Patrol disinfection robot

Abstract

The patrol disinfection robot comprises a compartment, an advancing device is arranged at the bottom of the compartment, ultraviolet disinfection devices are arranged on the two opposite sides of the front end of the advancing direction of the compartment respectively, and a liquid medicine disinfection device is arranged in the compartment. The problems that in the prior art, the disinfection mode is single, the ultraviolet disinfection effect is small due to the fact that the angle of the ultraviolet lamp tube cannot be adjusted, and personal injury and cleaning difficulty are caused by long-term exposure of the ultraviolet lamp tube are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of disinfection equipment and relates to a patrol disinfection robot. Background Art

[0002] In recent years, respiratory diseases have been rampant, especially in densely populated and high-flow public places, such as hospitals, schools, shopping malls, subway stations, and bus stations. Cross-infection is prone to occur, seriously endangering people's health. Timely disinfection and cutting off the spread of viruses and bacteria have a good effect on protecting people's health. In addition, security patrols in public places are also an important aspect of maintaining urban public safety and ensuring people's normal lives. For such public places, there are usually large flows of people during the day and basically no one at night. It is of great significance to carry out targeted intelligent disinfection and security patrols.

[0003] Existing disinfection methods mainly include manual disinfection and machine disinfection. Manual disinfection generally uses manual pressing to spray disinfection, which is labor-intensive, inefficient and harmful to the health of workers. Machine disinfection mainly includes liquid disinfection and ultraviolet disinfection. Liquid disinfection robots use mechanical devices instead of manual spraying of disinfectant liquid, which can greatly reduce labor and improve disinfection efficiency. Ultraviolet disinfection robots use ultraviolet rays to destroy the molecular structure of pathogenic microorganisms to achieve disinfection, but ultraviolet rays themselves have strong radiation and are harmful to the human body, and are suitable for situations where there is no one in the venue. Combining liquid disinfection and ultraviolet disinfection can combine the advantages of both, broaden the scope of viruses and bacteria to be disinfected and the disinfection application scenarios, and have broader prospects. However, the existing disinfection robots that can simultaneously achieve liquid disinfection and ultraviolet disinfection are mostly based on liquid disinfection. Ultraviolet lamps are mostly installed around the vehicle body, the angle of the lamps cannot be adjusted, the disinfection range is small, and the actual disinfection effect is not great. In addition, the harm of long-term exposure of ultraviolet lamps to the human body and the difficulty of cleaning and reduced disinfection effect caused by the adsorption of dust on the surface of the lamps are not considered. Summary of the invention

[0004] The purpose of the present invention is to provide a patrol disinfection robot, which solves the problems in the prior art of single disinfection method, small ultraviolet disinfection effect caused by the inability to adjust the angle of the ultraviolet lamp, and personal harm and cleaning difficulty caused by long-term exposure of the ultraviolet lamp.

[0005] The technical solution adopted by the present invention is that the patrol disinfection robot includes a carriage, a traveling device is provided at the bottom of the carriage, ultraviolet disinfection devices are respectively provided on the opposite sides of the front end of the carriage in the traveling direction, and a liquid disinfection device is provided in the carriage.

[0006] The present invention is also characterized in that:

[0007] The traveling device comprises a driving mechanism and a steering mechanism. The driving mechanism is arranged at the front end of the bottom of the carriage, and the steering mechanism is arranged at the rear end of the bottom of the carriage.

[0008] The driving mechanism adopts dual front-wheel drive, including two driving motors, and each of the two driving motors is connected to a front wheel.

[0009] The steering mechanism includes a steering motor, a main shaft of the steering motor is coaxially connected to the gear in the rear gear rack structure, the gear in the rear gear rack structure is hinged to the gear of the front gear rack structure through an intermediate connecting rod, the two ends of the rack in the rear gear rack structure are respectively connected to the two rear wheels through two rear connecting rods and two rear sleeve connecting rods, and the rack of the rear gear rack structure is meshed with the gear of the rear gear rack structure; the two ends of the rack of the front gear rack structure are respectively connected to the two front wheels through two front connecting rods and two front sleeve connecting rods, and the rack of the front gear rack structure is meshed with the gear of the front gear rack structure.

