A multi-robot cooperative box cargo surface epidemic prevention detection sampling automatic operation platform device

Abstract

The application provides a multi-robot cooperative box cargo surface epidemic prevention detection sampling automatic operation platform device. The device comprises a mobile platform and a cargo grabbing robot unit, a four-arm box opening robot unit, a box cargo surface epidemic prevention detection and box opening disinfection collaborative robot unit, a surface epidemic prevention detection test rod storage table and a cargo contact surface wiping and disinfection device arranged on the mobile platform. The device adopts a multi-robot cooperative operation mode to complete the six-surface automatic surface epidemic prevention detection sampling operation of the box cargo, the box opening and the surface epidemic prevention detection sampling operation of the cargo in the box. The single action is simple, the degree of automation is high, no one is in contact, the efficiency is high, the position recognition of the outer surface of the box cargo, the unstacking and grabbing, the six-surface surface epidemic prevention detection sampling of the outer surface of the box cargo, the box opening by cutting and sticking adhesive tape, the surface epidemic prevention detection sampling of the cargo in the box, the grabbing and shearing and storage of the sampling test rod, the wiping and disinfection of the cargo contact surface and the stacking of the detected cargo can be automatically realized, and the labor operation intensity is reduced.

Description

Technical Field

[0001] This invention relates to the field of automated cargo sampling and testing technology, and in particular to an automated operation platform device for sampling and testing the surface of boxed goods using a multi-robot collaborative approach. Background Technology

[0002] Inspection is an important means of customs supervision. Under the current inspection method, staff will open the boxes to conduct random sampling and inspection of samples. For boxed goods, manual opening is required for inspection in order to cope with different epidemic prevention tests. It is difficult to determine whether there are sources of pollution on the surface of boxed goods and the internal packaging.

[0003] Currently, surface sampling for epidemic prevention and control of imported frozen food goods is all done manually. For large quantities of imported frozen food goods, manual unpacking and surface sampling is a heavy and inefficient task. If a source of contamination is present, the risk of infection for personnel is extremely high. Therefore, the need for automated surface sampling and control equipment for imported frozen food goods is urgent.

[0004] In existing literature and patent searches, no devices or methods for automated surface epidemic prevention detection and sampling of goods have been found, and there is a lack of relevant research on automated surface epidemic prevention detection and sampling of frozen food boxes of different sizes. The sampling robot, robot system and detection method for cargo sampling and inspection proposed by Tsinghua University (CN114764242 A) determines whether the goods to be sampled are through visual recognition after image acquisition. After sampling, the sample is refrigerated and moved to the destination. During this process, various information can be transmitted to the inspection personnel, reducing the labor intensity of the inspection personnel and improving the level of information management. However, it does not mention how to carry out cargo sampling operations, the sampling location is unknown, the sampling method is unknown, and its reference value is not strong, which has certain limitations. The smear sampling robot control method and device proposed by Fuzhou Internet of Things Open Laboratory Co., Ltd. (CN 114986517 A) guides the robot to move on two worktables through visual recognition, including the movement of the sampling unit and the surface sampling of the goods. It determines the actions to be performed based on the acquired image information, which has a high degree of automation. However, it does not describe the specific device and actions, and the scope of application is not clear, which has certain limitations. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an automated multi-robot collaborative platform for sampling and detecting epidemic prevention measures on the surface of boxed goods. The technical means employed in this invention are as follows:

[0006] An automated operation platform device for surface epidemic prevention detection and sampling of boxed goods using multi-robot collaboration includes a mobile platform and a goods grasping robot unit, a four-arm box opening robot unit, a collaborative robot unit for surface epidemic prevention detection and box opening disinfection of boxed goods, a surface epidemic prevention test stick storage table, and a goods contact surface wiping and disinfection device.

