CN112873165B - Multifunctional household robot - Google Patents
Multifunctional household robot Download PDFInfo
- Publication number
- CN112873165B CN112873165B CN202110085200.1A CN202110085200A CN112873165B CN 112873165 B CN112873165 B CN 112873165B CN 202110085200 A CN202110085200 A CN 202110085200A CN 112873165 B CN112873165 B CN 112873165B
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- arm
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- spray head
- support arm
- water
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- 230000006835 compression Effects 0.000 claims abstract description 22
- 238000007906 compression Methods 0.000 claims abstract description 22
- 238000005507 spraying Methods 0.000 claims abstract description 15
- 230000009471 action Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 90
- 239000007921 spray Substances 0.000 claims description 40
- 230000035939 shock Effects 0.000 claims description 24
- 238000010521 absorption reaction Methods 0.000 claims description 21
- 210000000078 claw Anatomy 0.000 claims description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000002347 injection Methods 0.000 claims description 11
- 239000007924 injection Substances 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims 1
- 239000003795 chemical substances by application Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 241000196324 Embryophyta Species 0.000 description 5
- 239000000779 smoke Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 239000002270 dispersing agent Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 235000002566 Capsicum Nutrition 0.000 description 1
- 240000008574 Capsicum frutescens Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003139 biocide Substances 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 239000001390 capsicum minimum Substances 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003020 moisturizing effect Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/05—Nozzles specially adapted for fire-extinguishing with two or more outlets
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/007—At least a part of the apparatus, e.g. a container, being provided with means, e.g. wheels, for allowing its displacement relative to the ground
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multifunctional household robot, which comprises a walking chassis, a mechanical arm, a spraying system and a data processing center, wherein the mechanical arm is arranged on the walking chassis, the spraying system is arranged on the rear side of the mechanical arm, a compression-resistant pipe is arranged on the mechanical arm, an outlet of the spraying system is connected with the compression-resistant pipe through a valve, and the data processing center is used for receiving data and processing the received data, generating an instruction for controlling the robot to work and sending the instruction to each execution terminal of the robot. According to the invention, the mechanical arm and the spraying system are arranged on the walking chassis, so that the robot can perform various complex operations under the action of the mechanical arm, various operations of families are satisfied, and the practicability is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a multifunctional household robot.
Background
With the improvement of living standard of people, research on household robots has become a research hotspot in the robot field. At present, research and development of the household robot mainly focuses on housekeeping and some services with specific functions, such as sweeping, patrol and the like, but the existing household robot treatment process is still single, and cannot meet the complex execution process. Especially the condition of fire appears in the house, traditional indoor fire extinguishing relies on fixed fire control pipeline or the outside water jetting of fireman to put out a fire, but under unmanned condition in the house, then hardly handle when the conflagration just takes place to increase the loss that the conflagration brought, fixed fire control pipeline puts out a fire in addition has a lot of dead angles, and can not carry out accurate fire extinguishing, when the fire range is big, under the comprehensive open state of fixed extinguishing device, water flow dispersion, the fire extinguishing effect can drop sharply.
Disclosure of Invention
The invention aims to provide a multifunctional household robot which has multiple functions and can realize multiple complex operations.
The invention aims at realizing the following technical scheme:
the utility model provides a multi-functional domestic robot, includes walking chassis, robotic arm, injection system and data processing center, install robotic arm on the walking chassis, the robotic arm rear side is equipped with injection system, is equipped with the resistance to compression pipe on the robotic arm, injection system's export is connected with the resistance to compression pipe through the valve, and the play water end of resistance to compression pipe is connected with out the water shower nozzle, data processing center is used for receiving data and handles the data of receipt for generate the instruction of control robot work, and send each execution terminal of robot with this instruction.
