CN114788884A

CN114788884A - Full-automatic obstacle-crossing disinfection device

Info

Publication number: CN114788884A
Application number: CN202210247683.5A
Authority: CN
Inventors: 王雅慧; 马明旭; 李学知; 魏俊杰; 王进成; 于会洋; 储逸尘; 付金帆; 张瑶
Original assignee: Northeastern University China
Current assignee: Northeastern University China
Priority date: 2022-03-14
Filing date: 2022-03-14
Publication date: 2022-07-26
Anticipated expiration: 2042-03-14
Also published as: CN114788884B

Abstract

The invention relates to a full-automatic obstacle-crossing disinfection device which comprises a rack, a traveling mechanism and a height adjusting mechanism. Wherein, be provided with actuating mechanism and antiseptic solution spraying mechanism in the frame, running gear locates the frame front end, links to each other with actuating mechanism, and actuating mechanism work can drive running gear up and down stairs alternately. The height adjusting mechanism is arranged at the rear end of the frame, the bottom of the height adjusting mechanism is provided with a rear roller group, and the height adjusting mechanism is suitable for telescopic adjustment and used for adjusting the height of the rear end of the frame so as to enable the height of the front end and the height of the rear end of the frame to be consistent. The arrangement of the walking mechanism and the height adjusting mechanism is suitable for automatically disinfecting indoor and outdoor places and staircases, manual assistance is not needed when people go upstairs and downstairs, automatic disinfection is realized, the automation and intelligence degree of the disinfection device are improved, manpower is greatly liberated, and the epidemic prevention efficiency is improved.

Description

Full-automatic obstacle-crossing disinfection device

Technical Field

The invention relates to the technical field of simulation robots, in particular to a full-automatic obstacle crossing disinfection device.

Background

At present, for outdoor air and pavement disinfection, disinfection liquid is generally sprayed by a large-scale epidemic prevention type disinfection spraying vehicle and a spray disinfection vehicle, and the disinfection liquid is atomized into micro fine particles for spraying by using a high-power plunger pump based on a load-carrying vehicle. And for the disinfection of indoor places such as markets, houses and the like, most of the disinfection also depends on a manual spraying mode, and the risk of epidemic spread is increased due to the flow of people. Particularly, for residential buildings without elevators, epidemic prevention personnel need to go upstairs and downstairs repeatedly, and the problems of low spraying efficiency and high labor intensity exist. Therefore, an automatic and intelligent disinfection device is urgently needed, which can be used for automatically spraying disinfection solution in buildings and indoors, and greatly reduces epidemic spread risk while releasing manpower.

Disclosure of Invention

Technical problem to be solved

In view of the defects and shortcomings of the prior art, the invention provides a full-automatic obstacle crossing disinfection device which is used for automatically disinfecting indoor and outdoor places and solves the technical problems of low spraying efficiency, high labor intensity and difficulty in epidemic situation control caused by a manual spraying mode in the prior art.

(II) technical imitation

In order to achieve the purpose, the invention provides a full-automatic obstacle crossing disinfection device, which comprises the following specific technical schemes:

a full-automatic obstacle-crossing disinfection device,

the disinfection device comprises a rack, wherein a driving mechanism and a disinfection solution spraying mechanism are arranged on the rack;

the traveling mechanism is arranged at the front end of the rack and connected with the driving mechanism, and the driving mechanism can drive the traveling mechanism to alternately go up and down stairs;

the height adjusting mechanism is arranged at the rear end of the frame, the bottom of the height adjusting mechanism is provided with a rear roller group, and the height adjusting mechanism is suitable for telescopic adjustment so as to enable the height of the front end and the height of the rear end of the frame to be consistent.

Furthermore, the traveling mechanism comprises two crank block mechanisms which are symmetrically arranged on the left side and the right side of the rack;

the driving mechanism is connected with the two slider-crank mechanisms, and the driving mechanism can drive the two slider-crank mechanisms to move in a stepping mode when working.

Specifically, any one of the crank-slider mechanisms comprises a driving crank, a driven crank and a slider;

the sliding block is rotationally connected to the rack, and the driven crank is connected to the sliding block in a sliding manner;

one end of the driving crank is connected with the driving mechanism, the other end of the driving crank is connected with one end of the driven crank, and the driving mechanism can drive the driving crank to rotate and further drive the driven crank to rotate and translate so that the two ends of the driven crank are alternatively abutted to the stairs.

