CN111531563B - Disinfection robot with cleaning function - Google Patents
Disinfection robot with cleaning function Download PDFInfo
- Publication number
- CN111531563B CN111531563B CN202010407329.5A CN202010407329A CN111531563B CN 111531563 B CN111531563 B CN 111531563B CN 202010407329 A CN202010407329 A CN 202010407329A CN 111531563 B CN111531563 B CN 111531563B
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- Prior art keywords
- dust collection
- cleaning
- main body
- disinfection
- controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/02—Floor surfacing or polishing machines
- A47L11/20—Floor surfacing or polishing machines combined with vacuum cleaning devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L9/00—Disinfection, sterilisation or deodorisation of air
- A61L9/015—Disinfection, sterilisation or deodorisation of air using gaseous or vaporous substances, e.g. ozone
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L9/00—Disinfection, sterilisation or deodorisation of air
- A61L9/015—Disinfection, sterilisation or deodorisation of air using gaseous or vaporous substances, e.g. ozone
- A61L9/02—Disinfection, sterilisation or deodorisation of air using gaseous or vaporous substances, e.g. ozone using substances evaporated in the air by heating or combustion
- A61L9/03—Apparatus therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L9/00—Disinfection, sterilisation or deodorisation of air
- A61L9/16—Disinfection, sterilisation or deodorisation of air using physical phenomena
- A61L9/18—Radiation
- A61L9/20—Ultraviolet radiation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1656—Program controls characterised by programming, planning systems for manipulators
- B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
Abstract
The invention provides a disinfection robot with a cleaning function, belongs to the technical field of disinfection equipment, and is used for solving the problems of low disinfection and sterilization efficiency and poor effect in public places. The invention comprises a base and a main body, wherein a cleaning device is arranged at the lower part of the base, a travelling device is arranged at the lower part of the cleaning device, a plurality of laser radars and distance sensors are arranged on the base, a storage battery, a control assembly and an atomization disinfection device are arranged in the main body, a sterilization device is arranged at the upper part of the main body, and the sterilization device comprises an annular lamp holder and an ultraviolet lamp group. The invention integrates the functions of cleaning and dust removing, ground wiping, atomizing and sterilizing, and ultraviolet lamp sterilizing, is automatically operated, is convenient to use, greatly improves the sterilizing and sterilizing working efficiency, automatically cleans, sterilizes and sterilizes according to a planned route, saves time and labor, and realizes rotary spraying after atomizing the sterilizing liquid, thereby having good sterilizing effect, and the ultraviolet lamp group can effectively kill bacteria in the surrounding environment and prevent bacteria from breeding.
Description
Technical Field
The invention belongs to the technical field of disinfection equipment, and relates to a disinfection robot, in particular to a disinfection robot with a cleaning function.
Background
The public places such as hospitals, office buildings, malls and the like have more people flow, the disinfection and protection work cannot be ignored, and the disinfection and sterilization work must be carried out on the areas at regular time, so that the spread of diseases caused by bacterial breeding is avoided. The manual disinfection working strength is big, can have the condition that disinfection is not in place, along with the continuous development of science and technology, disinfection robot is used and is born, can reduce the manual labor volume through disinfection robot.
Most of the viruses and bacteria are diffused in the air or tiny dust, and the air sterilization is an effective sterilization mode along with the air flowing and is used for sterilizing germs by spraying disinfectant in the air. Many of the existing air disinfection devices are fixed or require manual auxiliary movement for disinfection, so that the intelligent degree is low; some intelligent and high-grade disinfection equipment is very expensive and has too high purchase cost. In the areas of hospitals, shops or office buildings, the sanitary environment on the ground of the sterilizing area is required to be cleaned before sterilizing, so that dust and sundries on the ground are removed, bacterial breeding is avoided, and then sterilizing is performed.
In summary, it is desirable to provide an intelligent disinfection robot with low manufacturing cost, convenient operation, good disinfection and sterilization effects and cleaning function.
Disclosure of Invention
The invention aims at solving the problems in the prior art, and provides a disinfection robot with a cleaning function, which aims at solving the technical problems that: how to realize the intelligent cleaning, disinfection and sterilization integrated function design of the disinfection robot.
