Robot control device and method

Abstract

The invention relates to the technical field of robots, and provides a robot control device and method.The robot control device comprises a cleaning cylinder, an AGV base and a movable suite arranged at the upper end of the AGV base, a multi-dimensional mechanical arm is fixedly connected to the outer surface of the movable suite, a gripper capable of clamping objects is arranged at one end of the multi-dimensional mechanical arm, and a clamping structure is arranged on the outer surface of the gripper; a head is fixedly connected to the upper end of the movable suite, a medicine feeding structure is arranged on the outer surface of the movable suite, an inner base is fixedly connected to the outer surface of the upper end of the AGV base, and a battery is arranged in the inner base and used for providing power support for operation of the robot. By means of the technical scheme, the problems that an existing robot control device and method are small in application scene, water pouring and water feeding cannot be completed, only dust on the table top can be cleaned, objects such as cups, bowls and chopsticks can be placed on the table top, the area cannot be obviously cleaned, applicability is poor, and the robot control device and method are rigid are solved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot control device and method. Background Art

[0002] The Chinese intelligent robot market has grown at an astonishing rate in the past few years and is expected to maintain this trend in the next few years. According to recent statistics, the market size has reached billions of dollars in 2023 and is expected to grow at an annual rate of 20% in the next five years. The research and development of intelligent robots can enable robots to meet more needs. Robots can replace manual labor to complete housework to a certain extent, reducing manpower. With the aggravation of aging and the increase in new consumer groups pursuing spiritual enjoyment, when the cost of housework is rising, the demand for intelligent housework robots is particularly prominent among retired people and the lazy economy. As time goes by, housework robots will become the first choice.

[0003] After searching, the authorization announcement number is CN108724250B, which is a robot limit control device. The invented device reduces the mechanical impact on the hard limit caused by the failure of the soft limit, can well protect the effectiveness of the robot's hard limit, and at the same time reduce the mechanical impact, ensuring that the robot stops working when it reaches the limit position, effectively reducing the risk of failure, improving the safety factor under existing conditions, reducing maintenance costs, and protecting the safety of personnel and property; and the authorization announcement number is CN103976693B, which is a self-charging household multifunctional housework robot. In addition to cleaning the dust on the ground, the household robot can also clean the desktop accordingly, so that it can complete a variety of housework at the same time with high efficiency, and can be automatically charged without manual operation, which is extremely convenient to use;

[0004] However, the above-mentioned existing robot control devices and methods have limited application scenarios, cannot complete pouring and delivering water, and can only clean the dust on the desktop. Since some cups, dishes and other items may be placed on the desktop, it is obviously impossible to clean this area. It has poor applicability and is relatively rigid. For this reason, we propose a robot control device and method. Summary of the invention

[0005] The present invention proposes a robot control device and method, which solves the problems mentioned in the background technology that the existing robot control device and method have small application scenarios, cannot complete pouring and delivering water, and can only clean the dust on the desktop. Since some cups, dishes and other items may be placed on the desktop, it is obviously impossible to clean this area, and the applicability is poor and it is relatively rigid.

[0006] The technical solution of the present invention is as follows:

[0007] A robot control device comprises a cleaning cylinder, an AGV base and a movable kit arranged at the upper end of the AGV base, wherein the outer surface of the movable kit is fixedly connected to a multi-dimensional manipulator, one end of the multi-dimensional manipulator is provided with a gripper capable of clamping an object, the outer surface of the gripper is provided with a clamping structure, the upper end of the movable kit is fixedly connected to a head, the outer surface of the movable kit is provided with a medicine delivery structure, the upper outer surface of the AGV base is fixedly connected to an inner base, a battery is provided inside the inner base for providing power support for the operation of the robot, a telescopic structure is provided between the inner base and the movable kit, the upward and downward movement of the movable kit is adjusted by the telescopic structure, and a distance measuring sensor is fixedly connected to the upper outer surface of the AGV base near the outer side of the movable kit;

[0008] The clamping structure includes a fixed column fixedly connected to the inner side of the gripper, a movable column movably connected inside the fixed column, an arc frame fixedly connected to one end of the movable column, an elastic part fixedly connected to the end of the arc frame, a clamping head fixedly connected to the clamping end of the gripper, a protrusion fixedly connected to the outer side of the clamping head, and a push spring is arranged inside the fixed column.

[0009] As a further technical solution of the present invention, the head is fixedly connected with a main control module, a camera, a temperature sensor, a vibration sensor, an air sensor and an interaction module, and the main control module is signal-connected with the camera, the temperature sensor, the vibration sensor, the air sensor and the interaction module;

[0010] The main control module is electrically connected to the smart home and is used to automatically control various electrical appliances in the smart home;

[0011] The camera is used to photograph various objects in the living environment, and is used to automatically determine whether to perform housework and plan the route;

[0012] The temperature sensor is used to sense the temperature in the living environment;

[0013] The vibration sensor is used to sense the vibration amplitude in the living environment;

[0014] The air sensor is used to sense the air quality in the living environment;

[0015] The interaction module is used to perform voice interaction with the user, and enables the main control module to control the smart home devices in the smart home according to the user's voice instructions.

[0016] As a further technical solution of the present invention, an inner groove is provided inside the movable kit, a medicine storage box is movably arranged inside the inner groove, a partition plate is fixedly connected to the inside of the medicine storage box, an extension block is fixedly connected to the lower end of the medicine storage box, a No. 1 screw is penetrated through the outer surface of the extension block, a servo motor is connected to one end of the No. 1 screw, a label is provided on the outside of the medicine storage box, the servo motor is fixedly connected to the movable kit by bolts, the output shaft of the servo motor is fixedly connected to one end of the No. 1 screw, the No. 1 screw and the extension block are threadedly connected, the medicine storage box is extended and retracted outward by the forward and reverse rotation of the No. 1 screw, and the extension block is used to fill in the name of the medicine for the user.

[0017] As a further technical solution of the present invention, a sweeping module is embedded in the lower end of the AGV base, a detachable ash storage box is provided on the outer surface of the AGV base corresponding to the ash collecting side of the sweeping module, a support plate is fixedly connected to the outer surface of the cleaning cylinder, a rotating brush head is obliquely provided at the lower end of the support plate, a water supply nozzle is fixedly connected to the lower end of the support plate corresponding to the rotating brush head, a cup washing part is provided at the upper end of the support plate, and a charging part is provided on the outer surface of one side of the AGV base.

