A mobile cabin disinfection robot

Abstract

The present invention discloses a disinfecting robot for a mobile cabin, which includes a robot body and a six-legged mechanism. A multi-wavelength ultraviolet lamp tube is installed on the upper surface of the robot body. A number of tempered plastic bases are fixedly arranged on the outer surface edge of the robot body. A six-legged mechanism is connected inside the tempered plastic base through a rotating shaft. A driving connection plate is fixedly arranged on one surface of the six-legged mechanism. The multi-wavelength ultraviolet lamp tube can disinfect and sterilize a large area. For dead corners, the driving motor on the robotic arm base can drive the robotic arm telescopic rod to rotate and adjust the direction. At the same time, through the driving motor and the driving rod inside the robotic arm telescopic rod, the position is adjusted. The first directional ultraviolet irradiation lamp at one end of the robotic arm telescopic rod irradiates and disinfects the dead corner position. The visual recognition mechanism is combined by two lidars and a 360-degree full-scene camera, and cooperates with the fill light and the infrared sensing camera to sense indoor items to avoid collisions.

Description

Technical Field

[0001] The present invention relates to the technical field of disinfection robots, and more particularly to a mobile cabin disinfection robot. Background Art

[0002] In recent years, many disinfection robots have been invented by health-minded people in our country. Most of the robots are spray-type robots that spray disinfectant over a large area to achieve disinfection. However, they must be replenished with disinfectant and charged by a dedicated person, and cannot be used in many special occasions such as museums and wooden floor office buildings because the disinfectant contains certain corrosive components. In contrast, ultraviolet disinfection is a good solution. However, most ultraviolet disinfection devices on the market cannot perform directional disinfection, and the ozone generated by ultraviolet light is still not suitable for some special scenarios. Moreover, a dedicated person is still needed to assist in charging the ultraviolet disinfection device. Most robots cannot move on the entire floor surface, and it is very difficult to move on stairs and uneven ground. It is urgent to solve the above problems and develop a disinfection robot with good mobility, ultraviolet directional disinfection, coordinated operation of ultraviolet lamps with and without ozone, and no need for manual management. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a mobile cabin disinfection robot, thereby solving the above problems.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a cabin disinfection robot, comprising a robot body, a charging cabin shell and a six-legged mechanism, wherein a multi-wavelength ultraviolet lamp is installed on the upper end surface of the robot body, a plurality of tempered plastic bases are fixedly provided on the edge of the outer surface of the robot body, a six-legged mechanism is connected inside the tempered plastic base through a rotating shaft, a driving connecting plate is fixedly provided on one side surface of the six-legged mechanism, a first hydraulic transmission rod is connected inside the driving connecting plate through a rotating shaft, and the other end of the first hydraulic transmission rod is hingedly connected to the inner surface of the robot body, a visual recognition mechanism is fixedly provided on the surface of the robot body, the visual recognition mechanism is composed of two laser radars and a 360-degree full-scene camera, a fill light and an infrared sensing camera are fixedly provided on the surface of the visual recognition mechanism, a mechanical arm base is fixedly provided on the surface of the robot body, a mechanical arm telescopic rod is connected on the surface of the mechanical arm base through a driving motor transmission, and a first directional Ultraviolet irradiation lamp, a battery compartment is provided inside the robot body, a plurality of first electromagnets are provided inside the battery compartment, a first spring is fixedly provided in the middle position of the first electromagnet, a plurality of batteries are slidably provided inside the battery compartment, a first magnet is fixedly provided on the surface of one end of the battery, a second magnet is fixedly provided on the surface of the other end of the battery, a plurality of positive and negative electrode sheets are fixedly provided on the surface of the second magnet, and the positive and negative electrode sheets are electrically connected to the battery, a second hydraulic telescopic rod is fixedly provided on the surface of one side of the battery compartment, a battery compartment cover is fixedly provided on one end of the second hydraulic telescopic rod, a plurality of rollers are fixedly provided on the surface of one side of the charging cabin shell, a plurality of second directional ultraviolet irradiation lamps are fixedly provided on the surface of the other side of the charging cabin shell, a battery charging storage slot is provided inside the charging cabin shell, a second electromagnet is fixedly provided on the inner surface of the battery charging storage slot, a plurality of charging heads are fixedly provided on the surface of the second electromagnet, and the first hydraulic transmission rod, the second hydraulic telescopic rod and the second hydraulic transmission rod are all connected through hydraulic pump transmission.