The aim of the invention can be achieved by the following technical scheme:
The utility model provides a disinfection robot with clean function, including base and main part, the lower part of base is provided with cleaning device, and cleaning device lower part is provided with running gear, and running gear includes wheel hub motor and universal castor, and wheel hub motor's quantity is two, is bilateral symmetry and distributes in the base lower part, and the universal castor is located two wheel hub motor's symmetry axis, and cleaning device includes limit brush, round brush, dust absorption motor and dust collection box, and the quantity of limit brush is two, and the symmetry sets up in the both sides of round brush; the base is provided with a plurality of laser radars and distance sensors, the upper part of the main body is also provided with a plurality of distance sensors, the distance sensors are used for detecting the distance between the main body and surrounding obstacles, the avoidance can be timely carried out, the laser radars are used for carrying out map scanning and storage, a coordinate system is formed, and the path planning is carried out by matching with a control system; the main body is internally provided with a storage battery, a control assembly and an atomization disinfection device, the atomization disinfection device comprises a liquid storage tank, a peristaltic pump, a heating cavity, a compression pump, a fan and a rotary spray head, the main body is provided with an electric control cabin and a liquid storage cabin, the control assembly is positioned in the electric control cabin, the liquid storage tank is positioned in the liquid storage cabin, the peristaltic pump is inserted into the liquid storage tank through a water pipe, a second liquid level meter is arranged in the liquid storage tank, a discharge hole of the peristaltic pump is connected with a feed inlet of the heating cavity, the compression pump is connected with an air inlet of the heating cavity, an air outlet of the compression pump is connected with an inlet of the fan, an air outlet of the fan is connected with an electric tee joint, one end of the electric tee joint is connected with a mist discharge pipe, and the mist discharge pipe is communicated with the rotary spray head; the upper portion of main part is provided with sterilizing equipment, and sterilizing equipment includes annular lamp stand and ultraviolet banks, and annular lamp stand is located rotatory nozzle's below, and ultraviolet banks slope is installed on annular lamp stand.
The working principle of the invention is as follows: when the dust collection device is used, disinfectant is firstly added into the liquid storage tank, map scanning is carried out on a disinfectant area through the laser radar, a two-dimensional plan is formed, a coordinate system is generated, the laser radar is matched with the control system to carry out path planning, after the path planning is completed, the robot walks along a planned route, the cleaning device and the atomization disinfection device are started, dust is swept to a dust collection opening by rotating a side brush, the dust is swept into a dust collection box by rotating a rolling brush, and the dust is sucked into the dust collection box by rotating a dust collection motor; the peristaltic pump sucks out the liquid disinfectant and conveys the liquid disinfectant to the heating cavity, the heating cavity heats and vaporizes the disinfectant, the compression pump pressurizes the heating cavity at the same time, the fan works to discharge the disinfectant, the fan outlet is connected with electric tee, the electric tee is communicated with rotary spray head, the disinfectant is released into the air from the rotary spray head, carry on the disinfection; the ultraviolet lamp group is opened, and the ultraviolet lamp group is annular distribution, and ultraviolet lamp shines and disinfects the environment around the robot, and this robot collects cleans dust removal, atomizing disinfection, ultraviolet lamp sterilization integrated design, automatic operation, convenient to use can effectively disinfect and sterilize work, improves work efficiency.
Still be provided with camera, display screen and loudspeaker in the main part, control assembly includes automatically controlled mounting panel, a controller, temperature transmitter, wireless router and relay, the controller, temperature transmitter, wireless router and relay are all installed on automatically controlled mounting panel, automatically controlled mounting panel is fixed on the support in the main part, be provided with the electric quantity detector on the battery, the electric quantity detector, peristaltic pump, the heating chamber, the compressor pump, the fan, the second level gauge, electronic tee bend, the camera, the display screen, loudspeaker, ultraviolet banks, temperature transmitter, wireless router and relay all with controller electric connection, the camera, the display screen, loudspeaker, ultraviolet banks and controller all with battery electric connection.
With the structure, the camera is used for recording the front environment in the robot working process and storing the front environment in the storage unit; the display screen is used for displaying the working state of the robot, such as the information of the path, the working state of each part, the atomizing temperature, the electric quantity of the storage battery, the liquid level of the liquid storage tank and the like; the temperature transmitter is used for converting signals sent by the heating cavity by the controller and controlling the temperature of the heating cavity; the wireless router is used for being connected with the mobile equipment, and an operator can be in wireless connection with the robot through a mobile phone, a pad or a computer to control the robot.
And a radiator fan is further arranged in the main body and arranged behind the storage battery, the radiator fan is respectively and electrically connected with the controller and the storage battery, a radiator grille is arranged on the shell of the main body, and the radiator grille is correspondingly arranged at the air outlet position of the radiator fan.
By adopting the structure, the cooling fan is used for cooling the storage battery and other components, and equipment damage caused by high temperature generated by continuous operation of the equipment is prevented.
The base is provided with a control switch assembly, the control switch assembly comprises a power switch, an emergency stop switch, an atomization disinfection switch, a cleaning switch, a sterilization switch and a charging port, the charging port is connected with a storage battery and used for charging the storage battery, and each functional switch is used for controlling the operation and the closing of each device respectively. The walking device further comprises an industrial personal computer, the industrial personal computer is arranged in the base and is electrically connected with the hub motor and the controller respectively, the hub motor is electrically connected with the storage battery, the industrial personal computer adopts a PLC programmable control system, the controller sends out a walking signal, and the industrial personal computer reads the signal to control the rotation of the two hub motors, so that the walking actions of the robot in a straight running and rotating at a certain angle are realized.
