Disinfecting and killing robot and disinfecting and killing method

Abstract

The invention provides a disinfecting and killing robot and a disinfecting and killing method. The disinfecting and killing robot comprises a body and an unmanned aerial vehicle. An accommodating cavity for accommodating disinfection liquid is formed in the body; the unmanned aerial vehicle is provided with a spraying device, and under the condition that the unmanned aerial vehicle is connected with the body, the spraying device communicates with the containing cavity; wherein the unmanned aerial vehicle has a first state and a second state, and the unmanned aerial vehicle in the first state and the second state is symmetrically arranged relative to the horizontal plane; in the first state, a nozzle of the spraying device faces downwards, and the unmanned aerial vehicle can be separated from the body for aerial disinfection, and in the second state, the nozzle of the spraying device faces upwards, and the unmanned aerial vehicle and the body are connected into a whole for ground disinfection. The unmanned aerial vehicle provided by the embodiment of the invention can be separated from the body for aerial disinfection and also can be connected with the body into a whole for ground disinfection, so that the compatibility of the disinfection robot to the environment is improved; and the body can also share a spraying device on the unmanned aerial vehicle to disinfect the ground, so that the production cost of the disinfection robot is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of disinfection and sterilization, and more specifically, relates to a disinfection robot and a disinfection method. Background Art

[0002] Intelligent robots can be applied in the field of disinfection and sterilization. Most existing robots use roller chassis to drive the robots to walk. Due to structural limitations, the robots have high requirements for environmental flatness and slope, and poor compatibility with the environment. In addition, existing robots improve the stability of robot operation by lowering the height of the robots, but due to the limitations of height size, the robots cannot meet the disinfection needs of larger spaces. Summary of the invention

[0003] In view of this, the present invention provides a disinfection robot and a disinfection method to solve the technical problem of how to reduce the cost of the disinfection robot while improving the compatibility of the disinfection robot with the environment.

[0004] The technical solution of the present invention is achieved in this way:

[0005] An embodiment of the present invention provides a disinfection robot, comprising: a main body, having a holding cavity for holding a disinfectant liquid; a drone, provided with a spray device, wherein when the drone is connected to the main body, the spray device is connected to the holding cavity; wherein the drone has a first state and a second state, and the drones in the first state and the second state are symmetrically arranged relative to a horizontal plane; in the first state, the nozzle of the spray device is downward and the drone can be separated from the main body for aerial disinfection, and in the second state, the nozzle of the spray device is upward and the drone is connected to the main body as a whole for ground disinfection.

[0006] In some embodiments, the disinfection robot also includes: a tray assembly, rotatably connected to the top of the body, the tray assembly can be connected to the drone to flip with the drone between the first state and the second state, and the tray assembly can also be disconnected from the drone in the first state of the drone.

[0007] In some embodiments, the drone includes: a frame; a water tank connected to the receiving cavity of the body to store disinfectant liquid, the water tank at least partially protruding from the frame; a connecting arm extending in the space enclosed by the frame and connecting the water tank and the frame; wherein the spray device is arranged on the frame and connected to the water tank, and the nozzle is arranged obliquely outward.

[0008] In some embodiments, the tray assembly includes: a tray body, rotatably connected to the body; a groove on one side of the tray body, the groove being used to accommodate the water tank; a tray bottom cover, connected to the side of the tray body opposite to the opening of the groove; a moving assembly, partially located between the tray bottom cover and the body, the moving assembly being movable relative to the tray body to connect and disconnect the tray body from the water tank.

[0009] In some embodiments, the motion component includes: a driving member; a rotating shaft, one end of which is connected to the bottom cover of the tray and extends toward the tray body, and is used to be driven to rotate by the driving member; a rotating pin block, fixed at the other end of the rotating shaft to rotate around the rotating shaft; wherein, when the water tank of the drone is located in the groove, the rotating pin block extends toward the water tank and can be rotatably connected and disconnected from the water tank.

[0010] In some embodiments, a first water connection joint is provided at one end of the water tank away from the frame, a second water connection joint which can be connected to the first water connection joint is provided in the groove of the tray body, and the second water connection joint is connected to a water pipe connected to the accommodating cavity.

[0011] In some embodiments, the water pipe is arranged between the bottom cover of the tray and the tray body, and the driving member includes: a paddle, which is arranged in the water pipe and fixed to the water pipe to drive the water pipe to rotate; and a transmission assembly, which is connected between the water pipe and the rotating shaft to transmit and block the transmission.

[0012] In some embodiments, the water tank and the groove are at least partially hemispherical, and the tray body includes: a tray plate, which is provided with a first through hole for the water tank to pass through and a plurality of second through holes arranged at intervals around the first through hole; a tray hemisphere, which surrounds the first through hole and is fixedly connected to the tray plate to accommodate the water tank; wherein the tray bottom cover is mounted outside the tray hemisphere.

[0013] In some embodiments, the tray assembly further includes: a plurality of flexible baffles disposed on the same side as the tray bottom cover, each of the flexible baffles being connected to the tray body at a position close to a corresponding one of the second through holes so as to cover the second through hole when the flexible baffle is located above the tray body.

[0014] In some embodiments, the drone further includes: a second motor for flipping the drone and the tray assembly; and a first magnetic pole disposed outside the frame.

[0015] In some embodiments, the main body includes: a box body having the accommodating cavity inside; a base connected to the top of the box body, and the top of the base is open to form a cavity; wherein the tray assembly is arranged on the top of the base and is rotatably connected to the base.

[0016] In some embodiments, a second magnetic pole is disposed on the inner wall surface of the top of the base for adsorbing with the first magnetic pole to maintain the drone level.

[0017] In some embodiments, the inner wall surface of the base is also protruding with an axis head to engage with a slot provided on the outer side of the frame of the drone; a first electrode is provided at one end of the axis head, and a second electrode is provided at one end of the slot, and the first electrode and the second electrode can be connected for charging.

[0018] An embodiment of the present invention also provides a disinfection method, which is applied to a disinfection robot, wherein the disinfection robot includes a main body and a drone, and the drone can be connected to and disconnected from the main body; the disinfection method includes: the drone performs aerial disinfection in a first state; the drone falls back to the main body and connects to the main body; the drone flips to a second state, and the drones in the first state and the second state are symmetrically arranged relative to the horizontal plane; the drone is connected to the main body as a whole in the second state for ground disinfection; the disinfectant nozzle of the drone is downward; in the second state, the disinfectant nozzle of the drone is upward; the disinfection method also includes: the drone flips to the first state in the second state; the drone disconnects from the main body in the first state to perform aerial disinfection.