[0018] As a further technical solution of the present invention, one end of the movable column is slidably arranged inside the fixed column, one elastic end of the push spring is fixedly connected to the gripper, and the other end is fixedly connected to one end of the movable column, the arc frame is a semicircular structure, the elastic part is an elastic anti-slip material, the object is clamped by the clamping head, the water cup is clamped by the arc frame, the protrusion is a hemispherical structure and is used to clamp other objects, the arc frame is used to clamp disposable water cups of standard size, the elastic part is used to clamp water cups larger than the inner diameter of the arc frame, and the clamping head is used to directly clamp objects.

[0019] As a further technical solution of the present invention, the furniture controlled by the main control module includes an intelligent water dispenser, an intelligent rice cooker, an intelligent washing machine, an intelligent door lock, an intelligent curtain, an intelligent air conditioner and an intelligent air purifier. The user sends instructions to the head of the entire robot through voice commands, and the interactive module passes the information to the main control module after receiving the voice commands. The main control module directly executes the instructions. The main control module automatically selects whether to turn on the intelligent air conditioner according to the feedback from the temperature sensor, and the main control module automatically selects whether to turn on the intelligent air purifier according to the feedback from the air sensor. The main control module also determines the content of the housework based on the feedback from the camera.

[0020] As a further technical solution of the present invention, the number of the ranging sensors is several groups and distributed in a ring array, the dust storage box is used to collect ground dust collected by the sweeping module, the nozzle end of the water supply nozzle corresponds to the rotating brush head, the back end of the rotating brush head is connected to the motor, and the rotation of the rotating brush head is realized by the motor, and the dishes are cleaned in cooperation with the water supply nozzle to spray water, the cup washing part is used to wash water cups, and the camera is used to move the robot to the charging place through the AGV base for automatic charging when the battery is low, the water supply nozzle is connected to the household water supply pipeline, and the water spraying and water stop of the water supply nozzle are automatically controlled by the electronic valve, and the opening and closing of the solenoid valve are automatically controlled by the main control module.

[0021] As a further technical solution of the present invention, the telescopic structure includes a No. 2 screw rotatably arranged inside the inner base, the surface of the No. 2 screw is movably sleeved with an extension column, the upper end of the inner base is provided with an opening portion, the inner base is hinged with an active plate at the inner side corresponding to the opening portion, the surface of the extension column is fixedly connected with a protrusion, the surface of the extension column is fixedly connected with a convex strip, the inner side of the inner base is provided with a No. 1 slide groove for limiting the sliding range of the convex strip, the surface of the active plate is hinged with a movable plate, the surface of the active plate is fixedly connected with a sleeve rod, one end of the movable plate is connected with a reinforcement component, the surface of one side of the movable plate is fixedly connected with an inner rod, the sleeve rod is a hollow arc columnar structure, one end of the inner rod is inserted into one end of the sleeve rod, the inner rod and the sleeve rod are slidably connected, an inner spring is provided inside the sleeve rod, and the surface of the active plate is fixedly connected with a positioning rod corresponding to the inside of the sleeve rod.

[0022] As a further technical solution of the present invention, the reinforcing component includes two groups of adjusting rods symmetrically hinged to the outer surface of the movable plate, the outer surface of the adjusting rod is provided with a No. 2 slide groove, the adjusting rod is slidably connected with a slider corresponding to the inside of the No. 2 slide groove, a balancing spring is arranged inside the No. 2 slide groove, the outer surface of the slider is rotatably connected with a roller, the extension column and the No. 2 screw are threadedly connected, the upper end of the extension column is fixedly connected to the movable kit, the No. 2 screw is driven to rotate by a group of lifting motors, and the No. 2 screw is driven to rotate forward and backward to drive the extension column together with the movable kit to move up and down, the active plate pushes the movable plate through the inner spring, the sleeve rod and the inner rod, and cooperates with the reinforcing component to push the inner wall of the movable kit to maintain the stability of the upward and downward movement of the movable kit.

[0023] The present invention also includes a method for using the robot control device, and the specific method for using is as follows:

[0024] All related controls are operated through interactive modules in conjunction with user voice control or automatic control set in advance by the user:

[0025] Laundry mode: When you need to store laundry, you can first open the door of the smart washing machine through the gripper on the gripper, and then automatically move the robot to the clothes that need to be washed through the AGV base. The robot grabs the dirty clothes and puts them into the dirty clothes basket, pours the dirty clothes into the smart washing machine, and scoops the detergent onto the spoon through the rotation of the multi-dimensional manipulator, and pours it into the smart washing machine. The main control module automatically controls the smart washing machine to start and run, wash and dry the clothes. After the smart washing machine finishes washing, take out the dried clothes, grab the clean clothes basket and put them on a clean table, clamp the clothes one by one through the gripper and fold them, and put the folded clothes in the clean clothes basket;

[0026] Pouring mode: The arc frame and the elastic part can not only be used to clamp disposable water cups of standard size, but also can clamp water cups with an outer diameter larger than the inner diameter of the arc frame, and the clamping head can be used to clamp bowls, clothes and other items. At the same time, the protrusions can enable the grippers on the two sets of multi-dimensional manipulators to clamp certain irregular objects. As long as the multi-dimensional manipulators in the four sets of protrusions clamp the solid objects, the handling of the objects can be completed, that is, the protrusions can fit the outer wall of the water cup, and can also clamp water cups with an outer diameter smaller than the inner diameter of the arc frame, or other objects;

[0027] Cleaning floor mode: Through the movement of the AGV base, the dust can be sucked into it through the sweeping module, and finally the dust is collected in the dust box. When cleaning is needed, the user can disassemble the dust box and pour out the dust. At the same time, the multi-dimensional manipulator can rotate and extend to make the gripper contract to clamp the debris on the ground, such as socks, clothes, toys and other items on the ground. After clamping, the AGV base moves and cooperates with the multi-dimensional manipulator and gripper to place the items in the appropriate position, so that the home can be simply organized;

[0028] Medication reminder mode: When the set medication time arrives, the servo motor drives the No. 1 screw to rotate forward, so that the extension block drives the medicine storage box to move to the side away from the activity kit, and the medicine storage box can be moved to the outside of the activity kit. At this time, the medicine will be exposed to the outside, which is convenient for users to take. At the same time, the interactive module will remind users of the amount of medicine to take. In special cases, users can choose whether to change the time according to their own needs. For example, if they do not want to take medicine temporarily, users can issue instructions such as "do not take medicine this time" or "take medicine in 1 hour" through the interactive module to avoid the robot rigidly requiring users to take medicine;

[0029] Dishwashing mode: When the bowl needs to be washed, the clamping head on the robot can be used to clamp one side edge of the bowl and move it to the area of ​​the washing cylinder. The inside of the bowl can be adjusted to the position of the bristles of the rotating brush head. The main control module can be used to control the corresponding motor on the rotating brush head to run, and the solenoid valve on the water supply nozzle can be controlled to open, so as to clean the bowl. To avoid insufficient cleaning at the clamping position, the robot can clamp other positions of the bowl for a second time and rinse the bowl again. When washing cups, the robot can clamp the cup with the gripper and turn the cup mouth over, and press down at the corresponding position of the cup washing part. At this time, water will rush out from the inside of the cup washing part to clean the inside of the cup body. After cleaning, the cup can be placed in a suitable position.

