Intelligent home robot and method thereof

Abstract

A smart home robot and method thereof. The present invention discloses a robot including a walking base, a robot execution body and a robot head; the robot execution body is fixed on the robot walking base through a plurality of support frames, and 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 mechanical hand is installed at the execution end of each of the mechanical arms; the present invention has a simple structure and can realize multiple functions such as water sprinkling and humidification, taking objects, and video monitoring; and the device is also provided with an automatic extension mechanism for the charging head, which is in a retracted state during the operation of the robot to avoid damage due to splashing water and the like.

Description

Technical Field

[0001] The invention belongs to the field of robots. Background Art

[0002] Smart homes have penetrated into people's homes, but existing smart homes can often only realize simple functions. For example, a sweeping robot can only be used to clean the floor and cannot realize advanced functions such as helping users pick up items. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an intelligent household robot and method thereof that can have advanced functions such as gripping objects.

[0004] Technical solution: To achieve the above-mentioned purpose, an intelligent household 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 plurality of support frames, and 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 mechanical hand is installed at the execution end of each mechanical arm; a water tank is installed inside the robot execution body, 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.

[0005] Furthermore, a vertical sprinkler head projection groove is arranged on the back side of the robot execution body; the sprinkler unit includes a first servo fixedly installed inside the robot execution body, the output end of the first servo is synchronously provided with a servo output gear, and also includes a swing rod, the root of the swing rod is fixedly provided with a fan gear, the axis of the fan gear is rotatably connected with a rotating shaft, the rotating shaft is connected to the casing of the first servo, and the rotation of the output gear can engage and drive the fan gear to rotate along the rotating shaft; a liquid pump is fixedly installed at the end of the swing rod, and the water inlet end of the liquid pump is connected to the water tank in the robot execution body through a flexible water conduit; a water spray head is installed at the water outlet end of the liquid pump, and the water outlet end of the water spray head projects out of the sprinkler head projection groove.

[0006] Furthermore, the robotic arm includes a robotic arm seat, which is fixedly installed at the waist position of the robot execution body. The robotic arm includes a first arm, a second arm and a third arm. The root of the first arm is fixed on the robotic arm seat, and the end of the first arm is rotationally connected to one end of the second arm, and the driving device on the first arm can drive the second arm to swing; one end of the third arm is rotationally 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 servo, and the robotic arm is installed at the end of the output shaft of the second servo.

[0007] Furthermore, the manipulator includes a manipulator bracket, which is fixedly mounted on 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 active rod and a right active rod that are symmetrical; the roots of the left active rod and the right active 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 synchronously drive the left active rod and the right active rod to swing; the manipulator bracket is also equipped with a third steering gear, and the third steering gear is driven to connect the left gear or the right gear; it also includes a left passive rod and a right passive rod that are symmetrical. Rod, the left passive rod and the right passive rod are 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 respectively hingedly connected to the manipulator bracket; it also includes a left clamping claw and a right clamping claw that are symmetrical on the left and right, the tail ends of the left clamping claw and the right clamping claw are respectively hingedly connected to the ends of the left active rod and the right active rod; the middle parts of the left clamping claw and the right clamping claw are respectively hingedly connected to 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 the two ends of each clamping concave arc surface are respectively provided with serrated surfaces.

[0008] Furthermore, a charging connector protrusion window is provided at the front end of the robot walking base; a charging connector protrusion mechanism is installed inside the robot walking base;

[0009] The charging connector extension mechanism includes a mechanism base, an output motor is installed on the mechanism base, 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 and connected with the gear; a threaded transmission hole is coaxially provided at the axis of the transmission gear, and the external thread of the threaded linkage rod is threadedly matched with the threaded transmission hole; a cylinder is integrally provided coaxially at one end of the transmission gear close to the bearing seat, and the inner diameter of the cylinder is larger than the outer diameter of the threaded linkage rod; a bearing is rotatably provided in the bearing seat, and the inner ring of the bearing is tightly matched with the outer wall of the cylinder;

[0010] The end of the threaded linkage rod close to the charging connector protruding window is connected to a buffer spring, and one end of the buffer spring is coaxially connected to the charging connector; the end of the threaded linkage rod away from the charging connector is coaxially fixedly connected to a guide column with a regular hexagonal cross-section; a guide column seat is also fixedly installed on the mechanism base, and a transversely penetrating hexagonal guide hole is provided on the top of the guide column seat, and the guide column slides through the hexagonal guide hole; a wire channel is coaxially provided in the threaded linkage rod and the guide column.

