A detachable intelligent housekeeper robot and a control method thereof

Abstract

The application relates to the technical field of robots, in particular to a separable intelligent housekeeper robot and a control method thereof, wherein the robot body can adapt to objects with different shapes and sizes to clamp and pick up, the moving base cooperates with the deformation wheel to drive the robot to move on a complex road surface, the two are connected through the connecting device, the robot body and the moving base are separated through the cooperation of the engine room, the two can work in parallel, and the working efficiency is improved. The connecting device drives the screw rod to rotate through the power device and drives the sliding seat on the screw rod to drive the buckle to extend out of the through hole on the convex wall, so that the buckle is clamped with the sleeve at the bottom of the robot body; when the fixing state of the connecting device is released, the sliding seat is driven away from the buckle through the screw rod, the limiting block of the buckle seat body moves away from the stop block under the driving of the compression spring, and the clamping block is synchronously driven to retreat into the through hole; the connecting device is simple and practical, the screw rod is driven to rotate through the power device, the extension and retraction movement of the buckle thereon is realized, and the connecting device is more practical.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a detachable intelligent butler robot and its control method. Background Technology

[0002] Intelligent butler robots have enormous potential in the smart home market. Currently, there are various home butler service robots on the market, such as robot vacuum cleaners and window cleaning robots, but they usually only have a single function.

[0003] Traditional home robots lack multi-functionality in their hardware structure, resulting in relatively limited functionality. Multi-functional butler robots typically consist of a mobile base and a main robot body, each capable of performing different service functions, but they usually lack the ability to operate in parallel when separated. Summary of the Invention

[0004] This invention provides a detachable intelligent butler robot and its control method, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A detachable intelligent butler robot includes a cabin and a robot body and a mobile base disposed therein. A connecting device is provided on the mobile base, and the mobile base is located below the robot body and connected to the robot body through the connecting device.

[0007] The cabin includes a cabin body and a clamping mechanism, a driving mechanism, and a flexible platform disposed thereon. The flexible platform is moved between the robot body and the mobile base by the driving mechanism. The clamping mechanism is disposed correspondingly to the robot body.

[0008] The mobile base includes a base and a lifting mechanism and a deformable wheel disposed thereon. The deformable wheel is disposed on the lifting mechanism and is driven by the lifting mechanism to move in the vertical direction. The connecting device is disposed on the top of the base.

[0009] The connecting device includes a boss and a power unit, a transmission mechanism and a buckle disposed therein. A through hole is provided on the side wall of the boss corresponding to the buckle. The power unit drives the buckle to extend out of the through hole through the transmission mechanism. A sleeve is provided on the bottom of the robot body corresponding to the boss.

[0010] Furthermore, the boss is configured as a column structure and is vertically mounted on the base, and a cavity is provided inside the boss along its height direction;

[0011] The transmission mechanism includes a lead screw and a sliding seat sleeved thereon. The lead screw is arranged in a vertical direction and is driven to rotate by the power device. The sliding seat is slidably connected to the boss and screwed to the lead screw.

[0012] Furthermore, a groove is formed on the side wall of the cavity in the vertical direction, and a slider is provided on the sliding seat corresponding to the groove, the slider being slidably connected to the groove;

[0013] The slide grooves are provided in multiple ways around the cavity, and the sliders are provided in multiple ways around the slide seat corresponding to the slide grooves.

[0014] Furthermore, the buckle includes a seat and a stop and a compression spring disposed thereon. The seat is slidably connected to the through hole, and the stop is slidably connected to the seat and abuts against the side wall of the cavity under the drive of the compression spring.

[0015] The sliding seat includes a chassis and a first boss and a second boss arranged sequentially on it in a vertical direction. The outer ring size of the second boss is smaller than the outer ring size of the first boss, and the outer ring size of the first boss is smaller than the outer ring size of the chassis. The slider is disposed on the side wall of the chassis.

[0016] Furthermore, the seat includes a horizontally arranged locking block and a limiting block located at one end thereto. The locking block is disposed in the through hole and slidably connected thereto. A locking groove is provided on the locking block. The stop block is slidably connected to the locking groove. The compression spring is disposed in the locking groove and located between the stop block and the limiting block.

