阅读说明：本技术 一种用于机器人紫外灯自动维护系统及维护方法 (Automatic maintenance system and maintenance method for robot ultraviolet lamp ) 是由 魏鹏飞 王帅 邵俊峰 张天资 于 2021-10-29 设计创作，主要内容包括：本发明提供一种用于机器人紫外灯自动维护系统及维护方法,包括云端服务器、维护站、机器人本体以及紫外灯,所述云端服务器用于管理和监测维护站的运行状况,用于监测和管理机器人本体的消杀工作状态；所述维护站用于统计其内部紫外灯的数量和检测紫外灯的质量,还用于对机器人本体上的紫外灯进行清洗和更换；所述机器人本体用于执行消杀工作；所述紫外灯用作消杀工作的消杀部分,本发明利用紫外线辐照计,能够紫外灯自身质量和所产生的辐射剂量,判断其是否合格；采用紫外灯洗换单元,能够对机器人本体上的紫外灯进行更换和清洁,实现自动化操作,提高消杀效率；且还能控制消杀机器人进行定时维护,使消杀过程更科学可靠,具有较好的实用性。(The invention provides an automatic maintenance system and a maintenance method for a robot ultraviolet lamp, which comprise a cloud server, a maintenance station, a robot body and an ultraviolet lamp, wherein the cloud server is used for managing and monitoring the operation condition of the maintenance station and monitoring and managing the disinfection working state of the robot body; the maintenance station is used for counting the number of the ultraviolet lamps in the maintenance station and detecting the quality of the ultraviolet lamps, and is also used for cleaning and replacing the ultraviolet lamps on the robot body; the robot body is used for executing killing work; the ultraviolet lamp is used as a sterilization part for sterilization work, and the ultraviolet radiation meter is utilized to judge whether the ultraviolet lamp is qualified or not by the self quality and the generated radiation dose of the ultraviolet lamp; the ultraviolet lamp washing and replacing unit is adopted, so that the ultraviolet lamp on the robot body can be replaced and cleaned, automatic operation is realized, and the sterilizing efficiency is improved; and the sterilization robot can be controlled to carry out timing maintenance, so that the sterilization process is more scientific and reliable, and the sterilization robot has better practicability.)

1. The utility model provides a be used for automatic maintenance system of robot ultraviolet lamp which characterized in that: including high in the clouds server (1), maintenance station, robot (7) and ultraviolet lamp, wherein:

the cloud server (1) is used for managing and monitoring the operation condition of the maintenance station, monitoring the use condition of an ultraviolet lamp in the robot body (7), and managing the disinfection working state of the robot body (7);

the maintenance station is used for counting the number of ultraviolet lamps in the maintenance station and detecting the quality of the ultraviolet lamps, and is also used for cleaning and replacing the ultraviolet lamps on the robot body (7);

the robot body (7) is used for executing a work carrier for killing work;

the ultraviolet lamp is used as a sterilizing part of the robot body (7) for sterilizing.

2. The system of claim 1, wherein the system is used for automatic maintenance of a robotic ultraviolet lamp, and comprises: the maintenance station comprises an operation room (2), and an ultraviolet irradiator (3), an ultraviolet lamp washing and exchanging unit (4), a storage rack (5) and a collection module (6) which are respectively arranged in the operation room (2), wherein:

the operation room (2) is used for providing a place for storing, detecting, cleaning and replacing ultraviolet lamps for the robot body (7);

the ultraviolet radiation meter (3) is used for detecting the radiation dose of an ultraviolet lamp on the robot body (7);

the ultraviolet lamp washing and replacing unit (4) is used for replacing and cleaning ultraviolet lamps on the robot body (7);

the storage rack (5) is used for storing the standby ultraviolet lamps and the replaced ultraviolet lamps;

and the acquisition module (6) is used for counting and detecting the quantity and the quality of the ultraviolet lamps on the storage rack (5).

3. The system of claim 2, wherein the system is used for automatic maintenance of a robotic ultraviolet lamp, and comprises: the ultraviolet ray irradiators (3) are arranged into a plurality of groups.

4. The system of claim 2, wherein the system is used for automatic maintenance of a robotic ultraviolet lamp, and comprises: the ultraviolet lamp washing and replacing unit (4) comprises a replacing device (41), a cleaning device (42) arranged on the replacing device (41) and an image recognition device (43) used for recognizing the position of the ultraviolet lamp, wherein the replacing device (41) is used for replacing the ultraviolet lamp on the robot body (7), and the cleaning device (42) is used for cleaning the ultraviolet lamp on the robot body (7).

5. The system of claim 4, wherein the system is used for automatic maintenance of a robotic UV lamp, and comprises: the replacing device (41) comprises an elevating mechanism (411), a longitudinal displacement mechanism (412), a transverse displacement mechanism (413), a switching mechanism (414) and a clamping mechanism (415), wherein the elevating mechanism (411) is arranged on the inner wall of the operating room (2), the longitudinal displacement mechanism (412) is connected to the output end of the elevating mechanism (411), the transverse displacement mechanism (413) is connected to the output end of the longitudinal displacement mechanism (412), the switching mechanism (414) is connected to the output end of the transverse displacement mechanism (413), the clamping mechanism (415) is arranged on one side of the switching mechanism (414), and the position of the clamping mechanism (415) corresponds to the position of the cleaning device (42).

