CN113400323B

CN113400323B - Stone material nursing robot

Info

Publication number: CN113400323B
Application number: CN202110670232.8A
Authority: CN
Inventors: 李振; 姜廷锋; 王学斌; 王涛; 郑火均; 王生贵; 程昊天
Original assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Current assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2022-08-23
Anticipated expiration: 2041-06-17
Also published as: CN115338885A; CN113400323A

Abstract

The invention relates to the technical field of intelligent robots, and particularly discloses a stone nursing robot. According to the stone nursing robot, the oil cup of the liquid dropping component is detachably connected with the mounting frame, and the oil cup is separated from the mounting frame, so that the liquid dropping component can be separated from the mounting frame; the screw nut of the driving assembly is fixedly connected with the cantilever, the cantilever is detachably connected with the driving arm, the driving assembly pushes the medicament out of the oil cup through the driving arm, and the driving arm is separated from the cantilever when the dropping liquid assembly needs to be detached; the dropping liquid subassembly is conveniently dismantled to above-mentioned structure, and only need dismantle the dropping liquid subassembly can, need not the subsidiary other structures of dismantling, be convenient for wash the dropping liquid subassembly or change the accessory, reduced the maintenance cost.

Description

Stone material nursing robot

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a stone nursing robot.

Background

With the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive. The crystal face machine, namely the stone nursing robot can clean, maintain and renovate the stone ground, and is widely applied to places such as commercial halls, hotels, properties, factories, schools, office buildings, halls and the like.

The crystal face machine on the market at present comprises a working head for cleaning and a nursing medicament dropping component, and can automatically complete the work of cleaning, maintaining and renovating the ground. But nursing medicament dropping liquid subassembly among the prior art is not convenient for dismantle the washing, and long-time the use can cause the dropping liquid subassembly to block up, influences the dropping liquid precision, and then influences stone material surface nursing effect.

Therefore, it is desirable to provide a stone nursing robot to solve the above technical problems.

Disclosure of Invention

The invention aims to provide a stone nursing robot which is convenient for disassembling a liquid dropping component and further convenient for cleaning or replacing accessories.

In order to achieve the purpose, the invention adopts the following technical scheme:

a stone care robot comprising:

the mounting rack is provided with an auxiliary bracket;

the liquid dropping assembly comprises an oil cup for containing medicament, and the oil cup is detachably connected with the mounting frame;

the driving assembly is arranged on the auxiliary support and comprises a driver and a transmission unit, the transmission unit comprises a lead screw in transmission connection with the driver and a nut which moves linearly up and down along the lead screw and is circumferentially limited to the auxiliary support;

the cantilever is fixedly connected with the nut;

the driving arm is detachably mounted with the cantilever, and the driving assembly pushes the medicament out of the oil cup through the driving arm.

As an optimal technical scheme of the stone nursing robot, a first connecting piece and a mounting hole are formed in the mounting frame, the oil cup penetrates through the mounting hole, a second connecting piece is arranged on the oil cup, the oil cup is arranged in the mounting hole, and the first connecting piece can be connected with the second connecting piece.

As an optimal technical scheme of above-mentioned stone material nursing robot, the top lateral wall of oil cup be equipped with first overlap joint portion and interval set up in the second overlap joint portion at first overlap joint portion both ends, first overlap joint portion with second overlap joint portion homoenergetic overlap joint in on the mounting bracket, and first overlap joint portion overlap joint in when on the mounting bracket, be equipped with first overlap joint portion one side oil cup lateral wall butt in on the pore wall of mounting hole.

As a preferable technical solution of the stone nursing robot, the first connecting member includes a connecting rod hinged to the mounting frame;

the second connecting piece including set up in U type groove on the second overlap joint portion, the connecting rod can the joint in U type inslot.

As a preferable technical scheme of the stone nursing robot, each oil cup is provided with one or two liquid droppers; the oil cups are symmetrically arranged in one or even number.