[0019] The embodiment of the present invention provides a disinfection robot, including a main body and a drone. The main body has a containing cavity for containing disinfectant liquid; the drone is provided with a spray device, and when the drone is connected to the main body, the spray device is connected to the containing cavity; wherein the drone has a first state and a second state, and the drones in the first state and the second state are symmetrically arranged relative to the horizontal plane; in the first state, the nozzle of the spray device is downward and the drone can be separated from the main body for aerial disinfection, and in the second state, the nozzle of the spray device is upward and the drone is connected to the main body as a whole for ground disinfection. The drone of the embodiment of the present invention has a first state and a second state. In the first state, the nozzle of the spray device is downward and the drone can be separated from the main body for aerial disinfection. The separate spraying work of the drone can adapt to environments with low ground flatness, large slopes or high spraying space. Its disinfection operation has high environmental compatibility and strong flexibility. In the second state, the nozzle in the drone's spray device is facing upward and the drone is connected to the main body for ground disinfection. The main body shares the spray device in the drone, and there is no need to set up a separate spray device in the main body. In the second state, the main body can carry the drone for stable movement, and the main body can also share the spray device on the drone to achieve ground disinfection, reducing the production cost of the disinfection robot. In the first state, there are no idle spray devices on the main body, which improves the utilization rate of the spray device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the disinfecting robot (drone separated from the main body) according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the disinfecting robot (the drone and the main body are integrated and before turning over) according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the disinfecting robot (the drone is flipped relative to the main body) according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the disinfecting robot (the drone and the main body are integrated and turned over) according to an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of the structure of the disinfecting robot (the drone is integrated with the main body and after being turned over, it includes a plurality of flexible baffles) according to an embodiment of the present invention;

[0025] Figure 6 is a schematic diagram of a three-dimensional structure of a body in a first viewing angle according to an embodiment of the present invention;

[0026] Figure 7is a schematic diagram of a three-dimensional structure of a body from a second viewing angle according to an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of a three-dimensional structure of a drone from a first perspective according to an embodiment of the present invention;

[0028] Fig. 9 A schematic diagram of the three-dimensional structure of a drone from a second viewing angle according to an embodiment of the present invention;

[0029] Fig.10 It is a schematic diagram of the three-dimensional structure of a tray assembly according to an embodiment of the present invention;

[0030] Fig.11 is a schematic diagram of the three-dimensional structure of the tray body of an embodiment of the present invention from a first viewing angle;

[0031] Fig.12 A schematic diagram of the three-dimensional structure of the tray body according to the embodiment of the present invention from a second viewing angle;

[0032] Fig.13 It is a schematic diagram of the three-dimensional structure of the bottom cover of the tray according to an embodiment of the present invention;

[0033] Fig.14 is a cross-sectional view of a tray assembly according to an embodiment of the present invention;

[0034] Fig.15 A cross-sectional view of a driving member of the tray assembly before the body is turned over according to an embodiment of the present invention;

[0035] Fig.16 A cross-sectional view of the driving member of the tray assembly according to the embodiment of the present invention after the body is turned over;

[0036] Fig.17 It is a schematic diagram of the three-dimensional structure of the rubber stopper according to an embodiment of the present invention;

[0037] Fig.18 A front view of a rubber stopper according to an embodiment of the present invention;

[0038] Fig.19 This is a front view of the rubber stopper according to the embodiment of the present invention when the edge thereof is tilted and falls without being supported by the tray body.

[0039] Description of reference numerals:

[0040] 10. Disinfection robot; 1. Main body; 11. Base; 12. Box; 15. Cavity; 16. Second magnetic pole; 17. Axle head; 18. First electrode; 211. Camera; 20. Drone; 21. Frame; 22. Connecting arm; 23. Second motor; 24. Spraying device; 25. Slot; 26. Second electrode; 27. Water tank; 28. Blind hole; 29. ​​First water connection; 210. First magnetic pole; 30. Tray assembly; 31. Tray body; 311. Tray plate; 312. Tray hemisphere; 313. The first through hole; 32, the second through hole; 34, the connecting ear; 37, the through hole; 310, the bottom cover of the tray; 314, the second water connection joint; 315, the groove; 4, the driving member; 41, the rack; 42, the gear; 43, the rotating shaft; 44, the rotating pin block; 50, the moving component; 51, the transmission component; 510, the first flange; 511, the second flange; 52, the water pipe; 53, the paddle; 54, the guide sleeve; 55, the outer gear ring; 56, the first double-sided gear ring; 57, the second double-sided gear ring; 61, the flexible baffle; 62, the fixing member. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] The various specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, various possible combinations of the specific technical features in the present invention will not be described separately.

[0043] In the following description, the terms "first\second\..." are only used to distinguish different objects, and do not mean that the objects have the same or related points. It should be understood that the directions "above", "below", "outside" and "inside" are all directions in normal use, and the directions "left" and "right" refer to the left and right directions shown in the specific corresponding schematic diagrams, which may be the left and right directions in normal use or not.

[0044] It should be noted that the terms "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0045] For indoor disinfection work, existing ground walking robots can only perform single disinfection on the ground, and cannot quickly reach uneven ground such as high places, high altitudes or stairwells, or simply combine ground disinfection and drone aerial disinfection equipment so that the two equipment work separately, thereby realizing two modes of ground disinfection and aerial disinfection; however, in actual use, most areas and times require ground disinfection, because there are more flat grounds and more people on flat grounds, so most of the time and areas do not require drone disinfection components to work, resulting in a waste of drone disinfection components. The embodiment of the present invention combines the ground disinfection robot and drone disinfection through the innovation of hardware structure. The same disinfection spraying system can meet the needs of ground disinfection and aerial disinfection at the same time, thereby achieving disinfection of large three-dimensional spaces, complex spaces and various indoor road conditions, and improving the compatibility of the disinfection robot with the environment.