Furthermore, any crank block mechanism also comprises a first front roller and a second front roller;

the first front roller is rotatably sleeved on the periphery of the first rotating shaft, and two ends of the first rotating shaft are respectively and fixedly connected with the end parts of the driving crank and the driven crank;

the second front roller is rotationally sleeved on the second rotating shaft, and the second rotating shaft is arranged at the end part of the driven crank.

Specifically, the driving mechanism comprises a first motor, a first driving gear, a first driven gear and a first driven rotating shaft;

the first driven rotating shaft is rotationally connected to the rack, two ends of the first driven rotating shaft are respectively hinged with the end part of the driving crank of the crank slide block mechanism, and the first driven gear is fixedly sleeved on the periphery of the first driven rotating shaft;

the first driving gear is connected with a power output shaft of the first motor and meshed with the first driven gear, and the first motor can drive the first driving gear to rotate during working, so that the first driven gear meshed with the first driving gear and the first driven rotating shaft fixedly connected with the first driven gear are driven to rotate.

Specifically, the height adjusting mechanism comprises a power unit and a linear motion unit;

the linear motion unit is connected to the frame in a sliding manner, and the rear roller group is arranged at the bottom of the linear motion unit;

the power unit is arranged on the rack, the power output end is connected with the linear motion unit, and the power unit can drive the linear motion unit to move linearly when working so as to adjust the height of the rear end of the rack.

Preferably, the linear motion unit is a gear rack transmission mechanism, and the power unit is a second motor;

the gear rack transmission mechanism comprises a second driving gear, a second driven rotating shaft, a rack, two guide rails and a sliding block, wherein the two guide rails and the sliding block are arranged in parallel;

the two sliding blocks are arranged on the frame at intervals, the two guide rails are respectively connected to the two sliding blocks in a sliding manner, and the rear roller group is arranged at the bottoms of the two guide rails;

the rack is arranged on one of the guide rails;

two ends of the second driven rotating shaft are respectively and rotatably connected to the rack, and the second driven gear is fixedly sleeved on the periphery of the second driven rotating shaft;

the second driving gear is connected with the power output end of the second motor, the second driving gear is meshed with the second driven gear, and the second driven gear is meshed with the rack.

Further, the device also comprises a braking mechanism which can be selectively connected with the second front roller; when the braking mechanism is connected with the second front roller, the second front roller is braked and locked.

Specifically, the braking mechanism comprises a braking ratchet wheel, a braking pawl and a return spring;

one end of the brake pawl is rotationally connected to the hub of the second front roller, and the other end of the brake pawl is connected with the hub of the second front roller through a return spring;

the fixed cover of braking ratchet is located the periphery of second pivot, and the braking pawl can one-way meshing with the braking ratchet, and when the braking pawl meshed with the braking ratchet, second front roller was braked.

Further, the device also comprises a gyroscope sensor and a controller;

the gyroscope sensor is in communication connection with the controller, and the controller is in communication connection with the driving mechanism, the height adjusting mechanism and the disinfectant spraying mechanism;

the gyroscope sensor is used for acquiring the attitude information of the rack and transmitting the attitude information to the controller, and the controller controls the driving mechanism and the height adjusting mechanism to act according to the received attitude information;

the controller can also control the disinfectant spraying mechanism to spray disinfectant.

(III) advantageous effects

The full-automatic obstacle-crossing disinfection device disclosed by the invention can effectively overcome the defects of the prior art.

The full-automatic obstacle-crossing disinfection device provided by the invention is suitable for automatically disinfecting indoor and outdoor places and staircases, the disinfectant spraying mechanism is arranged on the rack, the travelling mechanism is arranged at the front end of the rack, the height adjusting mechanism is arranged at the rear end of the rack, and the rear idler wheel is arranged at the bottom of the height adjusting mechanism. Wherein, running gear simulates the setting of people's left and right feet, can drive the rear roller and roll forward on ground as the drive end to realize degassing unit's position and remove, can be suitable for the requirement of going on flat road surface.