The walking chassis comprises a girder assembly, shock absorption bearings, articulated arms, shock absorption arms, reversing speed reducers, driving motors and travelling wheels, wherein the girder assembly is formed by encircling four supporting bars, the middle part of the girder assembly protrudes downwards, the girder assembly forms a concave structure with high two ends and low middle part, the shock absorption bearings are installed at four corners of the girder assembly, the articulated arms hinged with the shock absorption bearings are hinged on the side walls of the bottoms of the two sides of the girder assembly, the shock absorption arms hinged with the shock absorption bearings are hinged on the side walls of the tops of the two sides of the girder assembly, the reversing speed reducers are installed on the shock absorption bearings, the output shafts of the reversing speed reducers are rotatably installed on the shock absorption bearings and connected with the travelling wheels through the shock absorption bearings, and the vertical driving motors are installed on the input shafts of the reversing speed reducers.
The utility model provides a wheel that advances, including supporting disk, friction tooth and push rod, the supporting disk has two, and coaxial setting, connects through the fixed column between two supporting disks, and the supporting disk support between the adjacent fixed column articulates there is a plurality of friction teeth, friction tooth outer wall profile and supporting disk excircle profile adaptation all install the sheet rubber on the supporting disk between friction tooth outer wall and the adjacent friction tooth, it has the push rod to articulate between friction tooth inner wall and the corresponding fixed column, and friction tooth can unscrew the supporting disk under the effect of push rod, the cover is equipped with electric slip ring on the shock-absorbing bearing and provides the electric quantity for the push rod.
The walking chassis outside parcel has the protective housing, installs the camera around the protective housing.
The mechanical arm comprises a rotary table, a support, a first-stage supporting arm, a folding arm, a second-stage supporting arm, a mechanical claw, a monocular camera, an illuminating lamp and a steering engine, wherein the rotary table is rotatably arranged on a walking chassis, the support is arranged in the middle of the surface of the rotary table, the steering engine is arranged at the two ends of the first-stage supporting arm, the two ends of the second-stage supporting arm and the rotary table, one end of the first-stage supporting arm is rotatably arranged on the support through the steering engine, the other end of the first-stage supporting arm is connected with one end of the folding arm through the steering engine, one end of the second-stage supporting arm is connected with one end of the folding arm far away from the first-stage supporting arm, the other end of the second-stage supporting arm is connected with the mechanical claw through the steering engine, the monocular camera for capturing and identifying targets is arranged on the second-stage supporting arm below the mechanical claw, the illuminating lamp is arranged at two sides of the second-stage supporting arm, and the water outlet spray heads aligned with the mechanical claw are arranged at the top of the second-stage supporting arm.
The two sides of the primary support arm and the two sides of the secondary support arm are provided with strip-shaped through grooves.
The compression-resistant pipe is wound on the mechanical arm along the length direction, the water outlet spray head comprises a direct-current spray head, a flower flow spray head and an electric push rod, the direct-current spray head is fixed on the secondary support arm, the flower flow spray head is hinged to the outlet end of the direct-current spray head, the electric push rod is fixed on the direct-current spray head, and the extending end of the electric push rod is hinged to the flower flow spray head and used for driving the flower flow spray head to be sleeved on the direct-current spray head.
The injection system includes water storage tank, fire extinguishing tank, drives from jar, water intaking joint, high-pressure pump and electromagnetism cross valve, the water storage tank is installed on walking chassis, and the water storage tank both sides still are equipped with the fire extinguishing tank and drive from the jar, be equipped with water intaking joint on the water storage tank, water storage tank top is equipped with the high-pressure pump, and the inlet department of high-pressure pump is connected with electromagnetism cross valve, and three import of electromagnetism cross valve communicate with water storage tank, fire extinguishing tank and drive from the jar respectively, and a through-hole and the high-pressure pump access connection of electromagnetism cross valve, the export and the resistance to compression pipe intercommunication of high-pressure pump.
A detachable storage box is arranged above the spraying system, and a display screen is arranged on the storage box.
The data processing center can be used for controlling the complex walking of the robot, identifying the target and controlling the movement of the mechanical arm, and also comprises a pickup and a loudspeaker, so that the robot has the functions of remote dialogue and corresponding operation according to the instruction.