[0010] The ultraviolet disinfection device comprises an ultraviolet door switch mechanism and an ultraviolet lamp extension mechanism.

[0011] The ultraviolet lamp extension mechanism includes a frame, which is fixed on the carriage. An extension motor is installed on the frame. The main shaft of the extension motor is connected to the connecting rod A. The connecting rod A, the connecting rod A, the connecting rod B, and the frame are hinged in sequence to form a four-bar mechanism. The ultraviolet lamp tube is installed on the connecting rod B.

[0012] The UV door switch mechanism includes two UV doors, the upper ends of the two UV doors are respectively connected to two racks A arranged in parallel up and down, the two racks A arranged up and down are meshed with gear A at the same time, and gear A is connected to the main shaft of the switch motor.

[0013] The liquid medicine disinfection device comprises a liquid medicine supply mechanism, which is connected to the liquid medicine spraying mechanism through a connecting pipeline.

[0014] The medicine liquid supply mechanism includes a supply motor, which is connected to one end of a screw with a double rotation direction. Two threaded blocks are connected to the screw. The two threaded blocks are respectively hinged to one end of two connecting rods B. The other ends of the two connecting rods B are hinged to the base. A piston rod is fixed under the base, and the piston rod extends into the interior of the medicine liquid cylinder.

[0015] The liquid spraying mechanism includes a lifting motor, the main shaft of the lifting motor is connected to the worm of the worm gear mechanism, the center of the worm wheel of the worm gear mechanism is provided with a threaded hole, and a spiral pair is formed with the lead screw, the upper end of the lead screw is fixedly connected to a nozzle bracket, and a rotating motor is fixedly connected to the nozzle bracket, the main shaft of the rotating motor is connected to gear B, gear B is meshed with rack B, and the two ends of rack B are respectively meshed with two rotating clamps with gear teeth, and two nozzles are respectively fixed to the two rotating clamps.

[0016] The beneficial effects of the present invention are as follows:

[0017] (1) The present invention integrates three functions: liquid disinfection, ultraviolet disinfection, and unmanned patrol. When there is a large flow of people during the day, only the liquid disinfection device is turned on. When the sensors installed around the robot detect that pedestrians are about to enter the liquid disinfection area, the induction solenoid valve is immediately closed to stop spraying liquid. After the place is closed at night, the liquid disinfection device and the ultraviolet disinfection device are turned on at the same time, and patrol monitoring of public places around the clock is carried out through two installed 360° cameras. Therefore, the patrol disinfection robot of the present invention can adapt to the use requirements of different time periods, and can complete the intelligent disinfection and security patrol work of public places with dense populations and large flow of people.

[0018] (2) The ultraviolet disinfection device of the present invention is designed with an ultraviolet lamp extension mechanism composed of a hinged four-bar structure and an ultraviolet door switch mechanism composed of a gear rack meshing. When the ultraviolet disinfection device is not in operation, the ultraviolet lamp extension mechanism is retracted and the ultraviolet door switch mechanism is closed, which can reduce the cleaning difficulty and reduced disinfection effect caused by the adsorption of dust on the surface of the ultraviolet lamp tube, and can avoid the risk of burns caused by the high temperature of the ultraviolet lamp tube just after the work is finished. When the ultraviolet disinfection device is working, the ultraviolet door switch mechanism is opened and the ultraviolet lamp extension mechanism is extended, which can expand the disinfection range, and the angle of extension of the ultraviolet lamp tube can be adjusted within a certain range through the hinged four-bar structure to meet the use requirements of different situations in public places.

