A mobile service robot with double arms capable of lifting and lowering

Abstract

The present invention relates to the technical field of service robots, and discloses a dual-arm liftable mobile service robot, comprising a base, wherein two driving motors are fixedly connected inside the base, the output end of the driving motor is fixedly connected to a driving wheel rotatably connected to the base through a coupling, and the bottom of the base is rotatably connected to an idler wheel. When the service robot climbs a slope, the slope is first measured by an inclination detection mechanism, and then the measured data is transmitted to a single-chip microcomputer, and then the single-chip microcomputer controls a first electric telescopic rod, which drives a support plate to rotate and adjusts the angle of the support plate, so as to balance the tilt of objects placed on the plate when going uphill, thereby realizing that in the process of transporting objects, the service robot can prevent objects in a placement box from tilting when climbing the slope, and effectively prevent the risk of objects in the placement box from spilling.

Description

Technical Field

[0001] The present invention specifically relates to a dual-arm liftable mobile service robot. Background Art

[0002] In recent years, with the development of information technology, automatic control technology, communication technology, etc., it has become possible for robots to enter people's daily lives and change people's lifestyles. The research on service robots has gradually come into people's sight. Service robots have a wide range of applications and can be used for maintenance, repair, transportation, cleaning, security, rescue, monitoring, etc. At present, there is a great demand for service robots in service industries such as hotels, and corresponding service robots have also appeared in people's lives one after another.

[0003] Currently, hotel robots are mostly used to transport daily necessities (such as toothbrushes and toiletries) needed by guests staying in the hotel. At the same time, they can also automatically transport takeout ordered by customers to the door of the guest room where the customer is staying, without the need for manual delivery by staff. However, when using them, it will be found that when the robot is transporting items, the staff is required to put the items on the shelf into the robot's transport box. The robot cannot automatically put the goods at different heights on the shelf into the transport box, resulting in the robot's greater dependence on the staff during the service process and poor service effect. At the same time, during transportation, the service machine will tilt during the climbing process, because the entire robot will tilt during the climbing process, which will cause the items in the service robot's transport box to tilt, especially outside the customer's room. The tilt will cause the customer's food to spill, making the food unusable, resulting in poor service effect of the service robot. Summary of the invention

[0004] The purpose of the present invention is to provide a dual-arm liftable mobile service robot to solve the deficiencies in the above-mentioned background technology.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A dual-arm liftable mobile service robot comprises a base, wherein two drive motors are fixedly connected in the base, the output end of the drive motor is fixedly connected to a drive wheel rotatably connected to the base through a coupling, the bottom of the base is rotatably connected to an idler wheel, a power supply unit is fixedly connected in the base, and the power supply unit comprises a battery and a power controller;

[0007] A mounting tube is fixedly connected to the top of the base, a mounting column is slidably connected inside the mounting tube, an outer surface of the mounting column is transmission-connected to a transmission mechanism connected to the mounting tube, the transmission mechanism is used to drive the mounting column to move up and down, a connecting column is fixedly connected to the top of the mounting column, both ends of the connecting column are fixedly connected to a seven-axis robotic arm, one end of the seven-axis robotic arm is fixedly connected to a bionic robotic arm, a placement box is fixedly connected to the outer surface of the mounting tube, an article placement mechanism is provided in the placement box, and the placement mechanism is used to stably and fixedly place articles.

[0008] As a further solution of the present invention: the transmission mechanism includes a first transmission motor fixedly connected to the mounting tube, the output end of the first transmission motor is connected to a lifting screw rod rotatably connected to the mounting tube through a transmission wheel and a transmission belt, the outer surface of the lifting screw rod is threaded with a transmission ring, the transmission ring is fixedly connected to the mounting column, the outer surface of the mounting column is fixedly connected to a slider, and the outer surface of the slider is slidably connected to a slide rail fixedly connected to the mounting tube.