[0007] Furthermore, the cargo-grabbing robot unit includes a cargo-grabbing robot body and a vision recognition module and a barcode scanning recognition module mounted thereon. The vision recognition module is used to obtain the positional relationship between the boxed goods and the cargo-grabbing robot body. The barcode scanning recognition module is used to identify the printed codes on the surface of the boxed goods to achieve information traceability. Based on the information obtained by the vision recognition module, the cargo-grabbing robot body performs a preset grasping action on the boxed goods and transfers the boxed goods to a preset area. The preset area includes an opening area and an inspected pallet area. The collaborative robot unit for surface epidemic prevention inspection and opening disinfection of the boxed goods is used to inspect the boxed goods. The system involves cutting tape from the surface of goods, wiping and sampling boxes from multiple points and directions, and wiping and disinfecting the surfaces of devices that have come into contact with the boxes using disinfection rods. A surface epidemic prevention test rod storage platform provides sampling rods and stores samples from preset sampling locations. A four-arm box-opening robot unit adjusts the position of the boxes in the opening area, and through a rotating worktable in the opening area, adjusts multiple sampling surfaces of the boxes to cooperate with the box surface epidemic prevention detection and opening / disinfection robot unit for sampling operations, as well as opening boxes with cut tape. The surface wiping and disinfection device is used to disinfect the disinfection rods.

[0008] Furthermore, it also includes an outer protective cover, which is erected above the mobile platform by four pillars located at the four corners of the mobile platform. The side closest to the pallet to be inspected can be extended and retracted to block light interference during outdoor operations and to resist severe weather during outdoor operations.

[0009] Furthermore, the cargo-grabbing robot unit is fixedly mounted on top of the mobile platform via the cargo-grabbing robot body. The vision recognition module includes a vision camera and a camera bracket, with the vision camera mounted on the cargo-grabbing robot body via the camera bracket. A cargo-grabbing end effector is connected to the end of the cargo-grabbing robot unit. The cargo-grabbing end effector includes a combined vacuum suction cup mechanism, an auxiliary pneumatic gripping mechanism, and an end-mount bracket, which is fixedly mounted on the end of the cargo-grabbing robot body via the end-mount bracket. This assembly is used to achieve vacuum suction, upward lifting, and inward auxiliary gripping of boxed goods. The mechanism includes a gripping action and a corresponding release action; the combined vacuum suction cup mechanism comprises a telescopic cylinder, a linear guide rail, a vacuum generator assembly, and a vacuum suction cup connected in sequence. It is mounted on the end mounting frame via the telescopic cylinder and linear guide rail, and achieves vacuum suction and upward lifting of the boxed goods based on the vacuum generator assembly and vacuum suction cup; the auxiliary pneumatic clamping mechanism includes a gripper cylinder and an anti-slip clamping plate. The inner surface of the anti-slip clamping plate has an array of sharp micro-protrusions. It is mounted on the end mounting frame via the gripper cylinder and assists in clamping the outer surface of the goods after the boxed goods are gripped by the vacuum suction cup and lifted upward by the telescopic cylinder.

[0010] Furthermore, the four-arm unpacking robot unit is installed at the top center of the mobile platform, with a rotating worktable at the center, including a base, vertical support I, and vertical support II. The bottoms of vertical support I and vertical support II are mounted on the base via a horizontal screw and nut mechanism, enabling horizontal sliding on the base. There are two sets of vertical support I and vertical support II, arranged in a cross shape. Each vertical support I and vertical support II is equipped with a vertical screw and nut motion mechanism, a swinging and flipping mechanism, and an elastic clamping mechanism. The swinging and flipping mechanism enables automated unpacking and packing of boxes of different sizes after tape cutting. The swinging and flipping mechanism is mounted on the vertical support via the vertical screw and nut motion mechanism, enabling vertical sliding on the vertical support. The elastic clamping mechanism is installed on the lower side of each vertical support, used to center and fix the boxes during tape cutting and unpacking and packing operations, and to correct the position of the boxes when there is a deviation between the placement of the boxes and the center of the rotating worktable through self-clamping.

[0011] Furthermore, the collaborative robot unit for epidemic prevention and disinfection of cargo box surfaces includes a pneumatic gripping finger I, a spring-loaded blade assembly, a collaborative robot body, and a mounting base. The collaborative robot unit for epidemic prevention and disinfection of cargo box surfaces is fixedly mounted on top of the mobile platform via the mounting base. Both the pneumatic gripping finger I and the spring-loaded blade assembly are mounted at the end of the collaborative robot body, with a preset mounting angle between them. Different functions are switched by rotating the axis of the collaborative robot body at different angles. The pneumatic gripping finger I is used to grip the sampling test rod and the disinfection rod, and performs surface epidemic prevention and disinfection sampling and wiping disinfection operations based on the movements of the collaborative robot body. The spring-loaded blade assembly performs the cutting operation on the adhesive tape on the surface of the cargo box.

