WO2023011055A1 - 一种医疗科室地面自动消毒机器人 - Google Patents

一种医疗科室地面自动消毒机器人 Download PDF

Info

Publication number
WO2023011055A1
WO2023011055A1 PCT/CN2022/102323 CN2022102323W WO2023011055A1 WO 2023011055 A1 WO2023011055 A1 WO 2023011055A1 CN 2022102323 W CN2022102323 W CN 2022102323W WO 2023011055 A1 WO2023011055 A1 WO 2023011055A1
Authority
WO
WIPO (PCT)
Prior art keywords
liquid
ground
disinfectant
baffle
plate
Prior art date
Application number
PCT/CN2022/102323
Other languages
English (en)
French (fr)
Inventor
常相辉
马博文
刘其军
刘霞
严燕
邱卫东
靳锡浩
李享
张淼
魏云
Original Assignee
西南交通大学
老肯医疗科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 西南交通大学, 老肯医疗科技股份有限公司 filed Critical 西南交通大学
Priority to EP22813390.6A priority Critical patent/EP4151242A4/en
Priority to US18/063,577 priority patent/US11684687B2/en
Publication of WO2023011055A1 publication Critical patent/WO2023011055A1/zh

Links

Classifications

    • 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
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/24—Apparatus using programmed or automatic operation
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • A47L11/4077—Skirts or splash guards
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • 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
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
    • A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
    • 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
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/26—Accessories or devices or components used for biocidal treatment
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • 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
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
    • 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
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/15—Biocide distribution means, e.g. nozzles, pumps, manifolds, fans, baffles, sprayers
    • 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
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
    • 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
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/17—Combination with washing or cleaning means
    • 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
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/20—Targets to be treated
    • A61L2202/25—Rooms in buildings, passenger compartments