[0009] As a further solution of the present invention: the article placement mechanism includes a mounting shaft rotatably connected to the placement box, a feed port is provided on the outer surface of the placement box, a support plate is fixedly connected to the outer surface of the mounting shaft, two first transmission blocks are rotatably connected to both sides of the support plate, a first electric telescopic rod is fixedly connected to the bottom of the first transmission block, a second transmission block is fixedly connected to the bottom end of the first electric telescopic rod, the second transmission block is rotatably connected to the placement box, a plurality of shock-absorbing and damping telescopic rods are fixedly connected to the top of the support plate, the top of the shock-absorbing and damping telescopic rod is fixedly connected to the placement plate, a first spring fixedly connected to the placement plate is fixedly sleeved on the outer surface of the shock-absorbing and damping telescopic rod, a weighing sensor is fixedly connected to the top of the support plate, a clamping mechanism is arranged on the top of the placement plate, the input end of the first electric telescopic rod is electrically connected to an inclination detection mechanism connected to the base through an electric wire, and the inclination detection mechanism is connected to the anti-dumping mechanism of the mounting tube.

[0010] As a further solution of the present invention: the clamping mechanism includes two connecting plates fixedly connected to the placing plate, one side of the connecting plate is fixedly connected to the second electric telescopic rod, one end of the second electric telescopic rod is fixedly connected to the transmission plate, one side of the transmission plate is fixedly connected to multiple telescopic rods, one end of the telescopic rod is fixedly connected to the clamping block, and the outer surface of the telescopic rod is fixedly sleeved with a second spring fixedly connected to the clamping block.

[0011] As a further solution of the present invention: a rubber friction pad is fixedly connected to one side of the clamping block.

[0012] As a further solution of the present invention: the inclination detection mechanism includes a connecting frame fixedly connected to the base, a connecting block is transmission-connected in the connecting frame, a transmission box is fixedly connected to one side of the connecting block, a universal wheel is fixedly connected to the bottom of the transmission box, an inclination sensor is fixedly connected in the transmission box, the inclination sensor is connected to the first electric telescopic rod through a single-chip microcomputer, and the inclination sensor is connected to the anti-dumping mechanism on the mounting tube through the single-chip microcomputer.

[0013] As a further solution of the present invention: the anti-dumping mechanism includes an adjusting frame fixedly connected to the mounting tube, a second transmission motor fixedly connected inside the adjusting frame, an output end of the second transmission motor fixedly connected to a threaded rod rotatably connected to the adjusting frame through a coupling, an outer surface of the threaded rod is threadedly fitted with a counterweight block, and an inner surface of the counterweight block is slidably connected to a guide rod fixedly connected to the adjusting frame.

[0014] As a further solution of the present invention: a fan is fixedly connected inside the placement box, and an electric heating wire fixedly connected to the placement box is arranged above the fan.

[0015] As a further solution of the present invention: a baffle frame is slidably connected in the feed port, and a third electric telescopic rod fixedly connected to the placement box is fixedly connected to one side of the baffle frame.

[0016] As a further solution of the present invention: a laser radar is fixedly connected to one side of the base, a touch interactive screen is fixedly connected to the outer surface of the connecting column, and a D camera is fixedly connected to the outer surface of the connecting column.

[0017] Beneficial effects of the present invention:

[0018] (1) The driving motor drives the driving wheel to rotate, and then cooperates with the idler wheel to drive the base to move, the base drives the mounting tube and the mounting column to move, the mounting column drives the connecting column and the seven-axis robotic arm to move, and then the seven-axis robotic arm drives the bionic manipulator to move, and the bionic manipulator grabs the object. At the same time, the transmission mechanism can drive the mounting column to move up and down, and the mounting column drives the connecting column, the seven-axis robotic arm and the bionic manipulator to move up and down, so as to adjust the height of the robot, so that the robot can grab any object within a certain height range, which greatly improves the applicability of the service robot.

[0019] (2) When the service robot climbs a slope, the slope is first measured by the inclination detection mechanism, and then the measured data is transmitted to the single-chip microcomputer. Then, the single-chip microcomputer controls the first electric telescopic rod, which drives the support plate to rotate and adjusts the angle of the support plate to balance the tilt of the items placed on the plate when climbing uphill. In this way, the service robot can transport the items. When the service robot climbs the slope, the items in the placement box will not tilt, which effectively prevents the risk of spilling the items in the placement box and greatly improves the protection of the service robot during the transportation of items.