As an above-mentioned stone material care robot's an preferred technical scheme, be equipped with on the drip ware with the oil cup intercommunication hold the chamber and with hold the drip mouth of chamber intercommunication, sliding connection has the boost motor on the drip ware, just the one end of boost motor is arranged in hold the intracavity, the other end of boost motor with the drive arm is connected, the drive assembly drive the drive arm removes in order to drive the boost motor will hold the medicament of intracavity and release extremely the drip mouth drips out, and at the in-process of releasing, the boost motor seals gradually hold the chamber with the intercommunication department of oil cup.

The dropping liquid subassembly is still including installing in first agitator on the boost motor, first agitator is arranged in hold the chamber with the intercommunication of oil cup is in order to stir the medicament of intercommunication department.

As a preferred technical solution of the above stone nursing robot, the driving arm is provided with an insertion groove, the cantilever is provided with an insertion portion that can be inserted into the insertion groove, and the insertion portion is fixed in the insertion groove by a fastener.

As a preferable technical solution of the stone nursing robot, the driving assembly further includes a limiting member for limiting a downward movement limit position of the driving arm.

As a preferable technical solution of the above stone material care robot, the driving assembly further includes a guide member, the guide member includes a guide rail and a slider slidably connected to the guide rail, the suspension arm is connected to the slider, and an extending direction of the guide rail is the same as a moving direction of the suspension arm.

The invention has the beneficial effects that:

according to the stone nursing robot, the oil cup of the liquid dropping component is detachably connected with the mounting frame, and the oil cup is separated from the mounting frame, so that the liquid dropping component can be separated from the mounting frame; the screw nut of the driving assembly is fixedly connected with the cantilever, the cantilever is detachably connected with the driving arm, the driving assembly pushes the medicament out of the oil cup through the driving arm, and the driving arm is separated from the cantilever when the dropping liquid assembly needs to be detached; the dropping liquid subassembly is conveniently dismantled to above-mentioned structure, and only need dismantle the dropping liquid subassembly can, need not the subsidiary other structures of dismantling, be convenient for wash the dropping liquid subassembly or change the accessory, reduced the maintenance cost.

Drawings

Fig. 1 is an overall structure schematic diagram of a stone care robot provided in an embodiment of the present invention;

FIG. 2 is a schematic view of a connection structure of a dropping assembly and a driving assembly provided in an embodiment of the present invention;

FIG. 3 is a cross-sectional view of a drop assembly provided by an embodiment of the present invention;

FIG. 4 is an enlarged schematic view at A of FIG. 1;

FIG. 5 is an enlarged schematic view at B of FIG. 4;

FIG. 6 is an enlarged schematic view at C of FIG. 2;

FIG. 7 is a schematic diagram of a first viewing angle of a drip assembly provided by an embodiment of the present invention;

fig. 8 is a schematic diagram of a second viewing angle of the drip assembly according to an embodiment of the present invention.

In the figure:

1. a liquid dropping component; 2. a mounting frame; 3. a drive assembly; 4. a first connecting member; 5. a second connecting member; 6. a first lap joint portion; 7. a second lap joint portion; 8. a cantilever; 9. driving the arm;

11. an oil cup; 111. a first hole; 112. a guide block; 113. an oil cup body; 114. a cover body; 115. a blocking member; 12. a liquid dropper; 121. an accommodating chamber; 122. a second hole; 123. a liquid dropping head; 13. a booster; 131. a butting block; 14. a first stirrer; 15. an auxiliary thruster; 16. a second agitator; 161. a drive motor; 162. a stirring frame; 171. a card slot; 172. a clamping block;

21. mounting holes; 22. a sub-mount;

31. a driver; 32. a transmission unit; 321. a lead screw; 322. a screw nut; 33. a limiting member; 331. a first stopper; 332. a second stopper; 34. a guide member; 341. a guide rail; 342. a slider;

81. a plug-in part; 82. a fastener;

91. and (4) inserting grooves.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

To nursing medicament dropping liquid subassembly among the prior art not convenient to dismantle the washing, long-time the use can cause the dropping liquid subassembly to block up, influences the dropping liquid precision, and then influences the problem of stone material surface nursing effect, and this embodiment provides stone material nursing robot in order to solve above-mentioned technical problem.

