CN110039509A - A kind of wired home robot and its method - Google Patents

Abstract

An intelligent home robot and method thereof. The invention discloses a robot walking base, a robot execution body and a robot head; the robot execution body is fixed above the robot walking base through a plurality of support frames, and the robot head is mounted on the robot execution body. upper side; two mechanical arms are installed symmetrically on both sides of the robot's execution body, and a manipulator is installed at the execution end of each of the mechanical arms; the structure of the present invention is simple, and can realize sprinkler humidification, picking up objects, and camera monitoring Moreover, the device is also provided with an automatic protruding mechanism for the charging head, which is in a retracted state during the working process of the robot to avoid being damaged by splashing water.

Description

An intelligent home robot and method thereof

technical field

The present invention belongs to the field of robots.

Background technique

Smart homes have penetrated into people's homes, but existing smart homes often only achieve simple functions. For example, sweeping robots can only be used to clean the ground, and cannot achieve advanced functions such as helping users pick up items.

SUMMARY OF THE INVENTION

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an intelligent home robot and a method thereof capable of gripping objects and other advanced functions.

Technical solution: In order to achieve the above purpose, an intelligent home robot of the present invention includes a robot walking base, a robot execution body and a robot head; the robot execution body is fixed above the robot walking base through a number of support frames, and the robot execution body is fixed above the robot walking base. The robot head is installed on the upper side of the robot execution body; two mechanical arms are symmetrically installed on both sides of the robot execution body, and a manipulator is installed at the execution end of each of the robot arms; A water tank is installed inside, a camera unit is installed on the front side of the robot execution body, and a sprinkler unit is installed on the back side of the robot execution body; the water inlet end of the sprinkler unit is connected to the water tank.

Further, the back side of the robot execution body is provided with a vertical sprinkler head protruding groove; the sprinkler unit includes a large first steering gear that is fixedly installed inside the robot execution body, and the output of the first steering gear is A steering gear output gear is synchronously arranged at the end, and also includes a swing rod. The root of the swing rod is fixedly provided with a sector gear, and the axis of the sector gear is rotatably connected to a rotating shaft, and the rotating shaft is connected to the first steering gear. On the casing, the rotation of the output gear can mesh and drive the sector gear to rotate along the rotating shaft; the end of the swing rod is fixedly installed with a suction pump, and the water inlet end of the suction pump passes through a flexible water conduit The water tank in the execution body of the robot is communicated; a water spray head is installed on the water outlet end of the liquid pump, and the water outlet end of the water spray head protrudes out of the water spray head protruding groove.

Further, the robotic arm includes a robotic arm base, the robotic arm base is fixedly installed at the waist position of the execution body of the robot, the robotic arm includes a first arm, a second arm and a third arm, the first arm The root of the arm is fixed on the mechanical arm seat, the end of the first arm is rotatably connected to one end of the second arm, and the driving device on the first arm can drive the second arm to swing; the first arm One end of the third arm is rotatably connected to the other end of the second arm, and the driving device on the second arm can drive the third arm to swing; the other end of the third arm is fixedly installed with a second steering gear, so The manipulator is installed at the end of the output shaft of the second steering gear.

Further, the manipulator includes a manipulator bracket, and the manipulator bracket is fixedly installed at the end of the output shaft of the second steering gear; the manipulator bracket is symmetrically meshed with a left gear and a right gear; it also includes a left-right symmetrical left drive. rod and right driving rod; the roots of the left driving rod and the right driving rod are respectively fixedly connected to the left gear and the right gear, and the rotation of the left gear and the right gear can respectively drive the left driving rod and the right driving rod synchronously Swing; a third steering gear is also installed on the manipulator bracket, and the third steering gear drives and connects the left gear or the right gear; it also includes left and right passive rods symmetrical to each other, and the left passive rod and The right passive rod is respectively parallel to the front sides of the left active rod and the right active rod, and the inner ends of the left passive rod and the right passive rod are hingedly connected to the manipulator bracket respectively; and left and right clamping claws are also included. and the right clamping claw, the tail ends of the left clamping claw and the right clamping claw are hingedly connected to the ends of the left driving rod and the right driving rod respectively; the middle parts of the left and right clamping jaws are hinged respectively Connect the outer ends of the left passive rod and the right passive rod; the clamping sides of the front ends of the left clamping claw and the right clamping claw are respectively symmetrically provided with clamping concave arc surfaces, and both ends of the clamping concave arc surfaces are respectively arranged. A sawtooth surface is provided, respectively.

