A home service robot based on remote intelligent control

Abstract

The present invention discloses a household service robot based on remote intelligent control, comprising a device body, an interactive device is embedded on the surface of the device body, and mechanical arms are symmetrically distributed on both sides of the device body. The device body is characterized in that: a plurality of groups of anti-roll struts are symmetrically distributed on the bottom of the side end surface of the device body, a cavity is provided inside the device body, a positioning plate is fixedly connected inside the cavity, a rotating ball is rotatably connected to the middle part of the positioning plate, a connecting rod is penetrated through the middle part of the rotating ball, a counterweight is provided at the end of the connecting rod, an injection-pressing mechanism for driving the anti-roll strut to extend and retract is provided inside the device body, one end of the connecting rod facing away from the counterweight is engaged with the injection-pressing mechanism, and an anti-roll strut for rotationally limiting the rotating ball is movably provided on the side end surface of the device body. The device effectively reduces the possibility of tipping over when the robot is working, and greatly improves the safety of the equipment when it is moved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot devices, and particularly to a home service robot based on remote intelligent control. Background Art

[0002] Service robots have a wide range of applications and are mainly engaged in maintenance, repair, transportation, cleaning, security, rescue, guardianship and other work. After several years of collection and collation by the International Federation of Robotics, a preliminary definition of service robots is given: Service robots are semi-autonomous or fully autonomous robots that can perform service work beneficial to human health, but do not include equipment for production.

[0003] Chinese Patent Publication No. CN107544266A. The present invention relates to a smart home service robot with a height of 1.4 meters, a ground-mobile type, and a smart home gateway control center integrating a WiFi router and a ZigBee gateway module installed on the body. An infrared, 315 / 433MHz radio frequency remote controller is installed on the body. The smart home gateway control center can be connected to various environmental sensors, security monitoring devices, health detection devices, motion monitoring devices and actuators and controllers of various smart systems and products. The smart home gateway control center uses the Android operating system and installs a smart home product connection and configuration management system, a smart home touch screen interaction control software, a smart home voice interaction control software, a smart home cloud connection and analysis software, and is connected to a remote smartphone APP and a PC application software. This smart home service robot supports three control methods: voice interaction, touch screen touch interaction, and remote control interaction.

[0004] With the support of remote control technology, existing home robots are mostly integrated with remote control, enabling the machine to move freely for various home services. However, when existing robots are in use, since most of the drive mechanisms are located at the bottom and the machine adopts an anthropomorphic design for aesthetic reasons, with various induction control devices integrated on the top, the weight ratio of the device is unbalanced, and it is extremely easy to cause the device to tip over during movement or when encountering collisions, having a certain potential safety hazard.

[0005] Therefore, it is necessary to provide a home service robot based on remote intelligent control to solve the above technical problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a home service robot based on remote intelligent control to solve the above technical problems.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a home service robot based on remote intelligent control, comprising a device body, an interactive device embedded on the surface of the device body, mechanical arms symmetrically distributed on both sides of the device body, a plurality of groups of anti-roll struts symmetrically distributed on the bottom of the side end surface of the device body, a cavity is provided inside the device body, a positioning plate is fixedly connected inside the cavity, a rotating ball is rotatably connected to the middle of the positioning plate, a connecting rod passes through the middle of the rotating ball, a counterweight is provided at the end of the connecting rod, an injection-pressing mechanism for driving the extension and retraction of the anti-roll strut is provided inside the device body, the end of the connecting rod facing away from the counterweight is engaged with the injection-pressing mechanism, and an anti-roll strut for limiting the rotation of the rotating ball is movably provided on the side end surface of the device body.

[0008] As a further solution of the present invention, the connecting rod includes a short rod and a long rod, the long rod is fixedly connected to the lower end surface of the rotating ball, the short rod is fixedly connected to the upper end surface of the rotating ball, and the end of the short rod facing away from the rotating ball is fixedly connected to a contact ball, and the contact ball is arranged in a fit with the injection mechanism.

[0009] As a further solution of the present invention, the outer end surface of the short rod is fixedly connected to a connecting plate, the interior of the connecting plate is fixedly connected to a traction rope, the end of the traction rope facing away from the connecting plate is fixedly connected to the end of an anti-roll support rod, and the anti-roll support rod is rotatably connected to the interior of the device body through a rotating shaft.