As shown in fig. 1 to 4, the stone care robot provided by the present embodiment includes a mounting frame 2, a dropping assembly 1, and a driving assembly 3. The mounting frame 2 is provided with an auxiliary support 22, the dropping liquid assembly 1 comprises an oil cup 11 for containing medicament, and the oil cup 11 is detachably connected with the mounting frame 2; the driving assembly 3 is mounted on the auxiliary bracket 22, the driving assembly 3 comprises a driver 31 and a transmission unit 32, the transmission unit 32 comprises a lead screw 321 in transmission connection with the driver 31, and a nut 322 which moves linearly up and down along the lead screw 321 and is circumferentially limited on the auxiliary bracket 22; the cantilever 8 is fixedly connected with a nut 322; the driving arm 9 is detachably mounted with the cantilever 8, and the driving assembly 3 pushes the medicament out of the oil cup 11 through the driving arm 9.

According to the stone nursing robot provided by the embodiment, the oil cup 11 of the liquid dropping assembly 1 is detachably connected with the mounting frame 2, and the oil cup 11 is separated from the mounting frame 2, so that the separation of the liquid dropping assembly 1 and the mounting frame 2 can be realized; the nut 322 of the driving assembly 3 is fixedly connected with the cantilever 8, the cantilever 8 is detachably connected with the driving arm 9, the driving assembly 3 pushes out the medicament from the oil cup 11 through the driving arm 9, and the driving arm 9 is separated from the cantilever 8 when the dropping assembly 1 needs to be detached; dropping liquid subassembly 1 is conveniently dismantled to above-mentioned structure, and only need dismantle dropping liquid subassembly 1 can, need not the subsidiary other structures of dismantling, be convenient for wash dropping liquid subassembly 1 or change the accessory, reduced the maintenance cost.

In this embodiment, the stone nursing robot further includes a polishing component, and the polishing component is disposed at the rear side of the liquid dropping component 1 in the advancing direction of the stone nursing robot. When the stone nursing robot works, the liquid dropping component 1 firstly drops quantitative agents on the surface of the stone, and then the polishing component starts to clean.

In this embodiment, as shown in fig. 4 and 5, the mounting frame 2 is provided with a first connecting piece 4 and a mounting hole 21 for accommodating the oil cup 11, the oil cup 11 is provided with a second connecting piece 5, and the oil cup 11 is placed in the mounting hole 21, and the first connecting piece 4 can be connected with the second connecting piece 5, so as to mount the oil cup 11 on the mounting frame 2.

Further, for the convenience of installing dropping liquid subassembly 1, mounting bracket 2 is the L shaped plate, and mounting bracket 2's riser and stone material nursing robot's this body coupling of frame have seted up mounting hole 21 on mounting bracket 2's the diaphragm, and first connecting piece 4 sets up on the diaphragm.

Referring to fig. 2 and 5, in this embodiment, in order to realize the stable connection of oil cup 11 and mounting bracket 2, be equipped with first overlap joint portion 6 and interval at the top lateral wall of oil cup 11 and set up in the second overlap joint portion 7 at first overlap joint portion 6 both ends, first overlap joint portion 6 and second overlap joint portion 7 homoenergetic overlap joint on mounting bracket 2, and when first overlap joint portion 6 overlaps joint on mounting bracket 2, be equipped with the oil cup 11 lateral wall butt of first overlap joint portion 6 on the pore wall of mounting hole 21. The first lapping part 6 and the second lapping part 7 can provide supporting force for the oil cup 11, and the oil cup 11 is prevented from falling. When the side wall of the oil cup 11 abuts against the wall of the mounting hole 21, the first connecting piece 4 is connected with the second connecting piece 5, and the displacement of the oil cup 11 in the radial direction is limited.

Further, the first connecting member 4 includes a connecting rod hinged to the mounting frame 2. Specifically, the slotted hole has been seted up on the diaphragm of mounting bracket 2, and the lower surface of diaphragm is equipped with the hinge seat, and the one end and the hinge seat of connecting rod are articulated, and the slotted hole is worn to establish by the other end, and the connecting rod can swing in the within range that the slotted hole was injectd.