[0020] (3) At the same time, before climbing the slope, the weighing sensor on the top of the support plate is used to weigh the items. The weighing sensor then transmits the data of the weight of the items to the single-chip microcomputer. The data measured by the inclination sensor is then used to analyze the force applied to the service robot during the tilting process after climbing the slope. In order to prevent the placement box from tilting after climbing the slope and generating a tilting force, which causes one side to be overloaded and cause the robot to tip over, during the process of the base just breaking up, the second transmission motor is used to drive the threaded rod to rotate, and the threaded rod drives the counterweight to move. The lever principle is used to balance the tilting force, thereby effectively eliminating the risk of the service robot tipping over during the climbing process and greatly improving the stability of the service robot during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings.

[0022] Figure 1 is a first stereogram of the external structure of the present invention;

[0023] Figure 2 is a second stereoscopic diagram of the external structure of the present invention;

[0024] Figure 3 It is a three-dimensional diagram of the internal structure of the present invention;

[0025] Figure 4 This is a front view of the internal structure of the placement box of the present invention;

[0026] Figure 5 It is a top view of the internal structure of the placement box of the present invention;

[0027] Figure 6 It is a front view of the internal structure of the transmission box of the present invention.

[0028] In the figure: 1, base; 2, drive motor; 3, drive wheel; 4, idler wheel; 5, power supply unit; 6, mounting tube; 7, mounting column; 8, connecting column; 9, seven-axis robot arm; 10, bionic robot hand; 11, placement box; 21, first transmission motor; 22, lifting screw rod; 23, transmission ring; 24, slider; 25, slide rail; 31, mounting shaft; 32, feed port; 33, support plate; 34, first transmission block; 35, first electric telescopic rod; 36, second transmission block; 37, shock-absorbing and damping telescopic rod; 38, placement plate; 39, first spring; 390, scale Weight sensor; 41. connecting plate; 42. second electric telescopic rod; 43. transmission plate; 44. telescopic rod; 45. clamping block; 46. second spring; 47. rubber friction pad; 51. connecting frame; 52. connecting block; 53. transmission box; 54. universal wheel; 55. inclination sensor; 61. adjustment frame; 62. second transmission motor; 63. threaded rod; 64. counterweight block; 65. guide rod; 71. fan; 72. electric heating wire; 81. baffle frame; 82. third electric telescopic rod; 91. laser radar; 92. touch interactive screen; 93. 3D camera. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Embodiment 1

[0031] See also Figure 1-Figure 6 As shown, the present invention is a dual-arm liftable mobile service robot, comprising a base 1, two drive motors 2 are fixedly connected inside the base 1, the drive motors 2 are controlled by a PLC programming program, and the drive motors 2 can be controlled to rotate forward and reverse and rotate at an angle, the output end of the drive motor 2 is fixedly connected to a drive wheel 3 rotatably connected to the base through a coupling, the bottom of the base 1 is rotatably connected to an idler wheel 4, a power supply unit 5 is fixedly connected inside the base 1, and the power supply unit 5 includes a battery and a power controller;

[0032] A mounting tube 6 is fixedly connected to the top of the base 1, and a mounting column 7 is slidably connected inside the mounting tube 6. The outer surface of the mounting column 7 is transmission-connected to a transmission mechanism connected to the mounting tube 6, and the transmission mechanism is used to drive the mounting column 7 to move up and down. A connecting column 8 is fixedly connected to the top of the mounting column 7, and both ends of the connecting column 8 are fixedly connected to a seven-axis robotic arm 9, and one end of the seven-axis robotic arm 9 is fixedly connected to a bionic manipulator 10. The seven-axis robotic arm 9 and the bionic manipulator 10 are both existing technologies in the field of robots, so they will not be described in detail here. A placement box 11 is fixedly connected to the outer surface of the mounting tube 6, and an item placement mechanism is arranged in the placement box 11. The placement mechanism is used to stably and fixedly place items.

[0033] A laser radar 91 is fixedly connected to one side of the base 1 , a touch interactive screen 92 is fixedly connected to the outer surface of the connecting column 8 , and a 3D camera 93 is fixedly connected to the outer surface of the connecting column 8 .