[0012] Furthermore, the surface epidemic prevention test strip storage station includes a sampling test strip holder, sampling test strips, a sampling tube holder, a sampling tube, a pneumatic clamping finger II, pneumatic scissors, a multi-position cylinder, a storage station mounting plate, a sampling test tube guide plate, a storage station mounting base, and a storage box, which are fixedly installed above the mobile platform via the storage station mounting base; the storage station mounting plate is set on the storage station mounting base, the sampling test strip holder is installed on the storage station mounting plate, and the sampling test strips are set on it; the sampling tube holder is installed on the storage station mounting plate via a multi-position cylinder, and the sampling tubes are set on it for processing the cut test strips. The sampling device enables the storage and classification of multiple different sampling tubes. The pneumatic clamping finger II, pneumatic scissors, multi-position cylinder, and sampling tube guide plate are all mounted on the storage platform. The pneumatic clamping finger II is used to clamp the sampling rod. The multi-position cylinder is used to push the sampling tube rack through multiple displacements of different strokes, so that the sampling rods cut by the pneumatic scissors at different positions enter different sampling tubes. The sampling tube guide plate is used to guide the sampling rods when they fall into the storage box. The storage box is mounted on the storage platform to store the sampling rods after sampling.

[0013] Furthermore, the goods contact surface wiping and disinfection device includes a disinfection rod, a liquid tank, a nozzle, and a diaphragm pump. The bottom of the liquid tank is installed above the moving platform. The disinfection rod and the nozzle are installed inside the liquid tank, which contains disinfectant solution. The diaphragm pump is installed outside the liquid tank. The input end of the diaphragm pump is connected to the disinfectant solution, and the output end of the diaphragm pump is connected to the nozzle, thereby realizing the disinfectant spraying process on the disinfection rod.

[0014] Furthermore, the mobile platform includes an electric platform work vehicle, a vacuum and pneumatic system, an integrated control system, and a human-machine interface console. The electric platform work vehicle is an independently controlled remote-controlled electric vehicle powered by a battery, comprising: a battery pack, a remote-controlled drive electric unit, and an embedded drawer-type electrical control box, which can achieve adjustable forward, turning, and reverse movement under remote control. The battery pack is installed at the rear of the electric platform work vehicle to power it, meeting the needs of short-distance transportation when no external power is connected. The embedded drawer-type electrical control box has a sliding drawer structure and is respectively installed on both sides of the electric platform work vehicle. The vacuum and pneumatic system is mounted on the electric platform work vehicle to provide the necessary vacuum and pneumatic power for surface epidemic prevention and inspection operations. The integrated control system and the human-machine interface console are used for manual or automatic control of the entire device and to receive feedback signals from each unit.

[0015] Furthermore, the clamping functions of the disinfection rod and sampling test rod of the automatic surface epidemic prevention detection and sampling platform device for boxed goods, as well as the adsorption, lifting, and clamping functions of the boxed goods, are realized through a vacuum and pneumatic system. The vacuum and pneumatic system includes an air compressor mounting frame and an air compressor mounted on it. The output end of the air compressor is connected to the actuator through a pipeline, and a solenoid valve is provided therebetween.

[0016] The present invention has the following advantages:

[0017] 1. This invention uses a multi-robot collaborative operation to complete automated surface epidemic prevention and sampling operations on six sides of boxed goods, automated box opening, and surface epidemic prevention and sampling of goods inside the box. Individual actions are simple, practical, highly automated, contactless, and highly efficient. It can achieve automatic identification of the outer surface position of boxed goods, automatic unpalletizing and grabbing, automatic surface epidemic prevention and sampling on six sides of the outer surface of boxed goods, automatic tape cutting for box opening, automatic surface epidemic prevention and sampling of goods inside the box, automatic grabbing and cutting of sampling test sticks for storage, automatic wiping and disinfection of the contact surfaces of goods, and automatic stacking of the tested goods within 2-4 minutes. This can greatly reduce the intensity of manual labor and reduce the occurrence of cross-infection.

[0018] 2. The cargo gripping of this invention adopts a vacuum adsorption plus pneumatic assisted clamping and anti-slip clamping plate design, which has higher gripping reliability for frozen food boxes or boxes with some damage; the four-arm box opening robot unit used in the automated box opening of this invention can adapt to the automated opening of boxes of different sizes.