The multifunctional household robot provided by the invention has the beneficial effects that:
(1) The mechanical arm and the spraying system are arranged on the walking chassis, so that the robot can perform various complex operations under the action of the mechanical arm to meet various operations of families, and meanwhile, the indoor fire can be accurately positioned through the water outlet nozzle, so that the expansion of fire loss is limited, and the safety performance is effectively ensured;
(2) Through setting up robotic arm, can make the robot carry out multiple complicacy operation, like operation such as opening the door, getting thing, the cooperation is installed the water outlet nozzle on robotic arm and can be accomplished automatically and is watered the flower, wash the car, put out a fire etc. operation to guarantee the normal practicality of family.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram provided in an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a walking chassis according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a supporting wheel according to an embodiment of the present invention.
Fig. 4 is a schematic installation diagram of a supporting wheel and a walking chassis according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of an injection system according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of the positional relationship among a water storage tank, a fire extinguishing tank and a driving-out tank in the injection system according to the embodiment of the invention.
Fig. 8 is a schematic diagram of connection of a compression-resistant pipe according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of a usage state according to an embodiment of the present invention.
Fig. 10 is a second schematic view of a usage state according to an embodiment of the present invention.
Fig. 11 is a third schematic view of a usage state according to an embodiment of the present invention.
Reference numerals: 1. a walking chassis; 11. a girder assembly; 12. a shock absorbing bearing; 13. an articulated arm; 14. a reversing speed reducer; 15. a driving motor; 16. a travelling wheel; 161. a support plate; 162. friction teeth; 163. a push rod; 164. a rubber sheet; 165. an electrical slip ring; 17. a shock absorbing arm; 2. a protective shell; 3. a camera; 4. a mechanical arm; 41. a turntable; 42. a bracket; 43. a primary support arm; 44. a folding arm; 45. a secondary support arm; 46. a mechanical claw; 47. a monocular camera; 48. a lighting lamp; 49. steering engine; 410. a strip-shaped through groove; 5. a spraying system; 51. a water storage tank; 52. a fire extinguishing tank; 53. driving off the tank; 54. a water intake joint; 55. a high pressure pump; 6. a pressure-resistant tube; 61. an electromagnetic valve; 62. an electromagnetic four-way valve; 63. a water outlet nozzle; 631. a DC nozzle; 632. a flower flow nozzle; 633. an electric push rod; 7. a data processing center; 8. a storage box; 81. and a display screen.
Detailed Description
Examples
As shown in fig. 1 to 8, the multifunctional household robot provided in this embodiment includes a walking chassis 1, a mechanical arm 4, a spraying system 5 and a data processing center 7, the walking chassis 1 is provided with the mechanical arm 4 capable of executing multiple complex operations, the rear side of the mechanical arm 4 is provided with the spraying system 5, the spraying system 5 includes three cavities for storing water, fire extinguishing agent and dispersing agent, the mechanical arm 4 is provided with a compression-resistant pipe 6, the compression-resistant pipe 6 is wound on the mechanical arm 4 along the length direction, the compression-resistant pipe 66 is used for conveying water, fire extinguishing agent and dispersing agent, an outlet of the spraying system 5 is connected with the compression-resistant pipe 6 through a valve, an outlet end of the compression-resistant pipe 6 is connected with a water outlet nozzle 63, and the data processing center 7 is used for receiving and processing the received data, generating an instruction for controlling the operation of the robot and sending the instruction to each execution terminal of the robot, so that the robot can execute multiple operations such as patrol, fire extinguishing, watering, door opening, car washing, climbing, interaction and the like.
As shown in fig. 2, in order to meet the requirement of robot walking and to flow out more installation space, the walking chassis 1 comprises a girder assembly 11, a shock absorption bearing 12, an articulated arm 13, a shock absorption arm 17, a reversing speed reducer 14, a driving motor 15 and a travelling wheel 16, wherein the girder assembly 11 is surrounded by four support bars, the middle part of the girder assembly 11 protrudes downwards, so that the girder assembly 11 forms a concave structure with high ends and low middle parts, the girder assembly 11 with the concave structure can enable the walking chassis 1 to have larger space for installing equipment, thereby achieving the purpose of reducing the volume, the shock absorption bearing 12 is arranged at four corners of the girder assembly 11, the articulated arms 13 articulated with the outer walls of the shock absorption bearing 12 are articulated on the side walls of the bottoms of two sides of the girder assembly 11, the side walls of the tops of two sides of the girder assembly 11 are hinged with damping arms 17 hinged with the outer walls of damping bearings 12, the damping arms 13 and the damping arms 17 are matched with the girder assembly 11 to form a triangle with elasticity, so that the robot can run on an uneven road section, the damping bearings 12 are provided with reversing speed reducers 14, output shafts of the reversing speed reducers 14 are rotatably arranged on the damping bearings 12 and connected with travelling wheels 16 through the damping bearings 12, and input shafts of the reversing speed reducers 14 are provided with vertical driving motors 15, and when the robot is used, the corresponding travelling wheels 16 are respectively driven to rotate through the four driving motors 15, so that the robot can directly run, reverse, turn left, turn right in place, turn left, turn right and the like.
