Object surface pathogenic microorganism collection and disinfection integrated intelligent robot

Abstract

The invention relates to the field of intelligent robots, and provides an object surface pathogenic microorganism collection and disinfection integrated intelligent robot which comprises an automatic guide transport vehicle, a control system and a control system. The mechanical arm is mounted on the automatic guide transport vehicle, and the tail end of the mechanical arm is connected with the tail end execution device; the tail end executing device is mechanically connected to the tail end of the mechanical arm and comprises a clamping jaw and an atomizing nozzle; the depth camera is embedded into the end execution device; the sampling subsystem comprises a cap screwing mechanism, a sampling bottle clamping mechanism and a test tube rack and is positioned on the automatic guide transport vehicle; the spraying device is mounted at the front part or the bottom of the automatic guide transport vehicle; the water tank is mounted on the automatic guide transport vehicle; the controller is electrically connected with the automatic guide transport vehicle, the mechanical arm, the cap screwing mechanism, the sampling bottle clamping mechanism, the spraying device, the tail end execution device and the depth camera. The problem that in the prior art, a disinfection robot is single in function is solved, and full-automatic intelligent operation integrating accurate sampling and intelligent disinfection is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and particularly to an integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects. Background Art

[0002] With the increasing prominence of global public health security issues, the disinfection of public places and the monitoring of pathogenic microorganisms have become crucial. Traditional manual disinfection methods are not only inefficient but also have problems such as non-standard operation and many disinfection blind spots, making it difficult to meet the strict prevention and control requirements of high-risk areas (such as hospitals, airports, etc.). As an intelligent solution, disinfection robots achieve efficient and precise disinfection operations through automation technology and gradually become an important tool in the field of public health. However, existing disinfection robots have single functions and cannot simultaneously meet the dual requirements of pathogenic microorganism sampling and environmental disinfection. There is an urgent need for an integrated and intelligent new device to fill this technological gap.

[0003] Currently, disinfection robots on the market are mainly divided into two categories: one is robots focused on environmental disinfection, such as the medical floor disinfection robot described in patent CN117503967A, which achieves floor disinfection by spraying disinfectant, but has a single function and relies on manual operation; the other is robots with simple sampling functions, but the sampling and disinfection functions are not effectively integrated. For example, the adjustable disinfection spraying component described in patent CN118453930A can disinfect areas such as gaps, but still requires manual intervention and cannot achieve automated sampling. These existing technologies generally have problems such as insufficient intelligence level, single function, and poor adaptability, and are difficult to meet the multi-task requirements in complex scenarios. Especially in facilities with limited space, deploying multiple single-function robots will lead to resource waste and low efficiency.

[0004] The above problems have become the key bottlenecks restricting the development of disinfection robot technology. Specifically, the existing technologies have the following defects: (1) The disinfection and sampling functions are separated and cannot achieve integrated operation; (2) The degree of automation is low and relies on manual operation; (3) Lack of flexible environmental adaptability and it is difficult to perform precise operations on specific areas. Summary of the Invention

[0005] The present invention provides an integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects, which solves the problems in the prior art that disinfection robots have single functions, low automation degree, and cannot simultaneously achieve the integrated operation of pathogenic microorganism sampling and disinfection, and realizes fully automated intelligent operation integrating autonomous navigation, precise sampling, and intelligent disinfection.

[0006] The present invention provides an integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects, comprising:

[0007] Automated guided vehicles;

[0008] A robotic arm, mounted on the automatic guided transport vehicle, with an end connected to an end effector;

[0009] An end effector, mechanically connected to the end of the robotic arm, includes a gripper and an atomizing nozzle, and is used to grasp a sampling tool;

[0010] A depth camera, embedded in the end effector, for collecting environmental data in real time and feeding it back to the controller;

[0011] A sampling subsystem, including a capping mechanism, a sampling bottle clamping mechanism and a test tube rack, is located on the automatic guided transport vehicle and is used for sampling pathogenic microorganism samples;

[0012] A spray device, installed at the front or bottom of the automatic guided transport vehicle, for spray disinfection of the ground;

[0013] a water tank, mounted on the automated guided transport vehicle, for providing disinfectant to the spray device;

[0014] The controller is electrically connected to the automatic guided transport vehicle, the robotic arm, the capping mechanism, the sampling bottle clamping mechanism, the spray device, the end effector and the depth camera, and is used to coordinate the work of each component.