Definitions

  • the invention relates to the technical field of medical devices, in particular to a ground automatic disinfection robot for medical departments.
  • the hospital is a gathering place for bacteria, especially in the inpatient wards of the hospital.
  • the aisles and ward floors of the hospital wards are cleaned and disinfected many times a day.
  • the sterilization of the hospital is very important. Carry out comprehensive disinfection, spray the disinfectant on the ground for cleaning, and use this method to disinfect the ground of the medical department of the hospital.
  • the existing Chinese patent CN201911405364.7 proposes a medical ground disinfection robot, which includes a disinfectant liquid storage chamber, an external liquid storage mechanism, a lower fixed frame, an upper fixed frame, a connecting frame and a walking mechanism located on the upper fixed frame and the lower fixed frame.
  • the four external liquid storage mechanisms are respectively fixedly connected to the four sides of the lower fixed frame, and the four external liquid storage mechanisms are all connected to the disinfectant liquid storage chamber
  • the upper fixed frame and the lower fixed frame are fixedly connected through four connecting frames
  • the four connecting frames are fixedly connected to the traveling mechanism, the connecting shaft tube, the liquid ejector, the liquid spreader and the motor, and the bottom support
  • the plate is fixedly connected to the lower surface of the lower fixed frame
  • the connecting shaft tube is rotatably connected to the lower end of the disinfectant liquid storage chamber
  • the liquid thrower is fixedly connected to the lower end of the connecting shaft tube
  • the upper end of the connecting shaft tube is provided with gear I, and the upper end of the liquid spreader is provided with gear II.
  • the four gears II are meshed and connected with gear I, the motor is fixedly connected to a certain side wall of the bottom support plate, and the output shaft of the motor is fixedly connected with a gear, which is meshed with one of the gears II Drive connection.
  • a ground automatic disinfection robot for medical departments including a walking device, an alarm device and a disinfection device.
  • the middle end support plate and the top plate are composed, and the disinfection device includes: a uniform disinfection assembly and a baffle, and the uniform disinfection assembly includes a liquid supply mechanism, a liquid spray mechanism and a blowing fan.
  • the disinfection device includes: a uniform disinfection assembly and a baffle, and the uniform disinfection assembly includes a liquid supply mechanism, a liquid spray mechanism and a blowing fan.
  • a ground automatic disinfection robot for medical departments including a walking device and a disinfection device installed on the walking device.
  • the lower wall of the drive unit is installed with a driving device and a traveling wheel connected to the driving device, a control panel is provided on the top plate, and a storage battery, an electric control board and a control system installed on the electric control board are arranged in the top plate.
  • the disinfection device includes a uniform disinfection component and a baffle.
  • the uniform disinfection assembly includes a liquid supply mechanism arranged on the walking device, a liquid spraying mechanism arranged below the liquid supply mechanism and a blowing fan arranged at the center of the bottom of the walking device.
  • the baffle is used to prevent the spraying mechanism from spraying on the obstacle, and the baffle is arranged on the outer periphery of the running device; the baffle is an arc-shaped plate structure and can rotate along the outer periphery of the running device, and the baffle is coaxially arranged with the top plate.
  • the top plate and the middle support plate are connected by a support column, and a round platform is arranged on the support column, and a sleeve is pivotally connected to the round platform, and the baffle is fixedly connected to the sleeve through a connecting rod, and a fixed sleeve is provided on the sleeve.
  • a ring gear, and a driving gear meshed with the side of the ring gear, a rotating motor capable of driving the driving gear to rotate is fixed in the top plate, and the rotating motor is electrically connected to the control system.
  • a cushion layer is provided on the peripheral side wall of the baffle, and a soft brush is provided on the bottom of the baffle, and the soft brush at the bottom of the baffle is always in contact with the ground.
  • It also includes an omnidirectional camera and an alarm, both of which are installed above the top plate and electrically connected with the control system.
  • the liquid supply mechanism includes a liquid storage cylinder, and a connection hole is provided in the middle of the liquid storage cylinder.
  • the liquid storage cylinder is sleeved on the support column through the connection hole, and the liquid storage cylinder is also provided with a liquid filling port , the top of the liquid filling port penetrates upwards through the top wall of the top plate, the liquid filling port is also equipped with a cover, and the bottom of the liquid storage cylinder is also provided with a liquid outlet communicating with the liquid spraying mechanism.
  • liquid spraying mechanisms are evenly arranged on the chassis trolley, and four liquid outlets are arranged at the bottom of the liquid storage cylinder, and each liquid outlet is connected to a liquid spraying mechanism respectively.
  • the end support plates are connected and fixed by four columns.
  • each liquid injection mechanism includes a spray pipe, a ball bearing, a flexible pipe and a solenoid valve
  • the ball bearing is installed on the chassis traveling vehicle
  • the outer circumference of the spray pipe is fixedly sleeved on the inner ring of the ball bearing
  • the top of the spray pipe It is connected with the liquid outlet through a hose
  • a solenoid valve is installed at the connection between the hose and the liquid outlet.
  • the solenoid valve is electrically connected with the control system, and a locking ring is also provided at the connection between the hose and the nozzle. Fix the connection.
  • a boss is provided at the bottom of the nozzle, and a sweeping brush is fixedly connected to the boss.
  • the brush end of the sweeping brush always touches the ground, and four sweeping brushes are evenly arranged around the blowing fan.
  • the above-mentioned ground automatic disinfection robot in the medical department has several spray ports on the circumferential wall of the lower part of the nozzle, and a frame corresponding to the nozzle is installed on the chassis trolley.
  • the drive motor for the rotation of the nozzle the drive motor is electrically connected to the control system, the output end of the drive motor is connected to the upper half of the nozzle through a synchronous belt, and the drive motor can drive the nozzle to rotate along the ball bearing.
  • a shielding plate is sheathed on the nozzle, and an umbrella-shaped opening for covering the lower half of the nozzle is provided in the shielding disk, and the nozzle is located at the center below the shielding disk.
  • one of the four liquid spraying mechanisms can move horizontally, and the contour edges around the chassis trolley are straight edges, wherein the liquid spraying mechanism capable of horizontal movement is installed on a slide plate, and The contour edge of the corresponding chassis trolley is provided with a linear drive for driving the slide plate to move horizontally along the length direction of the straight side, and a bar-shaped mouth that does not hinder the horizontal movement of the liquid spray mechanism is also provided on the chassis trolley.
  • the linear drive includes a rectangular frame connected to the side wall of the chassis trolley and a threaded shaft passing through the rectangular frame.
  • the two ends of the threaded shaft are pivotally connected to the two ends of the rectangular frame.
  • a micromotor is installed on the outer end wall of the box, the output shaft of the micromotor is fixedly connected with the threaded shaft provided in the rectangular frame, the micromotor is electrically connected with the control system, and the micromotor can drive the threaded shaft to rotate.
  • a threaded sleeve is fixedly connected, and the threaded sleeve is embedded and installed in the rectangular frame of the linear driver.
  • the threaded shaft is passed through the threaded sleeve, and the two are threaded. Through the rotation of the threaded shaft, the slide plate and the The liquid injection mechanism located on the slide plate moves left and right along the strip opening.
  • the present invention realizes the automatic and comprehensive disinfection work on the ground of the medical department, and blocks the obstacles by the baffle, so that the obstacles will not be contaminated with the disinfectant, and the disinfection is realized
  • the liquid only disinfects the ground, and the uniform application of the disinfectant through the liquid spray mechanism and the blowing fan realizes the comprehensive disinfection of the ground and ensures the uniform application of the disinfectant.
  • the invention uses the baffle to resist the splashing of the disinfectant solution, which ensures the cleanliness of obstacles, prevents the disinfectant solution from splashing to the side with obstacles when spraying, and realizes the work of only disinfecting the ground without contaminating the disinfectant solution to the obstacle.
  • the present invention uses the way that the baffle rotates along the circumferential direction of the top plate, so that obstacles can be blocked in all directions of the walking device, so that obstacles in all directions can be blocked by the baffle to avoid being splashed by disinfectant
  • the baffle can block the obstacles on either side of the walking device and ensure that the obstacles are not contaminated by the disinfectant.