[0011] Further, a working method of an intelligent home robot:

[0012] Watering and humidification method: the robot walks to the designated position, and then starts the liquid pump, which then draws water from the water tank through the flexible water pipe, and then sprays the drawn water to the rear of the robot through the water spray head. In the process of the water spray head spraying backwards, the robot slowly walks forward, so that all the places where the robot walks are sprayed and humidified; the robot sprays water backwards and walks forward at the same time to avoid the robot walking on the sprayed bottom surface and slipping; at the same time, the swing rod is kept in a continuous up and down swing by controlling the first steering gear, so that the water sprayed by the water spray head covers a larger area;

[0013] Method for clamping an object: control the third servo to rotate forward so that the left gear and the right gear perform meshing motion until the left clamping claw and the right clamping claw are fully opened, so that the distance between the clamping concave arc surface of the left clamping claw and the clamping concave arc surface of the right clamping claw is larger than the object to be clamped; the robot moves to the vicinity of the object to be clamped, and then adjusts the posture of the manipulator through the cooperation of the first arm, the second arm and the third arm, so that the clamped object is between the left clamping claw and the right clamping claw of the manipulator; then control the third servo to rotate reversely so that the left gear and the right gear perform meshing motion until the clamping concave arc surface of the left clamping claw and the clamping concave arc surface of the right clamping claw clamp the object inward; then adjusts the posture of the object clamped 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 position;

[0014] How to extract the charging connector:

[0015] During the use of the robot, the charging connector is located on the inner side of the charging connector protrusion window. If the power block carried by the robot itself is completely exhausted, the robot is controlled to walk to the designated charging socket position, and the charging connector protrusion window on the robot walking base is aligned with the external charging socket; then the output motor is started, and 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 due to the constraints of the cylinder and the bearing in a tight fit; at the same time, the threaded linkage rod cannot rotate due to the constraints of the regular hexagonal guide column and the hexagonal guide hole, but can move along the axis; since the external thread of the threaded linkage rod is threadedly matched with the threaded transmission hole on the transmission gear, the transmission gear drives the threaded linkage rod to move along the axis through threaded transmission, and then the charging connector at the front end of the threaded linkage rod is synchronously displaced until the charging connector protrudes out of the charging connector protrusion window, and then the charging connector protruding out of the charging connector protrusion window 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.

[0016] Beneficial effects: The present invention has a simple structure and can realize multiple functions such as water sprinkling and humidification, taking objects, and video monitoring; and the device is also provided with an automatic extension mechanism for the charging head, which is in a retracted state during the operation of the robot to avoid damage due to splashing water, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Attached Figure 1 This is a schematic diagram of the robot from the front;

[0018] Attached Figure 2 This is a schematic diagram of the dorsal side of the robot;

[0019] Attached Figure 3 This is a schematic diagram of the mechanical arm structure;

[0020] Attached Figure 4 It is a schematic diagram of the structure of the robot;

[0021] Attached Figure 5 It is a schematic diagram of the internal transmission structure of the robot;

[0022] Attached Figure 6 This is a schematic diagram of the robot's walking base;

[0023] Attached Figure 7 This is a partial enlarged schematic diagram of the charging head of the robot's walking base sticking out of the window;

[0024] Attached Figure 8 This is a schematic diagram of the driving wheel transmission in the robot's walking base;

[0025] Attached Fig. 9 It is a schematic diagram of the structure of the sprinkler unit;

[0026] Attached Fig.10It is a schematic diagram of the charging connector protruding mechanism structure.