In order to improve the climbing effect of the travelling wheel 16, as shown in fig. 3, so as to prevent the situation that a robot cannot use an elevator and needs to go up or down through stairs in a fire disaster and the situation that stairs are arranged at home, the travelling wheel 16 comprises two supporting discs 161, friction teeth 162 and push rods 163, the two supporting discs 161 are coaxially arranged, the two supporting discs 161 are connected through fixing columns, a plurality of friction teeth 162 are hinged to a supporting disc 161 bracket 42 between adjacent fixing columns, friction protrusions for increasing friction force are processed on the inner tooth surfaces of the friction teeth 162, the outer wall profile of the friction teeth 162 is matched with the outer circle profile of the supporting disc 161, rubber sheets 164 are arranged on the supporting discs 161 between the outer wall of the friction teeth 162 and the adjacent friction teeth 162, push rods 163 are hinged between the inner wall of the friction teeth 162 and the corresponding fixing columns, the friction teeth 162 can be screwed out of the supporting discs 161 under the action of the push rods 163, an electric slip ring 165 is sleeved on the shock-absorbing bearing 12 to provide electric quantity for the push rods 163, and the travelling wheel 16 is circular when the friction teeth 162 are retracted, and at this time, the rubber sheets 164 can play a role of shock absorbing and increasing friction force; after the friction teeth 162 are deployed, the plurality of friction teeth 162 extending along the outer side of the travel wheel 16 may cause the travel wheel 16 to travel on stairs.
As shown in fig. 1, in order to improve the observation efficiency of the robot, the outer side of the walking chassis 1 is wrapped with the protective shell 2, the periphery of the protective shell 2 is provided with the cameras 3, and the peripheral cameras 3 form a 360-degree robot looking around system, so that the robot can detect the peripheral environment, and collision with indoor objects is avoided.
As shown in fig. 5, in order to improve the complex operation of the robot, the robot arm 4 includes a turntable 41, a bracket 42, a primary support arm 43, a folding arm 44, a secondary support arm 45, a gripper 46, a monocular camera 47, an illumination lamp 48, a water outlet nozzle 63 and a steering gear 49, the turntable 41 is horizontally and rotatably mounted on the walking chassis 1, the bracket 42 is mounted in the middle of the surface of the turntable 41, the steering gear 49 is mounted at both ends of the primary support arm 43, both ends of the secondary support arm 45 and in the turntable 41, one end of the primary support arm 43 is rotatably mounted on the bracket 42 through the steering gear 49, the other end of the primary support arm 43 is connected with one end of the folding arm 44 through the steering gear 49, one end of the secondary support arm 45 is connected with one end of the folding arm 44 away from the primary support arm 43 through the steering gear 49, the other end of the secondary support arm 45 is connected with the gripper 46 through the steering gear 49, the monocular camera 47 for capturing and identifying the target is arranged on the secondary support arm 45 below the mechanical claw 46, the illuminating lamps 48 are arranged on two sides of the secondary support arm 45, the water outlet spray head 63 aligned with the mechanical claw 46 is arranged on the top of the secondary support arm 45, the water outlet spray head 63 comprises a direct current spray head 631, a flower flow spray head 632 and an electric push rod 633, the direct current spray head 631 is fixed on the secondary support arm 45, the flower flow spray head 632 is hinged at the outlet end of the direct current spray head 631, the electric push rod 633 is fixed on the direct current spray head 631, the extending end of the electric push rod 633 is hinged with the flower flow spray head 632 and is used for driving the flower flow spray head 632 to be sleeved on the direct current spray head 631 when the electric push rod 633 drives the flower flow spray head 632 to leave the direct current spray head 631, so that the spray direct current is realized, in order to assist the robot in holding and releasing the tools, the two sides of the primary support arm 43 and the secondary support arm 45 are provided with strip-shaped through grooves 410, and the tools can be hung on the strip-shaped through grooves 410 when in use, so that the tools can be held and released conveniently by the people.