6. The system of claim 5, wherein the system is used for automatic maintenance of a robotic UV lamp, and comprises: the image recognition devices (43) are arranged in two groups, and the two groups of image recognition devices (43) are respectively arranged on the replacing device (41) and the cleaning device (42).

7. The system of claim 1, wherein the system is used for automatic maintenance of a robotic ultraviolet lamp, and comprises: cleaning device (42) is including being used for mount pad (421), liquid storage pot (422), peristaltic pump (423) and cleaning head (424), mount pad (421) set up on switching mechanism (414), liquid storage pot (422) and peristaltic pump (423) all set up on mount pad (421), just the feed liquor end of peristaltic pump (423) communicates with the play liquid end of liquid storage pot (422), the feed liquor end of cleaning head (424) communicates with the play liquid end of peristaltic pump (423).

8. An automatic maintenance method using a robot ultraviolet lamp according to any one of claims 4 to 7, characterized in that: the method comprises the following steps:

step one, a cloud server (1) controls a robot body (7) to execute killing work in real time, monitors the working time of the robot body (7), and when the working time of the robot body (7) reaches a preset working time, the cloud server (1) sends an instruction to the robot body (7) to control the robot body (7) to enter an operation room (2) to detect and clean an ultraviolet lamp;

step two, detecting the robot body (7) entering the operation room (2) by the ultraviolet radiation meter (3), detecting the radiation dose of the ultraviolet lamp in the working state, transmitting the acquired data information to the cloud server (1), and controlling the ultraviolet lamp washing and replacing unit (4) to wash or replace the ultraviolet lamp on the robot body (7) by the cloud server (1);

and thirdly, counting and detecting the quantity and the quality of the ultraviolet lamps in the operation room (2) by the acquisition module (6), and transmitting the counted and detected data information to the cloud server (1).

9. The method of claim 8 for automated maintenance of robotic uv lamps, wherein: in the second step, when the radiation dose detected by the ultraviolet radiation meter (3) is greater than or equal to the preset radiation dose of the ultraviolet lamp, the cloud server (1) controls the cleaning device (42) in the ultraviolet lamp washing and replacing unit (4) to clean and wipe the ultraviolet lamp on the robot body (7).

10. The system of claim 8, wherein the system is used for automatic maintenance of a robotic ultraviolet lamp, and comprises: in the second step, when the ultraviolet radiation meter (3) detects that the radiation dose of the ultraviolet lamp is smaller than the preset radiation dose of the ultraviolet lamp, the cloud server (1) controls the replacing device (41) in the ultraviolet lamp washing and replacing unit (4) to detach the unqualified ultraviolet lamp on the robot body (7), and the spare ultraviolet lamp is installed on the robot body (7).

Technical Field

The invention relates to the technical field of sterilization robots, in particular to an automatic maintenance system and a maintenance method for a robot ultraviolet lamp.

Background

With the continuous development and research and exploration of human society, more and more viruses and bacteria are discovered by human beings, the toxicology of the viruses and bacteria is further understood, some viruses and bacteria are transmitted among human beings, the life safety of the human beings is seriously influenced, and the diffusion rate of the viruses among the human beings is accelerated along with the gradual expansion of the activity range of the human beings, so that the sterilizing robot is produced. The common sterilizing robot adopts an ultraviolet lamp for sterilization and is provided with an automatic driving function, a driving area is sterilized through the ultraviolet lamp in the driving process of the sterilizing robot so as to achieve the effect of sterilization and disinfection, particularly in public places with strong infectivity, such as severe infectious wards or epidemic disease hospitals and the like, the radiation dose of the ultraviolet lamp needs to be ensured to reach the standard in real time, otherwise, the reliability of the sterilizing work is difficult to ensure, in order to achieve the aim of sterilizing, after the sterilizing work is carried out for a long time, the sterilizing robot needs to inspect and clean the ultraviolet lamp and replace the ultraviolet lamp with unqualified working quality, most of the current methods for replacing the ultraviolet lamp adopt manual replacement, but the ultraviolet lamp is fragile and difficult to replace, and the manual replacement also consumes certain manpower, material resources and time, so the flexibility is poor, the efficiency is not high; and when the ultraviolet lamp is replaced, whether the radiation dose of the ultraviolet lamp meets the requirement or not can not be accurately obtained, so the practicability is poor.

Disclosure of Invention

The invention mainly aims to solve the problems in the prior art and provides an automatic maintenance system and a maintenance method for a robot ultraviolet lamp.

