A humanoid robot for domestic services

Abstract

This invention discloses a humanoid robot for domestic services, comprising a walking mechanism, a carrying mechanism, and two arm mechanisms. A home controller is installed in the head mechanism. A grasping mechanism is installed at the front end of each arm mechanism. The grasping mechanism includes a mounting base mounted to the arm mechanism, a limiting seat mounted at the front end of the mounting base, grippers mounted on both sides of the limiting seat, and suction cups mounted at the front end of the limiting seat. When the domestic service robot of this invention retrieves items, the grasping mechanism, driven by the arm mechanism, retrieves the items and stores them in the carrying box as needed, facilitating timely retrieval by the user. Furthermore, for different types of items, the grasping mechanism switches between a main gripping mode and a main suction mode, controlling the order in which the grippers and suction cups act on the items in the corresponding mode. This provides good grasping performance for various items and meets the needs of multiple item retrieval commands.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a humanoid robot for domestic services. Background Technology

[0002] Humanoid robots are a type of humanoid robot, better suited to perform related activities in human living, working, and residential environments, such as in smart factories, warehousing and logistics, and the service industry. With the development of artificial intelligence technology, the operational functions and working environments of humanoid robots have been further improved. In recent years, a research boom in humanoid robots has emerged, with applications such as domestic services. The humanoid form makes it easier to establish emotional connections and meet spiritual needs. The core advantage of humanoid robots lies in their ability to mimic human form and movement logic, thus flexibly adapting to diverse tasks in home settings. They can also flexibly retrieve items according to needs using arm and hand mechanisms.

[0003] In the prior art, Chinese Patent Publication No. CN204819530U discloses a bionic household service robot, which includes a bionic robot body and a health reminder device. The health reminder device is located in the bionic robot body and includes a central processing unit and a reminder timer, a reminder memory, and a reminder notification module connected to it. When the health reminder device detects that the reminder time has been reached, the central processing unit controls the reminder communication module to send a reminder notification message to the communication module of the bionic robot body. After receiving the message, the controller controls the bionic robot body to move to find the person being notified. The central processing unit also controls the reminder notification module to remind the user to perform corresponding operations. It can realize timely reminders for users to perform operations such as eating, sleeping, exercising, and testing. Its main functions are to consult and communicate with users, provide guidance and support, and provide emergency feedback. However, its body function is relatively simple, and it cannot effectively establish a connection with existing smart home devices, resulting in poor overall interactivity. Furthermore, its hand structure is relatively simple, making it difficult to provide assistance to users with mobility impairments, such as retrieving goods, thus resulting in low functionality in household services. Summary of the Invention

[0004] Therefore, it is necessary to address the aforementioned technical problems by providing a humanoid robot for domestic services. This would solve the problems of existing technologies, such as the inability to effectively connect with existing smart home devices, poor overall interactivity, and the relatively simple hand structure, which makes it difficult for users with limited mobility to provide assistance, such as retrieving goods, thus resulting in low functionality in domestic services.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A humanoid robot for domestic services includes:

[0007] The walking mechanism has a torso mechanism mounted on its upper part, a head mechanism mounted on the top of the torso mechanism, a home controller mounted in the head mechanism, a home control system mounted in the home controller, and a main processing unit that is signal-connected to a radio unit and a smart gateway unit, and the smart gateway unit establishes a communication connection with smart home devices.

[0008] A support mechanism is mounted on the torso mechanism, and a support box is slidably inserted into the support mechanism;

[0009] Two arm mechanisms are respectively installed on both sides of the torso mechanism, and a picking mechanism is installed at the front end of the arm mechanism;

[0010] The grasping mechanism includes a mounting base installed with the arm mechanism, a limiting seat installed at the front end of the mounting base, grippers installed on both sides of the limiting seat, and a suction cup installed at the front end of the limiting seat. An adjustment plate is provided between the two grippers and slidably connected along the middle of the limiting seat. Each gripper has two mounting holes. The two ends of the adjustment plate are rotatably connected to the mounting holes on the corresponding grippers. A connecting plate is rotatably connected to the other mounting hole of the gripper.