  • the present invention supplies the disinfectant to the liquid spray mechanism through the liquid storage cylinder, so that the liquid spray mechanism can effectively spray the disinfectant, ensuring sufficient disinfectant in the liquid storage cylinder.
  • the present invention controls the discharge of the liquid storage cylinder through the solenoid valve, so that the spray pipe can control the spraying amount of the disinfectant, avoiding the situation that the disinfectant is sprayed too much or sprayed too little, resulting in waste of the disinfectant or uneven application of the ground. The uniformity of the spraying of the disinfectant is adjusted.
  • the present invention enables the blowing fan to blow it away again after applying the disinfectant on the sweeping brush, so as to ensure that the disinfectant is applied evenly, and the disinfectant is widely applied, realizing the disinfection of the disinfectant Spread evenly on the ground to make the ground disinfection effect better.
  • the present invention throws out the disinfectant through several liquid spray ports, so that all the sweeping brushes can be contaminated with disinfectant, and the disinfectant can be evenly scattered on the sweeping brush, so that the sweeping brush can evenly smear the disinfectant on the on the ground.
  • the umbrella-shaped mouth of the shielding plate blocks several liquid spray ports on the spray pipe, so that the disinfectant sprayed from the liquid spray ports is splashed downward under the resistance of the shielding plate, and the sweeping brush is contaminated and disinfected.
  • the liquid disinfects the ground and prevents obstacles from being splashed by the disinfectant.
  • the invention realizes the movement of the liquid spray mechanism through the movement of the slide plate, ensures that the ground in the corner can also be disinfected, avoids the situation that some inconvenient grounds cannot be applied to the disinfectant by the sweeping brush, and realizes the comprehensive disinfection of the ground work.
  • the present invention enables the walking device to move according to the surrounding conditions through the cooperation between the omnidirectional camera and the alarm, avoiding the situation that the walking device moves irregularly and cannot move around obstacles, and realizes While the walking device disinfects the ground, it also protects the safety of medical staff.
  • Fig. 1 is a schematic diagram of the three-dimensional structure of the present invention.
  • Fig. 2 is a front view of the present invention.
  • Figure 3 is a side view of the present invention.
  • Fig. 4 is a cross-sectional view along line A-A of Fig. 3 .
  • Fig. 5 is a three-dimensional structural schematic diagram of the baffle.
  • Fig. 6 is a schematic perspective view of the three-dimensional structure of the uniform disinfection assembly.
  • Fig. 7 is a front view of Fig. 6 .
  • Fig. 8 is a three-dimensional structural schematic view of the spraying mechanism.
  • Fig. 9 is a side view of the spray mechanism.
  • Fig. 10 is a cross-sectional view along line B-B of Fig. 9 .
  • Fig. 11 is a schematic perspective view of the three-dimensional structure of the walking device.
  • Fig. 12 is a front view of the running gear.
  • Fig. 13 is a three-dimensional structural schematic diagram of the chassis traveling vehicle and the spraying mechanism.
  • Fig. 14 is a front view of Fig. 13 .
  • FIG. 15 is an enlarged schematic diagram of point C in FIG. 13 .
  • the numbers in the figure are: walking device 1, chassis traveling car 2, middle support plate 3, top plate 4, disinfection device 5, baffle plate 6, liquid supply mechanism 7, liquid spray mechanism 8, blowing fan 9, cushion layer 10 , soft brush 11, support column 12, sleeve 13, connecting rod 14, ferrule gear 15, driving gear 16, rotating motor 17, liquid storage cylinder 18, support seat 19, liquid filling port 20, liquid outlet 21, column 22.
  • the present invention proposes a ground automatic disinfection robot for medical departments, which can perform automatic disinfection operations on the hospital departments, wards and other grounds that need to be disinfected.
  • the robot comprises a traveling device 1 and a disinfection device 5 installed on the traveling device 1.
  • the traveling device 1 includes a chassis traveling vehicle 2, a mid-end support plate 3 and a top plate 4 installed sequentially from bottom to top.
  • the lower wall of 2 is equipped with a driving device and a traveling wheel connected to the driving device.
  • a control panel is provided on the top plate 4
  • a storage battery is provided on the top plate 4
  • an electric control board and a control system installed on the top plate 4 are provided to control the automatic disinfection robot to perform intelligent work according to a set program or instruction
  • the driving device is electrically connected to the control system, and is controlled
  • the system controls the driving device to drive the automatic disinfection robot to walk on the ground.
  • the battery supplies power to the entire device, and it is charged before being put into use when the power is almost exhausted, similar to the sweeping robot in the prior art.
  • the disinfection device 5 includes: a uniform disinfection component and a baffle 6 .
  • the uniform disinfection assembly is used to uniformly and comprehensively disinfect the ground, and the uniform disinfection assembly includes a liquid supply mechanism 7 arranged on the walking device 1, a liquid spray mechanism 8 arranged below the liquid supply mechanism 7 and a liquid spray mechanism arranged on the walking device 1. Blowing fan 9 in the bottom center.
  • the baffle 6 is used to block the liquid spraying mechanism 8 to avoid spraying the disinfectant on obstacles, and the baffle 6 is arranged on the periphery of the walking device 1 .
  • the automatic disinfection robot is started through the control panel installed on the top plate 4, and the driving device is controlled by the control system installed in the top plate 4 to drive the walking device 1 to automatically walk on the ground.
  • the disinfection device 5 disinfects the ground.
  • the liquid supply mechanism 7 delivered the disinfectant to the liquid spray mechanism 8, and the disinfectant was sprayed on the ground by the liquid spray mechanism 8.
  • the liquid is wiped evenly, which is convenient for the uniform spraying of the disinfectant.
  • the disinfectant is dispersed by the action of the blower fan 9, so that the disinfectant is widely diffused and the disinfectant is evenly sprayed on the ground.
  • the walking device 1 is walking.
  • the baffle plate 6 When an obstacle is about to be encountered, the baffle plate 6 is blocked between the liquid spray mechanism 8 and the obstacle, so that the disinfectant sprayed on the liquid spray mechanism 8 will not be contaminated on the obstacle, so as to avoid causing unnecessary troubles, such as using Obstacles corrode or pollute obstacles.
  • the baffle plate 6 is an arc-shaped plate structure and can rotate along the periphery of the walking device 1.
  • the baffle plate 6 is coaxially arranged with the top plate 4.
  • the outer peripheral side wall of the baffle plate 6 is also provided with a cushion layer 10 for touching Obstacles are buffered, and a soft brush 11 is also provided on the lower edge of the bottom of the baffle plate 6.
  • the blocking range of the baffle plate 6 is at least greater than the spraying range of the liquid spray mechanism 8, and the soft brush 11 at the bottom of the baffle plate 6 is always in contact with the On the ground, the soft brush 11 is used to stop the oozing of disinfectant and prevent the bottom of the baffle plate 6 from wearing and tearing.
  • the liquid spray mechanism 8 sprays disinfectant on the ground accordingly.
  • the control system controls the baffle 6 to rotate to the direction of the obstacle, and the baffle 6 blocks In front of the liquid spray mechanism 8 in the direction of the obstacle, after the baffle plate 6 touches the obstacle, the cushion layer 10 on the baffle plate 6 makes the running gear 1 play a buffering effect, avoiding the damage of the running gear 1, along with The shielding of the baffle plate 6 prevents the disinfectant from being sprayed onto the obstacle.
  • the soft brush 11 at the bottom of the baffle plate 6 prevents the disinfectant from splashing on the obstacle and prevents the bottom of the baffle plate 6 from always touching the ground to cause abrasion.
  • the baffle plate 6 can rotate along the circumferential direction of the top plate 4, and the center position between the top plate 4 and the middle end support plate 3 is fixedly connected by a support column 12, and a round table is arranged on the upper half of the support column 12
  • a sleeve 13 is sleeved on the round table, and the sleeve 13 is connected to the round table in a pivotal manner, so that the sleeve 13 can rotate freely around the round table.
  • a ferrule gear 15 is fixedly sleeved on the sleeve 13
  • a driving gear 16 is meshed with the side of the ferrule gear 15, and the top plate 4 is fixed with a rotating shaft that can drive the driving gear 16 to rotate.
  • the rotating motor 17 is electrically connected with the control system in the top plate 4, the rotating motor 17 can drive the driving gear 16 to rotate, and then drive the ring gear 15 and the sleeve 13 to rotate, and then drive the baffle plate 6 through the connecting rod 14 Rotate along the circumferential direction of top plate 4.
  • the control system controls the rotating motor 17 to drive the driving gear 16 to rotate, and the sleeve 13 is then positioned on the ring gear 15 to rotate.
  • the baffle plate 6 also rotates along the circumferential direction of the top plate 4 until the baffle plate 6 rotates to the side where there is an obstacle, and the sterilizing solution is blocked by the baffle plate 6
  • the ground will not be contaminated with obstacles when smearing the ground, which ensures that the splashing of the disinfectant can be blocked by the baffle plate 6 when the running device 1 moves in any direction and encounters obstacles.