Further, the front end of the robot walking base is provided with a charging connector protruding window; a charging connector protruding mechanism is installed inside the robot walking base;

The charging connector protruding mechanism includes a mechanism base on which an output motor is installed, and a bearing seat is fixedly installed on the upper side of the motor housing of the output motor; a gear is synchronously installed on the motor shaft of the output motor It also includes a threaded linkage rod and a transmission gear, and the transmission gear is meshed with the gear; the shaft center of the transmission gear is provided with a threaded transmission hole coaxially through it, and the external thread of the threaded linkage rod is connected to the The threaded transmission hole is threadedly matched; one end of the transmission gear close to the bearing seat is integrally provided with a cylindrical body, and the inner diameter of the cylindrical body is larger than the outer diameter of the threaded linkage rod; the bearing seat is rotatably arranged inside There is a bearing, and the inner ring of the bearing is tightly matched with the outer wall of the cylinder;

One end of the threaded linkage rod close to the protruding window of the charging connector is connected with a buffer spring, and one end of the buffer spring is concentrically connected with a charging connector; the end of the threaded linkage rod away from the charging connector is coaxially fixed A guide post with a regular hexagonal cross-section is connected; a guide post seat is also fixedly installed on the mechanism base, the top of the guide post seat is provided with a hexagonal guide hole that penetrates horizontally, and the guide post slides through the The hexagonal guide hole is provided; the threaded linkage rod and the guide post are coaxially provided with a wire channel.

Further, a working method of an intelligent home robot:

Sprinkler humidification method: The robot walks to the designated position, then starts the pump, and then the pump extracts the water in the water tank through the flexible aqueduct, and then sprays the extracted water to the rear of the robot through the sprinkler, and then sprays the water. When the head is sprayed backwards, the robot walks forward slowly, so that the places where the robot walks are sprayed and humidified; the robot walks forward while spraying water backwards to avoid the robot walking on the sprayed bottom surface. The phenomenon of slippage occurs; at the same time, by controlling the first steering gear, the swing rod is continuously oscillated up and down; thus, the coverage area of the water sprayed by the water nozzle is larger;

The method of clamping the object: control the third steering gear to rotate in the forward direction, so that the left gear and the right gear do meshing movement, until the left clamping claw and the right clamping claw are fully opened, so that the clamping of the left clamping claw is concave. The distance between the arc surface and the concave arc surface of the right gripping claw is larger than the object to be clamped; the robot walks to the vicinity of the object to be clamped, and then passes the first arm, the second arm and the third arm. Coordinate and adjust the posture of the manipulator so that the object to be clamped is between the left gripping claw and the right gripping claw of the manipulator; then control the third steering gear to rotate in the reverse direction, so that the left gear and the right gear do meshing motion until the left gripping claw The clamping concave arc surface of the right clamping jaw and the clamping concave arc surface of the right clamping claw clamp the object inward; then adjust the posture of the object grasped by the manipulator through the cooperation of the first arm, the second arm and the third arm, and then the robot drives to the specified location;

How to find the charging connector:

When the robot is in use, the charging connector is located on the inside of the charging connector protruding window. If the power block carried by the robot is completely exhausted, control the robot to walk to the designated charging socket position, and make the charging connector on the robot walking base protrude out of the window. Align the external charging socket; then start the output motor, at this time the output motor drives the gear to rotate, and then the gear drives the transmission gear to rotate under the action of meshing, and the transmission gear cannot move along the axis under the shackles of the cylinder and the tightly fitted bearing. At the same time, the threaded linkage rod cannot rotate under the shackles of the regular hexagonal guide post and the hexagonal guide hole, but can move along the axis; because the external thread of the threaded linkage rod and the threaded transmission hole thread on the transmission gear Then, the transmission gear drives the threaded linkage rod to displace along the axis through the threaded transmission, so that the charging connector at the front end of the threaded linkage rod displaces synchronously until the charging connector protrudes out of the charging connector protruding window, and then the charging connector protruding window is protruded. The charging connector is inserted into the external charging socket; when the charging connector needs to be retracted, it is only necessary to run the output motor in reverse.