[0046] like Figure 1-Figure 5 As shown, an embodiment of the present invention provides a disinfection robot 10, which includes a body 1 and a drone 20. The body 1 has a receiving chamber for receiving disinfectant liquid; the drone 20 is provided with a spray device 24. When the drone 20 is connected to the body 1, the spray device 24 is connected to the receiving chamber, and the disinfectant liquid in the receiving chamber can enter the spray device 24. The spray device 24 sprays the disinfectant liquid into the environment to disinfect and sterilize; the drone 20 has a first state and a second state. Figure 1 and Figure 2 The first state of the drone 20 is shown. Figure 4 and Figure 5 The second state of the drone 20 is shown. The drone 20 in the first state and the second state is symmetrically arranged relative to the horizontal plane. That is, during the switching process between the first state and the second state, the drone 20 flips relative to the horizontal plane. In the first state, the nozzle of the spray device 24 is downward and the drone 20 can be separated from the body 1 for aerial disinfection. Downward refers to the downward direction in the absolute coordinate system. The direction of the disinfectant liquid sprayed from the nozzle arranged in this direction is roughly close to the direction of gravity, rather than away from the direction of gravity. Figure 2 View Figure 1In the first state, the drone 20 is separated from the main body 1 and executes the flying out disinfection mode. At this time, the drone 20 can reach the stairwell, high places or other spaces that are inconvenient for the main body of the disinfection robot to reach; the drone 20 has its own liquid supply device, for example, Fig. 9 The water tank 27 shown is arranged on the drone 20 and is used to supply liquid to the spray device 24. The spray device 24 faces outward and the nozzle is downward, so that the space below the drone 20 can be disinfected and sterilized. The position of the drone toward the center along the extension direction of the connecting arm 22 is the inner side of the drone, and the position of the drone away from the center along the extension direction of the connecting arm 22 is the outer side of the drone. In the second state, the nozzle of the spray device 24 faces upward and the drone 20 is connected to the body 1 as a whole to perform ground disinfection. Figure 2 Schematic diagram of the drone 20 landing on the main body 1, Figure 3 Schematic diagram of the flipping process of the drone 20. After the drone 20 flies out for disinfection, it falls back to the main body 1 and then flips over, so that the disinfection method changes from the disinfection spray device 24 facing outward and the nozzle facing downward when the drone 20 flies out, to the spray device 24 facing outward and the nozzle facing upward when disinfecting on the ground. The nozzle facing upward means that the initial direction of the liquid sprayed from the nozzle is roughly opposite to the direction of gravity, which is conducive to reducing the interference of the main body on the liquid sprayed from the nozzle when the drone and the main body are assembled. Therefore, most of the space range centered on the main body 1 can be disinfected and sterilized; in this state, the main body 1 shares the spray device 24 of the drone 20 to achieve ground disinfection. In most application scenarios, the main body 1 and the drone 20 share the spray device 24 to achieve disinfection and sterilization needs. The working state of the drone 20 independent of the main body 1 can be used for disinfection needs in special environments.

[0047] The drone of the embodiment of the present invention has a first state and a second state. In the first state, the nozzle of the spray device is downward and the drone can be separated from the main body for aerial disinfection. The independent spraying work of the drone can adapt to the environment with low ground flatness, large slope or high spraying space. The environmental compatibility of its disinfection operation is high and the flexibility is also strong. In the second state, the nozzle in the spray device of the drone is upward and the drone and the main body are connected as one to perform ground disinfection. The main body shares the spray device in the drone without the need to set up a separate spray device in the main body. In the second state, the main body can carry the drone for stable movement, and the main body can also share the spray device on the drone to achieve ground disinfection, reducing the production cost of the disinfection robot. In the first state, there is no idle spray device on the main body, which improves the utilization rate of the spray device.

[0048] In some embodiments, Figure 1-Figure 5As shown, the disinfection robot 10 further includes a tray assembly 30, which is rotatably connected to the top of the body 1, and the tray assembly 30 is connected to the drone 20 to flip between the first state and the second state with the drone 20. Figure 3 The process of the drone 20 flipping between the first state and the second state is illustrated, and the tray assembly 30 can also be disconnected from the drone 20 in the first state, that is, Figure 1 The drone 20 shown is separated from the main body 1 and executes a flying-out disinfection mode to perform aerial disinfection.

[0049] The disinfection robot of the embodiment of the present invention also includes a tray assembly, which can be connected to the drone to flip between the first state and the second state with the drone, and the tray assembly can also be disconnected from the drone in the first state of the drone, by flipping the drone between the first state and the second state, so that in the first state, that is, the flying disinfection mode is executed, the spray device faces outward and the nozzle is downward, so that the space below the position of the drone can be disinfected and sterilized; in the second state, that is, the ground disinfection mode is executed, the nozzle of the spray device is upward and the drone is connected to the body as a whole to perform ground disinfection. By setting a flipping structure, in the process of switching the drone from the first state to the second state, the drone moves from the position separated from the body to the body, the drone cooperates with the tray assembly, and through the power of the drone itself or the switching of the power on the body, the tray assembly can drive the drone to flip, so that the nozzle on the drone flips from the downward position to the upward position. It is conducive to realizing the automatic switching of the working state of the disinfection robot.

[0050] Of course, in other embodiments, the flip structure may not be used. After the drone falls back to the main body, the nozzle on the drone rotates upward, and other structures of the drone do not need to be flipped, thereby achieving ground disinfection. In addition, when the drone performs ground disinfection, a separate shielding cover can be set up to provide waterproof shielding for the drone. The device of the embodiment of the present invention achieves automatic switching through mechanical structure linkage, and has higher reliability.

[0051] In some embodiments, Figure 5 and Fig. 9 As shown, in the first state, that is, when the drone 20 executes the flight-out disinfecting mode, the positioning module guides the disinfecting path, and a QR code can be pasted on the wall on the designated path, referring to Fig. 9 The second perspective stereogram of the drone 20, the camera 211 on the drone 20 collects environmental information in a diagonally downward direction, scans the QR code on the wall, identifies the disinfection path and destination according to the corresponding QR code, and uses the camera 211 on the drone to assist in positioning and navigation when flying out of the disinfection mode; in the second state, that is, when the drone 20 performs the ground disinfection mode, the drone 20 is flipped 180°, referring to Figure 5The schematic diagram of the drone 20 of the device flipped to the bottom, at this time, the camera 211 passes through the camera hole and tilts upward, collects environmental details in the tilted upward direction, and scans the QR code on the walking path of the disinfection robot, which plays the role of disinfection punching. The disinfection robot 10 uses the camera of the drone 20 to collect information and locate and navigate. The flip structure can realize the drone and the main body to share the spray device, and can also realize the drone and the main body to share the camera 211, which reduces the production cost of the disinfection robot. In the first state, there is no idle camera on the main body, which improves the utilization rate of the camera.

[0052] In some embodiments, Figure 8 and Fig. 9 As shown, the drone 20 includes a frame 21, a water tank 27 and a connecting arm 22. The water tank 27 can be connected to the receiving cavity of the body 1 to store disinfectant liquid. Specifically, after the drone 20 is connected to the body 1, the water tank 27 is connected to the receiving cavity of the body 1, and the disinfectant liquid in the receiving cavity of the body 1 can be transported to the water tank 27. The water tank 27 at least partially protrudes from the frame 21, and the part of the water tank 27 protruding from the frame 21 can be extended into the body 1 to be connected to the body 1 as a whole; the connecting arm 22 extends in the space surrounded by the frame 21 and connects the water tank 27 and the frame 21. Figure 8 and Fig. 9 The diagram shows a square frame 21, and four connecting arms 22 extend from the center to the surroundings of the space surrounded by the frame 21; wherein the spray device 24 is arranged on the frame 21 and is connected to the water tank 27, and the spray device can be connected to the water tank through the inside of the connecting arm, and the spray device can also be connected to the water tank through a separately arranged pipe, and the embodiment of the present invention does not limit the connection mode. The nozzle is arranged obliquely outward, and the spray device 24 is arranged on the side of the water tank protruding from the frame 21.