The rotary spray head comprises a rotary sleeve and a spray head, the spray head is positioned at the upper part of the rotary sleeve, a plurality of air outlet pipes with the circumferences being equidistantly and uniformly distributed are arranged on the spray head, a mist discharging pipe is inserted into the spray head, the disinfectant is atomized and then introduced into the spray head from the mist discharging pipe, and the disinfectant gas is diffused into the air from the spray head; the top of main part is provided with the rotating electrical machines, and the rotating electrical machines passes through gear engagement transmission with rotating sleeve pipe, and rotating sheathed tube inboard is connected through the bearing with row fog pipe, and the rotating electrical machines rotates through gear drive rotating sleeve pipe rotation, rotates sleeve pipe and drives the atomising head and rotate, produces rotatory spraying effect, increases antiseptic solution diffusion area, improves disinfection effect respectively with controller and battery electric connection.
The rear of round brush is provided with the dust absorption mouth, dust absorption mouth and dust collection box intercommunication are provided with limit brush motor and round brush motor in the cleaning device, limit brush is fixed in the output shaft tip of limit brush motor, the pivot of round brush motor and round brush passes through gear engagement transmission, the upper end of dust collection box is provided with the ultraviolet lamp, the ultraviolet lamp respectively with controller and battery electric connection, the ultraviolet lamp is used for disinfecting the dust of sweeping into in the dust collection box, the dust collection box is taken out from cleaning device's side, the outside of dust collection box is provided with dust removal grid, dust removal grid inboard sets up the filter screen, dust removal grid is used for airing exhaust and heat dissipation, the filter screen prevents the dust in the dust collection box from dissipating to the air.
The cleaning device is characterized in that a floor wiping mechanism is further arranged at the lower part of the cleaning device, the floor wiping mechanism comprises a cleaning cloth and a cleaning cloth support, the cleaning cloth is sleeved on the cleaning cloth support, the cleaning cloth support is connected with a shell at the lower part of the cleaning device through a lifting mechanism, the lifting mechanism is a loose joint bolt lifting assembly, and the distance between the cleaning cloth support and the ground is adjusted by adjusting the position of a loose joint nut; the rag upper end is provided with the drip, and a plurality of drip holes have been seted up to the one end of drip, and the drip is located the rag top, sets up the drip and is arranged in the drainage, wets the rag, is provided with the water tank in the base, is provided with first level gauge in the water tank, first level gauge and controller electric connection, and the water filling port has been seted up to the upper end of water tank, and the lower extreme of water tank is provided with the drain valve, and the drain valve is manual ball valve, drain valve and drip union coupling.
By adopting the structure, clean water is added into the water tank, the drain valve is opened, water flows into the drip pipe under the action of gravity, and drips out from the drip hole at the broken end of the drip pipe, so that the cleaning cloth is soaked; when the water level in the water tank is lower, the loudspeaker can send out voice prompt to add water into the water tank.
The control system of the controller comprises an electric quantity detection module, a terrain memory module, a roadblock avoidance module, a walking module, an atomization disinfection module, a cleaning module, a sterilization module, a heat dissipation control unit, a voice module, a display module and a man-machine interaction module, wherein the electric quantity detection module is connected with the electric quantity detector, the terrain memory module comprises a map scanning unit and a route planning unit, the map scanning unit is connected with a laser radar, the route planning unit is connected with an industrial personal computer, the roadblock avoidance module comprises a real-time camera unit and an anti-collision avoidance module, the real-time camera unit is connected with a camera and a memory, the anti-collision avoidance module is connected with a distance sensor, the walking module interacts with the roadblock avoidance module, the walking module comprises a wheel driving unit, the wheel driving unit is connected with the industrial personal computer, and the industrial personal computer is connected with a hub motor; the atomization disinfection module comprises a temperature control unit, a liquid inlet control unit, a fan control unit, an exhaust control unit and a liquid level detection unit of the liquid storage tank, wherein the temperature control unit is connected with a temperature transmitter, the temperature transmitter is connected with a heating cavity, the liquid inlet control unit is connected with a peristaltic pump, the fan control unit is connected with a fan, the exhaust control unit is connected with an electric tee joint, and the liquid level detection unit of the liquid storage tank is connected with a second liquid level meter in the liquid storage tank; the cleaning module comprises a dust collection control unit, a dust collection box sterilization control unit and a water tank liquid level detection unit, wherein the dust collection control unit is connected with a dust collection motor, a side brush motor and a rolling brush motor, the dust collection box sterilization control unit is connected with an ultraviolet lamp, and the water tank liquid level detection unit is connected with a first liquid level meter in a water tank; the sterilization module comprises an ultraviolet lamp set control unit, wherein the ultraviolet lamp set control unit is connected with the ultraviolet lamp set, the heat dissipation control unit is connected with the heat dissipation fan, the voice module is correspondingly connected with the loudspeaker, the display module is correspondingly connected with the display screen, and the human-computer interaction module is correspondingly connected with the wireless router.