The second connecting piece 5 is including setting up the U type groove on second overlap joint portion 7, and the connecting rod can the joint in U type inslot. Specifically, the notch in U type groove sets up towards the connecting rod, and U type groove and slot hole intercommunication to make the connecting rod enter into U type inslot through the notch, and then inject the position of oil cup 11.

Still further, in order to facilitate the operation of the connecting rod, the end of the connecting rod is further provided with a knob, and the knob may be fixedly connected with the connecting rod or may be in threaded connection with the connecting rod, which is not limited herein.

Referring to fig. 2, in the present embodiment, each oil cup 11 is provided with one or two droppers 12; the number of the oil cups 11 is one or even and the oil cups are symmetrically arranged.

The dropping device 12 is provided with an accommodating cavity 121 communicated with the oil cup 11 and a dropping hole communicated with the accommodating cavity 121, the dropping device 12 is connected with a booster 13 in a sliding manner, one end of the booster 13 is arranged in the accommodating cavity 121, the other end of the booster 13 is connected with the driving arm 9, the driving assembly 3 drives the driving arm 9 to move so as to drive the booster 13 to push the medicament in the accommodating cavity 121 out to the dropping hole for dropping, and in the pushing process, the booster 13 gradually seals the communication position of the accommodating cavity 121 and the oil cup 11.

The intracavity 121 is held in being equipped with in dropping liquid ware 12 of dropping subassembly 1 that this embodiment provided, booster 13 keeps away from the drip mouth and removes, progressively open the intercommunication department that holds chamber 121 and oil cup 11, the medicament in the oil cup 11 can flow into and hold in the chamber 121, booster 13 moves towards the drip mouth, the medicament that will hold in the chamber 121 is pushed out to the drip mouth drippage, and at the in-process of pushing out, booster 13 seals the intercommunication department that holds chamber 121 and oil cup 11, help the entering to hold the medicament in the chamber 121 and fully pushed out, the quantity of the medicament that makes booster 13 push out at every turn is fixed, the dropping liquid precision has been improved, and the dropping liquid is efficient, the nursing effect on stone material surface has been promoted.

The mounting frame 2 is provided with a sub-bracket 22, and the driver 31 and the transmission unit 32 are mounted on the sub-bracket 22. The sub-bracket 22 is used for supporting the driving assembly 3, and specifically, in this embodiment, the driver 31 includes a motor, one end of the screw rod 321 is connected to an output end of the motor, the other end of the screw rod 321 is rotatably connected to the sub-bracket 22, the nut 322 is mounted on the screw rod 321, the cantilever 8 is connected to the nut 322, a sliding slot is provided on the sub-bracket 22, and the nut 322 slides in the sliding slot to limit circumferential rotation of the nut 322 so that the nut 322 moves up and down along the screw rod 321. The motor drives the screw 321 to rotate, the nut 322 moves along the screw 321, and then the cantilever 8 is driven to move along the screw 321, the driving arm 9 moves along with the cantilever 8, and the driving arm 9 drives the booster 13 to move in the accommodating cavity 121 of the dripper 12. In other embodiments, the transmission unit 32 may also be other structures, such as a synchronous belt transmission structure, a sprocket chain transmission structure, etc., and is not limited herein.

Referring to fig. 2 and 6, in this embodiment, the driving arm 9 is provided with a plugging groove 91, the cantilever 8 is provided with a plugging portion 81 that can be plugged into the plugging groove 91, and the plugging portion 81 is fixed in the plugging groove 91 by the fastening member 82, so that the connection stability is good, and the detachment and installation are convenient. After the oil cup 11 is placed in the mounting hole 21 and the side wall of the oil cup 11 on the side provided with the first lap joint part 6 abuts against the hole wall of the mounting hole 21, the cantilever 8 can be inserted into the insertion groove 91. When the dropping liquid assembly 1 is detached, the connecting rod is stirred to enable the connecting rod to be separated from the U-shaped groove, the oil cup 11 is translated in the direction opposite to the mounting direction, the cantilever 8 is separated from the insertion groove 91, and the dropping liquid assembly 1 can be taken out.