[0030] The working principle and beneficial effects of the present invention are:

[0031] The clamping structure of the present invention can clamp a standard disposable water cup to pour water and pass it to the user. At the same time, it can automatically wash clothes and fold and store them after washing. It can realize many functions such as laundry storage, housework organization, cleaning after washing, and nanny assistant, and can be connected to a smart home to start or shut down independent devices in the smart home according to user instructions, settings or automatic control. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] Figure 1 It is a schematic diagram of the structure of the robot of the present invention;

[0034] Figure 2 It is a schematic diagram of the local structure of the robot of the present invention when it is elevated;

[0035] Figure 3 For the present invention Figure 2 Schematic diagram of the cutaway local structure;

[0036] Figure 4 It is a partial schematic diagram of the telescopic structure of the present invention;

[0037] Figure 5 The robot of the present invention Figure 4 Schematic diagram of the local structure from another perspective;

[0038] Figure 6 It is a schematic diagram of a partial structure of the present invention cut away near the No. 1 chute;

[0039] Figure 7 It is a schematic diagram of a partial structure of a robot cut away from a spring inside the robot of the present invention;

[0040] Figure 8It is a schematic diagram of the local structure of the reinforcement component of the robot of the present invention;

[0041] Fig. 9 This is a system block diagram of the smart home scenario of the present invention;

[0042] Fig.10 It is a schematic diagram of the local structure of the clamping structure of the present invention;

[0043] Fig.11 For the present invention Figure 5 Schematic diagram of the cutaway local structure;

[0044] Fig.12 It is a schematic diagram of the partial structure of the medicine storage box extending outwards of the present invention;

[0045] Fig.13 This is a schematic diagram of a partial structure of the drug delivery structure cut away from another perspective of the present invention;

[0046] Fig.14 It is a schematic diagram of the partial structure of the bottom of the AGV base of the present invention;

[0047] Fig.15 It is a schematic diagram of the local structure of the cleaning cylinder of the present invention.

[0048] In the figure: 1. AGV base; 2. Activity kit; 3. Multi-dimensional manipulator; 4. Gripper;

[0049] 5. Clamping structure; 51. Fixed column; 52. Movable column; 53. Arc frame; 54. Elastic part; 55. Clamping head; 56. Protruding part; 57. Push spring;

[0050] 6. Head;

[0051] 7. Medicine delivery structure; 71. Inner tank; 72. Medicine storage box; 73. Partition plate; 74. Extension block; 75. Servo motor; 76. Screw rod No. 1; 77. Label;

[0052] 8. Inner base; 9. Distance sensor;

[0053] 10. Telescopic structure; 101. No. 2 screw; 102. Extension column; 103. Opening; 104. Active plate; 105. Bump; 106. No. 1 slide; 107. Raised strip; 108. Movable plate; 109. Sleeve rod; 1001. Inner rod; 1002. Positioning rod; 1003. Inner spring; 110. Strengthening assembly; 1101. Adjusting rod; 1102. No. 2 slide; 1103. Sliding block; 1104. Roller; 1105. Balance spring;

[0054] 11. Main control module; 12. Camera; 13. Temperature sensor; 14. Vibration sensor; 15. Air sensor; 16. Interaction module; 17. Sweeping module; 18. Cleaning cylinder; 19. Support plate; 20. Rotating brush head; 21. Water supply nozzle; 22. Cup washing device; 23. Charging unit; 24. Ash storage box. DETAILED DESCRIPTION

[0055] The following will be combined with 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.

[0056] Example 1

[0057] like Figure 1 to Figure 3 , Figure 9-11 As shown, this embodiment proposes a robot control device, including a cleaning cylinder 18, an AGV base 1 and a movable kit 2 arranged at the upper end of the AGV base 1, a multi-dimensional manipulator 3 is fixedly connected to the outer surface of the movable kit 2, a gripper 4 that can clamp objects is arranged at one end of the multi-dimensional manipulator 3, a clamping structure 5 is arranged on the outer surface of the gripper 4, a head 6 is fixedly connected to the upper end of the movable kit 2, a medicine delivery structure 7 is arranged on the outer surface of the movable kit 2, an inner base 8 is fixedly connected to the upper outer surface of the AGV base 1, a battery is arranged inside the inner base 8 for providing power support for the operation of the robot, a telescopic structure 10 is arranged between the inner base 8 and the movable kit 2, the upward and downward movement of the movable kit 2 is adjusted by the telescopic structure 10, and a distance measuring sensor 9 is fixedly connected to the upper outer surface of the AGV base 1 near the outer side of the movable kit 2;

[0058] The clamping structure 5 includes a fixed column 51 fixedly connected to the inner side of the gripper 4, a movable column 52 is movably connected inside the fixed column 51, an arc frame 53 is fixedly connected to one end of the movable column 52, an elastic portion 54 is fixedly connected to the end of the arc frame 53, a clamping head 55 is fixedly connected to the clamping end of the gripper 4, a protrusion 56 is fixedly connected to the outer side of the clamping head 55, and a push spring 57 is arranged inside the fixed column 51.

[0059] One end of the movable column 52 is slidably arranged inside the fixed column 51, one elastic end of the push spring 57 is fixedly connected to the gripper 4, and the other end is fixedly connected to one end of the movable column 52, the arc frame 53 is a semicircular structure, and the elastic part 54 is an elastic anti-slip material; the object is clamped by the clamping head 55, and the water cup is clamped by the arc frame 53, the protrusion 56 is a hemispherical structure and is used to clamp other objects, the arc frame 53 is used to clamp disposable water cups of standard size, the elastic part 54 is used to clamp water cups larger than the inner diameter of the arc frame 53, and the clamping head 55 is used to directly clamp the object.