Compared with the prior art, the disinfection robot with the cleaning function has the following advantages:
1. The invention integrates the functions of cleaning and dust removing, ground wiping, atomizing and sterilizing, and ultraviolet lamp sterilization, is automatically operated, is convenient to use, can effectively perform sterilization and sterilization, and improves the working efficiency.
2. The laser radar and the industrial personal computer are matched to realize map scanning and path planning, a plurality of distance sensors are arranged, the industrial personal computer controls the wheel hub motor to operate, the walking is accurate, and the obstacles are effectively avoided.
3. The cleaning device is matched with the floor wiping mechanism, so that dust on the ground is effectively removed, the cleaning is automatically performed according to a planned route, the ground is not required to be manually cleaned and wiped, and time and labor are saved.
4. The disinfectant is sprayed in a rotating way after being atomized, so that the disinfection effect is good, bacteria in the surrounding environment can be effectively killed by means of sterilizing treatment of the ultraviolet lamp set, and bacterial breeding is prevented. .
5. The invention has compact structure, reasonable design and lower manufacturing cost, can contribute to the anti-virus and epidemic prevention work and has good market prospect.
Drawings
FIG. 1 is a schematic diagram of the front view of the present invention;
FIG. 2 is a schematic rear view of the present invention;
FIG. 3 is a schematic view showing the internal structure of the main body of the present invention;
FIG. 4 is a schematic view of the bottom structure of the cleaning device of the present invention;
FIG. 5 is a schematic view of the cleaning device of the present invention with the cleaning cloth removed;
FIG. 6 is a schematic view showing the internal structure of the cleaning device according to the present invention;
FIG. 7 is a schematic view of a control structure of the atomizing sterilizing apparatus according to the present invention;
FIG. 8 is a schematic diagram of an atomization disinfection process according to the present invention;
FIG. 9 is a schematic diagram of a walking path flow of the present invention;
FIG. 10 is a schematic view of a cleaning flow scheme of the present invention;
FIG. 11 is a schematic diagram of the control system architecture of the present invention;
In the figure: 1-base, 2-main body, 3-cleaning device, 301-side brush, 302-rolling brush, 303-dust collection port, 304-rag, 305-dust collection motor, 306-side brush motor, 307-rolling brush motor, 308-dust collection box, 309-ultraviolet lamp, 310-filter screen, 4-sterilizing device, 401-annular lamp holder, 402-ultraviolet lamp set, 5-rotary spray head, 501-rotary sleeve, 502-spray head, 6-hub motor, 7-universal wheel, 8-laser radar, 9-distance sensor, 10-camera, 11-display screen, 12-loudspeaker, 13-electric control cabin, 14-liquid storage cabin, 15-heat radiation grille, 16-dust collection grille, 17-water tank, 18-drain valve, 19-drip pipe, 20-rag support, 21-industrial personal computer, 22-control switch component, 23-first liquid level meter, 24-liquid storage tank, 25-second liquid level meter, 26-peristaltic pump, 27-heating cavity, 28-compression pump, 29-fan, 30-electric storage battery, 31-motor, 32-electric three-way motor, 13-electric control cabin, 14-liquid storage cabin, 15-heat radiation grille, 35-fan, 37-lifting mechanism.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments.
Embodiments of the present patent are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the patent and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be configured and operated in a particular orientation, and are therefore not to be construed as limiting the patent.
In the description of this patent, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be fixedly connected, disposed, detachably connected, disposed, or integrally connected, disposed, for example. The specific meaning of the terms in this patent will be understood by those of ordinary skill in the art as the case may be.
Referring to fig. 1-11, the present embodiment provides a disinfection robot with cleaning function, including a base 1 and a main body 2, wherein a cleaning device 3 is disposed at the lower part of the base 1, a running device is disposed at the lower part of the cleaning device 3, the running device includes two hub motors 6 and universal casters 7, the hub motors 6 are symmetrically distributed at the lower part of the base 1, the universal casters 7 are located on symmetrical central axes of the two hub motors 6, the cleaning device 3 includes two side brushes 301, a rolling brush 302, a dust collection motor 305 and a dust collection box 308, and the number of the side brushes 301 is two and symmetrically disposed at two sides of the rolling brush 302; the base 1 is provided with a plurality of laser radars 8 and distance sensors 9, in the embodiment, the number of the laser radars 8 and the distance sensors 9 is three, the laser radars 8 and the distance sensors 9 are respectively and uniformly distributed on the front surface and the two sides of the base, the upper part of the main body 2 is also provided with the plurality of the distance sensors 9, the plurality of the distance sensors 9 are used for detecting the distance between the main body and surrounding obstacles, the avoidance can be timely carried out, the laser radars 8 are used for carrying out map scanning and storage, a coordinate system is formed, and the path planning is carried out by matching with a control system; the main body 2 is internally provided with a storage battery 31, a control component 33 and an atomization disinfection device, the atomization disinfection device comprises a liquid storage tank 24, a peristaltic pump 26, a heating cavity 27, a compression pump 28, a fan 29 and a rotary spray head 5, the main body 2 is provided with an electric control bin 13 and a liquid storage bin 14, the control component 33 is positioned in the electric control bin 13, the liquid storage tank 24 is positioned in the liquid storage bin 14, the peristaltic pump 26 is inserted into the liquid storage tank 24 through a water pipe, a second liquid level meter 25 is arranged in the liquid storage tank 24, a discharge hole of the peristaltic pump 26 is connected with a feed hole of the heating cavity 27, the compression pump 28 is connected with an air inlet of the heating cavity 27, an air outlet of the compression pump 28 is connected with an inlet of the fan 29, an air outlet of the fan 29 is connected with an electric tee joint 30, one end of the electric tee joint 30 is connected with a mist discharge pipe 36, and the mist discharge pipe 36 is communicated with the rotary spray head 5; the upper portion of main part 2 is provided with sterilizing equipment 4, and sterilizing equipment 4 includes annular lamp stand 401 and ultraviolet banks 402, and annular lamp stand 401 is located rotatory nozzle 5's below, and ultraviolet banks 402 slope is installed on annular lamp stand 401.