  • the liquid supply mechanism 7 includes a liquid storage cylinder 18, the liquid storage cylinder 18 is in the shape of a flat cylinder, a connection hole is provided in the middle of the liquid storage cylinder 18, and the liquid storage cylinder 18 is coaxially sleeved on the support column 12 through the connection hole.
  • four supporting seats 19 are evenly arranged around the top of the middle end supporting plate 3, and the liquid storage cylinder 18 is installed on the four supporting seats 19, or is installed in the area between the four supporting seats 19, and the liquid storage cylinder 18 is also provided with a liquid filling port 20, and the liquid filling port 20 penetrates upwards through the top wall of the top plate 4, thereby making it easy to add liquid to the liquid storage cylinder 18.
  • the liquid filling port 20 is also provided with a cover.
  • the bottom of the liquid storage cylinder 18 is provided with a liquid outlet 21 communicated with the liquid spray mechanism 8.
  • Four liquid injection mechanisms 8 are formed, correspondingly.
  • Four liquid outlets 21 are respectively provided at the bottom of the liquid storage cylinder 18 , and each liquid outlet 21 is respectively connected to a liquid spraying mechanism 8 .
  • the liquid spraying mechanism 8 sprays the disinfectant, it stores the full disinfectant in the liquid storage cylinder 18, and the disinfectant in the liquid storage cylinder 18 circulates in the liquid spraying mechanism 8 through the liquid outlet 21, and supplies the liquid spraying mechanism 8 Spray the disinfectant, after the disinfectant in the liquid storage cylinder 18 is used up, the medical staff can add the disinfectant to the liquid storage cylinder 18 through the liquid filling port 20 to ensure that the disinfectant in the liquid storage cylinder 18 is sufficient, so that the liquid spray mechanism 8 can replenish the disinfectant in time, avoiding the ejection of the liquid spray mechanism 8 without disinfectant.
  • a liquid spraying mechanism 8 is respectively installed around the chassis trolley 2, and the chassis trolley 2 and the middle end support plate 3 are connected and fixed by four columns 22 arranged in the ring, and each liquid spraying mechanism 8 is also corresponding to a liquid outlet 21 respectively, and each liquid injection mechanism 8 all comprises nozzle pipe 23, ball bearing 24, hose 25 and solenoid valve 26, and ball bearing 24 is installed on the chassis traveling vehicle 2, and nozzle pipe
  • the outer circumference of 23 is fixedly sleeved on the inner ring of the ball bearing 24, and the top of the nozzle 23 communicates with the liquid outlet 21 through a flexible pipe 25, and a solenoid valve is provided at the connection between the flexible pipe 25 and the liquid outlet 21.
  • 26, and the solenoid valve 26 is electrically connected to the control system, and a locking ring 27 is also provided at the connection between the hose 25 and the nozzle 23 for fixing.
  • the solenoid valve 26 on each hose 25 is opened, and with the opening of the solenoid valve 26, the disinfectant in the liquid storage cylinder 18 can flow from the liquid outlet 21 thereupon.
  • the disinfectant flows into the spray pipe 23 through the flexible pipe 25, so that the disinfectant in the spray pipe 23 can be sprayed out of the ground smoothly.
  • the solenoid valve 26 is closed.
  • the solenoid valve 26 is closed, the disinfectant in the liquid storage tank 18 stops outputting, so that the spray pipe 23 cannot continue to spray the disinfectant.
  • the bottom end of the nozzle 23 is provided with a boss 28, on the boss 28 is fixedly provided with a sweeping brush 29 for disinfecting the ground in the form of sweeping, the brush end of the sweeping brush 29 is in contact with the ground all the time, and the four sweeping brushes 29 are arranged around blowing fan 9.
  • the disinfectant in the nozzle 23 sprays onto the sweeping brush 29, and along with the disinfection of the ground by the sweeping brush 29, the disinfectant is evenly spread on the ground , in order to make the smearing of the disinfectant more extensive and the effect of smearing evenly better, the disinfectant on the ground is blown away by the blowing fan 9 to ensure that the smear of the disinfectant is even, so that the disinfectant is spread on the ground , to avoid the accumulation of disinfectant in one place, which will not only waste the disinfectant, but also make the disinfection effect of the ground poor.
  • Simultaneously blowing fan 9 can also more effectively blow the sterilizing solution attached on the sweeping brush 29 to the ground. Due to being blocked by the ground, the wind is blown to the sweeping brush 29 around, so that the disinfectant can be efficiently spread evenly on the ground.
  • a frame corresponding to the nozzle pipe 23 is installed, on the frame, there is a frame for driving the nozzle pipe 23.
  • Rotating drive motor 31, the drive motor 31 is electrically connected to the control system, the output end of the drive motor 31 is connected to the upper half of the nozzle 23 through the timing belt 32, and the drive motor 31 drives the nozzle 23 to rotate along the ball bearing 24 .
  • the driving motor 31 drives the spray pipe 23 to rotate on the ball bearing 24 through the synchronous belt 32, the inner ring of the ball bearing 24 rotates, and the outer ring of the ball bearing 24 is fixed, and then With the rotation of the spray pipe 23, since the spray pipe 23 is provided with several spray outlets 30, the disinfectant in the spray pipe 23 is thrown out along the several spray outlets 30, and the discharged disinfectant falls thereupon.
  • the sweeping brush 29 after the sweeping brush 29 is contaminated with disinfectant, the ground is sterilized in the form of cleaning to ensure that the disinfectant can be evenly dispersed when disinfecting the ground, and the effect of the disinfectant on the ground is improved.
  • a shielding disc 33 is sheathed on the nozzle 23 , and an umbrella-shaped opening for covering the lower half of the nozzle 23 is arranged inside the shielding disc 33 .
  • the nozzle 23 is located at the center below the shielding disc 33 .
  • the shielding plate 33 on the spray pipe 23 makes the disinfectant sprayed by spray pipe 23 splash downwards under the shelter of shielding plate 33, so that the sweeping brush 29 is contaminated with disinfectant,
  • the sweeping brush 29 contaminated with the disinfectant can also disinfect the ground in a sweeping manner, and the blowing of the blowing fan 9 also makes the disinfectant evenly Dispersed to make the effect of ground disinfection better.
  • One of the liquid spraying mechanisms 8 in the four liquid spraying mechanisms 8 can move horizontally, and the surrounding outline of the chassis trolley 2 is a straight edge, wherein the liquid spraying mechanism 8 capable of horizontal movement is arranged on the slide plate 34, and on The contour edge of the corresponding chassis trolley 2 is also provided with a linear drive 35 for driving the slide plate 34 to move horizontally along the length direction of the straight side.
  • the strip mouth 36 is also a set that does not hinder the liquid spray mechanism 8 from moving horizontally.
  • the linear driver 35 includes a rectangular frame connected to the side wall of the chassis trolley 2 and a threaded shaft passing through the rectangular frame.
  • the two ends of the threaded shaft are pivotally connected with the two ends of the rectangular frame.
  • a micromotor is installed on the outer end wall of the frame, the output shaft of the micromotor is fixedly connected with the threaded shaft provided in the rectangular frame, the micromotor is electrically connected with the control system, and the threaded shaft can be driven to rotate by the micromotor.
  • a threaded sleeve is fixedly connected, and the threaded sleeve is embedded and installed in the rectangular frame of the linear driver 35.
  • the threaded shaft is penetrated in the described threaded sleeve, and the two are threaded. Through the rotation of the threaded shaft, the slide plate can be driven 34 and the spray mechanism 8 positioned on the slide plate 34 move left and right along the strip mouth 36.
  • the linear driver 35 drives the slide plate 34 to move along the straight side of the chassis trolley 2, and the liquid spray mechanism 8 installed on the slide plate 34 moves toward the corner, and the liquid spray mechanism 8 moves to the corner by spraying liquid.
  • the movement of mechanism 8 makes the sweeping brush 29 on the liquid spraying mechanism 8 brush the disinfectant to the ground in the corner, ensuring that the ground in the corner can also be disinfected.
  • the automatic disinfection robot proposed in this embodiment also includes an omnidirectional camera 37 and an alarm 38, both of which are installed above the top plate 4 and electrically connected to the control system.
  • the walking device 1 when the walking device 1 is moving, it observes the surrounding situation through the omnidirectional camera 37 to prevent the walking device 1 from bumping into obstacles. 1, the alarm 38 sends out an alarm sound to remind the medical staff to pay attention to the safety of their feet and prevent the medical staff from stepping on the walking device 1 walking device.
  • the automatic and comprehensive disinfection of the ground of the medical department is realized, and the obstacles are blocked by the baffle plate 6, so that the obstacles will not be contaminated with the disinfectant, and the disinfection is realized.
  • the liquid only disinfects the ground, and the uniform application of the disinfectant by the liquid spray mechanism 8 and the blower fan 9 realizes the comprehensive disinfection of the ground while ensuring the uniform application of the disinfectant.
  • the cooperation among them makes the walking device 1 comprehensively disinfect the ground while protecting the safety of the medical staff, realizes the comprehensive disinfection of the ground and protects obstacles from being splashed by the disinfectant.