[0019] 3. The surface epidemic prevention and testing sampling method of the present invention is diversified. Through different programming, it can perform wiping sampling at multiple different positions on the six sides of the boxed goods to meet the requirements of the National Health Commission of 5 points on each side, including the outer surface, inner surface and internal goods. The sampling test bars at each position are classified, which can be adapted to different epidemic prevention and testing schemes and has strong applicability.

[0020] 4. The integrated and embedded design of the electric platform work vehicle and equipment electrical control system of the present invention significantly alleviates the space pressure of placing equipment on the upper surface of the electric work vehicle and improves the overall operability and convenience of the equipment. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the operation of the present invention.

[0023] Figure 2 This is an isometric schematic diagram of the present invention.

[0024] Figure 3 This is a schematic diagram of the cargo gripping end effector of the present invention.

[0025] Figure 4 This is a schematic diagram of the four-armed box-opening robot unit of the present invention.

[0026] Figure 5 This is a schematic diagram of the surface anti-epidemic test bar storage platform of the present invention.

[0027] Figure 6 This is a schematic diagram of the cargo box opening collaborative robot unit of the present invention.

[0028] Figure 7 This is a schematic diagram of the goods contact surface wiping and disinfection device of the present invention.

[0029] The components include: 1. Cargo gripping robot unit; 2. Four-arm box-opening robot unit; 3. Collaborative robot unit for surface epidemic prevention inspection and disinfection of boxed goods; 4. Surface epidemic prevention test stick storage platform; 5. Cargo contact surface wiping and disinfection device; 6. Outer protective cover; 7. Mobile platform; 101. Cargo gripping robot body; 102. Vision recognition module; 103. Cargo gripping end effector; 104. Barcode recognition module; 1021. Vision camera; 1022. Camera bracket; 1031. End-effector mounting bracket; 1032. Telescopic cylinder; 1033. Linear guide rail; 1034. Vacuum generator assembly; 1035. Vacuum suction cup; 1036. Gripper cylinder; 1037. Anti-slip gripping plate; 201. Rotary worktable; 202. Base; 203. Vertical bracket I; 204. Vertical bracket II; 205. Horizontal screw and nut mechanism; 206. Vertical screw and nut motion mechanism; 07. Swinging and flipping mechanism; 208. Elastic clamping mechanism; 301. Pneumatic gripper finger I; 302. Spring-loaded blade holder assembly; 303. Collaborative robot body; 304. Mounting base; 401. Sampling bar holder; 402. Sampling bar; 403. Sampling tube holder; 404. Sampling tube; 405. Pneumatic gripper finger II; 406. Pneumatic scissors; 407. Multi-position cylinder; 408. Storage platform mounting plate; 409. Sampling tube Guide plate; 4010, Storage platform mounting base; 4011, Storage box; 4021, Sample taking template; 501, Disinfectant stick; 502, Liquid tank; 503, Nozzle; 504, Diaphragm pump; 701, Electric platform trolley; 702, Vacuum and pneumatic system; 703, Integrated control system; 704, Human-machine interface console; 7011, Battery pack; 7012, Remote control electric unit; 7013, Embedded drawer-type electrical control box. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] like Figure 1 , Figure 2As shown in the figure, this invention discloses an automated multi-robot collaborative box cargo surface epidemic prevention detection and sampling platform device, including a mobile platform 7 and a cargo gripping robot unit 1, a four-arm box-opening robot unit 2, a box cargo surface epidemic prevention detection and box-opening disinfection collaborative robot unit 3, a surface epidemic prevention test rod storage table 4, and a cargo contact surface wiping and disinfection device 5 mounted on it. The cargo gripping robot unit 1 includes a cargo gripping robot body 101 and a vision recognition module 102 mounted on it. The vision recognition module 102 is used to obtain the positional relationship between the box cargo and the cargo gripping robot body 101. The cargo gripping robot body 101 performs a preset gripping action on the box cargo based on the information obtained by the vision recognition module 102 and transfers the box cargo to a preset area. The preset area includes an opening... The box area and the inspected pallet area are divided into two sections. The box cargo surface epidemic prevention detection and unpacking disinfection collaborative robot unit 3 is used to cut the tape on the surface of the box cargo, wipe and sample the box cargo from multiple points and directions, and wipe and disinfect the device surface that the box cargo has come into contact with using a disinfection rod. The surface epidemic prevention detection test rod storage table 4 is used to provide sampling test rods 402 and store sampling samples 4021 with preset sampling positions. The four-arm box opening robot unit 2 is used to adjust the position of the box cargo in the box opening area, adjust multiple sampling surfaces of the box cargo to cooperate with the box cargo surface epidemic prevention detection and unpacking disinfection collaborative robot unit 3 to perform sampling operations, and perform box opening operations on the box cargo with cut tape. The cargo contact surface wiping disinfection device 5 is used to disinfect the disinfection rod 501.

