CN111515039B - Electrostatic spraying machine robot capable of automatically walking - Google Patents

Electrostatic spraying machine robot capable of automatically walking Download PDF

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Publication number
CN111515039B
CN111515039B CN202010284971.9A CN202010284971A CN111515039B CN 111515039 B CN111515039 B CN 111515039B CN 202010284971 A CN202010284971 A CN 202010284971A CN 111515039 B CN111515039 B CN 111515039B
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China
Prior art keywords
sprayer
electrostatic
driving
box body
robot
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CN202010284971.9A
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Chinese (zh)
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CN111515039A (en
Inventor
杨黎明
庄锷
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Jiangsu Supaotian Agricultural Technology Co ltd
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Jiangsu Supaotian Agricultural Technology Co ltd
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Publication of CN111515039A publication Critical patent/CN111515039A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
    • A61L2/08—Radiation
    • A61L2/10—Ultraviolet radiation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
    • A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/24—Apparatus using programmed or automatic operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0278—Arrangement or mounting of spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/70—Arrangements for moving spray heads automatically to or from the working position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/007—At least a part of the apparatus, e.g. a container, being provided with means, e.g. wheels, for allowing its displacement relative to the ground
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
    • B05B9/0409—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material the pumps being driven by a hydraulic or a pneumatic fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/30—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
    • B05B1/32—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages in which a valve member forms part of the outlet opening
    • B05B1/326—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages in which a valve member forms part of the outlet opening the valve being a gate valve, a sliding valve or a cock
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/043—Discharge apparatus, e.g. electrostatic spray guns using induction-charging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
    • B05B9/0423—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material for supplying liquid or other fluent material to several spraying apparatus

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

Abstract

The invention discloses an electrostatic sprayer robot capable of automatically walking, which comprises a box body, wherein a partition plate is arranged in the box body, a water tank and a battery box are arranged in the box body on one side of the partition plate, the battery box is connected with the partition plate, a rotating door is arranged in the box body on the other side of the partition plate, a rotating door driving mechanism is arranged at the bottom of the rotating door, a sprayer lifting mechanism is arranged in a cavity between the rotating door and the partition plate, a horizontal rotating mechanism of a sprayer is arranged at the upper end of the sprayer lifting mechanism, an electrostatic generator is arranged on the horizontal rotating mechanism of the sprayer, one end of the sprayer is connected with a water outlet of a water pump through a transfusion conveying pipe, a spray nozzle is arranged at the other end of the sprayer, a water inlet; the bottom of the box body is provided with a walking driving wheel and a walking driving mechanism, the bottom of the water tank is provided with a water tank supporting plate or a supporting frame, and a controller of the electrostatic spraying robot is arranged between the water tank supporting plate and a bottom plate of the box body.

Description

Electrostatic spraying machine robot capable of automatically walking
Technical Field
The invention relates to the technical field of robot operation, in particular to an electrostatic spraying robot capable of automatically walking.
Background
A robot is a machine device that automatically performs work. The robot can receive human commands, run programs which are arranged in advance, and perform actions according to principles formulated by artificial intelligence technology, has the task of assisting or replacing human work, such as production industry, construction industry or dangerous work, and has gradually approached to the concept of the robot internationally.
However, the existing spraying robot still has some defects in the using process: when the existing spraying robot is used, the positions of the spray heads are fixed, so that the existing spraying robot cannot be used for different heights. Spraying operation is carried out in spaces in different directions. In addition, since the existing spray robot has a sprayer exposed outside, which is not beautiful and is easily contaminated by the external environment, it is necessary to improve the existing spray robot.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the electrostatic spraying robot capable of automatically walking, which has the advantages of simple structure, attractive appearance, high automation degree and wide spraying range, and can enable water mist to be charged with static electricity.
In order to achieve the aim, the technical scheme of the invention is to provide an electrostatic spraying robot capable of automatically walking, the robot comprises a box body, a partition board is arranged in the box body, a water tank and a battery box are arranged in the box body on one side of the partition board, the battery box is connected with the clapboard, the box body at the other side of the clapboard is internally provided with a revolving door, the bottom of the revolving door is provided with a revolving door driving mechanism, a sprayer lifting mechanism is arranged in the cavity of the box body between the revolving door and the clapboard, a horizontal rotating mechanism of the sprayer is arranged at the upper end of the sprayer lifting mechanism, an electrostatic generator is arranged on a horizontal rotating mechanism of the sprayer, the sprayer is connected to the electrostatic generator, one end of the sprayer is connected with a water outlet of a water pump through a transfusion conveying pipe, a spraying nozzle is arranged at the other end of the sprayer, a water inlet of the water pump is connected with a water tank through a water inlet pipe, and the water pump is arranged on the water tank and connected with a partition plate; the bottom of the box body is provided with a walking driving wheel and a walking driving mechanism, the bottom of the water tank is provided with a water tank supporting plate or a supporting frame, and a controller of the electrostatic spraying robot is arranged between the water tank supporting plate and a bottom plate of the box body.
In order to facilitate the electrostatic spraying robot to open the spraying through the rotating door in a use state and close the rotating door in a non-use state, so as to avoid pollution of an external environment to the sprayer, the preferred technical scheme is that the box body is of a barrel-shaped structure, the box body of the barrel-shaped structure comprises a barrel bottom, a barrel wall and a barrel cover, the barrel wall comprises a fixed barrel wall and the rotating door, and the barrel cover comprises a fixed barrel cover connected with the fixed barrel wall and a rotating barrel cover connected with the rotating door.
In order to make spraying robot can carry out the spraying operation to wider space, can simplify elevating system's structure simultaneously, preferred technical scheme still has, atomizer elevating system is including linking the lift driving motor of bottom in the box, lift driving motor passes through the shaft coupling and is connected with the lead screw, the other end of lead screw passes through the bearing, bearing frame and box inner wall connection, lead screw and lift driving nut screw-thread fit, lift driving nut is being connected with lift driving sleeve's bottom, lift driving sleeve's top is equipped with horizontal rotary mechanism's mounting platform, be equipped with the guide block in lift driving sleeve's the outside, guide block and the guide way sliding fit of setting on the baffle, still be equipped with the bearing in one side of lift driving sleeve, the bearing frame dodges the groove.
In order to enable the spraying robot to spray in a wider space and simplify the structure of the lifting mechanism, a further preferred technical scheme is that the horizontal rotating mechanism comprises a horizontal rotating driving motor arranged on the mounting platform, the horizontal rotating driving motor is connected with a horizontal rotating driving shaft through a coupler, and one end of the horizontal rotating driving shaft is connected with a horizontal rotating driving plate.
In order to transmit a power supply to the horizontal rotation driving plate to provide a power supply for the electrostatic generator, so that the power supply line cannot be wound due to the rotation of the horizontal rotation driving plate, a conductive sleeve is arranged between the mounting platform and the horizontal rotation driving plate, the lower end of the conductive sleeve penetrates through the mounting platform, penetrates through the lifting driving sleeve and then penetrates through the partition plate to be connected with the controller, a conductive brush is arranged at the upper end of the conductive sleeve, a conductive ring in contact with the conductive brush is arranged at the bottom of the horizontal rotation driving plate, and the conductive ring penetrates through the horizontal rotation driving plate through a wire to be electrically connected with the electrostatic generator arranged on the horizontal rotation driving plate.
In order to enable the spray heads of the sprayer to spray in different directions and enable the water mist sprayed by the sprayer to be static, the further preferred technical scheme is that the sprayer comprises a disc-shaped shell, a plurality of spraying spray heads are arranged on the periphery and one surface of the disc-shaped shell, the other surface of the disc-shaped shell is connected with one end of a liquid inlet pipe, the other end of the liquid inlet pipe is connected with an outlet of a water pump through a hose, and the liquid inlet pipe penetrates through the static generator or is arranged on one side of the static generator.
In order to facilitate the spraying operation in the space range at the lower part of the body of the spraying robot, the further preferable technical scheme is that a sprayer is arranged at the bottom of the outer wall of the lifting driving sleeve and comprises a disc-shaped shell, a plurality of spraying nozzles are arranged at the periphery and one surface of the disc-shaped shell, the other surface of the disc-shaped shell is connected with one end of a liquid inlet pipe, the other end of the liquid inlet pipe is connected with an outlet of a water pump through a hose, and the liquid inlet pipe penetrates through the electrostatic generator or is arranged at one side of the electrostatic generator.
In order to facilitate the robot to flexibly and freely walk and turn, the further preferred technical scheme is that the walking driving mechanism comprises two walking driving servo motors, the shells of the two walking driving servo motors are respectively connected with the box bottom of the box body through a support, the driving shafts of the walking driving servo motors are connected with the walking driving wheels, and at least one universal wheel is further installed at the box bottom of the box body. The spraying robot can walk along a straight line when the rotating speeds and the rotating directions of the two walking driving servo motors are the same, the spraying robot can rotate when the rotating speeds or the rotating directions of the two walking driving servo motors are different, the universal wheel is a driven wheel, the two walking driving servo motors are connected with the controller, and the controller controls the rotating speeds and the rotating directions of the two walking driving servo motors, so that the walking direction and the walking speed of the spraying robot can be controlled.
In order to facilitate the spraying of the spraying robot, the environment can be subjected to ultraviolet disinfection and sterilization through the ultraviolet disinfection lamp, and the ultraviolet disinfection lamp is further installed on one side, facing the rotating door, of the outer wall of the lifting driving sleeve.
In order to facilitate automatic control of the walking path of the spraying robot, avoid collision with obstacles and facilitate control of the spraying operation process of the spraying robot by using a remote controller, the technical scheme is further preferably that a laser ranging sensor, an infrared ranging sensor or an ultrasonic ranging sensor connected with a controller is installed on the side wall of the box body, and a wireless communication module is arranged in the controller and is in wireless connection with the remote controller.
The invention has the advantages and beneficial effects that the electrostatic sprayer robot capable of automatically walking has the characteristics of simple structure, attractive appearance, high automation degree, wide spraying range, capability of enabling water mist to carry static electricity, capability of automatically walking and the like. The electrostatic spraying robot capable of automatically walking can spray the surrounding environment through a preset air program and can also remotely control the whole spraying process of the electrostatic spraying robot through a remote controller.
The navigation mode of the spray robot can adopt laser navigation to drive a walking drive servo motor to lead the walking direction of the robot to advance, retreat, turn, stop, climb a slope and the like, and the communication mode can adopt wireless local area network safety, full induction range laser scanning, obstacle-encountering deceleration or sudden stop; the automatic charging safety device can be provided with an alarm, form sound and light alarm, automatic charging safety in a driving electric lithium battery charging mode is additionally arranged, and a front obstacle detection sensor and a rear obstacle detection sensor are protected safely and a mechanical anti-collision mechanism is arranged. The high-efficiency public sprayer is suitable for disinfection and sterilization and has good applicability; can realize that the superfine atomizing liquid drop of 40 microns sprays with the range breadth of 2.5 meters, can make to spray the object back and also adsorb the antiseptic solution in the reverse absorption of static, also can disinfect to regional dead angle through extremely strong penetrability, finally reaches the disinfection of all-round, no dead angle. Better defends against the erosion of various viruses, reduces the waste of the medicament to the maximum extent and sprays the medicament rapidly in a large format. Under the condition that the automatic navigation robot patrols, the comprehensive, timed and quantitative accurate disinfection and defense arrangement is realized.
Drawings
FIG. 1 is one of the main sectional views of the self-propelled electrostatic atomizer robot of the present invention;
FIG. 2 is a second sectional view of the self-propelled electrostatic atomizer robot of the present invention;
FIG. 3 is a third sectional view of the self-propelled electrostatic atomizer robot of the present invention;
FIG. 4 is one of the cross-sectional top views of the self-propelled electrostatic atomizer robot of the present invention;
fig. 5 is a second sectional view of the self-propelled electrostatic atomizer robot of the present invention.
In the figure: 1. a box body; 1.1, barrel bottom; 1.2, a barrel wall; 1.21, fixing the barrel wall; 1.3, a barrel cover; 1.31, fixing the barrel cover; 1.32, rotating the barrel cover; 2. a partition plate; 3. a water tank; 4. a battery case; 5. a revolving door; 6. a revolving door drive mechanism; 7. a sprayer lifting mechanism; 7.1, a lifting driving motor; 7.2, a lead screw; 7.3, lifting the driving nut; 7.4, lifting the driving sleeve; 7.5, a guide block; 7.6, a guide groove; 8. a sprayer; 8.1, a spray head; 8.2, a disc-type shell; 8.3, a liquid inlet pipe; 9. a horizontal rotation mechanism; 9.1, mounting a platform; 9.2, horizontally rotating the driving motor; 9.3, horizontally rotating the driving shaft; 9.4, a horizontal rotation drive plate; 9.5, a conductive sleeve; 9.6, conducting brushes; 9.7, conducting ring; 10. an electrostatic generator; 11. a water pump; 12. a traveling driving wheel; 13. a travel drive mechanism; 14. a water tank support plate; 15. a controller; 16. a support; 17. a universal wheel; 18. an ultraviolet disinfection lamp; 19. an ultrasonic ranging sensor.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 to 5, the invention is an electrostatic sprayer robot capable of automatically walking, the robot comprises a box body 1, a partition plate 2 is arranged in the box body 1, a water tank 3 and a battery box 4 are arranged in the box body at one side of the partition plate 2, the battery box 4 is connected with the partition plate 2, a rotating door 5 is arranged in the box body 1 at the other side of the partition plate 2, a rotating door driving mechanism 6 is arranged at the bottom of the rotating door 5, a sprayer lifting mechanism 7 is arranged in a cavity of the box body between the rotating door 5 and the partition plate 2, a horizontal rotating mechanism 9 of a sprayer 8 is arranged at the upper end of the sprayer lifting mechanism 7, an electrostatic generator 10 is arranged on the horizontal rotating mechanism 9 of the sprayer 8, the sprayer 8 is connected on the electrostatic generator 10, one end of the sprayer 8 is connected with a water outlet of a water pump 11 through a transfusion conveying pipe, a spray nozzle, the water pump 11 is arranged on the water tank 1 and is connected with the partition plate 2; the bottom of the box body 1 is provided with a walking driving wheel 12 and a walking driving mechanism 13, the bottom of the water tank 1 is provided with a water tank supporting plate 14 or a supporting frame, and a controller 15 of the electrostatic spraying robot is arranged between the water tank supporting plate 14 and the bottom plate of the box body 1.
In order to facilitate the electrostatic spraying robot to open the spraying by rotating the door 5 in the using state and close the door 5 in the non-using state, so as to avoid the pollution of the external environment to the sprayer 8, the preferred embodiment of the invention is that the box body 1 is a barrel-shaped structure, the box body of the barrel-shaped structure comprises a barrel bottom 1.1, a barrel wall 1.2 and a barrel cover 1.3, the barrel wall comprises a fixed barrel wall 1.21 and the rotating door 5, and the barrel cover 1.3 comprises a fixed barrel cover 1.31 connected with the fixed barrel wall 1.21 and a rotating barrel cover 1.32 connected with the rotating door 5.
In order to make the spraying robot spray in a wider space and simplify the construction of the elevating mechanism, the preferred embodiment of the present invention is further, the sprayer lifting mechanism 7 comprises a lifting driving motor 7.1 connected with the inner bottom of the box body 1, the lifting driving motor 7.1 is connected with a screw rod 7.2 through a coupler, the other end of the screw rod 7.2 is connected with the inner wall of the box body 1 through a bearing and a bearing seat, the screw rod 7.2 is in threaded fit with a lifting driving nut 7.3, the lifting driving nut 7.3 is connected with the bottom of a lifting driving sleeve 7.4, the top of the lifting driving sleeve 7.4 is provided with a mounting platform 9.1 of a horizontal rotating mechanism 9, a guide block 7.5 is arranged on the outer side of the lifting driving sleeve 7.4, the guide block 7.5 is in sliding fit with a guide groove 7.6 arranged on the clapboard 2, a bearing and a bearing seat avoiding groove (not shown) are also arranged at one side of the lifting driving sleeve 7.4.
In order to make the spraying robot perform spraying operation in a wider space and simplify the structure of the lifting mechanism, the horizontal rotating mechanism 9 further comprises a horizontal rotating driving motor 9.2 arranged on the mounting platform 9.1, the horizontal rotating driving motor 9.2 is connected with a horizontal rotating driving shaft 9.3 through a coupler, one end of the horizontal rotating driving shaft 9.3 is connected with a horizontal rotating driving plate 9.4, and the horizontal rotating driving plate 9.4 is used for driving the static electricity generator 10 to rotate or swing together with the sprayer 8.
In order to facilitate the power supply to the horizontal rotation driving plate 9.4 to supply power to the electrostatic generator 10, so that the power cord is not wound by the rotation of the horizontal rotation driving plate 9.4, a further preferred embodiment of the present invention is that a conductive sleeve 9.5 is disposed between the mounting platform 9.1 and the horizontal rotation driving plate 9.4, the lower end of the conductive sleeve 9.5 passes through the mounting platform 9.1, passes through the lifting driving sleeve 7.4, and then passes through the partition plate 2 to be connected with the controller 15, the upper end of the conductive sleeve 9.5 is provided with a conductive brush 9.6, the bottom of the horizontal rotation driving plate 9.4 is provided with a conductive ring 9.7 in contact with the conductive brush 9.6, and the conductive ring 9.7 passes through the horizontal rotation driving plate 9.4 through a conductive wire to be electrically connected with the electrostatic generator 10 disposed on the horizontal rotation driving plate 9.
In order to make the sprayer 8.1 of the sprayer 8 spray in different directions and make the water mist sprayed by the sprayer 8 have static electricity, the further preferred embodiment of the invention is that the sprayer 8 comprises a disk-shaped housing 8.2, a plurality of spraying sprayers 81 are arranged on the periphery and one surface of the disk-shaped housing 8.2, the other surface of the disk-shaped housing 8.2 is connected with one end of a liquid inlet pipe 8.3, the other end of the liquid inlet pipe 8.3 is connected with the outlet of a water pump 11 through a hose, and the liquid inlet pipe 8.3 penetrates through the static electricity generator 10 or is arranged on one side of the static electricity generator 10.
In order to facilitate the spraying operation in the space range at the lower part of the body of the fog machine, the invention also has a further preferable embodiment that a sprayer 8 is arranged at the bottom of the outer wall of the lifting driving sleeve 7.4, the sprayer 8 comprises a disc-shaped shell 8.2, a plurality of spraying nozzles 8.1 are arranged at the periphery and one surface of the disc-shaped shell 8.2, the other surface of the disc-shaped shell 8.2 is connected with one end of a liquid inlet pipe 8.3, the other end of the liquid inlet pipe 8.3 is connected with an outlet of a water pump 11 through a hose, and the liquid inlet pipe 8.3 penetrates through the electrostatic generator 10 or is arranged at one side of the electrostatic generator 10.
In order to facilitate the robot to walk and turn freely, the invention further preferably adopts a scheme that the walking driving mechanism 13 comprises two walking driving servo motors, the shells of the two walking driving servo motors are respectively connected with the bottom of the box body 1 through a bracket 16, the driving shafts of the walking driving servo motors are connected with the walking driving wheels 12, and at least one universal wheel 17 is further arranged at the bottom of the box body 1. The spraying robot can walk along a straight line when the rotating speeds and the rotating directions of the two walking driving servo motors are the same, the spraying robot can rotate when the rotating speeds or the rotating directions of the two walking driving servo motors are different, the universal wheel 17 is a driven wheel, the two walking driving servo motors are connected with the controller 15, and the controller 15 controls the rotating speeds and the rotating directions of the two walking driving servo motors, so that the walking direction and the walking speed of the spraying robot can be controlled.
In order to facilitate the spraying of the spraying robot and the ultraviolet disinfection and sterilization of the environment by the ultraviolet disinfection lamp 18, a further preferred embodiment of the invention is that the ultraviolet disinfection lamp 18 is installed on the side of the outer wall of the lifting driving sleeve 7.4 facing the revolving door 5.
In order to facilitate automatic control of the walking path of the spraying robot, avoid collision with obstacles and facilitate control of the spraying operation process of the spraying robot by a remote controller, a further preferred embodiment of the present invention is that a laser ranging sensor, an infrared ranging sensor or an ultrasonic ranging sensor 19 connected with the controller 1 is installed on the side wall of the box body 1, a wireless communication module is installed in the controller 15, and the wireless communication module is wirelessly connected with the remote controller.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (8)

1. An electrostatic sprayer robot capable of automatically walking is characterized by comprising a box body, wherein a partition plate is arranged in the box body, a water tank and a battery box are arranged in the box body on one side of the partition plate, the battery box is connected with the partition plate, a rotating door is arranged in the box body on the other side of the partition plate, a rotating door driving mechanism is arranged at the bottom of the rotating door, a sprayer lifting mechanism is arranged in a cavity between the rotating door and the partition plate, a horizontal rotating mechanism of a sprayer is arranged at the upper end of the sprayer lifting mechanism, an electrostatic generator is arranged on the horizontal rotating mechanism of the sprayer, the sprayer is connected onto the electrostatic generator, one end of the sprayer is connected with a water outlet of a water pump through a transfusion conveying pipe, a spray nozzle is arranged at the other end of the sprayer, a water inlet of the water pump is; the bottom of the box body is provided with a walking driving wheel and a walking driving mechanism, the bottom of the water tank is provided with a water tank supporting plate or a supporting frame, and a controller of the electrostatic spraying robot is arranged between the water tank supporting plate and a box body bottom plate; horizontal rotating mechanism is including setting up the horizontal rotation driving motor on mounting platform, and horizontal rotation driving motor passes through the shaft coupling and is connected with horizontal rotation drive shaft, and the one end of horizontal rotation drive shaft is connected with horizontal rotation drive plate be provided with conductive sleeve between mounting platform and the horizontal rotation drive plate, conductive sleeve's lower extreme passes mounting platform and passes the baffle again through lift drive sleeve and be connected with the controller, is equipped with conductive brush in conductive sleeve's upper end, is equipped with the conducting ring with conductive brush contact bottom the horizontal rotation drive plate, and the conducting ring passes horizontal rotation drive plate through the wire and is connected with the electrostatic generator electricity that sets up on horizontal rotation drive plate.
2. The self-walking electrostatic spraying robot as claimed in claim 1, wherein the tank body is a barrel-shaped structure, the tank body of the barrel-shaped structure comprises a barrel bottom, a barrel wall and a barrel cover, the barrel wall comprises a fixed barrel wall and a rotating door, and the barrel cover comprises a fixed barrel cover connected with the fixed barrel wall and a rotating barrel cover connected with the rotating door.
3. The self-propelled electrostatic sprayer robot as claimed in claim 1, wherein the sprayer lifting mechanism comprises a lifting driving motor coupled to the bottom inside the tank, the lifting driving motor is coupled to a lead screw through a coupling, the other end of the lead screw is coupled to the inner wall of the tank through a bearing and a bearing seat, the lead screw is in threaded engagement with a lifting driving nut, the lifting driving nut is coupled to the bottom of a lifting driving sleeve, a mounting platform for a horizontal rotation mechanism is provided at the top of the lifting driving sleeve, a guide block is provided on the outer side of the lifting driving sleeve, the guide block is in sliding engagement with a guide groove provided on the partition plate, and a bearing seat avoiding groove are further provided on one side of the lifting driving sleeve.
4. The self-propelled electrostatic atomizer robot as claimed in claim 1, wherein said atomizer comprises a disk housing, a plurality of spray nozzles are provided at the periphery and one side of the disk housing, the other side of the disk housing is connected to one end of a liquid inlet pipe, the other end of the liquid inlet pipe is connected to the outlet of the water pump through a hose, and the liquid inlet pipe passes through or is installed at one side of the electrostatic generator.
5. The self-propelled electrostatic atomizer robot as claimed in claim 3, wherein a sprayer is installed at the bottom of the outer wall of the lifting driving sleeve, the sprayer comprises a disk-shaped housing, a plurality of spraying nozzles are installed at the periphery and one surface of the disk-shaped housing, the other surface of the disk-shaped housing is connected with one end of a liquid inlet pipe, the other end of the liquid inlet pipe is connected with the outlet of the water pump through a hose, and the liquid inlet pipe penetrates through the electrostatic generator or is installed at one side of the electrostatic generator.
6. The self-propelled electrostatic spraying robot as claimed in claim 1, wherein the travel driving mechanism comprises two travel driving servo motors, the housings of the two travel driving servo motors are respectively connected with the bottom of the tank body through a bracket, the driving shafts of the travel driving servo motors are connected with the travel driving wheels, and at least one universal wheel is further mounted on the bottom of the tank body.
7. The self-propelled electrostatic atomizer robot as claimed in claim 3, wherein an ultraviolet disinfection lamp is mounted on the outer wall of said lift drive sleeve on the side facing the revolving door.
8. The electrostatic spraying robot capable of automatically walking as claimed in claim 1, wherein a laser ranging sensor, an infrared ranging sensor, or an ultrasonic ranging sensor connected with a controller is installed on the side wall of the tank body, a wireless communication module is arranged in the controller, and the wireless communication module is wirelessly connected with a remote controller.
CN202010284971.9A 2020-04-13 2020-04-13 Electrostatic spraying machine robot capable of automatically walking Active CN111515039B (en)

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CN113210169A (en) * 2021-05-06 2021-08-06 山东德建建筑科技股份有限公司 Automatic paint spraying machine for vertical pipe
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