In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a be used for automatic maintenance system of robot ultraviolet lamp, includes high in the clouds server, maintains station, robot and ultraviolet lamp, wherein:

the cloud server is used for managing and monitoring the operation condition of the maintenance station, monitoring the use condition of an ultraviolet lamp in the robot body and managing the sterilization working state of the robot body;

the maintenance station is used for counting the number of the ultraviolet lamps in the maintenance station and detecting the quality of the ultraviolet lamps, and is also used for cleaning and replacing the ultraviolet lamps on the robot body;

the robot body is a work carrier for executing killing work;

the ultraviolet lamp is used as a sterilizing part of the robot body for performing sterilizing work.

Further, the maintenance station includes the control room and sets up respectively in inside ultraviolet irradiation meter, the ultraviolet lamp of control room and wash and trade unit, storage frame and collection module, wherein:

the operation room is used for providing a place for storing, detecting, cleaning and replacing the ultraviolet lamp for the robot body;

the ultraviolet radiation meter is used for detecting the radiation dose of an ultraviolet lamp on the robot body;

the ultraviolet lamp washing and replacing device is used for replacing and cleaning the ultraviolet lamp on the robot body;

the storage rack is used for storing the standby ultraviolet lamps and the replaced ultraviolet lamps;

and the acquisition module is used for counting and detecting the quantity and quality of the ultraviolet lamps on the storage rack.

Further, the ultraviolet radiation meters are arranged in a plurality of groups.

Further, the ultraviolet lamp washing and replacing unit comprises a replacing device, a cleaning device arranged on the replacing device and an image recognition device used for recognizing the position of the ultraviolet lamp, the replacing device is used for replacing the ultraviolet lamp on the robot body, and the cleaning device is used for cleaning the ultraviolet lamp on the robot body.

Further, the replacing device comprises an elevating mechanism, a longitudinal displacement mechanism, a transverse displacement mechanism, a switching mechanism and a clamping mechanism, wherein the elevating mechanism is arranged on the inner wall of the operating room, the longitudinal displacement mechanism is connected to the output end of the elevating mechanism, the transverse displacement mechanism is connected to the output end of the longitudinal displacement mechanism, the switching mechanism is connected to the output end of the transverse displacement mechanism, the clamping mechanism is arranged on one side of the switching mechanism, and the position of the clamping mechanism corresponds to the position of the cleaning device.

Further, elevating system includes first slip table, first lead screw, first motor and first connecting seat, first slip table sets up on the lateral wall of control chamber, first lead screw rotates and sets up on first slip table, first motor sets up on first slip table, and its output is connected with the input of first lead screw, first connecting seat revolves the supporting and locates on first lead screw, and this first connecting seat slides and sets up on first slip table.

Further, longitudinal displacement mechanism includes second slip table, second lead screw, second motor and second connecting seat, the second slip table is connected on first connecting seat, the second lead screw rotates and sets up on the second slip table, the second motor sets up on the second slip table, and its output is connected with the input of second lead screw, the second connecting seat is supporting soon and is located on the second lead screw, and this second connecting seat slides and sets up on the second slip table.

Further, lateral displacement mechanism includes third slip table, third lead screw, third motor and third slide, the third slip table is connected on the second connecting seat, the third lead screw rotates and sets up on the third slip table, the third motor sets up on the third slip table, and its output is connected with the input of third lead screw, the third connecting seat is supporting soon and is located on the third lead screw, and this third connecting seat slides and sets up on the third slip table.

The switching mechanism comprises a fourth connecting seat, a fourth motor and a rotating seat, the fourth connecting seat is connected to the third connecting seat, the fourth motor is arranged on the fourth connecting seat, the rotating seat is connected with the output end of the fourth motor, and the clamping mechanism and the cleaning device are respectively arranged on the rotating seat.

Further, press from both sides and get the jar including the fixed plate with pressing from both sides, the fixed plate is connected in one side of roating seat, press from both sides and get the jar and set up in the fixed plate, and by press from both sides and get the jar and press from both sides and get the change to the ultraviolet lamp.

Further, the image recognition device is provided as a depth camera.

Further, the image recognition devices are arranged into two groups, and the two groups of image recognition devices are respectively arranged on the replacing device and the cleaning device.

Further, cleaning device is including being used for mount pad, liquid storage pot, peristaltic pump and cleaning head, the mount pad sets up on switching mechanism, liquid storage pot and peristaltic pump all set up on the mount pad, just the feed liquor end of peristaltic pump communicates with the play liquid end of liquid storage pot, the feed liquor end of cleaning head communicates with the play liquid end of peristaltic pump.

Further, store the frame including rotating electrical machines, rotary rod and mounting bracket, driving motor sets up in the control chamber, the rotary rod rotates and sets up on the control chamber, and its output is connected in the input of rotary rod, the mounting bracket sets up on the rotary rod, and by the mounting bracket stores and places the ultraviolet lamp and the reserve ultraviolet lamp that get off changing.

Further, be provided with fixed device and the lift device of killing that disappears on the robot body, all be provided with the multiunit ultraviolet lamp on fixed device and the lift device of killing that disappears, wherein:

the fixed killing device is used for killing the middle and low areas in the moving process of the robot body;

the lifting sterilizing device is used for sterilizing and killing high areas of the robot body during advancing.