[0010] As a further solution of the present invention, a rotating groove is provided in the middle of the positioning plate, and a limiting ball that fits with the rotating ball is symmetrically embedded on the inner wall of the rotating groove. A limiting abutment rod is elastically arranged inside the positioning plate, and one end of the limiting abutment rod abuts with the middle of the rotating ball. A limiting groove that matches the limiting abutment rod is provided in the middle of the rotating ball.

[0011] As a further solution of the present invention, the adjustment mechanism includes a control ring, a protrusion, and an inclined plate. The control ring is rotatably connected to the inside of the positioning plate, the protrusion is fixedly connected to the outer end surface of the control ring, the protrusion penetrates and extends to the outer surface of the device body, the inclined plate is fixedly connected to the inner wall of the control ring, the inclined plate is fitted with a movable push rod, the end of the movable push rod facing away from the inclined plate is elastically connected to the limit push rod through a spring, and the interior of the positioning plate is provided with a rotating cavity adapted to the inclined plate.

[0012] As a further solution of the present invention, the injection mechanism includes a limiting slide rod, a first sealing cavity and a movable pressure plate. The movable pressure plate is provided with multiple groups of mutually spliced ​​cylindrical shapes, and the movable pressure plate is tightly fitted with the abutment ball. The movable pressure plate is slidably connected to the interior of the device body through the limiting slide rod, and the limiting slide rod is fixedly connected to the top of the inner wall of the device body. A first sealing cavity is formed between the movable pressure plate and the inner wall of the device body through a bellows.

[0013] As a further solution of the present invention, the first sealing cavity is connected to the opposite anti-tilting strut through a conveying pipe.

[0014] As a further solution of the present invention, a telescopic sleeve is embedded at the bottom of the anti-tilting strut. A second sealing cavity is provided inside the telescopic sleeve. The second sealing cavity is connected to the conveying pipe through a communication hole. An anti-slip base is provided at one end of the telescopic sleeve away from the anti-tilting strut.

[0015] When the present invention is in use, the device body conducts human-machine interaction with the user through an interaction device. A wireless control module is provided inside the device body, which can realize remote control and interaction. When the device body moves, when the device body moves or stops and its inertia is large, the counterweight will tilt, so that the connecting rod presses the injection molding mechanism, so that the injection molding mechanism injects pressure into the anti-tilting strut, so that the anti-tilting strut extends out of the device body to actively support the device body, avoiding the tilting caused by inertia after the device body starts or suddenly stops, effectively improving the safety of the device operation, avoiding the safety risks caused by the tilting of the device, and having a simple and efficient structure. Further, an adjustment mechanism is also provided. The adjustment mechanism is used to limit the rotation of the rotating ball, thereby controlling the amplitude of the inertial tilt of the counterweight and improving the adaptability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the drawings and embodiments.

[0017] Figure 1 is a schematic diagram of the device structure of the present invention;

[0018] Figure 2 is a schematic diagram of the internal structure of the present invention;

[0019] Figure 3 is a schematic diagram of the positioning plate structure of the present invention;

[0020] Figure 4 is of the present invention Figure 2 magnified schematic diagram of part B;

[0021] Figure 5 is a schematic cross-sectional structure diagram of the positioning plate of the present invention;

[0022] Figure 6 is a schematic diagram of the control ring structure of the present invention;

[0023] Figure 7 is of the present invention Figure 6 magnified schematic diagram of part C;

[0024] Figure 8 is of the present invention Figure 2 magnified schematic diagram of part A;

[0025] Figure 9 It is a schematic structural diagram of the injection molding machine of the present invention;

[0026] Figure 10 It is a schematic diagram of the anti-roll support rod structure of the present invention.

[0027] In the figure: 1. device body; 2. mechanical arm; 3. anti-roll support rod; 4. adjustment mechanism; 5. interactive device; 6. conveying pipe; 7. injection and pressure mechanism; 8. rotating ball; 9. connecting rod; 10. counterweight; 11. positioning plate; 12. abutment ball; 13. short rod; 14. connecting plate; 15. traction rope; 16. long rod; 18. limiting ball; 19. limiting groove; 20. rotating groove; 21. limiting abutment rod; 23. movable abutment rod; 24. control ring; 25. bump; 26. rotating chamber; 27. inclined plate; 28. limiting slide rod; 29. ​​first sealing chamber; 30. bellows; 31. movable pressure plate; 32. connecting hole; 33. second sealing chamber; 34. telescopic sleeve; 35. rotating shaft. DETAILED DESCRIPTION