[0034] The transmission mechanism includes a first transmission motor 21 fixedly connected to the mounting tube 6. The first transmission motor 21 is controlled by a PLC programming program, and can be controlled to rotate forward and backward and rotate at an angle. The output end of the first transmission motor 21 is connected to a lifting screw rod 22 rotatably connected to the mounting tube 6 through a transmission wheel and a transmission belt. The outer surface of the lifting screw rod 22 is threadedly matched with a transmission ring 23. The transmission ring 23 is fixedly connected to the mounting column 7. The outer surface of the mounting column 7 is fixedly connected to a slider 24. The outer surface of the slider 24 is slidably connected to a slide rail 25 fixedly connected to the mounting tube 6.

[0035] The lifting screw 22 is driven to rotate forward and reversely by the first transmission motor 21, the transmission wheel and the transmission belt, the lifting screw 22 drives the transmission ring 23 to move up and down, and the transmission ring 23 drives the installation column 7 to move up and down.

[0036] The driving motor 2 drives the driving wheel 3 to rotate, and then cooperates with the idler wheel 4 to drive the base 1 to move, the base 1 drives the mounting tube 6 and the mounting column 7 to move, the mounting column 7 drives the connecting column 8 and the seven-axis robotic arm 9 to move, and then the seven-axis robotic arm 9 drives the bionic manipulator 10 to move at the same time. At the same time, the bionic manipulator 10 grabs the object, and at the same time, the mounting column 7 can be driven up and down by the transmission mechanism, the mounting column 7 drives the connecting column 8, the seven-axis robotic arm 9 and the bionic manipulator 10 to move up and down, so as to adjust the height of the robot, so that the robot can grab any object within a certain height range, which greatly improves the applicability of the service robot.

[0037] Embodiment 2

[0038] Based on Example 1, please refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, the article placement mechanism includes a mounting shaft 31 rotatably connected to the placement box 11, a feed port 32 is provided on the outer surface of the placement box 11, a support plate 33 is fixedly connected to the outer surface of the mounting shaft 31, two first transmission blocks 34 are rotatably connected to both sides of the support plate 33, a first electric telescopic rod 35 is fixedly connected to the bottom of the first transmission block 34, a second transmission block 36 is fixedly connected to the bottom end of the first electric telescopic rod 35, the second transmission block 36 is rotatably connected to the placement box 11, a plurality of shock-absorbing and damping telescopic rods 37 are fixedly connected to the top of the support plate 33, a placement plate 38 is fixedly connected to the top of the shock-absorbing and damping telescopic rod 37, a first spring 39 fixedly connected to the placement plate 38 is fixedly sleeved on the outer surface of the shock-absorbing and damping telescopic rod 37, a weighing sensor 390 is fixedly connected to the top of the support plate 33, a clamping mechanism is arranged on the top of the placement plate 38, an input end of the first electric telescopic rod 35 is electrically connected to an inclination detection mechanism connected to the base 1 through an electric wire, and the inclination detection mechanism is connected to the anti-dumping mechanism of the mounting tube 6.

[0039] The clamping mechanism includes two connecting plates 41 fixedly connected to the placement plate 38, one side of the connecting plate 41 is fixedly connected to a second electric telescopic rod 42, one end of the second electric telescopic rod 42 is fixedly connected to a transmission plate 43, one side of the transmission plate 43 is fixedly connected to a plurality of telescopic rods 44, one end of the telescopic rod 44 is fixedly connected to a clamping block 45, and the outer surface of the telescopic rod 44 is fixedly sleeved with a second spring 46 fixedly connected to the clamping block 45.

[0040] A rubber friction pad 47 is fixedly connected to one side of the clamping block 45 .

[0041] The items are picked up through the cooperation of the seven-axis robot arm 9 and the bionic robot arm 10, and then placed on the placement plate 38 in the placement box 11 through the feed port 32 on the placement box 11, and then the transmission plate 43 is driven to move by the second electric telescopic rod 42, and the transmission plate 43 drives the clamping block 45 to move through the telescopic rod 44, and the clamping block 45 drives the rubber friction pad 47 to clamp and fix the items. At the same time, the telescopic rod 44 and the second spring 46 are contracted, so that the rubber friction pads 47 on the multiple clamping blocks 45 are attached to the surface of the items to clamp and fix the items, thereby realizing automatic placement of the taken items. At the same time, the shock-absorbing and damping telescopic rod 37 on the top of the support plate 33 and the first spring 39 are contracted to dampen and buffer the bumps generated by the service robot during movement, thereby preventing the items in the placement box 11 from spilling out in the event of bumps and vibrations.