Beneficial effects: the structure of the present invention is simple, and can realize various functions of watering and humidifying, taking objects, and camera monitoring; and the device is also provided with an automatic protruding mechanism for the charging head, which is in a retracted state during the working process of the robot to avoid being splashed. damaged by water, etc.

Description of drawings

Accompanying drawing 1 is the front schematic diagram of the robot;

Accompanying drawing 2 is the back side schematic diagram of the robot;

Accompanying drawing 3 is the mechanical arm structure schematic diagram;

Accompanying drawing 4 is the structure schematic diagram of manipulator;

5 is a schematic diagram of the internal transmission structure of the manipulator;

Accompanying drawing 6 is the schematic diagram of robot walking base;

Accompanying drawing 7 is the partial enlarged schematic diagram of the charging head protruding window of the robot walking base;

Accompanying drawing 8 is the driving wheel transmission schematic diagram in the robot walking base;

Accompanying drawing 9 is the structure schematic diagram of sprinkler unit;

FIG. 10 is a schematic structural diagram of a charging connector protruding mechanism.

FIG. 11 is a schematic cutaway view of the charging connector.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

The structure of this solution introduces an intelligent home robot as shown in FIGS. 1 to 11 , including a robot walking base 42 , a robot execution body 49 and a robot head 47 ; the robot execution body 49 is fixed to the Above the robot walking base 42, the robot head 47 is installed on the upper side of the robot execution body 49; two mechanical arms 48 are symmetrically installed on both sides of the robot execution body 49, and each of the robot arms 48 The manipulator 16 is installed at the execution end of the robot; a water tank is installed inside the robot execution body 49, a camera unit 50 is installed on the front side of the robot execution body 49, and a sprinkler unit is installed on the back side of the robot execution body 49; The water inlet end of the sprinkler unit communicates with the water tank.

The back side of the robot execution body 49 is provided with a vertical sprinkler head protruding groove 29; the sprinkler unit includes a large first steering gear 22 that is fixedly installed inside the robot execution body 49, and the first steering gear 22 The output end of the steering gear 24 is synchronously provided with a steering gear output gear 24, and also includes a swing rod 26. The root of the swing rod 26 is fixedly provided with a sector gear 23. 25 is connected to the casing of the first steering gear 22, the rotation of the output gear 24 can engage and drive the sector gear 23 to rotate along the shaft 25; the end of the swing rod 26 is fixedly installed with a pump 28. The water inlet end of the liquid suction pump 28 is connected to the water tank in the robot execution body 49 through the flexible water conduit 27; the water outlet end of the liquid suction pump 28 is installed with a water spray head 29. The water outlet end of the sprinkler head protrudes out of the groove 29 of the sprinkler head.

The robotic arm 48 includes a robotic arm base 21 , the robotic arm base 21 is fixedly installed at the waist position of the robot execution body 49 , and the robotic arm 48 includes a first arm 20 , a second arm 19 and a third arm 17 , the root of the first arm 20 is fixed on the mechanical arm base 21 , the end of the first arm 20 is rotatably connected to one end of the second arm 19 , and the driving device on the first arm 20 can drive The second arm 19 swings; one end of the third arm 17 is rotatably connected to the other end of the second arm 19, and the driving device on the second arm 19 can drive the third arm 17 to swing; the The other end of the third arm 17 is fixedly mounted with a second steering gear 019 , and the manipulator 16 is mounted on the end of the output shaft of the second steering gear 019 .

