably controlled.
Further, the worm wheel and the worm are arranged in a protective shell at the upper end of the lower support arm.
Therefore, the worm gear can be prevented from being exposed, and the protection is improved.
Further, the front end of the upper support arm is provided with a spray head switching device, the spray head switching device comprises a spray head mounting disc which is integrally disc-shaped, a circle of spray heads are circumferentially arranged on the front end surface of the spray head mounting disc, a spray head channel is arranged in the spray head mounting disc corresponding to each spray head, a transfusion column mounting groove is concavely formed in the middle of the rear end of the spray head mounting disc, the front end of each spray head channel is connected to a spray head mounting position, the rear end of each spray head channel is connected to the same circumferential position of the circumferential side wall of the transfusion column mounting groove, a transfusion column which is integrally cylindrical is convexly arranged in the middle of the front end of the upper support arm, a circle of limiting sleeve which is integrally sleeve-shaped is coaxially arranged on the periphery of the transfusion column, a large-diameter section which is enlarged in diameter is matched and is arranged in the transfusion column mounting groove at the rear end of the spray head mounting disc, bearings are respectively arranged between the position of the transfusion column close to the large-diameter section and the spray head mounting disc and the limiting sleeve at the periphery of the spray head mounting disc, the transfusion column is integrally connected in the length direction, the transfusion column is integrally provided with the transfusion channel, the rear end of the transfusion column is connected with a liquid medicine pipeline, a transfusion sleeve is coaxially arranged at the same circumferential position opposite to the position of the circumferential side wall of the transfusion column, and the front end of the transfusion column is arranged at the front end of the transfusion column, and the transfusion column is opposite to the position of the transfusion column; the rear end of the spray head mounting plate 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 support arm.
Therefore, 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 opposite to the infusion channels, and further, different spray heads are switched; therefore, a circle of spray heads with different types can be pre-installed, the spray heads can be switched according to the needs when in use, and the far-near range and the coverage range of the liquid medicine sprayed by the spray heads can be 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 stable and reliable liquid medicine conveying and switching control transmission rotation.
Further, the front end of the upper support 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 support arm is folded to be arranged, so that the angle of the spray head for spraying the liquid medicine can be adjusted more conveniently.
As optimization, the middle part of the upper support arm is hollowed out and provided for the liquid medicine pipeline to pass through.
Like this, go up support arm fretwork and arrange and can alleviate weight and conveniently arrange the liquid medicine pipeline, lead to the pipeline winding when avoiding the support arm to rotate.
Further, the upper support 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, a hollowed-out area is respectively arranged on the upper edge of the main body section front and back, and a liquid medicine pipeline on the upper support arm is bound and fixed at a position between the two hollowed-out areas.
Therefore, the columnar folded section can facilitate the installation and the arrangement of the spray head switching device on the columnar folded section, the weight of the mechanical arm can be greatly reduced by the structure of the main body section, and the liquid medicine pipeline can be conveniently arranged and fixed on the upper support arm.
Further, the outer side of the front end of the upper support arm (specifically, the outer side of the folded 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 protruding forwards along the upper support arm.
Therefore, the front-end camera is consistent with the spray head in installation direction, the spray condition of the spray head and the spray effect of the spray head can be monitored in real time, so that the forward or backward movement of the vehicle can be better judged and controlled, and the disinfection effect can be better ensured.
Further, the front end camera module is integrally rectangular, the front end camera is fixedly arranged 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 arranged in the fan installation cavity, an air inlet grille is circumferentially arranged on the peripheral wall of the fan installation cavity behind the camera fan, a circle of air outlet holes are circumferentially 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 installation cavity.
Therefore, when the front or top building needs to be disinfected, the spray head can be controlled to start the camera fan when spraying medicine upwards or obliquely upwards, the air outlet holes around the front end camera can be enabled to spray air flow, an integrally cylindrical air flow curtain is formed, and the phenomenon that the imaging effect of the lens is influenced due to the fact that medicine liquid sprayed out of the spray head is scattered backwards onto the camera can be avoided. The reliability of monitoring is ensured.
Further, the whole air outlet hole is arranged along the front-back direction, and the front part is provided with a section of inclined section which is inwards close to the front end camera. Therefore, the wind flow sprayed out from the air outlet can form a cone-shaped wind flow curtain, and the front end of the wind flow is sealed, so that the liquid medicine can be better prevented from falling into the surface of the front-end camera. Further, the outlets of the air outlet holes can be integrally connected to form an annular air outlet groove. Further improving the annular air curtain effect formed by the air outlet and improving the shielding effect on the liquid medicine.