According to the invention, the height adjusting mechanism is arranged and is suitable for telescopic adjustment, when a user climbs over obstacles or goes upstairs and downstairs, the height of the rear end of the rack is adjusted through the height adjusting mechanism, so that the heights of the front end and the rear end of the rack are consistent, the disinfectant spraying mechanism is always in a vertical state, the gravity center position of the disinfection device is ensured to be unchanged, backward tilting caused by backward movement of the gravity center is prevented, manual assistance is not needed when the user climbs over obstacles or goes upstairs and downstairs, automatic disinfection on indoor and outdoor places is further realized, the automation and intelligence degree of the disinfection device is improved, manpower is greatly liberated, and the epidemic prevention efficiency is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application, and are incorporated in and constitute a part of this application:

FIG. 1 is a schematic structural diagram of a fully automatic obstacle crossing disinfection device in an embodiment;

FIG. 2 is a schematic view of a partial structure of a fully automatic obstacle crossing disinfection apparatus embodying the simulated type;

FIG. 3 is a schematic structural diagram of a middle and rear roller set embodying the simulation;

FIG. 4 is a schematic structural diagram of a crank block mechanism in an embodiment;

FIG. 5 is a schematic diagram of a brake mechanism in an embodiment;

FIG. 6 is a first position diagram of the stair climbing process of the full-automatic obstacle-crossing disinfection device in the concrete implementation mode;

fig. 7 is a second position diagram of the building climbing process of the full-automatic obstacle crossing disinfection device in the concrete implementation mode.

[ instruction of reference ]

1. A frame;

2. a traveling mechanism;

210. a slider-crank mechanism; 211. a driving crank; 212. a driven crank; 213. a slider; 214. a first front roller; 215. a second front roller; 216. a first rotating shaft; 217. a second rotating shaft;

220. a drive mechanism; 221. a first motor; 222. a first drive gear; 223. a first driven gear; 224. a first driven rotating shaft;

3. a height adjustment mechanism;

310. a second motor;

320. a linear motion unit; 321. a second driving gear; 322. a second driven gear; 323. a second driven rotating shaft; 324. a rack; 325. a guide rail; 326. a slider;

4. a braking mechanism; 410. a brake pawl; 420. braking the ratchet wheel; 430. a return spring;

5. a rear roller set; 510. a rear roller; 520. a mounting frame; 530. a differential drive mechanism;

6. a controller; 7. an image acquisition device; 8. a gyroscope sensor; 9. antiseptic solution spraying mechanism.

Description of the preferred embodiment

In order to make the objects, technical models and advantages of the present invention more apparent, the advantages of the present invention will be combined

Referring to the drawings in the following, a technical simulation in an embodiment of the present invention will be described in more detail. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present embodiment, it should be understood that the pseudo-position or position relationship indicated by the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the pseudo-position or position relationship shown in the drawings, and are only for convenience of describing the present embodiment and simplifying the description, but do not indicate or imply that the referred device or element must have a specific pseudo-position, be constructed and operated in a specific pseudo-position, and thus, should not be construed as limiting the scope of the present embodiment.

Referring to fig. 1 to 7, according to an embodiment of the present application, a fully automatic obstacle crossing disinfection apparatus includes a frame 1, a disinfectant spraying mechanism 9, a driving mechanism 220, a traveling mechanism 2, a height adjusting mechanism 3, and a rear roller 510. Wherein, antiseptic solution spraying mechanism 9 and actuating mechanism 220 locate on frame 1, and running gear 2 locates the frame 1 front end to link to each other with actuating mechanism 220, actuating mechanism 220 work can drive running gear 2 alternating upstairs, downstairs. The rear roller 510 is disposed at the bottom of the height adjusting mechanism 3 and located at the rear end of the rack 1, and the height adjusting mechanism 3 is suitable for telescopic adjustment and used for adjusting the height of the rear end of the rack 1, so that the heights of the front end and the rear end of the rack 1 are consistent. The degassing unit of this embodiment can carry out self-sterilizer to indoor outer place, when being used for the staircase disinfection, need not manual control at the stair in-process of going up and down, has liberated the manpower greatly, has improved epidemic prevention efficiency.