When the dust collection device is used, disinfectant is firstly added into the liquid storage tank 24, then map scanning is carried out on a disinfectant area through the laser radar 8, a two-dimensional plan is formed, a coordinate system is generated, the laser radar 8 is matched with a control system to carry out path planning, after the path planning is completed, a robot walks along a planned route, the cleaning device 3 and the atomization disinfection device are started, the side brush 301 rotates to sweep dust to a dust collection opening, the rolling brush 302 sweeps dust into the dust collection box 308, and the dust collection motor 305 rotates to suck the dust into the dust collection box 308; the peristaltic pump 26 sucks the liquid disinfectant out and conveys the liquid disinfectant into the heating cavity 27, the heating cavity 27 heats and vaporizes the disinfectant, the compression pump 28 pressurizes the heating cavity 27, the fan 29 works to discharge the disinfectant gas, the outlet of the fan 29 is connected with the electric tee 30, the electric tee 30 is communicated with the rotary spray head 5, and the disinfectant gas is released into the air from the rotary spray head 5 for disinfection; the ultraviolet lamp set 402 is opened, and the ultraviolet lamp set 402 is annular distribution, and ultraviolet lamp shines and disinfects the environment around the robot, and this robot collects cleans dust removal, atomizing disinfection, ultraviolet lamp sterilization integrated design, and automatic operation, convenient to use can effectively disinfect and sterilize work, improves work efficiency.
Still be provided with camera 10, display screen 11 and loudspeaker 12 on the main part 2, control assembly 33 includes automatically controlled mounting panel, a controller, temperature transmitter, wireless router and relay, the controller, temperature transmitter, wireless router and relay are all installed on automatically controlled mounting panel, automatically controlled mounting panel is fixed on the support in main part 2, be provided with the electric quantity detector on the battery 31, the electric quantity detector, peristaltic pump 26, heating chamber 27, compressor pump 28, fan 29, second level gauge 25, electronic tee bend 30, camera 10, display screen 11, loudspeaker 12, ultraviolet banks 402, temperature transmitter, wireless router and relay all with controller electric connection, camera 10, display screen 11, loudspeaker 12, ultraviolet banks 402 and controller all with battery 31 electric connection. The camera 10 is used for recording the front environment in the robot working process and storing the front environment in the storage unit; the display screen 11 is used for displaying the working state of the robot, such as the information of the path, the working state of each component, the atomization temperature, the electric quantity of the storage battery, the liquid level of the liquid storage tank 24 and the like; the temperature transmitter is used for converting signals sent by the heating cavity 27 by the controller and controlling the temperature of the heating cavity 27; the wireless router is used for being connected with the mobile equipment, and an operator can be in wireless connection with the robot through a mobile phone, a pad or a computer to control the robot.
The main body 2 is internally provided with a cooling fan 32, the cooling fan 32 is arranged behind the storage battery 31, the cooling fan 32 is respectively electrically connected with the controller and the storage battery 31, the shell of the main body 2 is provided with a cooling grid 15, the cooling grid 15 is correspondingly arranged at the air outlet position of the cooling fan 32, and the cooling fan 32 is used for cooling the storage battery 31 and other components, so that equipment damage caused by high temperature generated by continuous operation of equipment is prevented.
The base 1 is provided with a control switch assembly 22, the control switch assembly 22 comprises a power switch, an emergency stop switch, an atomization disinfection switch, a cleaning switch, a sterilization switch and a charging port, the charging port is connected with a storage battery 31 and used for charging the storage battery, and each functional switch is used for controlling the operation and the closing of each device respectively.
The walking device further comprises an industrial personal computer 21, the industrial personal computer 21 is arranged in the base 1, the industrial personal computer 21 is electrically connected with the hub motor 6 and the controller respectively, the hub motor 6 is electrically connected with the storage battery 31, the controller sends out a walking signal, and the industrial personal computer reads the signal to control the rotation of the two hub motors 6, so that the walking actions of the robot in a straight running and a certain rotation angle are realized.