Two universal wheels 43 are respectively installed on the front and rear sides of the bottom end of the robot walking base 42, and a left driving wheel 44.1 and a right driving wheel 44.2 are respectively installed on the left and right sides of the bottom end of the robot walking base 42; The front and rear sides of the interior are respectively installed with a first capstan motor 104 and a second capstan motor 103; the first capstan motor 104 and the second capstan motor 103 pass through the first synchronous belt unit 102 and the second synchronous belt respectively. Unit 101 drivingly connects said right driving wheel 44.2 and left driving wheel 44.1.

The manipulator 16 includes a manipulator bracket 46, which is fixedly installed at the end of the output shaft of the second steering gear 019; the manipulator bracket 46 is symmetrically meshed with a left gear 33 and a right gear 32; Symmetrical left driving rod 34 and right driving rod 304; the roots of the left driving rod 34 and the right driving rod 304 are respectively fixedly connected to the left gear 33 and the right gear 32, and the rotational energy of the left gear 33 and the right gear 32 The left active rod 34 and the right active rod 304 are respectively driven to swing; the manipulator bracket 46 is also mounted with a third steering gear 30, and the third steering gear 30 drives and connects the left gear 33 or the right gear 32; It also includes left and right passive rods 38 and 39 symmetrical left and right, the left passive rod 38 and right passive rod 39 are parallel to the front sides of the left active rod 34 and the right active rod 304, respectively, the left passive rod 38 and the inner end of the right passive rod 39 are hingedly connected to the manipulator bracket 46 respectively; it also includes left and right clamping claws 35 and right clamping claws 40 symmetrical to each other. The rear ends are hingedly connected to the ends of the left active rod 34 and the right active rod 304 respectively; the middle parts of the left clamping claw 35 and the right clamping claw 40 are hingedly connected to the outer sides of the left passive rod 38 and the right passive rod 39 respectively. The clamping sides of the front ends of the left clamping claw 35 and the right clamping claw 40 are respectively provided with clamping concave arc surfaces 36 symmetrically, and two ends of each clamping concave arc surface 36 are respectively provided with serrated surfaces 37 .

The front end of the robot walking base 42 is provided with a charging connector protruding window 1; a charging connector protruding mechanism is installed inside the robot walking base 42;

The charging connector protruding mechanism includes a mechanism base 0107 on which an output motor 9 is installed, and a bearing seat 5 is fixedly installed on the upper side of the motor housing of the output motor 9; the motor of the output motor 9 A gear 8 is synchronously installed on the shaft 15; it also includes a threaded linkage rod 3 and a transmission gear 4, and the transmission gear 4.1 is meshed and connected with the gear 8; the shaft center of the transmission gear 4 is coaxially provided with a threaded transmission Hole 4.1, the external thread of the threaded linkage rod 3 is threaded with the threaded transmission hole 4.1; one end of the transmission gear 4 close to the bearing seat 5 is integrally provided with a cylindrical body 12, and the cylindrical body The inner diameter of 12 is larger than the outer diameter of the threaded linkage rod 3; the bearing seat 5 is rotatably provided with a bearing 11, and the inner ring of the bearing 11 is tightly fitted with the outer wall of the cylinder 12;

A buffer spring 2 is connected to one end of the threaded linkage rod 3 close to the charging connector protruding window 1, and one end of the buffer spring 2 is concentrically connected to the charging connector 1; the threaded linkage rod 3 is far away from the charging connector One end of 1 is fixedly connected with a guide post 6 with a regular hexagonal cross-section; a guide post seat 10 is also fixedly installed on the mechanism base 0107, and the top of the guide post seat 10 is provided with a hexagonal penetrating transversely. The guide hole 7, the guide post 6 slides through the hexagonal guide hole 7; the threaded linkage rod 3 and the guide post 6 are provided with a wire channel 13 coaxially therethrough.