[0042] The inclination detection mechanism includes a connecting frame 51 fixedly connected to the base, a connecting block 52 is transmission-connected inside the connecting frame 51, a transmission box 53 is fixedly connected to one side of the connecting block 52, a universal wheel 54 is fixedly connected to the bottom of the transmission box 53, and an inclination sensor 55 is fixedly connected inside the transmission box 53. The inclination sensor 55 and the weighing sensor 390 are prior arts, so they are not described in detail here. The inclination sensor 55 is connected to the first electric telescopic rod 35 through a single-chip microcomputer, and the inclination sensor 55 is connected to the anti-dumping mechanism on the mounting tube 6 through the single-chip microcomputer.

[0043] When the service robot climbs a slope, the base 1 drives the transmission box 53 and the universal wheel 54 to enter the slope in advance through the connecting frame 51 and the connecting block 52. At this time, the inclination sensor 55 in the transmission box 53 tilts. At this time, the inclination sensor 55 transmits the inclination data on the slope to the single-chip microcomputer for analysis. Then, when the base 1 starts to climb the slope, the single-chip microcomputer controls the first electric telescopic rod 35 to extend and retract. The first electric telescopic rod 35 drives the support plate 33 to rotate through the first transmission block 34 and the second transmission block 36, so that the support plate 33 moves up the slope with the base 1. The first electric telescopic rod 35 rotates slowly during the process to balance the tilt of the items on the placement plate 38 when going uphill. When the uphill is completely, the first electric telescopic rod 35 no longer rotates, so that the items are parallel to the horizontal plane. When the base leaves the slope, the first electric telescopic rod 35 drives the support plate 33 to rotate, so that the service robot can transport the items. When the service robot climbs the slope, the items in the placement box 11 will not tilt, which effectively prevents the risk of spilling the items in the placement box 11 and greatly improves the protection of the service robot during the transportation of items.

[0044] Embodiment 3

[0045] Based on Example 2, please refer to Figure 2 and Figure 4 As shown, the anti-dumping mechanism includes an adjusting frame 61 fixedly connected to the mounting tube 6, a second transmission motor 62 is fixedly connected inside the adjusting frame 61, an output end of the second transmission motor 62 is fixedly connected to a threaded rod 63 rotatably connected to the adjusting frame 61 through a coupling, an outer surface of the threaded rod 63 is threadedly fitted with a counterweight block 64, and an inner surface of the counterweight block 64 is slidably connected to a guide rod 65 fixedly connected to the adjusting frame 61.

[0046] At the same time, before climbing the slope, the items are weighed by the weighing sensor 390 on the top of the support plate 33, and then the weighing sensor 390 transmits the data of the weight of the items to the single-chip microcomputer, and then the force applied to the service robot during the tilting process after climbing the slope is analyzed according to the data measured by the inclination sensor 55. In order to prevent the placement box 11 from tilting after climbing the slope and generating a tilting force, which causes excessive force on one side and causes the robot to tip over, at this time, when the base 1 is just climbing the slope, the second transmission motor 62 drives the threaded rod 63 to rotate, and the threaded rod 63 drives the counterweight block 64 to move, and the lever principle is used to balance the tilting force, thereby effectively preventing the risk of the service robot tipping over during the climbing process, and greatly improving the stability of the service robot during movement.

[0047] A fan 71 is fixedly connected inside the placement box 11 , and an electric heating wire 72 fixedly connected to the placement box 11 is arranged above the fan 71 .

[0048] The electric heating wire 72 is used for heating, and then the heat generated by the electric heating wire 72 is blown into the storage box 11 by the fan 71, so as to heat and keep the items in the storage box 11 warm, thereby achieving the effect of keeping the items in the storage box 11 warm.

[0049] A baffle frame 81 is slidably connected in the feed port 32 , and a third electric telescopic rod 82 fixedly connected to the placement box 11 is fixedly connected to one side of the baffle frame 81 .

[0050] The blocking frame 81 is driven to move up and down by the third electric telescopic rod 82 , so as to open and close the feed port 32 on the placement box 11 .