[0005] As a preferred technical solution of the present invention, the robotic arm telescopic rod is composed of three sections of connecting rods, and the two interconnected connecting rods are driven and connected through a robotic arm shaft joint, and the interior of the robotic arm shaft joint includes a drive motor, a drive shaft and a bearing. The connection between the two interconnected connecting rods is connected through a bearing, the drive motor is arranged inside one connecting rod, the drive motor is connected to the drive shaft, and one end of the drive shaft is fixedly connected to the inside of the other connecting rod.

[0006] As a preferred technical solution of the present invention, the interior of the battery compartment is arranged in a mesh-like partition, the interior of the battery charging storage slot is arranged the same as the interior of the battery compartment, and the battery compartment is adapted to the outer shell of the charging cabin.

[0007] As a preferred technical solution of the present invention, a power connection piece is provided on the surface of the battery compartment cover, and the power connection piece is attached and connected to the positive and negative electrode pieces.

[0008] As a preferred technical solution of the present invention, the charging head is arranged corresponding to the positive and negative electrode pieces.

[0009] As a preferred technical solution of the present invention, a docking card slot is fixedly provided on the outer surface of the battery compartment, and the docking card slot is adapted to the battery charging and storage slot.

[0010] As a preferred technical solution of the present invention, the six-legged mechanism includes a toughened plastic base clamp-shaped connecting rod, a support foot mounting block clamp-shaped connecting rod, a walking foot, and a support foot mounting block. The toughened plastic base clamp-shaped connecting rod is rotatably connected to the toughened plastic base through a rotating shaft. The toughened plastic base clamp-shaped connecting rod is fixedly connected to the support foot mounting block clamp-shaped connecting rod. The support foot mounting block clamp-shaped connecting rod is rotatably connected to the support foot mounting block through a rotating shaft. The support foot mounting block is fixedly connected to the walking foot.

[0011] As a preferred technical solution of the present invention, a second hydraulic transmission rod is rotatably connected to the inner surface of the walking foot through a rotating shaft, and one end of the second hydraulic transmission rod is connected to the lower surface of the support foot mounting block clamp-shaped connecting rod through a rotating shaft.

[0012] As a preferred technical solution of the present invention, an inner sliding groove is provided inside the walking foot, a shock-absorbing sliding support rod is slidably provided inside the inner sliding groove, a semi-circular rubber head is fixedly provided at one end of the shock-absorbing sliding support rod, and a second spring is wound around the surface of the shock-absorbing sliding support rod.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. The invention controls the six-legged mechanism to swing back and forth inside the toughened plastic base through the first hydraulic transmission rod of the remote control robot, that is, controls the front and back swinging of the toughened plastic base clamp-shaped connecting rod and the support foot mounting block clamp-shaped connecting rod. The second hydraulic transmission rod controls the up and down swinging of the walking foot. When moving, the shock-absorbing sliding support rod inside the walking foot slides up and down in the inner sliding groove to squeeze the second spring for shock absorption. The walking adopts gaits such as triangular gait and fixed-point turning to realize the attitude control of the six-legged robot;

[0015] 2. The multi-wavelength ultraviolet lamp tube of the invention can disinfect and sterilize a large range of areas. For dead corner areas, the driving motor on the robotic arm base can be used to drive the robotic arm telescopic rod to rotate and adjust the direction. At the same time, through the driving motor and driving rod inside the robotic arm telescopic rod, the position can be adjusted. The first directional ultraviolet irradiation lamp at one end of the robotic arm telescopic rod irradiates and disinfects the dead corner position. The visual recognition mechanism combines two lidars and a 360-degree full-scene camera, and cooperates with the fill light and infrared sensing camera to sense indoor items to avoid collisions;