As shown in fig. 6 to 8, the injection system 5 includes a water storage tank 51, a fire extinguishing tank 52, a driving-off tank 53, a water intake joint 54, a high-pressure pump 55 and an electromagnetic four-way valve 62, wherein the water storage tank 51 is installed on the traveling chassis 1, the fire extinguishing tank 52 and the driving-off tank 53 are further arranged at two sides of the water storage tank 51, the water storage tank 51 is used for storing water, the fire extinguishing agent is stored in the fire extinguishing tank 52, the driving-off tank 53 is stored with the driving-off agent, the driving-off tank 53 is mainly used when a robot performs patrol, the driving-off agent can be a non-killing agent such as capsicum water and anti-wolf smoke, the water intake joint 54 is arranged on the water storage tank 51, after the robot purchases, a water supply pipe as high as the water intake joint 54 of the robot is required is installed in a home, so that automatic water supplementing can be performed on the water storage tank 51 after the water intake joint 54 of the robot is inserted into the water supply pipe, the high-pressure pump 55 is arranged above the water storage tank 51, the electromagnetic four-way valve 55 is connected with the electromagnetic four-way valve 62, three inlets of the electromagnetic four-way valve 62 are respectively communicated with the fire extinguishing tank 52, the three inlets of the electromagnetic four-way valve 62 and the electromagnetic four-way valve 55 are communicated with the high-pressure pump 55, and the electromagnetic four-way valve is communicated with the high pressure pump 52, and the high pressure pump 52. The compression-resistant pipe 6 is installed on the mechanical arm 4 along the length direction, in order to reduce the laying of pipelines and prevent pipelines from excessively causing the weight increase of the mechanical arm 4, the compression-resistant pipe 6 is only provided with one pipe, the compression-resistant pipe 6 is provided with the electromagnetic valve 61, the outlet of the electromagnetic valve 61 is communicated with the water outlet spray head 63, the electromagnetic valve 61 can form high-pressure water in the compression-resistant pipe 6, then the electromagnetic valve 61 is opened, a water cannon with a faster flow speed can be formed, the fire extinguishing efficiency can be improved by utilizing the strong impact force of the water cannon, meanwhile, the water consumption can be reduced, and water, fire extinguishing agent and release agent can be sprayed out through the mutual cooperation of the electromagnetic valve 61 and the electromagnetic four-way valve 62.
As shown in FIG. 1, a detachable storage box 8 is installed above the spraying system 5, a display screen 81 is installed on the storage box 8, the robot can have the function of storing objects through the storage box 8, and the display screen 81 on the storage box 8 can display set information, such as a piece taking code, so that the robot can complete the function of automatically taking an express delivery to an express delivery receiving and dispatching point.
The data processing center 7 can be used for controlling the complex walking of the robot, identifying the target and controlling the movement of the mechanical arm 4, and also comprises a pickup and a loudspeaker, so that the robot has the functions of remote dialogue and corresponding operation according to instructions, the household use is satisfied, and a signal transmitter and a signal receiver are arranged in the data processing center 7, so that the robot can be used outdoors in a networking way.
The robot of the invention provides electricity through the rechargeable battery, and the charging of the robot is the same as that of the existing sweeping robot, so that the rechargeable battery of the robot can be used as a standby power supply when power is cut.
The application method of the invention is as follows:
the use environment of the intelligent door lock is used in cooperation with intelligent door locks, intelligent smoke sensors, intelligent door and window sensors and the like according to the popularization condition of intelligent home, and is shown in fig. 9-11.