Further, cantilever 8 is the L template, and cantilever 8's diaphragm is connected with drive arm 9, drives arm 9 and offers inserting groove 91 towards one side of cantilever 8, and fastener 82 from top to bottom wears to establish drive arm 9 in order to be fixed in inserting groove 91 with grafting portion 81, be convenient for install and dismantle fastener 82. The fastener 82 may be a bolt, a pin, etc., and is not particularly limited thereto.

In this embodiment, each oil cup 11 corresponds and sets up two droppers 12, all is equipped with booster 13 in each dropper 12, and two boosters 13 all are connected with drive arm 9, and it is connected with cantilever 8 to set up two at least inserting groove 91 on the drive arm 9, has improved the stability that drive arm 9 and cantilever 8 are connected.

In order to improve the stability of the boom 8 in lifting and lowering, the drive assembly 3 further comprises a guide member 34, the guide member 34 serving as a guide when the boom 8 is lifted and lowered. Specifically, the guide 34 includes a guide rail 341 and a slider 342 slidably disposed on the guide rail 341, the slider 342 is mounted on a riser of the suspension arm 8, the guide rail 341 is mounted on a riser of the mounting bracket 2, and the extending direction of the guide rail 341 is the same as the moving direction of the suspension arm 8. Further, two sets of guide members 34 are provided, which further improves the stability of the raising and lowering of the cantilever 8.

The driving assembly 3 further comprises a limiting member 33, the limiting member 33 is used for limiting the limit position of the downward movement of the driving arm 9, and the driving arm 9 is connected with the booster 13, so that the stroke of each movement of the booster 13 is consistent, and the liquid dropping precision is improved. Specifically, the limiting member 33 includes a first stopper 331 disposed on the sub-bracket 22 and a second stopper 332 disposed on the suspension arm 8, and when the second stopper 332 contacts the first stopper 331, the booster 13 cannot move down any more.

With continued reference to fig. 2 and 3, the oil cup 11 contains a medicament, and in order to facilitate cleaning the oil cup, replacing parts, or filling the oil cup with the medicament, in the present embodiment, the oil cup 11 includes an oil cup body 113 and a cover 114. The oil cup body 113 is provided with an opening, the cover body 114 is detachably mounted at the opening, the cover body 114 is provided with a liquid injection port, and the liquid injection port is detachably connected with a plugging member 115. The oil cup 11 is designed into the form of the cover body 114 and the oil cup body 113, so that the inside of the oil cup 11 can be cleaned conveniently. The plugging piece 115 is detachably connected to the liquid injection port, so that when the medicament is injected into the oil cup 11, the cover body 114 does not need to be opened, and the plugging piece 115 can be taken down, so that the operation is convenient.

Further, the plugging member 115 includes a rubber plug, and a handle is disposed on the surface of the rubber plug disposed outside the oil cup 11, so that the rubber plug can be taken out or mounted by a hand. In addition, the rubber stopper has certain elasticity, can play sealed effect, avoids the medicament in the oil cup 11 to ooze through the gap department between shutoff piece 115 and the notes liquid mouth.

In other embodiments, the blocking member 115 may also be a plug made of other materials, and a sealing ring is disposed around the plug, and the sealing ring may be made of rubber material to perform a sealing function.

In this embodiment, the shape of the liquid inlet is preferably semicircular, and the diameter of the liquid inlet is half of the area of the lid body, so that the diameter of the liquid inlet is maximized, the liquid can be easily injected, and a certain structural strength of the lid body 114 can be ensured.