[0015] According to an integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on surfaces provided by the present invention, the sampling subsystem includes: a capping mechanism, including a rotary electric clamp, fixed on the automatic guided transport vehicle, and working in conjunction with a sampling bottle clamping mechanism, and used to unscrew or close the sampling bottle cap through the rotary electric clamp; the sampling bottle clamping mechanism includes a parallel electric clamp, and the sampling bottle is fixed by the parallel electric clamp, and the sampling bottle is sampled in cooperation with the robotic arm; a test tube rack is installed on the automatic guided transport vehicle and is used to store sampling bottles; a number of sampling bottles with bottle caps, which have built-in sampling tools, are placed in the test tube rack.

[0016] According to an intelligent robot for collecting and disinfecting pathogenic microorganisms on surfaces provided by the present invention, the screw capping mechanism includes: a screw fixing frame; a screw slider module, fixedly connected to the screw fixing frame; a stepping motor, connected to the screw slider module; a rotating electric clamp, connected to the slider end of the screw slider module via an electric clamp connecting block; and a first clamp finger, fixedly connected to the rotating electric clamp.

[0017] According to the integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on surfaces provided by the present invention, the stepper motor is connected to the lead screw slider module via a coupling.

[0018] An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects provided by the present invention, wherein the lead screw slider module is fixedly connected to the lead screw fixing frame by socket head cap screws.

[0019] An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects provided by the present invention, wherein the sampling bottle clamping mechanism includes: a first parallel electric gripper; a second gripper finger fixedly connected to the first parallel electric gripper; an electric gripper fixed support for fixing the first parallel electric gripper; a sampling bottle clamping mechanism housing fixedly connected to the electric gripper fixed support; and a sampling bottle clamping mechanism cover covering the sampling bottle clamping mechanism housing.

[0020] An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects provided by the present invention, wherein the end effector includes: a robotic arm connector fixedly connected to the end of the robotic arm; a second parallel electric gripper mounted on the robotic arm connector; a third gripper finger fixedly connected to the second parallel electric gripper; a solid cone atomizing nozzle mounted on the top of the robotic arm connector; and an end effector cover fixedly connected to the robotic arm connector.

[0021] An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects provided by the present invention, wherein the end effector further includes a depth camera mounting hole located below the robotic arm connector for fixing the depth camera.

[0022] An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects provided by the present invention, wherein the spraying device is connected to the water tank through a pipeline for pumping disinfectant and performing spray disinfection.

[0023] An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects provided by the present invention, wherein the rotation range of the robotic arm is 0° to 180°.

[0024] The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects provided by the present invention has the following beneficial effects: By combining real-time environmental perception using a depth camera with precise positioning of the robotic arm, the accuracy of sampling and disinfection is significantly improved; Through the innovative sampling subsystem (cap-unscrewing mechanism + clamping mechanism), the automatic opening and closing and fixation of the sampling bottle are realized, avoiding the pollution risk brought by manual intervention; Through the spray device and the atomizing nozzles of the end effector, a multi-level disinfection system is formed, which can not only complete large-area ground disinfection but also perform precise spraying on specific areas; Through the intelligent scheduling of each module by the controller, the entire sampling-disinfection process is autonomously completed, solving the problems of single function and low efficiency in the prior art, and is particularly suitable for places with strict hygiene and safety requirements such as hospitals and laboratories. By integrating an automatic guided vehicle, a robotic arm, an end effector, and an intelligent control system, the robot realizes the integrated collaborative operation of the functions of collecting and disinfecting pathogenic microorganisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a structural diagram of the integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects provided by the present invention.

[0027] Figure 2 It is a structural diagram of the cap-unscrewing mechanism provided by the present invention.

[0028] Figure 3 It is a structural diagram of the clamping mechanism of the sampling bottle provided by the present invention.