[0028] Embodiment 1

[0029] like Figures 1-3 As shown, a household service robot based on remote intelligent control includes a device body 1, an interactive device 5 is embedded on the surface of the device body 1, mechanical arms 2 are symmetrically distributed on both sides of the device body 1, and multiple groups of anti-roll struts 3 are symmetrically distributed on the bottom of the side end surface of the device body 1. A cavity is provided inside the device body 1, and a positioning plate 11 is fixedly connected inside the cavity. A rotating ball 8 is rotatably connected to the middle of the positioning plate 11, and a connecting rod 9 is penetrated through the middle of the rotating ball 8. A counterweight 10 is provided at the end of the connecting rod 9. An injection-pressing mechanism 7 for driving the anti-roll strut 3 to extend and retract is provided inside the device body 1, and one end of the connecting rod 9 facing away from the counterweight 10 is engaged with the injection-pressing mechanism 7, and an anti-roll strut 3 for rotationally limiting the rotating ball 8 is movably provided on the side end surface of the device body 1.

[0030] When in use, the device body 1 performs human-computer interaction with the user through the interactive device 5, and a wireless control module is provided inside the device body 1 to realize remote control and interaction. When the device body 1 moves, when the device body 1 moves or stops, when its inertia is large, the counterweight 10 will tilt, so that the connecting rod 9 presses the injection-pressing mechanism 7, so that the injection-pressing mechanism 7 injects the anti-roll strut 3, so that the anti-roll strut 3 extends from the inside of the device body 1, actively supports the device body 1, and avoids the device body 1 from tipping over due to inertia after the start or emergency stop, effectively improving the safety of the device operation, avoiding the safety risks caused by the tipping of the device, and the structure is simple and efficient, and further provided with an adjustment mechanism 4, the adjustment mechanism 4 is used to limit the rotation of the rotating ball 8, so as to control the amplitude of the inertial tilting of the counterweight 10 and improve the adaptability of the device.

[0031] Embodiment 2

[0032] Based on the first embodiment, Figures 1-3 As shown in 10 , the connecting rod 9 includes a short rod 13 and a long rod 16 , the long rod 16 is fixedly connected to the lower end surface of the rotating ball 8 , the short rod 13 is fixedly connected to the upper end surface of the rotating ball 8 , and the end of the short rod 13 facing away from the rotating ball 8 is fixedly connected to the abutment ball 12 , and the abutment ball 12 is arranged in a fit with the injection mechanism 7 .

[0033] like Figures 1-3 As shown, the outer end surface of the short rod 13 is fixedly connected to a connecting plate 14, the interior of the connecting plate 14 is fixedly connected to a traction rope 15, the end of the traction rope 15 facing away from the connecting plate 14 is fixedly connected to the end of the anti-roll support rod 3, and the anti-roll support rod 3 is rotatably connected to the interior of the device body 1 through a rotating shaft 35.

[0034] When in use, when the device moves or stops, the inertia of the counterweight 10 causes the connecting rod 9 to deflect, and the connecting rod 9 is connected by rotating the rotating ball 8, so that 360° inertia sensing without dead angles can be achieved, and the connecting rod 9 is divided into a short rod 13 and a long rod 16. Through the different lengths of the short rod 13 and the long rod 16, the pressure and stroke of the abutting ball 12 on the injection mechanism 7 can be effectively guaranteed by the lever principle with the rotating ball 8 as the fulcrum, and a connecting plate 14 is further provided, and the connecting plate 14 is pulled by the traction rope 15, and the traction rope 15 is connected with the anti-roll support rod 3. When the connecting rod 9 deflects, the anti-roll support rod 3 will be synchronously deflected under the traction of the traction rope 15, so that the anti-roll support rod 3 is tilted and unfolded, so that the device can be effectively supported when it is about to fall. For example, when the device moves forward, the inertial counterweight 10 tilts and swings in the direction opposite to the movement direction, and the device also has the inertia of falling backwards. Through the deflection of the connecting rod 9, the anti-roll support rod 3 at the rear of the device can be controlled to tilt and unfold, thereby avoiding and preventing the device from falling, which plays an excellent preventive role.

[0035] like Figures 1-5As shown, a rotating groove 20 is opened in the middle of the positioning plate 11, and the inner wall of the rotating groove 20 is symmetrically embedded with limiting balls 18 that fit with the rotating ball 8. A limiting abutment rod 21 is elastically arranged inside the positioning plate 11, and one end of the limiting abutment rod 21 abuts against the middle of the rotating ball 8. A limiting groove 19 that matches the limiting abutment rod 21 is opened in the middle of the rotating ball 8.