A method for automated maintenance of a robotic ultraviolet lamp, comprising the steps of:

the method comprises the following steps that firstly, a cloud server controls a robot body to execute disinfection work in real time, monitors the working time of the robot body, and sends an instruction to the robot body when the working time of the robot body reaches a preset working time to control the robot body to enter an operating room to detect and clean an ultraviolet lamp;

step two, detecting the robot body entering the operating room by an ultraviolet radiation meter, detecting the radiation dose of the ultraviolet lamp in a working state, transmitting the acquired data information to a cloud server, and controlling an ultraviolet lamp washing and replacing unit to wash or replace the ultraviolet lamp on the robot body by the cloud server;

and step three, counting and detecting the quantity and the quality of the ultraviolet lamps in the operating room by the acquisition module, and transmitting the counted and detected data information to a cloud server.

Further, in the first step, the robot bodies are arranged into a plurality of groups, and the cloud server controls the plurality of groups of robot bodies to execute sterilization work and enter the maintenance station for ultraviolet lamp cleaning or replacement.

Further, in the middle of step one, the robot body enters into the operating room after, and all ultraviolet lamps on the control robot body work to make the ultraviolet irradiation meter can detect the ultraviolet lamp on the robot body, make the washing and changing unit change the unqualified ultraviolet lamp of quality, clean qualified ultraviolet lamp of quality.

Further, in the second step, when the radiation dose detected by the ultraviolet radiation meter is greater than or equal to the preset radiation dose of the ultraviolet lamp, the cloud server controls the cleaning device in the ultraviolet lamp washing and exchanging unit to clean and wipe the ultraviolet lamp on the robot body.

Further, in the second step, when the ultraviolet irradiator detects that the radiation dose of the ultraviolet lamp is smaller than the preset radiation dose of the ultraviolet lamp, the cloud server controls the replacing device in the ultraviolet lamp washing and replacing unit to detach the unqualified ultraviolet lamp on the robot body, and the standby ultraviolet lamp is installed on the robot body.

The invention has the advantages and positive effects that:

(1) the robot body radiation dose detection system is novel in structure, stable and reliable, the radiation dose of the ultraviolet lamps on the robot body can be accurately and multi-directionally detected by arranging a plurality of groups of ultraviolet radiation meters in the maintenance station, the radiation dose generated when the robot body executes disinfection work is obtained, whether the robot body meets the actual requirement during work is judged, meanwhile, the cloud server can judge whether the quality of the robot body is qualified or not according to the radiation dose of the ultraviolet lamps, if the radiation dose of the ultraviolet lamps does not reach the preset radiation dose, the quality problem or damage of the ultraviolet lamps is proved, and therefore the quality judgment of the ultraviolet lamps is realized;

(2) according to the invention, the ultraviolet lamp washing and replacing unit is arranged in the maintenance station, so that the robot body can be treated according to whether the radiation dose of the ultraviolet lamp on the robot body reaches the standard or not, the ultraviolet lamp with insufficient radiation dose or damaged can be disassembled and replaced by using the replacing device in the ultraviolet lamp washing and replacing unit, and the replaced ultraviolet lamp can be automatically placed on the storage rack, so that the replacing difficulty is reduced; meanwhile, the cleaning device in the ultraviolet lamp washing and replacing unit can be used for cleaning and wiping the qualified ultraviolet lamps on the robot body, so that dust and impurities attached to the surfaces of the ultraviolet lamps are removed, the working effect of the robot body is ensured, the automatic replacement and cleaning of the ultraviolet lamps on the robot body are realized, the manual intervention is reduced, the manpower and material resources are saved, and the killing efficiency of the robot body is improved;

(3) according to the invention, the cloud server is adopted to control the robot body, so that the robot body can be regularly killed in a killing area, the frequency of maintaining equipment by operating personnel is reduced, the cross infection risk of the operating personnel is further reduced, and meanwhile, the control over a plurality of groups of killing robots is facilitated, so that the whole killing process is more scientific and reliable.

Drawings

FIG. 1 is a schematic diagram of a first perspective of the present invention;

FIG. 2 is a schematic diagram of a first perspective of the present invention;

FIG. 3 is a schematic diagram of the wash and change unit;

fig. 4 is a block diagram of an electrical control relationship between the cloud server, the maintenance station, and the robot body.

In the figure: 1. a cloud server; 2. an operation chamber; 3. an ultraviolet radiation meter; 4. an ultraviolet lamp washing and replacing unit; 41. replacing the device; 411. a lifting mechanism; 4111. a first sliding table; 4112. a first lead screw; 4113. a first motor; 4114. a first connecting seat; 412. a longitudinal displacement mechanism; 4121. a second sliding table; 4122. a second lead screw; 4123. a second motor; 4124. a second connecting seat; 413. a lateral displacement mechanism; 4131; a third sliding table; 4132. a third lead screw; 4133. a third motor; 4134. a third connecting seat; 414. a switching mechanism; 4141. a fourth connecting seat; 4142. a fourth motor; 4143. a rotating base; 415. a gripping mechanism; 4151. a fixing plate; 4152. a clamping cylinder; 42. a cleaning device; 421. a mounting seat; 422. a liquid storage tank; 423. a peristaltic pump; 424. a cleaning head; 43. an image recognition device; 5. a storage rack; 51. a rotating electric machine; 52. rotating the rod; 53. a mounting frame; 6. an acquisition module; 7. a robot body; 8. fixing the killing device; 9. a lifting sterilizing device.