Landscapes

  • 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)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • General Chemical & Material Sciences (AREA)
  • Apparatus For Disinfection Or Sterilisation (AREA)
  • Catching Or Destruction (AREA)

Abstract

一种医疗科室地面自动消毒机器人，包括行走装置（1）、消毒装置（5），行走装置（1）由自下而上依次安装的底盘行走车（2）、中端支撑盘（3）和顶盘（4）组成，所述消毒装置（5）包括：均匀消毒组件和挡板（6），该均匀消毒组件包括供液机构（7）和喷液机构（8）以及吹风风扇（9）；通过行走装置（1）与消毒装置（5）之间的配合，实现了医疗科室地面的自动全面消毒，通过挡板（6）对阻碍物的阻挡，使得阻碍物不会沾染到消毒液，实现了消毒液只对地面的消毒工作，通过喷液机构（8）和吹风风扇（9）对消毒液的均匀涂抹，实现了地面消毒全面的同时保证了消毒液涂抹的均匀。

Description

一种医疗科室地面自动消毒机器人 技术领域
本发明涉及医疗器械技术领域，具体是涉及一种医疗科室地面自动消毒机器人。
 背景技术
医院是细菌的集合地，特别是医院的住院病房中，医院病房的过道及病房地面每天都会打扫消毒很多遍，为了减少病房地面的病菌，所以对医院的杀菌消毒处理至关重要，需要对地面进行全面的消毒，将消毒剂喷洒到地面上进行清扫，利用这种方式时，对医院的医疗科室进行地面消毒。
现有的中国专利CN201911405364.7提出的一种医疗地面消毒机器人，包括消毒液储液腔、外置储液机构、下固定框、上固定框、连接架和行走机构位于上固定框和下固定框内，所述外置储液机构设置有四个，四个外置储液机构分别固定连接在所述下固定框的四边，且四个外置储液机构均与消毒液储液腔连通，所述上固定框和下固定框通过四个连接架固定连接，所述四个连接架固定连接在所述行走机构、连接轴管、甩液器、铺液器和电机，所述底支板固定连接在所述下固定框的下表面，所述连接轴管转动连接在所述消毒液储液腔的下端，所述甩液器固定连接在所述连接轴管的下端，所述铺液器设置有四个，四个铺液器分别转动连接在所述底支板的四角处，所述连接轴管上端设置有齿轮Ⅰ，所述铺液器的上端设置有齿轮Ⅱ，所述四个齿轮Ⅱ均与齿轮Ⅰ啮合传动连接，所述电机固定连接在所述底支板的某一侧壁上，所述电机的输出轴上固定连接有齿轮，该齿轮与其中一个齿轮Ⅱ啮合传动连接。
 技术问题
根据上述的专利，该专利存在着无法避免将消毒液喷洒到障碍物上的问题，对于墙角位置处也容易将消毒液喷洒到墙壁上，对此，容易造成不必要的麻烦，目前，需要一种在消毒地面时能够阻挡障碍物使其避免被喷洒消毒液的自动消毒机器人。
 技术解决方案
为解决上述技术问题，提供一种医疗科室地面自动消毒机器人，包括行走装置、报警装置和消毒装置，该行走装置为圆盘状机器人，并且行走装置由自下而上依次安装的底盘行走车、中端支撑盘和顶盘组成，所述消毒装置包括：均匀消毒组件和挡板，该均匀消毒组件包括供液机构和喷液机构以及吹风风扇，本发明通过行走装置与消毒装置之间的配合，实现了医疗科室地面的自动全面消毒，通过挡板对阻碍物的阻挡，使得阻碍物不会沾染到消毒液，实现了消毒液只对地面的消毒工作，通过喷液机构和吹风风扇对消毒液的均匀涂抹，实现了地面消毒全面的同时保证了消毒液涂抹的均匀。
为达到以上目的，本发明采用的技术方案为。
一种医疗科室地面自动消毒机器人，包括行走装置和安装在行走装置上的消毒装置，所述行走装置包括自下而上依次安装的底盘行走车、中端支撑盘和顶盘，在底盘行走车的下壁安装有驱动装置，以及与驱动装置传动连接的行走轮，在顶盘上设有控制面板，在顶盘内设有蓄电池、电控板和安装在电控板上的控制***，所述消毒装置包括均匀消毒组件和挡板。
所述均匀消毒组件包括设置在行走装置上的供液机构、设置在供液机构下方的喷液机构以及设置在行走装置底部中心的吹风风扇。
挡板用以阻挡喷液机构喷洒到障碍物上，所述挡板设置在行走装置的外周；挡板为弧形板结构并能沿行走装置的外周旋转，挡板与顶盘同轴设置，顶盘与中端支撑盘通过支撑柱连接，在支撑柱设有圆台，在圆台上轴转连接有套筒，在挡板通过连接杆固定连接在套筒上，在套筒上固定套设有套圈齿轮，并且在套圈齿轮的旁侧啮合设有驱动齿轮，顶盘内固设有能够带动驱动齿轮转动的旋转电机，所述旋转电机与控制***电连接。
进一步的，在挡板的外周侧壁设有软垫层，在挡板的底部还设有软刷，并且挡板底部的软刷始终接触于地面。
还包括全方位摄像头和报警器，全方位摄像头和报警器均安装在顶盘的上方，并均与控制***电连接。
上述医疗科室地面自动消毒机器人，供液机构包括储液筒，在储液筒的中部设有连接孔，储液筒通过连接孔套设在支撑柱上，储液筒上还设有加液口，加液口的顶部向上贯穿顶盘的顶壁，在加液口上还配设有罩盖，在储液筒的底部还设有与喷液机构连通的出液口。
作为优选方案，在底盘行走车上均匀环设有四个喷液机构，在储液筒的底部设有四个出液口，每个出液口分别连接一个喷液机构，底盘行走车与中端支撑盘之间通过四个立柱连接固定。
进一步的，每个喷液机构均包括喷管、滚珠轴承、软管和电磁阀，滚珠轴承安装在底盘行走车上，喷管的外周固定套设在滚珠轴承的内环上，喷管的顶端与出液口之间通过软管连接，在软管与出液口的连通处设有置电磁阀，电磁阀与控制***电连接，在软管与喷管的连通处还设有锁紧环进行连接固定。
更进一步的，在喷管的底端设有凸柱，在凸柱上固定连接有扫地刷，扫地刷的毛刷端始终抵触于地面，并且四个扫地刷围绕吹风风扇均匀设置。
上述医疗科室地面自动消毒机器人，在喷管下半部的圆周管壁上开设有若干个喷液口，在底盘行走车上安装有与喷管对应的机架，在机架上设有用以带动喷管旋转的驱动电机，所述驱动电机与控制***电连接，驱动电机的输出端通过同步带连接于喷管的上半部，通过驱动电机能带动喷管沿滚珠轴承旋转。
优选的，在喷管上还套设有遮挡盘，在遮挡盘内设有用以覆盖喷管下半部的伞状口，喷管位于遮挡盘下方的中心位置。
更优选的，四个喷液机构中的其中一个喷液机构能够进行水平移动，底盘行走车的四周轮廓边均为直边，其中能够进行水平移动的喷液机构安装在滑板上，并在其对应的底盘行走车的轮廓边上设有用以带动滑板沿着直边的长度方向进行水平移动的直线驱动器，在底盘行走车上还设有一条不妨碍喷液机构进行水平移动的条形口。
进一步的，所述直线驱动器包括连接在底盘行走车侧壁的长方框和穿设在长方框内的螺纹轴，螺纹轴的两端与长方框的两端壁轴转连接，在长方框的外端壁上安装有微型电机，微型电机的输出轴与长方框内设置的螺纹轴固定连接，微型电机与控制***电连接，通过微型电机能驱动螺纹轴旋转，在滑板的外侧固定连接有螺纹套，且所述螺纹套嵌设安装在直线驱动器的长方框内，螺纹轴穿设于所述螺纹套内，且两者螺纹连接，通过螺纹轴的旋转，能带动滑板和位于滑板上的喷液机构沿条形口进行左右移动。
 有益效果
1.本发明通过行走装置与消毒装置之间的配合，实现了医疗科室地面完成被自动全面消毒的工作，通过挡板对障碍物的阻挡，使得障碍物不会沾染到消毒液，实现了消毒液只对地面的消毒工作，通过喷液机构和吹风风扇对消毒液的均匀涂抹，实现了地面消毒全面的同时保证了消毒液涂抹的均匀。
2.本发明通过挡板抵挡消毒液飞溅的方式，保证了障碍物的整洁，使得消毒液在喷射时避免飞溅向有障碍物的一方，实现了只对地面消毒的工作而不使消毒液沾染到障碍物。
3.本发明通过挡板沿着顶盘的圆周方向转动的方式，使得行走装置的各个方向均能对障碍物进行阻挡，使得各个方向的障碍物均能通过挡板的阻挡避免被消毒液溅射，实现了挡板对行走装置任意一侧的障碍物的阻挡，保证了障碍物不被消毒液沾染。
4.本发明通过储液筒对喷液机构的消毒液的供应，使得喷液机构能够有效的喷洒出消毒液，保证了储液筒内消毒液的充足。
5.本发明通过电磁阀对储液筒出液的控制，使得喷管能够控制消毒液的喷出量，避免消毒液喷多或喷少导致消毒液使用浪费或地面涂抹不均匀的情况发生，实现了对消毒液调节喷洒的均匀程度。
6.本发明通过扫地刷与吹风风扇之间的配合，使得吹风风扇能够在扫地刷涂抹消毒液后再一次将其吹开，保证消毒液涂抹均匀，也使得消毒液涂抹广泛，实现了消毒液均匀涂抹于地面，使得地面消毒效果更佳。
7.本发明通过若干个喷液口甩出消毒液的方式，使得扫地刷上均能沾染到消毒液，实现了消毒液能够均匀散落在扫地刷上，使得扫地刷能够将消毒液均匀涂抹于地面上。
8.本发明通过遮挡盘的伞状口对喷管上若干个喷液口的阻挡，使得喷液口喷出的消毒液在遮挡盘的抵挡下向下溅射，实现了扫地刷沾染到消毒液从而消毒地面，也使得障碍物不会被消毒液溅射。
9.本发明通过滑板的移动，实现了喷液机构的移动，保证了墙角地面也能够得到消毒，避免一些不方便消毒的地面无法被扫地刷涂抹到消毒液的情况发生，实现了地面全面消毒的工作。
10.本发明通过全方位摄像头和报警器之间的配合，使得行走装置在移动时能够根据周围情况进行移动，避免出现行走装置移动无规律，不能避开障碍物进行移动的情况发生，实现了行走装置消毒地面的同时也保护了医护人员的安全。
 附图说明
图1为本发明的立体结构示意图。
图2为本发明的主视图。
图3为本发明的侧视图。
图4为图3的A-A处剖视图。
图5为挡板的立体结构示意图。
图6为均匀消毒组件的立体结构示意图。
图7为图6的主视图。
图8为喷液机构的立体结构示意图。
图9为喷液机构的侧视图。
图10为图9的B-B处剖视图。
图11为行走装置的立体结构示意图。
图12为行走装置的主视图。
图13为底盘行走车和喷药机构的立体结构示意图。
图14为图13的主视图。
图15为图13的C处放大示意图。
图中标号为：行走装置1、底盘行走车2、中端支撑盘3、顶盘4、消毒装置5、挡板6、供液机构7、喷液机构8、吹风风扇9、软垫层10、软刷11、支撑柱12、套筒13、连接杆14、套圈齿轮15、驱动齿轮16、旋转电机17、储液筒18、支撑座19、加液口20、出液口21、立柱22、喷管23、滚珠轴承24、软管25、电磁阀26、锁紧环27、凸柱28、扫地刷29、喷液口30、驱动电机31、同步带32、遮挡盘33、滑板34、直线驱动器35、条形口36、全方位摄像头37、报警器38。
 本发明的最佳实施方式
本发明的最佳实施方式与下文描述的本发明的实施方式相同。
 本发明的实施方式
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变形。
本发明提出一种医疗科室地面自动消毒机器人，能够对医院各科室、病房及其他需要消毒的地面进行全自动消毒作业，如图1至图15所示，本实施方式提出的医疗科室地面自动消毒机器人，包括行走装置1和安装在行走装置1上的消毒装置5，所述行走装置1包括自下而上依次安装的底盘行走车2、中端支撑盘3和顶盘4，在底盘行走车2的下壁安装有驱动装置，以及与驱动装置传动连接的行走轮，具体的，在本实施方式中，共设置有四个均能独立转向的行走轮；在顶盘4上设有控制面板，在顶盘4内设有蓄电池、电控板和安装在电控板上的控制***，用于控制自动消毒机器人按照设定程序或指令进行智能工作，驱动装置与控制***电连接，通过控制***控制驱动装置工作，以驱动自动消毒机器人在地面上行走，蓄电池为整个装置进行供电，并在电量快耗尽时进行充电后再投入使用，类似于现有技术的扫地机器人。