The rotary spray head 5 comprises a rotary sleeve 501 and a spray head 502, the spray head 502 is positioned at the upper part of the rotary sleeve 501, a plurality of air outlet pipes with equal circumference and equal distance are arranged on the spray head 502, the mist discharge pipe 36 is inserted into the spray head 502, the disinfectant is atomized and then introduced into the spray head 502 from the mist discharge pipe 36, and the disinfectant is diffused into the air from the spray head 502; the top of main part 2 is provided with rotating electrical machines 34, and rotating electrical machines 24 and rotating sleeve 501 pass through gear engagement transmission, and rotating sleeve 501's inboard is connected through bearing 37 with row fog pipe 36, and rotating electrical machines 24 respectively with controller and battery 31 electric connection, rotating electrical machines 24 rotate through gear drive rotating sleeve 501 rotation, and rotating sleeve 501 drives atomising head 502 and rotates, produces rotatory spraying effect, increases antiseptic solution diffusion area, improves the disinfection effect.
The rear of the rolling brush 302 is provided with a dust collection opening 303, the dust collection opening 303 is communicated with a dust collection box 308, a side brush motor 306 and a rolling brush motor 307 are arranged in the cleaning device 3, the side brush 301 is fixed at the end part of an output shaft of the side brush motor 306, the rolling brush motor 307 is in meshed transmission with a rotating shaft of the rolling brush 302 through gears, the upper end of the dust collection box 308 is provided with an ultraviolet lamp 309, the ultraviolet lamp 309 is electrically connected with a controller and a storage battery 31 respectively, the ultraviolet lamp 309 is used for sterilizing dust swept into the dust collection box 308, the dust collection box 308 is pulled out from the side edge of the cleaning device 3, a dust collection grid 16 is arranged at the outer side of the dust collection box 308, a filter screen 310 is arranged at the inner side of the dust collection grid 16, the dust collection grid 16 is used for exhausting and radiating, and the filter screen 310 is used for preventing dust in the dust collection box from being dissipated into the air.
The lower part of the cleaning device 3 is also provided with a floor wiping mechanism, the floor wiping mechanism comprises a cleaning cloth 304 and a cleaning cloth support 20, the cleaning cloth 304 is sleeved on the cleaning cloth support 20, the cleaning cloth support 20 is connected with a shell at the lower part of the cleaning device 3 through a lifting mechanism 35, the lifting mechanism 35 is a loose joint bolt lifting assembly, and the distance between the cleaning cloth support 20 and the ground is adjusted by adjusting the position of a loose joint nut; the rag 304 upper end is provided with drip 19, a plurality of weeping holes have been seted up to the one end of drip 19, the drip is located the rag 304 top, set up the weeping hole and be arranged in the drainage 19, wet the rag 304, be provided with water tank 17 in the base 1, be provided with first level gauge 23 in the water tank 17, first level gauge 23 and controller electric connection, the water filling port has been seted up to the upper end of water tank 17, the lower extreme of water tank 17 is provided with drain valve 18, drain valve 18 is manual ball valve, drain valve 18 and drip 19 are connected. Adding clear water into the water tank 17, opening the drain valve 18, allowing water to flow into the drip pipe 19 under the action of gravity, and dripping out from a drip hole at the broken end of the drip pipe 19 to wet the cleaning cloth 304; when the water level in the water tank 17 is low, the loudspeaker 12 will give out a voice prompt to add water to the water tank 17.
The control system of the controller comprises an electric quantity detection module, a terrain memory module, a roadblock avoidance module, a walking module, an atomization disinfection module, a cleaning module, a sterilization module, a heat dissipation control unit, a voice module, a display module and a man-machine interaction module, wherein the electric quantity detection module is connected with the electric quantity detector, the terrain memory module comprises a map scanning unit and a route planning unit, the map scanning unit is connected with a laser radar 8, the route planning unit is connected with an industrial personal computer 21, the roadblock avoidance module comprises a real-time camera unit and an anti-collision avoidance module, the real-time camera unit is connected with a camera 10 and a memory, the anti-collision avoidance module is connected with a distance sensor 9, the walking module interacts with the roadblock avoidance module, the walking module comprises a wheel driving unit, the wheel driving unit is connected with the industrial personal computer 21, and the industrial personal computer 21 is connected with a hub motor 6; the atomization disinfection module comprises a temperature control unit, a liquid inlet control unit, a fan control unit, an exhaust control unit and a liquid level detection unit of a liquid storage tank, wherein the temperature control unit is connected with a temperature transmitter, the temperature transmitter is connected with a heating cavity 27, the liquid inlet control unit is connected with a peristaltic pump 26, the fan control unit is connected with a fan 29, the exhaust control unit is connected with an electric tee joint 30, and the liquid level detection unit of the liquid storage tank is connected with a second liquid level meter 25 in the liquid storage tank 24; the cleaning module comprises a dust collection control unit, a dust collection box sterilization control unit and a water tank liquid level detection unit, wherein the dust collection control unit is connected with a dust collection motor 305, a side brush motor 306 and a rolling brush motor 307, the dust collection box sterilization control unit is connected with an ultraviolet lamp 309, and the water tank liquid level detection unit is connected with a first liquid level meter 23 in a water tank 17; the sterilization module comprises an ultraviolet lamp set control unit, the ultraviolet lamp set control unit is connected with the ultraviolet lamp set 402, the heat dissipation control unit is connected with the heat dissipation fan 32, the voice module is correspondingly connected with the loudspeaker 12, the display module is correspondingly connected with the display screen 11, and the man-machine interaction module is correspondingly connected with the wireless router.