The walking mechanism 2 simulates the arrangement of left and right feet of a human, can run on flat ground and concave-convex ground, and can go up and down stairs and cross obstacles, thereby being suitable for the use requirements of the stairs in different places and different heights. The traveling mechanism 2 serves as a driving end and can drive the rear roller 510 to roll on the ground, so that the whole movement of the full-automatic obstacle crossing disinfection device is realized. The alternate walking mode of the walking mechanism 2 of the present embodiment has less impact on the ground contact surface, and can effectively protect the ground contact surface and prevent the damage of the surface of the ground contact surface.

Height adjusting mechanism 3 is suitable for flexible regulation, when going on flat ground, height adjusting mechanism 3 is out of work, on unsmooth ground and go up, when going downstairs, height adjusting mechanism 3 works, when running gear 2 climbs over the obstacle or climbs the stair, height adjusting mechanism 3 stretches out and draws back the rear end height in order to adjust frame 1, make frame 1 front and rear end highly uniform, make antiseptic solution sprinkler structure be in vertical state all the time, thereby effectively avoid full-automatic degassing unit focus to move backward and lead to tumbling, degassing unit's safety in utilization has been guaranteed.

On antiseptic solution spraying mechanism 9 located frame 1, antiseptic solution spraying mechanism 9 can be for arbitrary current structure, also can do the adaptability improvement on the basis of current structure, and this embodiment does not do specific restrictions. Antiseptic solution spraying mechanism 9 sprays the disinfection to four directions in front, back, left and right through becoming tiny particle with the antiseptic solution atomizing, when advancing, replaces traditional manual work mode of spraying, has higher spraying efficiency.

As a preferable scheme, as shown in fig. 2 and fig. 4, the traveling mechanism 2 of the present embodiment includes two slider-crank mechanisms 210, the two slider-crank mechanisms 210 are symmetrically disposed on the left and right sides of the frame 1, the power output end of the driving mechanism 220 is connected to the two slider-crank mechanisms 210, and the two slider-crank mechanisms 210 can alternately go up and down stairs under the driving of the driving mechanism 220.

Specifically, the crank-slider mechanism 210 includes a driving crank 211, a driven crank 212 and a slider 213, wherein the slider 213 is rotatably connected to the frame 1, the driven crank 212 is slidably connected to the slider 213, one end of the driving crank 211 is connected to a power output end of the driving mechanism 220, the other end of the driving crank 211 is fixedly connected to one end of the driven crank 212, and the driving mechanism 220 can drive the driving crank 211 to rotate when working, so as to drive the driven crank 212 to rotate and slide along the slider 213, so that two ends of the driven crank 212 alternately abut against the stairs.

When going upstairs, as shown in fig. 6 and 7, the driving crank 211 and the driven crank 212 reciprocate under the driving of the driving mechanism 220, and the other end of the driven crank 212 is lifted upwards and falls onto the next stair, and at the same time, the height adjusting mechanism 3 performs telescopic adjustment to adjust the height of the rear end of the rack 1 so as to keep the position of the whole gravity center unchanged. And then the previous movement mode is continuously repeated to climb the stairs. The full-automatic obstacle-crossing disinfection device can also realize the process of going downstairs, and the details are not repeated here. The full-automatic obstacle-crossing disinfection device has stable and smooth going-upstairs and downstairs processes and small impact on the surface of a stair.

In some embodiments, as shown in fig. 2 and 4, the crank sliding block mechanism 210 further includes a first front roller 214 and a second front roller 215, wherein the first front roller 214 is rotatably sleeved on an outer circumference of the first rotating shaft 216, two ends of the first rotating shaft 216 are respectively fixedly connected to the ends of the driving crank 211 and the driven crank 212, the second front roller 215 is rotatably sleeved on an outer circumference of the second rotating shaft 217, and the second rotating shaft 217 is disposed at an end of the driven crank 212.

In the embodiment of the present disclosure, the first front roller 214 and the first rotating shaft 216 may be fixedly connected by a flat key, or by a square shaft or a square hole. The two ends of the first rotating shaft 216 are square shafts respectively, square holes are correspondingly formed in the connecting ends of the driving crank 211, the driven crank 212 and the first rotating shaft 216, and the square shafts are inserted into the square holes, so that the first rotating shaft 216 is fixedly connected with the driving crank 211 and the driven crank 212.