Further, the wheel traveling system comprises crawler traveling devices which are arranged at the front and rear positions of two sides of the frame, each crawler traveling device comprises a substrate which is vertically arranged and relatively fixed on the frame and is in a triangle shape integrally, a driving sprocket is arranged at the upper end of each substrate, driven sprockets are respectively arranged at the front and rear corners of the lower part of each substrate, two traveling wheels are arranged in parallel at the front and rear positions below the middle part of each substrate, the positions of the driven sprockets are higher than the positions of the traveling wheels, and chain type crawler belts are sleeved and connected outside the driving sprocket, the driven sprockets and the traveling wheels in a matched mode.
Therefore, when the crawler belt walking device is used, the driving chain wheel is driven to rotate by controlling the power machine on the frame, so that the crawler belt walking device can walk, the stability of vehicle walking can be improved better, and meanwhile, the trafficability of vehicle walking can be improved conveniently. The specific control section is mature prior art and is not described in detail here.
Further, the base plate is provided with a driven sprocket mounting support arm arranged along the side direction at the side positions of the front side and the rear side, the lower end of the driven sprocket mounting support arm is provided with the driven sprocket, the middle part of the driven sprocket mounting support arm is rotatably connected and mounted on the base plate through a rotating shaft, and a support arm holding spring is further arranged between the driven sprocket mounting support arm and the base plate.
Therefore, when the support arm holding spring is not applied with external force, the driven sprocket mounting support arm is kept at a position parallel and consistent with the side edge of the base plate, when the vehicle encounters an obstacle or a step in the advancing or retreating process, the position of the driven sprocket is contacted with the obstacle or the step, and when the resistance is excessively larger than the holding force of the support arm holding spring, the lower end of the driven sprocket mounting support arm can be lifted upwards for a certain distance, so that the passing performance of the crawler running device in the running process is greatly improved.
Further, the lower part of the base plate is also provided with a travelling wheel mounting plate, the upper end of the travelling wheel mounting plate is rotatably connected and mounted on the base plate, the travelling wheel is mounted at the front end and the rear end of the lower side of the travelling wheel mounting plate, and a mounting plate holding spring is arranged between the travelling wheel mounting plate and the base plate.
Therefore, when encountering an obstacle, the two travelling wheels can also float and lift up a certain height, so that the travelling trafficability is improved.
Further, a first support lug is vertically and downwards arranged on one side, which is inwards, of the upper end of the driven sprocket mounting support arm in a protruding mode, the first support lug is hinged to one end, which is inwards, of a lever which is integrally arranged along the horizontal direction, a fulcrum in the middle of the lever is rotatably mounted on the base plate, and one end, which is outwards, of the lever is hinged to a second support lug which is vertically mounted on the side edge of the travelling wheel mounting plate.
Like this, when the driven sprocket of base plate one end runs into the barrier and is forced to raise, driven sprocket installation support arm lower extreme upwards rotates, and driven sprocket installation support arm upper end downwards rotates and can be through the lever effect to the walking wheel mounting panel of adjacent side for this walking wheel mounting panel of adjacent side can upwards lift a certain distance, can drive the driven sprocket of opposite side simultaneously downwards to push down a certain distance through the lever of opposite side. Therefore, the synchronous coordination effect is generated, the integrity of the crawler running 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 easier to pass through the obstacle when the crawler running device encounters the obstacle. So that the passing performance of the device to the obstacle is further greatly improved. From the above scheme, the invention is particularly focused on improving the passing performance of equipment when encountering obstacles, so that after people suddenly evacuate when encountering epidemic situation and suddenly burst, the environment needing to be disinfected is often messy, and a large amount of waste exists on the field. Therefore, the crawler belt walking device with high passing performance is adopted as the walking power device, and various improvements are made on the crawler belt walking device to further improve the passing performance.
Further, the outer surface of the base plate is arranged at the middle part of the lever in a protruding and fixed mode, a bar hole is formed in the middle part of the lever along the length direction, and the lever shaft penetrates through the bar hole to form a lever fulcrum.
Therefore, when the driven sprocket mounting support arm drives the lever to rotate, the lever rotating shaft serving as a fulcrum in the middle of the lever can slide left and right in the strip hole for a certain distance, so that a sufficient abdication space is formed, and the reliability of the rotation of the lever is better ensured.
Further, a yielding groove is formed in the opposite side surfaces of the driven sprocket mounting support arm and the base plate, corresponding to the lever positions, and two ends of the first support lug, the second support lug and the lever are respectively accommodated in the corresponding yielding grooves.
The two abdication grooves on the opposite sides of the driven sprocket mounting support arm and the base plate are used for realizing abdication of the lever mechanism, so that the base plate and the driven sprocket mounting support arm are more tightly arranged, and the force transmission structure is more stable and reliable.
Further, the liquid medicine box is arranged on the upper surface of the frame in a covering mode along the length direction of the frame.
This can increase the drug solution loading amount as much as possible.