[0011] As a preferred embodiment of the humanoid robot for housekeeping services provided by the present invention, a control clamping mechanism is installed in the limiting seat. The control clamping mechanism includes a main air cylinder installed in the limiting seat and flexible air columns installed on both sides of the limiting seat. The front end of the flexible air column is rotatably connected to the end of the corresponding connecting plate. The flexible air column is connected to the main air cylinder through a sub-control air chamber.

[0012] In a preferred embodiment of the humanoid robot for housekeeping services provided by the present invention, an electromagnetic valve is installed at the connection between the main air cylinder and the sub-control air chamber, and an air pressure sensor is installed in the sub-control air chamber.

[0013] In a preferred embodiment of the humanoid robot for housekeeping services provided by the present invention, a piston plate is slidably connected to the inner cavity of the main air cylinder, and a telescopic component with its output end connected to the piston plate is installed on the main air cylinder.

[0014] As a preferred embodiment of the humanoid robot for housekeeping services provided by the present invention, the home control system further includes a picking unit that is signal-connected to the main processing unit. The picking unit is signal-connected to a clamping unit, which is signal-connected to a telescopic component, a pressure sensor, and a solenoid valve.

[0015] As a preferred embodiment of the humanoid robot for housekeeping services provided by the present invention, the limiting seat is further equipped with a suction control mechanism. The suction control mechanism includes a negative pressure chamber connected to the outer ring of the suction cup and a negative pressure piston connected to the middle of the suction cup. The negative pressure piston is slidably disposed in the inner cavity of the negative pressure chamber, and the negative pressure chamber is connected to the main air cylinder.

[0016] In a preferred embodiment of the humanoid robot for housekeeping services provided by the present invention, a control piston is inserted at the connection between the negative pressure chamber and the main air cylinder, and a stop rod is fixed at the front end of the control piston. The stop rod is used to block the connection between the negative pressure chamber and the main air cylinder.

[0017] In a preferred embodiment of the humanoid robot for domestic services provided by the present invention, the sub-control air chamber is connected to a control pipe, the control piston is slidably inserted into the inner cavity of the sub-control air chamber, and a support spring is installed between the control piston and the sub-control air chamber.

[0018] In a preferred embodiment of the humanoid robot for housekeeping services provided by the present invention, the clamping unit is signal-connected to a suction control unit, and the suction control unit is signal-connected to the telescopic member and the solenoid valve respectively.

[0019] In a preferred embodiment of the humanoid robot for domestic services provided by the present invention, a pressure sensor is installed at the front end of the limiting seat, an electromagnet corresponding to the control plate is installed on the limiting seat, a magnet is embedded in the control plate, and the picking unit is connected to the pressure sensor and the electromagnet signal respectively.

[0020] Compared with the prior art, the present invention has the following beneficial effects: When the housekeeping service robot picks up items, the arm mechanism drives the picking mechanism to pick up the items and store them in the carrying box as needed, so that users can take the required items in time. Moreover, when picking up different types of items, the picking mechanism switches between the main gripping mode and the main suction mode, and controls the order of action of the gripper and suction cup on the items in the corresponding mode, so that it has a good picking effect for different items and meets the picking command requirements of various items. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the overall structure of the carrier box when it is opened, as provided by the present invention.

[0024] Figure 3 The control principle block diagram of the home control system provided by the present invention;

[0025] Figure 4 This is a cross-sectional schematic diagram of the air duct in the wind control swing mechanism provided by the present invention;

[0026] Figure 5 This is a schematic diagram of the picking mechanism structure provided by the present invention;

[0027] Figure 6 The main view of the grasping mechanism in the main clamping mode provided by this invention;

[0028] Figure 7 This is a schematic diagram of the gripping structure provided by the present invention during the gripping process;

[0029] Figure 8 The main view of the retrieval mechanism in the main suction mode provided by this invention;

[0030] Figure 9 This is a partial structural diagram of the picking mechanism provided by the present invention;

[0031] Figure 10 A cross-sectional structural diagram of the main air cylinder and the sub-control air chamber provided by the present invention;

[0032] Figure 11 This is a schematic cross-sectional view of the control pipe and negative pressure chamber during the sealing of the control piston provided by the present invention;

[0033] Figure 12 This is a schematic diagram of the cross-sectional structure of the control pipe and negative pressure chamber when the control piston is unblocked, as provided by the present invention.