[0016] 3. When the power is insufficient, the invention controls the robot to reach the outer shell of the charging cabin, so that the docking card slot is docked with the battery charging storage slot. At this time, the second hydraulic telescopic rod is activated to open the battery compartment cover. At this time, the first electromagnet is activated to generate the same magnetic pole as the first magnet, and the battery is directly ejected into the battery charging storage slot. The second electromagnet is activated to generate the opposite magnetic pole to the second magnet to attract the second magnet, so that the positive and negative electrode plates are attached to the charging head for charging. In addition, the second electromagnet in the other battery charging storage slot is activated to generate the same magnetic pole as the second magnet to eject the second magnet into another battery compartment. At this time, the first electromagnet generates the opposite magnetic pole to the first magnet to attract the battery and squeeze the first spring. At this time, the battery compartment cover is closed. The surface of the battery compartment cover is provided with conductive sheets to contact the positive and negative electrode plates of the battery to supply power to the robot, which can facilitate the replacement of the battery;

[0017] 4. The rollers on one side surface of the outer shell of the charging cabin of the invention can assist the outer shell of the charging cabin to move, and the second directional ultraviolet irradiation lamp can sterilize the whole body of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0019] Figure 1 is a three-dimensional structural schematic diagram of a cabin disinfection robot according to the present invention;

[0020] Figure 2 is an internal structural schematic diagram of a cabin disinfection robot according to the present invention;

[0021] Figure 3 is an internal structural schematic diagram of a battery compartment according to the present invention;

[0022] Figure 4 is an internal structural schematic diagram of the outer shell of a charging cabin according to the present invention;

[0023] Figure 5 is an enlarged structural schematic diagram of part A of a walking foot according to the present invention;

[0024] Figure 6 is a three-dimensional enlarged structural schematic diagram of a mechanical arm telescopic rod according to the present invention;

[0025] Figure 7 is a three-dimensional structural schematic diagram of the outer shell of a charging cabin according to the present invention;

[0026] Figure 8 is an internal structural schematic diagram of a mechanical arm telescopic rod according to the present invention.

[0027] In the figure: 1. Robotic arm telescopic rod; 2. First directional ultraviolet irradiation lamp; 3. Visual recognition mechanism; 4. Hexapod mechanism; 401. Clamp-shaped connecting rod of tempered plastic base; 402. Clamp-shaped connecting rod of support foot mounting block; 403. Walking foot; 5. Support foot mounting block; 6. Tempered plastic base; 7. Robotic arm base; 8. Robotic arm shaft joint; 9. Second directional ultraviolet irradiation lamp; 10. Charging cabin shell; 11. Battery charging and storage slot; 12. Roller; 13. Multi-wavelength ultraviolet lamp tube; 14. Robot body; 15. Fill light; 16. Infrared sensing camera; 17. First hydraulic transmission rod; 18. Driving connecting plate; 19. Battery compartment; 20. Second hydraulic transmission rod; 21. Shock-absorbing sliding support rod; 22. First electromagnet; 23. First spring; 24. First magnet; 25. Battery; 26. Second magnet; 27. Second hydraulic telescopic rod; 28. Battery compartment cover; 29. Docking card slot; 30. Positive and negative electrode plates; 31. Second electromagnet; 32. Charging head; 33. Inner chute; 34. Second spring. Detailed implementation manner