[0017] A limiting surface and an inclined surface are provided on the side of the limiting block away from the card block. The inclined surface is located below the limiting surface and faces the sliding seat. The limiting surface is set as an arc surface and is arranged in the vertical direction. The limiting surface is adapted to the side wall of the second boss.

[0018] Furthermore, the slot passes through both ends of the card block, and one end of it extends into the limiting block; the two ends of the compression spring abut against the stop block and the limiting block, respectively.

[0019] The buckles are provided in multiple ways along the horizontal circumference of the boss. Under the action of the compression spring, the limiting surfaces of the multiple limiting blocks are pressed radially against the side wall of the second boss. A limiting ring groove is formed in the inner ring of the sleeve corresponding to the buckle.

[0020] Furthermore, the driving mechanism includes symmetrically arranged slide rails, each slide rail comprising a vertical portion and a horizontal portion, the horizontal portion being located above the movable base, and the two sides of the flexible platform being slidably connected to the two slide rails respectively.

[0021] Furthermore, the clamping mechanism includes a lifting rod and a gripper assembly. The lifting rod is vertically arranged and suspended on the top of the cabin, and the gripper assembly is located at the bottom of the lifting rod.

[0022] A control method for a detachable intelligent butler robot, using the aforementioned detachable intelligent butler robot, includes the following steps:

[0023] The power unit drives the transmission mechanism to make the buckle extend or retract from the through hole of the boss, thereby connecting or separating the connecting device from the bottom sleeve of the robot body;

[0024] When the robot body is placed on the mobile base, the power unit drives the transmission mechanism to make the buckle extend out of the boss through hole and connect with the bottom sleeve of the robot body.

[0025] The lifting mechanism drives the deformation wheel to move vertically upward, causing the base of the movable base to descend.

[0026] The moving base and the robot body on it are moved by the deformable wheels on the moving base.

[0027] Furthermore, after the mobile base drives the robot body back to the cabin, the power unit drives the transmission mechanism to retract the buckle from the through hole of the boss, thus releasing the fixed connection between the robot body and the mobile base.

[0028] The robot body is lifted by the clamping mechanism and detached from the mobile base. The flexible platform is moved between the robot body and the mobile base by the driving mechanism. The robot body is then placed on the flexible platform by the clamping mechanism.

[0029] The beneficial effects of this invention are as follows:

[0030] In this invention, the robot body can adapt to gripping objects of different shapes and sizes, and the mobile base, together with the deformable wheels, can travel on complex terrains. The two are connected by a connecting device, and the robot body and the mobile base can be separated by the cabin, enabling them to work in parallel and improving work efficiency.

[0031] The connecting device drives a lead screw to rotate via a power unit, which in turn drives a sliding seat to move along the length of the lead screw. The sliding seat then drives a buckle to extend from a through hole on the side wall of the boss, allowing the buckle to engage with a sleeve on the bottom of the robot body, thus achieving a fixed connection between the robot body and the mobile base. When the connecting device releases the robot body from its fixed state, the lead screw drives the sliding seat away from the buckle, causing the buckle's seat to move its limiting block away from the stop block under the drive of a compression spring, simultaneously pulling the buckle back into the through hole. The connecting device has a simple and practical structure, and the extension and retraction of the buckle is achieved by driving the lead screw to rotate via a power unit, making it more practical. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the detachable intelligent butler robot of the present invention;

[0034] Figure 2 This is a schematic diagram of the cabin structure in this invention;

[0035] Figure 3 This is a schematic diagram of the robot body and the mobile base in this invention.

[0036] Figure 4 This is a schematic diagram of the bottom retainer of the robot body in this invention;

[0037] Figure 5 for Figure 4 Enlarged view of the local structure at point A;

[0038] Figure 6 This is a schematic diagram of the movable base in this invention;

[0039] Figure 7 This is a schematic diagram of the lifting mechanism on the movable base in this invention;

[0040] Figure 8 This is a schematic diagram of the deformation state of the deformable wheel on the movable base in this invention;

[0041] Figure 9 This is a schematic diagram showing the connection between the connecting device and the ferrule in this invention;

[0042] Figure 10 This is an exploded structural diagram of the connecting device in this invention;

[0043] Figure 11 This is an exploded view of the connecting device in this invention;

[0044] Figure 12 This is a schematic diagram of the buckle structure in this invention;

[0045] Figure 13 This is an exploded view of the buckle structure in this invention;

[0046] Figure 14 This is a schematic diagram showing the connection device and the ferrule separated in this invention;

[0047] Figure 15 This is a schematic diagram showing the connection state between the connecting device and the ferrule in this invention.