When the intelligent fire extinguishing system is used, a vehicle area network is formed by the robot data processing center 7 and existing sensors such as a smoke sensor, a door and window sensor and the like of a household, then the robot moves and patrol through the walking chassis 1, if the smoke sensor gives an alarm, the robot moves to the position corresponding to the smoke sensor under the control of the data processing center 7, at the moment, the mechanical arm 4 stretches out, a video shot by the monocular camera 47 on the mechanical arm 4 is transmitted to a mobile phone end through the data processing center 7, if an open fire exists, the data processing center 7 controls the electromagnetic four-way valve 62 to be communicated with the fire extinguishing tank 52, the electromagnetic valve 61 is communicated with the water outlet nozzle 63, then the high-pressure pump 55 is started, the open fire is extinguished through the extinguishing agent under the action of the high-pressure pump 55, if the extinguishing agent is used up, the electromagnetic four-way valve 62 is switched to the water storage tank 51, the electromagnetic four-way valve 62, the high-pressure pump 55 and the electromagnetic valve 61 are sequentially closed, if the fire range is larger, the electric push rod 633 can also be controlled to stretch out, the electric push rod 633 is sleeved on the direct-current nozzle 631, and the direct-current flow water flow area is increased; after the high-pressure pump 55 is started, the electromagnetic valve 61 may be temporarily opened, and opened after the pressure thereof becomes large, to form a pulse water cannon.
When the door and window sensor detects that a person enters, the robot moves to a corresponding position under the action of the walking chassis 1, meanwhile, the monocular camera 47 on the mechanical arm 4 shoots, an image is sent to a mobile phone end during shooting, people confirm through the mobile phone end, and if the person is a friend, the remote sending robot continues patrol; if the electromagnetic four-way valve 62 is a stranger or a bad person, the electromagnetic four-way valve 62 is communicated with the driving-off tank 53, and then the electromagnetic valve 61 is communicated with a channel of the water outlet spray head 63, and the driving-off agent is sprayed under the action of the high-pressure pump 55 so as to eliminate potential safety hazards.
The robot can add the position of family plant, make the robot can carry out the operation of automatic watering to the plant, during the use, the robot removes to the plant position under the effect of walking chassis 1, then robotic arm 4 catches the position of plant, then switch on electromagnetic four-way valve 62 and water storage box 51, switch on electromagnetic valve 61 and play water shower nozzle 63, simultaneously control electric putter 633 overlaps the flower flow shower nozzle 632 on direct current shower nozzle 631, then control high-pressure pump 55 low-speed rotation, be used for spraying the water in the water storage box 51 on the plant, then close electromagnetic valve 61 and electromagnetic four-way valve 62, because the rate of water usage is great to the water, when the water in the water tank is less, the accessible water intaking connects 54 moisturizing.
When a friend arrives at home to make a passenger, if the friend is not at home, the door lock can be unlocked through the robot, when the robot unlocks the door lock, the robot firstly moves to a door opening through the walking chassis 1, then the robot arm stretches out, the mechanical claw 46 arranged on the secondary support arm 45 clamps the door handle under the action of the monocular camera 47, and then the steering engine 49 drives the mechanical claw 46 to rotate clockwise around the rotating shaft of the door handle, so that the door is opened.
When the car is required to be washed, the robot is controlled to be filled with water in the water storage tank 51, then the robot is controlled to move to the car, the robot is controlled to control the water outlet nozzle 63 on the mechanical arm 4 to be aligned with the car, meanwhile, the electric push rod 633 is controlled to sleeve the water outlet nozzle 632 on the direct current nozzle 631, then the electromagnetic four-way valve 62 and the water storage tank 51 are communicated, the electromagnetic valve 61 and the water outlet nozzle 63 are communicated, then the water in the water storage tank 51 is sprayed on the car by the high-pressure pump 55, meanwhile, the walking chassis 1 drives the robot to spray water circularly around the car, after spraying, people brush the car, after brushing is completed, the robot sprays the car again, the car is washed cleanly, and finally the car is wiped by the car wiping cloth.