Further, the frame is further provided with a horizontal sensor and a control module which are connected, the front end of the liquid medicine box is hinged to the frame, the rear end of the frame is further provided with a lifting device, the telescopic arm of the lifting device is upwards arranged, and the upper end of the telescopic arm is movably connected to the lower surface of the rear end of the liquid medicine box.
Therefore, the liquid medicine box in the equipment occupies a very large space-volume ratio of the equipment, and a large amount of liquid medicine can be carried by the liquid medicine box when the equipment is used, and the liquid medicine has fluidity. Therefore, when the front end of the vehicle passes through a larger obstacle, the liquid medicine can flow backwards in the lifting process of the front end of the equipment, and when the inclination angle is too large, the equipment can easily tip over due to the unstable center of gravity. The applicant carries out the improvement pertinently, when the horizontal sensor detects that the upward inclination angle of the front end of the vehicle is overlarge, the rear end of the liquid medicine box can be controlled to be lifted upwards through the lifting device, so that the liquid medicine flows back to the front end, and the front-rear weight balance of the equipment is maintained. Thus, the device can more stably and reliably overcome larger obstacles, and the device trafficability is better improved. The device can be further improved in implementation, so that lifting devices are arranged at the front end and the rear end of the lower part of the liquid medicine box and are connected to the frame by virtue of the lifting devices. Therefore, no matter the large obstacle is encountered in the front-back direction, the balance can be controlled by lifting the liquid medicine box in the opposite direction, and the trafficability of the liquid medicine box is improved. The lifting device can be realized by a hydraulic cylinder or an electric cylinder and other mechanisms during implementation.
Further, an auxiliary supporting wheel is further arranged in the middle of the rear end of the frame, the auxiliary supporting wheel is arranged at the lower end of an auxiliary supporting arm, the upper end of the auxiliary supporting arm is rotatably hinged in the middle of the rear end of the vehicle, and a telescopic device which is efficient with the auxiliary supporting arm and can control the auxiliary supporting arm to rotate up and down is further arranged on the frame.
When the liquid medicine in the liquid medicine tank is used up, and the front of the vehicle meets a larger obstacle and needs to adjust the inclination angle of the equipment, the telescopic device can be controlled to drive the lower end of the auxiliary supporting arm to be opened downwards and prop up the rear end of the equipment, so that the equipment is balanced back and forth, and the trafficability of the equipment is further improved.
In conclusion, the invention has the advantages of realizing the disinfection of the site environment by remote control and improving the convenience, reliability and safety of the disinfection process.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the walking device for epidemic prevention and disinfection in a place environment.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a schematic view of the construction of a separate horizontal rotation control mechanism part of the apparatus of fig. 1.
FIG. 4 is a schematic illustration of the apparatus of FIG. 1 with the individual arm sections shown with the vertical rotation control mechanism position broken away to show the internal configuration.
Fig. 5 is a top view of fig. 4.
Fig. 6 is a schematic view of a portion of the apparatus of fig. 1 showing the configuration of a single spray head switching device.
Fig. 7 is a cross-sectional view of fig. 6.
Fig. 8 is a schematic view of the construction of a single crawler belt portion of the apparatus of fig. 1.
Fig. 9 is a schematic structural diagram of the front-end camera module in fig. 1.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Best mode for carrying out the invention: as shown in fig. 1 to 9, a walking device for epidemic prevention and disinfection in a place environment comprises a frame 1, a wheel walking system is arranged below the frame 1, a control module (not shown in the figure) is arranged on the frame, one end of the frame is further provided with a mechanical arm, the front end of the mechanical arm is provided with a spray head 2, a liquid medicine box 3 is further loaded on the frame, a liquid medicine pipeline (not shown in the figure) is arranged in the liquid medicine box 3 and connected with the spray head 2, a hydraulic pump is arranged on the liquid medicine pipeline, a camera (a camera mounting position is indicated by a reference number 4 in the figure and used for mounting a front end camera module) is further arranged 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 connected with a remote control device in a wireless communication manner.
Therefore, when the device is used for sterilizing a building site, sterilizing liquid medicine can be carried by the liquid medicine box, real-time shooting is carried out by the camera, remote image transmission feedback sterilization site conditions are carried out, the remote control device is used for remotely controlling the walking of the device, and the mechanical arm is controlled to operate the spray head to spray the liquid medicine for site environment sterilization. The disinfection personnel do not need to enter the site, so that the disinfection operators are liberated, the potential safety hazard is eliminated, and the common personnel can remotely operate the equipment to realize the timely disinfection of the site environment. So the convenience, reliability and safety of the disinfection of the place environment are greatly improved. In implementation, the control module part and the remote control device part are mature prior art in the control field, and are not described in detail herein. When implementing, the camera can be installed on the arm or on the frame, and the camera can be installed a plurality of in circumference, realizes panoramic scanning effect, and camera self structure and mounting means are ripe prior art, and detailed description is not 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. The whole support arm is the support body structure that the fretwork set up under the implementation to reduce arm weight. The whole upper support arm is of an arc plate-shaped structure with a hollowed-out middle part, so that the weight of the mechanical arm is reduced.