[0029] Figure 4 It is a structural diagram of the end effector provided by the present invention.

[0030] REFERENCE NUMERALS:

[0031] AGV trolley 1, robotic arm 2, capping mechanism 3, sampling bottle clamping mechanism 4, spraying device 5, end effector 6, depth camera 7, test tube rack 8, water tank 9, lead screw fixing bracket 10, electric gripper connecting block 11, stepper motor 12, coupling 13, rotary electric gripper 14, first gripper finger 15, lead screw slider module 16, first parallelogram electric gripper 17, second gripper finger 18, electric gripper fixed support 19, sampling bottle clamping mechanism housing 20, sampling bottle clamping mechanism cover plate 21, robotic arm connecting piece 22, end effector cover plate 23, second parallelogram electric gripper 24, third gripper finger 25, solid cone atomizing nozzle 26. Detailed implementation manners

[0032] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] With the acceleration of the globalization process, people's lifestyles and working environments are constantly changing, and public health safety issues have received increasing attention. Currently, the public's awareness of virus transmission prevention and control has increased significantly, which has prompted countries to adopt more stringent measures in the health field. To protect people's health and reduce the risk of cross-infection, disinfection and cleaning have become important links in public places, hospitals, schools and other crowded areas. Traditional manual disinfection is not only inefficient, but also has problems such as improper equipment operation and missed disinfection areas. Therefore, there is an urgent need to introduce more efficient, accurate and safe disinfection means.

[0034] As an emerging intelligent cleaning technology, disinfection robots have begun to receive widespread attention and quickly entered the market. Its basic working principle is to execute disinfection tasks in a specific environment through an automated system, using means such as ultraviolet rays and chemical disinfectants to kill germs and viruses. These robots can not only perform large-area disinfection, but also work in high-risk areas, reducing the exposure risk of human workers. Due to its high efficiency, repeatability and consistency, the application of disinfection robots in public places such as hospitals, airports and shopping malls is gradually increasing.

[0035] The research on disinfection technology is not a new concept. As early as the 19th century, Louis Pasteur and Joseph Lister emphasized the importance of disinfection in preventing the spread of infectious diseases. In recent years, the progress of science and technology, especially the rapid development in fields such as artificial intelligence (AI), robotics, sensors and the Internet of Things (IoT), has provided strong support for the research and application of disinfection robots.

[0036] Modern disinfection robots are usually equipped with high-precision sensors that can monitor environmental conditions in real time, enabling autonomous navigation and movement. At the same time, combined with machine learning algorithms, they can perform environmental recognition and obstacle avoidance. The integration of these technologies not only improves the disinfection efficiency but also enhances the intelligence level of the robots, enabling them to autonomously complete disinfection tasks in complex environments.

[0037] Disinfection robots are widely used in various scenarios, mainly including but not limited to hospitals, hotels, public transportation, schools, shopping malls, and factories, etc. Especially during the epidemic period, as high-risk areas, hospitals have more stringent requirements for disinfection. Disinfection robots can effectively replace manual disinfection, especially in areas where manual access is impossible or frequent disinfection is required, such as operating rooms and intensive care units, where their superiority is demonstrated.

[0038] In the fields of hotels and public transportation, the introduction of disinfection robots not only greatly reduces the workload of manual disinfection but also enhances customers' sense of security, providing assistance for the recovery of the service industry. In addition, in schools and office environments, regular use of disinfection robots for comprehensive disinfection helps improve environmental hygiene, reduce the risk of infectious disease transmission, and protect the health of teachers, students, and employees.

[0039] In summary, strengthening the research and development of disinfection robots can effectively solve problems such as incomplete manual disinfection, low efficiency, and high labor costs, and can promote the sustainable development of China's robot industry. The present invention designs a disinfection service robot with autonomous navigation function. Its disinfection module consists of a robotic arm and a rotating base, which can control the sprayer according to different disinfection requirements to achieve diverse spray effects and adapt to diverse working environments.