[0053] like Figure 1-Figure 5 As shown, the drone 20 has multiple states relative to the body 1. When performing aerial disinfection, that is, in the first state, the water tank 27 is located below the ground. When the drone 20 falls back from the air to the body 1, it has two states. In the second state, the drone 20 falls back from the air to the body 1 and flips over, and the water tank 27 is located above the ground; in the third state, the drone 20 falls back from the air to the body 1 and before flipping over, and the water tank 27 is still located below the ground. At this time, it can flip to the second state or leave the body 1 to the first state.

[0054] The drone of an embodiment of the present invention includes a frame, a water tank and a connecting arm. The water tank is used to communicate with the receiving cavity of the main body to store disinfectant liquid. The connecting arm extends in the space enclosed by the frame and connects the water tank and the frame. The spray device is arranged on the frame and connected with the water tank. Therefore, in the first state, that is, when the drone executes the flying disinfection mode, the disinfectant liquid stored in the water tank can be sprayed outward through the spray device for aerial disinfection; in the second state, that is, when the drone executes the ground disinfection mode, after the drone is connected to the main body, the water tank is connected with the receiving cavity of the main body, and the disinfectant liquid in the receiving cavity of the main body can be transported to the water tank.

[0055] In some embodiments, Fig.10 — Fig.14 As shown, the tray assembly 30 includes a tray body 31, a tray bottom cover 310 and a motion assembly 50. The tray body 31 is rotatably connected to the body 1, for example, the tray body 31 is rotatably connected to the body 1 through a connecting ear 34; one side of the tray body 31 has a groove 315, and the part of the water tank 27 protruding from the frame 21 can extend into the groove 315 from the opening end of the groove 315, and the groove 315 is used to accommodate the water tank 27; the tray bottom cover 310 is connected to the side of the tray body 31 opposite to the opening of the groove 315; the motion assembly 50 is partially located between the tray bottom cover 310 and the body 1, and the motion assembly 50 is connected to both the tray bottom cover 310 and the body 1, and the motion assembly 50 can be relative to the tray body 31 Movement, the movement of the motion component 50 can drive the tray body 31 to move, thereby realizing the change of the relative position between the tray and the water tank 27, and then realizing the connection and disconnection of the tray body 31 and the water tank 27. When the tray body 31 is connected to the water tank 27, the fixation of the tray assembly 30 and the drone 20 is further realized. At this time, the tray assembly 30 can flip between the first state and the second state with the drone 20; when the water tank 27 is disconnected from the tray body 31, the disconnection of the drone 20 and the tray assembly 30 can be further realized. At this time, the drone 20 can be separated from the body 1 to execute the fly-out disinfection mode and perform aerial disinfection.

[0056] The tray assembly of the embodiment of the present invention includes a tray body, a tray bottom cover and a motion assembly. The setting of the motion assembly enables the drone to connect and disconnect with the tray assembly, thereby ensuring that the drone and the tray assembly flip smoothly together, stably switching between ground disinfection and aerial disinfection modes, and ensuring the stability of the disinfection system operation.

[0057] In some embodiments, Fig.14As shown, the motion assembly 50 includes a driving member 4, a rotating shaft 43 and a rotating pin block 44. Among them, one end of the rotating shaft 43 is connected to the tray bottom cover 310 and extends to the tray body 31, and is used to be driven to rotate by the driving member 4; the rotating pin block 44 is fixed to the other end of the rotating shaft 43, that is, the end close to the tray body 31, so as to rotate around the rotating shaft 43; wherein, when the water tank 27 of the drone 20 is located in the groove 315 of the tray body 31, the rotating pin block 44 extends toward the water tank 27, and can be rotatably connected and disconnected from the water tank 27. It can be understood that when the rotating pin block 44 rotates into the water tank 27, the tray body 31 is connected to the water tank 27; when the rotating pin block 44 rotates out of the water tank 27, the tray body 31 is disconnected from the water tank 27.

[0058] The motion component of the embodiment of the present invention includes a driving member, a rotating shaft and a rotating pin block. The rotating shaft and the rotating pin block are provided to rotatably connect and disconnect the water tank. The structure is simple and the manufacturing cost is low. When the rotating pin block is connected to the water tank, the connection between the tray assembly and the water tank is more stable, thereby ensuring the stability of the connection between the drone and the tray assembly when the two are flipped.

[0059] In some embodiments, Fig.11 and Fig.12 As shown, the tray body 31 is provided with a through hole 37 extending in the circumferential direction, and the through hole 37 is provided in the groove 315; Fig. 9 As shown, a blind hole 28 extending in the circumferential direction is provided at a position adjacent to the groove 315 of the water tank 27 of the drone 20, circumferentially surrounding the center of the tray body 31 and the water tank 27. The rotating shaft 43 is located on the side of the through hole 37 away from the center of the tray body 31. The relative position of the blind hole 28 and the rotating shaft 43 on the water tank 27 corresponds to the same as that of the through hole 37 on the tray body 31. The rotating shaft 43 is farther away from the two ends of the through hole 37 and closer to the center of the through hole 37. The rotating shaft 43 is connected to a rotating pin block 44. When the rotating shaft 43 drives the rotating pin block 44 to rotate, the rotating pin block 44 passes through the two ends of the through hole 37 and extends into the blind hole 28. When rotating to the center of the through hole 37, more parts of the rotating pin block 44 have passed through the through hole 37. At this time, the rotating pin block 44 is more tightly connected to the water tank 27. When rotating from the center of the through hole 37 to the two ends of the through hole 37, the number of parts of the rotating pin block 44 passing through the through hole 37 gradually decreases, thereby gradually disconnecting from the water tank 27. Fig.14 As shown, when the water tank 27 is located in the groove 315 , the rotating pin block 44 can pass through the through hole 37 and extend into the blind hole 28 to connect to the water tank 27 , and the rotating pin block 44 can rotate out of the through hole 37 and the blind hole 28 to disconnect from the water tank 27 .

[0060] The tray body of the embodiment of the present invention is provided with a through hole extending in the circumferential direction, and the position adjacent to the water tank of the drone and the groove is provided with a blind hole extending in the circumferential direction. The rotating pin block can pass through the through hole and extend into the blind hole to connect to the water tank, and the rotating pin block can be rotated to disengage from the through hole and the blind hole to disengage from the water tank, thereby realizing the connection and disconnection between the tray body and the water tank; the setting of the blind hole enables the rotating pin block to extend into to connect to the water tank, and at the same time does not affect the storage of disinfectant liquid in the water tank.