As shown in fig. 7, the cover 114 is detachably connected to the oil cup body 113, in order to facilitate the detachment or installation of the cover 114, and too large detachment or installation space is not required in the process of detaching or installing the cover 114, in this embodiment, one of the clamping grooves 171 and the clamping blocks 172 is uniformly and convexly arranged along the circumferential direction of the cover 114, the other one of the clamping grooves 171 and the clamping blocks 172 is convexly arranged along the circumferential direction of the oil cup body 113, and the clamping blocks 172 can be clamped in the clamping grooves 171 by rotating the cover 114, so as to install the cover 114 on the oil cup body 113. In the process of mounting the cover body 114, the cover body 114 is only required to be placed on the oil cup body 113, and the cover body 114 and the oil cup body 113 can be connected by horizontal rotation, so that the required operation space is small. In the process of detaching the cover 114, the latch 172 is disengaged from the latch groove 171, and then the cover 114 can be removed.

Furthermore, fixture blocks 172 are circumferentially and uniformly distributed along the cover body 114, a clamping plate is circumferentially and uniformly distributed on the outer side wall of the end portion of the oil cup body 113, the clamping plate extends along the circumferential direction of the oil cup body 113 and is arc-shaped, a gap is formed between the clamping plate and the oil cup body 113 to allow the fixture blocks 172 to slide, and a positioning effect can be achieved on the installation of the cover body 114. One side of the clamping plate facing the oil cup body 113 is provided with a clamping groove 171, the clamping groove 171 extends into an arc shape along the circumferential direction of the oil cup body 113, a notch of the clamping groove 171 is formed facing the oil cup body 113, and one side wall of the clamping groove 171 along the circumferential direction of the oil cup body 113 is through so that the clamping block 172 can slide into the clamping groove 171. When the cover 114 is rotated, the latch 172 enters the latch groove 171 until the latch 172 abuts against a side wall opposite to the entrance. The detachable installation structure is simple and convenient to operate.

Different types of stone care chemicals have different viscosities, and when the high-viscosity chemicals are used, the chemicals need to be uniformly stirred in order to facilitate dripping of the chemicals. With continued reference to fig. 3, in the present embodiment, a second stirrer 16 is disposed in the oil cup 11, and the second stirrer 16 is used for stirring the medicament in the oil cup 11 to mix the medicament uniformly.

Further, in order to improve the stirring efficiency and the stirring uniformity, the second stirrer 16 comprises a driving motor 161 and a stirring frame 162, the driving motor 161 is installed at the bottom of the oil cup 11 and is arranged in the middle position, the output end of the driving motor 161 is connected with the stirring frame 162, the stirring frame 162 is in an inverted U shape, two side walls of the stirring frame 162 are arranged at two sides of the driving motor 161 so as to stir the medicament around the driving motor 161, and the upper part of the stirring frame 162 is used for stirring the medicament on the upper part of the driving motor 161 so as to improve the stirring uniformity, so that the stirring uniformity can be automatically stirred, and the manpower is saved.

If the oil cup 11 contains the water-based chemical, i.e., the viscosity of the chemical is low, the second stirrer 16 does not need to work, thereby saving energy. The low viscosity drug has good fluidity, and in order to control the amount of the drug to be dripped, a dripper 123 suitable for the dripping type drug needs to be installed at the position of the dripper 12 where the dripping port is provided, and the dripper 123 is detachably connected with the dripper 12. The dripper 123 is preferably screwed to the dripper 12 for easy removal and installation.

The number of the liquid dropping heads 123 can be multiple, and the types of each liquid dropping head 123 are different so as to adapt to medicaments with different viscosities and improve the liquid dropping precision of the medicaments with different viscosities.

In the present embodiment, with reference to fig. 3, the dripper 12 is mounted on the sidewall of the oil cup 11, the sidewall of the oil cup 11 is opened with a first hole 111, and the dripper 12 is opened with a second hole 122 corresponding to the first hole 111. The drip container 12 is mounted on the oil cup 11, and the first hole 111 is communicated with the second hole 122, so that the medicine in the oil cup 11 flows into the accommodating cavity 121 of the drip container 12.

Further, the first hole 111 is preferably designed near the bottom of the oil cup 11, so that the medicine can be provided to the drip chamber 12 in time when the medicine in the oil cup 11 is low.