Detailed Description

For a better understanding of the present invention, reference is made to the following detailed description and accompanying drawings that illustrate the invention.

As shown in fig. 1-4, an automatic maintenance system for a robot ultraviolet lamp includes a cloud server 1, a maintenance station, a robot body 7, and an ultraviolet lamp, wherein:

the cloud server 1 is used for managing and monitoring the operation condition of the maintenance station, monitoring the use condition of an ultraviolet lamp in the robot body 7 and managing the disinfection working state of the robot body 7;

the maintenance station is used for counting the number of the ultraviolet lamps in the maintenance station and detecting the quality of the ultraviolet lamps, and is also used for cleaning and replacing the ultraviolet lamps on the robot body 7;

the robot body 7 is used for executing a work carrier for killing work;

the ultraviolet lamp is used as a sterilizing part of the robot body 7 for performing sterilizing work.

Specifically, the number of ultraviolet lamps inside the maintenance station is counted by the maintenance station, data information obtained by counting is transmitted to the cloud server 1, so that the cloud server 1 can calculate and judge the capacity of the ultraviolet lamps which can be replaced, replacement work is reasonably arranged according to the number of reserved spare ultraviolet lamps, the maintenance station can detect the quality of the ultraviolet lamps, if the radiation dose of the ultraviolet lamps cannot reach the preset radiation dose, the ultraviolet lamps with quality problems or damage, namely unqualified ultraviolet lamps, are indicated, and the cloud server 1 controls the maintenance station to replace the unqualified ultraviolet lamps on the robot body 7; if the generated radiation dose is not less than the preset radiation dose, the ultraviolet lamps are qualified, and at the moment, the maintenance station cleans the ultraviolet lamps to remove dust or impurities attached to the ultraviolet lamps, so that the robot body 7 keeps good disinfection and killing capacity; meanwhile, the robot body 7 is used as a carrier for executing sterilization work, the ultraviolet lamp is used as a sterilization part for the sterilization work on the robot body 7, the cloud server 1 controls the robot body 7 to execute the sterilization work, the sterilization area is sterilized and disinfected by the ultraviolet lamp generated by the ultraviolet lamp arranged on the robot body 7, and after the sterilization robot works for a certain period of time, the cloud server 1 controls the robot body 7 to return to the maintenance station for maintenance and inspection, so that the robot body 7 can normally work.

Further, the maintenance station includes the operation room 2, and set up respectively in inside ultraviolet irradiation meter 3, the ultraviolet lamp of operation room 2 and wash and trade unit 4, storage frame 5 and collection module 6, wherein:

the operation room 2 is used for providing places for storing, detecting, cleaning and replacing ultraviolet lamps for the robot body 7;

the ultraviolet irradiator 3 is used for detecting the radiation dose of ultraviolet lamps on the robot body 7, starting all the ultraviolet lamps to work when the robot body 7 enters the operation room 2, judging the radiation dose generated by the ultraviolet irradiator 3, and if the radiation dose of the ultraviolet lamps is lower than the preset radiation dose, indicating that the ultraviolet lamps with quality problems exist; on the contrary, for the ultraviolet lamps of which the generated ultraviolet radiation dose is not less than the preset radiation dose, the ultraviolet lamps are qualified;

the ultraviolet lamp washing and replacing device is used for replacing and cleaning the ultraviolet lamp on the robot body 7; when the radiation dose of the ultraviolet lamp is detected to be lower than the preset radiation dose, the ultraviolet lamp with the quality problem is indicated, and the cloud server 1 controls the ultraviolet lamp washing and replacing unit 4 to replace the ultraviolet lamp; when the ultraviolet radiation dose of the ultraviolet lamp is not less than the preset radiation dose, the ultraviolet lamp has no quality problem, and the ultraviolet lamp is cleaned and dedusted by the ultraviolet lamp washing and exchanging unit 4, so that the ultraviolet lamp can keep a better working state and sterilization capability;

the storage rack 5 is used for storing the standby ultraviolet lamps and the replaced ultraviolet lamps so as to provide sufficient replacement parts for the robot body 7 and also provide a prevention position for the replaced ultraviolet lamps;

and the acquisition module 6 is used for counting and detecting the quantity and the quality of the ultraviolet lamps on the storage rack 5.

Furthermore, the ultraviolet radiation meters 3 are arranged into a plurality of groups, so that the ultraviolet lamps on the robot body 7 can be detected in multiple directions, and the detection result is more comprehensive; and can also detect to same ultraviolet lamp through multiunit ultraviolet irradiation meter 3, it is more accurate to get the testing result.