所述消毒装置5包括：均匀消毒组件和挡板6。
均匀消毒组件用以对地面进行均匀且全面的消毒，所述均匀消毒组件包括设置在行走装置1上的供液机构7和设置在供液机构7下方的喷液机构8以及设置在行走装置1底部中心的吹风风扇9。
挡板6用以阻挡喷液机构8，以避免将消毒液喷洒到障碍物上，该挡板6设置在行走装置1的外周。
具体的，在对医疗科室进行地面消毒时，通过顶盘4上安装的控制面板启动自动消毒机器人，通过顶盘4内安装的控制***控制驱动装置工作，以驱动行走装置1在地面上自动行走，行走过程中，消毒装置5对地面进行消毒处理，消毒装置5工作时，供液机构7将消毒液输送给喷液机构8，通过喷液机构8将消毒液喷洒在地面上的同时将消毒液均匀抹开，便于消毒液的均匀喷洒，通过吹风风扇9的作用将消毒液分散开来，使得消毒液被广泛扩散开的同时也使得消毒液均匀喷洒于地面，行走装置1在行走过程中将要遇到障碍物时，挡板6阻挡在喷液机构8与障碍物之间，使得喷液机构8上喷出的消毒液不会沾染到障碍物上，避免引起不必要的麻烦，如使障碍物腐蚀或污染障碍物。
进一步的，为了解决如何使得障碍物避免沾染到消毒液的技术问题，如图5所示，提供以下技术方案。
挡板6为弧形板结构并能沿行走装置1的外周旋转，挡板6与顶盘4同轴设置，在挡板6的外周侧壁还设有软垫层10，用以触碰到障碍物时得到缓冲，在挡板6的底端下沿还设有软刷11，挡板6的阻挡范围至少大于喷液机构8的喷洒范围，并且挡板6底部的软刷11始终接触于地面，该软刷11用以阻挡消毒液的渗出以及避免了对挡板6底部造成磨损。
具体的，在行走装置1行走时，喷液机构8随之对地面喷洒消毒液，当自动消毒机器人观察到前方有障碍物时，控制***控制挡板6旋转到障碍物方向，挡板6遮挡在障碍物方向的喷液机构8的前面，在挡板6触碰到障碍物后，挡板6上的软垫层10使得行走装置1起到了缓冲效果，避免行走装置1的损坏，随着挡板6的遮挡，消毒液无法喷洒到障碍物上，挡板6底部的软刷11避免消毒液飞溅在障碍物的同时也避免挡板6底部始终触碰到地面造成磨损的情况发生。
进一步的，挡板6能够沿着顶盘4的圆周方向转动，顶盘4与中端支撑盘3之间的中心位置处通过支撑柱12固定连接，在支撑柱12的上半部设有圆台，在圆台上套设有套筒13，套筒13与圆台轴转连接，从而使套筒13能绕圆台自如旋转，挡板6背离软垫层10的内侧还通过连接杆14固定连接于套筒13上，在套筒13上固定套设有套圈齿轮15，并且在套圈齿轮15的旁侧还啮合设有驱动齿轮16，顶盘4内固设有能够带动驱动齿轮16转动的旋转电机17，所述旋转电机17与顶盘4内的控制***电连接，旋转电机17能带动驱动齿轮16旋转，进而带动套圈齿轮15和套筒13旋转，然后通过连接杆14带动挡板6沿着顶盘4的圆周方向转动。
具体的，行走装置1喷洒完一处地面后向着其他方向移动，在移动过程中又遇到障碍物时，控制***控制旋转电机17带动驱动齿轮16转动，套筒13随之在套圈齿轮15与驱动齿轮16啮合的情况下进行转动，挡板6也随之沿着顶盘4的圆周方向转动，直至挡板6旋转至有障碍物的一侧后，通过挡板6的阻挡使得消毒液涂抹地面时不会沾染到障碍物，保证了行走装置1任意方向移动遇到障碍物时都能够通过挡板6阻挡消毒液的溅射。
进一步的，为了解决喷液机构8如何得到消毒液供应的技术问题，如图6和图7所示，提供以下技术方案。
供液机构7包括有一个储液筒18，该储液筒18呈扁平圆筒状，储液筒18的中部设有一个连接孔，储液筒18通过连接孔同轴套设在支撑柱12上，中端支撑盘3的顶部四周还均匀设置有四个支撑座19，储液筒18安装在四个支撑座19上，或者安装在四个支撑座19之间的区域内，储液筒18上还设有加液口20，加液口20向上贯穿顶盘4的顶壁，从而方便向储液筒18内进行加液，当然，在加液口20上还配设有罩盖，以便在不加液时盖在加液口20上，在储液筒18的底部设有与喷液机构8连通的出液口21，在本实施方式中，在底盘行走车2上均匀环设了四个喷液机构8，对应的。在储液筒18的底部分别设有四个出液口21，每个出液口21分别对应连接一个喷液机构8。
具体的，喷液机构8在喷洒消毒液之前，在储液筒18内储存满消毒液，储液筒18内的消毒液通过出液口21流通于喷液机构8内，供喷液机构8喷洒消毒液，在储液筒18内的消毒液使用完后，医护人员可以通过加液口20将消毒液加入储液筒18内，保证储液筒18内消毒液的充足，使得喷液机构8能够及时补充到消毒液，避免喷液机构8无消毒液的喷出。
进一步的，为了解决喷液机构8如何与储液筒18配合进行喷液的技术问题，如图7、图8和图15所示，提供以下技术方案。
本实施方式中，在底盘行走车2的四周分别安装有一个喷液机构8，底盘行走车2与中端支撑盘3之间通过环设的四个立柱22进行连接固定，每个喷液机构8还分别与一个出液口21对应，每个喷液机构8均包括有喷管23、滚珠轴承24、软管25和电磁阀26，滚珠轴承24安装在底盘行走车2上，且喷管23的外周固定套设在滚珠轴承24的内环上，喷管23的顶端与出液口21之间通过软管25连通，在软管25与出液口21的连通处设有置电磁阀26，且电磁阀26与控制***电连接，在软管25与喷管23的连通处还设有锁紧环27进行固定。
具体的，在储液筒18供应消毒液时，每个软管25上的电磁阀26打开，随着电磁阀26的打开，储液筒18内的消毒液随之能够从出液口21流至软管25内，消毒液随之通过软管25流入喷管23内，使得喷管23内的消毒液能够顺利喷出于地面，在地面消毒工作完成后，为了避免消毒液仍然喷出导致消毒液喷洒过多的情况发生，电磁阀26随之关闭，在电磁阀26关闭的情况下，储液筒18内的消毒液随之停止输出，使得喷管23无法继续喷出消毒液。
进一步的，为了解决消毒液通过喷管23如何均匀涂抹于地面上的技术问题，如图8-图10所示，提供以下技术方案。
在喷管23的底端设有凸柱28，在凸柱28上固定设有用以通过扫地的形式消毒地面的扫地刷29，扫地刷29的毛刷端始终抵触于地面，并且四个扫地刷29围绕着吹风风扇9的四周设置。
具体的，喷管23内的消毒液喷出过程中，喷管23内的消毒液喷流至扫地刷29上，随着扫地刷29对地面的消毒，使得消毒液均匀的抹开在地面上，为了使得消毒液涂抹的更加广泛以及涂抹均匀的效果更佳，通过吹风风扇9吹风的形式将地面上的消毒液吹散开来，保证消毒液的涂抹均匀，使得消毒液在地面上铺开，避免消毒液堆积在一个地方，不仅会浪费消毒液，还使得地面消毒效果不佳。同时吹风风扇9还能将扫地刷29上沾附的消毒液更有效的吹向地面，在吹风风扇9工作时，吹风风扇9的下端面与地面之间形成风腔，吹风风扇9吹出的风因受地面的阻挡而将风吹向四周的扫地刷29，从而能够高效的将消毒液均匀的布洒在地面上。
进一步的，为了解决喷管23内的消毒液如何喷洒到扫地刷29上的技术问题，如图10所示，提供以下技术方案。
在喷管23下半部的圆周管壁上均匀开设有若干个喷液口30，在底盘行走车2上安装有对喷管23对应的机架，在机架上设有用以带动喷管23转动的驱动电机31，所述驱动电机31与控制***电连接，驱动电机31的输出端通过同步带32连接于喷管23的上半部，通过驱动电机31带动喷管23沿滚珠轴承24旋转。
具体的，喷管23内通入消毒液后，驱动电机31通过同步带32带动喷管23在滚珠轴承24上转动，滚珠轴承24的内环转动，滚珠轴承24的外环固定不动，随着喷管23的转动，由于喷管23上设有若干个喷液口30，因此，喷管23内的消毒液顺着若干个喷液口30甩出，被甩出的消毒液随之落于扫地刷29上，通过扫地刷29沾染上消毒液后对地面以清扫的形式进行消毒，保证消毒液消毒地面时能够均匀散开，提高了消毒液消毒地面的效果。
进一步的，为了解决消毒液在喷管23喷出时导致消毒液溅射于周围障碍物上的技术问题，如图8-图10所示，提供以下技术方案。
在喷管23上还套设有遮挡盘33，在遮挡盘33内设有用以覆盖喷管23下半部的伞状口，喷管23位于遮挡盘33下方的中心位置。
具体的，喷管23喷出消毒液时，喷管23上的遮挡盘33使得喷管23喷出的消毒液在遮挡盘33的遮挡下向下飞溅，使得扫地刷29上沾染到消毒液，避免消毒液向外飞溅沾染到障碍物上，沾染上消毒液的扫地刷29也随之能够对地面以扫地的方式进行消毒，再配以吹风风扇9的吹拂，也使得消毒液能够被均匀的分散开来，使得地面消毒的效果更佳。
进一步的，为了解决行走装置1移动到墙角时无法对墙角的地面进行消毒的技术问题，如图13和图14所示，提供以下技术方案。
四个喷液机构8中的其中一个喷液机构8能够进行水平移动，底盘行走车2的四周轮廓边为直边，其中能够进行水平移动的喷液机构8设置在滑板34上，并在其对应的底盘行走车2的轮廓边上还设有用以带动滑板34沿着直边的长度方向水平移动的直线驱动器35，在底盘行走车2上还开设有不妨碍该喷液机构8进行水平移动的条形口36。
所述直线驱动器35包括连接在底盘行走车2侧壁的长方框和穿设在长方框内的螺纹轴，螺纹轴的两端与长方框的两端壁轴转连接，在长方框的外端壁上安装有微型电机，微型电机的输出轴与长方框内设置的螺纹轴固定连接，微型电机与控制***电连接，通过微型电机能驱动螺纹轴旋转，在滑板34的外侧固定连接有螺纹套，且所述螺纹套嵌设安装在直线驱动器35的长方框内，螺纹轴穿设于所述螺纹套内，且两者螺纹连接，通过螺纹轴的旋转，能带动滑板34和位于滑板34上的喷液机构8沿条形口36进行左右移动。
具体的，在行走装置1移动到墙角处时，直线驱动器35带动滑板34沿着底盘行走车2的直边移动，安装在滑板34上的喷液机构8随之向着墙角处移动，通过喷液机构8的移动，使得喷液机构8上的扫地刷29能够将消毒液刷到墙角的地面，保证墙角的地面也能得到消毒。
进一步的，为了解决行走装置1在移动时如何感应障碍物的技术问题，如图1、图11和图12所示，提供以下技术方案。
本实施方式提出的自动消毒机器人，还包括全方位摄像头37和报警器38，所述全方位摄像头37和报警器38均安装在顶盘4的上方，并均与控制***电连接。
具体的，行走装置1在移动时，通过全方位摄像头37观察周围的情况，避免行走装置1撞到障碍物，在全方位摄像头37观察到医护人员的靠近时，为了避免医护人员踩踏到行走装置1，报警器38发出警报声，提醒医护人员注意脚下安全，防止医护人员踩踏到行走装置1行走装置。
本发明通过行走装置1与消毒装置5之间的配合，实现了对医疗科室的地面进行自动全面消毒，通过挡板6对障碍物的阻挡，使得障碍物不会沾染到消毒液，实现了消毒液只对地面进行消毒作业，通过喷液机构8和吹风风扇9对消毒液的均匀涂抹，实现了地面消毒全面的同时，保证了消毒液涂抹的均匀，通过全方位摄像头37和报警器38之间的配合，使得行走装置1全面消毒地面的同时也保护了医护人员的安全，实现了对地面全面消毒工作的同时，也保护了障碍物不被消毒液溅射。
 工业实用性
由上文所述的实施方式可知，本申请具有工业实用性。
 序列表自由内容
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是本发明的原理，在不脱离本发明精神和范围的前提下本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明的范围内。本发明要求的保护范围由所附的权利要求书及其等同物界定。