[0019] (3) The liquid medicine disinfection device of the present invention is designed with a lifting mechanism and a nozzle rotating mechanism, which can continuously change the vertical height and spraying angle of the nozzle, thereby expanding the liquid medicine spraying range and improving the disinfection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the overall structure of the patrol disinfection robot of the present invention;

[0021] Figure 2 1 is a schematic structural diagram of the patrol disinfection robot of the present invention (without the side panel of the carriage);

[0022] Figure 3 It is a structural schematic diagram of the traveling device of the patrol disinfection robot of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the ultraviolet disinfection device of the patrol disinfection robot of the present invention (the ultraviolet lamp extension mechanism is retracted and the ultraviolet door switch mechanism is closed);

[0024] Figure 5 It is a structural schematic diagram of the ultraviolet disinfection device of the patrol disinfection robot of the present invention (the ultraviolet door switch mechanism is opened and the ultraviolet lamp extension mechanism is extended);

[0025] Figure 6It is a structural schematic diagram of a group of ultraviolet lamp extension mechanisms (extended state) in the ultraviolet disinfection device of the patrol disinfection robot of the present invention;

[0026] Figure 7 It is a structural schematic diagram of a group of ultraviolet lamp extension mechanisms (retracted state) in the ultraviolet disinfection device of the patrol disinfection robot of the present invention;

[0027] Figure 8 It is a structural schematic diagram of a set of ultraviolet door switch mechanisms (with added carriage side panels) in the ultraviolet disinfection device of the patrol disinfection robot of the present invention;

[0028] Fig. 9 It is a structural schematic diagram of a set of ultraviolet door switch mechanisms in the ultraviolet disinfection device of the patrol disinfection robot of the present invention;

[0029] Fig.10 It is a structural schematic diagram of the liquid disinfection device of the patrol disinfection robot of the present invention;

[0030] Fig.11 It is a structural schematic diagram of the liquid medicine supply mechanism in the liquid medicine disinfection device of the patrol disinfection robot of the present invention;

[0031] Fig.12 It is a cross-sectional view of the liquid medicine supply mechanism in the liquid medicine disinfection device of the patrol disinfection robot of the present invention;

[0032] Fig.13 It is a structural schematic diagram of the liquid medicine spraying mechanism in the liquid medicine disinfection device of the patrol disinfection robot of the present invention;

[0033] Fig.14 It is a structural schematic diagram of the liquid medicine spraying mechanism (minus the lifting shell) in the liquid medicine disinfection device of the patrol disinfection robot of the present invention.

[0034] In the figure, 1. traveling device, 1-1. driving mechanism, 1-1-1. driving motor, 1-1-2. front wheel;

[0035] 1-2. Steering mechanism, 1-2-1. Steering motor, 1-2-2. Rear rack and pinion structure, 1-2-3. Rear connecting rod, 1-2-4. Rear wheel, 1-2-5. Intermediate connecting rod, 1-2-6. Front rack and pinion structure, 1-2-7. Front connecting rod, 1-2-8. Rear sleeve connecting rod, 1-2-9. Front sleeve connecting rod;

[0036] 2. Ultraviolet disinfection device, 2-1. Ultraviolet lamp extension mechanism, 2-1-1. Extension motor, 2-1-2. Connecting rod A, 2-1-3. Connecting rod A, 2-1-4. Connecting rod B, 2-1-5. Ultraviolet lamp tube, 2-1-6. Frame;

[0037] 2-2. UV door switch mechanism, 2-2-1. Switch motor, 2-2-2. Gear A, 2-2-3. Rack A, 2-2-4. UV door, 2-2-5. Track;

[0038] 3. Liquid medicine disinfection device, 3-1. Liquid medicine supply mechanism, 3-1-1. Supply motor, 3-1-2. Screw, 3-1-3. Threaded block, 3-1-4. Connecting rod B, 3-1-5. Base, 3-1-6. Piston rod, 3-1-7. Liquid medicine cylinder;

[0039] 3-2. Liquid spraying mechanism, 3-2-1. Lifting motor, 3-2-2. Lifting housing, 3-2-3. Worm gear mechanism, 3-2-4. Lead screw, 3-2-5. Guide rail, 3-2-6. Lifting bracket, 3-2-7. Spray head bracket, 3-2-8. Spray head, 3-2-9. Rotating motor, 3-2-10. Gear B, 3-2-11. Rack B, 3-2-12. Rack track, 3-2-13. Rotating clamp;

[0040] 3-3. Connecting pipe, 3-4. Liquid outlet, 3-5. Induction solenoid valve;

[0041] 4. Remote monitoring device;

[0042] 5. Carriage;

[0043] 6. Sensor. DETAILED DESCRIPTION

[0044] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] Example 1

[0046] The patrol disinfection robot of the present invention is as follows: Figure 1 As shown, it is mainly composed of a traveling device 1, an ultraviolet disinfection device 2, a liquid disinfection device 3, a remote monitoring device 4 and a carriage 5.