The operation method, process and technical progress of this robot are arranged as follows:

Walking method of the robot: If it needs to walk in a straight line, the right driving wheel 44.2 and the left driving wheel 44.1 are synchronously driven by the first driving wheel motor 104 and the second driving wheel motor 103 through the first synchronous belt unit 102 and the second synchronous belt unit 101 respectively. If you need to turn on the spot, control the rotation direction of the right driving wheel 44.2 and the left driving wheel 44.1 to be opposite, and the rotation speed is equal to realize the robot's in-situ turning; if you need to turn temporarily, control the right driving wheel 44.2 and 44.1 respectively. The difference in the rotational speed of the left driving wheel 44.1 can control the turning range. If you need to restore the straight walking state, you only need to re-adjust the rotational speed of the right driving wheel 44.2 and the left driving wheel 44.1 to be the same;

Sprinkling humidification method: the robot walks to the designated position, then starts the pump 28, and then the pump 28 extracts the water in the water tank through the flexible water conduit 27, and then the extracted water is sprayed to the rear of the robot through the water spray head 29 , in the process of spraying the water spraying head 29 backwards, the robot walks forward slowly, so that the places where the robot walks are sprayed and humidified; the robot sprays water backwards while walking forward to avoid the robot being sprayed The bottom surface of the shower walks, and the phenomenon of skidding occurs; at the same time, by controlling the first steering gear 22, the swing rod 26 is in a continuous up and down swing; and then the coverage area of the water sprayed by the water spray head 29 is larger;

The method of clamping the object: control the third steering gear 30 to rotate forward, so that the left gear 33 and the right gear 32 do meshing motion, until the left clamping claw 35 and the right clamping claw 40 are fully opened, so that the left clamping The distance between the clamping concave arc surface 36 of the claw 35 and the clamping concave arc surface 36 of the right clamping claw 40 is larger than the object to be clamped; the robot walks to the vicinity of the object to be clamped, and then passes the first arm 20. The cooperation of the second arm 19 and the third arm 17 adjusts the posture of the manipulator 16, so that the object to be clamped is between the left gripping claw 35 and the right gripping claw 40 of the manipulator 16; then control the third steering gear 30 to reverse Rotate to make the left gear 33 and the right gear 32 engage in meshing motion until the clamping concave arc surface 36 of the left clamping claw 35 and the clamping concave arc surface 36 of the right clamping claw 40 clamp the object inward; The cooperation of the first arm 20, the second arm 19 and the third arm 17 adjusts the posture of the object gripped by the manipulator 16, and then the robot travels to the designated position;

How to find the charging connector:

When the robot is in use, the charging connector 1 is located inside the charging connector protruding window 1. If the power block carried by the robot is completely exhausted, control the robot to walk to the designated charging socket position, and make the robot walk on the charging connector on the base 42. The protruding window 1 is aligned with the external charging socket; then the output motor 9 is started. At this time, the output motor 9 drives the gear 8 to rotate, and then the gear 8 drives the transmission gear 4 to rotate under the action of meshing. Under the restraint of the bearing 11 in the state of The external thread of the linkage rod 3 is threadedly matched with the threaded transmission hole 4.1 on the transmission gear 4, and then the transmission gear 4 drives the threaded linkage rod 3 to move along the axis through the threaded transmission, thereby synchronizing the displacement of the charging connector 1 at the front end of the threaded linkage rod 3. Until the charging connector 1 protrudes out of the charging connector window 1, and then the charging connector 1 protruding out of the charging connector window 1 is inserted into the external charging socket; when the charging connector 1 needs to be retracted, just run the output motor in reverse. 9 is enough.

The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims (6)