[0048] Reference numerals: 1. Cabin; 11. Cabin body; 12. Clamping mechanism; 121. Lifting rod; 122. Gripper assembly; 13. Drive mechanism; 131. Slide rail; 131a. Vertical part; 131b. Horizontal part; 14. Flexible platform; 2. Robot body; 21. Sleeve; 211. Limiting ring groove; 3. Moving base; 31. Base; 32. Lifting mechanism; 33. Deformable wheel; 4. Connecting device; 41. Boss; 411 412. Cavity; 413. Through hole; 414. Slide groove; 42. Power unit; 43. Transmission mechanism; 431. Lead screw; 432. Sliding seat; 432a. Slider; 432b. Chassis; 432c. First boss; 432d. Second boss; 5. Buckle; 51. Seat; 511. Locking block; 512. Locking groove; 512a. Limiting surface; 512b. Inclined surface; 52. Stop block; 53. Compression spring. Detailed Implementation

[0049] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0050] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0052] like Figures 1 to 15 The detachable intelligent butler robot and its control method shown can separate the robot body 2 and the mobile base 3 through the cabin 1, so that the two can work in parallel and improve work efficiency.

[0053] like Figures 1 to 4As shown, both the robot body 2 and the mobile base 3 are housed within the cabin 1 when not in use. A connecting device 4 is installed on the mobile base 3, which is located below the robot body 2 and connected to it via the connecting device 4. The cabin 1 includes a cabin body 11 and a clamping mechanism 12, a drive mechanism 13, and a flexible platform 14 mounted thereon. The flexible platform 14 moves between the robot body 2 and the mobile base 3 via the drive mechanism 13. The clamping mechanism 12 is correspondingly positioned to the robot body 2. The mobile base 3 includes a base 31 and a... The lifting mechanism 32 and the deformable wheel 33 are mounted on it. The deformable wheel 33 is mounted on the lifting mechanism 32 and is driven by the lifting mechanism 32 to move in the vertical direction. The connecting device 4 is mounted on the top of the base 31. The connecting device 4 includes a boss 41 and a power device 42, a transmission mechanism 43 and a buckle 5 disposed inside it. A through hole 412 is provided on the side wall of the boss 41 corresponding to the buckle 5. The power device 42 drives the buckle 5 to extend out of the through hole 412 through the transmission mechanism 43. A sleeve 21 is provided on the bottom of the robot body 2 corresponding to the boss 41.

[0054] The drive mechanism 13 includes symmetrically arranged slide rails 131, each slide rail 131 comprising a vertical portion 131a and a horizontal portion 131b. The horizontal portion 131b is located above the movable base 3. The flexible platform 14 is slidably connected to the two slide rails 131 on both sides. The clamping mechanism 12 includes a lifting rod 121 and a gripper assembly 122. The lifting rod 121 is vertically arranged and suspended from the top of the cabin 1, and the gripper assembly 122 is located at the bottom of the lifting rod 121.

[0055] In this invention, the robot body 2 is a humanoid robot with a control panel and a vision camera in its head. It has a central controller and an Internet of Things module for controlling the movement of the robot body 2. The head is equipped with a depth camera, which, combined with a vision algorithm, is used to identify objects and perceive their depth information, allowing users to interact with the robot in natural ways such as voice, facial features, and gestures.

[0056] The robot's main body 2 is equipped with cable-driven robotic arms and flexible end effectors on both sides of its torso, enabling it to move flexibly and adjust its posture to grip objects of different shapes and sizes. The lightweight cable-driven robotic arms, combined with the flexible arms and flexible end effectors, allow for adaptive grasping of irregular objects.

[0057] The mobile base 3 is an intelligent mobile platform equipped with a controller and a binocular camera positioned at the forefront of the direction of travel. It features visual navigation technology and intelligent algorithms to achieve real-time positioning, navigation, and map building. The mobile base 3 uses a lifting mechanism 32 connected to deformable wheels 33, which, combined with gear-shaped rubber tires, enable it to travel on complex road surfaces.