[0036] like Figures 1-7 As shown, the adjustment mechanism 4 includes a control ring 24, a protrusion 25, and an inclined plate 27. The control ring 24 is rotatably connected to the inside of the positioning plate 11, the protrusion 25 is fixedly connected to the outer end surface of the control ring 24, the protrusion 25 penetrates and extends to the outer surface of the device body 1, the inclined plate 27 is fixedly connected to the inner wall of the control ring 24, the inclined plate 27 is fitted with a movable push rod 23, the end of the movable push rod 23 facing away from the inclined plate 27 is elastically connected to the limit push rod 21 through a spring, and the interior of the positioning plate 11 is provided with a rotating cavity 26 adapted to the inclined plate 27.

[0037] When in use, the control ring 24 can be moved by the protrusion 25, so that the control ring 24 rotates inside the positioning plate 11. The degree of engagement between the inclined plate 27 and the movable push rod 23 can be controlled by the rotation of the control ring 24. As the control ring 24 rotates, the inclined plate 27 moves, which will cause the spring between the movable push rod 23 and the limit push rod 21 to be compressed, thereby increasing the clamping elastic force between the limit push rod 21 and the limit groove 19. Since the rotating ball 8 is always in a vertical state under the traction of the counterweight 10 and the multiple groups of traction ropes 15, the adaption force between the limit push rod 21 and the limit groove 19 can be controlled by moving the protrusion 25, thereby adjusting the connecting rod 9 is limited to the threshold of deflection to avoid the deflection of the connecting rod 9 being too sensitive. The inertia of the anti-roll support rod 3 to be triggered and deployed can be controlled as needed through the setting of the adjustment mechanism 4. When the inertia is too large, the anti-roll support rod 3 can continue to be triggered only after the limit groove 19 and the limit push rod 21 are disengaged from each other. After the inertia is reduced or disappeared, the connecting rod 9 returns to the vertical position under the action of gravity. At this time, the limit groove 19 and the limit push rod 21 continue to be engaged. The positioning plate 11 is provided with a rotating groove 20. The inner wall of the rotating groove 20 adopts an arc surface adapted to the rotating ball 8, and is embedded with symmetrically distributed limit balls 18. While limiting the rotating ball 8, the rotational friction of the rotating ball 8 is effectively reduced.

[0038] like Figures 1-5 As shown in Figures 8-10, the injection molding mechanism 7 includes a limiting slide bar 28, a first sealing cavity 29 and a movable pressure plate 31. The movable pressure plate 31 is provided with a plurality of groups of mutually spliced ​​cylindrical shapes, and the movable pressure plate 31 is tightly fitted with the abutting ball 12. The movable pressure plate 31 is slidably connected to the inside of the device body 1 through the limiting slide bar 28. The limiting slide bar 28 is fixedly connected to the top of the inner wall of the device body 1. A first sealing cavity 29 is formed between the movable pressure plate 31 and the inner wall of the device body 1 through the bellows 30.

[0039] like Figures 1-5 As shown in FIGS. 8-10 , the first sealed cavity 29 is connected to the opposite anti-roll support rod 3 through the delivery pipe 6 .

[0040] like Figures 1-5 As shown in Figures 8-10, a telescopic sleeve 34 is embedded at the bottom of the anti-roll support rod 3, and a second sealed cavity 33 is provided inside the telescopic sleeve 34. The second sealed cavity 33 is connected to the delivery pipe 6 through a connecting hole 32, and an anti-slip base is provided at one end of the telescopic sleeve 34 away from the anti-roll support rod 3.

[0041] When in use, as the connecting rod 9 deflects, the engaging ball 12 presses the movable pressure plate 31 while the anti-roll support rod 3 deflects, so that the movable pressure plate 31 slides along the limiting slide rod 28. The sliding of the movable pressure plate 31 reduces the space of the first sealed cavity 29 between the bellows 30, and the medium such as gas in the first sealed cavity 29 flows to the inside of the second sealed cavity 33 through the conveying pipe 6, so that the telescopic sleeve 34 is pressed and stretched, and an anti-skid base is provided at the bottom of the second sealed cavity 33, which effectively improves the support and anti-skid effect of the second sealed cavity 33, and the telescopic sleeve 34 is elastically connected to the bottom of the anti-roll support rod 3. When the pressure in the second sealed cavity 33 decreases, the telescopic sleeve 34 can be automatically retracted, and because the first sealed cavity 29 is connected to the opposite anti-roll support rod 3, when the connecting rod 9 deflects by inertia, the anti-roll support rod 3 can be deflected and expanded, and the internal telescopic sleeve 34 can be actively extended under the control of the injection and pressing mechanism 7 for active support, effectively avoiding tipping caused by excessive inertia of the device.