In the embodiment, the first front roller 214 and the second front roller 215 are arranged, so that the rigid contact mode between the driving crank 211 and the driven crank 212 and the ground and the surface of the stair is changed into an elastic contact mode, the contact area is increased, and the impact damage to the ground and the surface of the stair is effectively avoided.

In the embodiment of the present disclosure, as shown in fig. 2, the driving mechanism 220 includes a first motor 221, a first driving gear 222, a first driven gear 223, and a first driven rotation shaft 224. Wherein, first driven spindle 224 rotates to be connected to frame 1, both ends are articulated mutually with the tip of the initiative crank 211 of two slider-crank mechanisms 210 respectively, the fixed cover of first driven spindle 224 is located to first driven gear 223, first driving gear 222 links to each other with the power output shaft of first motor 221, and mesh with first driven gear 223 mutually, first motor 221 work can drive first driving gear 222 to rotate, and then drive the first driven gear 223 with first driving gear 222 engaged mutually and rotate with the first driven spindle 224 of first driven gear 223 fixed connection, first driven spindle 224 drives two slider-crank mechanisms 210 reciprocating motion again, in order to realize the up and down stairs of alternative.

In some embodiments, as shown in fig. 5, the fully automatic obstacle crossing disinfection device further comprises a brake mechanism 4, the brake mechanism 4 can be selectively connected with the second front roller 215, when the brake mechanism 4 is connected with the second front roller 215, the second front roller 215 is locked, the second front roller 215 is prevented from slipping due to insufficient radial friction, and the use safety of the fully automatic obstacle crossing disinfection device is ensured.

Specifically, the brake mechanism 4 includes a brake ratchet 420, a brake pawl 410, and a return spring 430. One end of the braking pawl 410 is rotatably connected to the hub of the second front roller 215, the other end of the braking pawl is connected to the hub of the second front roller 215 through a return spring 430, the braking ratchet 420 is fixedly sleeved on the periphery of the second rotating shaft 217, the braking pawl 410 can be meshed with the braking ratchet 420, and when the braking pawl 410 is meshed with the braking ratchet 420, the second front roller 215 brakes.

A mounting hole is formed in a hub of the second front roller 215, and a connecting shaft is provided at an end of the braking pawl 410 and rotatably connected in the mounting hole through a bearing. The brake ratchet 420 is sleeved on the outer circumference of the second rotating shaft 217 through a flat key, one side of the movable end of the brake pawl 410 is connected with the inner ring of the hub of the second front roller 215 through a return spring 430, and the other side can be engaged with the brake ratchet 420 in a single direction, so as to limit the rotating direction of the second front roller 215.

When the second front roller 215 rotates in the forward direction, the braking pawl 410 is not engaged with the braking ratchet wheel 420, the second front roller 215 can roll freely, when the second front roller 215 slips in the reverse direction, the braking pawl 410 is engaged with the braking ratchet wheel 420, and the second front roller 215 is locked, so that the full-automatic obstacle-crossing disinfection device is effectively prevented from slipping off the stairs, and the full-automatic obstacle-crossing disinfection device stays at a specified position.

As shown in fig. 2 and 5, the height adjusting mechanism 3 in the embodiment includes a power unit and a linear motion unit 320. The power unit is arranged on the rack 1, the linear motion unit 320 is connected to the rack 1 in a sliding manner, the rear roller group 5 is arranged at the bottom of the linear motion unit 320, the power output end of the power unit is connected with the linear motion unit 320, and the power unit can drive the linear motion unit 320 to move linearly when working so as to adjust the height of the rear end of the rack 1.

It should be noted that the linear motion unit 320 of the present embodiment may be any one of a ball screw, a rack and pinion, a hydraulic cylinder, an air cylinder, or an electric cylinder, and correspondingly, the power unit is a motor, a hydraulic station, an air station, or a servo motor. When the height is adjusted, the power unit outputs power to push the linear motion unit 320 to perform linear motion, so as to drive the rack 1 to move upwards or downwards, so that the heights of the front end and the rear end of the rack 1 are consistent.