[0027] Attached Fig.11 This is a schematic diagram of the cross-section of the charging connector. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] The structure of this program is described in the attached Figures 1 to 11 An intelligent household robot shown in the figure comprises a robot walking base 42, a robot execution body 49 and a robot head 47; the robot execution body 49 is fixed above the robot walking base 42 by a plurality of support frames 108, and 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 a mechanical hand 16 is installed at the execution end of each of the mechanical arms 48; 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 is connected to the water tank.

[0030] A vertical sprinkler head projection groove 29 is arranged on the back side of the robot execution body 49; the sprinkler unit includes a first servo 22 fixedly mounted inside the robot execution body 49, a servo output gear 24 is synchronously arranged at the output end of the first servo 22, and also includes a swing rod 26, a fan gear 23 is fixedly arranged at the root of the swing rod 26, a rotating shaft 25 is rotatably connected at the axis center of the fan gear 23, the rotating shaft 25 is connected to the casing of the first servo 22, and the rotation of the output gear 24 can mesh and drive the fan gear 23 to rotate along the rotating shaft 25; a liquid pump 28 is fixedly mounted at the end of the swing rod 26, and the water inlet end of the liquid pump 28 is connected to the water tank in the robot execution body 49 through a flexible water conduit 27; a water spray head 290 is installed at the water outlet end of the liquid pump 28, and the water outlet end of the water spray head 290 projects out of the sprinkler head projection groove 29.

[0031] The robotic arm 48 includes a robotic arm seat 21, which is fixedly installed at the waist position of the robot execution body 49. 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 robotic arm seat 21, and 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 to 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 to swing; the other end of the third arm 17 is fixedly installed with a second servo 019, and the robotic arm 16 is installed at the end of the output shaft of the second servo 019.

[0032] 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 first driving wheel motor 104 and the second driving wheel motor 103 are respectively installed on the front and rear sides inside the robot walking base 42; the first driving wheel motor 104 and the second driving wheel motor 103 are respectively driven and connected to the right driving wheel 44.2 and the left driving wheel 44.1 through the first synchronous belt unit 102 and the second synchronous belt unit 101.

[0033] The manipulator 16 includes a manipulator bracket 46, which is fixedly mounted on 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; it also includes a left active rod 34 and a right active rod 304 that are symmetrical; the roots of the left active rod 34 and the right active rod 304 are respectively fixedly connected to the left gear 33 and the right gear 32, and the rotation of the left gear 33 and the right gear 32 can synchronously drive the left active rod 34 and the right active rod 304 to swing; the manipulator bracket 46 is also equipped with a third steering gear 30, and the third steering gear 30 is driven to connect the left gear 33 or the right gear 32; it also includes a left passive rod 38 and a right passive rod 304 that are symmetrical. 9, the left passive rod 38 and the right passive rod 39 are parallel to the front sides of the left active rod 34 and the right active rod 304 respectively, and the inner ends of the left passive rod 38 and the right passive rod 39 are respectively hingedly connected to the manipulator bracket 46; it also includes a left clamping claw 35 and a right clamping claw 40 which are symmetrical on both sides, and the tail ends of the left clamping claw 35 and the right clamping claw 40 are respectively hingedly connected to the ends of the left active rod 34 and the right active rod 304; the middle parts of the left clamping claw 35 and the right clamping claw 40 are respectively hingedly connected to the outer ends of the left passive rod 38 and the right passive rod 39; 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 the two ends of each clamping concave arc surface 36 are respectively provided with serrated surfaces 37.

[0034] A charging connector protrusion window 41 is provided at the front end of the robot walking base 42; a charging connector protrusion mechanism is installed inside the robot walking base 42;

[0035] The charging connector extension 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; 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, and the transmission gear 4 is meshed and connected with the gear 8; a threaded transmission hole 4.1 is coaxially provided at the axis of the transmission gear 4, and the external thread of the threaded linkage rod 3 is threadedly matched with the threaded transmission hole 4.1; a cylinder 12 is coaxially provided at one end of the transmission gear 4 close to the bearing seat 5, and the inner diameter of the cylinder 12 is larger than the outer diameter of the threaded linkage rod 3; a bearing 11 is rotatably provided in the bearing seat 5, and the inner ring of the bearing 11 is tightly matched with the outer wall of the cylinder 12;