[0061] In some embodiments, Fig.14 As shown, a first water connection joint 29 is provided at one end of the water tank 27 away from the frame 21, a second water connection joint 314 is provided in the groove 315 of the tray body 31 and can be communicated with the first water connection joint 29, and the second water connection joint 314 is communicated with the water pipe 52 connected to the receiving cavity. For example, when the drone 20 returns, the water tank 27 falls into the tray hemisphere 312, and due to gravity, the first water connection joint 29 at the bottom of the water tank 27 is communicated with the second water connection joint 314 provided in the groove 315, and the receiving cavity of the body 1 supplies liquid to it.

[0062] The water tank of the embodiment of the present invention is provided with a first water connection joint at one end away from the frame, and a second water connection joint which can be connected with the first water connection joint is provided in the groove of the tray body, and the second water connection joint is connected with the water pipe connected with the accommodating chamber, so that the disinfectant liquid in the accommodating chamber is transported to the second water connection joint through the water pipe, and the second water connection joint is connected with the first water connection joint, and the disinfectant liquid can be further transported to the first water connection joint and then enter the water tank for storage; the second water connection joint and the first water connection joint can be directly connected under the action of gravity, and the connection is convenient and more automated.

[0063] In some embodiments, the driving member 4 includes a first motor connected to the rotating shaft 43, and the rotating shaft 43 is driven to rotate by the first motor, so that the rotating pin block 44 fixed to the rotating shaft 43 rotates, so that the rotating pin block 44 can pass through the through hole 37 and extend into the blind hole 28 to connect to the water tank 27, and the rotating pin block 44 can rotate to disengage from the through hole 37 and the blind hole 28 to disengage from the water tank 27.

[0064] In some embodiments, Fig.14 — Fig.16As shown, the water pipe 52 is arranged between the tray bottom cover 310 and the tray body 31 and connects the accommodating cavity of the body 1 with the second water connection 314 arranged in the groove 315. The driving member 4 includes a paddle 53 and a transmission assembly 51. The paddle 53 is arranged in the water pipe 52 and fixed to the water pipe 52 to drive the water pipe 52 to rotate. The disinfection liquid in the accommodating cavity of the body 1 flows through the water pipe 52, thereby driving the rotating pipe 52 with the paddle 53 to rotate, and then providing a rotation driving force for the rotating pin block 44; the transmission assembly 51 is connected between the water pipe 52 and the rotating shaft 43 to transmit and block the transmission. It can be understood that the water pipe 52 rotates and drives the rotating shaft 43 to rotate through the transmission assembly 51, and then the rotating pin block 44 fixed to the rotating shaft 43 rotates, so that the rotating pin block 44 can pass through the through hole 37 and extend into the blind hole 28 to connect to the water tank 27, and the rotating pin block 44 can rotate out of the through hole 37 and the blind hole 28 to disconnect from the water tank 27. The transmission assembly 51 can also block the transmission between the water pipe 52 and the rotating shaft 43, so that when liquid flows through the water pipe 52, the rotating shaft 43 and the rotating pin block 44 do not rotate.

[0065] The driving member of the embodiment of the present invention includes a paddle wheel and a transmission assembly. The paddle wheel is arranged in the water pipe and fixed to the water pipe to drive the water pipe to rotate. The disinfecting liquid in the accommodating chamber of the main body flows through the water pipe, thereby driving the rotating tube with the paddle wheel to rotate, and then providing a rotational driving force for the rotating pin block. Without adding power elements, the rotating tube with the paddle wheel is driven by fluid to rotate, and then providing a rotational driving force for the rotating pin block. In this process, no other power source is required, and a mechanical mechanism is used to replace the motor drive. The flipping structure of the embodiment of the present invention does not require an additional power source, and the flipping can be completed only by the power of the drone itself. At the same time, the locking between the drone and the tray does not require an additional power source, which further improves the lightweight of the disinfection robot.

[0066] In some embodiments, Fig.14 — Fig.16 As shown, the transmission assembly 51 is disposed between the tray bottom cover 310 and the tray body 31, and the transmission assembly 51 includes a first flange 510, a second flange 511, an outer gear ring 55, a first double-sided gear ring 56, a second double-sided gear ring 57, and a rack 41. The first flange 510 and the second flange 511 are sleeved outside the water pipe 52, so that the first flange 510 and the second flange 511 provide space for the water pipe 52 to rotate, and the first flange 510 and the second flange 511 respectively abut against the tray bottom cover 310 and the tray body 31 to be connected with the tray bottom cover 310 and the tray body 31.

[0067] like Fig.14 — Fig.16As shown, the outer gear ring 55 is sleeved on the outside of the water pipe 52 and is fixedly connected to the water pipe 52, so that the outer gear ring 55 can rotate with the water pipe 52; the first double-sided gear ring 56 is sleeved on the outside of the outer gear ring 55 and can slide between the first flange 510 and the second flange 511 as the tray assembly 30 turns over; when the first double-sided gear ring 56 abuts against the first flange 510, that is, the state before the tray assembly 30 turns over with the body 1 (the first state), the first double-sided gear ring 56 meshes with the outer gear ring 55, so that the first double-sided gear ring 56 rotates under the drive of the outer gear ring 55; when the first double-sided gear ring 56 abuts against the second flange 511, that is, the state after the tray assembly 30 turns over with the body 1 (the second state), the first double-sided gear ring 56 is disengaged from the outer gear ring 55, and at this time, the first double-sided gear ring 56 cannot rotate under the drive of the outer gear ring 55, thereby blocking the transmission between the water pipe 52 and the rotating shaft 43; The second double-sided gear ring 57 is rotatably connected to the first flange 510 and is located on the outer side of the first double-sided gear ring 56; when the first double-sided gear ring 56 abuts against the first flange 510, the second double-sided gear ring 57 meshes with the first double-sided gear ring 56, so that the second double-sided gear ring 57 rotates under the drive of the first double-sided gear ring 56; when the first double-sided gear ring 56 abuts against the second flange 511, the first double-sided gear ring 56 is disengaged from the second double-sided gear ring 57, and at this time, the second double-sided gear ring 57 cannot rotate under the drive of the first double-sided gear ring 56, thereby blocking the transmission between the water pipe 52 and the rotating shaft 43; the outer side of the second double-sided gear ring 57 is meshed with one end of the rack 41, and the other end of the rack 41 is meshed with the gear 42 provided on the rotating shaft 43. The rotation of the second double-sided gear ring 57 drives the rack 41 to move, and the movement of the rack 41 drives the gear 42 to rotate, and then the rotating shaft 43 and the rotating pin block 44 rotate together.