[0047] like Figure 2 As shown, the traveling device 1, the ultraviolet disinfection device 2, the liquid disinfection device 3, and the remote monitoring device 4 are all fixed to the carriage 5 by bolt connections, the traveling device 1 is arranged at the bottom of the carriage 5, the ultraviolet disinfection device 2 is arranged on both sides of the front of the carriage 5, the liquid disinfection device 3 is arranged at the rear of the carriage 5, and the remote monitoring device 4 (mainly including two 360° cameras) is arranged on the top of the carriage 5, and eight sets of sensors 6 are arranged on the periphery of the carriage 5 (one set of sensors 6 includes an infrared sensor for detecting pedestrians and a laser ranging sensor for detecting obstacles), including one set of sensors 6 arranged at the front and rear of the carriage 5, and three sets of sensors 6 arranged equidistantly on the left and right, so as to detect pedestrians and obstacles in the surrounding environment in real time.

[0048] Example 2

[0049] Figure 3 Schematic diagram of the structure of the traveling device 1. The traveling device 1 is mainly composed of a driving mechanism 1-1 and a steering mechanism 1-2, which realize the forward, backward and steering movement of the robot.

[0050] The driving mechanism 1-1 adopts dual front wheel drive, and two driving motors 1-1-1 are respectively connected to the two front wheels 1-1-2, and the front wheels 1-1-2 are driven by the driving motors 1-1-1 to rotate to realize the forward and backward movement of the robot. The steering mechanism 1-2 adopts a gear rack steering method, and the main shaft of the steering motor 1-2-1 is coaxially connected to the gear of the rear gear rack structure 1-2-2, and the gear surface of the rear gear rack structure 1-2-2 is respectively hinged to one end of the two intermediate connecting rods 1-2-5 (the gear in the rear gear rack structure 1-2-2 is meshed with the rack), and the other ends of the two intermediate connecting rods 1-2-5 are respectively hinged to the gear surface of the front gear rack structure 1-2-6 (the gear in the front gear rack structure 1-2-6 is meshed with the rack), and the two intermediate connecting rods 1-2-5 are arranged in parallel. The two ends of the rack of the rear gear rack structure 1-2-2 are respectively hinged to one end of the two rear links 1-2-3, the other ends of the two rear links 1-2-3 are hinged to one end of the two rear sleeve links 1-2-8, the other ends of the two rear sleeve links 1-2-8 are designed as a sleeve structure and are sleeved with the central axes of the two rear wheels 1-2-4, the two ends of the rack of the front gear rack structure 1-2-6 are respectively hinged to one end of the two front links 1-2-7, the other ends of the two front links 1-2-7 are hinged to one end of the two front sleeve links 1-2-9, the other ends of the two front sleeve links 1-2-9 are designed as a sleeve structure and are sleeved with the central axes of the two front wheels 1-1-2.

[0051] When working, the steering motor 1-2-1 drives the rear gear rack structure 1-2-2 to work, and drives the two rear wheels 1-2-4 to rotate through the rear connecting rod 1-2-3 and the rear sleeve connecting rod 1-2-8. At the same time, the middle connecting rod 1-2-5 hinged on the gear of the rear gear rack structure 1-2-2 will drive the front gear rack structure 1-2-6 to work, and drive the two front wheels 1-1-2 to rotate through the front connecting rod 1-2-7 and the front sleeve connecting rod 1-2-9, thereby realizing the steering of the robot.