[0036] The end of the threaded linkage rod 3 close to the charging connector protruding window 41 is connected to a buffer spring 2, and one end of the buffer spring 2 is coaxially connected to the charging connector 1; the end of the threaded linkage rod 3 away from the charging connector 1 is coaxially fixedly connected to a guide column 6 with a regular hexagonal cross-section; a guide column seat 10 is also fixedly installed on the mechanism base 0107, and a transversely penetrating hexagonal guide hole 7 is provided on the top of the guide column seat 10, and the guide column 6 slides through the hexagonal guide hole 7; a wire channel 13 is coaxially provided inside the threaded linkage rod 3 and the guide column 6.

[0037] The operation methods, processes and technological advances of this robot are summarized as follows:

[0038] Robot walking method: if it is necessary to walk in a straight line, the first driving wheel motor 104 and the second driving wheel motor 103 drive the right driving wheel 44.2 and the left driving wheel 44.1 to rotate forward or reverse synchronously through the first synchronous belt unit 102 and the second synchronous belt unit 101 respectively; if it is necessary to turn on the spot, the right driving wheel 44.2 and the left driving wheel 44.1 are controlled to rotate in opposite directions and have equal rotation speeds to achieve the robot's turning on the spot; if it is necessary to turn temporarily, the speed difference between the right driving wheel 44.2 and the left driving wheel 44.1 is controlled respectively, so as to control the amplitude of the turn. If it is necessary to restore the straight walking state, it is only necessary to readjust the rotation speeds of the right driving wheel 44.2 and the left driving wheel 44.1 to be the same;

[0039] Watering and humidification method: the robot walks to the designated position, and then starts the liquid pump 28, and then the liquid pump 28 extracts water from the water tank through the flexible water pipe 27, and then sprays the extracted water to the rear of the robot through the water spray head 290. In the process of the water spray head 290 spraying backwards, the robot slowly walks forward, so that all the places where the robot walks are sprayed and humidified; the robot sprays water backwards and walks forward at the same time to avoid the robot walking on the bottom surface that has been sprayed and slipping; at the same time, the swing rod 26 is kept in an up and down swing by controlling the first steering gear 22, so that the water sprayed by the water spray head 290 covers a larger area;

[0040] Method for gripping an object: Control the third steering engine 30 to rotate forward, so that the left gear 33 and the right gear 32 are meshed, until the left gripping claw 35 and the right gripping claw 40 are fully opened, so that the distance between the gripping concave arc surface 36 of the left gripping claw 35 and the gripping concave arc surface 36 of the right gripping claw 40 is larger than the object to be gripped; the robot walks to the vicinity of the object to be gripped, and then adjusts the posture of the manipulator 16 by the cooperation of the first arm 20, the second arm 19 and the third arm 17. The robot 16 is controlled to rotate in the opposite direction to make the left gear 33 and the right gear 32 mesh with each other until the concave arc surface 36 of the left clamping claw 35 and the concave arc surface 36 of the right clamping claw 40 clamp the object inwardly; the robot 16 is controlled to adjust the posture of the object clamped by the robot 16 through the cooperation of the first arm 20, the second arm 19 and the third arm 17, and then the robot drives to the specified position;

[0041] How to extract the charging connector:

[0042] When the robot is in use, the charging connector 1 is located on the inner side of the charging connector protrusion window 41. If the power block carried by the robot is completely exhausted, the robot is controlled to walk to the designated charging socket position, and the charging connector protrusion window 41 on the robot walking base 42 is aligned with the external charging socket; then the output motor 9 is started, and 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. The transmission gear cannot move along the axis due to the restraint of the cylinder 12 and the bearing 11 in a tight fit; at the same time, the threaded linkage rod 3 is in the regular hexagon It cannot rotate under the constraint of the hexagonal guide column 6 and the hexagonal guide hole 7, but can move along the axis; since the external thread of the threaded linkage rod 3 is threadedly matched with the threaded transmission hole 4.1 on the transmission gear 4, the transmission gear 4 drives the threaded linkage rod 3 to move along the axis through threaded transmission, and then the charging connector 1 at the front end of the threaded linkage rod 3 is synchronously displaced until the charging connector 1 protrudes out of the charging connector protruding window 41, and then the charging connector 1 protruding out of the charging connector protruding window 41 is inserted into the external charging socket; when the charging connector 1 needs to be retracted, it is only necessary to run the output motor 9 in reverse.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent household robot, characterized in that: The robot comprises a robot walking base (42), a robot execution body (49) and a robot head (47); the robot execution body (49) is fixed on the top of the robot walking base (42) through a plurality of support frames (108), and 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 a mechanical hand (16) is installed at the execution end of each mechanical arm (48); 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 is connected to the water tank; A charging connector protrusion window (41) is provided at the front end of the robot walking base (42); a charging connector protrusion mechanism is installed inside the robot walking base (42); The charging connector extension mechanism comprises a mechanism base (0107), an output motor (9) is mounted on the mechanism base (0107), a bearing seat (5) is fixedly mounted on the upper side of the motor housing of the output motor (9); a gear (8) is synchronously mounted on the motor shaft (15) of the output motor (9); and further comprises a threaded linkage rod (3) and a transmission gear (4), the transmission gear (4) being meshingly connected with the gear (8); a threaded transmission hole (4.1) is coaxially provided through the axis of the transmission gear (4), the external thread of the threaded linkage rod (3) is threadedly matched with the threaded transmission hole (4.1); a cylinder (12) is coaxially provided at one end of the transmission gear (4) close to the bearing seat (5), the inner diameter of the cylinder (12) being larger than the outer diameter of the threaded linkage rod (3); a bearing (11) is rotatably provided in the bearing seat (5), the inner ring of the bearing (11) is tightly matched with the outer wall of the cylinder (12); The end of the threaded linkage rod (3) close to the charging connector protrusion window (41) is connected to a buffer spring (2), and one end of the buffer spring (2) is coaxially connected to the charging connector (1); the end of the threaded linkage rod (3) away from the charging connector (1) is coaxially fixedly connected to a guide column (6) with a regular hexagonal cross-section; a guide column seat (10) is also fixedly mounted on the mechanism base (0107), and a hexagonal guide hole (7) is arranged on the top of the guide column seat (10) and the guide column (6) slides through the hexagonal guide hole (7); a wire channel (13) is coaxially arranged in the threaded linkage rod (3) and the guide column (6).

2. The intelligent household robot according to claim 1, characterized in that: A vertical sprinkler head protrusion groove (29) is arranged on the back side of the robot execution body (49); the sprinkler unit comprises a first steering gear (22) fixedly mounted inside the robot execution body (49), the output end of the first steering gear (22) is synchronously provided with a steering gear output gear (24), and also comprises 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 On the housing of the first steering gear (22), the rotation of the output gear (24) can mesh and drive the fan-shaped gear (23) to rotate along the rotating shaft (25); a liquid pump (28) is fixedly installed at the end of the swing rod (26), and the water inlet end of the liquid pump (28) is connected to the water tank in the robot execution body (49) through a flexible water conduit (27); a water spray head (290) is installed at the water outlet end of the liquid pump (28), and the water outlet end of the water spray head (290) protrudes out of the water spray head protrusion groove (29).

3. The intelligent household robot according to claim 2, characterized in that: The robotic arm (48) comprises a robotic arm seat (21), wherein the robotic arm seat (21) is fixedly mounted at the waist position of the robot execution body (49), and the robotic arm (48) comprises a first arm (20), a second arm (19) and a third arm (17), wherein the root of the first arm (20) is fixed on the robotic arm seat (21), the end of the first arm (20) is rotationally connected to one end of the second arm (19), and the driving device on the first arm (20) can drive the second arm (19) to swing; one end of the third arm (17) is rotationally 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 other end of the third arm (17) is fixedly mounted with a second servo (019), and the robotic arm (16) is mounted at the end of the output shaft of the second servo (019).