As one of the preferable modes, as shown in fig. 2 and 3, the linear motion unit 320 has a rack and pinion structure, and the power unit corresponds to the second motor 310.

The linear motion unit 320 specifically includes a second driving gear 321, a second driven gear 322, a second driven rotating shaft 323, a rack 324, and two guide rails 325 and a slider 326 arranged in parallel. Wherein, two sliders 326 are arranged on the frame 1 at intervals, two guide rails 325 are respectively connected on the two sliders 326 in a sliding manner, and the rear roller group 5 is arranged at the bottom of the two guide rails 325. The rack 324 is disposed on one of the guide rails 325, two ends of the second driven rotating shaft 323 are respectively rotatably connected to the rack 1, the second driven gear 322 is fixedly sleeved on the periphery of the second driven rotating shaft 323, the second driving gear 321 is fixedly sleeved on the power output shaft of the second motor 310 and is engaged with the second driven gear 322, and the second driven gear 322 is engaged with the rack 324.

When the height is adjusted, the second motor 310 is controlled to be started, the second motor 310 drives the second driving gear 321 to rotate, the second driving gear 321 is in meshing transmission with the second driven gear 322, the second driven gear 322 is in meshing transmission with the rack 324, the rack 324 moves up and down to drive the guide rail 325 to slide along the slide block 326, and the rear end of the rack 1 is driven to ascend or descend so as to keep the integral height of the rack 1 consistent. In this embodiment, the rotation direction of the second driving gear 321 and the second driven gear 322 can be controlled by controlling the rotation direction of the second motor 310, and the control rack 324 slides upwards or downwards relative to the rack 1, so as to realize the ascending or descending of the rear end of the rack 1, thereby meeting the use requirements of the full-automatic obstacle-crossing disinfection device for going up and down stairs.

In this embodiment, the rack 324 is disposed on one of the guide rails 325, and the linear motion unit 320 adopts a single-side control manner, so as to prevent the rack 1 from being damaged due to asynchronous motion. Secondly, through setting up a set of power pack still can greatly reduced degassing unit's whole weight, and then increase the antiseptic solution bearing capacity of antiseptic solution sprinkling mechanism 9.

Specifically, as shown in fig. 3, the rear roller set 5 of the present embodiment includes a mounting frame 520, two rear rollers 510 and a differential driving mechanism 530, the mounting frame 520 is connected to the bottom ends of the two racks 324, the two rear rollers 510 are respectively and fixedly sleeved on the periphery of the rear rotating shaft, the two rear rotating shafts are respectively connected to the differential driving mechanism 530 through a coupling, and the differential driving mechanism 530 is configured to drive the two rear rollers 510 to rotate, so as to realize the overall movement of the full-automatic obstacle crossing disinfection apparatus. When the driving direction needs to be changed, the differential driving mechanism 530 is controlled to drive the two rear rollers 510 to rotate in a differential manner, so that the steering and reversing driving of the full-automatic obstacle crossing disinfection device are realized.

It should be noted that the differential driving mechanism 530 of the present embodiment is an existing structure, and the present embodiment is only scaled or modified according to specific use requirements, and therefore the structure of the differential driving mechanism 530 is not specifically limited in the present embodiment.

Further, the full-automatic obstacle crossing disinfection device of this embodiment still includes gyroscope sensor 8, image acquisition device 7 and controller 6, and gyroscope sensor 8 and image acquisition device 7 are all located on frame 1, and gyroscope sensor 8 and image acquisition device 7 are connected with controller 6 communication respectively, and controller 6 is connected with antiseptic solution spraying mechanism 9, actuating mechanism 220, height adjustment mechanism 3 and differential actuating mechanism 530 communication. The gyroscope sensor 8 is used for acquiring real-time road condition information, converting the real-time road condition information into attitude information of the rack 1, transmitting the attitude information to the controller 6, and the controller 6 controls the driving mechanism 220 and the height adjusting mechanism 3 to work according to the received attitude information of the rack 1. Image acquisition device 7 is used for gathering the regional image information of disinfection to give controller 6 with image information transmission, controller 6 corresponds the storage, when meetting the barrier or need turn to, controller 6 control differential drive system drives two rear roller 510 differential rotations and turns to.