[0052] Example 3

[0053] Figure 4 It is a structural schematic diagram of the ultraviolet lamp extension mechanism in the ultraviolet disinfection device of the patrol disinfection robot of the present invention, and the ultraviolet door switch mechanism is in a closed state; Figure 5The schematic diagram of the structure of the patrol disinfection robot ultraviolet disinfection device of the present invention is that the ultraviolet door switch mechanism is open and the ultraviolet lamp extension mechanism is extended; the ultraviolet disinfection device 2 is symmetrically arranged on both sides of the carriage 5, and each side is composed of two sets of ultraviolet lamp extension mechanisms 2-1 and one set of ultraviolet door switch mechanism 2-2. When the ultraviolet disinfection device 2 is not working, such as Figure 4 As shown, the ultraviolet lamp extension mechanism 2-1 is retracted, and the ultraviolet door switch mechanism 2-2 is closed. When the ultraviolet disinfection device 2 is working, as shown in FIG. Figure 5 As shown, the ultraviolet door switch mechanism 2-2 is opened and the ultraviolet lamp extension mechanism 2-1 is extended.

[0054] The ultraviolet lamp extension mechanism 2-1 realizes the extension and retraction of the ultraviolet lamp tube through the principle of a hinged four-bar mechanism. Figure 6 and Figure 7 The schematic diagram of the structure of a set of ultraviolet lamp extension mechanism 2-1 in the ultraviolet disinfection device 2. The extension motor 2-1-1 is fixedly connected to the frame 2-1-6 by bolt connection, the frame 2-1-6 is fixedly connected to the carriage 5, the connecting rod A2-1-2, the connecting rod A2-1-3, the connecting rod B2-1-4, and the frame 2-1-6 are connected by hinges to form a hinged four-bar mechanism, and two ultraviolet lamp tubes 2-1-5 are fixedly connected to the connecting rod B2-1-4. The ultraviolet lamp extension mechanism 2-1 drives the connecting rod A2-1-2 to rotate through the extension motor 2-1-1, and drives the two ultraviolet lamp tubes 2-1-5 fixed on the connecting rod B2-1-4 to rotate through the connecting rod A2-1-3, so as to realize the extension and retraction of the ultraviolet lamp tube 2-1-5 and the regulation of the extension angle within a certain range. When the ultraviolet disinfection device 2 is working, the ultraviolet lamp tube 2-1-5 is extended and the extension angle is adjusted according to the use requirements. This design can expand the disinfection range of the ultraviolet lamp tube and adapt to the working requirements of different situations in public places.

[0055] The UV door switch mechanism 2-2 adopts a gear rack structure to realize the opening and closing of the UV door. Figure 8 and Fig. 9It is a structural schematic diagram of a set of ultraviolet door switch mechanisms 2-2 in the ultraviolet disinfection device 2. The switch motor 2-2-1 is connected to the gear A2-2-2, and the gear A2-2-2 is meshed with the upper and lower racks A2-2-3. The two racks A2-2-3 are respectively fixed to the two ultraviolet doors 2-2-4 by bolts. When working, the switch motor 2-2-1 drives the gear A2-2-2 to rotate, driving the two racks A2-2-3 to move to both sides or to the middle at the same time, thereby driving the two ultraviolet doors 2-2-4 fixed to the two racks A2-2-3 to slide along the track 2-2-5 on the carriage 5 with the racks A2-2-3, so as to realize the opening and closing of the ultraviolet door 2-2-4. When the ultraviolet disinfection device 2 is working, the ultraviolet door 2-2-4 is opened for ultraviolet disinfection. When the ultraviolet disinfection device 2 finishes working, the ultraviolet door 2-2-4 is closed. This design can reduce the difficulty of cleaning and reduced disinfection effect caused by the adsorption of dust on the surface of the ultraviolet lamp, and can avoid the risk of burns caused by the high temperature of the ultraviolet lamp just after working.