When people need to repair at home, the situation that more tools are encountered can lead the robot to move to the side, the tools are hung in the strip-shaped through grooves 410 on the secondary supporting arm 45, the robots are controlled to move along with the robots, and at the moment, when people move to which robot, the robots move along with the people, so that the people can conveniently take the tools.
When encountering a relatively large fire disaster, one robot is difficult to extinguish the fire, the data processing center 7 can send help seeking information to other robots in a certain range to participate in fire fighting, after controllers of the other robots send out cooperative information, the other robots can move to a fire place, and after the robots in the home open the door through the mechanical claws 46, the other robots enter the home to assist in extinguishing the fire by using extinguishing agent and water carried by the robots.
When the robot needs to climb stairs, the electric slip ring 165 transmits signals and electric quantity of the working of the push rod 163, the push rod 163 stretches out to drive the friction teeth 162 on the travelling wheel 16 to be unfolded, the friction teeth 162 of the robot can be matched with steps of the stairs, the contact area is increased, the stability of climbing stairs is guaranteed, and after the robot climbs stairs, the friction teeth 162 are controlled to retract, so that the travelling wheel 16 is restored to the shape.
When people receive express delivery and do not have time to get express delivery, can control the robot to get the express delivery at the express delivery receiving and dispatching point of district, after moving to the position, get a piece information and show on display screen 81, the staff of receiving and dispatching express delivery puts the express delivery into storage tank 8, return home by the robot again, after the robot arrives the gate, interact with intelligent lock, make the lock open, then drive the rotatory door handle of accomplishing of door handle through mechanical claw 46 on robotic arm 4 and open the door operation, it is noted that, the volume of storage tank 8 is limited, can only put the express delivery of some smallclothes, the express delivery of major part then can not pack into storage tank 8, need people to get the piece by oneself.
The robot can also be used for going out shopping, and when shopping, walking chassis 1 marches to the store, communicates with the shop assistant through adapter and speaker, then robotic arm 4 expands, shoots the payment code through the monocular camera 47 on robotic arm 4, realizes long-range payment, and after the payment, the shop assistant puts commodity into storage box 8, again control robot returns home.
When the robot is at home, the voice control process of the robot is consistent with the existing control methods of the xiaoai sound box, the Tianmao fairy and the like according to the command of recognizing people to speak through the sound pick-up, and then the robot performs following, moving, watering and the like according to the command.
Since water is always stored in the water storage tank 51, the water in the water storage tank 51 can be used as a standby water source after water is stopped at home.
The rechargeable battery of the robot can be used as a standby power supply after power failure.
The foregoing is merely a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any modification and substitution based on the technical scheme and the inventive concept provided by the present invention should be covered in the scope of the present invention. It should be noted that the structures or components illustrated in the drawings are not necessarily drawn to scale, and that descriptions of well-known components and processing techniques and procedures are omitted so as not to unnecessarily limit the present invention.
Claims (3)
1. A multifunctional household robot is characterized in that: the device comprises a walking chassis, a mechanical arm, an injection system and a data processing center, wherein the mechanical arm is arranged on the walking chassis, a protective shell is wrapped on the outer side of the walking chassis, a camera is arranged around the protective shell, the injection system is arranged on the rear side of the mechanical arm, a compression pipe is arranged on the mechanical arm, an outlet of the injection system is connected with the compression pipe through a valve, a water outlet end of the compression pipe is connected with a water outlet nozzle, the data processing center is used for receiving data and processing the received data and generating an instruction for controlling the operation of the robot, the instruction is sent to each execution terminal of the robot, the walking chassis comprises a girder assembly, a shock absorption bearing, a hinge arm, a shock absorption arm, a reversing speed reducer, a driving motor and a travelling wheel, the girder assembly is surrounded by four support bars, the middle part of the girder assembly protrudes downwards, the girder assembly forms a concave structure with two ends low, shock absorption bearings are arranged at four corners of the girder assembly, the hinge arm hinged with the shock absorption bearing is hinged on the side walls of the bottoms of two sides of the