1. An intelligent home robot, characterized in that: comprising a robot walking base (42), a robot execution body (49) and a robot head (47); the robot execution body (49) is fixed by several support frames (108) Above the robot walking base (42), the robot head (47) is installed on the upper side of the robot execution body (49); two sides of the robot execution body (49) are symmetrically installed with two A manipulator (48), a manipulator (16) is installed at the execution end of each manipulator arm (48); a water tank is installed inside the robot execution body (49), and the front side of the robot execution body (49) A camera unit (50) is installed, and a sprinkler unit is installed on the back side of the robot executive body (49); the water inlet end of the sprinkler unit is connected to the water tank. 2. An intelligent home robot according to claim 2, characterized in that: a vertical sprinkler head protruding groove (29) is provided on the back side of the robot execution body (49); the sprinkler unit comprises a fixed A first steering gear (22) is installed inside the execution body (49) of the robot, the output end of the first steering gear (22) is synchronously provided with a steering gear output gear (24), and also includes a swing rod (26) , the root of the swing rod (26) is fixedly provided with a sector gear (23), the axis of the sector gear (23) is rotatably connected with a rotating shaft (25), and the rotating shaft (25) is connected to the first On the casing of the steering gear (22), the rotation of the output gear (24) can engage and drive the sector gear (23) to rotate along the rotating shaft (25); the end of the swing rod (26) is fixedly installed with a A liquid suction pump (28), the water inlet end of the liquid suction pump (28) is connected to the water tank in the robot execution body (49) through a flexible water conduit (27); the water outlet end of the liquid suction pump (28) A sprinkler head (29) is installed, and a water outlet end of the sprinkler head (29) protrudes out of the sprinkler head protruding groove (29). 3. An intelligent home robot according to claim 2, characterized in that: the robotic arm (48) comprises a robotic arm base (21), and the robotic arm base (21) is fixedly installed on the execution body of the robot (49) waist position, the mechanical arm (48) includes a first arm (20), a second arm (19) and a third arm (17), and the root of the first arm (20) is fixed on the On the robotic arm base (21), the end of the first arm (20) is rotatably connected to one end of the second arm (19), and the driving device on the first arm (20) can drive the second arm (19) Swing; one end of the third arm (17) is rotatably connected to the other end of the second arm (19), and the driving device on the second arm (19) can drive the third arm (17) ) swings; the other end of the third arm (17) is fixedly mounted with a second steering gear (019), and the manipulator (16) is mounted on the end of the output shaft of the second steering gear (019). 4. An intelligent home robot according to claim 3, characterized in that: the manipulator (16) comprises a manipulator bracket (46), and the manipulator bracket (46) is fixedly installed on the second steering gear (019). ) of the output shaft end of the ); the manipulator bracket (46) is provided with a left gear (33) and a right gear (32) in a left-right symmetrical meshing; it also includes a left-right driving rod (34) and a right driving rod (304) that are symmetrical about the left and right; The roots of the left driving rod (34) and the right driving rod (304) are respectively fixedly connected to the left gear (33) and the right gear (32), and the rotational energy of the left gear (33) and the right gear (32) are respectively The left active lever (34) and the right active lever (304) are synchronously driven to swing; a third steering gear (30) is also installed on the manipulator bracket (46), and the third steering gear (30) drives and connects the The left gear (33) or the right gear (32); also includes left-right symmetrical left driven rod (38) and right driven rod (39), the left driven rod (38) and right driven rod (39) are respectively parallel to the front sides of the left active lever (34) and the right active lever (304), the inner ends of the left passive lever (38) and the right passive lever (39) are hingedly connected to the manipulator bracket (46), respectively; It also includes left and right clamping claws (35) and right clamping claws (40) symmetrical to each other, and the tail ends of the left clamping claws (35) and the right clamping claws (40) are respectively hingedly connected to the left driving rod ( 34) and the end of the right active rod (304); the middle parts of the left clamping claw (35) and the right clamping claw (40) are hingedly connected to the left passive rod (38) and the right passive rod (39) respectively. The outer end; the clamping sides of the front ends of the left clamping claw (35) and the right clamping claw (40) are respectively symmetrically provided with clamping concave arc surfaces (36), and two sides of each clamping concave arc surface (36) The ends are respectively provided with serrated surfaces (37). 