[0058] The cabin 1 is also equipped with a gripping mechanism 12, which drives the gripper assembly 122 to move up and down via a lifting rod 121, for lifting the robot body 2 from the top of the mobile base 3. The gripper assembly 122 adopts a separate manipulator design, which can extend and retract left and right, making it easy to grip the robot body 2 from both sides. The flexible platform 14 is similar to a roller shutter door structure, which separates the robot body 2 and the mobile base 3 via a drive mechanism 13. Specifically, the flexible platform 14 is driven to move by the mechanical structure inside the slide rail 131, which can provide bottom support for the robot body 2.

[0059] The base 31 and the lifting mechanism 32 are integrated into one design, such as Figure 7 As shown, the base 31 forms a liftable frame. When the robot body 2 moves, the base 31 adjusts to its lowest position to lower the center of gravity and ensure stable operation. When encountering obstacles such as slippers, the base 31 can be raised to pass directly over them without having to go around them.

[0060] The four deformable wheels 33 arranged around the base 31 of the mobile base 3 are driven by four motors and use differential speed for steering. The deformable wheels 33 improve the adaptability to the environment and the ability to move, such as when climbing stairs or traversing complex terrain. Figure 8 As shown; the base 31 is equipped with a large-capacity battery, which is charged through the cabin 1 when the power of the mobile base 3 is insufficient.

[0061] As a preferred embodiment of the present invention, such as Figure 9 and Figure 10 As shown, the boss 41 is configured as a column structure and is vertically mounted on the base 31. A cavity 411 is provided in the boss 41 along its height direction. The transmission mechanism 43 includes a lead screw 431 and a sliding seat 432 sleeved on it. The lead screw 431 is arranged in the vertical direction and is driven to rotate by the power device 42. The sliding seat 432 is slidably connected to the boss 41 and screwed to the lead screw 431.

[0062] Specifically, the power device 42 drives the lead screw 431 to rotate and drives the sliding seat 432 to move along the length of the lead screw 431. Then, the sliding seat 432 drives the buckle 5 to extend out from the through hole 412 on the side wall of the boss 41, so that the buckle 5 is engaged with the sleeve 21 at the bottom of the robot body 2, thereby realizing the fixed connection between the robot body 2 and the mobile base 3.

[0063] Furthermore, in the above embodiment, a sliding groove 413 is provided in the vertical direction on the side wall of the cavity 411, and a slider 432a is provided on the sliding seat 432 corresponding to the sliding groove 413. The slider 432a is slidably connected to the sliding groove 413. Multiple sliding grooves 413 are provided around the cavity 411, and multiple sliders 432a are provided around the sliding seat 432 corresponding to the sliding grooves 413.

[0064] The sliding seat 432 is slidably connected to the slide groove 413 opened on the inner wall of the boss 41 cavity 411 by a slider 432a set on its side wall, so that the displacement of the sliding seat 432 driven by the lead screw 431 is more stable.

[0065] In the above embodiments, see further details. Figure 12 and Figure 13 As shown, the buckle 5 includes a seat 51 and a stop 52 and a compression spring 53 disposed thereon. The seat 51 is slidably connected to the through hole 412. The stop 52 is slidably connected to the seat 51 and abuts against the side wall of the cavity 411 under the drive of the compression spring 53. The sliding seat 432 includes a base 432b and a first boss 432c and a second boss 432d disposed thereon in sequence along the vertical direction. The outer circle size of the second boss 432d is smaller than the outer circle size of the first boss 432c. The outer circle size of the first boss 432c is smaller than the outer circle size of the base 432b. The slider 432a is disposed on the side wall of the base 432b.

[0066] The base 51 includes a horizontally arranged locking block 511 and a limiting block 512 located at one end thereof. The locking block 511 is disposed in the through hole 412 and slidably connected thereto. A locking groove 511 is provided on the locking block 511. A stop block 52 is slidably connected to the locking groove 511. A compression spring 53 is disposed in the locking groove 511 and located between the stop block 52 and the limiting block 512. A limiting surface 512a and an inclined surface 512b are provided on the side of the limiting block 512 away from the locking block 511. The inclined surface 512b is located below the limiting surface 512a and faces the sliding seat 432. The limiting surface 512a is set as an arc surface and is arranged in the vertical direction. The limiting surface 512a is adapted to the side wall of the second boss 432d.