When the full-automatic obstacle-crossing disinfection device moves forward, the controller 6 can also control the disinfectant spraying mechanism 9 to spray disinfectant to the circumferential direction of the running area, and epidemic prevention disinfection is carried out on the running area.

The controller 6 of this embodiment is the dedicated software that sets up on mobile terminal, also can be remote control center, and accessible mobile terminal or remote control center carry out remote control, need not epidemic prevention personnel and be close to effectively reduced epidemic situation and spread the risk.

In this embodiment specifically, when rack 1 attitude information is the slope when gyroscope sensor 8 gathers, controller 6 receives rack 1's slope attitude information, and will receive rack 1's slope attitude information and handle, obtain height adjusting mechanism 3's control information, controller 6 carries out flexible regulation according to control information control height adjusting mechanism 3, adjust rack 1's rear end height, make rack 1 front and back end highly uniform, guarantee that the whole focus position of degassing unit is unchangeable, avoid the focus to move backward and lead to degassing unit to overturn and damage, in order to satisfy the user demand in pothole road surface and staircase.

The aforesaid is the concrete structure of the full-automatic degassing unit that hinders more of this embodiment, and the structural design of running gear 2's double crank slider mechanism can realize marching type and advance, compares in traditional planetary gear and crawler-type building structural design that climbs, and running gear 2 is less to the impact on contact with ground, can effectively protect the ground of traveling. This embodiment is through the setting of altitude mixture control mechanism 3, can be suitable for the user demand on pothole road surface and stairwell, and when surmounting or walk up and down stairs, altitude mixture control mechanism 3 adjusts 1 rear end height of frame, makes the whole focus position of degassing unit unchangeable, can effectively avoid the focus to move backward and lead to degassing unit to tumble, and then has guaranteed degassing unit's safety in utilization. When going upstairs and downstairs or crossing obstacles, the automatic stair climbing and obstacle crossing and spraying disinfection are realized without manual assistance, the gap of automatic and intelligent disinfection equipment in the market is filled, and the problem of low epidemic prevention efficiency caused by a manual spraying disinfection mode is solved.

While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims

1. A full-automatic obstacle-surmounting disinfection device is characterized by comprising:

the disinfection device comprises a rack (1), wherein a driving mechanism (220) and a disinfection liquid spraying mechanism (9) are arranged on the rack (1);

the traveling mechanism (2) is arranged at the front end of the rack (1) and connected with the driving mechanism (220), and the driving mechanism (220) can drive the traveling mechanism (2) to alternately go up and down stairs when working;

height adjusting mechanism (3) is located frame (1) rear end, bottom are equipped with back roller train (5), height adjusting mechanism (3) are suitable for flexible regulation, are used for adjusting the rear end height of frame (1), so that frame (1) is preceding, the rear end highly uniform.

2. The full-automatic obstacle crossing disinfection device according to claim 1, wherein the traveling mechanism (2) comprises two slider-crank mechanisms (210), and the two slider-crank mechanisms (210) are symmetrically arranged on the left side and the right side of the rack (1);

the driving mechanism (220) is connected with the two slider-crank mechanisms (210), and the driving mechanism (220) can drive the two slider-crank mechanisms (210) to move in a stepping mode when working.

3. The fully automatic obstacle crossing disinfection apparatus of claim 2, wherein any one of said crank-slider mechanisms (210) comprises a driving crank (211), a driven crank (212) and a slider (213);

the sliding block (213) is rotationally connected to the rack (1), and the driven crank (212) is slidably connected to the sliding block (213);

one end of the driving crank (211) is connected with the driving mechanism (220), the other end of the driving crank is connected with one end of the driven crank (212), the driving mechanism (220) can drive the driving crank (211) to rotate when working, and then the driven crank (212) is driven to rotate and translate, so that two ends of the driven crank (212) are alternatively abutted to stairs.

4. The fully automatic obstacle crossing disinfection apparatus for use in high-rise buildings as claimed in claim 3, wherein any one of said crank block mechanisms (210) further comprises a first front roller (214) and a second front roller (215);

the first front roller (214) is rotatably sleeved on the periphery of a first rotating shaft (216), and two ends of the first rotating shaft (216) are respectively fixedly connected with the ends of the driving crank (211) and the driven crank (212);

the second front roller (215) is rotatably sleeved on a second rotating shaft (217), and the second rotating shaft (217) is arranged at the end part of the driven crank (212).