[0034] Figure 13 A schematic diagram of the connection structure between the main air cylinder and the negative pressure chamber provided by the present invention.

[0035] The markings in the diagram are explained as follows:

[0036] 1. Walking mechanism; 2. Bearing mechanism; 3. Bearing box; 4. Torso mechanism; 5. Head mechanism; 6. Arm mechanism; 7. Picking mechanism; 8. Mounting base; 9. Limiting base; 10. Gripper; 11. Suction cup; 12. Pressure sensor; 13. Control plate; 14. Flexible air column; 15. Connecting plate; 16. Main air cylinder; 17. Electromagnet; 18. Sub-control air chamber; 19. Interlocking pipe; 20. Negative pressure chamber; 21. Piston plate; 22. Telescopic component one; 23. Air pressure sensor; 24. Solenoid valve; 25. Negative pressure piston; 26. Interlocking piston. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the embodiments of the present invention can be combined with each other.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] Example 1

[0041] Please refer to Figures 1-9 A humanoid robot for housekeeping services includes a walking mechanism 1, a carrying mechanism 2, and two arm mechanisms 6. A torso mechanism 4 is mounted on the upper part of the walking mechanism 1, and a head mechanism 5 is mounted on the top of the torso mechanism 4. The bottom of the walking mechanism 1 is equipped with wheels to facilitate movement to a designated location according to the needs of the operator. A home controller is installed in the head mechanism 5. The home controller is equipped with a home control system, which includes a main processing unit. The main processing unit is connected to a radio unit and a smart gateway unit. The smart gateway unit establishes a communication connection with smart home devices and establishes a communication connection between the smart home devices in the house and the main processing unit. It receives control commands from the user for the corresponding smart home devices through the radio unit. The main processing unit controls the corresponding smart home devices to work through the received control commands, such as controlling a robot vacuum cleaner to sweep the floor, controlling a smart curtain motor to open and close the curtains, etc., to realize voice control of smart home devices. The communication with smart home devices through the smart gateway and the control of the smart home devices is a common smart control method in the prior art. It is a public prior art and well known to those skilled in the art. The specific structure and working principle of this application will not be described in detail here.

[0042] It is worth mentioning that you should refer to Figures 1-8The carrying mechanism 2 is mounted on the torso mechanism 4, and a carrying box 3 is slidably inserted into the carrying mechanism 2. Two arm mechanisms 6 are respectively mounted on both sides of the torso mechanism 4, and a picking mechanism 7 is mounted on the front end of the arm mechanism 6. By setting up the carrying mechanism 2 and cooperating with the pull-out carrying box 3, when the operator gives the instruction to pick up an item, the corresponding item can be picked up by the picking mechanism 7 and placed in the open carrying box 3, so that the item can be moved stably to the designated position. At the same time, the required items can also be stored in the carrying box 3. When needed, the robot can quickly take out the item from the carrying box 3 through the arm mechanism 6 and the picking mechanism 7. In addition, the arm mechanism 6 is equipped with multiple joint motors required in the robot arm assembly of the prior art, so that the arm mechanism 6 can rotate flexibly and control the picking mechanism 7 to move to the designated position, so as to facilitate the picking operation of the item through the picking mechanism 7.

[0043] In addition, the picking mechanism 7 includes a mounting base 8 installed with the arm mechanism 6, a limiting seat 9 installed at the front end of the mounting base 8, grippers 10 installed on both sides of the limiting seat 9, and a suction cup 11 installed at the front end of the limiting seat 9. A control plate 13 is provided between the two grippers 10 and slidably connected along the middle of the limiting seat 9. Each gripper 10 is provided with two mounting holes. The two ends of the control plate 13 are rotatably connected to the mounting holes on the corresponding grippers 10. A connecting plate 15 is rotatably connected to the other mounting hole of the gripper 10. By setting two grippers 10, the two grippers 10 can be controlled to close, so as to achieve the function of clamping and fixing the side of the item. Through the suction cup 11, the suction cup 11 is attached to the surface of the item, so as to fix the plate-shaped item.