[0032] It also includes an outer protective cover 6, which is erected on the mobile platform 7 via four pillars located at the four corners of the mobile platform 7. The side closest to the pallet to be inspected can be extended and retracted to block light interference during outdoor operations and to resist severe weather during outdoor operations.

[0033] The cargo-grabbing robot unit 1 is fixedly mounted on top of the mobile platform 7 via the cargo-grabbing robot body 101. The visual recognition module 102 includes a visual camera 1021 and a camera bracket 1022. The visual camera 1021 is mounted on the cargo-grabbing robot body 101 via the camera bracket 1022. Figure 3As shown, the cargo gripping robot unit 101 is connected to a cargo gripping end effector 103 at its end. The cargo gripping end effector 103 includes a combined vacuum suction cup mechanism, an auxiliary pneumatic clamping mechanism, and an end mount 1031. It is fixedly mounted on the end of the cargo gripping robot body 101 via the end mount 1031, and is used to perform a set of gripping actions—vacuum suction, upward lifting, and inward clamping—on boxed goods, as well as the opposite release action. The combined vacuum suction cup mechanism is mounted on the end mount 1031 via a telescopic cylinder 1032 and a linear guide rail 1033. Based on the vacuum generator assembly 1034 and the vacuum suction cup 1035, it achieves vacuum suction and upward lifting of boxed goods. Simultaneously, the auxiliary pneumatic clamping mechanism utilizes the gripper cylinder 1036 and the anti-slip clamping plate 1037 to assist in clamping the outer surface of the goods, further improving the gripping reliability. In this embodiment, the anti-slip clamping plate 1037 has an array of sharp micro-protrusions on its clamping surface to achieve anti-slip and reliable gripping.

[0034] The cargo-grabbing robot unit also includes a barcode scanning and identification module 104, which is used to identify the inkjet code on the surface of the boxed goods and feed the acquired inkjet code data back to the integrated control system to realize the information traceability of the boxed goods.

[0035] like Figure 4 As shown, the four-armed box-opening robot unit 2 is installed above the center of the mobile platform 7. A rotating worktable 201 is provided at the center of the four-armed box-opening robot unit 2. The four-armed box-opening robot unit 2 includes a base 202, a vertical support I 203, and a vertical support II 204. The bottoms of the vertical supports I 203 and II 204 are mounted on the base 202 through a horizontal screw and nut mechanism 205, enabling horizontal sliding on the base 202. There are two sets of vertical supports I 203 and II 204, arranged in a cross shape. Each vertical support I 203 and vertical support II 204 is provided with a vertical screw. The lever-nut motion mechanism 206, the swing-flipping mechanism 207, and the elastic clamping mechanism 208 are used to automate the opening and closing of boxes of different specifications after tape cutting. The swing-flipping mechanism 207 is mounted on a vertical support via the vertical screw-nut motion mechanism 206, enabling vertical sliding on the support. The elastic clamping mechanism 208 is installed on the underside of each vertical support and is used to center and fix the boxes during tape cutting and opening / closing operations. It also corrects the position of the boxes when there is a deviation between the placement of the boxes and the center of the rotating worktable 201, through self-clamping.

[0036] like Figure 5As shown, the collaborative robot unit for epidemic prevention inspection and disinfection of cargo boxes includes a pneumatic gripping finger I 301, a spring-loaded blade assembly 302, a collaborative robot body 303, and a mounting base 304. The collaborative robot unit 3 for opening cargo boxes is fixedly mounted on the mobile platform 7 via the mounting base. The pneumatic gripping finger I 301 and the spring-loaded blade assembly 302 are both mounted at the end of the collaborative robot body 303. Different functions are switched by rotating the axis of the collaborative robot body 303 at different angles. The pneumatic gripping finger I 301 is used to grip the sampling test bar and the disinfection bar 501, and performs surface epidemic prevention inspection sampling and wiping disinfection operations based on the movement of the collaborative robot body 303. The spring-loaded blade assembly 302 performs the cutting operation on the adhesive tape on the surface of the cargo box.