Therefore, the control of the spray direction of the spray head can be realized by controlling the horizontal rotation of the lower support arm and the vertical rotation of the upper support arm, so that the disinfection of each space position of a place to be disinfected can be conveniently realized.
The horizontal rotation control mechanism comprises a lower support arm supporting table 7 which is horizontally arranged, the lower end of a lower support arm 5 is fixedly arranged on the lower support arm supporting table 7, a cylindrical transmission column 8 is formed by extending downwards from the lower part of the middle part of the lower support arm supporting table 7, a retaining sleeve 9 which is integrally in a vertical cylindrical shape is sleeved outside the transmission column 8, the retaining sleeve 9 is fixed on a frame, the upper end and the lower end in the retaining sleeve 9 are respectively provided with a bearing and the transmission column 8 which are in rotatable fit, the lower end of the transmission column is suspended and horizontally provided with a lower support arm driven gear 10, 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 the output end (not shown in the figure) of a lower support arm rotation control motor which is arranged on the frame; the inside vertical liquid passage that is provided with of drive post 8, liquid passage upper port is located lower support arm brace table upper surface and connects the liquid medicine pipeline that leads to the shower nozzle, and lower support arm cavity sets up and supplies the liquid medicine pipeline that leads to the shower nozzle to pass, keeps the circumference indent on the cover inside wall to be formed with round liquid medicine chamber 11 that gathers, and liquid passage lower extreme communicates to liquid medicine chamber 11 that gathers, keeps to be provided with on the cover lateral wall and communicates to liquid medicine interface 12 that liquid medicine gathered chamber 11, liquid medicine interface 12 connects the liquid medicine pipeline that leads to the liquid medicine case.
Like this, horizontal rotation control mechanism is simple structure compact not only, 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 guaranteed the stability and the reliability of liquid medicine transport.
In the implementation process, the lower support arm supporting table 7 is except for the area where the lower support arm is installed, and other areas can be hollowed out, so that the weight of the control arm is reduced. The rotation control is better facilitated, and the influence on the balance of the vehicle due to the excessive weight of the control arm can be avoided.
Wherein, a dynamic sealing structure is arranged between the inner wall of the retaining sleeve 9 and the transmission column 8 at the upper end and the lower end of the liquid medicine converging chamber 11.
Thus, leakage can be avoided, and the reliability of liquid medicine conveying is better ensured.
The vertical rotation control mechanism comprises an upper support arm rotating shaft 13 arranged at the rear end of an upper support arm 6 along the vertical direction, the upper support arm rotating shaft 13 is arranged on a rotating shaft mounting support lug 14 at the upper end of a lower support arm, a worm wheel 15 is fixedly arranged on the upper support arm rotating shaft 13, the worm wheel 15 is meshed with a worm 16 arranged at the upper end of the lower support arm, an upper support arm driven gear 17 is fixedly arranged on the worm 16, the upper support arm driven gear 17 is meshed with an upper support arm driving gear 18, and the upper support arm driving gear 18 is connected with the output end of an upper support arm rotation control motor 19 arranged on the lower support arm 5.
Therefore, the structure is simple and compact, the worm gear can be self-locked to ensure the stability of the up-and-down swing (namely rotation) control of the front end of the upper support arm, and the rotation of the upper support arm is conveniently, stably and reliably controlled.
Wherein the worm wheel and worm are mounted inside a protective housing 20 at the upper end of the lower arm.
Therefore, the worm gear can be prevented from being exposed, and the protection is improved.
The front end of the upper support arm is provided with a spray head switching device, the spray head switching device comprises a spray head mounting disc 21 which is integrally disc-shaped, a circle of spray heads 2 are circumferentially arranged on the front end surface of the spray head mounting disc 21, a spray head channel 22 is arranged in the spray head mounting disc 21 corresponding to each spray head, a transfusion column mounting groove is formed in the middle of the rear end of the spray head mounting disc 21 in a concave manner, the front end of each spray head channel 22 is connected to a spray head mounting position, the rear end of each spray head channel is connected to the same circumferential position of the circumferential side wall of the transfusion column mounting groove, a transfusion column 23 which is integrally cylindrical is convexly arranged in the front end of the upper support arm, a circle of limiting sleeve 24 which is integrally sleeve-shaped is coaxially arranged on the periphery of the transfusion column, a large-diameter section with the front end of the transfusion column 23 is formed in a large-diameter section which is matched and is arranged in the transfusion column mounting groove at the rear end of the spray head mounting disc, a bearing is arranged between the position close to the large-diameter section of the spray head mounting disc and the limiting sleeve of the spray head mounting disc, a transfusion column 25 is rotatably connected in the whole length direction, the transfusion column 23 is arranged in the transfusion column 25, the transfusion channel 25 is connected with the front end of the transfusion column 25 in the sealing position of the front end of the transfusion column mounting groove, and the front end of the transfusion column 25 is arranged at the position opposite to the front end of the transfusion channel; 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 support arm.
Therefore, 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 opposite to the infusion channels, and further, different spray heads are switched; therefore, a circle of spray heads with different types can be pre-installed, the spray heads can be switched according to the needs when in use, and the far-near range and the coverage range of the liquid medicine sprayed by the spray heads can be 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 stable and reliable liquid medicine conveying and switching control transmission rotation.