[0044] The specific modes for taking items are as follows:

[0045] Main clamping mode: When picking up items whose width is smaller than the opening width of the gripper 10, such as water cups, clotheslines, medicine bottles, etc., the picking mechanism 7 is in clamping mode. The arm mechanism 6 controls the picking mechanism 7 to approach the item, and at the same time, the front end of the limiting seat 9 abuts against the item. At this time, the abutting surface of the front end of the limiting seat 9 is located inside the front end of the gripper 10. Figure 5 As shown, it forms a package positioning function for the item, improving the accuracy of item retrieval. At this time, by controlling the movement of the connecting plate 15, the connecting plate 15 controls the gripper 10 to swing around the mounting hole connected to the end of the control plate 13 as the center, thereby controlling the two grippers 10 to close and limit the two sides of the item, thereby achieving the purpose of three-point positioning and clamping, and stably clamping the corresponding item. At the same time, the suction cup 11 adsorbs and limits the surface of the item that is in contact with it, providing auxiliary limiting.

[0046] Main suction mode: When picking up plate-shaped items whose width is greater than the opening and closing size of the gripper 10, such as large plates, portraits, large books, etc., the picking mechanism 7 switches to main suction mode. By controlling the movement of the control plate 13 towards the front end of the limit seat 9, the corresponding mounting hole of the gripper 10 is moved, causing the gripper 10 to swing around the mounting hole corresponding to the connecting plate 15. At this time, the contact surface of the front end of the limit seat 9 protrudes from the front end of the gripper 10. The arm mechanism 6 controls the picking mechanism 7 to approach the item, such as... Figure 7 and Figure 8 As shown, at this time, the suction cup 11 at the front end of the limiting seat 9 can adhere to the surface of the item and fix the item by adsorption. Since the item is mainly fixed by adsorption through the suction cup 11, in order to improve the stability of picking up the item, the connecting plate 15 controls the gripper 10 to close, so that the front end of the gripper 10 abuts against the surface of the item, and limits the item at multiple points, thereby improving the stability of picking up the item.

[0047] With the above structural design, when the housekeeping robot picks up items, the arm mechanism 6 drives the picking mechanism 7 to pick up the items and store them in the carrying box 3 as needed, so that users can easily pick up the required items. In addition, when picking up different types of items, the picking mechanism 7 switches between the main gripping mode and the main suction mode, and controls the order of action of the gripper 10 and the suction cup 11 on the items in the corresponding mode. It has a good picking effect for different items and meets the picking command requirements of various items.

[0048] For easier control of gripper 10 in limiting the position of the item, please refer to [link / reference]. Figure 4 , Figure 6 , Figure 9 and Figure 10 The limiting seat 9 is equipped with a clamping mechanism, which includes a main air cylinder 16 installed in the limiting seat 9 and flexible air columns 14 installed on both sides of the limiting seat 9. The front end of the flexible air column 14 is rotatably connected to the end of the corresponding connecting plate 15. The flexible air column 14 is connected to the main air cylinder 16 through a sub-control air chamber 18. By increasing the internal air pressure of the main air cylinder 16, the internal air pressure of the flexible air column 14 is increased through the sub-control air chamber 18, causing the flexible air column 14 to inflate and elongate. Figure 6 As shown, the extended flexible air column 14 pushes the connecting plate 15 to move, thereby driving the gripper 10 to perform a clamping action.

[0049] In addition, a solenoid valve 24 is installed at the connection between the main air cylinder 16 and the sub-control air chamber 18. A pressure sensor 23 is installed in the sub-control air chamber 18. By setting the pressure sensor 23, the pressure in the sub-control air chamber 18 can be detected, which makes it easier to control the pressure input to the flexible air column 14, i.e. the extension of the flexible air column 14, and precisely control the clamping force of the gripper 10. This provides a certain degree of protection for the items held by the gripper 10. When the pressure sensor 23 detects that the pressure in the sub-control air chamber 18 has reached the set value, the solenoid valve 24 is closed to maintain the clamping force of the gripper 10, which facilitates the stable transfer of the clamped items.