The working principle of the invention is as follows:
When the disinfection robot with the cleaning function is used, disinfectant and clear water are respectively added into a liquid storage tank 24 and a water tank 17, a power switch is turned on to push the robot to travel at a place needing disinfection, so that a laser radar 8 performs omnibearing map scanning on a disinfection area to form a two-dimensional plan view, a coordinate system is generated, the laser radar 8 cooperates with a control system to perform path planning, after the path planning is completed, the robot moves along the planned route, the ground clearance of a cleaning cloth 304 is adjusted through an adjusting lifting mechanism 35, and an atomization disinfection switch, a cleaning switch or a disinfection switch is turned on as required;
The cleaning device 3 is started, the controller controls the dust collection motor 305, the side brush motor 306 and the rolling brush motor 307 to operate, the two side brushes 301 are matched to rotate to sweep dust to the dust collection opening, the rolling brush 302 sweeps dust into the dust collection box 308, the dust collection motor 305 rotates to suck the dust into the dust collection box 308, the ultraviolet lamp 309 is started to sterilize the dust swept into the dust collection box 308, and after the cleaning work is finished, the dust collection box 308 is pulled out to pour the dust; when the floor needs to be wiped, the lifting mechanism 35 is adjusted to enable the rag 304 to be attached to the floor, the drain valve 18 is opened, water flows into the drip pipe 19 under the action of gravity, drops out of a drip hole at the broken end of the drip pipe 19, wets the rag 304, and when the water level in the water tank 17 is low, the loudspeaker 12 sends out a voice prompt to add water into the water tank 17; the robot automatically cleans according to the planned route, and does not need to manually clean and wipe the ground, thereby saving time and labor.
The atomizing disinfection device is started, the peristaltic pump 26 is controlled by the controller to suck out liquid disinfectant and convey the liquid disinfectant into the heating cavity 27, the heating cavity 27 is heated to vaporize the disinfectant, the compression pump 28 pressurizes the heating cavity 27, the fan 29 works to discharge the disinfectant, the outlet of the fan 29 is connected with the electric tee joint 30, the electric tee joint 30 is communicated with the rotary spray head 5, the rotary motor 24 rotates to drive the rotary sleeve 501 to rotate through the gear, the rotary sleeve 501 drives the spray head 502 to rotate, the disinfectant is released into the air from the spray head 502, the rotary spray effect is generated, the disinfectant diffusion area is increased, and the disinfection effect is improved.
The sterilization device 4 is started, the controller controls the ultraviolet lamp set 402 to be started, the ultraviolet lamp set 402 is distributed in a ring shape, and the ultraviolet lamp irradiates to sterilize the surrounding environment of the robot, so that bacteria are effectively killed, and bacteria are prevented from breeding.
The invention integrates the functions of cleaning and dust removing, ground wiping, atomizing and sterilizing, and ultraviolet lamp sterilization, is automatically operated, is convenient to use, can effectively perform sterilization and sterilization, and improves the working efficiency; the laser radar 8 is matched with the industrial personal computer 21 to realize map scanning and path planning, a plurality of distance sensors 9 are arranged, the industrial personal computer controls the wheel hub motor 6 to run, the walking is accurate, and the obstacles are effectively avoided; the cleaning device 3 is matched with the floor wiping mechanism, so that dust on the floor is effectively removed, the cleaning is automatically performed according to a planned route, the floor is not required to be manually cleaned and wiped, and time and labor are saved; the disinfectant is sprayed in a rotating way after being atomized, so that the disinfection effect is good; bacteria in the surrounding environment can be effectively killed and prevented from breeding by sterilizing the ultraviolet lamp group; the invention has compact structure, reasonable design and lower manufacturing cost, can contribute to the anti-virus and epidemic prevention work and has good market prospect.