[0060] In this embodiment, when it is necessary to store laundry, the door of the smart washing machine can be opened first by the clamping head 55 on the gripper 4, and then the robot can be automatically moved to the side of the clothes to be washed by the AGV base 1. The robot grabs the dirty clothes and puts them into the dirty clothes basket. Then, the multi-dimensional manipulator 3 is rotated so that the position clamped by the clamping head 55 at one end of the gripper 4 corresponds to the position of the edge of the dirty clothes basket. The dirty clothes basket is clamped by the clamping head 55 on the gripper 4. The two groups of grippers 4 clamp the two sides of the dirty clothes basket respectively. Then, the AGV base 1 is used to move the robot to the dirty clothes basket. The V base 1 moves the entire robot to the side of the smart washing machine, and the dirty clothes are poured into the inside of the smart washing machine through the rotation and tilting of the multi-dimensional manipulator 3. Then, the clamping head 55 on the gripper 4 clamps the spoon corresponding to the washing powder, and the washing powder is scooped onto the spoon through the rotation of the multi-dimensional manipulator 3. Then, the washing powder is poured into the inside of the smart washing machine through the operation of the multi-dimensional manipulator 3, and then the gripper 4 is released to allow the spoon to be gently placed in the box containing the washing powder, and then the door of the smart washing machine is closed, and the smart washing machine is automatically controlled through the main control module 11. The washing machine is started to run, and the clothes are washed and dried. After the intelligent washing machine is washed, the clamping head 55 on the gripper 4 is used to clamp the door of the intelligent washing machine and open it. After opening, the clamping head 55 at the end of the gripper 4 is used to clamp the clothes out and place them in a clean clothes basket. Then, the clean clothes basket is grasped and placed on a clean table. The clothes are clamped and folded by the gripper 4, and the folded clothes are placed in the clean clothes basket. Through the structural effect of the clamping structure 5, the arc frame 53 and the elastic part 54 can not only be used to clamp the label The invention can be used to clamp disposable water cups of standard size, and water cups with an outer diameter larger than the inner diameter of the arc frame 53, and the clamping head 55 can be used to clamp bowls, clothes and other items. At the same time, the protrusions 56 can be used to enable the grippers 4 on the two groups of multi-dimensional manipulators 3 to clamp certain irregular objects. As long as more than three of the four groups of protrusions 56 clamp the solid objects, the objects can be transported. That is, the protrusions 56 fit the outer wall of the water cup, and water cups or other objects with an outer diameter smaller than the inner diameter of the arc frame 53 can also be clamped. The application range is large and the application scenarios are broad.

[0061] Example 2

[0062] like Fig. 9As shown, on the basis of Example 1, it is also proposed that the inside of the head 6 is respectively fixedly connected with a main control module 11, a camera 12, a temperature sensor 13, a vibration sensor 14, an air sensor 15 and an interaction module 16, and the main control module 11 and the camera 12, the temperature sensor 13, the vibration sensor 14, the air sensor 15 and the interaction module 16 are all signal connections; the main control module 11 is conductively connected to the smart home, and is used to automatically control various electrical appliances in the smart home; the camera 12 is used to photograph various items in the living environment, and is used to automatically determine whether to do housework and plan the route; the temperature sensor 13 is used to sense the temperature in the living environment; the vibration sensor 14 is used to sense the vibration amplitude in the living environment; the air sensor 15 is used to sense the air quality in the living environment; the interaction module 16 is used to perform voice interaction with the user, and according to the user's voice instructions, the main control module 11 controls the smart home devices in the smart home.

[0063] The furniture controlled by the main control module 11 includes an intelligent water dispenser, an intelligent rice cooker, an intelligent washing machine, an intelligent door lock, an intelligent curtain, an intelligent air conditioner and an intelligent air purifier. The user sends instructions to the head 6 of the entire robot through voice commands. After receiving the voice instructions through the interactive module 16, the information is transmitted to the main control module 11, and the instructions are directly executed by the main control module 11. The main control module 11 automatically selects whether to turn on the intelligent air conditioner according to the feedback of the temperature sensor 13, and the main control module 11 automatically selects whether to turn on the intelligent air purifier according to the feedback of the air sensor 15. The main control module 11 also determines the content of the housework according to the feedback of the camera 12.

[0064] In this embodiment, when housework needs to be tidied, the dust can be sucked into the interior of the sweeping module 17 through the movement of the AGV base 1, and finally the dust is collected in the interior of the ash box 24. When cleaning is needed, the user can disassemble the ash box 24 to pour out the dust. At the same time, the multi-dimensional manipulator 3 can be rotated and extended to make the gripper 4 contract to clamp the sundries on the ground, such as socks, clothes, toys and other items on the ground. After clamping, the AGV base 1 moves to cooperate with the multi-dimensional manipulator 3 and the gripper 4 to place the items in a suitable position, so that the interior of the home can be simply tidied. At the same time, the rag is clamped by the clamping head 55 at the end of the gripper 4, and the rotation of the multi-dimensional manipulator 3 and the movement of the AGV base 1 can make the rag rub corresponding to different positions on the desktop, so that the desktop is cleaned and the housework is tidied;

[0065] During the entire use process, the user can issue corresponding instructions through the interaction with the interactive module 16, and can ask the intelligent robot to control the smart home devices in the home, such as "turn off the air conditioner", "open the curtains", "turn off the bedroom lights", "turn on the TV", etc., and the current temperature threshold for the robot to automatically turn on the air conditioner can be controlled by the user's voice command, such as "turn on the air conditioner when the indoor temperature is higher than 30 degrees, and adjust the cooling temperature to 26 degrees". During the whole process, the battery inside the inner base 8 provides power for the operation of the entire robot, and the battery in the inner base 8 is charged by connecting the charging part 23 to the plug.

[0066] It should be noted that, when the movable kit 2 needs to be retracted to reduce the occupied space after extending upward, it will only retract when the ranging sensor 9 detects that there is no object blocking the movable kit 2 and the inner base 8, and the camera 12 detects that the downward movement of the multi-dimensional manipulator 3 will not interfere with other items in the home. That is, the movable kit 2 will not clamp external foreign objects during the downward contraction process, and the operation of the telescopic structure 10 will stop immediately when there are foreign objects, and the movable kit 2 will also remain stationary at this time.