[0068] Combination Figure 2 As shown, before the tray assembly 30 is turned over with the body 1 (the first state), at this time, the first double-sided gear ring 56 is meshed with the outer gear ring 55, so that the first double-sided gear ring 56 rotates under the drive of the outer gear ring 55; the second double-sided gear ring 57 is meshed with the first double-sided gear ring 56, so that the second double-sided gear ring 57 rotates under the drive of the first double-sided gear ring 56; the outer side of the second double-sided gear ring 57 is meshed with one end of the rack 41, and the other end of the rack 41 is meshed with the gear 42 provided on the rotating shaft 43. The rotation of the second double-sided gear ring 57 drives the rack 41 to move, and the movement of the rack 41 drives the gear 42 to rotate, and then the rotating shaft 43 and the rotating pin block 44 rotate together, so that the rotating pin block 44 can be rotatably connected to and disconnected from the water tank 27. When the rotating pin block 44 is rotated to connect to the water tank 27, that is, after the tray body 31 and the drone 20 are connected as a whole, the drone 20 is turned over relative to the body 1. During the turning process, no liquid is supplied in the water pipe 52, as shown in FIG. Figure 3 As shown; when flipped 180 degrees, it is as Figure 4In the state shown, the first double-sided gear ring 56 is disengaged from the outer gear ring 55, and the first double-sided gear ring 56 cannot rotate under the drive of the outer gear ring 55, thereby blocking the transmission between the water pipe 52 and the rotating shaft 43. Therefore, when the UAV 20 is flipped relative to the body 1, when liquid flows through the water pipe 52, the rotating shaft 43 and the rotating pin block 44 do not rotate, and the rotating pin block 44 is always connected to the water tank 27, ensuring that the tray body 31 and the UAV 20 are connected as a whole, thereby ensuring the connection between the first water connection joint 29 at the bottom of the water tank 27 and the second water connection joint 314 set in the groove 315. When the UAV 20 needs to be converted from ground disinfection to aerial disinfection, the UAV 20 and the tray assembly 30 are flipped to the top together. At this time, when liquid flows through the water pipe 52, the rotating shaft 43 and the rotating pin block 44 rotate together, so that the rotating pin block 44 can rotate to disengage from the water tank 27, so that the UAV 20 can be separated from the tray assembly 30 and fly out for disinfection.

[0069] The transmission assembly of the embodiment of the present invention includes a first flange and a second flange, an outer gear ring, a first double-sided gear ring, a second double-sided gear ring and a rack. When the first double-sided gear ring abuts the first flange, the outer gear ring, the first double-sided gear ring, the second double-sided gear ring and the rack are meshed in sequence, so that the outer gear ring drives the gear set on the rotating shaft to rotate; when the first double-sided gear ring abuts the second flange, the first double-sided gear ring is disengaged from the outer gear ring and the second double-sided gear ring. At this time, the first double-sided gear ring cannot rotate driven by the outer gear ring, so the second double-sided gear ring and the rack are not subject to driving force, thereby blocking the transmission between the water pipe and the rotating shaft; the embodiment of the present invention uses gear rings, racks and gears to transmit power, which not only has a relatively simple structural setting, but also has a more stable mechanical structure transmission and is not easily affected by human factors.

[0070] In some embodiments, Fig.14 — Fig.16 As shown, the transmission assembly 51 also includes a guide sleeve 54, which is sleeved on the outside of the water pipe 52 and fixed to the water pipe 52, and one end of the guide sleeve 54 abuts against the outer gear ring 55. Therefore, when the first double-sided gear ring 56 flips with the tray assembly 30 and slides between the first flange 510 and the second flange 511, the guide sleeve 54 can guide the first double-sided gear ring 56 to slide between the first flange 510 and the second flange 511.

[0071] The transmission assembly of the embodiment of the present invention also includes a guide sleeve, one end of which is in contact with the outer gear ring. Therefore, when the first double-sided gear ring flips over with the tray assembly and slides between the first flange and the second flange, the guide sleeve can guide the first double-sided gear ring to slide between the first flange and the second flange.

[0072] In some embodiments, Fig. 9 , Fig.11 and Fig.12 As shown, the water tank 27 and the groove 315 are at least partially hemispherical, so that the hemispherical water tank 27 can easily extend into the hemispherical groove 315, and the bottoms of the water tank 27 and the groove 315 can be easily aligned. The tray body 31 includes a tray plate 311 and a tray hemisphere 312. The tray plate 311 is provided with a first through hole 313 for the water tank 27 to pass through and a plurality of second through holes 32 arranged at intervals around the first through hole 313. When the drone 20 flips under the tray body 31, the driving of the drone 20 blades requires airflow, and the second through holes 32 can be used for airflow to pass through; the tray hemisphere 312 is fixedly connected to the tray plate 311, and surrounds the first through hole 313 to form a groove 315 to accommodate the water tank 27. The first through hole 313 is the opening of the groove 315; wherein the tray bottom cover 310 is sleeved outside the tray hemisphere 312 and is located on the opposite side of the groove 315 of the tray hemisphere 312.

[0073] The tray body of the embodiment of the present invention includes a tray flat plate and a tray hemisphere. The tray flat plate is provided with a first through hole for the water tank to pass through and a plurality of second through holes arranged at intervals around the first through hole. The tray hemisphere surrounds the first through hole to form a groove to accommodate the water tank. The hemispherical groove and the water tank make it easier for the water tank to fall into the groove and the water joints at the bottom of the two are easier to align. The second through hole is for airflow to pass through. When the drone flips over to the bottom of the tray body, the driving of the drone blades requires airflow, so that the drone starts and drives the tray assembly to flip together.

[0074] In some embodiments, Fig.17 , Fig.18 and Fig.19 As shown, the tray assembly 30 further includes a plurality of flexible baffles 61, which are arranged on the same side as the tray bottom cover 310, and each flexible baffle 61 is connected to the tray body 31 through a fixing member 62 at a position close to a corresponding second through hole 32, so that when the flexible baffle 61 is located above the tray body 31, as shown in FIG. Fig.17 and 18 As shown, the flexible baffle 61 blocks the second through hole 32 under the action of gravity. When the flexible baffle 61 is located below the tray body 31, as shown in FIG. Fig.19 As shown, the fixing member 62 is connected to the tray body 31 , and the flexible blocking piece 61 hangs down and cannot cover the second through hole 32 .