4. The intelligent household robot according to claim 3, characterized in that: The manipulator (16) comprises a manipulator bracket (46), wherein the manipulator bracket (46) is fixedly mounted on the output shaft end of the second steering gear (019); the manipulator bracket (46) is provided with a left gear (33) and a right gear (32) in a left-right symmetrical meshing manner; the manipulator bracket (46) also comprises a left active rod (34) and a right active rod (304) which are left-right symmetrical; the roots of the left active rod (34) and the right active rod (304) are respectively fixedly connected to the left gear (33) and the right gear (32), and the rotation of the left gear (33) and the right gear (32) can respectively and synchronously drive the left active rod (34) and the right active rod (304) to swing; the manipulator bracket (46) is also provided with a third steering gear (30), and the third steering gear (30) is drivingly connected to the left gear (33) or the right gear (32); the manipulator bracket (46) also comprises a left passive rod (38) and a right passive rod ( 39), the left passive rod (38) and the right passive rod (39) are respectively parallel to the front sides of the left active rod (34) and the right active rod (304), and the inner ends of the left passive rod (38) and the right passive rod (39) are respectively hingedly connected to the manipulator bracket (46); and also include a left clamping claw (35) and a right clamping claw (40) which are symmetrical on both sides, and the tail ends of the left clamping claw (35) and the right clamping claw (40) are respectively hingedly connected to the manipulator bracket (46). The ends of the left active rod (34) and the right active rod (304) are connected; the middle parts of the left clamping claw (35) and the right clamping claw (40) are respectively hingedly connected to the outer ends of the left passive rod (38) and the right passive rod (39); 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 the two ends of each clamping concave arc surface (36) are respectively provided with serrated surfaces (37).

5. The working method of the intelligent household robot according to claim 4, characterized in that: The method of water sprinkling and humidifying is as follows: the robot walks to a designated position, and then the liquid pump (28) is started, and then the liquid pump (28) extracts water from the water tank through the flexible water pipe (27), and then the extracted water is sprayed to the rear of the robot through the water spray head (290). During the process of the water spray head (290) spraying backward, the robot slowly walks forward, and then the places where the robot walks are all sprayed and humidified; the robot sprays water backward and walks forward at the same time, so as to avoid the robot walking on the bottom surface that has been sprayed and slipping; at the same time, the swing rod (26) is kept in a continuous up and down swing by controlling the first steering gear (22); thereby the water sprayed by the water spray head (290) covers a larger area; Method for clamping an object: controlling the third steering engine (30) to rotate forwardly, so that the left gear (33) and the right gear (32) perform meshing movement, until the left clamping claw (35) and the right clamping claw (40) are fully opened, so that the distance between 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) is larger than the object to be clamped; 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 located between the left clamping claw (35) and the right clamping claw (40) of the manipulator (16); then the third steering gear (30) is controlled to rotate in the opposite direction, so that the left gear (33) and the right gear (32) perform meshing movement, 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 the posture of the object clamped by the manipulator (16) is adjusted through the cooperation of the first arm (20), the second arm (19) and the third arm (17), and then the robot moves to the specified position; How to extract the charging connector: During the use of the robot, the charging connector (1) is located on the inner side of the charging connector projection window (41). If the power block carried by the robot is completely exhausted, the robot is controlled to walk to the designated charging socket position, and the charging connector projection window (41) on the robot walking base (42) is aligned with the external charging socket; then the output motor (9) is started, at which 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, and the transmission gear cannot move along the axis due to the restraint of the cylinder (12) and the bearing (11) in a tight fit; at the same time, the threaded linkage rod (3) is in the regular hexagonal guide The threaded linkage rod (3) cannot rotate due to the constraint of the column (6) and the hexagonal guide hole (7), but can move along the axis. Since the external thread of the threaded linkage rod (3) is threadedly matched with the threaded transmission hole (4.1) on the transmission gear (4), the transmission gear (4) drives the threaded linkage rod (3) to move along the axis through the threaded transmission, thereby causing the charging connector (1) at the front end of the threaded linkage rod (3) to move synchronously until the charging connector (1) protrudes out of the charging connector protruding window (41), and then the charging connector (1) protruding out of the charging connector protruding window (41) is inserted into the external charging socket. When it is necessary to retract the charging connector (1), it is only necessary to run the output motor (9) in the reverse direction.

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