Wherein, the front end of the upper support arm 6 is provided with a folding section 28, and the nozzle switching device is arranged on the folding section.
Therefore, the front end of the upper support arm is folded to be arranged, so that the angle of the spray head for spraying the liquid medicine can be adjusted more conveniently.
Wherein, the middle part of the upper support arm 6 is hollowed out and provided for the liquid medicine pipeline to pass through.
Like this, go up support arm fretwork and arrange and can alleviate weight and conveniently arrange the liquid medicine pipeline, lead to the pipeline winding when avoiding the support arm to rotate.
The upper support arm 6 comprises a main body section and a folding section 28 which are connected from back to front, the folding section is integrally columnar, the main body section is integrally arc-shaped plate-shaped, a hollowed-out area 43 is respectively arranged on the upper edge of the main body section front and back, and a liquid medicine pipeline on the upper support arm is bound and fixed at a position between the two hollowed-out areas 43.
Therefore, the columnar folded section can facilitate the installation and the arrangement of the spray head switching device on the columnar folded section, the weight of the mechanical arm can be greatly reduced by the structure of the main body section, and the liquid medicine pipeline can be conveniently arranged and fixed on the upper support arm.
The front end outer side (specifically, the outer side of the folded section) of the upper support arm 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; front end camera 45 preferably employs a wide angle lens that projects forwardly along the upper arm.
Therefore, the front-end camera is consistent with the spray head in installation direction, the spray condition of the spray head and the spray effect of the spray head can be monitored in real time, so that the forward or backward movement of the vehicle can be better judged and controlled, and the disinfection effect can be better ensured.
The front end camera module 44 is integrally rectangular, the front end camera 45 is fixedly arranged 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 46 is fixedly arranged in the fan installation cavity, an air inlet grille 47 is circumferentially arranged on the peripheral wall of the fan installation cavity behind the camera fan, a circle of air outlet holes 48 are circumferentially 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 installation cavity.
Therefore, when the front or top building needs to be disinfected, the spray head can be controlled to start the camera fan when spraying medicine upwards or obliquely upwards, the air outlet holes around the front end camera can be enabled to spray air flow, an integrally cylindrical air flow curtain is formed, and the phenomenon that the imaging effect of the lens is influenced due to the fact that medicine liquid sprayed out of the spray head is scattered backwards onto the camera can be avoided. The reliability of monitoring is ensured. In addition, when implementing, can also set up fresh air inlet or air inlet grille in front end camera module bottom, replace the air inlet grille that circumference set up, can prevent better that spun vaporific liquid medicine from being inhaled by the air inlet grille.
The air outlet 47 is integrally provided in the front-rear direction, and the front part has a sloped section inwardly approaching the front camera. Therefore, the wind flow sprayed out from the air outlet can form a cone-shaped wind flow curtain, and the front end of the wind flow is sealed, so that the liquid medicine can be better prevented from falling into the surface of the front-end camera. Further, the outlets of the air outlet holes can be integrally connected to form an annular air outlet groove. Further improving the annular air curtain effect formed by the air outlet and improving the shielding effect on the liquid medicine.
The wheel traveling system comprises crawler traveling devices arranged at front and rear positions of two sides of a frame, each crawler traveling device comprises a base plate 29 which is vertically arranged and relatively fixed to the frame 1 and is in a triangle shape integrally, a driving sprocket 30 is arranged at the upper end of each base plate 29, a driven sprocket 31 is arranged at front and rear corners of the lower portion of each base plate, two traveling wheels 32 are arranged below the middle portion of each base plate in parallel, the positions of the driven sprockets 31 are higher than the positions of the traveling wheels 32, and chain type crawler belts 33 are sleeved outside the driving sprocket 30, the driven sprockets 31 and the traveling wheels 32 in a matched mode.
Therefore, when the crawler belt walking device is used, the driving chain wheel is driven to rotate by controlling the power machine on the frame, so that the crawler belt walking device can walk, the stability of vehicle walking can be improved better, and meanwhile, the trafficability of vehicle walking can be improved conveniently. The specific control section is mature prior art and is not described in detail here.
Wherein, the base plate 29 is provided with a driven sprocket mounting arm 34 disposed along the side direction at the front and rear side edges, 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 mounted on the base plate 29 through a rotating shaft, and a spring (not shown) for holding the arm is further disposed between the driven sprocket mounting arm and the base plate.
Therefore, when the support arm holding spring is not applied with external force, the driven sprocket mounting support arm is kept at a position parallel and consistent with the side edge of the base plate, when the vehicle encounters an obstacle or a step in the advancing or retreating process, the position of the driven sprocket is contacted with the obstacle or the step, and when the resistance is excessively larger than the holding force of the support arm holding spring, the lower end of the driven sprocket mounting support arm can be lifted upwards for a certain distance, so that the passing performance of the crawler running device in the running process is greatly improved.