[0067] Example 3

[0068] like Figure 12-13 As shown, on the basis of Example 2, it is further proposed that an inner groove 71 is opened inside the movable kit 2, a medicine storage box 72 is movably arranged inside the inner groove 71, a partition plate 73 is fixedly connected to the inside of the medicine storage box 72, an extension block 74 is fixedly connected to the lower end of the medicine storage box 72, a No. 1 screw 76 is penetrated on the outer surface of the extension block 74, a servo motor 75 is connected to one end of the No. 1 screw 76, and a label 77 is arranged on the outer side of the medicine storage box 72.

[0069] The servo motor 75 is fixedly connected to the movable kit 2 by bolts, and the output shaft of the servo motor 75 is fixedly connected to one end of the No. 1 screw 76. The No. 1 screw 76 and the extension block 74 are threadedly connected. The medicine storage box 72 can be extended and retracted outward by the forward and reverse rotation of the No. 1 screw 76. The extension block 74 is used for the user to fill in the name of the medicine.

[0070] In this embodiment, when it is necessary to remind the user to take medicine on time, when the set time for taking medicine arrives, the servo motor 75 drives the No. 1 screw 76 to rotate forward, so that the extension block 74 drives the medicine storage box 72 to move toward the side away from the movable kit 2, and the medicine storage box 72 can be moved to the outside of the movable kit 2. At this time, the medicine will be exposed to the outside, which is convenient for the user to take. At the same time, the interactive module 16 will remind the user of the amount of medicine to be taken. In special cases, the user can choose whether to change the time according to his own needs. For example, if he does not want to take the medicine temporarily, the user can issue instructions such as "do not take it this time" or "take the medicine after 1 hour" through the interactive module 16 to avoid the robot rigidly requiring the user to take the medicine.

[0071] Example 4

[0072] like Figure 14-15 As shown, on the basis of Example 3, it is further proposed that a sweeping module 17 is embedded in the lower end of the AGV base 1, a detachable ash storage box 24 is provided on the outer surface of the AGV base 1 corresponding to the ash collecting side of the sweeping module 17, a support plate 19 is fixedly connected to the outer surface of the cleaning cylinder 18, a rotating brush head 20 is obliquely provided at the lower end of the support plate 19, a water supply nozzle 21 is fixedly connected to the lower end of the support plate 19 corresponding to the rotating brush head 20, a cup washing part 22 is provided at the upper end of the support plate 19, and a charging part 23 is provided on the outer surface of one side of the AGV base 1.

[0073] The number of distance measuring sensors 9 is several groups and distributed in a ring array. The dust storage box 24 is used to collect ground dust collected by the sweeping module 17. The nozzle end of the water supply nozzle 21 corresponds to the rotating brush head 20. The back end of the rotating brush head 20 is connected to the motor. The rotation of the rotating brush head 20 is realized by the motor, and the water supply nozzle 21 sprays water to clean the dishes.

[0074] The cup washing device 22 is used to wash water cups. The camera 12 is used to move the robot to the charging place through the AGV base 1 to automatically charge when the robot is low on power. The water supply nozzle 21 is connected to the household water supply pipeline, and the water supply nozzle 21 is automatically controlled by the electronic valve to spray water and stop water. The opening and closing of the solenoid valve is automatically controlled by the main control module 11.

[0075] In this embodiment, when the bowl needs to be cleaned, the clamping head 55 on the top can be used to clamp the edge of one side of the bowl and move it to the area of ​​the cleaning cylinder 18. The inside of the bowl is placed at the position of the bristles of the rotating brush head 20. The main control module 11 controls the operation of the corresponding motor on the rotating brush head 20, and the solenoid valve on the water supply nozzle 21 is controlled to open, so that the bowl is cleaned. To avoid insufficient cleaning of the clamping position, the robot can clamp other positions of the bowl for a second time and clamp and rinse the bowl again. When cleaning a cup, the robot can clamp the cup with the gripper 4 to turn the cup mouth over, and press down at the position corresponding to the cup washing part 22. At this time, water will be flushed out from the inside of the cup washing part 22 to clean the inside of the cup body. After cleaning, the cup can be placed in a suitable position.

[0076] When it is necessary to pour water for the user, a group of grippers 4 can be used to clamp the disposable cup close to each other so that the disposable cup is located between the two groups of arc frames 53, and then the disposable cup can be clamped. Then the robot can be moved to the intelligent water dispenser by the AGV base 1, and the multi-dimensional manipulator 3 can be moved so that the mouth of the disposable cup corresponds to the water outlet of the intelligent water dispenser. The main control module 11 controls the intelligent water dispenser to discharge water, and the disposable cup can be stopped when it is about to be full. Then the AGV base 1 can be used to move the disposable cup filled with water on the desktop closest to the user, or move it to the user's position and wait for the user to take it by himself; when grabbing a non-disposable cup, the cup can be clamped by the elastic part 54 on the arc frame 53, and the outer surface of the cup can be clamped by four groups of elastic parts 54 to keep the cup stable, thereby achieving the effect of clamping the cup. However, under this condition, the outer diameter of the cup needs to be kept larger than the inner diameter of the arc frame 53 to clamp the cup.

[0077] Example 5

[0078] like Figure 4-Figure 8 As shown, on the basis of any one of embodiments 1-4, it is further proposed that the telescopic structure 10 includes a No. 2 screw 101 rotatably arranged inside the inner base 8, the surface of the No. 2 screw 101 is movably sleeved with an extension column 102, the upper end of the inner base 8 is provided with an opening portion 103, the inner base 8 is hinged with an active plate 104 at the inner side corresponding to the opening portion 103, the surface of the extension column 102 is fixedly connected with a protrusion 105, the surface of the extension column 102 is fixedly connected with a convex strip 107, the inner side of the inner base 8 is provided with a No. 1 slide groove 106 for limiting the sliding range of the convex strip 107, and the main A movable plate 108 is hinged on the surface of the movable plate 104, a sleeve rod 109 is fixedly connected to the surface of the active plate 104, one end of the movable plate 108 is connected to a reinforcing assembly 110, an inner rod 1001 is fixedly connected to the surface of one side of the movable plate 108, the sleeve rod 109 is a hollow arc-shaped columnar structure, one end of the inner rod 1001 is inserted into one end of the sleeve rod 109, the inner rod 1001 and the sleeve rod 109 are slidably connected, an inner spring 1003 is arranged inside the sleeve rod 109, and a positioning rod 1002 is fixedly connected to the inside of the sleeve rod 109 corresponding to the surface of the active plate 104.