[0050] Please see Figure 10 A piston plate 21 is slidably connected to the inner cavity of the main air cylinder 16. A telescopic component 22 with its output end connected to the piston plate 21 is installed on the main air cylinder 16. The operation of the telescopic component 22 can drive the piston plate 21 to reciprocate within the inner cavity of the main air cylinder 16. When the main air cylinder 16 is pushed towards the sub-control chamber 18, it can control the generation of high pressure in the inner cavity of the main air cylinder 16. The high-pressure gas is injected into the sub-control chamber 18, controlling the extension of the flexible air column 14. Conversely, when the main air cylinder 16 is pushed away from the sub-control chamber 18, it can control the generation of negative pressure in the inner cavity of the main air cylinder 16. The generated negative pressure controls the contraction of the flexible air column 14 through the sub-control chamber 18.

[0051] It is worth mentioning that you should refer to Figure 3 The home control system also includes an operating unit connected to the main processing unit. The operating unit is connected to a control clamping unit, which is connected to the telescopic component 22, the air pressure sensor 23, and the solenoid valve 24. It receives the corresponding item retrieval command from the user via a radio unit. The main processing unit receives the item retrieval command and sends it back to the operating unit. The operating unit has pre-stored the corresponding retrieval mode for each item. When the operating unit executes the main clamping mode according to the item type, it sends a control signal to the control clamping unit. At this time, the retrieval mechanism 7 is in the following position: Figure 5 In the initial state shown, when the front end of the limiting seat 9 is in close contact with the item, the control clamping unit controls the extension component 22 to extend, increasing the internal air pressure of the main air cylinder 16, and controls the extension of the flexible air column 14 to drive the gripper 10 to clamp the item. The air pressure sensor 23 will feed back the detected pressure data to the control clamping unit in real time. The control clamping unit compares the pressure data with the preset pressure threshold (the maximum pressure value when the gripper 10 stably clamps the item). When it is determined that the pressure data has reached the preset pressure threshold, the control clamping unit controls the solenoid valve 24 to close, thereby stably clamping the item through the gripper 10 and making it less likely to damage the item during the clamping process. At this time, the suction cup 11 is used to adsorb and fix the item, improving the stability of the transfer process, and storing the required item in the carrier box 3 for easy access by personnel.

[0052] Additionally, please see Figures 7-13 The limiting seat 9 is also equipped with a suction control mechanism, which includes a negative pressure chamber 20 connected to the outer ring of the suction cup 11 and a negative pressure piston 25 connected to the middle of the suction cup 11. The negative pressure piston 25 is slidably arranged in the inner cavity of the negative pressure chamber 20. The negative pressure chamber 20 is connected to the main air cylinder 16. When the suction cup 11 is brought into contact with the surface of the object, the negative pressure piston 25 is controlled to move in the inner cavity of the negative pressure chamber 20 toward the end away from the suction cup 11. At this time, the opening of the suction cup 11 forms a negative pressure to fix the object. When it is necessary to control the movement of the negative pressure piston 25, the telescopic component 22 is controlled to contract and the piston plate 21 is controlled to move, so that a negative pressure is generated inside the main air cylinder 16, thereby controlling the negative pressure chamber 20 connected to it to generate a negative pressure, thereby controlling the suction cup 11 to generate an adsorption force to fix the object.

[0053] Please see Figure 3 The operating unit is connected to the suction control unit. The suction control unit is connected to the telescopic component 22 and the solenoid valve 24 respectively. When the operating unit sends a control signal to the clamp control unit, and when it is necessary to use the suction cup 11 to adsorb and fix the item, the operating unit sends an auxiliary suction signal to the suction control unit. The suction control unit controls the telescopic component 22 to shorten and controls the suction cup 11 to generate an adsorption force to fix the item, thereby assisting in fixing the item.

[0054] After receiving the corresponding item retrieval command from the user via the radio unit, the main processing unit feeds back the received command to the operation unit. The operation unit has pre-stored the corresponding retrieval mode for each item. When the operation unit executes the main suction mode according to the item type, it sends a control signal to the control unit. At this time, the control panel 13 is positioned such that the retrieval mechanism 7 is in the correct position. Figure 8 In the initial state shown, when the front end of the limiting seat 9 is in close contact with the item, the suction control unit controls the solenoid valve 24 to close and the telescopic component 22 to shorten, controlling the suction cup 11 to generate an adsorption force to fix the item, thus adsorbing and fixing the item. At the same time, the end of the gripper 10 contacts the contact surface of the item, playing an auxiliary supporting and limiting role, increasing the limiting range of the item, so that it remains relatively stable during the transfer of the item and reduces shaking.