[0051] The working principle of the present invention is as follows: the driving motor 2 drives the driving wheel 3 to rotate, and then cooperates with the idler wheel 4 to drive the base 1 to move, the base 1 drives the mounting tube 6 and the mounting column 7 to move, the mounting column 7 drives the connecting column 8 and the seven-axis robotic arm 9 to move, and then the seven-axis robotic arm 9 drives the bionic manipulator 10 to move at the same time. At the same time, the bionic manipulator 10 grabs the object, and at the same time, the mounting column 7 can be driven by the transmission mechanism to move up and down, the mounting column 7 drives the connecting column 8, the seven-axis robotic arm 9 and the bionic manipulator 10 to move up and down, thereby realizing the height adjustment of the robot, so that the robot can grab any object within a certain height range, which greatly improves the applicability of the service robot.

[0052] When the service robot climbs a slope, the base 1 drives the transmission box 53 and the universal wheel 54 to enter the slope in advance through the connecting frame 51 and the connecting block 52. At this time, the inclination sensor 55 in the transmission box 53 tilts. At this time, the inclination sensor 55 transmits the inclination data on the slope to the single-chip microcomputer for analysis. Then, when the base 1 starts to climb the slope, the single-chip microcomputer controls the first electric telescopic rod 35 to extend and retract. The first electric telescopic rod 35 drives the support plate 33 to rotate through the first transmission block 34 and the second transmission block 36, so that the support plate 33 moves up the slope with the base 1. The first electric telescopic rod 35 rotates slowly during the process to balance the tilt of the items on the placement plate 38 when going uphill. When the uphill is completely, the first electric telescopic rod 35 no longer rotates, so that the items are parallel to the horizontal plane. When the base leaves the slope, the first electric telescopic rod 35 drives the support plate 33 to rotate, so that the service robot can transport the items. When the service robot climbs the slope, the items in the placement box 11 will not tilt, which effectively prevents the risk of spilling the items in the placement box 11 and greatly improves the protection of the service robot during the transportation of items.

[0053] At the same time, before climbing the slope, the items are weighed by the weighing sensor 390 on the top of the support plate 33, and then the weighing sensor 390 transmits the data of the weight of the items to the single-chip microcomputer, and then the force applied to the service robot during the tilting process after climbing the slope is analyzed according to the data measured by the inclination sensor 55. In order to prevent the placement box 11 from tilting after climbing the slope and generating a tilting force, which causes excessive force on one side and causes the robot to tip over, at this time, when the base 1 is just climbing the slope, the second transmission motor 62 drives the threaded rod 63 to rotate, and the threaded rod 63 drives the counterweight block 64 to move, and the lever principle is used to balance the tilting force, thereby effectively preventing the risk of the service robot tipping over during the climbing process, and greatly improving the stability of the service robot during movement.