[0056] Fig.10 Schematic diagram of the structure of the liquid medicine disinfection device 3. The liquid medicine disinfection device 3 is arranged at the rear of the carriage 5, and is mainly composed of a liquid medicine supply mechanism 3-1, a liquid medicine spraying mechanism 3-2 and a connecting pipe 3-3. The disinfectant liquid in the liquid medicine cylinder 3-1-7 of the liquid medicine supply mechanism 3-1 is connected to the two nozzles 3-2-8 of the liquid medicine spraying mechanism 3-2 through two liquid outlets 3-4 at the bottom through two sets of connecting pipes 3-3 and two induction solenoid valves 3-5 to achieve liquid medicine spraying disinfection.

[0057] Fig.11 and Fig.12 It is a structural schematic diagram of the liquid medicine supply mechanism 3-1 in the liquid medicine disinfection device 3. The liquid medicine supply mechanism 3-1 is designed with reference to the hydraulic cylinder structure. The supply motor 3-1-1 drives the screw 3-1-2 with double rotation directions to rotate (the screw 3-1-2 is divided into two halves from the middle, and the rotation directions of the two parts are opposite), and the threaded blocks 3-1-3 on both sides of the screw 3-1-2 are driven to move toward the middle at the same time. The two threaded blocks 3-1-3 are respectively hinged to one end of the two connecting rods B3-1-4, and the other ends of the two connecting rods B3-1-4 are hinged to the base 3-1-5, and the piston rod 3-1-6 is fixed under the base 3-1-5. Therefore, the simultaneous movement of the two threaded blocks 3-1-3 toward the middle will drive the piston rod 3-1-6 to move downward, thereby pushing the disinfectant liquid in the liquid medicine cylinder 3-1-7 from the liquid outlet 3-4 through the connecting pipe 3-3 into the liquid medicine spraying mechanism 3-2.

[0058] Fig.13 and Fig.14It is a structural schematic diagram of the liquid medicine spraying mechanism 3-2 in the liquid medicine disinfection device 3. The liquid medicine spraying mechanism 3-2 includes a lower lifting part and an upper nozzle rotating part, which together adjust the spraying range of the nozzle 3-2-8. The main shaft of the lifting motor 3-2-1 is coaxially connected to the worm of the worm gear mechanism 3-2-3. The center of the worm gear of the worm gear mechanism 3-2-3 is provided with a threaded hole, which forms a spiral pair with the lead screw 3-2-4. The worm gear mechanism 3-2-3 is placed in a lifting shell 3-2-2 as a whole. The lifting shell 3-2-2 is fixed on the lifting bracket 3-2-6, and the lifting bracket 3-2-6 is fixed on the carriage 5. The upper end of the screw 3-2-4 is fixedly connected to the nozzle bracket 3-2-7, and the nozzle bracket 3-27 is fixedly connected to a rotating motor 3-2-9. The main shaft of the rotating motor 3-2-9 is connected to the gear B3-2-10 of the gear rack structure. The gear B3-2-10 is meshed with the middle part of the rack B3-2-11, and the two ends of the rack B3-2-11 are meshed with two rotating clamps 3-2-13 with gear teeth. Two nozzles 3-2-8 are respectively fixed to the two rotating clamps 3-2-13. When working, the lifting motor 3-2-1 drives the worm gear mechanism 3-2-3 placed in the lifting housing 3-2-2 to work, driving the lead screw 3-2-4 matched with the inner hole of the worm gear in the worm gear mechanism 3-2-3 through the spiral pair to rotate, and the lead screw 3-2-4 rotates to drive the nozzle bracket 3-2-7 fixed to the upper end of the lead screw 3-2-4 to move up and down along the guide rail 3-2-5, thereby driving the two nozzles 3-2-8 on the nozzle bracket 3-2-7 to rise and fall, forming the lifting part of the liquid spraying mechanism 3-2. When the rotating motor 3-2-9 works, it drives the gear B3-2-10 in the gear rack structure to rotate forward and reverse, driving the rack B3-2-11 to move left and right along the rack track 3-2-12, thereby driving the two rotating clamps 3-2-13 to rotate left and right, realizing the left and right rotation spraying of the two nozzles 3-2-8, forming the nozzle rotating part of the liquid spraying mechanism 3-2. The liquid medicine spraying mechanism 3-2 can continuously change the vertical height and spraying angle of the nozzle by setting a lifting part and a nozzle rotating part, thereby expanding the liquid medicine spraying range and improving the disinfection efficiency.