[0079] As a further technical solution of the present invention, the reinforcement component 110 includes two groups of adjustment rods 1101 symmetrically hinged on the outer surface of the movable plate 108, and a No. 2 slide groove 1102 is opened on the outer surface of the adjustment rod 1101. The adjustment rod 1101 is slidably connected with a slider 1103 corresponding to the inside of the No. 2 slide groove 1102. A balance spring 1105 is arranged inside the No. 2 slide groove 1102. The outer surface of the slider 1103 is rotatably connected with a roller 1104. The extension column 102 and the No. 2 screw 101 are threadedly connected, and the upper end of the extension column 102 is fixedly connected to the movable kit 2. The No. 2 screw 101 is driven to rotate by a group of lifting motors, and the No. 2 screw 101 is driven to rotate forward and backward to drive the extension column 102 and the movable kit 2 to move up and down. The active plate 104 pushes the movable plate 108 through the inner spring 1003, the sleeve rod 109 and the inner rod 1001, and cooperates with the reinforcement component 110 to push the inner wall of the movable kit 2 to maintain the stability of the up and down movement of the movable kit 2.

[0080] In this embodiment, during use, when the height of the movable kit 2 needs to be raised, the lifting motor can be used to drive the second screw 101 to rotate forwardly, drive the extension column 102 to move upward, and the convex strip 107 will move upward along the first slide groove 106, so that the height of the movable kit 2 can be adjusted. In the process of the extension column 102 moving upward, the convex block 105 can be driven to move upward synchronously, and the active plate 104 can be tilted by the convex block 105, and the inner spring 1003 can be contracted by the active plate 104, and the inner spring 1003 can be driven to move upward. The inner rod 1001 pushes the reinforcing assembly 110, so that the roller 1104 always pushes the inner wall surface of the movable kit 2. By adjusting the hinge characteristics of the rod 1101 and the movable plate 108, and the push of the slider 1103 by the balance spring 1105, the roller 1104 can always press against the inner wall of the movable kit 2, and the more the protrusion 105 moves upward, the greater the force of the roller 1104 pressing against the movable kit 2, that is, the higher the height of the movable kit 2, the greater the force pressing against the movable kit 2, and the more stable the movable kit 2 is on the surface of the inner base 8.

[0081] The present invention also includes a method for using the robot control device, and the specific method for using is as follows:

[0082] All related controls are operated through the interactive module 16 in cooperation with the user's voice control or the automatic control set in advance by the user:

[0083] Laundry mode: When it is necessary to store laundry, the door of the smart washing machine can be opened by the clamping head 55 on the gripper 4, and then the robot is automatically moved to the side of the clothes that need to be washed by the AGV base 1. The robot grabs the dirty clothes and puts them into the dirty clothes basket, pours the dirty clothes into the inside of the smart washing machine, and scoops the washing powder onto the spoon through the rotation of the multi-dimensional manipulator 3, and pours it into the inside of the smart washing machine. The main control module 11 automatically controls the smart washing machine to start and run, wash and dry the clothes, and after the smart washing machine finishes washing, take out the dried clothes, grab the clean clothes basket and put them on a clean table, clamp the clothes one by one by the gripper 4 and fold them, and put the folded clothes in the clean clothes basket;

[0084] Pouring mode: the arc frame 53 and the elastic part 54 can not only be used to clamp disposable water cups of standard size, but also can clamp water cups with an outer diameter larger than the inner diameter of the arc frame 53, and the clamping head 55 can be used to clamp bowls, clothes and other items. At the same time, the protrusion 56 can make the grippers 4 on the two groups of multi-dimensional manipulators 3 clamp certain irregular objects. As long as more than three groups of multi-dimensional manipulators in the four groups of protrusions 56 clamp solid objects, the handling of the objects can be completed, that is, the protrusion 56 fits the outer wall of the water cup, and can also clamp water cups with an outer diameter smaller than the inner diameter of the arc frame 53, or other objects;

[0085] Cleaning floor mode: Through the movement of the AGV base 1, the dust can be sucked into the inside through the sweeping module 17, and finally the dust is collected in the dust box 24. When cleaning is needed, the user can disassemble the dust box 24 and pour out the dust. At the same time, the multi-dimensional manipulator 3 can rotate and extend to make the gripper 4 contract to clamp the debris on the ground, such as socks, clothes, toys and other items on the ground. After clamping, the AGV base 1 moves to cooperate with the multi-dimensional manipulator 3 and the gripper 4 to place the items in a suitable position, so that the home can be simply organized;

[0086] Medication reminder mode: when the set medication time arrives, the servo motor 75 drives the No. 1 screw 76 to rotate forward, so that the extension block 74 drives the medicine storage box 72 to move to the side away from the movable kit 2, so that the medicine storage box 72 can be moved to the outside of the movable kit 2. At this time, the medicine will be exposed to the outside, which is convenient for the user to take. At the same time, the interactive module 16 will remind the user of the amount of medicine to be taken. In special cases, the user can choose whether to change the time according to his own needs. For example, if he does not want to take medicine temporarily, the user can issue instructions such as "do not take medicine this time" or "take medicine in 1 hour" through the interactive module 16 to avoid the robot rigidly requiring the user to take medicine;

[0087] Dishwashing mode: When the bowl needs to be washed, the clamping head 55 on the top can be used to clamp the edge of one side of the bowl and move it to the area of ​​the washing cylinder 18. The inside of the bowl can be adjusted to the position of the bristles of the rotating brush head 20. The main control module 11 can be used to control the corresponding motor on the rotating brush head 20 to run, and the solenoid valve on the water supply nozzle 21 can be controlled to open, so as to clean the bowl. To avoid insufficient cleaning of the clamping position, the robot can clamp other positions of the bowl for a second time and rinse the bowl again. When washing a cup, the robot can clamp the cup with the gripper 4 to turn the cup mouth over and press down at the position corresponding to the cup washing part 22. At this time, water will rush out from the inside of the cup washing part 22 to clean the inside of the cup body. After cleaning, the cup can be placed in a suitable position.