[0040] Currently, there are some problems with disinfection robots, such as single functions, insufficient intelligence level, low utilization rate, and single appearance design. Most disinfection robots can only disinfect the surfaces of objects and cannot disinfect indoor air. In addition, most disinfection robots in public places in China currently rely on manual operation, which limits their ability to respond to the surrounding environment and user needs. Their application rate in public spaces and daily life is also relatively low, and their adaptability to different types of spaces is also insufficient.

[0041] A medical floor disinfection robot, such as Patent CN117503967A, whose structure includes a support plate, on which a housing is installed. Inside the housing, a disinfection tank and a pneumatic component are installed. The disinfection tank is installed on a shaking mechanism, and the shaking mechanism is installed on the support plate. A moving mechanism is installed below the support plate. The shaking mechanism penetrates the support plate and is connected to a spreading mechanism, and the spreading mechanism is installed on the support plate. A spraying component is installed on the disinfection tank, which is convenient for shaking the disinfectant liquid and simultaneously performing automatic spraying, adding a structure for spreading the disinfectant liquid evenly, facilitating the quick drying of the disinfectant liquid, avoiding the continuous residue of the disinfectant liquid, and ensuring that the disinfectant liquid is sprayed on the ground without spraying the disinfectant liquid onto other equipment.

[0042] The disadvantage of this patent is that its structure is simple and it cannot achieve intelligent automation. Its movement requires manual operation, and it can only perform floor disinfection, with a single function.

[0043] A disinfection robot, such as Patent CN118453930A, includes a robot housing, a main disinfection spraying mechanism, a disinfection orientation adjustment mechanism, and an adjustable disinfection spraying component; a support water tank is fixed below the robot housing, and an intelligent moving device is installed at the bottom of the support water tank; the main disinfection spraying mechanism includes a driving pump, a main delivery pipeline is fixedly connected to the driving pump, a two-way control valve is installed on the main delivery pipeline, and one end of the main delivery pipeline outside the robot housing is fixedly connected to a atomizing nozzle. The adjustable disinfection spraying component includes a fixed support block, a rotating support platform is rotatably connected to the fixed support block, an adjustable delivery pipeline is fixed on the rotating support platform, and a disinfection spraying pipe is rotatably connected to the adjustable delivery pipeline. Through the setting of corresponding mechanisms, the disinfection robot of the present invention is convenient for disinfecting and sterilizing gaps and under the table, and does not cause the situation of dust and bacteria flying during the disinfection and sterilization process, thereby avoiding the diffusion of dust and bacteria.

[0044] The disadvantage of this patent is that its water tank is set below the robot housing, the replacement of materials requires manual operation, the disinfection nozzles are fixed, the function is single, and it cannot perform surface disinfection on specific objects.

[0045] The following combines Figures 1-4 Specifically describe the embodiments of the present invention.

[0046] The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects provided by the present invention includes:

[0047] An automatic guided vehicle, serving as the mobile base of the robot;

[0048] A robotic arm, installed on the automatic guided vehicle, with its end connected to an end effector;

[0049] An end effector, mechanically connected to the end of the robotic arm, includes a gripper and an atomizing nozzle, and is used to grab sampling tools;

[0050] A depth camera is embedded in the end effector and is used to collect environmental data in real time and feedback it to the controller;

[0051] A sampling subsystem, including a capping mechanism, a sampling bottle clamping mechanism, and a test tube rack, is located on an automatic guided vehicle and is used for sampling pathogenic microorganism samples;

[0052] A spraying device is installed at the front or bottom of the automatic guided vehicle and is used for spraying and disinfecting the ground;

[0053] A water tank is installed on the automatic guided vehicle and is used to provide disinfectant solution for the spraying device;

[0054] A controller is electrically connected to the automatic guided vehicle, the robotic arm, the capping mechanism, the sampling bottle clamping mechanism, the spraying device, the end effector, and the depth camera, and is used to coordinate the work of each component.