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] Please refer to Figure 1-8, the present invention provides a technical solution: a mobile cabin disinfection robot, which includes a robot body 14, a charging mobile cabin housing 10, and a six-legged mechanism 4. A multi-wavelength ultraviolet lamp tube 13 is installed on the upper surface of the robot body 14. The multi-wavelength ultraviolet lamp tube 13 can disinfect and sterilize a large area. For dead corners, several tempered plastic bases 6 are fixedly arranged on the outer surface edge of the robot body 14. A six-legged mechanism 4 is connected inside the tempered plastic base 6 through a rotating shaft. The six-legged mechanism 4 includes a tempered plastic base clamp-shaped connecting rod 401, a support foot mounting block clamp-shaped connecting rod 402, a walking foot 403, and a support foot mounting block 5. The tempered plastic base clamp-shaped connecting rod 401 is rotatably connected to the tempered plastic base 6 through a rotating shaft. The tempered plastic base clamp-shaped connecting rod 401 is fixedly connected to the support foot mounting block clamp-shaped connecting rod 402. The support foot mounting block clamp-shaped connecting rod 402 is rotatably connected to the support foot mounting block 5 through a rotating shaft. The support foot mounting block 5 is fixedly connected to the walking foot 403. A driving connecting plate 18 is fixedly arranged on one surface of the six-legged mechanism 4. A first hydraulic transmission rod 17 is connected inside the driving connecting plate 18 through a rotating shaft, and the other end of the first hydraulic transmission rod 17 is hinge-connected to the inner surface of the robot body 14. A visual recognition mechanism 3 is fixedly arranged on the surface of the robot body 14. The system uses an RF24L01 radio frequency module for remote control. To improve the response speed and action coherence, the driving chip of the six-legged robot uses an ARM Cortex M4 chip, based on the u / cos-1I operating system. The remote control part uses a FriendlyARM's ARM9 board with a processor S3C2440, based on the Linux system.When the multi-functional camera sensor device 3 detects a path and a virtual wall, it is made using the Raspberry Pi side with Python and the OpenCV computer vision library, the TensorFlow machine learning library, for technologies such as image recognition, infrared detection, and brightness sensing. A fill light 15 and an infrared sensing camera 16 are fixedly provided on the surface of the visual recognition mechanism 3. A robotic arm base 7 is fixedly provided on the surface of the robot body 14. A robotic arm telescopic rod 1 is provided on the surface of the robotic arm base 7 through drive motor transmission. One end of the robotic arm telescopic rod 1 is fixedly provided with a first directional ultraviolet irradiation lamp 2. A battery compartment 19 is provided inside the robot body 14. A number of first electromagnets 22 are provided inside the battery compartment 19. A first spring 23 is fixedly provided at the middle position of the first electromagnets 22. A number of batteries 25 are slidably provided inside the battery compartment 19. A first magnet 24 is fixedly provided on one end surface of the battery 25. A second magnet 26 is fixedly provided on the other end surface of the battery 25. A number of positive and negative electrode plates 30 are fixedly provided on the surface of the second magnet 26, and the positive and negative electrode plates 30 are electrically connected to the battery 25. A second hydraulic telescopic rod 27 is fixedly provided on one side surface of the battery compartment 19. One end of the second hydraulic telescopic rod 27 is fixedly provided with a battery compartment cover 28. A number of rollers 12 are fixedly provided on one side surface of the charging cabin outer shell 10. A number of second directional ultraviolet irradiation lamps 9 are fixedly provided on the other side surface of the charging cabin outer shell 10. The rollers 12 on one side surface of the charging cabin outer shell 10 can assist the charging cabin outer shell 10 to move. The second directional ultraviolet irradiation lamp 9 can sterilize the whole body of the robot. A battery charging and storage slot 11 is provided inside the charging cabin outer shell 10. A second electromagnet 31 is fixedly provided on the inner side surface of the battery charging and storage slot 11. A number of charging heads 32 are fixedly provided on the surface of the second electromagnet 31. When the battery is low, the robot is controlled to reach the charging cabin outer shell 10, so that the docking card slot 29 is docked with the battery charging and storage slot 11. At this time, the second hydraulic telescopic rod 27 is started to open the battery compartment cover 28. At this time, the first electromagnet 22 is started to generate the same magnetic pole as the first magnet 24, and the battery 25 is directly ejected into the battery charging and storage slot 11. The second electromagnet 31 is started to generate the opposite magnetic pole to the second magnet 26 to attract the second magnet 26, so that the positive and negative electrode plates 30 are attached to the charging heads 32 for charging. In addition, the second electromagnet 31 in the battery charging and storage slot 11 is started to generate the same magnetic pole as the second magnet 26 to eject the second magnet 26 into another battery compartment 19. At this time, the first electromagnet 22 generates the opposite magnetic pole to the first magnet 24 to attract the battery 25 and compress the first spring 23. At this time, the battery compartment cover 28 is closed. Conductive sheets are provided on the surface of the battery compartment cover 28 to contact the positive and negative electrode plates 30 of the battery 25 to supply power to the robot. The first hydraulic transmission rod 17, the second hydraulic telescopic rod 27, and the second hydraulic transmission rod 20 are all connected through a hydraulic pump transmission.