While the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes may be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (1)
1. The disinfection robot with the cleaning function comprises a base and a main body, and is characterized in that a cleaning device is arranged at the lower part of the base, a traveling device is arranged at the lower part of the cleaning device, the traveling device comprises two hub motors and universal casters, the hub motors are distributed at the lower part of the base in a bilateral symmetry manner, the universal casters are positioned on symmetrical central axes of the two hub motors, the cleaning device comprises side brushes, rolling brushes, dust collection motors and dust collection boxes, the number of the side brushes is two, and the side brushes are symmetrically arranged at two sides of the rolling brushes; the base is provided with a plurality of laser radars and distance sensors, and the upper part of the main body is also provided with a plurality of distance sensors; the main body is internally provided with a storage battery, a control assembly and an atomization disinfection device, the atomization disinfection device comprises a liquid storage tank, a peristaltic pump, a heating cavity, a compression pump, a fan and a rotary spray head, the main body is provided with an electric control cabin and a liquid storage cabin, the control assembly is positioned in the electric control cabin, the liquid storage tank is positioned in the liquid storage cabin, the peristaltic pump is inserted into the liquid storage tank through a water pipe, a second liquid level meter is arranged in the liquid storage tank, a discharge hole of the peristaltic pump is connected with a feed inlet of the heating cavity, the compression pump is connected with an air inlet of the heating cavity, an air outlet of the compression pump is connected with an inlet of the fan, an air outlet of the fan is connected with an electric tee joint, one end of the electric tee joint is connected with a mist discharge pipe, and the mist discharge pipe is communicated with the rotary spray head; the upper part of the main body is provided with a sterilizing device, the sterilizing device comprises an annular lamp holder and an ultraviolet lamp group, the annular lamp holder is positioned below the rotary spray head, and the ultraviolet lamp group is obliquely arranged on the annular lamp holder;
the control assembly comprises an electric control mounting plate, a controller, a temperature transmitter, a wireless router and a relay, wherein the controller, the temperature transmitter, the wireless router and the relay are all arranged on the electric control mounting plate, the electric control mounting plate is fixed on a bracket in the main body, an electric quantity detector is arranged on a storage battery, the electric quantity detector, a peristaltic pump, a heating cavity, a compression pump, a fan, a second liquid level meter, an electric tee joint, a camera, a display screen, a loudspeaker, an ultraviolet lamp set, the temperature transmitter, the wireless router and the relay are all electrically connected with the controller, and the camera, the display screen, the loudspeaker, the ultraviolet lamp set and the controller are all electrically connected with the storage battery;
A radiator fan is arranged in the main body and is arranged behind the storage battery, the radiator fan is respectively and electrically connected with the controller and the storage battery, a radiator grille is arranged on the shell of the main body, and the radiator grille is correspondingly arranged at the air outlet position of the radiator fan;
the base is provided with a control switch assembly, the control switch assembly comprises a power switch, an emergency stop switch, an atomization disinfection switch, a cleaning switch, a disinfection switch and a charging port, and the charging port is connected with a storage battery;
The walking device further comprises an industrial personal computer, the industrial personal computer is arranged in the base and is respectively and electrically connected with the hub motor and the controller, the hub motor is electrically connected with the storage battery, and the industrial personal computer adopts a PLC programmable control system;
The rotary spray head comprises a rotary sleeve and a spray head, the spray head is positioned at the upper part of the rotary sleeve, a plurality of air outlet pipes with the circumferences being uniformly distributed at equal intervals are arranged on the spray head, and the mist discharge pipe is inserted into the spray head; the top of the main body is provided with a rotating motor, the rotating motor and the rotating sleeve are in meshed transmission through a gear, the inner side of the rotating sleeve is connected with the mist discharging pipe through a bearing, and the rotating motor is respectively and electrically connected with the controller and the storage battery;
the dust collection device is characterized in that a dust collection opening is formed in the rear of the rolling brush, the dust collection opening is communicated with a dust collection box, a side brush motor and a rolling brush motor are arranged in the cleaning device, the side brush is fixed at the end part of an output shaft of the side brush motor, the rolling brush motor and a rotating shaft of the rolling brush are in meshed transmission through gears, an ultraviolet lamp is arranged at the upper end of the dust collection box and is respectively and electrically connected with a controller and a storage battery, a dust collection grid is arranged at the outer side of the dust collection box, and a filter screen is arranged at the inner side of the dust collection grid;
The cleaning device is characterized in that a floor wiping mechanism is further arranged at the lower part of the cleaning device, the floor wiping mechanism comprises a cleaning cloth and a cleaning cloth support, the cleaning cloth is sleeved on the cleaning cloth support, the cleaning cloth support is connected with a shell at the lower part of the cleaning device through a lifting mechanism, and the lifting mechanism is a loose joint bolt lifting assembly; the rag upper end is provided with the drip, and a plurality of drip holes have been seted up to the one end of drip, and the drip hole is located the rag top, is provided with the water tank in the base, is provided with first level gauge in the water tank, and water filling port has been seted up to first level gauge and controller electric connection's upper end, and the lower extreme of water tank is provided with the drain valve, and the drain valve is manual ball valve, drain valve and drip union coupling.
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| CN202010407329.5A CN111531563B (en) | 2020-05-14 | 2020-05-14 | Disinfection robot with cleaning function |
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