[0055] Specifically, as Figure 1 shown in the structural schematic diagram of the integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects provided by the present invention. The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects is used for sampling and disinfecting pathogenic microorganisms in the environment, and includes: an automatic guided vehicle (AGV) 1; a robotic arm 2 installed on the AGV 1; a number of sampling bottles with caps, which are internally provided with sampling tools and are placed on the AGV 1; a capping mechanism 3; a sampling bottle clamping mechanism 4 for clamping and fixing the sampling bottle; a spraying device 5 installed on the AGV 1 for spraying and disinfecting the ground; an end effector 6; a depth camera 7 installed on the end effector 6 for obtaining depth image information; a test tube rack 8 placed on the AGV 1 for storing sampling bottles; a water tank 9; a controller, which is electrically connected to the AGV 1, the robotic arm 2, the capping mechanism 3, the sampling bottle clamping mechanism 4, the spraying device 5, the end effector 6, and the depth camera 7.

[0056] The controller is used to obtain the position information of the target to be sampled according to the depth image information to control the AGV 1 to navigate in front of the target to be sampled; the controller is also used to obtain the pose information of an idle sampling bottle according to the depth image information, and control the capping mechanism 3 to open the idle sampling bottle and control the sampling bottle clamping mechanism 4 to fix and clamp the sampling bottle according to the pose information; the controller is also used to control the robotic arm 2 to move so that the end effector 6 clamps the sampling tool to perform virus sampling on the target to be sampled; the controller is also used to control the robotic arm 2 to move so that the end effector 6 places the sampling tool that has completed virus sampling into the corresponding sampling bottle, and control the capping mechanism 3 to close the sampling bottle.

[0057] An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects according to the present invention, the sampling subsystem includes: a cap-unscrewing mechanism, including a rotary electric gripper, fixed on an automatic guided vehicle, working in cooperation with a sampling bottle clamping mechanism, for unscrewing or closing the sampling bottle cap through the rotary electric gripper; a sampling bottle clamping mechanism, including a parallel electric gripper, fixing the sampling bottle through the parallel electric gripper, and cooperating with the robotic arm for sampling; a test tube rack, installed on the automatic guided vehicle, for storing sampling bottles; and a number of sampling bottles with caps, internally provided with sampling tools, placed in the test tube rack.

[0058] An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects according to the present invention, the cap-unscrewing mechanism includes: a lead screw fixing frame; a lead screw slider module, fixedly connected to the lead screw fixing frame; a stepping motor, connected to the lead screw slider module; a rotary electric gripper, connected to the slider end of the lead screw slider module through an electric gripper connecting block; and a first gripper finger, fixedly connected to the rotary electric gripper.

[0059] An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects according to the present invention, the stepping motor is connected to the lead screw slider module through a coupling.

[0060] An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects according to the present invention, the lead screw slider module is fixedly connected to the lead screw fixing frame through hexagon socket countersunk head screws.

[0061] As Figure 2The following is a schematic structural diagram of the capping mechanism. The capping mechanism 3 is mechanically installed on the AGV cart 1 and is used to open and close the sampling bottle. This mechanism consists of a lead screw fixing bracket 10, an electric gripper connecting block 11, a stepping motor 12, a coupling 13, a rotary electric gripper 14, a first gripper finger 15, and a lead screw slider module 16. The lead screw fixing bracket 10 is designed with mounting holes and is fixedly connected to the lead screw slider module 16 through countersunk hexagon socket head screws; the lead screw slider module 16 has mounting holes and is fixedly connected to the stepping motor 12 through countersunk cross-recessed head screws; the stepping motor 12 is connected to the lead screw slider module 16 through the coupling 13; the rotary electric gripper 14 is fixedly connected to the electric gripper connecting block 11 through countersunk hexagon socket head screws; the electric gripper connecting block 11 is fixedly connected to the slider end on the lead screw slider module 16 through countersunk hexagon socket head screws; the first gripper finger 15 is fixedly connected to the rotary electric gripper 14 through countersunk hexagon socket head screws. The stepping motor 12, the rotary electric gripper 14, and the controller are electrically connected. The working process of the capping mechanism is as follows: in the execution state, the controller issues an instruction to control the output shaft of the stepping motor 12 to rotate forward, and the lead screw slider module 16 drives the rotary electric gripper 14 to descend to the working position. Then, the controller issues another instruction, and the fingers of the rotary electric gripper 14 rotate forward while the stepping motor 12 rotates slowly in reverse to open the sampling bottle cap fixed on the sampling bottle clamping mechanism 4. After the bottle cap is opened, the rotary electric gripper 14 maintains its current posture, and the stepping motor 12 rotates in reverse, and the lead screw slider module 16 drives the rotary electric gripper 14 to rise to the initial position. After the sampling work is completed, the output shaft of the stepping motor 12 rotates forward, the lead screw slider module 16 drives the rotary electric gripper 14 to descend to the working position, the fingers of the rotary electric gripper 14 rotate in reverse, and at the same time the stepping motor 12 rotates slowly forward to tighten the sampling bottle cap.