[0030] In the present invention, preferably, the telescopic rod of the robotic arm 1 is composed of three connecting rods, and two adjacent connecting rods are driven and connected by the robotic arm shaft joint 8. The robotic arm shaft joint 8 internally includes a driving motor, a driving shaft, and a bearing. The connection between two adjacent connecting rods is connected through a bearing. The driving motor is arranged inside one connecting rod, the driving motor is in transmission connection with the driving shaft, and one end of the driving shaft is fixedly connected to the inside of the other connecting rod. The telescopic rod of the robotic arm 1 can be driven by the driving motor on the robotic arm base 7 to rotate and adjust the direction. At the same time, the position can be adjusted through the driving motor and the driving rod inside the telescopic rod of the robotic arm 1. The first directional ultraviolet irradiation lamp 2 at one end of the telescopic rod of the robotic arm 1 irradiates and disinfects the dead corner positions. The visual recognition mechanism 3 is combined by two lidar sensors and a 360-degree full-scene camera, and cooperates with the fill light 15 and the infrared sensing camera 16 to sense indoor items and avoid collisions.

[0031] In the present invention, preferably, the inside of the battery compartment 19 is provided with a mesh partition, the inside of the battery charging and storage slot 11 is arranged in the same way as the inside of the battery compartment 19, and the battery compartment 19 is adapted to the charging cabin housing 10.

[0032] In the present invention, preferably, the battery compartment cover 28 is provided with a power connection piece on its surface, and the power connection piece is in fitting connection with the positive and negative electrode pieces 30.

[0033] In the present invention, preferably, the charging head 32 is correspondingly arranged with the positive and negative electrode pieces 30.

[0034] In the present invention, preferably, a docking card slot 29 is fixedly arranged on the outer surface of the battery compartment 19, and the docking card slot 29 is adapted to the battery charging and storage slot 11.

[0035] In the present invention, preferably, the six-legged mechanism 4 includes a toughened plastic base clamp-shaped connecting rod 401, a support foot mounting block clamp-shaped connecting rod 402, a walking foot 403, and a support foot mounting block 5. The toughened plastic base clamp-shaped connecting rod 401 is rotationally connected to the toughened plastic base 6 through a rotating shaft. The toughened plastic base clamp-shaped connecting rod 401 is fixedly connected to the support foot mounting block clamp-shaped connecting rod 402. The support foot mounting block clamp-shaped connecting rod 402 is rotationally connected to the support foot mounting block 5 through a rotating shaft. The support foot mounting block 5 is fixedly connected to the walking foot 403.

[0036] In the present invention, preferably, the inner surface of the walking foot 403 is rotationally connected through a rotating shaft to be provided with a second hydraulic transmission rod 20, and one end of the second hydraulic transmission rod 20 is connected to the lower surface of the support foot mounting block clamp-shaped connecting rod 402 through a rotating shaft.

[0037] In the present invention, preferably, an inner sliding groove 33 is provided on the inner side of the walking foot 403. A shock-absorbing sliding support rod 21 is slidably arranged inside the inner sliding groove 33. One end of the shock-absorbing sliding support rod 21 is fixedly provided with a semi-circular rubber head. A second spring 34 is wound around the surface of the shock-absorbing sliding support rod 21.