[0088] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot control device, characterized in that: The invention comprises a cleaning cylinder (18), an AGV base (1) and a movable kit (2) arranged at the upper end of the AGV base (1); a multi-dimensional manipulator (3) is fixedly connected to the outer surface of the movable kit (2); a gripper (4) capable of clamping an object is arranged at one end of the multi-dimensional manipulator (3); a clamping structure (5) is arranged on the outer surface of the gripper (4); a head (6) is fixedly connected to the upper end of the movable kit (2); a medicine delivery structure (7) is arranged on the outer surface of the movable kit (2); an inner base (8) is fixedly connected to the outer surface of the upper end of the AGV base (1); a battery is arranged inside the inner base (8) for providing power support for the operation of the robot; a telescopic structure (10) is arranged between the inner base (8) and the movable kit (2); the upward and downward movement of the movable kit (2) is adjusted by the telescopic movement of the telescopic structure (10); a distance measuring sensor (9) is fixedly connected to the outer surface of the upper end of the AGV base (1) near the outer side of the movable kit (2); The clamping structure (5) comprises a fixed column (51) fixedly connected to the inner side of the gripper (4); a movable column (52) is movably connected inside the fixed column (51); one end of the movable column (52) is fixedly connected to an arc frame (53); the end of the arc frame (53) is fixedly connected to an elastic part (54); the clamping end of the gripper (4) is fixedly connected to a clamping head (55); the outer side of the clamping head (55) is fixedly connected to a protrusion (56); and a push spring (57) is arranged inside the fixed column (51).

2. The robot control device according to claim 1, characterized in that: The head (6) is fixedly connected to a main control module (11), a camera (12), a temperature sensor (13), a vibration sensor (14), an air sensor (15) and an interaction module (16) respectively, and the main control module (11) is signal-connected to the camera (12), the temperature sensor (13), the vibration sensor (14), the air sensor (15) and the interaction module (16); The main control module (11) is electrically connected to the smart home and is used to automatically control various electrical appliances in the smart home; The camera (12) is used to photograph various objects in the living environment, and is used to automatically determine whether to perform housework and plan a travel route; The temperature sensor (13) is used to sense the temperature in the living environment; The vibration sensor (14) is used to sense the vibration amplitude in the living environment; The air sensor (15) is used to sense the air quality in the living environment; The interaction module (16) is used to perform voice interaction with the user and enables the main control module (11) to control the smart home devices in the smart home according to the user's voice instructions.

3. The robot control device according to claim 1, characterized in that: The movable kit (2) is provided with an inner groove (71), a medicine storage box (72) is movably arranged inside the inner groove (71), a partition plate (73) is fixedly connected inside the medicine storage box (72), an extension block (74) is fixedly connected to the lower end of the medicine storage box (72), a No. 1 screw (76) is penetrated through the outer surface of the extension block (74), one end of the No. 1 screw (76) is connected to a servo motor (75), a label (77) is arranged on the outer side of the medicine storage box (72), the servo motor (75) is fixedly connected to the movable kit (2) by bolts, the output shaft of the servo motor (75) is fixedly connected to one end of the No. 1 screw (76), the No. 1 screw (76) and the extension block (74) are threadedly connected, the medicine storage box (72) is extended and retracted outward by the forward and reverse rotation of the No. 1 screw (76), and the extension block (74) is used to fill in the name of the medicine for the user.

4. The robot control device according to claim 2, characterized in that: A sweeping module (17) is embedded in the lower end of the AGV base (1); a detachable ash storage box (24) is provided on the outer surface of the AGV base (1) corresponding to the ash collecting side of the sweeping module (17); a support plate (19) is fixedly connected to the outer surface of the cleaning cylinder (18); a rotating brush head (20) is obliquely provided at the lower end of the support plate (19); a water supply nozzle (21) is fixedly connected at the lower end of the support plate (19) corresponding to the rotating brush head (20); a cup washing part (22) is provided at the upper end of the support plate (19); and a charging part (23) is provided on one side of the outer surface of the AGV base (1).

5. The robot control device according to claim 1, characterized in that: One end of the movable column (52) is slidably arranged inside the fixed column (51); one elastic end of the push spring (57) is fixedly connected to the gripper (4), and the other end is fixedly connected to one end of the movable column (52); the arc frame (53) is a semicircular structure; the elastic portion (54) is an elastic non-slip material; the object is clamped by the clamping head (55); the water cup is clamped by the arc frame (53); the protrusion (56) is a hemispherical structure and is used to clamp other objects; the arc frame (53) is used to clamp disposable water cups of standard size; the elastic portion (54) is used to clamp water cups larger than the inner diameter of the arc frame (53); and the clamping head (55) is used to directly clamp objects.

6. The robot control device according to claim 2, characterized in that: The furniture controlled by the main control module (11) includes an intelligent water dispenser, an intelligent rice cooker, an intelligent washing machine, an intelligent door lock, an intelligent curtain, an intelligent air conditioner and an intelligent air purifier. The user issues a command to the head (6) of the entire robot through a voice command. After receiving the voice command through the interactive module (16), the information is transmitted to the main control module (11). The command is directly executed by the main control module (11). The main control module (11) automatically selects whether to turn on the intelligent air conditioner according to the feedback of the temperature sensor (13), and the main control module (11) automatically selects whether to turn on the intelligent air purifier according to the feedback of the air sensor (15). The main control module (11) also determines the content of the housework according to the feedback of the camera (12).

7. The robot control device according to claim 4, characterized in that: The number of the distance measuring sensors (9) is several groups and they are distributed in a ring array. The dust storage box (24) is used to collect the dust on the ground collected by the sweeping module (17). The nozzle end of the water supply nozzle (21) corresponds to the rotating brush head (20). The back end of the rotating brush head (20) is connected to the motor. The rotating brush head (20) is rotated by the motor, and the dishes are cleaned in cooperation with the water supply nozzle (21) to spray water. The cup washing part (22) is used to clean the cup. The camera (12) is used to move the robot to the charging place through the AGV base (1) for automatic charging when the battery power is insufficient. The water supply nozzle (21) is connected to the household water supply pipeline, and the water spraying and water stopping of the water supply nozzle (21) are automatically controlled by the electronic valve. The opening and closing of the electromagnetic valve are automatically controlled by the main control module (11).

8. The robot control device according to claim 1, characterized in that: The telescopic structure (10) comprises a No. 2 screw rod (101) rotatably arranged inside the inner base (8); an extension column (102) is movably sleeved on the surface of the No. 2 screw rod (101); an opening portion (103) is provided at the upper end of the inner base (8); an active plate (104) is hingedly connected to the inner side of the inner base (8) corresponding to the opening portion (103); a protrusion (105) is fixedly connected to the surface of the extension column (102); a convex strip (107) is fixedly connected to the surface of the extension column (102); a No. 1 slide groove (106) for limiting the sliding range of the convex strip (107) is provided on the inner side of the inner base (8); and a No. 1 slide groove (106) for limiting the sliding range of the convex strip (107) is hingedly connected to the surface of the active plate (104). A movable plate (108), a sleeve rod (109) is fixedly connected to the surface of the active plate (104), one end of the movable plate (108) is connected to a reinforcing assembly (110), an inner rod (1001) is fixedly connected to the surface of one side of the movable plate (108), the sleeve rod (109) is a hollow arc columnar structure, one end of the inner rod (1001) is inserted into one end of the sleeve rod (109), the inner rod (1001) and the sleeve rod (109) are slidably connected, an inner spring (1003) is arranged inside the sleeve rod (109), and a positioning rod (1002) is fixedly connected to the surface of the active plate (104) corresponding to the inside of the sleeve rod (109).