Wherein, the lower part of the base plate 29 is also provided with a travelling wheel mounting plate 35, the upper end of the travelling wheel mounting plate 35 is rotatably connected and mounted on the base plate 29, the travelling wheel 32 is mounted at the front and rear ends of the lower side of the travelling wheel mounting plate 35, and a mounting plate holding spring (not shown) is arranged between the travelling wheel mounting plate 35 and the base plate 29.
Therefore, when encountering an obstacle, the two travelling wheels can also float and lift up a certain height, so that the travelling trafficability is improved.
Wherein, one side of the upper end of the driven sprocket mounting arm 34, which is inner, is vertically and downwardly protruded with a first support lug 36, the first support lug 36 is hinged with one end of a lever 37, which is horizontally arranged, the middle pivot of the lever 37 is rotatably mounted on the base plate, and one end of the lever 37, which is outer, is hinged with a second support lug 38, which is vertically mounted on the side of the traveling wheel mounting plate 35.
Like this, when the driven sprocket of base plate one end runs into the barrier and is forced to raise, driven sprocket installation support arm lower extreme upwards rotates, and driven sprocket installation support arm upper end downwards rotates and can be through the lever effect to the walking wheel mounting panel of adjacent side for this walking wheel mounting panel of adjacent side can upwards lift a certain distance, can drive the driven sprocket of opposite side simultaneously downwards to push down a certain distance through the lever of opposite side. Therefore, the synchronous coordination effect is generated, the integrity of the crawler running 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 easier to pass through the obstacle when the crawler running device encounters the obstacle. So that the passing performance of the device to the obstacle is further greatly improved. From the above scheme, the invention is particularly focused on improving the passing performance of equipment when encountering obstacles, so that after people suddenly evacuate when encountering epidemic situation and suddenly burst, the environment needing to be disinfected is often messy, and a large amount of waste exists on the field. Therefore, the crawler belt walking device with high passing performance is adopted as the walking power device, and various improvements are made on the crawler belt walking device to further improve the passing performance.
The lever rotating shaft is arranged at the middle part of the lever in a protruding and fixed mode, 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 sprocket mounting support arm drives the lever to rotate, the lever rotating shaft serving as a fulcrum in the middle of the lever can slide left and right in the strip hole for a certain distance, so that a sufficient abdication space is formed, and the reliability of the rotation of the lever is better ensured.
Wherein, the driven sprocket installs the corresponding lever position on the side of support arm and base plate and is provided with a groove 39 of stepping down, and the both ends of first journal stirrup, second journal stirrup and lever are held respectively in the groove of stepping down that corresponds.
The two abdication grooves on the opposite sides of the driven sprocket mounting support arm and the base plate are used for realizing abdication of the lever mechanism, so that the base plate and the driven sprocket mounting support arm are more tightly arranged, and the force transmission structure is more stable and reliable.
Wherein, the liquid medicine tank 3 is arranged on the upper surface of the frame in a covering way along the length direction of the frame 1.
This can increase the drug solution loading amount as much as possible.
Wherein, still be provided with level sensor (not shown in the figure) on the frame 1 and link to each other with control module, fang Jiaojie installs on frame 1 under the 3 case front ends of liquid medicine, and frame 1 rear end still is provided with a hoisting device 39, and the flexible arm of hoisting device 39 upwards sets up and flexible arm upper end swing joint is at liquid medicine case 3 rear end lower surface.
Therefore, the liquid medicine box in the equipment occupies a very large space-volume ratio of the equipment, and a large amount of liquid medicine can be carried by the liquid medicine box when the equipment is used, and the liquid medicine has fluidity. Therefore, when the front end of the vehicle passes through a larger obstacle, the liquid medicine can flow backwards in the lifting process of the front end of the equipment, and when the inclination angle is too large, the equipment can easily tip over due to the unstable center of gravity. The applicant carries out the improvement pertinently, when the horizontal sensor detects that the upward inclination angle of the front end of the vehicle is overlarge, the rear end of the liquid medicine box can be controlled to be lifted upwards through the lifting device, so that the liquid medicine flows back to the front end, and the front-rear weight balance of the equipment is maintained. Thus, the device can more stably and reliably overcome larger obstacles, and the device trafficability is better improved. The device can be further improved in implementation, so that lifting devices are arranged at the front end and the rear end of the lower part of the liquid medicine box and are connected to the frame by virtue of the lifting devices. Therefore, no matter the large obstacle is encountered in the front-back direction, the balance can be controlled by lifting the liquid medicine box in the opposite direction, and the trafficability of the liquid medicine box is improved. The lifting device can be realized by a hydraulic cylinder or an electric cylinder and other mechanisms during implementation.
Wherein, 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 is effective with the auxiliary supporting arm and can control the auxiliary supporting arm to rotate up and down.
When the liquid medicine in the liquid medicine tank is used up, and the front of the vehicle meets a larger obstacle, and the inclination angle of the vehicle needs to be adjusted, the telescopic device can be controlled to drive the lower end of the auxiliary supporting arm to be opened downwards and support the rear end of the equipment, so that the equipment is balanced back and forth, and the trafficability of the equipment is further improved.