[0067] During the movement of the latch 5 driven by the sliding seat 432, when the latch block 511 does not protrude from the through hole 412 on the side wall of the boss 41, the limiting block 512 is pressed against the sliding seat 432 under the action of the compression spring 53, so that the limiting surface 512a on the limiting block 512 fits against the side wall of the second boss 432d, ensuring that one end of the latch block 511 of the multiple latches 5 arranged circumferentially along the sliding seat 432 is inserted into the through hole 412 and will not disengage from the through hole 412.

[0068] When the lead screw 431 drives the sliding seat 432 to move toward the buckle 5, the second boss 432d contacts the inclined surface 512b on the limiting block 512. As the sliding seat 432 moves, it pushes the inclined surface 512b, causing the buckle 511 to move along its length and gradually extend out of the through hole 412 on the side wall of the boss 41.

[0069] When the connecting device 4 releases the robot body 2 from its fixed state, the sliding seat 432 is driven away from the buckle 5 by the lead screw 431. Under the drive of the compression spring 53, the limiting block 512 of the buckle 5 moves away from the stop block 52, and simultaneously drives the buckle block 511 back into the through hole 412.

[0070] In the above embodiment, the slot 511 passes through both ends of the block 511, and one end of it extends into the limiting block 512. The two ends of the compression spring 53 abut against the stop block 52 and the limiting block 512 respectively. The buckle 5 is provided with multiple buckles in the horizontal circumferential direction of the boss 41. Under the action of the compression spring 53, the upper limit surface 512a of the multiple limiting blocks 512 is pressed radially towards the side wall of the second boss 432d. A limiting ring groove 211 is opened in the inner ring of the sleeve 21 corresponding to the buckle 5.

[0071] This invention also discloses a control method for a detachable intelligent butler robot, which, using the aforementioned detachable intelligent butler robot, includes the following steps:

[0072] The power unit 42 drives the transmission mechanism 43 to make the buckle 5 extend or retract from the through hole 412 of the boss 41, thereby connecting or separating the connecting device 4 from the bottom sleeve 21 of the robot body 2. When the robot body 2 is placed on the mobile base 3, the power unit 42 drives the transmission mechanism 43 to make the buckle 5 extend from the through hole 412 of the boss 41 and connect with the bottom sleeve 21 of the robot body 2. The lifting mechanism 32 drives the deformation wheel 33 to move upward in the vertical direction, causing the base 31 of the mobile base 3 to descend. The deformation wheel 33 on the mobile base 3 drives the mobile base 3 and the robot body 2 on it to move.

[0073] After the mobile base 3 drives the robot body 2 back to the cabin 1, the power unit 42 drives the transmission mechanism 43 to make the buckle 5 retract from the through hole 412 of the boss 41, thus releasing the fixed connection between the robot body 2 and the mobile base 3. The clamping mechanism drives the robot body 2 to rise and detach from the mobile base 3. The drive mechanism 13 drives the flexible platform 14 to move between the robot body 2 and the mobile base 3. Then, the clamping mechanism 12 places the robot body 2 on the flexible platform 14.

[0074] Those skilled in the art should understand that this invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to this invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A detachable intelligent butler robot, characterized in that, The system includes a cabin and a robot body and a mobile base housed therein. A connecting device is provided on the mobile base, which is located below the robot body and connected to the robot body through the connecting device. The cabin includes a cabin body and a clamping mechanism, a driving mechanism, and a flexible platform disposed thereon. The flexible platform is moved between the robot body and the mobile base by the driving mechanism. The clamping mechanism is disposed correspondingly to the robot body. The mobile base includes a base and a lifting mechanism and a deformable wheel disposed thereon. The deformable wheel is disposed on the lifting mechanism and is driven by the lifting mechanism to move in the vertical direction. The connecting device is disposed on the top of the base. The connecting device includes a boss and a power unit, a transmission mechanism and a buckle disposed therein. A through hole is provided on the side wall of the boss corresponding to the buckle. The power unit drives the buckle to extend out of the through hole through the transmission mechanism. A sleeve is provided on the bottom of the robot body corresponding to the boss.