Claims (9)

  1. 一种医疗科室地面自动消毒机器人，包括行走装置(1)和安装在行走装置(1)上的消毒装置(5)，所述行走装置(1)包括自下而上依次安装的底盘行走车(2)、中端支撑盘(3)和顶盘(4)，在底盘行走车(2)的下壁安装有驱动装置，以及与驱动装置传动连接的行走轮，在顶盘(4)上设有控制面板，在顶盘(4)内设有蓄电池、电控板和安装在电控板上的控制***，其特征在于：所述消毒装置(5)包括均匀消毒组件和挡板(6)；
    所述均匀消毒组件包括设置在行走装置(1)上的供液机构(7)、设置在供液机构(7)下方的喷液机构(8)以及设置在行走装置(1)底部中心的吹风风扇(9)；
    挡板(6)用以阻挡喷液机构(8)喷洒到障碍物上，所述挡板(6)设置在行走装置(1)的外周；挡板(6)为弧形板结构并能沿行走装置(1)的外周旋转，挡板(6)与顶盘(4)同轴设置，顶盘(4)与中端支撑盘(3)通过支撑柱(12)连接，在支撑柱(12)设有圆台，在圆台上轴转连接有套筒(13)，在挡板(6)通过连接杆(14)固定连接在套筒(13)上，在套筒(13)上固定套设有套圈齿轮(15)，并且在套圈齿轮(15)的旁侧啮合设有驱动齿轮(16)，顶盘(4)内固设有能够带动驱动齿轮(16)转动的旋转电机(17)，所述旋转电机(17)与控制***电连接；
    在底盘行走车(2)上均匀环设有四个喷液机构(8)，四个喷液机构(8)中的其中一个喷液机构(8)能够进行水平移动，底盘行走车(2)的四周轮廓边均为直边，其中能够进行水平移动的喷液机构(8)安装在滑板(34)上，并在其对应的底盘行走车(2)的轮廓边上设有用以带动滑板(34)沿着直边的长度方向进行水平移动的直线驱动器(35)，在底盘行走车(2)上还设有一条不妨碍喷液机构(8)进行水平移动的条形口(36)。
  2. 根据权利要求1所述的一种医疗科室地面自动消毒机器人，其特征在于，在挡板(6)的外周侧壁设有软垫层(10)，在挡板(6)的底部还设有软刷(11)，并且挡板(6)底部的软刷(11)始终接触于地面；
    还包括全方位摄像头(37)和报警器(38)，全方位摄像头(37)和报警器(38)均安装在顶盘(4)的上方，并均与控制***电连接。
  3. 根据权利要求1所述的一种医疗科室地面自动消毒机器人，其特征在于，供液机构(7)包括储液筒(18)，在储液筒(18)的中部设有连接孔，储液筒(18)通过连接孔套设在支撑柱(12)上，储液筒(18)上还设有加液口(20)，加液口(20)的顶部向上贯穿顶盘(4)的顶壁，在加液口(20)上还配设有罩盖，在储液筒(18)的底部还设有与喷液机构(8)连通的出液口(21)。
  4. 根据权利要求3所述的一种医疗科室地面自动消毒机器人，其特征在于，在储液筒(18)的底部设有四个出液口(21)，每个出液口(21)分别连接一个喷液机构(8)，底盘行走车(2)与中端支撑盘(3)之间通过四个立柱(22)连接固定。
  5. 根据权利要求1所述的一种医疗科室地面自动消毒机器人，其特征在于，每个喷液机构(8)均包括喷管(23)、滚珠轴承(24)、软管(25)和电磁阀(26)，滚珠轴承(24)安装在底盘行走车(2)上，喷管(23)的外周固定套设在滚珠轴承(24)的内环上，喷管(23)的顶端与出液口(21)之间通过软管(25)连接，在软管(25)与出液口(21)的连通处设置有电磁阀(26)，电磁阀(26)与控制***电连接，在软管(25)与喷管(23)的连通处还设有锁紧环(27)进行连接固定。
  6. 根据权利要求5所述的一种医疗科室地面自动消毒机器人，其特征在于，在喷管(23)的底端设有凸柱(28)，在凸柱(28)上固定连接有扫地刷(29)，扫地刷(29)的毛刷端始终抵触于地面，并且四个扫地刷(29)围绕吹风风扇(9)均匀设置。
  7. 根据权利要求5所述的一种医疗科室地面自动消毒机器人，其特征在于，在喷管(23)下半部的圆周管壁上开设有若干个喷液口(30)，在底盘行走车(2)上安装有与喷管(23)对应的机架，在机架上设有用以带动喷管(23)旋转的驱动电机(31)，所述驱动电机(31)与控制***电连接，驱动电机(31)的输出端通过同步带(32)连接于喷管(23)的上半部，通过驱动电机(31)能带动喷管(23)沿滚珠轴承(24)旋转。
  8. 根据权利要求5所述的一种医疗科室地面自动消毒机器人，其特征在于，在喷管(23)上还套设有遮挡盘(33)，在遮挡盘(33)内设有用以覆盖喷管(23)下半部的伞状口，喷管(23)位于遮挡盘(33)下方的中心位置。
  9. 根据权利要求1所述的一种医疗科室地面自动消毒机器人，其特征在于，所述直线驱动器(35)包括连接在底盘行走车(2)侧壁的长方框和穿设在长方框内的螺纹轴，螺纹轴的两端与长方框的两端壁轴转连接，在长方框的外端壁上安装有微型电机，微型电机的输出轴与长方框内设置的螺纹轴固定连接，微型电机与控制***电连接，通过微型电机能驱动螺纹轴旋转，在滑板(34)的外侧固定连接有螺纹套，且所述螺纹套嵌设安装在直线驱动器(35)的长方框内，螺纹轴穿设于所述螺纹套内，且两者螺纹连接，通过螺纹轴的旋转，能带动滑板(34)和位于滑板(34)上的喷液机构(8)沿条形口(36)进行左右移动。
PCT/CN2022/102323 2021-08-03 2022-06-29 一种医疗科室地面自动消毒机器人 WO2023011055A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22813390.6A EP4151242A4 (en) 2021-08-03 2022-06-29 AUTOMATIC DISINFECTION ROBOT FOR THE FLOOR OF A MEDICAL DEPARTMENT
US18/063,577 US11684687B2 (en) 2021-08-03 2022-12-08 Automatic floor-disinfection robot for hospital rooms