[0059] The working process of this patrol disinfection robot is divided into two working modes: daytime and nighttime. During the daytime, due to the large flow of people in the workplace, the ultraviolet disinfection is turned off, and the liquid disinfection and security patrol functions are turned on. During the robot's movement, the supply motor 3-1-1 of the liquid supply mechanism 3-1 is turned on through the single-chip control system, driving the piston rod 3-1-6 to move downward, pushing the disinfectant liquid in the liquid cylinder 3-1-7 through the connecting pipe 3-3 into the two nozzles 3-2-8 of the liquid spraying mechanism 3-2, realizing liquid spraying disinfection. At the same time, the lifting motor 3-2-1 and the rotating motor 3-2-9 of the liquid spraying mechanism 3-3 are controlled by the single-chip control system to continuously adjust the vertical height and spraying angle of the nozzle 3-2-8 to expand the liquid spraying range. At the same time, during the operation of the liquid disinfection device 3, the infrared sensors arranged around the carriage 5 detect the surrounding environment at any time. When it senses that a pedestrian is about to enter the liquid spraying area, the induction solenoid valve 3-5 connecting the liquid supply mechanism 3-1 and the liquid spraying mechanism 3-2 is immediately closed, and the disinfection liquid is stopped from being delivered to the nozzle 3-2-8. The nozzle 3-2-8 stops spraying until the pedestrian leaves the spraying range. The induction solenoid valve 3-5 opens and the nozzle 3-2-8 continues to spray the liquid. In addition, during the movement of the robot, the two 360° cameras of the remote monitoring device 4 provide all-round real-time video monitoring. Combined with the single-chip control system based on the cloud platform, the staff can remotely monitor and control the operation status and working conditions of the robot in real time.

[0060] When working at night, since public places are closed and basically unmanned, ultraviolet disinfection is turned on on the basis of turning on the liquid disinfection and security patrol functions. During the movement of the robot, the single-chip control system controls the switch motor 2-2-1 of the ultraviolet door switch mechanism 2-2 to open the ultraviolet door 2-2-4, and controls the extension motor 2-1-1 of the ultraviolet lamp extension mechanism 2-1 to extend the ultraviolet lamp tube 2-1-5 for ultraviolet disinfection. At the same time, during the operation of the ultraviolet disinfection device 2, the laser ranging sensors arranged around the carriage 5 detect obstacles in the surrounding environment at any time. When it is detected that there are no obstacles within the deployment range of the ultraviolet lamp tube, the ultraviolet lamp tube 2-1-5 remains in a fully extended state (such as Figure 6 ), when it is detected that the robot needs to enter a relatively narrow area or senses that an obstacle may enter the deployment range of the ultraviolet lamp tube, the control system drives the extension motor 2-1-1 to reduce the extension angle of the ultraviolet lamp tube 2-1-5, so that it can avoid obstacles, avoid collisions that cause losses and injuries, and increase the service life of the ultraviolet lamp tube.

Claims

1. Patrol disinfection robot, characterized by: The carriage (5) comprises a traveling device (1) provided at the bottom of the carriage (5), ultraviolet disinfection devices (2) provided at opposite sides of the front end of the carriage (5) in the traveling direction, and a liquid disinfection device (3) provided inside the carriage (5).

2. The patrol disinfection robot according to claim 1, characterized in that: The traveling device (1) comprises a driving mechanism (1-1) and a steering mechanism (1-2); the driving mechanism (1-1) is arranged at the front end of the bottom of the carriage (5); and the steering mechanism (1-2) is arranged at the rear end of the bottom of the carriage (5).

3. The patrol disinfection robot according to claim 2, characterized in that: The driving mechanism (1-1) adopts dual front wheel drive and comprises two driving motors (1-1-1), and each of the two driving motors (1-1-1) is connected to a front wheel (1-1-2).

