CN218747761U - Automatic sterilization robot based on five-connecting-rod mechanical arm - Google Patents
Automatic sterilization robot based on five-connecting-rod mechanical arm Download PDFInfo
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- CN218747761U CN218747761U CN202223149829.7U CN202223149829U CN218747761U CN 218747761 U CN218747761 U CN 218747761U CN 202223149829 U CN202223149829 U CN 202223149829U CN 218747761 U CN218747761 U CN 218747761U
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Abstract
The utility model discloses an automatic robot that disappears based on five connecting rod arms, including the crawler-type removal chassis, the upper surface mounting on crawler-type removal chassis has medicament bin and five connecting rod arms, and the top of medicament bin is provided with the screen support, and screen support fixed mounting is on the crawler-type removal chassis, and the top of screen support is fixed to be equipped with the operation screen. This automatic robot that disappears based on five connecting rod arms, through using the crawler-type to remove the chassis as the carrier, drive the complete machine and carry out indoor outer removal, promote the adaptability of this robot to the indoor space environment, remove chassis upper portion installation five connecting rod arms at the crawler-type, through the all direction movement of three joint motor control five connecting rod arms, promote the spray range of atomizer shower nozzle, the room of convenient not equidimension is disinfected, some dead angles appear after preventing that the antiseptic solution from spraying.
Description
Technical Field
The utility model relates to a disinfection machine people technical field specifically is automatic robot that disappears based on five-bar linkage arm.
Background
The disinfection and epidemic prevention robot is a disinfection robot for short, the robot is a carrier, disinfection gas is generated in a disinfection system of the robot, the pneumatic system of the robot is used for rapidly diffusing the disinfection gas in an indoor space, the disinfection coverage and uniformity are increased, pathogenic microorganisms in the air can be effectively killed without dead angles, and the disinfection robot can automatically, efficiently and accurately disinfect and prevent epidemic indoors according to a set route.
The disinfection robot has rapid development in the background of epidemic situations, and some related robots can reach the level of mature operation, but have some defects, such as:
1. because the existing sterilizing robot atomizing spray head is mainly fixed with the machine body, the adaptability to the indoor space environment is weak;
2. the atomizer of the common epidemic prevention disinfection robot has lower degree of freedom and can not flexibly control the spray of disinfectant to dead angles.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic robot that disappears based on five connecting rod arms to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
automatic robot that disappears based on five connecting rod arms, including crawler-type removal chassis, crawler-type removal chassis's last surface mounting has medicament bin and five connecting rod arms, the top of medicament bin is provided with the screen support, screen support fixed mounting is on crawler-type removal chassis, the top fixed equipment of screen support has the operation screen, the screen support is equipped with the camera towards one side top fixed surface of five connecting rod arms, the fixed atomizer pump that is equipped with in side of medicament bin, the atomizer shower nozzle is installed on the top of five connecting rod arms, be connected with the water conservancy diversion hose between atomizer shower nozzle and the atomizer pump, and be linked together through the water conservancy diversion hose.
Preferably, five connecting rod arms include the mount pad of fixed mounting at crawler-type removal chassis upper surface, and the upper surface of mount pad is provided with the link, and the side fixed mounting of link has joint motor one, the output fixedly connected with pivot of joint motor one, and the one end of pivot extends to in the link, and the outer fixed surface of pivot is connected with the connecting rod, and the top of connecting rod articulates there is connecting rod two, is provided with the bracing piece on the connecting rod two, and the top at the bracing piece is installed to the atomizer shower nozzle.
Preferably, the five-connecting-rod mechanical arm further comprises a second joint motor arranged on the connecting frame, an output shaft of the second joint motor is fixedly provided with an adjusting rod, the top end of the adjusting rod is hinged with two guide rods, and the two guide rods are hinged with the second connecting rod.
Preferably, a third joint motor is fixedly assembled on the bottom surface of the mounting seat, and an output shaft of the third joint motor is fixedly connected with the connecting frame.
Preferably, the upper surface of the medicament storage box is provided with a feed inlet, and a feed cover is arranged on the feed inlet.
Preferably, the outer surface of the guide hose is provided with a connecting ring, and the connecting ring is arranged on the second connecting rod.
Preferably, the operation screen is provided with a circuit control system, and the circuit control system is electrically connected with the sprayer pump, the camera and the five-connecting-rod mechanical arm respectively.
Compared with the prior art, the utility model provides an automatic robot that disappears based on five-bar linkage arm possesses following beneficial effect:
1. this automatic robot that disappears based on five connecting rod arms drives the complete machine through using crawler-type to remove the chassis as the carrier and carry out indoor outer removal, promotes the adaptability of this robot to the indoor space environment.
2. This automatic robot that disappears based on five connecting rod arms removes chassis upper portion installation five connecting rod arms at crawler-type, through the all direction movement of three joint motor control five connecting rod arms, promotes the spraying scope of atomizer shower nozzle, and the room of convenient not equidimension is disinfected, prevents that some dead angles from appearing after the antiseptic solution sprays.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic front view of the present invention;
FIG. 3 is an enlarged view of A in FIG. 2;
fig. 4 is another schematic side view of the present invention.