[0075] The tray assembly of the embodiment of the present invention also includes a plurality of flexible baffles. When the flexible baffles are located above the tray body, that is, after the drone falls back onto the tray body and then flips 180°, the nozzle of the spray device turns to spray the disinfection liquid obliquely upward. The structural design of the flexible baffles allows them to flip under the action of gravity to cover the second through hole, thereby preventing the drone motor under the flexible baffles from getting damp.

[0076] In some embodiments, Figure 8 and Fig. 9 As shown, the drone 20 also includes a second motor 23, which is used to flip the drone 20 and the tray assembly 30. After the tray body 31 and the drone 20 are integrated, the drone 20 starts the two second motors 23 on one side to drive the blades to rotate. At this time, the flexible baffle 61 is located at the lower side of the tray body 31, and the flexible baffle 61 will not block the second through hole 32. Driven by the drone 20 blades, the drone 20 and the tray assembly 30 flip together. After flipping 180 degrees, the flexible baffle 61 is attached to the surface of the tray body 31 due to gravity, shielding the second through hole 32, thereby preventing the second motor 23 of the drone 20 from getting wet. When aerial disinfection is required, the drone 20 starts the two second motors 23 on one side again to drive the blades to rotate. Since the flexible baffle 61 has a small mass, the drone 20 can quickly blow away the flexible baffle 61 after starting without affecting the flow of airflow. Driven by the drone 20 blades, the drone 20 and the tray assembly 30 flip together. After flipping 180 degrees, the drone 20 is located above the tray body 1. The first magnetic pole 210 is disposed outside the frame 21 so as to attract the magnetic pole disposed on the body 1 to form a supporting force.

[0077] The drone of the embodiment of the present invention also includes a second motor, which is used to flip the drone and the tray assembly. After the tray body and the drone form a whole, the drone starts the two second motors on one side to drive the blades to rotate, thereby realizing the flipping of the drone and the tray assembly.

[0078] In some embodiments, Figure 6 and Figure 7 As shown, the body 1 includes a box 12 and a base 11. The box 12 has a receiving cavity inside to accommodate the disinfectant liquid. The base 11 is connected to the top of the box 12. The top of the base 11 is opened to form a cavity 15. The bottom surface of the cavity 15 is a downwardly concave arc surface, so that the tray assembly 30 can be reversed along the arc surface. Figure 1 — Figure 5 As shown, the tray assembly 30 is arranged on the top of the base 11 and is rotatably connected to the base 11 through the connecting ear 34. The tray assembly 30 is set as a "tumbler" type eccentric structure, that is, the tray assembly 30 always keeps its own center of gravity close to one side of the tray bottom cover 310 when not subjected to other forces, so that one side of the tray bottom cover 310 is always located directly below, and the opening of the groove 315 is located directly above, so as to adapt to the level of the tray body 31, and when the drone 20 returns to land, the cooperation of the tray hemisphere 312 of the tray body 31 and the water tank 27 is used for alignment of the drone 20 and the tray body 31.

[0079] The main body of the embodiment of the present invention includes a box body and a base, the box body has a containing cavity inside to contain the disinfectant liquid; the base is connected to the top of the box body, and the top of the base is opened to form a cavity to contain the drone, and the bottom surface of the cavity is a downwardly concave arc surface to facilitate the reversal of the drone and the tray assembly along the arc surface.

[0080] In some embodiments, Figure 6 and Fig. 9 As shown, the inner wall surface at the top of the base 11 is provided with a second magnetic pole 16, and the second magnetic pole 16 is used to be adsorbed with the first magnetic pole 210 to maintain the level of the drone 20. The second magnetic pole 16 is provided on two opposite inner wall surfaces at the top of the base 11, and the first magnetic pole 210 is provided on two opposite wall surfaces outside the frame 21, so that the second magnetic pole 16 inside the base 11 and the first magnetic pole 210 on the frame 21 of the drone 20 attract each other, and both sides attract at the same time to form a support.

[0081] The inner wall surface of the top of the base in the embodiment of the present invention is provided with a second magnetic pole, and the second magnetic pole is used to adsorb with the first magnetic pole of the drone frame to maintain the drone level, so that the drone can be stably supported on the base.

[0082] In some embodiments, Figure 6 and Fig. 9 As shown, the inner wall surface of the base 11 is also protrudingly provided with an axle head 17 to engage with the slot 25 provided on the outside of the frame 21 of the drone 20. The axle head 17 is provided on both sides of the inner wall surface of the base 11, and the slot 25 is provided on both sides of the outside of the frame 21 of the drone 20, so that the slot 25 of the frame 21 of the drone 20 is connected to the axle head 17 in the base 11, and the axle head 17 can be used to support the rotation behind it, and the engagement of the axle head 17 and the slot 25 on both sides and the attraction between the first magnetic pole 210 and the second magnetic pole 16 on the other two sides can be used to form a supporting balance between the drone 20 and the base 11, so that the drone 20 is located horizontally. Driven by the blades of the drone 20, the tray body 31 and the drone 20 are flipped as a whole, which requires overcoming the attraction between the second magnetic pole 16 and the first magnetic pole 210 (the first magnetic pole 210 on the drone 20 can also be set as an electromagnetic pole and the power can be turned off). The drone 20 and the tray assembly 30 are reversed together. After reversing 180 degrees, the opposite attraction between the second magnetic pole 16 and the first magnetic pole 210 makes the tray assembly 30 horizontally stable (in addition, a card block can be added. When the disinfection robot is not working and is not powered on, the card block can be used to make the tray assembly 30 stable).

[0083] The inner wall surface of the base in the embodiment of the present invention is also protrudingly provided with an axle head to engage with a slot provided on the outer side of the frame of the drone, so that the axle head can be used to support the rotation of the rear thereof.

[0084] In some embodiments, Figure 6 and Fig. 9 As shown, a first electrode 18 is disposed at one end of the shaft head 17, and a second electrode 26 is disposed at one end of the slot 25. The first electrode 18 and the second electrode 26 can be connected for charging. The power supply in the box 12 charges the drone 20.

[0085] A first electrode is provided at one end of the shaft head of the embodiment of the present invention, and a second electrode is provided at one end of the card slot, and the first electrode and the second electrode can be connected for charging. When the shaft head protruding from the inner wall surface of the base is engaged with the card slot provided on the outer side of the frame of the drone, the first electrode and the second electrode can be connected for charging. The structural design of the base and the tray assembly enables the drone to adaptively return to the base and automatically connect the liquid supply connector and the charging interface. The design of the magnetic pole supports and balances the drone, ensures the drone is level, and guarantees the accuracy of the spray range.