[0062] According to an integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object provided by the present invention, the sampling bottle clamping mechanism includes: a first parallel electric gripper; a second gripper finger fixedly connected to the first parallel electric gripper; an electric gripper fixed support for fixing the first parallel electric gripper; a sampling bottle clamping mechanism housing fixedly connected to the electric gripper fixed support; and a sampling bottle clamping mechanism cover covering the sampling bottle clamping mechanism housing.

[0063] Specifically, as Figure 3Structural diagram of the sampling bottle clamping mechanism shown. The sampling bottle clamping mechanism 4 is mechanically installed on the AGV cart 1 and is used to clamp and fix the sampling bottle. This mechanism consists of a first parallel electric gripper 17, a second gripper finger 18, an electric gripper fixed support 19, a sampling bottle clamping mechanism housing 20, and a sampling bottle clamping mechanism cover plate 21. Among them, two slot holes are provided on the electric gripper fixed support 19. The upper slot hole is used for mechanical connection with the parallel electric gripper 17 and is fixedly connected by countersunk socket head cap screws. The lower slot hole is a through hole for the passage of wires. The electric gripper fixed support 19 and the sampling bottle clamping mechanism housing 20 are designed with mounting holes and are fixedly connected to the chassis of the AGV cart 1 by countersunk socket head cap screws. Threaded mounting holes are designed on the top planes of the electric gripper fixed support 19 and the sampling bottle clamping mechanism housing 20, and the sampling bottle clamping mechanism cover plate 21 is fixedly connected to the electric gripper fixed support 19 and the sampling bottle clamping mechanism housing 20 by countersunk socket head cap screws. The second gripper finger 18 is fixedly connected to the first parallel electric gripper 17 by countersunk socket head cap screws. The first parallel electric gripper 17 is electrically connected to the controller. The working process of the sampling bottle clamping mechanism is that when the end effector 6 places the sampling bottle in the working position, the first parallel electric gripper 17 drives the second gripper finger 18 to clamp and fix the sampling bottle. After the sampling work is completed, the first parallel electric gripper 17 drives the second gripper finger 18 to open, and the end effector 6 takes away the sampling bottle.

[0064] According to an integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object provided by the present invention, the end effector includes: a robotic arm connecting piece fixedly connected to the end of the robotic arm; a second parallel electric gripper installed on the robotic arm connecting piece; a third gripper finger fixedly connected to the second parallel electric gripper; a solid cone atomizing nozzle installed on the top of the robotic arm connecting piece; and an end effector cover plate fixedly connected to the robotic arm connecting piece.

[0065] According to an integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object provided by the present invention, the end effector further includes a depth camera mounting hole located below the robotic arm connecting piece for fixing the depth camera.