In the figure: 1. a crawler-type mobile chassis; 2. a medicament storage case; 3. a screen support; 4. an operation screen; 5. a sprayer pump; 6. a camera; 7. a five-link mechanical arm; 71. a mounting seat; 72. a connecting frame; 73. a first joint motor; 74. a rotating shaft; 75. a connecting rod; 76. a second connecting rod; 77. a support bar; 78. adjusting a rod; 79. a guide bar; 710. a second joint motor; 711. a third joint motor; 8. a sprayer nozzle; 9. a diversion hose.
Detailed Description
Referring to fig. 1-4, the robot takes a crawler-type moving chassis 1 as a carrier to drive the whole robot to move indoors and outdoors, so that the adaptability of the robot to the indoor space environment is improved, a five-link mechanical arm 7 is mounted on the upper portion of the crawler-type moving chassis 1, the omnibearing movement of the five-link mechanical arm 7 is controlled through three joint motors, the spraying range of a sprayer nozzle 8 is improved, rooms with different sizes can be conveniently disinfected, and dead angles after disinfectant is sprayed are prevented;
the automatic killing robot based on the five-connecting-rod mechanical arm comprises a crawler-type moving chassis 1, a medicament storage box 2 and a five-connecting-rod mechanical arm 7 are mounted on the upper surface of the crawler-type moving chassis 1, a screen support 3 is arranged above the medicament storage box 2, the screen support 3 is fixedly mounted on the crawler-type moving chassis 1, an operation screen 4 is fixedly mounted at the top end of the screen support 3, a camera 6 is fixedly mounted on the upper surface of one side, facing the five-connecting-rod mechanical arm 7, of the screen support 3, a sprayer pump 5 is fixedly mounted on the side surface of the medicament storage box 2, a sprayer nozzle 8 is mounted at the top end of the five-connecting-rod mechanical arm 7, a flow guide hose 9 is connected between the sprayer nozzle 8 and the sprayer pump 5 and is communicated with each other through the flow guide hose 9, the sprayer pump 5 pressurizes medicaments under the control of the operation screen 4 and a circuit control system, the medicaments flow to the sprayer nozzle 8 at the tail end of the five-connecting-rod mechanical arm 7 through the flow guide hose 9 and are sprayed out through the sprayer nozzle 8, and indoor spraying and disinfection are conveniently carried out;
furthermore, a feed port is formed in the upper surface of the medicament storage box 2, and a feed cover is arranged on the feed port, so that a disinfectant can be conveniently added into the medicament storage box 2, and the normal work of the device is ensured;
furthermore, a circuit control system is arranged on the operation screen 4 and is respectively and electrically connected with the sprayer pump 5, the camera 6 and the five-connecting-rod mechanical arm 7, the operation screen 4 is convenient to control the sprayer pump 5, the camera 6 and the five-connecting-rod mechanical arm 7 through the circuit control system, and the spraying angle of the sprayer nozzle 8 is convenient to adjust;
in order to improve the spraying range of the sprayer nozzle 8, specifically;
the five-link mechanical arm 7 comprises a mounting seat 71 fixedly mounted on the upper surface of the crawler-type moving chassis 1, a connecting frame 72 is arranged on the upper surface of the mounting seat 71, a first joint motor 73 is fixedly mounted on the side surface of the connecting frame 72, a rotating shaft 74 is fixedly connected with the output end of the first joint motor 73, one end of the rotating shaft 74 extends into the connecting frame 72, a connecting rod 75 is fixedly connected with the outer surface of the rotating shaft 74, a second connecting rod 76 is hinged to the top end of the connecting rod 75, a supporting rod 77 is arranged on the second connecting rod 76, the sprayer nozzle 8 is mounted on the top end of the supporting rod 77, the five-link mechanical arm 7 further comprises a second joint motor 710 mounted on the connecting frame 72, an adjusting rod 78 is fixedly mounted on the output shaft of the second joint motor 710, two guide rods 79 are hinged to the top end of the adjusting rod 78, both the two guide rods 79 are hinged to the second connecting rod 76, a third joint motor 711 is fixedly mounted on the bottom surface of the mounting seat 71, and the output shaft of the third joint motor 711 is fixedly connected with the connecting frame 72,
the first joint motor 73 is started to drive the rotating shaft 74 to rotate, the rotating shaft 74 drives the connecting rod 75 to move, the second joint motor 710 is started to drive the adjusting rod 78 to move, the adjusting rod 78 drives the guide rod 79 to move, the height and the forward extending distance of the second connecting rod 76 can be conveniently adjusted through the matching of the connecting rod 75 and the guide rod 79, the height and the forward extending distance of the sprayer nozzle 8 can be conveniently adjusted, the connecting frame 72 is driven to rotate through the third joint motor 711, the left and right angles of the sprayer nozzle 8 can be conveniently adjusted, the spraying range of the sprayer nozzle 8 can be greatly improved through the matching of the left angle and the right angles, rooms with different sizes can be conveniently sterilized, and dead angles after disinfectant is sprayed can be prevented;
furthermore, the outer surface of the diversion hose 9 is provided with a connecting ring, and the connecting ring is installed on the second connecting rod 76, so that the diversion hose 9 is conveniently limited and fixed, and the diversion hose 9 is prevented from interfering the operation of the five-link mechanical arm 7.