4. The patrol disinfection robot according to claim 3, characterized in that: The steering mechanism (1-2) comprises a steering motor (1-2-1), the main shaft of the steering motor (1-2-1) is coaxially connected to the gear in the rear gear rack structure (1-2-2), the gear in the rear gear rack structure (1-2-2) is hinged to the gear of the front gear rack structure (1-2-6) through an intermediate connecting rod (1-2-5), and the two ends of the rack in the rear gear rack structure (1-2-2) are respectively connected through two rear connecting rods (1-2-3) and two rear sleeve connecting rods (1- The two ends of the rack of the front gear rack structure (1-2-6) are respectively connected to the two front wheels (1-1-2) through two front connecting rods (1-2-7) and two front sleeve connecting rods (1-2-9), and the rack of the front gear rack structure (1-2-6) is meshed with the gear of the front gear rack structure (1-2-6).

5. The patrol disinfection robot according to claim 4, characterized in that: The ultraviolet disinfection device (2) comprises an ultraviolet door switch mechanism (2-2) and an ultraviolet lamp extension mechanism (2-1) which cooperate with each other.

6. The patrol disinfection robot according to claim 5, characterized in that: The ultraviolet lamp extension mechanism (2-1) comprises a frame (2-1-6), the frame (2-1-6) is fixed on the carriage (5), an extension motor (2-1-1) is installed on the frame (2-1-6), the main shaft of the extension motor (2-1-1) is connected to a connecting rod A (2-1-2), the connecting rod A (2-1-3), the connecting rod B (2-1-4), and the frame (2-1-6) are hinged in sequence to form a four-bar mechanism, and an ultraviolet lamp tube (2-1-5) is installed on the connecting rod B (2-1-4).

7. The patrol disinfection robot according to claim 6, characterized in that: The ultraviolet door switch mechanism (2-2) comprises two ultraviolet doors (2-2-4), the upper ends of the two ultraviolet doors (2-2-4) are respectively connected to two racks A (2-2-3) arranged in parallel up and down, the two racks A (2-2-3) arranged up and down are simultaneously meshed with a gear A (2-2-2), and the gear A (2-2-2) is connected to the main shaft of the switch motor (2-2-1).

8. The patrol disinfection robot according to claim 7, characterized in that: The liquid medicine disinfection device (3) comprises a liquid medicine supply mechanism (3-1), and the liquid medicine supply mechanism (3-1) is connected to a liquid medicine spraying mechanism (3-2) via a connecting pipe (3-3).

9. The patrol disinfection robot according to claim 8, characterized in that: The liquid medicine supply mechanism (3-1) comprises a supply motor (3-1-1), the supply motor (3-1-1) is connected to one end of a screw rod (3-1-2) having a double rotation direction, two threaded blocks (3-1-3) are connected to the screw rod (3-1-2), the two threaded blocks (3-1-3) are respectively hinged to one end of two connecting rods B (3-1-4), the other ends of the two connecting rods B (3-1-4) are hinged to a base (3-1-5), a piston rod (3-1-6) is fixedly connected to the bottom of the base (3-1-5), and the piston rod (3-1-6) extends into the interior of the liquid medicine cylinder (3-1-7).

10. The patrol disinfection robot according to claim 9, characterized in that: The liquid medicine spraying mechanism (3-2) comprises a lifting motor (3-2-1), the main shaft of the lifting motor (3-2-1) is connected to the worm of the worm gear mechanism (3-2-3), the worm wheel of the worm gear mechanism (3-2-3) is provided with a threaded hole at its center, and forms a spiral pair with a lead screw (3-2-4), the upper end of the lead screw (3-2-4) is fixedly connected to a nozzle bracket (3-2-7), the nozzle bracket (3-27) is fixedly connected to a rotating motor (3-2-9), the main shaft of the rotating motor (3-2-9) is connected to a gear B (3-2-10), the gear B (3-2-10) is meshed with a rack B (3-2-11), the two ends of the rack B (3-2-11) are respectively meshed with two rotating clamps (3-2-13) with gear teeth, and two nozzles (3-2-8) are respectively fixedly connected to the two rotating clamps (3-2-13).

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