[0037] like Figure 6 As shown, the surface epidemic prevention test strip storage table 4 includes a sampling test strip holder 401, a sampling test strip 402, a sampling tube holder 403, a sampling tube 404, a pneumatic clamping finger II 405, pneumatic scissors 406, a multi-position cylinder 407, a storage table mounting plate 408, a sampling test tube guide plate 409, a storage table mounting base 4010, and a storage box 4011. It is fixedly installed above the mobile platform 7 via the storage table mounting base 4010. The storage table mounting plate 408 is placed on the storage table mounting base 4010, and the sampling test strip holder 401 is installed on the storage table mounting plate 408, on which the sampling test strip 402 is placed. The sampling tube holder 403 is installed on the storage table mounting plate 408 via the multi-position cylinder 407, on which the sampling tube 404 is placed for processing the cut test strip. The sampling sampler 4021 is used to store and classify multiple different sampling tubes 404. The pneumatic clamping finger II 405, pneumatic scissors 406, multi-position cylinder 407, and sampling tube guide plate 409 are all installed on the storage platform mounting plate 408. The pneumatic clamping finger II 405 is used to clamp the sampling rod 402. The multi-position cylinder 407 is used to push the sampling tube rack 403 through multiple displacements of different strokes, so that the sampling sampler 4021 cut by the pneumatic scissors 406 at different positions enters different sampling tubes 404. The sampling tube guide plate 409 is used to guide the sampling rod 402 as it falls into the storage box 4011. The storage box 4011 is installed on the storage platform mounting base 4010 to store the sampling sampler 4021 after sampling.

[0038] like Figure 7As shown, the goods contact surface wiping and disinfection device 5 includes a disinfection rod 501, a liquid tank 502, a nozzle 503, and a diaphragm pump 504. The bottom of the liquid tank 502 is installed above the moving platform 7. The disinfection rod 501 and the nozzle 503 are installed inside the liquid tank 502 at the upper position. The liquid tank 502 contains disinfectant solution. The diaphragm pump 504 is installed outside the liquid tank 502. The input end of the diaphragm pump 504 is connected to the disinfectant solution, and the output end of the diaphragm pump 504 is connected to the nozzle 503, thereby realizing the disinfectant spraying process on the disinfection rod 501.

[0039] The mobile platform 7 described above primarily serves to support several units placed on it. The pallets to be inspected and the inspected pallets are positioned in designated areas. The mobile platform 7 moves to a position between them to complete the automatic surface anti-epidemic inspection and sampling of the boxes on the pallets to be inspected. Specifically, in this embodiment, the mobile platform 7 includes an electric platform work vehicle 701, a vacuum and pneumatic system 702, an integrated control system 703, and a human-machine interface operating console 704. The electric platform work vehicle 701 is an independently controlled remote-controlled electric vehicle powered by a battery, including: a battery pack 7011, a remote-controlled drive electric unit 7012, and an embedded drawer-type electrical control box 7013. The device can move forward, turn, and move backward with adjustable posture under remote control. The battery pack 7011 is installed at the rear of the electric platform work vehicle 701 to power the vehicle and meet the needs of short-distance transportation when no external power is connected. The embedded drawer-type electrical control box 7013 has a sliding drawer structure and is installed on both sides of the electric platform work vehicle. The vacuum and pneumatic system 702 is installed on the electric platform work vehicle 701 to provide the vacuum and pneumatic power required for surface epidemic prevention and inspection operations. The integrated control system 703 and the human-machine interface control panel 704 are used to manually or automatically control the entire device and receive feedback signals from each unit.