[0086] like Figure 1 — Figure 5 As shown, the embodiment of the present invention also provides a disinfection method, which is applied to a disinfection robot 10, wherein the disinfection robot 10 includes a body 1 and a drone 20, and the drone 20 can be connected to and disconnected from the body 1; the disinfection method includes: Figure 1 As shown, the drone 20 performs aerial disinfection in the first state; Figure 2 As shown, the drone 20 falls back to the main body 1 and connects with the main body 1; Figure 3 and Figure 4 As shown, the drone flips to the second state, and the drone 20 in the first state and the second state is symmetrically arranged relative to the horizontal plane; the drone 20 is connected to the body 1 as a whole in the second state to perform ground disinfection. The drone of the embodiment of the present invention has a first state and a second state. In the first state, the drone can be separated from the body for aerial disinfection, and in the second state, the drone is connected to the body as a whole for ground disinfection, so that the same set of disinfection spraying system can meet both ground disinfection and aerial disinfection.

[0087] In some embodiments, Figure 1 — Figure 5 As shown, in the first state, the disinfectant spray nozzle of the drone 20 is downward, so that the space below the drone 20 can be disinfected and sterilized; in the second state, the disinfectant spray nozzle of the drone 20 is upward, so that most of the space centered on the drone 20 can be disinfected and sterilized. The drone of the embodiment of the present invention has a first state and a second state. In the first state, the spray nozzle of the spray device is downward for air disinfection, and in the second state, the spray nozzle of the spray device is upward for ground disinfection.

[0088] In some embodiments, Figure 1 — Figure 5As shown, the disinfection method further includes: the drone 20 flips from the second state to the first state; the drone 20 is disconnected from the body 1 in the first state to perform aerial disinfection. The embodiment of the present invention provides a flip structure so that the two disinfection modes only need the same set of disinfection nozzle structures, without the need for two sets of disinfection nozzle structures on the ground and on the drone.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A disinfection robot, characterized in that: include: A main body, having a receiving cavity for receiving a disinfectant liquid; The drone is provided with a spray device, and when the drone is connected to the body, the spray device is connected to the accommodating cavity; Among them, the drone has a first state and a second state, and the drones in the first state and the second state are symmetrically arranged relative to the horizontal plane; in the first state, the nozzle of the spray device is downward and the drone can be separated from the main body for aerial disinfection, and in the second state, the nozzle of the spray device is upward and the drone is connected to the main body as a whole for ground disinfection.

2. The disinfecting robot according to claim 1, characterized in that: The disinfecting robot also includes: A tray assembly is rotatably connected to the top of the body, the tray assembly can be connected to the drone to flip between the first state and the second state with the drone, and the tray assembly can also be disconnected from the drone in the first state of the drone.

3. The disinfecting robot according to claim 2, characterized in that: The drone comprises: frame; a water tank, used to communicate with the receiving cavity of the body to store disinfectant liquid, the water tank at least partially protruding from the frame; A connecting arm extending in the space enclosed by the frame and connecting the water tank and the frame; Wherein, the spray device is arranged on the frame and is connected with the water tank, and the spray port is arranged to be inclined outward.

4. The disinfecting robot according to claim 3, characterized in that: The tray assembly comprises: A tray body is rotatably connected to the body; one side of the tray body has a groove, and the groove is used to accommodate the water tank; A tray bottom cover connected to a side of the tray body opposite to the groove opening; A moving assembly is partially located between the tray bottom cover and the body, and the moving assembly can move relative to the tray body to connect and disconnect the tray body from the water tank.

5. The disinfection robot according to claim 4, characterized in that: The motion components include: Driving parts; A rotating shaft, one end of which is connected to the tray bottom cover and extends toward the tray body, and is used to be driven to rotate by the driving member; A rotating pin block is fixed to the other end of the rotating shaft so as to rotate around the rotating shaft; Wherein, when the water tank of the drone is located in the groove, the rotating pin block extends toward the water tank and can be rotatably connected to and disconnected from the water tank.

6. The disinfecting robot according to claim 5, characterized in that: A first water connection joint is arranged at one end of the water tank away from the frame, a second water connection joint which can be connected with the first water connection joint is arranged in the groove of the tray body, and the second water connection joint is connected with a water pipe connected with the accommodating cavity.

7. The disinfecting robot according to claim 6, characterized in that: The water pipe is arranged between the tray bottom cover and the tray body, and the driving member comprises: A wheel paddle, arranged in the water pipe and fixed to the water pipe to drive the water pipe to rotate; The transmission assembly is connected between the water pipe and the rotating shaft to transmit and block the transmission.

8. The disinfection robot according to claim 4, characterized in that: The water tank and the groove are at least partially hemispherical, and the tray body comprises: The tray plate is provided with a first through hole for the water tank to pass through and a plurality of second through holes arranged at intervals around the first through hole; a tray hemisphere, surrounding the first through hole and fixedly connected to the tray flat plate to accommodate the water tank; Wherein, the tray bottom cover is sleeved outside the tray hemisphere.

9. The disinfection robot according to claim 8, characterized in that: The tray assembly further comprises: A plurality of flexible baffles are arranged on the same side as the tray bottom cover, and each of the flexible baffles is connected to the tray body at a position close to a corresponding second through hole to cover the second through hole when the flexible baffle is located above the tray body.

10. The disinfecting robot according to claim 3, characterized in that: The drone also includes: a second motor, used to flip the drone and the tray assembly; The first magnetic pole is arranged outside the frame.

11. The disinfection robot according to claim 10, characterized in that: The body comprises: A box body, having the accommodating cavity inside; A base is connected to the upper part of the box, and the upper part of the base is opened to form a cavity; Wherein, the tray assembly is arranged on the top of the base and is rotatably connected to the base.

12. The disinfection robot according to claim 11, characterized in that: A second magnetic pole is arranged on the inner wall surface of the top of the base, and is used for adsorbing with the first magnetic pole to maintain the drone level.

13. The disinfection robot according to claim 11, characterized in that: The inner wall surface of the base is also protrudingly provided with an axis head to engage with a slot provided on the outer side of the frame of the drone; a first electrode is provided at one end of the axis head, and a second electrode is provided at one end of the slot, and the first electrode and the second electrode can be connected for charging.

14. A disinfection method, applied to a disinfection robot, characterized in that: The disinfection robot comprises a main body and a drone, and the drone can be connected to and disconnected from the main body; the disinfection method comprises: The drone performs aerial disinfection in the first state; The drone falls back to the main body and connects with the main body; The drone flips to a second state, wherein the drones in the first state and the second state are symmetrically arranged relative to a horizontal plane; The drone is connected to the main body in the second state to perform ground disinfection; in the first state, the disinfectant nozzle of the drone is downward; in the second state, the disinfectant nozzle of the drone is upward; the disinfection method also includes: The drone flips from the second state to the first state; In the first state, the drone is disconnected from the main body to perform aerial disinfection.

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