[0054] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A dual-arm liftable mobile service robot, comprising a base (1), characterized in that: Two drive motors (2) are fixedly connected inside the base (1); the output ends of the drive motors (2) are fixedly connected to a drive wheel (3) rotatably connected to the base via a coupling; the bottom of the base (1) is rotatably connected to an idler wheel (4); a power supply unit (5) is fixedly connected inside the base (1); the power supply unit (5) comprises a storage battery and a power controller; The top of the base (1) is fixedly connected to a mounting tube (6), a mounting column (7) is slidably connected inside the mounting tube (6), the outer surface of the mounting column (7) is transmission-connected to a transmission mechanism connected to the mounting tube (6), the transmission mechanism is used to drive the mounting column (7) to move up and down, the top of the mounting column (7) is fixedly connected to a connecting column (8), both ends of the connecting column (8) are fixedly connected to a seven-axis mechanical arm (9), one end of the seven-axis mechanical arm (9) is fixedly connected to a bionic manipulator (10), the outer surface of the mounting tube (6) is fixedly connected to a placement box (11), an article placement mechanism is arranged inside the placement box (11), and the placement mechanism is used to stably and fixedly place articles; The article placement mechanism comprises a mounting shaft (31) rotatably connected to the placement box (11); a feed port (32) is provided on the outer surface of the placement box (11); a support plate (33) is fixedly connected to the outer surface of the mounting shaft (31); two first transmission blocks (34) are rotatably connected to both sides of the support plate (33); a first electric telescopic rod (35) is fixedly connected to the bottom of the first transmission block (34); a second transmission block (36) is fixedly connected to the bottom end of the first electric telescopic rod (35); the second transmission block (36) is rotatably connected to the placement box (11); the top of the support plate (33) is fixedly connected to the bottom end of the first electric telescopic rod (35); A plurality of shock-absorbing and damping telescopic rods (37) are fixedly connected to the top of the shock-absorbing and damping telescopic rods (37), a placement plate (38) is fixedly connected to the top of the shock-absorbing and damping telescopic rods (37), a first spring (39) fixedly connected to the placement plate (38) is fixedly sleeved on the outer surface of the shock-absorbing and damping telescopic rods (37), a weighing sensor (390) is fixedly connected to the top of the support plate (33), a clamping mechanism is arranged on the top of the placement plate (38), an input end of the first electric telescopic rod (35) is electrically connected to an inclination detection mechanism connected to the base (1) through an electric wire, and the inclination detection mechanism is connected to an anti-dumping mechanism of the mounting tube (6); The inclination detection mechanism comprises a connection frame (51) fixedly connected to the base, a connection block (52) being drivingly connected inside the connection frame (51), a transmission box (53) being fixedly connected to one side of the connection block (52), a universal wheel (54) being fixedly connected to the bottom of the transmission box (53), an inclination sensor (55) being fixedly connected inside the transmission box (53), the inclination sensor (55) being connected to the first electric telescopic rod (35) via a single-chip microcomputer, and the inclination sensor (55) being connected to an anti-dumping mechanism on the mounting tube (6) via the single-chip microcomputer; The anti-dumping mechanism comprises an adjusting frame (61) fixedly connected to the mounting tube (6); a second transmission motor (62) is fixedly connected inside the adjusting frame (61); an output end of the second transmission motor (62) is fixedly connected to a threaded rod (63) rotatably connected to the adjusting frame (61) via a coupling; a counterweight block (64) is threadedly engaged on an outer surface of the threaded rod (63); and a guide rod (65) fixedly connected to the adjusting frame (61) is slidably connected on an inner surface of the counterweight block (64).

2. A dual-arm liftable mobile service robot according to claim 1, characterized in that: The transmission mechanism comprises a first transmission motor (21) fixedly connected to the mounting tube (6); the output end of the first transmission motor (21) is connected to a lifting screw rod (22) rotatably connected to the mounting tube (6) through a transmission wheel and a transmission belt; the outer surface of the lifting screw rod (22) is threadedly matched with a transmission ring (23); the transmission ring (23) is fixedly connected to the mounting column (7); the outer surface of the mounting column (7) is fixedly connected to a slider (24); the outer surface of the slider (24) is slidably connected to a slide rail (25) fixedly connected to the mounting tube (6).

3. A dual-arm liftable mobile service robot according to claim 1, characterized in that: The clamping mechanism comprises two connecting plates (41) fixedly connected to the placement plate (38); a second electric telescopic rod (42) is fixedly connected to one side of the connecting plate (41); one end of the second electric telescopic rod (42) is fixedly connected to a transmission plate (43); one side of the transmission plate (43) is fixedly connected to a plurality of telescopic rods (44); one end of the telescopic rod (44) is fixedly connected to a clamping block (45); and a second spring (46) fixedly connected to the clamping block (45) is fixedly sleeved on the outer surface of the telescopic rod (44).

4. A dual-arm liftable mobile service robot according to claim 3, characterized in that: A rubber friction pad (47) is fixedly connected to one side of the clamping block (45).

5. The dual-arm liftable mobile service robot according to claim 1, characterized in that: A fan (71) is fixedly connected inside the placement box (11), and an electric heating wire (72) fixedly connected to the placement box (11) is provided above the fan (71).

6. The dual-arm liftable mobile service robot according to claim 1, characterized in that: A baffle frame (81) is slidably connected inside the feed port (32), and a third electric telescopic rod (82) fixedly connected to the placement box (11) is fixedly connected to one side of the baffle frame (81).

7. The dual-arm liftable mobile service robot according to claim 1, characterized in that: A laser radar (91) is fixedly connected to one side of the base, a touch interaction screen (92) is fixedly connected to the outer surface of the connecting column (8), and a 3D camera (93) is fixedly connected to the outer surface of the connecting column (8).

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