[0040] The clamping functions of the disinfection rod 501 and sampling test rod of the automatic surface epidemic prevention detection and sampling platform device for boxed goods, as well as the adsorption, lifting and clamping functions of the boxed goods, are realized through a vacuum and pneumatic system. The vacuum and pneumatic system includes an air compressor mounting bracket and an air compressor installed on it. The output end of the air compressor is connected to the actuator through a pipeline, and a solenoid valve is provided therebetween.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-robot collaborative automated platform device for sampling and detecting epidemic prevention on the surface of boxed goods, characterized in that, It includes a mobile platform and a cargo gripping robot unit mounted on it, a four-arm box-opening robot unit, a collaborative robot unit for surface epidemic prevention detection and disinfection of boxed goods, a surface epidemic prevention test stick storage table, and a cargo contact surface wiping and disinfection device. The collaborative robot unit for epidemic prevention detection and disinfection of boxed goods is used to cut the tape on the surface of boxed goods, wipe and sample boxed goods from multiple points and directions, and wipe and disinfect the device surface that the boxed goods have come into contact with using a disinfection stick. The surface epidemic prevention test bar storage station is used to provide sampling test bars and store sampling samples from preset sampling positions; The four-arm unpacking robot unit is used to adjust the position of the boxed goods in the unpacking area, adjust multiple sampling surfaces of the boxed goods through the rotating worktable in the unpacking area, cooperate with the boxed goods surface epidemic prevention detection and unpacking disinfection collaborative robot unit to carry out sampling operations, and perform unpacking operations on boxed goods with cut tape. The collaborative robot unit for epidemic prevention and disinfection of cargo box surfaces includes a pneumatic gripping finger I, a spring-loaded blade assembly, a collaborative robot body, and a mounting base. The collaborative robot unit is fixedly mounted on top of a mobile platform via the mounting base. Both the pneumatic gripping finger I and the spring-loaded blade assembly are mounted at the end of the collaborative robot body, with a preset mounting angle between them. Different functions are achieved by rotating the axis of the collaborative robot body at different angles. The pneumatic gripping finger I is used to grip sampling and disinfection rods, and performs surface epidemic prevention sampling and wiping disinfection operations based on the movements of the collaborative robot body. The spring-loaded blade assembly cuts the adhesive tape on the surface of the cargo box. The surface epidemic prevention test strip storage station includes a sampling strip holder, sampling strips, a sampling tube holder, a sampling tube, a pneumatic clamping finger II, pneumatic scissors, a multi-position cylinder, a storage station mounting plate, a sampling tube guide plate, a storage station mounting base, and a storage box. It is fixedly installed above a mobile platform via the storage station mounting base. The storage station mounting plate is placed on the storage station mounting base, and the sampling strip holder is mounted on the storage station mounting plate, on which the sampling strips are placed. The sampling tube holder is mounted on the storage station mounting plate via a multi-position cylinder, and on which the sampling tubes are placed for sampling after cutting. The device enables the storage and classification of multiple different sampling tubes. The pneumatic clamping finger II, pneumatic scissors, multi-position cylinder, and sampling tube guide plate are all mounted on the storage platform. The pneumatic clamping finger II is used to clamp the sampling rods. The multi-position cylinder is used to push the sampling tube rack through multiple displacements of different strokes, so that the sampling rods cut by the pneumatic scissors at different positions can enter different sampling tubes. The sampling tube guide plate is used to guide the sampling rods as they fall into the storage box. The storage box is mounted on the storage platform to store the sampling rods after sampling is completed.

2. The automated operation platform device for multi-robot collaborative surface inspection and sampling of boxed goods according to claim 1, characterized in that, The cargo gripping robot unit includes a cargo gripping robot body and a vision recognition module and a barcode scanning recognition module mounted thereon. The vision recognition module is used to obtain the positional relationship between the boxed goods and the cargo gripping robot body. The barcode scanning recognition module is used to identify the inkjet code on the surface of the boxed goods to realize the information traceability of the boxed goods. The cargo gripping robot body performs a preset gripping action on the boxed goods based on the information obtained by the vision recognition module and transfers the boxed goods to a preset area. The preset area includes an unpacking area and an inspected pallet area. The surface wiping and disinfection device for goods is used to disinfect the disinfection stick.

3. The automated operation platform device for surface epidemic prevention detection and sampling of multi-robot collaborative boxed goods as described in claim 2, characterized in that, It also includes an outer protective cover, which is erected above the mobile platform by four pillars located at the four corners of the mobile platform. The side closest to the pallet to be inspected can be extended and retracted to block light interference during outdoor operations and to resist severe weather during outdoor operations.