[0055] Example 2

[0056] The humanoid robot for housekeeping services provided in Embodiment 1 has been further optimized. The differences from Embodiment 1 are as follows: Please refer to [link to Embodiment 1]. Figures 11-13To improve the stability of the humanoid robot's object-grabbing process via the grasping mechanism 7, a control piston 26 is inserted at the connection between the negative pressure chamber 20 and the main air cylinder 16. A stop bar is fixed to the front end of the control piston 26 to block the connection between the negative pressure chamber 20 and the main air cylinder 16. A control pipe 19 is connected to the sub-control air chamber 18. The control piston 26 is slidably inserted into the inner cavity of the sub-control air chamber 18. A support spring is installed between the control piston 26 and the sub-control air chamber 18. In the initial state, the stop bar at the front end of the control piston 26 blocks the connection between the negative pressure chamber 20 and the main air cylinder 16, and the main air cylinder 16 and the negative pressure chamber 20 are not connected. When high-pressure gas is injected into the flexible air column 14 through the sub-control air chamber 18, the flexible air column 14 extends to drive the clamp. When the gripper 10 clamps the object, and the air pressure in the sub-control air chamber 18 reaches the preset pressure threshold, the high-pressure gas pushes the control piston 26 to move through the control pipe 19. After the control piston 26 moves, it releases the blockage at the connection between the negative pressure chamber 20 and the main air cylinder 16, and at the same time closes the control solenoid valve 24, so that the air pressure in the sub-control air chamber 18 remains stable. At this time, the negative pressure chamber 20 and the main air cylinder 16 are in a normally open state, so the main air cylinder 16 controls the suction cup 11 to generate negative pressure to adsorb and fix the object. When the gripper 10 reaches the clamping force, it switches to the negative pressure adsorption control state of the suction cup 11, so that the switching between the two control modes is quick and flexible, and it is not easy to have the error signal of simultaneous operation of both, thus improving the stability and accuracy of control.

[0057] Example 3

[0058] The humanoid robot for housekeeping services provided in Embodiment 2 has been further optimized. The differences from Embodiment 2 are as follows: Please refer to [link to Embodiment 2]. Figures 2-4 and Figure 9 A pressure sensor 12 is installed at the front end of the limiting seat 9. An electromagnet 17 corresponding to the control plate 13 is installed on the limiting seat 9. A magnet is embedded in the control plate 13. A telescopic component 2 with an output end connected to the carrying box 3 is installed in the carrying mechanism 2. The operating unit is connected to the pressure sensor 12, the electromagnet 17 and the telescopic component 2 respectively. When the arm mechanism 6 drives the picking mechanism 7 to approach the item, the pressure sensor 12 at the front end of the limiting seat 9 comes into contact with the item and feeds back the corresponding pressure data to the transfer unit. The transfer unit determines that the limiting seat 9 is in contact with the item, thereby positioning the picking mechanism 7. When the item picked up by the picking mechanism 7 needs to be put into the carrying box 3, the transfer unit sends an item picking signal to the clamp control unit and the suction control unit, and then sends an extension signal to the telescopic component 2. Figure 2As shown, the carrier box 3 is pushed out at this time to facilitate the storage of items; in addition, when the transfer unit switches the main clamping mode to the main suction mode, it needs to control the displacement of the control plate 13. At this time, the transfer unit controls the electromagnet 17 to work. The electromagnet 17 generates a magnetic field that repels the magnet on the control plate 13 and drives the control plate 13 to move, thereby realizing the mode switching.

[0059] Additionally, when switching to the main suction mode, the control panel 13 of the electromagnet 17 is moved to switch the picking mechanism 7 to the mounting base 8 state. At this time, the front end of the picking mechanism 7 is brought into contact with any flat surface in the home, so that the front end of the gripper 10 is flush with the front end of the limiting seat 9. The main air cylinder 16 pressurizes the air, so that the control piston 26 releases the blockage at the connection between the negative pressure chamber 20 and the main air cylinder 16. At the same time, the control solenoid valve 24 is closed, so that the air pressure in the sub-control air chamber 18 remains stable. At this time, the negative pressure chamber 20 and the main air cylinder 16 are in a normally open state, and the front end of the gripper 10 is calibrated so that the front end of the gripper 10 is flush with the front end of the limiting seat 9. When the suction cup 11 is used to adsorb and fix the item, the gripper 10 can stick to the surface of the item to limit the item, improving the stability of the item gripping.