Further, the ultraviolet lamp washing and replacing unit 4 comprises a replacing device 41, a cleaning device 42 arranged on the replacing device 41, and an image recognition device 43 used for recognizing the position of the ultraviolet lamp, so that the ultraviolet lamp position on the robot can be accurately recognized and the position of the ultraviolet lamp on the storage rack 5 can be accurately recognized, the replacing device 41 is used for replacing the ultraviolet lamp on the robot body 7, the replaced ultraviolet lamp is transferred to the storage rack 5 to be stored and placed, the cleaning device 42 is used for cleaning the ultraviolet lamp on the robot body 7, dust and impurities on the ultraviolet lamp in a normal working state are removed, and the working capacity of the ultraviolet lamp is guaranteed.

Further, the replacing device 41 includes an elevating mechanism 411, a longitudinal displacement mechanism 412, a lateral displacement mechanism 413, a switching mechanism 414, and a gripping mechanism 415, the elevating mechanism 411 is disposed on the inner wall of the operation room 2, the longitudinal displacement mechanism 412 is connected to the output end of the elevating mechanism 411, the lateral displacement mechanism 413 is connected to the output end of the longitudinal displacement mechanism 412, the switching mechanism 414 is connected to the output end of the lateral displacement mechanism 413, the gripping mechanism 415 is disposed on one side of the switching mechanism 414, and the position of the gripping mechanism 415 corresponds to the position of the cleaning device 42, the position of the ultraviolet lamp on the robot body 7 or the position of the standby ultraviolet lamp on the storage rack 5 is identified under the cooperation of the image identifying device 43, the elevating mechanism 411 is used for adjusting the vertical height of the gripping mechanism 415 or the cleaning device 42, the cooperation of the lateral displacement mechanism 413 and the longitudinal displacement mechanism 412 can adjust the position of the gripping mechanism 415 or the cleaning device 42 in the horizontal direction, after the spatial position of the gripping mechanism 415 or the cleaning device 42 is adjusted, the ultraviolet lamp on the robot body 7 is replaced or cleaned according to actual conditions, and when there is an ultraviolet lamp with quality problem, the switching mechanism 414 switches the gripping mechanism 415 to the working end, and the gripping mechanism 415 is taken down and replaced; if the UV lamp has no quality problem, the switching mechanism 414 switches to the cleaning device 42 to clean and wipe the UV lamp.

Further, elevating system 411 includes first slip table 4111, first lead screw 4112, first motor 4113 and first connection base 4114, first slip table 4111 is arranged on the lateral wall of operation chamber 2, first lead screw 4112 is rotated and arranged on first slip table 4111, first motor 4113 is arranged on first slip table 4111, its output is connected with the input of first lead screw 4112, first connection base 4114 is matched with first lead screw 4112 in a revolving manner, and this first connection base 4114 is slid and arranged on first slip table 4111, when the height of mechanism 415 or cleaning device 42 is adjusted to the clamp, first motor 4113 drives its output to connect first lead screw 4112 to rotate on first slip table 4111, drive first connection base 4114 to slide on first slip table 4111, thereby it rises or descends to drive mechanism 415 or cleaning device 42 by first slip table 4111, in order to realize the adjustment of height.

Further, the longitudinal displacement mechanism 412 includes a second sliding table 4121, a second lead screw 4122, a second motor 4123 and a second connecting seat 4124, the second sliding table 4121 is connected to the first connecting seat 4114, the second lead screw 4122 is rotatably disposed on the second sliding table 4121, the second motor 4123 is disposed on the second sliding table 4121, and an output end thereof is connected to an input end of the second lead screw 4122, the second connecting seat 4124 is rotatably mounted on the second lead screw 4122, and the second connecting seat 4124 is slidably disposed on the second sliding table 4121, the lateral displacement mechanism 413 includes a third sliding table 4131, a third lead screw 4132, a third motor 4133 and a third sliding seat 4134, the third sliding table 4131 is connected to the second connecting seat 4124, the third lead screw 4132 is rotatably disposed on the third sliding table 4131, the third motor 4133 is disposed on the third sliding table 4131, an output end thereof is connected to an input end of the third lead screw 4132, and the third connecting seat 4134 is rotatably mounted on the third lead screw 4132, the third connecting seat 4134 is slidably disposed on the third sliding table 4131, the second rotating motor 4123 drives the second lead screw 4122 to rotate, and the second lead screw 4122 drives the second connecting seat 4124 to move along the second lead screw 4122, so as to change the longitudinal position of the gripping mechanism 415 or the cleaning device 42 in the horizontal direction; similarly, the third motor 4133 drives the third screw 4132 to rotate, and drives the third connecting seat 4134 to move along the third screw 4132, so as to change the horizontal positions of the gripping mechanism 415 and the cleaning device 42 in the horizontal direction, and thus, the horizontal positions of the gripping mechanism 415 and the cleaning device 42 are changed.