4. The automated operation platform device for multi-robot collaborative surface inspection and sampling of boxed goods according to claim 2, characterized in that, The cargo-grabbing robot unit is fixedly mounted on top of the mobile platform via the cargo-grabbing robot body. The vision recognition module includes a vision camera and a camera bracket, with the vision camera mounted on the cargo-grabbing robot body via the camera bracket. A cargo-grabbing end effector is connected to the end of the cargo-grabbing robot unit. The cargo-grabbing end effector includes a combined vacuum suction cup mechanism, an auxiliary pneumatic gripping mechanism, and an end-mount bracket, which is fixedly mounted on the end of the cargo-grabbing robot body via the end-mount bracket. This assembly is used to perform vacuum suction, upward lifting, and inward auxiliary gripping of boxed goods. The combined vacuum suction cup mechanism includes a telescopic cylinder, a linear guide rail, a vacuum generator assembly, and a vacuum suction cup connected in sequence. It is mounted on the end mounting frame via the telescopic cylinder and the linear guide rail, and achieves vacuum suction and upward lifting of boxed goods based on the vacuum generator assembly and the vacuum suction cup. The auxiliary pneumatic clamping mechanism includes a gripper cylinder and an anti-slip clamping plate. The inner surface of the anti-slip clamping plate has an array of sharp micro-protrusions. It is mounted on the end mounting frame via the gripper cylinder and assists in clamping the outer surface of the goods after the boxed goods are gripped by the vacuum suction cup and lifted upward by the telescopic cylinder.

5. The automated operation platform device for surface epidemic prevention detection and sampling of boxed goods by multi-robot collaboration as described in claim 1, characterized in that, The four-arm unpacking robot unit is installed above the center of the mobile platform, with a rotating worktable in the center. The worktable includes a base, vertical support I, and vertical support II. The bottoms of vertical support I and vertical support II are mounted on the base via a horizontal screw and nut mechanism, allowing for horizontal sliding. There are two sets of vertical support I and vertical support II, arranged in a cross shape. Each vertical support I and vertical support II is equipped with a vertical screw and nut motion mechanism, a swinging and flipping mechanism, and an elastic clamping mechanism. The swinging and flipping mechanism enables automated unpacking and packing of boxes of different sizes after tape cutting. The swinging and flipping mechanism is mounted on the vertical support via the vertical screw and nut motion mechanism, allowing for vertical sliding on the vertical support. The elastic clamping mechanism is installed on the lower side of each vertical support, used to center and fix the boxes during tape cutting and unpacking / packing operations. It also corrects the position of the boxes if there is a deviation between the placement of the boxes and the center of the rotating worktable.

6. The automated operation platform device for multi-robot collaborative surface inspection and sampling of boxed goods according to claim 1, characterized in that, The disinfection device for wiping and wiping the contact surfaces of goods includes a disinfection rod, a liquid tank, a nozzle, and a diaphragm pump. The bottom of the liquid tank is installed above the moving platform. The disinfection rod and the nozzle are installed inside the liquid tank, which contains disinfectant solution. The diaphragm pump is installed outside the liquid tank. The input end of the diaphragm pump is connected to the disinfectant solution, and the output end of the diaphragm pump is connected to the nozzle, thereby realizing the process of spraying disinfectant solution onto the disinfection rod.

7. The automated operation platform device for surface epidemic prevention detection and sampling of boxed goods by multi-robot collaboration as described in claim 1, characterized in that, The mobile platform includes an electric platform work vehicle, a vacuum and pneumatic system, an integrated control system, and a human-machine interface console. The electric platform work vehicle is an independently controlled remote-controlled electric vehicle powered by a battery, comprising a battery pack, a remote-controlled drive electric unit, and an embedded drawer-type electrical control box. It can move forward, turn, and reverse with adjustable posture under remote control. The battery pack is installed at the rear of the electric platform work vehicle to power it, enabling short-distance transportation when no external power source is connected. The embedded drawer-type electrical control box has a sliding drawer structure and is located on both sides of the electric platform work vehicle. The vacuum and pneumatic system is mounted on the electric platform work vehicle, providing the necessary vacuum and pneumatic power for surface epidemic prevention and inspection operations. The integrated control system and human-machine interface console are used for manual or automatic control of the entire device and for receiving feedback signals from each unit.

8. The automated operation platform device for multi-robot collaborative surface inspection and sampling of boxed goods according to claim 1 or 7, characterized in that, The automatic surface epidemic prevention and sampling platform device for boxed goods has the functions of clamping the disinfection rod and sampling test rod, as well as the functions of adsorption, lifting and clamping of boxed goods, through a vacuum and pneumatic system. The vacuum and pneumatic system includes an air compressor mounting frame and an air compressor mounted on it. The output end of the air compressor is connected to the actuator through a pipeline, and a solenoid valve is provided therebetween.

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