The working principle is as follows: this automatic robot that disappears based on five connecting rod arms, use crawler-type removal chassis 1 as the carrier, drive the complete machine and carry out indoor outer removal, promote the adaptability of this robot to the indoor space environment, upper portion installation five connecting rod arms 7, the omnidirectional movement through three joint motor control five connecting rod arms 7, promote the spray range of atomizer shower nozzle 8, conveniently disinfect to the room of equidimension not, medicament storage box 2 is installed on crawler-type removal chassis 1 upper portion, medicament storage box 2 side-mounting has atomizer pump 5, screen support 3 is installed on crawler-type removal chassis 1 upper portion, operation screen 4 is installed to operation support 3 upper end, camera 6, and circuit control system, under the control through operation screen 4 and circuit control system, atomizer pump 5 pressurizes the medicament, flow to bracing piece 77 tip atomizer shower nozzle 8 through water conservancy diversion hose 9, spout through atomizer shower nozzle 8 blowout, indoor spraying disinfection.
Claims (7)
1. Automatic robot that kills based on five connecting rod arms, remove chassis (1) including the crawler-type, its characterized in that: the upper surface mounting who removes chassis (1) of crawler-type has medicament bin (2) and five-bar mechanical arm (7), the top of medicament bin (2) is provided with screen support (3), screen support (3) fixed mounting is on crawler-type removes chassis (1), the fixed operating screen (4) that is equipped with in top of screen support (3), one side top fixed surface of screen support (3) towards five-bar mechanical arm (7) is equipped with camera (6), the fixed atomizer pump (5) that is equipped with in side of medicament bin (2), atomizer shower nozzle (8) are installed on the top of five-bar mechanical arm (7), be connected with between atomizer shower nozzle (8) and atomizer pump (5) water conservancy diversion hose (9), and be linked together through water conservancy diversion hose (9).
2. The automatic killing robot based on five-link mechanical arm according to claim 1, characterized in that: five-bar arm (7) include mount pad (71) of fixed mounting at crawler-type removal chassis (1) upper surface, the upper surface of mount pad (71) is provided with link (72), the side fixed mounting of link (72) has joint motor (73), the output fixedly connected with pivot (74) of joint motor (73), the one end of pivot (74) extends to in link (72), the outer fixed surface of pivot (74) is connected with connecting rod (75), the top of connecting rod (75) articulates there is connecting rod two (76), be provided with bracing piece (77) on connecting rod two (76), the top at bracing piece (77) is installed in atomizer shower nozzle (8).
3. The automatic killing robot based on five-link mechanical arm as claimed in claim 1, wherein: the five-connecting-rod mechanical arm (7) further comprises a second joint motor (710) installed on the connecting frame (72), an output shaft of the second joint motor (710) is fixedly provided with an adjusting rod (78), and the top end of the adjusting rod (78) is hinged with two guide rods (79), and the two guide rods (79) are hinged with the second connecting rod (76).
4. The automatic killing robot based on five-link mechanical arm as claimed in claim 2, wherein: and a third joint motor (711) is fixedly assembled on the bottom surface of the mounting seat (71), and an output shaft of the third joint motor (711) is fixedly connected with the connecting frame (72).
5. The automatic killing robot based on five-link mechanical arm as claimed in claim 1, wherein: the upper surface of medicament bin (2) is provided with the feed inlet, be provided with the feeding lid on the feed inlet.
6. The automatic killing robot based on five-link mechanical arm as claimed in claim 1, wherein: and a connecting ring is arranged on the outer surface of the diversion hose (9), and the connecting ring is arranged on the second connecting rod (76).
7. The automatic killing robot based on five-link mechanical arm according to claim 1, characterized in that: the operation screen (4) is provided with a circuit control system, and the circuit control system is electrically connected with the sprayer pump (5), the camera (6) and the five-connecting-rod mechanical arm (7) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223149829.7U CN218747761U (en) | 2022-11-25 | 2022-11-25 | Automatic sterilization robot based on five-connecting-rod mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223149829.7U CN218747761U (en) | 2022-11-25 | 2022-11-25 | Automatic sterilization robot based on five-connecting-rod mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN218747761U true CN218747761U (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202223149829.7U Active CN218747761U (en) | 2022-11-25 | 2022-11-25 | Automatic sterilization robot based on five-connecting-rod mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118682788A (en) * | 2024-08-23 | 2024-09-24 | 沈阳天瑞众成系统集成有限公司 | Nuclear biochemical AI robot inspection device |
-
2022
- 2022-11-25 CN CN202223149829.7U patent/CN218747761U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118682788A (en) * | 2024-08-23 | 2024-09-24 | 沈阳天瑞众成系统集成有限公司 | Nuclear biochemical AI robot inspection device |
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