5. An intelligent home robot according to claim 4, characterized in that: the front end of the robot walking base (42) is provided with a charging connector protruding window (1); the inside of the robot walking base (42) A charging connector protruding mechanism is installed; The charging connector protruding mechanism includes a mechanism base (0107), an output motor (9) is mounted on the mechanism base (0107), and a bearing seat ( 5); a gear (8) is synchronously installed on the motor shaft (15) of the output motor (9); it also includes a threaded linkage rod (3) and a transmission gear (4), the transmission gear (4.1) and the The gears (8) are meshed and connected; the shaft center of the transmission gear (4) is coaxially provided with a threaded transmission hole (4.1), and the external thread of the threaded linkage rod (3) is connected to the threaded transmission hole (4.1). ) thread fit; the end of the transmission gear (4) close to the bearing seat (5) is integrally and coaxially provided with a cylinder (12), and the inner diameter of the cylinder (12) is larger than that of the threaded linkage rod ( 3) the outer diameter; a bearing (11) is rotatably arranged in the bearing seat (5), and the inner ring of the bearing (11) is tightly fitted with the outer wall of the cylinder (12); A buffer spring (2) is connected to one end of the threaded linkage rod (3) close to the charging connector protruding window (1), and one end of the buffer spring (2) is concentrically connected to the charging connector (1); One end of the threaded linkage rod (3) away from the charging connector (1) is coaxially and fixedly connected with a guide post (6) with a regular hexagonal cross-section; a guide post seat is also fixedly installed on the mechanism base (0107). (10), the top of the guide post seat (10) is provided with a hexagonal guide hole (7) that penetrates horizontally, and the guide post (6) slides through the hexagonal guide hole (7); so A wire channel (13) is arranged coaxially through the threaded linkage rod (3) and the guide post (6). 6. The working method of a kind of intelligent home robot according to claim 5, is characterized in that: Sprinkling humidification method: the robot walks to the designated position, and then starts the liquid pump (28), and then the liquid pump (28) extracts the water in the water tank through the flexible water conduit (27), and then the extracted water is passed through the water spray head (28). 29) Spray to the rear of the robot. During the process of spraying the water nozzle (29) backward, the robot slowly walks forward, so that the places where the robot walks are sprayed and humidified; At the same time, walking forward prevents the robot from walking on the sprayed bottom surface and slipping; at the same time, by controlling the first steering gear (22), the swing rod (26) is continuously oscillated up and down; and the water spray head ( 29) The coverage area of the sprayed water is larger; The method of clamping the object: control the third steering gear (30) to rotate in the forward direction, so that the left gear (33) and the right gear (32) engage in meshing motion until the left clamping claw (35) and the right clamping claw (40) fully open between the left clamping claw (35) and the clamping concave arc surface (36) of the right clamping claw (40) is larger than the clamping concave arc surface (36) to be clamped. object; the robot walks to the vicinity of the object to be clamped, and then adjusts the posture of the manipulator (16) through the cooperation of the first arm (20), the second arm (19) and the third arm (17), so that the clamped object is in Between the left gripping claw (35) and the right gripping claw (40) of the manipulator (16); then control the third steering gear (30) to rotate in the reverse direction, so that the left gear (33) and the right gear (32) are engaged Move until the clamping concave arc surface (36) of the left clamping claw (35) and the clamping concave arc surface (36) of the right clamping claw (40) clamp the object inward; then through the first arm (20) ), the second arm (19) and the third arm (17) cooperate to adjust the posture of the object gripped by the manipulator (16), and then the robot travels to the designated position; How to find the charging connector: When the robot is in use, the charging connector (1) is located on the inner side of the charging connector protruding window (1). If the power block carried by the robot is completely exhausted, control the robot to walk to the designated charging socket position, and make the robot walk on the base ( The charging connector protruding window (1) on 42) is aligned with the external charging socket; then the output motor (9) is started, at this time, the output motor (9) drives the gear (8) to rotate, and then the gear (8) is engaged in the meshing effect. It drives the transmission gear (4) to rotate, and the transmission gear cannot move along the axis under the restraint of the cylinder body (12) and the bearing (11) in a tightly fitted state; (6) and the hexagonal guide hole (7) cannot rotate, but can move along the axis; due to the external thread of the threaded linkage rod (3) and the threaded transmission hole (4.1) on the transmission gear (4) Thread fit, and then the drive gear (4) drives the threaded linkage rod (3) to move along the axis through the threaded transmission, thereby synchronizing the displacement of the charging connector (1) at the front end of the threaded linkage rod (3) until the charging connector (1) is outward. Probe out the charging connector window (1), and then insert the charging connector (1) of the charging connector out window (1) into the external charging socket; when the charging connector (1) needs to be retracted, just run in reverse. The output motor (9) is sufficient.