2. The detachable intelligent butler robot according to claim 1, characterized in that, The boss is configured as a column structure and is vertically mounted on the base, and a cavity is provided inside the boss along its height direction; The transmission mechanism includes a lead screw and a sliding seat sleeved thereon. The lead screw is arranged in a vertical direction and is driven to rotate by the power device. The sliding seat is slidably connected to the boss and screwed to the lead screw.

3. The detachable intelligent butler robot according to claim 2, characterized in that, A vertical groove is formed on the side wall of the cavity, and a slider is provided on the sliding seat corresponding to the groove, and the slider is slidably connected to the groove. The slide grooves are provided in multiple ways around the cavity, and the sliders are provided in multiple ways around the slide seat corresponding to the slide grooves.

4. The detachable intelligent butler robot according to claim 3, characterized in that, The buckle includes a base and a stop and a compression spring disposed thereon. The base is slidably connected to the through hole, and the stop is slidably connected to the base and abuts against the side wall of the cavity under the drive of the compression spring. The sliding seat includes a chassis and a first boss and a second boss arranged sequentially on it in a vertical direction. The outer ring size of the second boss is smaller than the outer ring size of the first boss, and the outer ring size of the first boss is smaller than the outer ring size of the chassis. The slider is disposed on the side wall of the chassis.

5. The detachable intelligent butler robot according to claim 4, characterized in that, The base includes a horizontally arranged locking block and a limiting block located at one end thereof. The locking block is disposed in the through hole and slidably connected thereto. A locking groove is provided on the locking block. The stop block is slidably connected to the locking groove. The compression spring is disposed in the locking groove and located between the stop block and the limiting block. A limiting surface and an inclined surface are provided on the side of the limiting block away from the card block. The inclined surface is located below the limiting surface and faces the sliding seat. The limiting surface is set as an arc surface and is arranged in the vertical direction. The limiting surface is adapted to the side wall of the second boss.

6. The detachable intelligent butler robot according to claim 5, characterized in that, The slot passes through both ends of the card block, and one end of the slot extends into the limiting block. The two ends of the compression spring abut against the stop block and the limiting block, respectively. The buckles are provided in multiple ways along the horizontal circumference of the boss. Under the action of the compression spring, the limiting surfaces of the multiple limiting blocks are pressed radially against the side wall of the second boss. A limiting ring groove is formed in the inner ring of the sleeve corresponding to the buckle.

7. The detachable intelligent butler robot according to claim 1, characterized in that, The drive mechanism includes symmetrically arranged slide rails, each slide rail having a vertical portion and a horizontal portion. The horizontal portion is located above the movable base, and the two sides of the flexible platform are slidably connected to the two slide rails respectively.

8. The detachable intelligent butler robot according to claim 1, characterized in that, The clamping mechanism includes a lifting rod and a gripper assembly. The lifting rod is vertically installed and suspended from the top of the cabin, and the gripper assembly is located at the bottom of the lifting rod.

9. A control method for a detachable intelligent butler robot, characterized in that, The detachable intelligent butler robot according to any one of claims 1 to 8 comprises the following steps: The power unit drives the transmission mechanism to make the buckle extend or retract from the through hole of the boss, thereby connecting or separating the connecting device from the bottom sleeve of the robot body; When the robot body is placed on the mobile base, the power unit drives the transmission mechanism to make the buckle extend out of the boss through hole and connect with the bottom sleeve of the robot body. The lifting mechanism drives the deformation wheel to move vertically upward, causing the base of the movable base to descend. The moving base and the robot body on it are moved by the deformable wheels on the moving base.

10. The control method for the detachable intelligent butler robot according to claim 9, characterized in that, After the mobile base drives the robot body back to the cabin, the power unit drives the transmission mechanism to retract the buckle from the through hole of the boss, releasing the fixed connection between the robot body and the mobile base. The robot body is lifted by a clamping mechanism and detached from the mobile base. The flexible platform is moved between the robot body and the mobile base by a drive mechanism, and then the robot body is placed on the flexible platform by the clamping mechanism.

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