[0038] Specific principle: When in use,

[0039] S1: The first hydraulic transmission rod 17 of the remote control robot is used to control the six-legged mechanism 4 to swing back and forth inside the toughened plastic base 6, that is, to control the front and back swing of the clamp-shaped connecting rod 401 of the toughened plastic base and the clamp-shaped connecting rod 402 of the support foot mounting block. The second hydraulic transmission rod 20 controls the up and down swing of the walking foot 403. When moving, the shock-absorbing sliding support rod 21 inside the walking foot 403 slides up and down in the inner sliding groove 33 to squeeze the second spring 34 for shock absorption. The walking adopts gaits such as triangular gait and fixed-point turning to realize the attitude control of the six-legged robot;

[0040] S2: The multi-wavelength ultraviolet lamp tube 13 can disinfect and sterilize a large area. For dead corners, the driving motor on the robotic arm base 7 can be used to drive the robotic arm telescopic rod 1 to rotate and adjust the direction. At the same time, through the driving motor and the driving rod inside the robotic arm telescopic rod 1, the position is adjusted. The first directional ultraviolet irradiation lamp 2 at one end of the robotic arm telescopic rod 1 irradiates and disinfects the dead corner position. The visual recognition mechanism 3 is combined with two lidar and a 360-degree full-scene camera, and cooperates with the fill light 15 and the infrared sensing camera 16 to sense indoor items to avoid collisions;

[0041] S3: When the battery power is insufficient, the robot is controlled to reach the charging cabin shell 10, so that the docking card slot 29 is docked with the battery charging storage slot 11. At this time, the second hydraulic telescopic rod 27 is started to open the battery compartment cover 28. At this time, the first electromagnet 22 is started to generate the same magnetic pole as the first magnet 24, and the battery 25 is directly ejected into the battery charging storage slot 11. The second electromagnet 31 is started to generate the opposite magnetic pole to the second magnet 26 to attract the second magnet 26, so that the positive and negative electrode plates 30 are attached to the charging head 32 for charging. In addition, the second electromagnet 31 in the battery charging storage slot 11 is started to generate the same magnetic pole as the second magnet 26 to eject the second magnet 26 into another battery compartment 19. At this time, the first electromagnet 22 generates the opposite magnetic pole to the first magnet 24, attracts the battery 25 and squeezes the first spring 23. At this time, the battery compartment cover 28 is closed. Conductive sheets are provided on the surface of the battery compartment cover 28 to contact the positive and negative electrode plates 30 of the battery 25 to supply power to the robot.

[0042] S4: The rollers 12 on one side surface of the charging cabin shell 10 can assist the charging cabin shell 10 to move. The second directional ultraviolet irradiation lamp 9 can sterilize the whole body of the robot.