[0042] Working principle: The main body 1 of the device conducts human-machine interaction with the user through the interaction device 5. There is a wireless control module inside the main body 1 of the device, which can achieve remote control and interaction. When the main body 1 of the device moves or stops, when its inertia is large, the counterweight 10 will tilt, so that the connecting rod 9 presses the injection mechanism 7, so that the injection mechanism 7 injects pressure into the anti-tilting strut 3, so that the anti-tilting strut 3 extends out of the inside of the main body 1 of the device, and actively supports the main body 1 of the device, avoiding the tilting caused by inertia after the main body 1 of the device starts or suddenly stops, effectively improving the safety of the device operation, avoiding the safety risks caused by the tilting of the device, and having a simple and efficient structure. Further, there is also an adjustment mechanism 4, and the adjustment mechanism 4 is used to limit the rotation of the rotating ball 8, so as to control the amplitude of the inertial tilt of the counterweight 10 and improve the adaptability of the device. When the device moves or stops, due to the inertia of the counterweight 10, the connecting rod 9 deflects, and the connecting rod 9 is rotationally connected through the rotating ball 8, so that 360° dead-angle inertial induction can be realized. The connecting rod 9 is divided into a short rod 13 and a long rod 16. Due to the different lengths of the short rod 13 and the long rod 16, the pressure and stroke of the abutting ball 12 on the injection mechanism 7 can be effectively guaranteed by the lever principle with the rotating ball 8 as the fulcrum. Further, there is a connecting plate 14. The connecting plate 14 is pulled by the traction rope 15, and the traction rope 15 is connected to the anti-tilting strut 3. When the connecting rod 9 deflects, the anti-tilting strut 3 will deflect synchronously under the traction of the traction rope 15, so that the anti-tilting strut 3 is tilted and unfolded, so that effective support can be carried out when the device is about to tilt. For example, when the device moves forward, due to inertia, the counterweight 10 tilts in the direction opposite to the moving direction, and at this time the device also has the inertia of tilting backward. Through the deflection of the connecting rod 9, the anti-tilting strut 3 at the rear of the device can be controlled to tilt and unfold, so as to avoid and prevent the tilting of the device, playing an excellent preventive role. The control ring 24 can be toggled through the convex block 25, so that the control ring 24 rotates inside the positioning plate 11. By rotating the control ring 24, the abutting degree of the inclined panel 27 and the movable abutting rod 23 can be controlled. As the control ring 24 rotates, when the inclined panel 27 moves, the spring between the movable abutting rod 23 and the limit abutting rod 21 will be compressed, so that the clamping elastic force between the limit abutting rod 21 and the limit groove 19 increases. And because the rotating ball 8 is always in the vertical state under the traction of the counterweight 10 and multiple traction ropes 15, the matching strength between the limit abutting rod 21 and the limit groove 19 can be controlled by toggling the convex block 25, so as to limit the deflection threshold of the connecting rod 9 and avoid the overly sensitive deflection of the connecting rod 9. Through the setting of the adjustment mechanism 4, the inertia of the anti-tilting strut 3 triggering and unfolding can be controlled according to needs. When the inertia is too large, the anti-tilting strut 3 can continue to trigger only after the limit groove 19 is disengaged from the limit abutting rod 21. After the inertia decreases or disappears, the connecting rod 9 returns to the vertical under the action of gravity, and at this time the limit groove 19 and the limit abutting rod 21 are clamped again. The positioning plate 11 is provided with a rotating groove 20, and the inner wall of the rotating groove 20 adopts an arc surface adapted to the rotating ball 8.And symmetrically distributed limiting balls 18 are embedded therein. While limiting the rotation of the rotating ball 8, the rotational friction of the rotating ball 8 is effectively reduced. As the connecting rod 9 deflects, while the anti-tilting strut 3 deflects, the abutting ball 12 presses on the movable pressing plate 31, causing the movable pressing plate 31 to slide along the limiting slide rod 28. The sliding of the movable pressing plate 31 reduces the space of the first sealing cavity 29 between the bellows 30. The medium such as gas in the first sealing cavity 29 flows through the conveying pipe 6 into the interior of the second sealing cavity 33, causing the telescopic sleeve 34 to be pressed and extended. And an anti-slip base is provided at the bottom of the second sealing cavity 33, effectively improving the support and anti-slip effect of the second sealing cavity 33. Moreover, the telescopic sleeve 34 is elastically connected to the bottom of the anti-tilting strut 3. When the pressure in the second sealing cavity 33 decreases, the telescopic sleeve 34 can automatically retract. And since the first sealing cavity 29 is connected to the opposite anti-tilting strut 3, when the connecting rod 9 deflects due to inertia, the anti-tilting strut 3 can be actively supported by the telescopic sleeve 34 inside it that actively extends under the control of the injection mechanism 7 while deflecting and unfolding, effectively avoiding the device from tipping over due to excessive inertia.