The switching mechanism 414 includes a fourth connecting seat 4141, a fourth motor 4142 and a rotating seat 4143, the fourth connecting seat 4141 is connected to the third connecting seat 4134, the fourth motor 4142 is disposed on the fourth connecting seat 4141, the rotating seat 4143 is connected to an output end of the fourth motor 4142, and the gripping mechanism 415 and the cleaning device 42 are respectively disposed on the rotating seat 4143, when the gripping mechanism 415 and the cleaning device 42 are switched, the fourth motor 4142 is controlled to rotate, the rotating seat 4143 connected to the output end thereof is driven by the fourth motor 4142 to rotate, and the cleaning device 42 and the gripping mechanism 415 disposed on two sides of the fourth connecting seat 4141 are switched.

Further, the gripping mechanism 415 includes a fixing plate 4151 and a gripping cylinder 4152, the fixing plate 4151 is connected to one side of the rotating base 4143, the gripping cylinder 4152 is disposed on the fixing plate 4151, the fixing plate 4151 provides a mounting position for the gripping cylinder 4152, and the gripping cylinder 4152 grips a spare uv lamp on the storage rack 5 or a uv lamp to be replaced on the robot body 7.

Furthermore, the image recognition device 43 is set as a depth camera, the image recognition devices 43 are set as two groups, and the two groups of image recognition devices 43 are respectively arranged on the replacing device 41 and the cleaning device 42, the image recognition device 43 arranged on the replacing device 41 is used for recognizing the position of the ultraviolet lamp on the robot body 7 and the position of the standby ultraviolet lamp on the storage rack 5, so that the replacing device 41 can accurately recognize the position of the ultraviolet lamp to be replaced on the robot body 7 and the position of the ultraviolet lamp on the storage rack 5, the ultraviolet lamp on the robot body 7 can be accurately detached, and the standby ultraviolet lamp can be accurately installed on the robot body 7; and the image recognition device 43 arranged on the cleaning device 42 is used for recognizing the position of the ultraviolet lamp on the robot body 7 so as to wipe and clean the ultraviolet lamp.

Further, the cleaning device 42 includes a mounting seat 421, a liquid storage tank 422, a peristaltic pump 423 and a cleaning head 424, the mounting seat 421 is disposed on the switching mechanism 414, the liquid storage tank 422 and the peristaltic pump 423 are both disposed on the mounting seat 421, a liquid inlet end of the peristaltic pump 423 is communicated with a liquid outlet end of the liquid storage tank 422, a liquid inlet end of the cleaning head 424 is communicated with a liquid outlet end of the peristaltic pump 423, when the ultraviolet lamp is cleaned, the cleaning device 42 is switched to a side close to the robot body 7 on which the ultraviolet lamp is mounted by the switching mechanism 414, the cleaning head 424 is abutted against the top end of the ultraviolet lamp through the matching adjustment of the lifting mechanism 411, the transverse displacement mechanism 413 and the longitudinal displacement mechanism 412, at this time, the peristaltic pump 423 draws the cleaning liquid from the liquid storage tank 422 and conveys the cleaning liquid to the cleaning head 424, the cleaning head 424 is wetted by the cleaning liquid, and the cleaning head 424 is controlled by the lifting mechanism 411 to wipe and clean the ultraviolet lamp, to remove dust and debris from the surface of the ultraviolet lamp.

Further, storage rack 5 includes rotating electrical machines 51, rotary rod 52 and mounting bracket 53, driving motor sets up in control chamber 2, rotary rod 52 rotates and sets up on control chamber 2, its output is connected in the input of rotary rod 52, mounting bracket 53 sets up on rotary rod 52, and store and place the ultraviolet lamp that gets off and reserve ultraviolet lamp by mounting bracket 53, utilize rotating electrical machines 51 to drive rotary rod 52 and rotate, it rotates to make it drive mounting bracket 53, place the position of ultraviolet lamp on mounting bracket 53 with the regulation, it presss from both sides mechanism 415 and presss from both sides the ultraviolet lamp to be convenient for among the change device 41, also provide the change position for the ultraviolet lamp that gets off simultaneously, be convenient for place.

Further, a fixed killing device 8 and a lifting killing device 9 are arranged on the robot body 7, a plurality of groups of ultraviolet lamps are arranged on the fixed killing device 8 and the lifting killing device 9, and the fixed killing device 8 is used for killing the low-middle area in the moving process of the robot body 7; the lifting sterilizing device 9 is used for sterilizing and killing high areas on the way of the advancing of the robot body 7, and the sterilizing and killing capacity of the robot body 7 is enlarged, so that the sterilizing and killing device can sterilize and kill areas with different heights in a sterilizing and killing place.