[0043] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A mobile cabin disinfection robot, comprising a robot body (14), a charging mobile cabin housing (10) and a six-legged mechanism (4), characterized in that, A multi-wavelength ultraviolet lamp tube (13) is installed on the upper surface of the robot body (14); a plurality of tempered plastic bases (6) are fixedly provided on the outer edge of the surface of the robot body (14); a hexapod mechanism (4) is connected to the inside of the tempered plastic base (6) via a rotating shaft; a driving connection plate (18) is fixedly provided on one side of the hexapod mechanism (4); a first hydraulic transmission rod (17) is connected to the inside of the driving connection plate (18) via a rotating shaft; and the other end of the first hydraulic transmission rod (17) is hingedly connected to the inner surface of the robot body (14); and the surface of the robot body (14) is fixedly provided with a driving connection plate (18). A visual recognition mechanism (3) is provided, the visual recognition mechanism (3) is composed of two laser radars and a 360-degree full-scene camera, a fill light (15) and an infrared sensing camera (16) are fixedly provided on the surface of the visual recognition mechanism (3), a mechanical arm base (7) is fixedly provided on the surface of the robot body (14), a mechanical arm telescopic rod (1) is provided on the surface of the mechanical arm base (7) through a driving motor transmission connection, a first directional ultraviolet irradiation lamp (2) is fixedly provided at one end of the mechanical arm telescopic rod (1), a battery compartment (19) is provided inside the robot body (14), and a There are a plurality of first electromagnets (22), a first spring (23) is fixedly arranged in the middle of the first electromagnets (22), a plurality of batteries (25) are slidably arranged inside the battery compartment (19), a first magnet (24) is fixedly arranged on one end surface of the battery (25), a second magnet (26) is fixedly arranged on the other end surface of the battery (25), a plurality of positive and negative electrode sheets (30) are fixedly arranged on the surface of the second magnet (26), and the positive and negative electrode sheets (30) are electrically connected to the battery (25), a second hydraulic telescopic rod (27) is fixedly arranged on one side surface of the battery compartment (19), and the second hydraulic telescopic rod ( 27) a battery compartment cover (28) is fixedly provided at one end, a plurality of rollers (12) are fixedly provided on one side surface of the charging cabin shell (10), a plurality of second directional ultraviolet irradiation lamps (9) are fixedly provided on the other side surface of the charging cabin shell (10), a battery charging storage slot (11) is provided inside the charging cabin shell (10), a second electromagnet (31) is fixedly provided on the inner side surface of the battery charging storage slot (11), a plurality of charging heads (32) are fixedly provided on the surface of the second electromagnet (31), and the first hydraulic transmission rod (17) and the second hydraulic telescopic rod (27) are both connected by a hydraulic pump transmission; The mechanical arm telescopic rod (1) is composed of three connecting rods, and two connecting rods connected to each other are driven and connected through a mechanical arm shaft joint (8), and the mechanical arm shaft joint (8) includes a drive motor, a drive shaft and a bearing. The connection between the two connecting rods connected to each other is connected through a bearing, the drive motor is arranged inside one connecting rod, the drive motor is connected to the drive shaft in a driving manner, and one end of the drive shaft is fixedly connected to the inside of the other connecting rod; The interior of the battery compartment (19) is divided in a mesh pattern. The interior of the battery charging and storage slot (11) is arranged in the same way as the interior of the battery compartment (19), and the battery compartment (19) is adapted to the charging shelter housing (10).

2. The mobile disinfection robot according to claim 1, wherein The surface of the battery compartment cover (28) is provided with an electricity connection piece, and the electricity connection piece is adhesively connected to the positive and negative electrode pieces (30).

3. The mobile disinfection robot according to claim 1, wherein, The charging head (32) is arranged corresponding to the positive and negative electrode pieces (30).

4. The mobile disinfection robot according to claim 1, characterized in that, The outer surface of the battery compartment (19) is fixedly provided with a docking card slot (29), and the docking card slot (29) is adapted to the battery charging and storage slot (11).

5. A mobile cabin disinfection robot according to claim 1, characterized in that, The six-legged mechanism (4) includes a toughened plastic base clamp-shaped connecting rod (401), a support foot mounting block clamp-shaped connecting rod (402), a walking foot (403), and a support foot mounting block (5). The toughened plastic base clamp-shaped connecting rod (401) is rotatably connected to the toughened plastic base (6) through a rotating shaft. The toughened plastic base clamp-shaped connecting rod (401) is fixedly connected to the support foot mounting block clamp-shaped connecting rod (402). The support foot mounting block clamp-shaped connecting rod (402) is rotatably connected to the support foot mounting block (5) through a rotating shaft. The support foot mounting block (5) is fixedly connected to the walking foot (403).

6. The mobile disinfection robot according to claim 5, wherein, The inner surface of the walking foot (403) is rotatably connected through a rotating shaft to a second hydraulic transmission rod (20). One end of the second hydraulic transmission rod (20) is connected to the lower surface of the support foot mounting block clamp-shaped connecting rod (402) through a rotating shaft.

7. A mobile cabin disinfection robot according to claim 5, characterized in that, An inner sliding groove (33) is provided inside the walking foot (403). A shock-absorbing sliding support rod (21) is slidably arranged inside the inner sliding groove (33). A semi-circular rubber head is fixedly provided at one end of the shock-absorbing sliding support rod (21). A second spring (34) is wound around the surface of the shock-absorbing sliding support rod (21).

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