Claims

1. A home service robot based on remote intelligent control, comprising a device body, an interactive device is embedded on the surface of the device body, and mechanical arms are symmetrically distributed on both sides of the device body. Features: A plurality of groups of anti-roll struts are symmetrically distributed at the bottom of the side end surface of the device body, a cavity is provided inside the device body, a positioning plate is fixedly connected inside the cavity, a rotating ball is rotatably connected to the middle of the positioning plate, a connecting rod is passed through the middle of the rotating ball, a counterweight is provided at the end of the connecting rod, an injection-pressing mechanism for driving the anti-roll strut to extend and retract is provided inside the device body, one end of the connecting rod away from the counterweight is in contact with the injection-pressing mechanism, and an anti-roll strut for rotationally limiting the rotating ball is movably provided on the side end surface of the device body; The connecting rod comprises a short rod and a long rod, the long rod is fixedly connected to the lower end surface of the rotating ball, the short rod is fixedly connected to the upper end surface of the rotating ball, and an abutting ball is fixedly connected to one end of the short rod away from the rotating ball, and the abutting ball is arranged in close contact with the injection and pressing mechanism; The outer end surface of the short rod is fixedly connected to a connection plate, the interior of the connection plate is fixedly connected to a traction rope, the end of the traction rope away from the connection plate is fixedly connected to the end of the anti-roll support rod, and the anti-roll support rod is rotatably connected to the interior of the device body through a rotating shaft; The injection molding mechanism includes a limiting slide bar, a first sealing cavity and a movable pressure plate. The movable pressure plate is provided with a plurality of groups of mutually spliced ​​cylindrical shapes, and the movable pressure plate is tightly fitted with the abutment ball. The movable pressure plate is slidably connected to the inside of the device body through the limiting slide bar. The limiting slide bar is fixedly connected to the top of the inner wall of the device body. A first sealing cavity is formed between the movable pressure plate and the inner wall of the device body through a bellows; the first sealing cavity is connected to the opposite anti-roll support rod through a conveying pipe.

2. A home service robot based on remote intelligent control according to claim 1, Features: A rotating groove is provided in the middle of the positioning plate, and a limiting ball that fits with the rotating ball is symmetrically embedded on the inner wall of the rotating groove. A limiting abutment rod is elastically arranged inside the positioning plate, and one end of the limiting abutment rod abuts with the middle of the rotating ball. A limiting groove that matches the limiting abutment rod is provided in the middle of the rotating ball.

3. A home service robot based on remote intelligent control according to claim 2, Features: The adjustment mechanism includes a control ring, a protrusion, and an inclined plate. The control ring is rotatably connected to the inside of the positioning plate, the protrusion is fixedly connected to the outer end surface of the control ring, the protrusion penetrates and extends to the outer surface of the device body, the inclined plate is fixedly connected to the inner wall of the control ring, the inclined plate is fitted with a movable push rod, and the end of the movable push rod facing away from the inclined plate is elastically connected to the limit push rod through a spring, and a rotating cavity adapted to the inclined plate is provided inside the positioning plate.

4. A home service robot based on remote intelligent control according to claim 1, Features: The bottom of the anti-tilting support rod is embedded with a telescopic sleeve. A second sealing cavity is provided inside the telescopic sleeve. The second sealing cavity is communicated with a delivery pipe through a communication hole. An anti-slip base is provided at one end of the telescopic sleeve away from the anti-tilting support rod.

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