[0066] Specifically, as Figure 4The figure shows the structural diagram of the end effector. The end effector 6 is mechanically connected to the robotic arm 2 and is used to grasp the sampling tool for virus sampling and spray disinfection of the object surface. The mechanism consists of a robotic arm connector 22, an end effector cover plate 23, a second parallel electric gripper 24, a third gripper finger 25, a depth camera 7, and a solid cone atomizing nozzle 26. The robotic arm connector 22 is designed with mounting holes and can be directly fixed to the end of the robotic arm 2 with countersunk hexagon socket head screws; an electric gripper mounting hole is designed inside the robotic arm connector 22, and the second parallel electric gripper 24 is fixedly connected with countersunk hexagon socket head screws; a depth camera mounting hole is designed below the robotic arm connector 22, and the depth camera 7 is fixedly connected to the robotic arm connector 22 with countersunk hexagon socket head screws. At the same time, slot holes are designed on this part of the panel, which can adapt to common distance sensors on the market and can be used as an alternative solution; the third gripper finger 25 is fixedly connected to the second parallel electric gripper 24 with countersunk hexagon socket head screws; mounting holes are designed on the robotic arm connector 22 and the end effector cover plate 23, and the two can be fixedly connected with countersunk hexagon socket head bolts; there is a mounting hole at the top of the robotic arm connector 22, and the solid cone atomizing nozzle 26 can be directly installed on it with fasteners; the robotic arm connector 22 is designed with a through hole and a baffle. The through hole allows the hose connected to the solid cone atomizing nozzle 26 to pass through; after the robotic arm connector 22 is connected to the end effector cover plate 23 with countersunk hexagon socket head bolts, the baffle inside it can separate the second parallel electric gripper 24 from the solid cone atomizing nozzle 26 to prevent the second parallel electric gripper 24 from being affected in case of liquid leakage and enable it to work properly. The sampling bottle clamping mechanism needs to cooperate with the robotic arm to complete virus sampling, clamping and placing of the sampling bottle, and the work of spraying disinfectant solution.

[0067] According to an integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object provided by the present invention, the spraying device is connected to the water tank through a pipeline and is used to extract disinfectant solution and perform spray disinfection.

[0068] According to an integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object provided by the present invention, the rotation range of the robotic arm is 0° to 180°.

[0069] Specifically, when the controller issues a virus sampling instruction, the second parallelogram electric gripper 24 opens. After the robotic arm 2 drives the end effector 6 to the position of the sampling bottle, the second parallelogram electric gripper 24 closes, driving the third gripper finger 25 to clamp the sampling bottle. The robotic arm 2 drives the end effector 6 to the sampling bottle clamping mechanism 4. After the sampling bottle is fixed, the second parallelogram electric gripper 24 opens to release the sampling bottle. The robotic arm 2 moves to the standby position. The cap screwing mechanism 3 works to open the cap of the sampling bottle. The robotic arm 2 drives the end effector 6 to the working position. The second parallelogram electric gripper 24 closes to clamp the sampling swab in the sampling bottle. Then the robotic arm 2 drives the end effector 6 to the position to be sampled. After the depth camera 7 identifies the distance, it transmits the position information to the controller. The robotic arm 2 drives the end effector 6 to perform virus sampling on the object surface. After the sampling is completed, the robotic arm 2 drives the end effector 6 to put the sampling swab back to the position of the sampling bottle. The second parallelogram electric gripper 24 opens to release the sampling swab in the sampling bottle. The robotic arm 2 returns to the standby position. The cap screwing mechanism 3 tightens the cap of the sampling bottle. The robotic arm 2 drives the end effector 6 back to the position of the sampling bottle. The second parallelogram electric gripper 24 closes to clamp the sampling bottle. The robotic arm 2 moves to the position of the test tube rack 8. The second parallelogram electric gripper 24 opens to put the sampling bottle back to its original position. Thus, the virus sampling work is completed, and the robotic arm 2 returns to the standby position.

[0070] When the controller issues an instruction to spray disinfectant, the robotic arm 2 drives the end effector 6 to the working position. After the depth camera 7 identifies the distance of the object, it transmits the position information to the controller. The motor at the very end of the robotic arm 2 rotates 180°, driving the end effector 6 to rotate, so that the solid cone atomizing nozzle 26 faces the area to be disinfected. The controller sends an electrical signal to the water pump. The water pump pumps water and applies pressure, and the end effector 6 performs disinfection work.

[0071] The present invention achieves the following technical effects:

[0072] (1) By controlling the robotic arm, and with an atomizing spraying device installed at the end execution part of the robotic arm, the present invention can meet the requirements of pathogenic microorganism sampling and disinfection under various complex tasks. At the same time, the flexible robotic arm can perform targeted disinfection on some areas, with more thorough disinfection and higher efficiency, improving the accuracy and safety of pathogenic microorganism disinfection.