girder assembly, the hinge arm hinged with the shock absorption bearing is hinged with the hinge arm on the side walls of the two sides of the girder assembly, the shock absorption bearing is arranged on the side walls of the top of the girder assembly in a hinge way, the shock absorption bearing is arranged on the side wall of the hinge arm hinged with the hinge shaft, the shock absorption bearing is arranged between the two reversing speed reducer and the two friction wheels are arranged between the two friction wheels and the two friction wheels through the two friction wheels, the friction wheels are arranged between the two friction wheels and the friction wheels, the friction wheels are arranged between the friction wheels and the friction wheels. The friction tooth inner wall and the corresponding fixed column are hinged with a push rod, the friction tooth can be screwed out of the support disc under the action of the push rod, an electric slip ring is sleeved on the damping bearing to provide electric quantity for the push rod, the mechanical arm comprises a rotary disc, a support, a primary support arm, a folding arm, a secondary support arm, a mechanical claw, a monocular camera, an illuminating lamp and a steering engine, the rotary disc is rotatably arranged on the walking chassis, the support is arranged in the middle of the surface of the rotary disc, the steering engine is arranged at both ends of the primary support arm, both ends of the secondary support arm and the rotary disc, one end of the primary support arm is rotatably arranged on the support through the steering engine, the other end of the primary support arm is connected with one end of the folding arm through the steering engine, one end of the secondary support arm is connected with one end of the folding arm far away from the primary support arm through the steering engine, the other end of the secondary support arm is connected with the mechanical claw through the steering engine, the monocular camera for capturing and identifying the target is arranged on the secondary support arm below the mechanical claw, the lighting lamps are arranged on two sides of the secondary support arm, the water outlet spray head aligned with the mechanical claw is arranged on the top of the secondary support arm, the compression-resistant pipe is wound on the mechanical arm along the length direction, the water outlet spray head comprises a direct-current spray head, a flower flow spray head and an electric push rod, the direct-current spray head is fixed on the secondary support arm, the flower flow spray head is hinged at the outlet end of the direct-current spray head, the electric push rod is fixed on the direct-current spray head, the extending end of the electric push rod is hinged with the flower flow spray head and is used for driving the flower flow spray head to be sleeved on the direct-current spray head, the strip-shaped through grooves are formed on two sides of the primary support arm and the secondary support arm, the injection system comprises a water storage tank, a fire extinguishing tank, a driving-off tank, a water taking joint, a high-pressure pump and an electromagnetic four-way valve, the water storage tank is arranged on a walking chassis, the fire extinguishing tank and the driving tank are further arranged on two sides of the water storage tank, the water taking connector is arranged on the water storage tank, the high-pressure pump is arranged above the water storage tank, the electromagnetic four-way valve is connected to the liquid inlet of the high-pressure pump, three inlets of the electromagnetic four-way valve are respectively communicated with the water storage tank, the fire extinguishing tank and the driving tank, one through hole of the electromagnetic four-way valve is connected with the inlet of the high-pressure pump, and the outlet of the high-pressure pump is communicated with the compression-resistant pipe.
2. The multifunctional home robot of claim 1, wherein: a detachable storage box is arranged above the spraying system, and a display screen is arranged on the storage box.
3. The multifunctional home robot of claim 2, wherein: the data processing center can be used for controlling the complex walking of the robot, identifying the target and controlling the movement of the mechanical arm, and also comprises a pickup and a loudspeaker, so that the robot has the functions of remote dialogue and corresponding operation according to the instruction.
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| CN202110085200.1A CN112873165B (en) | 2021-01-21 | 2021-01-21 | Multifunctional household robot |
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| CN112873165B true CN112873165B (en) | 2024-04-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113658400A (en) * | 2021-08-13 | 2021-11-16 | 国网新疆电力有限公司电力科学研究院 | Fire early warning device for high-voltage power field monitoring |
| FR3129819B1 (en) | 2021-12-06 | 2023-12-08 | Areco Finances Et Tech Arfitec | Device for removing ice from a display, use of this device and its implementation method |
| CN114347099A (en) * | 2021-12-31 | 2022-04-15 | 北京信通泰克科技有限公司 | Intelligent robot home security monitoring system |
| CN114402847B (en) * | 2022-02-14 | 2023-03-21 | 广州大学 | Automatic follow spot intelligent flowerpot |
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