Claims (8)

1. The walking equipment for epidemic prevention and disinfection of the place environment comprises a frame, a wheel walking system is arranged below the frame, and a control module is arranged on the frame, and the walking equipment is characterized in that one end of the frame is also provided with a mechanical arm, the front end of the mechanical arm is provided with a spray head, the frame is also provided with a liquid medicine box in a load manner, a liquid medicine pipeline is arranged in the liquid medicine box and connected with the spray head, a hydraulic pump is arranged on the liquid medicine pipeline, a camera is also arranged 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 connected with a remote control device in a wireless communication manner;
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 an upper support arm through a vertical rotation control mechanism, and a spray head is arranged at the front end of the upper support arm;
The front end of each spray head channel is provided with an axial section coaxial with the spray head mounting disc and connected to a spray head mounting position, the rear end of each spray head channel is provided with a radial section along the diameter direction of the spray head mounting disc and connected to the same circumferential position of the circumferential side wall of the spray head mounting groove, a circle of integrally cylindrical infusion column is arranged in front of the middle part of the front end of the upper support arm in a protruding manner, a circle of integrally sleeve-shaped limiting sleeve is coaxially arranged on the periphery of the infusion column, the front end of the infusion column forms a large diameter section with a larger diameter and is matched and mounted in the infusion column mounting groove at the rear end of the spray head mounting disc, bearings are arranged between the position of the infusion column close to the large diameter section and the spray head mounting disc and between the position of the spray head mounting disc and the outer limiting sleeve so as to realize rotatable connection, the infusion column is provided with a sealing structure opposite to the position of the front end of the infusion column along the length direction, and the front end of the channel is also provided with a sealing structure opposite to the position of the infusion column, and the front end of the infusion channel is arranged at the front end of the infusion channel; 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 arranged at the front end of the upper support arm;
The front end of the upper support arm is provided with a folding section, the spray nozzle switching device is arranged on the folding section, and the middle part of the upper support arm is hollowed out and provided for the liquid medicine pipeline to pass through;
the upper support 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, a hollowed-out area is respectively arranged on the upper edge of the main body section front and back, and a liquid medicine pipeline on the upper support arm is bound and fixed at a position between the two hollowed-out areas.
2. The walking equipment for epidemic prevention and disinfection of the place environment according to claim 1, wherein the horizontal rotation control mechanism comprises a lower support arm supporting table which is horizontally arranged, the lower end of the lower support arm is fixedly arranged on the lower support arm supporting table, a cylindrical transmission column is formed by extending downwards from the lower part of the middle part of the lower support arm supporting table, a vertical cylindrical retaining sleeve is sleeved outside the transmission column, the retaining sleeve is fixed on a frame, the upper end and the lower end in the retaining sleeve are respectively provided with a bearing and the transmission column which can be in rotary fit, the lower end of the transmission column is suspended and horizontally provided with a lower support arm driven gear, 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 passage, an upper port of the liquid passage is positioned on the upper surface of the lower support arm supporting table and is connected with a liquid medicine pipeline leading to the spray head, the lower support arm is arranged in a hollow mode and is used for allowing the liquid medicine pipeline leading to the spray head to pass through, a circle of liquid medicine converging chamber is formed on the inner side wall of the retaining sleeve along the circumferential indent, the lower end of the liquid passage is communicated to the liquid medicine converging chamber, a liquid medicine interface communicated to the liquid medicine converging 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.
3. The walking equipment for epidemic prevention and disinfection in a place environment according to claim 2, wherein a dynamic sealing structure is arranged between the inner walls of the retaining sleeves at the upper end and the lower end of the liquid medicine converging chamber and the transmission column.
4. The walking equipment for epidemic prevention and disinfection of a place environment according to claim 1, wherein the vertical rotation control mechanism comprises an upper support arm rotating shaft arranged at the rear end of an upper support arm along the vertical direction, the upper support arm rotating shaft is arranged on a rotating shaft installation support lug at the upper end of a lower support arm, a worm wheel is fixedly arranged on the upper support arm rotating shaft and is meshed with a worm arranged at the upper end of the lower support arm, an upper support arm driven gear is fixedly arranged on the worm, the upper support arm driven gear is meshed with an upper support arm driving gear, and the upper support arm driving gear is connected with the output end of an upper support arm rotation control motor arranged on the lower support arm;
the worm wheel and the worm are arranged in a protective shell at the upper end of the lower support arm.
5. The walking equipment for epidemic prevention and disinfection of a place environment according to claim 1, wherein the outer side of the front end of the upper support arm is also provided with a camera mounting position, and a front end camera module is fixed on the camera mounting position and comprises a front end camera;
The front end camera module is integrally rectangular, the front end camera is fixedly arranged 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 arranged in the fan installation cavity, an air inlet grille is circumferentially arranged on the peripheral wall of the fan installation cavity behind the camera fan, a circle of air outlet holes are circumferentially 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 installation cavity; the whole air outlet hole is arranged along the front-back direction, and the front part is provided with an inclined section which is inwards close to the front end camera.
6. The walking device for epidemic prevention and disinfection of a place environment according to claim 1, wherein the wheel walking system comprises crawler walking devices arranged at front and rear positions on two sides of the frame, the crawler walking devices comprise a base plate which is vertically arranged and relatively fixed on the frame and is triangular integrally, a driving sprocket is arranged at the upper end of the base plate, driven sprockets are respectively arranged at front and rear corners of the lower part of the base plate, two walking wheels are arranged below the middle part of the base plate in parallel, the positions of the driven sprockets are higher than the positions of the walking wheels, and chain type crawler belts are sleeved outside the driving sprocket, the driven sprocket and the walking wheels in a matched mode.
7. The walking equipment for epidemic prevention and disinfection in a place environment according to claim 6, wherein the base plate is provided with a driven sprocket mounting arm arranged along the side direction at the side positions of the front side and the rear side, the driven sprocket is arranged at the lower end of the driven sprocket mounting arm, the middle part of the driven sprocket mounting arm is rotatably connected and arranged on the base plate through a rotating shaft, and a spring for holding the arm is arranged between the driven sprocket mounting arm and the base plate;
the lower part of the base plate is also provided with a travelling wheel mounting plate, the upper end of the travelling wheel mounting plate is rotatably connected and mounted on the base plate, the travelling wheel is mounted at the front end and the rear end of the lower side of the travelling wheel mounting plate, and a mounting plate holding spring is arranged between the travelling wheel mounting plate and the base plate;
the driven sprocket installs the arm upper end and leans on one side in the vertical downward arch and be provided with first journal stirrup, and first journal stirrup is articulated with a whole lever that sets up along the level leans on interior one end, and lever middle part fulcrum rotationally installs on the base plate, and the lever leans on outer one end and a second journal stirrup of installing perpendicularly in walking wheel mounting panel side.
8. The walking equipment for epidemic prevention and disinfection in a place environment according to claim 1, wherein the liquid medicine box is arranged on the upper surface of the frame in a covering manner along the length direction of the frame;
The frame is also provided with a horizontal sensor and a control module which are connected, the front end of the liquid medicine box is hinged on the frame, the rear end of the frame is also provided with a lifting device, the telescopic arm of the lifting device is upwards arranged, and the upper end of the telescopic arm is movably connected with the lower surface of the rear end of the liquid medicine box.
CN202110543412.XA 2021-05-19 2021-05-19 Walking equipment for epidemic prevention and disinfection of place environment Active CN113198033B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202310328742.6A CN116474138A (en) 2021-05-19 2021-05-19 Be used for epidemic prevention sterile arm structure of going up of arm
CN202110543412.XA CN113198033B (en) 2021-05-19 2021-05-19 Walking equipment for epidemic prevention and disinfection of place environment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110543412.XA CN113198033B (en) 2021-05-19 2021-05-19 Walking equipment for epidemic prevention and disinfection of place environment