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110885094.5A CN113842482B (zh) 2021-08-03 2021-08-03 一种医疗科室地面自动消毒机器人
CN202110885094.5 2021-08-03

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/063,577 Continuation US11684687B2 (en) 2021-08-03 2022-12-08 Automatic floor-disinfection robot for hospital rooms

Publications (1)

Publication Number Publication Date
WO2023011055A1 true WO2023011055A1 (zh) 2023-02-09

Family

ID=78975467

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/102323 WO2023011055A1 (zh) 2021-08-03 2022-06-29 一种医疗科室地面自动消毒机器人

Country Status (4)

Country Link
US (1) US11684687B2 (zh)
EP (1) EP4151242A4 (zh)
CN (1) CN113842482B (zh)
WO (1) WO2023011055A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113842482B (zh) * 2021-08-03 2022-07-26 西南交通大学 一种医疗科室地面自动消毒机器人
CN115025255B (zh) * 2022-05-08 2024-02-20 明喆集团股份有限公司 一种智能消毒设备
CN115350300B (zh) * 2022-08-04 2023-07-07 西南交通大学 一种消毒机器人
CN116603085B (zh) * 2023-05-08 2024-01-09 广州映博智能科技有限公司 一种基于5g的消毒机器人

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106352733A (zh) * 2016-09-09 2017-01-25 河海大学常州校区 一种非均匀喷溅装置
CN108606732A (zh) * 2018-06-22 2018-10-02 广州梵智产品设计有限公司 一种具有杀菌功能的扫地机器人
CN108656128A (zh) * 2018-05-22 2018-10-16 温州大学瓯江学院 一种家用除尘机器人
WO2019206335A1 (zh) * 2018-04-28 2019-10-31 苏州宝时得电动工具有限公司 一种擦地机器人及其清洁方法
CN111035314A (zh) * 2019-12-31 2020-04-21 张雪媛 一种医疗地面消毒机器人
CN212913988U (zh) * 2020-10-14 2021-04-09 西北工业大学 一种小型消毒机器人
CN213374020U (zh) * 2020-08-13 2021-06-08 贵州医科大学附属医院 一种用于感染科室的消毒液喷洒装置
CN113842482A (zh) * 2021-08-03 2021-12-28 西南交通大学 一种医疗科室地面自动消毒机器人

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3722861B2 (ja) * 1995-03-30 2005-11-30 株式会社いけうち 病院内自動殺菌消毒装置
KR101402477B1 (ko) * 2012-06-20 2014-06-03 (주)마미로봇 바닥소독 기능을 갖는 로봇청소기
US9919425B2 (en) * 2015-07-01 2018-03-20 Irobot Corporation Robot navigational sensor system
US10575696B2 (en) * 2016-07-13 2020-03-03 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
CN111466840A (zh) * 2020-04-24 2020-07-31 广州市德百顺电气科技有限公司 一种地面消毒机器人
CN212698729U (zh) * 2020-05-14 2021-03-16 蔡志君 一种扫地机器人的防撞机构
CN212477148U (zh) * 2020-06-09 2021-02-05 浙江屹男印染有限公司 一种带有防护结构的烧毛机
CN212474826U (zh) * 2020-06-22 2021-02-05 新疆众人石油科技有限公司 一种专用预处理收集转运车
CN213113477U (zh) * 2020-09-10 2021-05-04 河源市圣祥光电科技有限公司 一种真空镀膜机的靶挡板机构
CN112190186B (zh) * 2020-09-28 2022-02-22 湖南格兰博智能科技有限责任公司 一种扫地机器人的路线规划方法、***及扫地机器人
CN112603201B (zh) * 2020-11-26 2022-03-08 安徽橡树工业设计有限公司 一种路面或车间用自动清洁扫地机器人

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106352733A (zh) * 2016-09-09 2017-01-25 河海大学常州校区 一种非均匀喷溅装置
WO2019206335A1 (zh) * 2018-04-28 2019-10-31 苏州宝时得电动工具有限公司 一种擦地机器人及其清洁方法
CN108656128A (zh) * 2018-05-22 2018-10-16 温州大学瓯江学院 一种家用除尘机器人
CN108606732A (zh) * 2018-06-22 2018-10-02 广州梵智产品设计有限公司 一种具有杀菌功能的扫地机器人
CN111035314A (zh) * 2019-12-31 2020-04-21 张雪媛 一种医疗地面消毒机器人
CN213374020U (zh) * 2020-08-13 2021-06-08 贵州医科大学附属医院 一种用于感染科室的消毒液喷洒装置
CN212913988U (zh) * 2020-10-14 2021-04-09 西北工业大学 一种小型消毒机器人
CN113842482A (zh) * 2021-08-03 2021-12-28 西南交通大学 一种医疗科室地面自动消毒机器人

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4151242A4

Also Published As

Publication number Publication date
CN113842482B (zh) 2022-07-26
EP4151242A4 (en) 2024-07-10
CN113842482A (zh) 2021-12-28
US20230111199A1 (en) 2023-04-13
US11684687B2 (en) 2023-06-27
EP4151242A1 (en) 2023-03-22

Similar Documents

Publication Publication Date Title
WO2023011055A1 (zh) 一种医疗科室地面自动消毒机器人
CN111531563B (zh) 一种具有清扫功能的消毒机器人
CN111184888B (zh) 消毒机器人及消毒机器人的消毒方法
CN212445247U (zh) 一种具有清扫功能的消毒机器人
JP3722861B2 (ja) 病院内自動殺菌消毒装置
JP4330170B2 (ja) マットレス洗浄消毒装置、及びマットレス洗浄消毒方法
KR101383492B1 (ko) 관리기용 토양소독기
JPH05176977A (ja) 病院内自動殺菌消毒装置および消毒方法
CN215269961U (zh) 养殖场的清洗机器人
CN214284771U (zh) 一种手术室用的消毒护理设备
CN114558161A (zh) 一种防疫用室内消毒小车
CN108245090A (zh) 一种医院用消毒与清洁自动化小车
CN112869891A (zh) 一种胸外科术前专用体表消毒设备
CN206127964U (zh) 一种公共卫生用消毒保洁装置
KR20210115971A (ko) 회전 브러쉬와 분사 노즐이 구비되는 신발 세척기
ES2969790T3 (es) Máquina de limpieza con dispositivo de desinfección para desinfectar superficies y para la autodesinfección
CN214807059U (zh) 一种次氯酸消毒剂使用的喷洒装置
CN219558144U (zh) 一种便于移动的院感科消毒清洁装置
CN220695149U (zh) 一种地面清洁消毒一体机
CN114052589B (zh) 移动式消毒灭菌车
CN212466642U (zh) 一种护理车用消毒杀菌装置
CN212597316U (zh) 一种抽油烟机消毒清洗设备
CN212576974U (zh) 一种传染病医用防护服脱卸前简易电动洗消装置
CN219847517U (zh) 一种猪舍消毒喷雾装置
CN216783470U (zh) 一种具有清洗结构的车辆消毒通道

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2022813390

Country of ref document: EP

Effective date: 20221207

NENP Non-entry into the national phase

Ref country code: DE