5. The fully automatic obstacle crossing disinfection apparatus of claim 3, wherein the drive mechanism (220) comprises a first motor (221), a first driving gear (222), a first driven gear (223) and a first driven rotating shaft (224);

the first driven rotating shaft (224) is rotatably connected to the rack (1), two ends of the first driven rotating shaft are respectively hinged to the ends of the driving cranks (211) of the 2 slider-crank mechanisms (210), and the first driven gear (223) is fixedly sleeved on the periphery of the first driven rotating shaft (224);

the first driving gear (222) is connected with a power output shaft of the first motor (221) and meshed with the first driven gear (223), and the first motor (221) can drive the first driving gear (222) to rotate when working, so that the first driven gear (223) meshed with the first driving gear (222) and the first driven rotating shaft (224) fixedly connected with the first driven gear (223) are driven to rotate.

6. The fully automatic obstacle crossing disinfection apparatus according to claim 1, wherein said height adjustment mechanism (3) comprises a power unit and a linear motion unit (320);

the linear motion unit (320) is connected to the rack (1) in a sliding manner, and the rear roller group (5) is arranged at the bottom of the linear motion unit (320);

the power unit is arranged on the rack (1), the power output end of the power unit is connected with the linear motion unit (320), and the power unit can drive the linear motion unit (320) to move linearly to adjust the height of the rear end of the rack (1).

7. The fully automatic obstacle crossing disinfection apparatus of claim 6, wherein the linear motion unit (320) is a rack and pinion transmission mechanism, and the power unit is a second motor;

the gear rack transmission mechanism comprises a second driving gear (321), a second driven gear (322), a second driven rotating shaft (323), a rack (324), two guide rails (325) and a sliding block (326) which are arranged in parallel;

the two sliding blocks (326) are arranged on the frame (1) at intervals, the two guide rails (325) are respectively connected to the two sliding blocks (326) in a sliding manner, and the rear roller group (5) is arranged at the bottoms of the two guide rails (325);

the rack (324) is arranged on one of the guide rails (325);

two ends of the second driven rotating shaft (323) are respectively and rotatably connected to the rack (1), and the second driven gear (322) is fixedly sleeved on the periphery of the second driven rotating shaft (323);

the second driving gear (321) is connected with a power output end of the second motor (310), the second driving gear (321) is meshed with the second driven gear (322), and the second driven gear (322) is meshed with the rack (324).

8. The fully automatic obstacle crossing disinfection apparatus according to claim 3, further comprising a brake mechanism (4), said brake mechanism (4) being selectively connectable with said second front roller (215);

when the brake mechanism (4) is connected with the second front roller (215), the second front roller (215) is brake-locked.

9. The fully automatic obstacle crossing disinfection apparatus of claim 8, wherein the brake mechanism (4) comprises a brake ratchet (420), a brake pawl (410) and a return spring (430);

one end of the brake pawl (410) is rotatably connected to the hub of the second front roller (215), and the other end of the brake pawl is connected with the hub of the second front roller (215) through the return spring (430);

the brake ratchet wheel (420) is fixedly sleeved on the periphery of the second rotating shaft (217), the brake pawl (410) can be meshed with the brake ratchet wheel (420) in a one-way mode, and when the brake pawl (410) is meshed with the brake ratchet wheel (420), the second front roller (215) is braked.

10. A fully automatic obstacle crossing disinfection apparatus as claimed in any one of claims 1 to 9, further comprising a gyroscope sensor (8) and a controller (6);

the gyroscope sensor (8) is in communication connection with the controller (6), and the controller (6) is in communication connection with the driving mechanism (220), the height adjusting mechanism (3) and the disinfectant spraying mechanism (9);

the gyroscope sensor (8) is used for acquiring attitude information of the rack (1) and transmitting the attitude information to the controller (6), and the controller (6) controls the driving mechanism (220) and the height adjusting mechanism (3) to act according to the received attitude information;

the controller (8) can also control the disinfectant spraying mechanism (9) to spray disinfectant.