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202310328742.6A Division CN116474138A (en) 2021-05-19 2021-05-19 Be used for epidemic prevention sterile arm structure of going up of arm

Publications (2)

Publication Number Publication Date
CN113198033A CN113198033A (en) 2021-08-03
CN113198033B true CN113198033B (en) 2023-04-25

Family

ID=77031750

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202310328742.6A Pending CN116474138A (en) 2021-05-19 2021-05-19 Be used for epidemic prevention sterile arm structure of going up of arm
CN202110543412.XA Active CN113198033B (en) 2021-05-19 2021-05-19 Walking equipment for epidemic prevention and disinfection of place environment

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN202310328742.6A Pending CN116474138A (en) 2021-05-19 2021-05-19 Be used for epidemic prevention sterile arm structure of going up of arm

Country Status (1)

Country Link
CN (2) CN116474138A (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113877737B (en) * 2021-12-08 2022-04-08 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
CN114559444B (en) * 2022-03-08 2024-03-12 长源动力（北京）科技有限公司 Ambulatory medical device
CN114923094B (en) * 2022-06-15 2023-08-01 泰州市创新电子有限公司 Be applied to three-dimensional laser scanner measuring support frame

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016091398A1 (en) * 2014-12-11 2016-06-16 Husqvarna Ab Spray head and spraying apparatus
CN212111071U (en) * 2020-06-05 2020-12-08 广东众志检测仪器有限公司 Rotary spraying test device

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4684243B2 (en) * 2007-01-15 2011-05-18 株式会社クボタ Crawler travel device
CN201161216Y (en) * 2008-02-20 2008-12-10 苏州黑猫(集团)有限公司 Fast switch over combined nozzle
US20120177809A1 (en) * 2011-01-11 2012-07-12 Solie John B Duct coating system
CN202788605U (en) * 2012-09-24 2013-03-13 北京咏归科技有限公司 Driving shaft device of drilling machine rotary water supply
CN103147416A (en) * 2013-02-25 2013-06-12 洛阳理工学院 Small-sized intelligent spraying vehicle
CN104430272B (en) * 2014-11-06 2017-01-18 安徽农业大学 Intelligent self-propelled sprayer based on image processing
CN206651269U (en) * 2017-03-29 2017-11-21 安徽农业大学 A kind of remote control type intelligence spray robot
CN107235086B (en) * 2017-06-02 2019-01-18 天津市龙眼机器人科技有限公司 A kind of full topographical steps climbing robot
CN109201627A (en) * 2018-08-30 2019-01-15 合肥固泰自动化有限公司 The device of image recognition is carried out under a kind of environment dusty convenient for robot
BR202018067631Y1 (en) * 2018-09-03 2020-06-23 Guarany Indústria E Comércio Ltda. CONSTRUCTIVE ARRANGEMENT APPLIED IN NEBULIZER
CN210068022U (en) * 2019-03-14 2020-02-14 洛阳风动工具有限公司 Novel water supply sleeve seat for mining drilling machine

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016091398A1 (en) * 2014-12-11 2016-06-16 Husqvarna Ab Spray head and spraying apparatus
CN212111071U (en) * 2020-06-05 2020-12-08 广东众志检测仪器有限公司 Rotary spraying test device

Also Published As

Publication number Publication date
CN116474138A (en) 2023-07-25
CN113198033A (en) 2021-08-03

Similar Documents

Publication Publication Date Title
CN113198033B (en) Walking equipment for epidemic prevention and disinfection of place environment
CN113509577B (en) Mechanical arm for disinfection and special trolley for environment disinfection thereof
CN110670918B (en) Swimming pool cleaning equipment
JP2009269493A (en) Unmanned helicopter
CN113117121B (en) Crawler-type wheel traveling system and environment disinfection dolly thereof
JPS61229006A (en) Snow removing machine
CN206139409U (en) Automatic long -range sprayer of air -assisted
CN210976755U (en) Swimming pool cleaning equipment
KR20160136756A (en) Fire robots with high-rise buildings facades driving functions and fire-fighting water injection capabilities
CN210544366U (en) Special deodorizing device for refuse landfill
CN213346975U (en) Intelligent disinfection robot
CN113509578A (en) Site environment epidemic prevention disinfection method
CN107261705A (en) A kind of dust arrester
KR101396245B1 (en) Rotating deodorizer
CN110548556A (en) Sample preparation workbench capable of preventing dust from flying
CN212632166U (en) Equipment pipe network structure is sprayed in atmosphere pollution control
CN211026414U (en) Sample preparation workbench capable of preventing dust from flying
CN113173539A (en) Telescopic boom crawler-type aerial work platform
JP3236523B2 (en) Chemical spraying equipment for control
CN212241063U (en) Working robot capable of automatically walking
CN206220033U (en) Refuse collector and road sweeper
CN220090321U (en) Lifting equipment for fire fighting
CN216456642U (en) Multi-functional fire-fighting equipment based on thing networking
CN114754449B (en) Fire safety precaution device
CN216169527U (en) Fire-fighting robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant