Disinfecting and cleaning robot

Abstract

The disinfecting and cleaning robot comprises a robot bottom plate, robot mounting vertical blocks are fixedly arranged on the front side and the rear side of the bottom of the robot bottom plate correspondingly, robot driving mechanisms are fixedly mounted on the side walls of the robot mounting vertical blocks, and a robot top plate is arranged above the robot bottom plate; bidirectional telescopic rods are annularly, uniformly and fixedly arranged on the edge of the top of the robot bottom plate, an annular ring groove is formed in the top of the robot top plate, the top ends of the bidirectional telescopic rods are slidably arranged in the annular ring groove, a motor box is fixedly arranged in the middle of the top of the robot bottom plate, and a forward and reverse motor is fixedly arranged in the motor box. The output end of the forward and reverse motor penetrates through the motor box and is fixedly connected with an electric lifting rod, the top end of the electric lifting rod is fixedly arranged at the bottom of the robot top plate, and the problems that most of existing medical cleaning robots only have the cleaning function and do not have the disinfection function, manual disinfection treatment is needed, and time and labor are wasted are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a disinfecting and cleaning robot. Background Art

[0002] A cleaning robot is a type of smart appliance. Relying on its own intelligent system, it can automatically complete cleaning tasks indoors. It generally uses brushing and vacuuming to absorb debris on the ground into its own garbage storage box, thereby completing the function of floor cleaning. In order to avoid damage due to collision, a sweeping robot that can avoid obstacles is needed.

[0003] Most of the existing medical cleaning robots only have the cleaning function but not the disinfection function, and they need to be disinfected manually, which is time-consuming and labor-intensive. Therefore, the present invention proposes a disinfection cleaning robot to solve the above problem. Summary of the invention

[0004] In view of the defects of the above-mentioned prior art, the object of the present invention is to provide a disinfecting and cleaning robot.

[0005] To achieve the above-mentioned objectives, the present invention provides a disinfection and cleaning robot, comprising a robot base plate, robot mounting vertical blocks are fixedly arranged on the front and rear sides of the bottom of the robot base plate, a robot driving mechanism is fixedly arranged on the side walls of the robot mounting vertical blocks, robot auxiliary movement mechanisms are fixedly arranged on the left and right sides of the bottom of the robot base plate, a robot top plate is arranged above the robot base plate, a plurality of bidirectional telescopic rods for connecting the top plate are evenly fixedly arranged in an annular manner on the top edge of the robot base plate, an annular ring groove is provided at the bottom of the robot top plate, the top end of the bidirectional telescopic rod is slidably arranged in the annular ring groove, a motor box is fixedly arranged at the middle position of the top of the robot base plate, a forward and reverse motor is fixedly arranged in the motor box, the output ends of the forward and reverse motors pass through the motor box and are fixedly connected to the electric lifting rod, the top end of the electric lifting rod is fixedly arranged at the bottom of the robot top plate, a robot disinfectant spray mechanism is fixedly arranged on the top of the robot top plate, and a robot cleaning mechanism is fixedly arranged at the bottom of the robot base plate.

[0006] Furthermore, the robot driving mechanism includes a driving shell, the side wall of the driving shell is fixedly connected to the robot mounting vertical block, the top of the driving shell is fixedly arranged on the bottom of the robot base plate, and a driving motor is fixedly arranged on the outer side of the driving shell, the output end of the driving motor passes through the driving shell and is fixedly connected to the first driving bevel gear, the first driving bevel gear is meshed with the second driving bevel gear, the second driving bevel gear is rotatably installed on the inner wall of the robot mounting vertical block, and a mounting rod is fixedly arranged on the side wall of the second driving bevel gear, and the mounting rod passes through the driving shell and the robot mounting vertical block in sequence and is fixedly connected to the driving wheel.

[0007] Furthermore, the robot-assisted movement mechanism includes a fixed support rod, a connecting block is fixedly provided on the top of the fixed support rod, and positioning screws are respectively provided at the four corners of the bottom of the connecting block. The connecting block is installed and fixed to the robot base plate through the positioning screws, and a moving wheel mounting U-shaped frame is fixedly provided at the bottom end of the fixed support rod, and an auxiliary moving wheel is rotatably provided on the inner side of the lower end of the moving wheel mounting U-shaped frame.

[0008] Furthermore, a plurality of heat dissipation holes are provided on the outer wall of the motor box, a plurality of protective plates are fixedly provided on the top of the robot base plate, the plurality of protective plates are fixedly connected end to end to form an annular structure, an ultraviolet disinfection lamp is fixedly provided on the outer side of the protective plate, a ring plate is fixedly provided on the bottom edge of the robot top plate, the ring plate is elastic, and the ring plate is movably fitted on the inner side of the protective plate.

[0009] Furthermore, the robot disinfectant spray mechanism includes a disinfectant tank, which is detachably fixedly arranged on one side of the top of the robot top plate, and an inlet pipe is installed on the outer side of the disinfectant tank, and an inlet pipe cover is buckled on the inlet pipe; the disinfectant tank is fixedly connected to one end of a disinfectant pressure pump through a disinfectant pipe, and the other end of the disinfectant pressure pump is fixedly connected to a disinfectant atomizing nozzle through a disinfectant pipe;

[0010] A booster pump placement rack is fixedly arranged on the top of the robot top plate, the disinfectant booster pump is fixedly arranged inside the booster pump placement rack, a gear button is arranged on the side wall of the disinfectant booster pump, the gear button includes a first button, a second button and a third button, and the disinfectant tube is made of stainless steel.

[0011] Furthermore, the top of the robot top plate is fixedly connected to a support block through a mounting mechanism, the disinfectant pipe is passed through and fixed at the upper end of the support block, a joint sleeve is provided at one end of the disinfectant pipe away from the disinfectant pressure pump, one end of the disinfectant pipe is threadedly fixedly inserted in the joint sleeve, and the other end of the joint sleeve is fixedly connected to the disinfectant atomizing nozzle.

[0012] Furthermore, the robot cleaning mechanism includes a cleaning disc, a cleaning brush is fixedly provided on the bottom edge of the cleaning disc, a wiping cloth is fixedly provided at the bottom center of the cleaning disc, auxiliary telescopic columns are fixedly provided on both sides of the top of the cleaning disc, a rotating slider is fixedly provided on the top of the auxiliary telescopic column, the rotating slider is slidably provided in an annular groove, the annular groove is provided at the bottom of the cleaning disc, an installation groove is provided at the bottom center of the robot base plate, a cleaning motor is fixedly provided in the installation groove, a cleaning electric cylinder is fixedly provided at the bottom of the cleaning motor, and the bottom end of the cleaning electric cylinder is fixedly connected to the cleaning disc.

[0013] Furthermore, a plurality of dust suction holes are provided at the bottom of the robot base plate, a vacuum cleaner is installed at the upper end of the dust suction holes, the vacuum cleaner is installed on the top of the robot base plate, a dust box is detachably provided on one side of the vacuum cleaner, a plurality of sensors are provided on the outer wall of the protective plate, a control system is fixedly provided inside the ring structure formed by fixing the ends of the plurality of protective plates together, the control system includes a CPU controller, the CPU controller is electrically connected to the sensors, and the CPU controller is electrically connected to the internal electrical components of the cleaning robot.

[0014] Furthermore, each group of protective plates is equipped with the same protective unit on the outer wall, and several protective units are fixedly connected end to end to form an annular structure, the protective unit includes: an annular belt, a first rubber plate and a second rubber plate, both ends of the first rubber plate and the second rubber plate are connected by the same V-shaped pressure relief piece, and the V-shaped pressure relief piece at each end is in two groups, the ends of the two groups of V-shaped pressure relief pieces close to each other are hinged, the ends of the two groups of V-shaped pressure relief pieces close to the first rubber plate and the second rubber plate are respectively hinged to the ends of the first rubber plate and the second rubber plate, the first rubber plate, the second rubber plate and the V-shaped pressure relief piece are connected end to end to form an annular polygonal structure, the annular belt wraps the polygonal structure, and the side of the annular belt close to the second rubber plate is adhered to the protective plate, two groups of mounting posts are fixedly installed on the side of the second rubber plate away from the annular belt, and each group of the mounting posts is provided with two buffer springs, one end of the rubber support rod movably extends into the mounting post and is connected to the protective plate. The second buffer spring is fixedly connected, the other end of the rubber support rod is fixedly provided with a support plate, the support plate abuts against the first rubber plate, the U-shaped piece is fixedly connected to the center of one side of the second rubber plate near the annular belt, and a buffer spring three is installed in the U-shaped piece, one end of the buffer column one is movably extended into the buffer column one and is fixedly connected to the buffer spring three, and a gap is left between the fan-shaped pressure-bearing piece and the support plate, and the outer wall of the U-shaped piece is movably sleeved with a support ring, and several groups of auxiliary buffer parts are installed at one end of the support ring near the first rubber plate, one end of the connecting piece is fixedly connected to the support ring, and the other end of the connecting piece is movably extended into the sealing groove, the sealing groove is fixedly connected to the second rubber plate, and the sealing groove is filled with buffer, the second rubber plate is provided with a sliding groove, the push plate is movably arranged in the sliding groove of the second rubber plate, and one end of the elastic telescopic rod is movably connected to the push plate, and the other end of the elastic telescopic rod is movably connected to the connecting piece;

[0015] The auxiliary buffer component includes: a hollow pillar, which is fixedly connected to the support ring, and a plurality of groups of air cushions are installed on the inner wall of the hollow pillar. The inner wall of the hollow pillar is rotatably connected to a rubber support rod 2, and the end of the rubber support rod 2 away from the inner wall of the hollow pillar is rotatably connected to a rubber support rod 3, and the end of the rubber support rod 3 away from the rubber support rod 2 is in contact with the inner wall of the hollow pillar, and the two ends of a buffer spring 4 are respectively fixedly connected to the rubber support rod 2 and the rubber support rod 3, and the buffer column 2 movably extends to the hollow pillar.

[0016] Furthermore, it also includes: a capacitive pressure sensor: arranged at the inlet pipe of the disinfectant atomizing nozzle, that is, the position before the disinfectant enters the nozzle, for detecting the liquid pressure of the disinfectant entering the disinfectant atomizing nozzle;

[0017] Flow sensor 1: the flow sensor is arranged in the disinfectant pipe, and is used to detect the water flow passing through the disinfectant pipe;

[0018] Flow sensor 2: The flow sensor is arranged on the disinfectant atomizing nozzle and is used to detect the water flow passing through the disinfectant atomizing nozzle;

[0019] A temperature sensor, the temperature sensor is arranged in the disinfectant tank and is used to detect the viscosity of the disinfectant in the disinfectant tank;

[0020] Alarm: The alarm is arranged on the outer surface of the top plate of the robot;

[0021] Controller: The controller is electrically connected to the capacitive pressure sensor, flow sensor 1, flow sensor 2, and temperature sensor alarm;

[0022] The controller controls the alarm to work based on the capacitive pressure sensor, the flow sensor 1, the flow sensor 2, and the temperature sensor, including the following steps:

[0023] Step 1: The controller calculates the blockage degree of the disinfectant atomizing nozzle based on the detection values ​​of the capacitive pressure sensor, flow sensor 1, flow sensor 2, and temperature sensor, and formula (1):

[0024]

[0025] Wherein, X is the anti-clogging index of the disinfectant atomizing nozzle, F1 is the detection value of the capacitive pressure sensor, F2 is the surface tension of the disinfectant in the disinfectant tank, V1 is the detection value of the flow sensor 1, V2 is the detection value of the flow sensor 2, R1 is the radius of the spray hole of the disinfectant atomizing nozzle, L1 is the maximum displacement of the disinfectant flowing through the disinfectant atomizing nozzle, L2 is the length of the disinfectant tube, S1 is the effective spray area of ​​the disinfectant atomizing nozzle, ∈1 is the viscosity of the disinfectant in the disinfectant tank, ∈2 is the viscosity of pure water, θ is the spray angle of the disinfectant atomizing nozzle, K is the particulate matter content in the disinfectant, s in is the sine function, cos is the cosine function, and ln is the natural logarithm;

[0026] Step 2: The controller compares the blockage degree of the disinfectant atomizing nozzle with a preset blockage degree threshold. When the blockage degree of the disinfectant atomizing nozzle is not within the preset blockage degree threshold, the controller controls the alarm to issue an alarm prompt.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. By setting up the bidirectional telescopic rod, forward and reverse motor, electric lifting rod, driving motor, first driving bevel gear, second driving bevel gear, disinfectant booster pump and disinfectant atomizing nozzle and other structures, start the driving motor to rotate clockwise or counterclockwise, the driving motor drives the first driving bevel gear to rotate, the first driving bevel gear drives the second driving bevel gear to rotate, and then drives the driving wheel to rotate, so as to control the movement of the robot. According to the different positions and heights of spray disinfection, start the forward and reverse motors to drive the robot top plate to rotate, and at the same time, the electric lifting rod is extended and retracted to drive the robot top plate to rise and fall, so as to adjust the angle and height of the robot disinfection spray mechanism spray disinfection;

[0029] 2. Through the disinfectant booster pump, the disinfectant booster pump is fixed in the booster pump placement rack, the disinfectant pipe is fixed through the upper end of the support block, the disinfectant booster pump is started, and the disinfectant atomizing nozzle can perform atomization disinfection. The spray size can be adjusted, divided into three gears: the first button, the second button and the third button, saving unnecessary waste;

[0030] 3. The threaded installation of the disinfectant pipe and the joint sleeve makes installation and disassembly easy, and the disinfectant atomizing nozzle is easy to disassemble and replace. It is also easy to disassemble and clean the disinfectant atomizing nozzle, and prevent the disinfectant atomizing nozzle from being blocked due to long-term use.

[0031] 4. Through the fixed support rod, positioning screws, U-shaped frame for moving wheel installation and auxiliary moving wheel and other structures, the connecting block is fixed to the bottom plate of the robot through the positioning screws, and the auxiliary moving wheel is rotated on the inner side of the lower end of the U-shaped frame for moving wheel installation. Under the action of the auxiliary moving wheel, it can play an auxiliary stabilizing role in the walking of the robot;

[0032] 5. Several protective plates are fixed on the top of the bottom plate of the robot, and ultraviolet disinfection lamps are fixed on the outside of the protective plates. In some wards, ultraviolet disinfection and spray disinfection can be carried out simultaneously when no one is there, which improves the disinfection effect. The annular plate is elastic and is fitted on the inner side of the protective plate. The annular plate can play a protective role to prevent the top plate of the robot from rising. There is a gap between the top plate of the robot and the protective plate, which makes it easy for dust to enter.

[0033] 6. The support block of the present invention is fixed on the top plate of the robot through a mounting mechanism. The mounting block and the support block are integrally formed and arranged. The support block is easy to install. The liquid inlet pipe fixedly arranged on the top side of the disinfectant tank is convenient for adding disinfectant. The top of the liquid inlet pipe is detachably provided with a liquid inlet pipe cover, which is convenient for sealing the liquid inlet pipe opening to prevent the disinfectant from evaporating. The disinfectant tank is detachably mounted on the top plate of the robot, which is convenient for disassembly for cleaning and for next use.

[0034] 7. Through the provided cleaning disc, rotating slider, cleaning motor, cleaning electric cylinder, vacuum cleaner and dust box, when cleaning is needed, start the cleaning electric cylinder to extend, the cleaning electric cylinder drives the cleaning disc to move downward to a suitable height, start the cleaning motor and vacuum cleaner, the cleaning motor drives the cleaning brush at the bottom of the cleaning disc to clean, the vacuum cleaner sucks the dust and debris into the vacuum cleaner through the dust suction hole, start the electric lifting rod to extend, because the annular plate is elastic and the bent annular plate is elastic, reach out to the vacuum cleaner, take out the dust box for cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the scheme in the present invention, a brief introduction is given below to the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 It is a schematic diagram of the three-dimensional structure provided by the present invention viewed from the bottom upward;

[0037] Figure 2 It is a three-dimensional diagram provided by the present invention when viewed from the bottom and without an ultraviolet disinfection lamp;

[0038] Figure 3 It is a schematic diagram of the three-dimensional structure when no protective plate is provided in the present invention and viewed from the top surface downward;

[0039] Figure 4 It is a bottom view provided by the present invention;

[0040] Figure 5 It is the front view provided by the present invention;

[0041] Figure 6 is a rear view provided by the present invention;

[0042] Figure 7 is a top view provided by the present invention;

[0043] Figure 8 It is a schematic diagram of the structure of the robot cleaning mechanism provided by the present invention;

[0044] Fig. 9 It is an enlarged schematic diagram of part A provided by the present invention;

[0045] Fig.10 It is an enlarged schematic diagram of part B provided by the present invention;

[0046] Fig.11 It is an enlarged schematic diagram of the C portion provided by the present invention;

[0047] Fig.12 It is a schematic diagram of the installation position of the protection unit provided by the present invention;

[0048] Fig.13 It is a schematic diagram of the top view of the protection unit provided by the present invention;

[0049] Fig.14 It is a schematic diagram of the structure of the auxiliary buffer provided by the present invention.

[0050] Description of reference numerals:

[0051] 1. Robot top plate; 2. Protection plate; 3. Robot bottom plate; 4. Robot mounting vertical block; 5. Robot cleaning mechanism; 51. Mounting slot; 52. Cleaning motor; 53. Cleaning electric cylinder; 54. Annular slot; 55. Rotating slider; 56. Auxiliary telescopic column; 57. Cleaning disc; 58. Cleaning brush; 59. Wiping cloth; 6. Robot auxiliary moving mechanism; 61. Connecting block; 62. Positioning screw; 63. Fixed support rod; 64. Moving wheel mounting U-shaped frame; 65. Auxiliary moving mechanism driving wheel; 7, robot driving mechanism; 71, driving shell; 72, driving wheel; 73, mounting rod; 74, second driving bevel gear; 75, first driving bevel gear; 76, driving motor; 8, two-way telescopic rod; 9, electric lifting rod; 10, forward and reverse motor; 11, motor box; 12, heat dissipation hole; 13, liquid inlet pipe; 14, liquid inlet pipe cover; 15, robot disinfectant spray mechanism; 151, disinfectant tank; 152, pressure pump placement rack; 153, disinfectant pressure pump; 154 , support block; 155, disinfectant pipe; 156, joint sleeve; 157, disinfectant atomizing nozzle; 16, mounting mechanism; 161, mounting screw; 162, mounting block; 17, first button; 18, second button; 19, third button; 20, annular plate; 21, ultraviolet disinfection lamp; 22, dust suction hole; 23, vacuum cleaner; 24, protection unit; 25, first rubber plate; 26, annular belt; 27, V-shaped pressure relief member; 28, second rubber plate; 29, support plate; 30 , rubber support rod one; 31. buffer spring one; 32. buffer spring two; 33. mounting column; 34. push plate; 35. elastic telescopic rod; 36. auxiliary buffer; 37. support ring; 38. sealing groove; 39. buffer; 40. U-shaped part; 41. buffer spring three; 42. buffer column one; 43. fan-shaped pressure-bearing part; 44. hollow pillar; 45. buffer column two; 46. rubber support rod two; 47. buffer spring four; 48. rubber support rod three; 49. air cushion; 50. connecting part. DETAILED DESCRIPTION

[0052] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more explicit definition of the protection scope of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0053] The terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present invention or the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order.

[0054] See also Figure 1-11 The disinfection and cleaning robot includes a robot base plate 3, robot mounting vertical blocks 4 are fixedly arranged on the front and rear sides of the bottom of the robot base plate 3, robot driving mechanisms 7 are fixedly arranged on the side walls of the robot mounting vertical blocks 4, robot auxiliary moving mechanisms 6 are fixedly arranged on the left and right sides of the bottom of the robot base plate 3, a robot top plate 1 is arranged above the robot base plate 3, a plurality of bidirectional telescopic rods 8 for connecting the top plate 1 are evenly fixedly arranged in an annular shape on the top edge of the robot base plate 3, an annular ring groove is provided at the bottom of the robot top plate 1, the annular ring groove is that the top end of the bidirectional telescopic rod 8 is slidably arranged in the annular ring groove, and since the top end of the bidirectional telescopic rod 8 is only limited by the annular ring groove and is not fixed, the robot top plate 1 can rotate relatively to facilitate the adjustment of the viewing angle and angle.

[0055] A motor box 11 is fixedly provided at the middle position of the top of the robot base plate 3, and a forward and reverse motor 10 is fixedly provided in the motor box 11. The output end of the forward and reverse motor 10 passes through the motor box 11 and is fixedly connected to the electric lifting rod 9. The top of the electric lifting rod 9 is fixedly provided at the bottom of the robot top plate 1, and is used to drive the top plate 1 to rise or fall. According to the different positions and heights of spray disinfection required, the forward and reverse motor 10 is started to drive the robot top plate 1 to rotate, and at the same time, the electric lifting rod 9 is extended and retracted to drive the robot top plate 1 to rise and fall, thereby adjusting the angle and height of the robot disinfectant spray mechanism 15 for spray disinfection; a robot disinfectant spray mechanism 15 is fixedly provided at the top of the robot top plate 1, and a robot cleaning mechanism 5 is fixedly provided at the bottom of the robot base plate 3.

[0056] The robot driving mechanism 7 includes a driving shell 71, the side wall of the driving shell 71 is fixedly connected to the robot mounting vertical block 4, the top of the driving shell 71 is fixedly set at the bottom of the robot base plate 3, and a driving motor 76 is fixedly set on the outer side of the driving shell 71. The output end of the driving motor 76 passes through the driving shell 71 and is fixedly connected to the first driving bevel gear 75. The first driving bevel gear 75 is meshed with the second driving bevel gear 74. The second driving bevel gear 74 is rotatably mounted on the inner wall of the robot mounting vertical block 4. The central axis of the second driving bevel gear 74 extends outward and is fixedly set with a coaxial mounting rod 73. The mounting rod 73 sequentially passes through the driving shell 71 and the robot mounting vertical block 4 and is fixedly connected with a driving wheel 72. The driving wheel 72 is arranged in the entire machine The outer side of the robot base plate 3 will not affect other components during the movement. Generally, a baffle will be set on the outer side of the robot base plate 3, and the driving wheel 72 will be installed on the outer side of the baffle. The baffle can block other components of the robot driving mechanism 7. The appearance is simple and beautiful, and it has protective and dust-proof functions. When the driving wheel 72 lands, its height will be higher than the driving motor 76, which will raise the height of the entire robot base plate 3, so the driving motor 76 will not touch the ground. Start the driving motor 76 to rotate clockwise or counterclockwise, and the driving motor 76 drives the first driving bevel gear 75 to rotate, and the first driving bevel gear 75 drives the second driving bevel gear 74 to rotate, and then drives the driving wheel 72 to rotate, so that the movement of the robot can be controlled conveniently.

[0057] As an improvement of the above technical solution, the robot auxiliary movement mechanism 6 includes a fixed support rod 63, a connecting block 61 is fixedly provided at the top of the fixed support rod 63, and positioning screws 62 are respectively provided at the four corners of the bottom of the connecting block 61. The connecting block 61 is fixed to the robot base plate 3 through the positioning screws 62, and a moving wheel mounting U-shaped frame 64 is fixed to the bottom end of the fixed support rod 63. An auxiliary moving wheel 65 is rotatably provided on the inner side of the lower end of the moving wheel mounting U-shaped frame 64. The connecting block 61 is fixed to the robot base plate 3 through the positioning screws 62, and the auxiliary moving wheel 65 is rotatably provided on the inner side of the lower end of the moving wheel mounting U-shaped frame 64. Under the action of the auxiliary moving wheel 65, the robot's walking can be assisted and stabilized. When the auxiliary moving wheel 65 lands, it has the same landing height as the driving wheel 72 and can move synchronously, thereby jointly improving the convenience, flexibility and stability of rotation.

[0058] The outer wall of the motor box 11 is provided with a plurality of heat dissipation holes 12, and a plurality of protective plates 2 are fixedly arranged on the top of the robot base plate 3. The plurality of protective plates 2 are fixedly connected head to tail to form an annular structure, and an ultraviolet disinfection lamp 21 is fixedly arranged on the outer side of the annular structure of the protective plate 2. By fixing a plurality of protective plates 2 on the top of the robot base plate 3, an ultraviolet disinfection lamp 21 is fixedly arranged on the outer side of the protective plate 2. In some wards, ultraviolet disinfection and spray disinfection can be carried out simultaneously when no one is there, thereby improving the disinfection effect. An annular plate 20 is fixedly arranged on the bottom edge of the robot top plate 1, and the annular plate 20 is elastic. The annular plate 20 is fitted on the inner side of the protective plate 2. The robot top plate 1 is not fixed to the protective plate 2. When the robot top plate 1 rises, there may be a height difference between the top plate 1 and the protective plate 2. The annular plate 20 of the present invention can play a protective role to prevent the top plate 1 of the robot from rising. A gap between the top plate 1 and the protective plate 2 causes dust to easily enter.

[0059] The robot disinfectant spray mechanism 15 includes a disinfectant tank 151, which is fixedly arranged on one side of the top of the robot top plate 1. The disinfectant tank 151 is connected to the robot through a disinfectant pipe 155 ( Figure 3 The robot is blocked and not shown in the figure) and fixedly connected to one end of a disinfectant booster pump 153. The other end of the disinfectant booster pump 153 is fixedly connected to a disinfectant atomizing nozzle 157 through a disinfectant pipe 155. Disinfectant is sprayed outward through the disinfectant atomizing nozzle 157. A booster pump placement rack 152 is fixedly arranged on the top of the robot top plate 1. A disinfectant booster pump 153 is fixedly arranged in the booster pump placement rack 152. A gear button is arranged on the side wall of the disinfectant booster pump 153. The gear button includes a first button 17, a second button 18 and a third button 19. Three buttons are provided to adjust the spray size. The three gears are divided into the first button 17, the second button 18 and the third button 19. The gears can be selected according to needs to save unnecessary waste. The disinfectant booster pump 153 is fixedly arranged in the booster pump placement frame 152, and the disinfectant pipe 155 penetrates and is fixed on the upper end of the support block 154. When the disinfectant booster pump 153 is started, the disinfectant atomizing nozzle 157 can perform atomization disinfection treatment.

[0060] The disinfectant pipe 155 is made of stainless steel. The top of the robot top plate 1 is fixedly connected with a support block 154 through a mounting mechanism 16. The disinfectant pipe 155 is passed through and fixed at the upper end of the support block 154. A joint sleeve 156 is provided at one end of the disinfectant pipe 155 away from the disinfectant pressure pump 153. The disinfectant pipe 155 is threadedly fixedly inserted into one end of the joint sleeve 156. The other end of the joint sleeve 156 is fixedly connected to the disinfectant atomizing nozzle 157. The disinfectant pipe 155 is threadedly installed with the joint sleeve 156, which is convenient for installation and disassembly, and convenient for disassembling the disinfectant atomizing nozzle 157. The disinfectant atomizing nozzle 157 is convenient for replacement, and it is also convenient for disassembling the disinfectant atomizing nozzle 157 for cleaning, so as to prevent the disinfectant atomizing nozzle 157 from being blocked after long-term use.

[0061] As an improvement of the above technical solution, a liquid inlet pipe 13 is fixedly provided on one side of the top of the disinfectant tank 151. The liquid inlet pipe 13 fixedly provided on one side of the top of the disinfectant tank 151 facilitates the addition of disinfectant. A liquid inlet pipe cover 14 is detachably provided on the top of the liquid inlet pipe 13. The liquid inlet pipe cover 14 is detachably provided on the top of the liquid inlet pipe 13 to seal the mouth of the liquid inlet pipe 13 to prevent the evaporation of the disinfectant. The disinfectant tank 151 is detachably installed on the robot top plate 1. The disinfectant tank 151 is detachably installed on the robot top plate 1, which is convenient for disassembling it for cleaning and for next use. The disinfectant tank 151 can hold 25L of disinfectant. The box has a high bactericidal power and is commonly used for spraying with chlorine-containing disinfectant. In case of terminal disinfection, the disinfectant dosage needs to be doubled. The disinfectant is configured according to the requirements of hospital infection disinfection. The mounting mechanism 16 includes a mounting block 162, which is fixedly connected to the support block 154, and the mounting block 162 and the support block 154 are integrally formed. The four corners of the top of the mounting block 162 are respectively provided with mounting screws 161. The mounting block 162 is fixed to the robot top plate 1 by the mounting screws 161, and the support block 154 is fixed to the robot top plate 1 by the mounting mechanism 16. The mounting block 162 and the support block 154 are integrally formed, and the support block 154 is easy to install.

[0062] As an improvement of the above technical solution, the robot cleaning mechanism 5 includes a cleaning disc 57, a cleaning brush 58 is fixedly arranged at the bottom edge of the cleaning disc 57, a wiping cloth 59 is fixedly arranged at the bottom center of the cleaning disc 57, and the wiping cloth 59 arranged at the bottom of the cleaning disc 57 has a wiping function, so that the ground is not wet after wiping, which can reduce the occurrence of patient falls, auxiliary telescopic columns 56 are fixedly arranged on both sides of the top of the cleaning disc 57, and a rotating slider 55 is fixedly arranged on the top of the auxiliary telescopic column 56. The rotating slider 55 is slidably arranged in an annular groove 54, and the annular groove 54 is opened at the bottom of the cleaning disc 57. A mounting groove 51 is opened at the bottom center of the robot base plate 3, and a cleaning motor 52 is fixedly arranged in the mounting groove 51. A cleaning electric cylinder 53 is fixedly arranged at the bottom of the cleaning motor 52, and the bottom end of the cleaning electric cylinder 53 is fixedly connected to the cleaning disc 57.

[0063] A plurality of dust collection holes 22 are provided at the bottom of the robot base plate 3, and a dust collector 23 is installed at the upper end of the dust collection hole 22. The dust collector 23 is installed at the top of the robot base plate 3. A dust collection box is detachably provided on one side of the dust collector 23. When cleaning is required, the cleaning electric cylinder 53 is started to extend, and the cleaning electric cylinder 53 drives the cleaning disc 57 to move downward to a suitable height, and the cleaning motor 52 and the dust collector 23 are started to work. The cleaning motor 52 drives the cleaning brush 58 at the bottom of the cleaning disc 57 to clean, and the dust collector 23 removes dust and debris. The dust is sucked into the vacuum cleaner 23 through the dust suction hole 22, and the electric lifting rod 9 is started to extend. Since the annular plate 20 is elastic and the bent annular plate 20 is elastic, the hand reaches out to the vacuum cleaner 23, and the dust box is taken out for cleaning. A plurality of sensors are arranged on the outer wall of the protective plate 2, and a control system is fixedly arranged inside the annular structure formed by fixing the ends of the plurality of protective plates 2 together. The control system includes a CPU controller, which is electrically connected to the sensor, and the CPU controller is electrically connected to the internal electrical components of the cleaning robot.

[0064] Existing technology: The robot uses a variety of sensors, such as collision sensors, lidar, infrared sensors, etc., to perceive the surrounding environment, achieve positioning and navigation, automatically avoid obstacles, and perform environmental detection and positioning. Based on the information collected by the sensors, the robot plans an efficient cleaning path through a built-in algorithm, such as edge cleaning, random cleaning or area cleaning, etc., battery and automatic charging, built-in battery power supply, when the battery is low, the robot automatically returns to the charging base to charge, in addition to sensors for navigation, it also includes cliff sensors (to avoid falling) and dirt detection sensors (to identify the amount of dirt), similar to human hearing and vision, to adapt to different cleaning needs, the robot is controlled by a remote control or smartphone application, including setting cleaning plans, monitoring cleaning status, etc., allowing users to control the robot's cleaning mode, time, etc., to facilitate scheduled disinfection, customize disinfection locations, and can conduct voice dialogues with built-in voice prompts, such as "Please take precautions, the content of the voice broadcast", and can also conduct intelligent dialogues, such as time, year, month, day and other prompts.

[0065] As an improvement of the above technical solution, the outer wall of each group of protective plates 2 is installed with the same protective unit 24, and several protective units 24 are fixedly connected head to tail to form an annular structure, and the protective unit 24 includes: an annular belt 26, a first rubber plate 25 and a second rubber plate 28, both ends of the first rubber plate 25 and the second rubber plate 28 are connected by the same V-shaped pressure relief piece 27, and the V-shaped pressure relief piece 27 at each end is two groups, and the ends of the two groups of V-shaped pressure relief pieces 27 close to each other are hinged, and the ends of the two groups of V-shaped pressure relief pieces 27 close to the first rubber plate 25 and the second rubber plate 28 are respectively connected to the first rubber plate 25 and the second rubber plate 28. The ends of the first rubber plate 25 and the second rubber plate 28 are hinged, and the first rubber plate 25, the second rubber plate 28 and the V-shaped pressure relief member 27 are connected end to end to form an annular polygonal structure, and the annular belt 26 wraps the polygonal structure, and the side of the annular belt 26 close to the second rubber plate 28 is adhered to the protective plate 2, and two groups of mounting columns 33 are fixedly installed on the side of the second rubber plate 28 away from the annular belt 26, and each group of the mounting columns 33 is provided with a buffer spring 2 32, and one end of the rubber support rod 1 30 movably extends into the mounting column 33 and is connected to the buffer spring 2 The impact spring 2 32 is fixedly connected, the other end of the rubber support rod 1 30 is fixedly provided with a support plate 29, the support plate 29 is in contact with the first rubber plate 25, the U-shaped member 40 is fixedly connected to the center of one side of the second rubber plate 28 close to the annular belt 26, a buffer spring 3 41 is installed in the U-shaped member 40, one end of the buffer column 1 42 is movably extended into the buffer column 1 42 and is fixedly connected to the buffer spring 3 41, the other end of the buffer column 1 42 is fixedly connected with a fan-shaped pressure-bearing member 43, a gap is left between the fan-shaped pressure-bearing member 43 and the support plate 29, and the outer wall of the U-shaped member 40 is movable. A support ring 37 is connected, and a plurality of auxiliary buffers 36 are installed at one end of the support ring 37 close to the first rubber plate 25. One end of the connecting member 50 is fixedly connected to the support ring 37, and the other end of the connecting member 50 is movably extended into the sealing groove 38. The sealing groove 38 is fixedly connected to the second rubber plate 28, and the sealing groove 38 is filled with a buffer 39. A sliding groove is provided on the second rubber plate 28, and the push plate 34 is movably arranged in the sliding groove of the second rubber plate 28, and one end of the elastic telescopic rod 35 is movably connected to the push plate 34, and the other end of the elastic telescopic rod 35 is movably connected to the connecting member 50;

[0066] The auxiliary buffer member 36 includes: a hollow pillar 44, the hollow pillar 44 is fixedly connected to the support ring 37, a plurality of air cushions 49 are installed on the inner wall of the hollow pillar 44, a rubber support rod 2 46 is rotatably connected to the inner wall of the hollow pillar 44, an end of the rubber support rod 2 46 away from the inner wall of the hollow pillar 44 is rotatably connected to a rubber support rod 3 48, an end of the rubber support rod 3 48 away from the rubber support rod 2 46 is abutted against the inner wall of the hollow pillar 44, two ends of a buffer spring 47 are respectively fixedly connected to the rubber support rod 2 46 and the rubber support rod 3 48, and a buffer column 2 45 movably extends to the hollow pillar 44.

[0067] The working principle and usage of the scheme: Each set of protective plates 2 is provided with a groove for installing the protective unit 24, and the protective unit 24 can be inserted into the groove 1\3, and the remaining part of the protective unit 24 is exposed to the outside, wherein, Figure 5 Two groups of protection units 24 are symmetrically arranged on the upper and lower outer walls of each group of protective plates 2. When the robot hits the wall during work, the flexible annular belt 26 is deformed under pressure and presses the first rubber plate 25 to move in the direction close to the second rubber plate 28. Since the connection points of each group of V-shaped pressure relief members 27 are all active connections, and torsion springs are installed at the active points, when the first rubber plate 25 moves in the direction close to the second rubber plate 28, the two groups of V-shaped pressure relief members 27 at the end rotate, and preliminary buffering is performed through the torsion spring and the buffer spring 1 31, and the first rubber plate 25 contacts the support plate 29 and pushes the two groups of rubber support rods 1 30 to slide along the mounting column 33, so that the buffer spring 2 32 is compressed to disperse the pressure, thereby achieving a primary buffering effect.

[0068] When the impact force is too large, the support plate 29 will abut against the fan-shaped pressure-bearing member 43 and push the buffer column 1 42 to compress the buffer spring 3 41, thereby dispersing the pressure and achieving a secondary buffering effect.

[0069] When the impact force further increases, the support plate 29 will abut against the buffer column 2 45 and push the buffer column 2 45 to slide along the hollow pillar 44, so that when passing through the rubber support rod 2 46, the rubber support rod 2 46 and the rubber support rod 3 48 will be pushed towards the direction close to the inner wall of the hollow pillar 44 to be squeezed. First, the movement speed of the buffer column 2 45 is slowed down by the friction force between the rubber support rod 3 48 and the inner wall of the hollow pillar 44. At the same time, the buffer spring 47 can provide a certain supporting force, and the rubber support rod 2 46 and the rubber support rod 3 48 can generate greater resistance to the buffer column 2 45, thereby further slowing down the movement speed of the buffer column 2 45, and achieving a three-level buffering effect after it hits the air cushion 49.

[0070] When the impact force increases further, several groups of auxiliary buffer members 36 push the support ring 37 to slide along the outer wall of the buffer spring three 41, thereby pushing the connecting member 50 to move in the sealing groove 38. The setting of the buffer 39 can hinder it, thereby slowing down its movement speed. At the same time, the elastic telescopic rod 35 pushes the push plate 34 to move along the second rubber plate 28 and supports it when it abuts against the mounting column 33, thereby achieving a four-level buffering effect.

[0071] The above-mentioned multi-level impact force mainly simulates how to disperse the pressure when the robot hits a wall or is subjected to gradually increasing external impact. The external impact can be a kitten or a puppy, or a child accidentally hitting the robot while running, or even worse, an adult accidentally kicking the robot. According to different impact forces, it can be dispersed through multiple levels, thereby protecting the robot.

[0072] Furthermore, it also includes: a capacitive pressure sensor: arranged at the inlet pipe of the disinfectant atomizing nozzle 157, that is, the position before the disinfectant enters the nozzle, for detecting the liquid pressure of the disinfectant entering the disinfectant atomizing nozzle 157;

[0073] Flow sensor 1: The flow sensor is disposed in the disinfectant pipe 155 and is used to detect the water flow through the disinfectant pipe 155;

[0074] Flow sensor 2: The flow sensor is disposed on the disinfectant atomizing nozzle 157 and is used to detect the water flow through the disinfectant atomizing nozzle 157;

[0075] A temperature sensor, the temperature sensor is disposed in the disinfectant tank 151 and is used to detect the viscosity of the disinfectant in the disinfectant tank 151;

[0076] Alarm: The alarm is arranged on the outer surface of the robot top plate 1;

[0077] Controller: The controller is electrically connected to the capacitive pressure sensor, flow sensor 1, flow sensor 2, and temperature sensor alarm;

[0078] The controller controls the alarm to work based on the capacitive pressure sensor, the flow sensor 1, the flow sensor 2, and the temperature sensor, including the following steps:

[0079] Step 1: The controller calculates the blockage degree of the disinfectant atomizing nozzle 157 based on the detection values ​​of the capacitive pressure sensor, flow sensor 1, flow sensor 2, and temperature sensor, and formula (1):

[0080]

[0081] Wherein, X is the anti-clogging index of the disinfectant atomizing nozzle 157, F1 is the detection value of the capacitive pressure sensor, F2 is the surface tension of the disinfectant in the disinfectant tank 151, V1 is the detection value of the flow sensor 1, V2 is the detection value of the flow sensor 2, R1 is the radius of the spray hole of the disinfectant atomizing nozzle 157, L1 is the maximum displacement of the disinfectant flowing through the disinfectant atomizing nozzle 157, L2 is the length of the disinfectant tube 155, S1 is the effective spray area of ​​the disinfectant atomizing nozzle 157, ∈1 is the viscosity of the disinfectant in the disinfectant tank 151, ∈2 is the viscosity of pure water, θ is the spray angle of the disinfectant atomizing nozzle 157, K is the particle content in the disinfectant, that is, the number of particles per liter of liquid, sin is the sine function, cos is the cosine function, and ln is the natural logarithm;

[0082] Step 2: The controller compares the blockage degree of the disinfectant atomizing nozzle 157 with a preset blockage degree threshold. When the blockage degree of the disinfectant atomizing nozzle 157 is not within the preset blockage degree threshold, the controller controls the alarm to issue an alarm prompt.

[0083] The working principle and usage of the scheme are as follows: when the disinfectant atomizing nozzle 157 has been used for a long time, a capacitive pressure sensor, a flow sensor 1, a flow sensor 2, and a temperature sensor are used to detect the spray pressure, flow rate, and temperature of the disinfectant during the use of the fine mist nozzle 611. The controller uses formula (1) to obtain the blockage degree of the disinfectant atomizing nozzle 157. When the blockage degree of the disinfectant atomizing nozzle 157 is not within the preset blockage degree threshold (0.8-0.95), the controller controls the alarm to issue an alarm prompt to remind the operator to check the disinfectant atomizing nozzle 157 to prevent the disinfectant atomizing nozzle 157 from being blocked and unable to disinfect, thereby improving the safety and reliability of the device.

[0084] Working principle and use method of the present invention:

[0085] When in use, start the drive motor 76 to rotate clockwise or counterclockwise, the drive motor 76 drives the first drive bevel gear 75 to rotate, the first drive bevel gear 75 drives the second drive bevel gear 74 to rotate, and then drives the drive wheel 72 to rotate, so as to control the movement of the robot. According to the different positions and heights of spray disinfection, the forward and reverse motors 10 are started to drive the robot top plate 1 to rotate, and at the same time, the electric lifting rod 9 is extended and retracted to drive the robot top plate 1 to rise and fall, so as to adjust the angle and height of the robot disinfection spray mechanism 15. The disinfectant booster pump 153 is fixedly arranged in the booster pump placement frame 152, and the disinfectant pipe 155 is fixed to the upper end of the support block 154. The disinfectant booster pump 153 is started to work, and the disinfectant atomizing nozzle 157 can be sprayed. The spray size can be adjusted by atomizing disinfection, which is divided into three gears: the first button 17, the second button 18 and the third button 19, saving unnecessary waste. The disinfectant tube 155 and the joint sleeve 156 are threadedly installed, which is convenient for installation and disassembly, and it is convenient to disassemble the disinfectant atomizing nozzle 157. The disinfectant atomizing nozzle 157 is easy to replace, and it is also convenient to disassemble the disinfectant atomizing nozzle 157 for cleaning, so as to prevent the disinfectant atomizing nozzle 157 from being blocked due to long-term use. The connecting block 61 is fixed to the robot base plate 3 by the positioning screw 62, and the auxiliary moving wheel 65 is rotatably arranged on the inner side of the lower end of the moving wheel mounting U-shaped frame 64. Under the action of the auxiliary moving wheel 65, it can play an auxiliary stabilizing role in the walking of the robot, through A plurality of protective plates 2 are fixedly arranged on the top of the robot bottom plate 3, and an ultraviolet disinfection lamp 21 is fixedly arranged on the outer side of the protective plate 2. In some wards, ultraviolet disinfection and spray disinfection can be carried out simultaneously when no one is there, thereby improving the disinfection effect. The annular plate 20 is arranged, and the annular plate 20 is elastic. The annular plate 20 is fitted on the inner side of the protective plate 2. The annular plate 20 can play a protective role to prevent the robot top plate 1 from rising. A gap between the robot top plate 1 and the protective plate 2 causes dust to easily enter. The support block 154 is fixed to the robot top plate 1 by the mounting mechanism 16. The mounting block 162 and the support block 154 are integrally formed. The support block 154 is easy to install. By mounting a support block 154 on the top of the disinfectant tank 151 The liquid inlet pipe 13 fixedly arranged on the side is convenient for adding disinfectant. The top of the liquid inlet pipe 13 is detachably provided with a liquid inlet pipe cover 14, which is convenient for sealing the pipe mouth of the liquid inlet pipe 13 to prevent the disinfectant from evaporating. The disinfectant tank 151 is detachably installed on the robot top plate 1, which is convenient for disassembly and cleaning, and is convenient for next use. When cleaning is needed, the cleaning electric cylinder 53 is started to extend, and the cleaning electric cylinder 53 drives the cleaning disc 57 to move downward to a suitable height, and the cleaning motor 52 and the vacuum cleaner 23 are started to work. The cleaning motor 52 drives the cleaning brush 58 at the bottom of the cleaning disc 57 to clean, and the vacuum cleaner 23 sucks dust and debris into the vacuum cleaner 23 through the dust suction hole 22, and the electric lifting rod 9 is started to extend. Since the annular plate 20 is elastic, the curved annular plate 20 is elastic,Reach out to the vacuum cleaner 23, take out the dust box and clean it.

[0086] The above description is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solution described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. Any equivalent structure or equivalent process transformation made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. Disinfection and cleaning robot, Features: The robot comprises a robot bottom plate (3), the front and rear sides of the bottom of the robot bottom plate (3) are respectively fixedly provided with robot mounting vertical blocks (4), the side walls of the robot mounting vertical blocks (4) are fixedly provided with robot driving mechanisms (7), a robot top plate (1) is arranged above the robot bottom plate (3), a plurality of bidirectional telescopic rods (8) for connecting the top plate (1) are evenly and annularly fixedly provided on the top edge of the robot bottom plate (3), an annular ring groove is provided at the bottom of the robot top plate (1), the top ends of the bidirectional telescopic rods (8) are slidably clamped in the annular ring groove, and the robot A motor box (11) is fixedly arranged at the middle position of the top of the robot bottom plate (3), a forward and reverse motor (10) is fixedly arranged inside the motor box (11), an output end of the forward and reverse motor (10) passes through the motor box (11) and is fixedly connected to an electric lifting rod (9), the top end of the electric lifting rod (9) is fixedly arranged at the bottom of the robot top plate (1) for driving the top plate (1) to rise or fall, a robot disinfectant spray mechanism (15) is fixedly arranged at the top of the robot top plate (1), and a robot cleaning mechanism (5) is fixedly arranged at the bottom of the robot bottom plate (3).

2. The disinfecting and cleaning robot according to claim 1, Features: The robot driving mechanism (7) comprises a driving shell (71), the side wall of which is fixedly connected to the robot mounting vertical block (4), the top of which is fixedly arranged on the bottom of the robot bottom plate (3), a driving motor (76) is fixedly arranged on the outer side of the driving shell (71), the output end of the driving motor (76) passes through the driving shell (71) and is fixedly connected to a first driving bevel gear (75), the first driving bevel gear (75) is meshed with a second driving bevel gear (74), the second driving bevel gear (74) is rotatably mounted on the inner wall of the robot mounting vertical block (4), the central axis of the second driving bevel gear (74) extends outward and is fixedly arranged with a coaxial mounting rod (73), the mounting rod (73) passes through the driving shell (71) and the robot mounting vertical block (4) in sequence and is fixedly connected to a driving wheel (72).

3. The disinfecting and cleaning robot according to claim 1, Features: A robot-assisted moving mechanism (6) is fixedly arranged on the left and right sides of the bottom of the robot base plate (3), respectively. The robot-assisted moving mechanism (6) comprises a fixed support rod (63), a connecting block (61) is fixedly arranged on the top of the fixed support rod (63), and positioning screws (62) are respectively arranged at the four corners of the bottom of the connecting block (61). The connecting block (61) is fixed to the robot base plate (3) via the positioning screws (62), and a moving wheel mounting U-shaped frame (64) is fixedly arranged at the bottom end of the fixed support rod (63), and an auxiliary moving wheel (65) is rotatably arranged on the inner side of the lower end of the moving wheel mounting U-shaped frame (64).

4. The disinfecting and cleaning robot according to claim 1, Features: The outer wall of the motor box (11) is provided with a plurality of heat dissipation holes (12); a plurality of protective plates (2) are fixedly arranged on the top of the robot bottom plate (3); the plurality of protective plates (2) are fixedly connected end to end to form an annular structure; an ultraviolet disinfection lamp (21) is fixedly arranged on the outer side of the protective plate (2); a ring plate (20) is fixedly arranged on the bottom edge of the robot top plate (1); the ring plate (20) is elastic and is movably fitted on the inner side of the protective plate (2).

5. The disinfecting and cleaning robot according to claim 1, Features: The robot disinfectant spray mechanism (15) comprises a disinfectant tank (151), the disinfectant tank (151) is detachably fixedly arranged on one side of the top of the robot top plate (1), a liquid inlet pipe (13) is installed on the outer side of the disinfectant tank (151), and a liquid inlet pipe cover (14) is buckled on the liquid inlet pipe (13); the disinfectant tank (151) is fixedly connected to one end of a disinfectant booster pump (153) through a disinfectant pipe (155), and the other end of the disinfectant booster pump (153) is fixedly connected to a disinfectant atomizing nozzle (157) through the disinfectant pipe (155); A booster pump placement rack (152) is fixedly arranged on the top of the robot top plate (1), the disinfectant booster pump (153) is fixedly arranged inside the booster pump placement rack (152), a gear button is arranged on the side wall of the disinfectant booster pump (153), and the gear button includes a first button (17), a second button (18) and a third button (19), and the disinfectant tube (155) is made of stainless steel.

6. The disinfecting and cleaning robot according to claim 5, Features: The top of the robot top plate (1) is fixedly connected to a support block (154) via a mounting mechanism (16); the disinfectant liquid pipe (155) is passed through and fixed to the upper end of the support block (154); a joint sleeve (156) is provided at one end of the disinfectant liquid pipe (155) away from the disinfectant liquid booster pump (153); one end of the disinfectant liquid pipe (155) is threadedly fixedly inserted into the joint sleeve (156); and the other end of the joint sleeve (156) is fixedly connected to the disinfectant liquid atomizing nozzle (157).

7. The disinfecting and cleaning robot according to claim 1, Features: The robot cleaning mechanism (5) comprises a cleaning disc (57), a cleaning brush (58) is fixedly arranged at the bottom edge of the cleaning disc (57), a wiping cloth (59) is fixedly arranged at the bottom center of the cleaning disc (57), auxiliary telescopic columns (56) are fixedly arranged on both sides of the top of the cleaning disc (57), a rotating slider (55) is fixedly arranged on the top of the auxiliary telescopic column (56), and the rotating slider (55) is slidably arranged in an annular groove (54), and the annular groove (54) is provided at the bottom of the cleaning disc (57). The bottom center of the robot base plate (3) is provided with a mounting groove (51), and a cleaning motor (52) is fixedly arranged in the mounting groove (51), and a cleaning electric cylinder (53) is fixedly arranged at the bottom of the cleaning motor (52), and the bottom end of the cleaning electric cylinder (53) is fixedly connected to the cleaning disc (57).

8. The disinfecting and cleaning robot according to claim 1, Features: The bottom of the robot base plate (3) is provided with a plurality of dust suction holes (22) around the robot cleaning mechanism (5); a dust collector (23) is installed at the upper end of the dust suction hole (22); the dust collector (23) is installed on the top of the robot base plate (3); a dust collection box is detachably provided on one side of the dust collector (23); a plurality of sensors are provided on the outer wall of the protective plate (2); a control system is fixedly provided inside the annular structure formed by the plurality of protective plates (2) being fixedly connected end to end; the control system comprises a CPU controller; the CPU controller is electrically connected to the sensors; and the CPU controller is electrically connected to the internal electrical components of the cleaning robot.

9. The disinfecting and cleaning robot according to claim 4, Features: The outer wall of each group of protective plates (2) is equipped with an identical protective unit (24), and a plurality of protective units (24) are fixedly connected end to end to form an annular structure, wherein the protective unit (24) comprises: an annular belt (26), a first rubber plate (25) and a second rubber plate (28), wherein both ends of the first rubber plate (25) and the second rubber plate (28) are connected by the same V-shaped pressure relief piece (27), and the V-shaped pressure relief piece (27) at each end is divided into two groups, and the ends of the two groups of V-shaped pressure relief pieces (27) close to each other are hinged, and the ends of the two groups of V-shaped pressure relief pieces (27) close to the first rubber plate (25) and the second rubber plate (28) are respectively connected to the first rubber plate (25) and the second rubber plate (28). The end of the second rubber plate (28) is hinged, the first rubber plate (25), the second rubber plate (28) and the V-shaped pressure relief member (27) are connected end to end to form an annular polygonal structure, the annular belt (26) wraps the polygonal structure, and the side of the annular belt (26) close to the second rubber plate (28) is adhered to the protective plate (2), two groups of mounting columns (33) are fixedly mounted on the side of the second rubber plate (28) away from the annular belt (26), and each group of the mounting columns (33) is provided with a second buffer spring (32), one end of the first rubber support rod (30) movably extends into the mounting column (33) and is fixedly connected to the second buffer spring (32), The other end of the rubber support rod (30) is fixedly provided with a support plate (29), the support plate (29) is in contact with the first rubber plate (25), the U-shaped member (40) is fixedly connected to the center of one side of the second rubber plate (28) close to the annular belt (26), a buffer spring (41) is installed in the U-shaped member (40), one end of the buffer column (42) movably extends into the buffer column (42) and is fixedly connected to the buffer spring (41), the other end of the buffer column (42) is fixedly connected to a fan-shaped pressure-bearing member (43), a gap is left between the fan-shaped pressure-bearing member (43) and the support plate (29), and the outer wall of the U-shaped member (40) is movably sleeved with a support ring (37) ), a plurality of auxiliary buffer members (36) are installed at one end of the support ring (37) close to the first rubber plate (25), one end of the connecting member (50) is fixedly connected to the support ring (37), the other end of the connecting member (50) is movably extended into the sealing groove (38), the sealing groove (38) is fixedly connected to the second rubber plate (28), and the sealing groove (38) is filled with a buffer (39), a sliding groove is provided on the second rubber plate (28), the push plate (34) is movably arranged in the sliding groove of the second rubber plate (28), and one end of the elastic telescopic rod (35) is movably connected to the push plate (34), and the other end of the elastic telescopic rod (35) is movably connected to the connecting member (50); The auxiliary buffer (36) comprises: a hollow pillar (44), the hollow pillar (44) is fixedly connected to the support ring (37), a plurality of groups of air cushions (49) are installed on the inner wall of the hollow pillar (44), the inner wall of the hollow pillar (44) is rotatably connected to a rubber support rod 2 (46), one end of the rubber support rod 2 (46) away from the inner wall of the hollow pillar (44) is rotatably connected to a rubber support rod 3 (48), one end of the rubber support rod 3 (48) away from the rubber support rod 2 (46) is in contact with the inner wall of the hollow pillar (44), two ends of a buffer spring 4 (47) are respectively fixedly connected to the rubber support rod 2 (46) and the rubber support rod 3 (48), and a buffer column 2 (45) is movably extended to the hollow pillar (44).

10. The disinfecting and cleaning robot according to claim 5, Features: It also includes: a capacitive pressure sensor: arranged at the inlet pipe of the disinfectant atomizing nozzle (157), that is, the position before the disinfectant enters the nozzle, and used to detect the liquid pressure of the disinfectant entering the disinfectant atomizing nozzle (157); Flow sensor 1: the flow sensor is arranged in the disinfectant pipe (155) and is used to detect the water flow passing through the disinfectant pipe (155); Flow sensor 2: the flow sensor is arranged on the disinfectant atomizing nozzle (157) and is used to detect the water flow rate passing through the disinfectant atomizing nozzle (157); a temperature sensor, the temperature sensor being arranged in the disinfectant tank (151) and being used to detect the viscosity of the disinfectant in the disinfectant tank (151); Alarm: the alarm is arranged on the outer surface of the robot top plate (1); Controller: The controller is electrically connected to the capacitive pressure sensor, flow sensor 1, flow sensor 2, and temperature sensor alarm; The controller controls the alarm to work based on the capacitive pressure sensor, the flow sensor 1, the flow sensor 2, and the temperature sensor, including the following steps: Step 1: The controller calculates the blockage degree of the disinfectant atomizing nozzle (157) based on the detection values ​​of the capacitive pressure sensor, flow sensor 1, flow sensor 2, and temperature sensor, and formula (1): Wherein, X is the anti-clogging index of the disinfectant atomizing nozzle (157), F 1 is the detection value of the capacitive pressure sensor, F 2 is the surface tension of the disinfectant in the disinfectant tank (151), V 1 is the detection value of the flow sensor 1, V 2 is the detection value of the flow sensor 2, R 1 is the radius of the spray hole of the disinfectant atomizing nozzle (157), L 1 is the maximum displacement of the disinfectant flowing through the disinfectant atomizing nozzle (157), L 2 is the length of the disinfectant tube (155), S 1 is the effective spraying area of ​​the disinfectant atomizing nozzle (157), ∈ 1 is the viscosity of the disinfectant in the disinfectant tank (151), ∈ 2 is the viscosity of pure water, θ is the spray angle of the disinfectant atomizing nozzle (157), K is the particle content in the disinfectant (i.e., the number of particles per liter of liquid), sin is the sine function, cos is the cosine function, and ln is the natural logarithm; Step 2: The controller compares the blockage degree of the disinfectant atomizing nozzle (157) with a preset blockage degree threshold value. When the blockage degree of the disinfectant atomizing nozzle (157) is not within the preset blockage degree threshold value, the controller controls the alarm to issue an alarm prompt.

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