9. The robot control device according to claim 8, characterized in that: The reinforcing assembly (110) comprises two groups of adjusting rods (1101) symmetrically hinged to the outer surface of the movable plate (108); the outer surface of the adjusting rod (1101) is provided with a second slide groove (1102); the adjusting rod (1101) is slidably connected to the inside of the second slide groove (1102) with a slider (1103); a balancing spring (1105) is arranged inside the second slide groove (1102); the outer surface of the slider (1103) is rotatably connected to a roller (1104); and the extension column (102) and the second screw rod (101) are connected to each other. The extension column (102) is threadedly connected, and the upper end of the extension column (102) is fixedly connected to the movable kit (2). The second screw rod (101) is driven to rotate by a group of lifting motors. The second screw rod (101) drives the extension column (102) and the movable kit (2) to move up and down through the forward and reverse rotation of the second screw rod (101). The active plate (104) pushes the movable plate (108) through the inner spring (1003), the sleeve rod (109) and the inner rod (1001), and cooperates with the reinforcement component (110) to push the inner wall of the movable kit (2) to maintain the stability of the movable kit (2) moving up and down.

10. A method for using a robot control device, using any one of claims 1 to 9, characterized in that: The specific usage is as follows: All related controls are operated through the interactive module (16) in cooperation with the user's voice control or automatic control set in advance by the user: Laundry mode: when it is necessary to store laundry, the door of the smart washing machine can be opened by the clamping head (55) on the gripper (4), and then the robot is automatically moved to the side of the laundry that needs to be washed by the AGV base (1). The robot grabs the dirty laundry and puts it into the dirty laundry basket, pours the dirty laundry into the inside of the smart washing machine, and scoops the washing powder onto the spoon through the rotation of the multi-dimensional manipulator (3), and pours it into the inside of the smart washing machine. The main control module (11) automatically controls the smart washing machine to start and run, and washes and dries the laundry. After the smart washing machine finishes washing, the dried laundry is taken out, and the clean laundry basket is grabbed and placed on a clean table. The gripper (4) clamps the laundry piece by piece and folds it, and the folded laundry is placed in the clean laundry basket. Pouring mode: the arc frame (53) and the elastic part (54) can not only be used to clamp disposable water cups of standard size, but also can clamp water cups whose outer diameter is larger than the inner diameter of the arc frame (53), and the clamping head (55) can be used to clamp bowls, clothes and other items. At the same time, the protrusion (56) can enable the grippers (4) on the two groups of multi-dimensional manipulators (3) to clamp certain irregular items. As long as more than one group of multi-dimensional manipulators (3) in the four groups of protrusions (56) clamps the solid objects, the handling of the objects can be completed. That is, by the protrusion (56) fitting with the outer wall of the water cup, the water cup or other items whose outer diameter is smaller than the inner diameter of the arc frame (53) can also be clamped. Cleaning floor mode: through the movement of the AGV base (1), dust can be sucked into the inside of the sweeping module (17), and finally the dust is collected in the dust storage box (24). When cleaning is needed, the user can disassemble the dust storage box (24) and pour out the dust. At the same time, the multi-dimensional manipulator (3) can rotate and extend to make the gripper (4) contract to clamp the sundries on the ground, such as socks, clothes, toys and other items on the ground. After clamping, the AGV base (1) moves to cooperate with the multi-dimensional manipulator (3) and the gripper (4) to place the items in a suitable position, so that the home can be simply organized; Medication reminder mode: when the set medication time arrives, the servo motor (75) drives the No. 1 screw (76) to rotate in the forward direction, so that the extension block (74) drives the medicine storage box (72) to move toward the side away from the movable kit (2), so that the medicine storage box (72) moves to the outside of the movable kit (2). At this time, the medicine will be exposed to the outside, which is convenient for the user to take. At the same time, the interactive module (16) will remind the user of the amount of medicine to be taken. In special cases, the user can choose whether to change the time according to his own needs. If he does not want to take medicine temporarily, the user can issue instructions such as "do not take medicine this time" or "take medicine after 1 hour" through the interactive module (16), so as to avoid the robot rigidly requiring the user to take medicine; Dishwashing mode: When it is necessary to wash a bowl, the upper clamping head (55) can be used to clamp the edge of one side of the bowl and move it to the area of ​​the washing cylinder (18). The inside of the bowl is placed at the position corresponding to the bristles of the rotating brush head (20). The main control module (11) controls the operation of the corresponding motor on the rotating brush head (20) and controls the electromagnetic valve on the water supply nozzle (21) to open, thereby cleaning the bowl. To avoid insufficient cleaning of the clamping position, the robot can clamp the bowl at other positions for a second time and rinse the bowl again. When washing a cup, the robot can clamp the cup with the gripper (4) to turn the cup mouth over and press down at the position corresponding to the cup washing part (22). At this time, water will flow out of the cup washing part (22) to clean the inside of the cup. After cleaning, the cup can be placed in a suitable position. It should be noted that, during use, when the height of the movable kit (2) needs to be raised, the second screw rod (101) can be driven by the lifting motor to rotate in the positive direction, driving the extension column (102) to move upward, and the convex strip (107) can move upward along the first slide groove (106), so that the height of the movable kit (2) can be adjusted. In the process of the extension column (102) moving upward, the convex block (105) can be driven to move upward synchronously, and the active plate (104) can be tilted by the convex block (105), and the inner spring (1003) can be pushed to contract by the active plate (104), and the inner rod (1003) can be pushed by the inner spring (1003). 01), and the inner rod (1001) pushes the reinforcing assembly (110), so that the roller (1104) always pushes the inner wall surface of the movable kit (2), and through the hinge characteristics of the adjustment rod (1101) and the movable plate (108), and the push of the slider (1103) by the balance spring (1105), the roller (1104) can always press against the inner wall of the movable kit (2), and the more the protrusion (105) moves upward, the greater the force of the roller (1104) pressing against the movable kit (2), that is, the higher the height of the movable kit (2), the greater the force pressing against the movable kit (2), and the more stable the movable kit (2) is on the surface of the inner base (8).

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