In addition, the above-mentioned middle ultraviolet radiation meter 3 and the inner wall of the operation chamber 2, the first sliding table 4111 between the inner wall of the replacement chamber, the first sliding table 4111 and the first motor 4113, the first connection and the second sliding table 4121, the second sliding table 4121 and the second motor 4123, the second connection seat 4124 and the third sliding table 4131, the third sliding table 4131 and the third motor 4133, the third connection seat 4134 and the fourth connection seat 4141, the fourth motor 4142 and the fourth connection seat 4141, the rotation seat 4143 and the output end of the fourth motor 4142, the fixing plate 4151 and the rotation seat 4143, the clamping cylinder 4152 and the fixing plate 4151, the image recognition device 43 and the fixing plate 4151 or the mounting seat 421, and the peristaltic pump 423 and the mounting seat 421 can be connected by bolting, wherein the cloud server 1, the ultraviolet radiation meter 3, the first motor 4113, the second motor 4123, the third motor 4133 and the cloud end of the cloud radiation meter 4113 can be connected by bolting The specific structures and the working principles of the fourth motor 4142, the rotary motor 51, the peristaltic pump 423, the fixed killing device 8, the lifting killing device 9, the acquisition module 6, the clamping cylinder 4152, the cleaning head 424 and the ultraviolet lamp belong to the prior art in the technical field, and the invention does not improve the devices; wherein, the electrical control relationship, the electrical control principle and the electrical control mode among the cloud server 1, the ultraviolet radiometer 3, the first motor 4113, the second motor 4123, the third motor 4133, the fourth motor 4142, the rotating motor 51, the peristaltic pump 423, the fixed killing device 8, the lifting killing device 9, the acquisition module 6 and the clamping cylinder 4152 belong to the prior art in the technical field, and the invention does not improve the same, so the details are not repeated,

The invention has novel structure, is stable and reliable, can accurately and multi-directionally detect the radiation dose of the ultraviolet lamps on the robot body 7 by arranging the plurality of groups of ultraviolet radiation meters 3 in the maintenance station, obtain the radiation dose generated when the robot body 7 executes the sterilization work so as to judge whether the robot body meets the actual requirement during the work, meanwhile, the cloud server 1 can judge whether the quality of the robot body is qualified or not according to the radiation dose of the ultraviolet lamps, and if the radiation dose of the ultraviolet lamps does not reach the preset radiation dose, the quality problem or damage of the ultraviolet lamps is proved, so that the quality judgment of the ultraviolet lamps is realized; according to the invention, the ultraviolet lamp washing and replacing unit 4 is arranged in the maintenance station, so that the robot body 7 can be treated according to whether the radiation dose of the ultraviolet lamp on the robot body reaches the standard or not, the ultraviolet lamp with insufficient radiation dose or damaged can be detached and replaced by using the replacing device 41 in the ultraviolet lamp washing and replacing unit 4, and the replaced ultraviolet lamp can be automatically placed on the storage rack, so that the replacing difficulty is reduced; meanwhile, the cleaning device 42 in the ultraviolet lamp washing and replacing unit 4 can be used for cleaning and wiping the qualified ultraviolet lamps on the robot body 7, so that dust and impurities attached to the surfaces of the ultraviolet lamps are removed, the working effect of the robot body is ensured, the automatic replacement and cleaning of the ultraviolet lamps on the robot body 7 are realized, the manual intervention is reduced, the manpower and material resources are saved, and the sterilizing and killing efficiency of the robot body 7 is improved; in the invention, the cloud server 1 is adopted to control the robot body 7, so that the robot body can realize regular killing in a killing area, the frequency of maintaining equipment by operating personnel is reduced, the cross infection risk of the operating personnel is further reduced, and meanwhile, a plurality of groups of killing robots are conveniently controlled, so that the whole killing process is more scientific and reliable, and the specific working process of the invention is as follows:

the method comprises the following steps that a cloud server 1 manages a plurality of groups of robot bodies 7 to execute sterilization work in real time, the working time of the robot bodies 7 is monitored, when the time of the sterilization work of the robot bodies 7 reaches the preset working time, the cloud server 1 controls the robot bodies 7 to enter an operation room 2 to detect and clean ultraviolet lamps, after the robot bodies 7 enter the operation room 2, the robot bodies 7 are controlled to start all the ultraviolet lamps, and the ultraviolet radiation meters 3 are used for detecting the radiation doses of the ultraviolet lamps on the robot bodies 7; if the radiation dose detected by the ultraviolet radiation meter 3 is greater than or equal to the preset radiation dose of the ultraviolet lamp, the quality of the ultraviolet lamp does not exist, and the cloud server 1 controls the cleaning device 42 in the ultraviolet lamp washing and replacing unit 4 to clean and wipe the ultraviolet lamp on the robot body 7; if the ultraviolet radiation meter 3 detects that the radiation dose of the ultraviolet lamps existing on the robot body 7 is lower than the preset radiation dose of the ultraviolet lamps, the ultraviolet lamps with quality problems or damage are indicated, the cloud server 1 controls the replacing device 41 in the ultraviolet lamp washing and replacing unit 4 to detach the unqualified ultraviolet lamps on the robot body 7, and the ultraviolet lamps for standby are taken down from the storage rack 5 and are installed on the robot body 7; the number and the quality of ultraviolet lamps in the operation room 2 are counted and detected by the acquisition module 6, and the counted and detected data information is transmitted to the cloud server 1, so that the cloud server 1 can manage the maintenance station.

The embodiments of the present invention have been described in detail, but the present invention is only the preferred embodiments of the present invention, and is not to be considered as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should be covered by the present patent.