[0073] (2) Aiming at the problem that the virus sampling robots and disinfection robots on the current market have single functions, the present invention integrates the functions of pathogenic microorganism sampling and disinfection, and can realize the processes of automatic pathogenic microorganism sampling in the environment and disinfection and sterilization of the environment and object surfaces, reducing manual intervention and improving work safety.

[0074] (3) In some facilities with limited space, using single-function robots may occupy more space. The present invention can achieve more functions within limited space, optimize resource utilization, and improve work efficiency.

[0075] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative effort.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects, characterized in that, Comprising: Automated guided vehicle; Robotic arm, installed on the automated guided vehicle, with an end effector connected to its end; End effector, mechanically connected to the end of the robotic arm, including a gripper and an atomizing nozzle, for grasping sampling tools; Depth camera, embedded in the end effector, for real-time collecting environmental data and feeding it back to the controller; Sampling subsystem, including a cap screwing mechanism, a sampling bottle clamping mechanism and a test tube rack, located on the automated guided vehicle, for sampling pathogenic microorganism samples; Spraying device, installed at the front or bottom of the automated guided vehicle, for spraying and disinfecting the ground; Water tank, installed on the automated guided vehicle, for providing disinfectant solution for the spraying device; Controller, electrically connected to the automated guided vehicle, the robotic arm, the cap screwing mechanism, the sampling bottle clamping mechanism, the spraying device, the end effector and the depth camera, for coordinating the work of each component.

2. The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects according to claim 1, wherein The sampling subsystem includes: Cap screwing mechanism, including a rotary electric gripper, fixed on the automated guided vehicle, working in cooperation with the sampling bottle clamping mechanism, for unscrewing or closing the sampling bottle cap through the rotary electric gripper; Sampling bottle clamping mechanism, including a parallel electric gripper, fixing the sampling bottle through the parallel electric gripper, and cooperating with the robotic arm for sampling; Test tube rack, installed on the automated guided vehicle, for storing sampling bottles; A number of sampling bottles with caps, with sampling tools inside, placed in the test tube rack.

3. The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object according to claim 1, wherein, The cap screwing mechanism includes: Screw rod fixing bracket; Screw rod slider module, fixedly connected to the screw rod fixing bracket; Stepper motor, connected to the screw rod slider module; Rotary electric gripper, connected to the slider end of the screw rod slider module through an electric gripper connecting block; First gripper finger, fixedly connected to the rotary electric gripper.

4. The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object according to claim 3, wherein The stepper motor is connected to the screw rod slider module through a coupling.

5. The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object according to claim 3, characterized in that, The screw rod slider module is fixedly connected to the screw rod fixing bracket through socket head cap screws.

6. The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object according to claim 1, wherein, The sampling bottle clamping mechanism includes: First parallel electric gripper; Second gripper finger, fixedly connected to the first parallel electric gripper; Electric gripper fixing support, for fixing the first parallel electric gripper; Sampling bottle clamping mechanism housing, fixedly connected to the electric gripper fixing support; Sampling bottle clamping mechanism cover plate, covering the sampling bottle clamping mechanism housing.

7. The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects according to claim 1, characterized in that, The end effector includes: Robotic arm connecting piece, fixedly connected to the end of the robotic arm; Second parallel electric gripper, installed on the robotic arm connecting piece; Third gripper finger, fixedly connected to the second parallel electric gripper; Solid cone atomizing nozzle, installed on the top of the robotic arm connecting piece; End effector cover plate, fixedly connected to the robotic arm connecting piece.

8. The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of objects according to claim 7, wherein, The end effector further includes a depth camera mounting hole, located below the robotic arm connecting piece, for fixing the depth camera.

9. The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object according to claim 1, characterized in that, The spraying device is connected to the water tank through a pipeline, for extracting disinfectant solution and performing spraying disinfection.

10. The integrated intelligent robot for collecting and disinfecting pathogenic microorganisms on the surface of an object according to claim 1, characterized in that, The rotation range of the robotic arm is 0° to 180°.

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