Still further, the first hole 111 and the second hole 122 are preferably elongated holes, and the first hole 111 and the second hole 122 both extend along the axial direction of the oil cup 11 to improve the efficiency of the medicine flowing into the receiving cavity 121 of the drip chamber 12.

In order to avoid that the communication part of the accommodating cavity 121 and the oil cup 11 is not blocked, the dropping assembly for the stone care robot further comprises a first stirrer 14 installed on the booster 13, the first stirrer 14 is placed at the communication part of the accommodating cavity 121 and the oil cup 11 to stir the medicine at the communication part, and the first stirrer 14 is used for stirring the medicine at the communication part of the accommodating cavity 121 and the oil cup 11.

Further, the first stirrer 14 includes a stirring rod, one end of the stirring rod is connected with the side wall of the booster 13, the other end of the stirring rod penetrates through the second hole 122 and is arranged in the first hole 111, the stirring rod moves up and down along with the booster 13 to stir the medicaments in the first hole 111 and the second hole 122, the first hole 111 and the second hole 122 are prevented from being blocked by the medicaments, and the first stirrer 14 is simple in structure.

In this embodiment, the booster 13 is a rod-shaped structure, one end of the dripper 12 is provided with a guide hole, the guide hole is communicated with the accommodating cavity 121, the other end of the dripper 12 is provided with a dripping port, and one end of the booster 13 penetrates through the guide hole and is disposed in the accommodating cavity 121.

As shown in fig. 8, in order to facilitate the installation of the booster 13 and to improve the stability of the booster 13 in moving up and down, in the present embodiment, a guide block 112 is provided outside the oil cup 11, and one end of the booster 13 is slidably inserted through the guide block 112 and slidably connected to the drip chamber 12.

When stone material nursing robot was out of work, for making dropping liquid mouthful department not have the medicament to plug up the dropping liquid mouth after avoiding medicament and air contact sclerosis, hold chamber 121 and oil cup 11's intercommunication department by the shutoff. In the present embodiment, the booster 13 is connected to the auxiliary thruster 15, and the auxiliary thruster 15 causes the booster 13 to close the communication between the housing chamber 121 and the oil cup 11 when no external force is applied to the booster 13.

Further, the auxiliary thruster 15 includes an elastic member, and when the thruster 13 is not subjected to an external force, the elastic member releases the elastic force to enable the thruster 13 to slide toward the drip port, so that an additional driving mechanism is not required, the structure is simplified, and the cost is low. Specifically, when the driver 13 moves upward, the elastic member is compressed, and when the driver 13 loses the external force for driving the movement, the elastic force accumulated in the elastic member is released and the driver 13 slides toward the drip port.

Still further, the supporting block 131 is arranged on the booster 13 between the guide block 112 and the dripper 12, the elastic member is sleeved on the booster 13, one end of the elastic member is abutted against the guide block 112, and the other end of the elastic member is abutted against the supporting block 131. The resilient member is preferably a spring.

Exemplarily, when the dropping liquid assembly 1 is installed, the oil cup 11 is installed in the installation hole 21 from top to bottom, the second overlapping part 7 is overlapped on the installation frame 2, the oil cup 11 is horizontally moved, the first overlapping part 6 is overlapped on the installation frame 2, meanwhile, the cantilever 8 is inserted in the insertion groove 91 for driving the arm 9, the connecting rod is shifted to the U-shaped groove of the second overlapping part 7, and the installation fastener 82 is used for connecting the arm 9 and the cantilever 8.

When the drip assembly 1 is dismounted, the fastener 82 is dismounted, the connecting rod is shifted to the U-shaped groove separated from the second lap joint part 7, the oil cup 11 is horizontally moved in the direction opposite to the mounting direction, the cantilever 8 is separated from the inserting groove 91 driving the arm 9, and the oil cup 11 is lifted upwards, so that the dismounting of the drip assembly 1 is realized.