Claims

1. A humanoid robot for domestic services, characterized in that, include: Walking mechanism (1), a torso mechanism (4) is installed on the upper part of the walking mechanism (1), a head mechanism (5) is installed on the top of the torso mechanism (4), a home controller is installed in the head mechanism (5), a home control system is installed in the home controller, the home control system includes a main processing unit, the main processing unit is connected to a radio unit and a smart gateway unit respectively, and the smart gateway unit establishes a communication connection with smart home devices; The support mechanism (2) is mounted on the torso mechanism (4), and a support box (3) is slidably inserted into the support mechanism (2). Two arm mechanisms (6) are respectively installed on both sides of the torso mechanism (4), and a picking mechanism (7) is installed at the front end of the arm mechanism (6). The picking mechanism (7) includes a mounting base (8) installed with the arm mechanism (6), a limiting seat (9) installed at the front end of the mounting base (8), grippers (10) installed on both sides of the limiting seat (9), and a suction cup (11) installed at the front end of the limiting seat (9). A control plate (13) is provided between the two grippers (10) and slidably connected along the middle of the limiting seat (9). Each gripper (10) has two mounting holes. The two ends of the control plate (13) are rotatably connected to the mounting holes on the corresponding grippers (10). A connecting plate (15) is rotatably connected to the other mounting hole of the gripper (10). The limiting seat (9) is equipped with a control clamping mechanism, which includes a main air cylinder (16) installed in the limiting seat (9) and flexible air columns (14) installed on both sides of the limiting seat (9). The front end of the flexible air column (14) is rotatably connected to the end of the corresponding connecting plate (15). The flexible air column (14) is connected to the main air cylinder (16) through a sub-control air chamber (18). A solenoid valve (24) is installed at the connection between the main air cylinder (16) and the sub-control air chamber (18). A pressure sensor (23) is installed in the sub-control air chamber (18). A piston plate (21) is slidably connected to the inner cavity of the main air cylinder (16). A telescopic component (22) with its output end connected to the piston plate (21) is installed on the main air cylinder (16). The limiting seat (9) is also equipped with a suction control mechanism, which includes a negative pressure chamber (20) connected to the outer ring of the suction cup (11) and a negative pressure piston (25) connected to the middle of the suction cup (11). The negative pressure piston (25) is slidably arranged in the inner cavity of the negative pressure chamber (20), and the negative pressure chamber (20) is connected to the main air cylinder (16). A control piston (26) is inserted into the connection between the negative pressure chamber (20) and the main air cylinder (16). A stop bar is fixed at the front end of the control piston (26). The stop bar is used to block the connection between the negative pressure chamber (20) and the main air cylinder (16). A control pipe (19) is connected to the sub-control air chamber (18). The control piston (26) is slidably inserted into the inner cavity of the sub-control air chamber (18). A support spring is installed between the control piston (26) and the sub-control air chamber (18).

2. The humanoid robot for domestic services according to claim 1, characterized in that, The home control system also includes an operation unit that is signal-connected to the main processing unit. The operation unit is signal-connected to a control clamp unit, which is signal-connected to the telescopic component (22), the air pressure sensor (23), and the solenoid valve (24).

3. A humanoid robot for domestic services according to claim 2, characterized in that, The operating unit is connected to a suction control unit, which is connected to the telescopic component (22) and the solenoid valve (24) respectively.

4. A humanoid robot for domestic services according to claim 3, characterized in that, A pressure sensor (12) is installed at the front end of the limiting seat (9). An electromagnet (17) corresponding to the control plate (13) is installed on the limiting seat (9). A magnet is embedded in the control plate (13). A telescopic component two with an output end connected to the carrier box (3) is installed in the bearing mechanism (2). The operating unit is connected to the pressure sensor (12), the electromagnet (17) and the telescopic component two respectively.

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