The stone material nursing robot that this embodiment provided, the dropping liquid subassembly 1 is conveniently dismantled, and only need dismantle dropping liquid subassembly 1 can, need not the subsidiary other structures of dismantling, be convenient for wash dropping liquid subassembly 1 or change the accessory, reduced the maintenance cost. In addition, the amount of the medicament that booster 13 pushed out at every turn all is fixed, has improved the dropping liquid precision, and the dropping liquid is efficient, has promoted the nursing effect on stone material surface.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A stone material nursing robot, its characterized in that includes:

the mounting rack (2) is provided with an auxiliary support (22);

the liquid dropping device comprises a liquid dropping assembly (1), wherein the liquid dropping assembly (1) comprises an oil cup (11) used for containing a medicament, a first connecting piece (4) and a mounting hole (21) for accommodating the oil cup (11) to penetrate are formed in the mounting frame (2), a second connecting piece (5) is arranged on the oil cup (11), the oil cup (11) is arranged in the mounting hole (21), and the first connecting piece (4) can be connected with the second connecting piece (5);

the driving assembly (3) is mounted on the auxiliary bracket (22), the driving assembly (3) comprises a driver (31) and a transmission unit (32), the transmission unit (32) comprises a lead screw (321) in transmission connection with the driver (31), and a nut (322) which moves linearly up and down along the lead screw (321) and is limited to the auxiliary bracket (22) in the circumferential direction;

the cantilever (8), the said cantilever (8) is fixedly connected with said nut (322);

a driving arm (9), wherein the driving arm (9) is detachably mounted with the cantilever (8), and the driving assembly (3) pushes the medicament out of the oil cup (11) through the driving arm (9);

the top lateral wall of oil cup (11) is equipped with first overlap joint portion (6) and the interval set up in second overlap joint portion (7) at first overlap joint portion (6) both ends, first overlap joint portion (6) with second overlap joint portion (7) homoenergetic overlap joint in on mounting bracket (2), and be in first overlap joint portion (6) overlap joint in when mounting bracket (2) are gone up, be equipped with first overlap joint portion (6) one side oil cup (11) lateral wall butt in on the pore wall of mounting hole (21).

2. Stone care robot as claimed in claim 1, characterized in that said first connecting member (4) comprises a connecting rod hinged on said mounting frame (2);

the second connecting piece (5) comprises a U-shaped groove formed in the second overlapping portion (7), and the connecting rod can be clamped in the U-shaped groove.

3. Stone care robot as claimed in claim 1, characterized in that each said oil cup (11) is provided with one or two drippings (12); the number of the oil cups (11) is one or even and the oil cups are symmetrically arranged.

4. The stone material nursing robot of claim 3, characterized in that be equipped with on dripper (12) with hold chamber (121) of oil cup (11) intercommunication and with the drip mouth that holds chamber (121) intercommunication, sliding connection has booster (13) on dripper (12), just one end of booster (13) is arranged in hold chamber (121), the other end of booster (13) with drive arm (9) are connected, drive assembly (3) drive arm (9) remove in order to drive booster (13) will hold the medicament in the chamber (121) and push out to the drip mouth drips, and in pushing out the in-process, booster (13) seal gradually hold chamber (121) with the intercommunication department of oil cup (11).

5. Stone care robot according to claim 4, characterized in that said dripping assembly (1) further comprises a first stirrer (14) mounted on said booster (13), said first stirrer (14) being placed in the communication between said containing cavity (121) and said oil cup (11) to stir the dose in said communication.

6. The stone care robot as claimed in claim 1, wherein the driving arm (9) is provided with an insertion groove (91), the suspension arm (8) is provided with an insertion portion (81) which can be inserted into the insertion groove (91), and the insertion portion (81) is fixed in the insertion groove (91) by a fastening member (82).

7. Stone care robot as claimed in claim 1, characterized in that said driving assembly (3) further comprises a limit stop (33), said limit stop (33) being intended to define the extreme downward movement position of said driving arm (9).

8. Stone care robot according to claim 1, characterized in that the drive assembly (3) further comprises a guide (34), the guide (34) comprises a guide rail (341) and a slide block (342) slidably connected with the guide rail (341), the suspension arm (8) is connected with the slide block (342), and the guide rail (341) extends in the same direction as the suspension arm (8) moves.