A multifunctional robot

Abstract

This invention proposes a multifunctional robot, including a frame. A plurality of guide arms are radially and evenly arranged around the frame's cylindrical base. The ends of the guide arms are hinged to the side shaft tubes of an air outlet ring. The toothed rings of the side shaft tubes mesh with the gears at the output end of the variable-direction motor on the bottom surface of the guide arms. The inner wall of the air outlet rings is designed with an airfoil-shaped cross-section. The inner cavity of each air outlet ring is connected to an air extraction mechanism at the top of the cylindrical base. A mounting seat is provided on one side of the cylindrical base, connecting to working components. A ring seat is connected to the bottom surface of the frame, and walking mechanisms are connected to both sides of the ring seat. A solenoid valve is built into the ring seat, connecting the air extraction mechanism to a negative pressure suction cup in the wall-climbing mechanism. This device uses centrifugal compression in the air extraction mechanism to draw in and pressurize air from above, delivering it to each air outlet ring. The compressed airflow is accelerated by the airfoil-shaped guide ducts of the air outlet rings, forming a high-speed jet that is ejected, providing flight propulsion. With the assistance of the walking and wall-climbing mechanisms, the robot can perform running and wall-climbing operations, and is equipped with working components such as robotic arms to meet different task requirements.

Description

Technical Field

[0001] This invention relates to the field of robotic equipment technology, and more specifically to a multifunctional robot. Background Technology

[0002] With the rapid development of automation technology, robotics, represented by drones, has been widely applied in various fields such as industrial production, agricultural plant protection, disaster relief, and household services. While existing robots can complete single tasks in specific scenarios with their efficient operation and precise manipulation capabilities, thus improving production efficiency to some extent, they often struggle to meet diverse operational demands in increasingly complex application environments. Therefore, there is an urgent need to develop a new type of robot that can adapt to various complex working conditions and integrate multiple functions to address the problems of limited functionality and insufficient adaptability in existing technologies. Summary of the Invention

[0003] To address the aforementioned problems, this invention proposes a multifunctional robot, comprising a frame, with a plurality of guide arms radially and evenly arranged around the cylindrical base of the frame. The ends of the guide arms are hinged to the side shaft tubes of the air outlet rings. The toothed rings of the side shaft tubes mesh with the gears at the output end of the reversing motors on the bottom surface of the guide arms. The inner wall cross-section of each air outlet ring is designed as an airfoil. The inner cavity of the air outlet ring is connected to the suction mechanism at the top of the cylindrical base. A mounting seat is provided on one side of the cylindrical base, and the mounting seat is connected to the working components. The bottom ring of the frame is connected to a ring seat, and the two sides of the ring seat are connected to the walking mechanism. The ring seat contains a built-in solenoid valve, which is connected to the suction mechanism and the negative pressure suction cup in the wall-climbing mechanism.

[0004] Furthermore, the air extraction mechanism includes an inner air shroud, which is rotatably connected to the cylinder mouth of the cylinder seat. The outer gear ring of the inner air shroud meshes with the gear at the output end of the air intake servo motor. The air intake servo motor is mounted on the flange of the cylinder body of the cylinder seat. The flange is connected to the outer air shroud by bolts. Several mutually cooperating air intake grooves are evenly arranged on the arc surface of the inner and outer air shrouds. The outer air shroud is connected to a solenoid valve through an air extraction pipe. A drive motor is installed at the center of the top surface of the outer air shroud. The output end of the drive motor passes through the inner and outer air shrouds and connects to the impeller.

[0005] Furthermore, the walking mechanism includes a double-headed bracket, a ring seat connected in the middle of the double-headed bracket, sleeves at both ends of the double-headed bracket, a buffer shaft shaft slide plate slidably connected inside the sleeve, a buffer spring between the slide plate and the bottom of the sleeve, the first end of the buffer shaft passing through the center of the buffer spring, and the tail end of the buffer shaft connected to the hub motor.

[0006] Furthermore, the wall-climbing mechanism includes an elevator servo, which is installed on the bottom surface of the frame. The output end of the elevator servo is connected to the head end of the lifting arm. The tail end of the lifting arm is slidably connected to the sliding key on one side of the lifting column. The lifting column is vertically slidably connected to the sliding sleeve on the bottom surface of the frame. The vertical groove on the front of the sliding sleeve is vertically slidably connected to the sliding key. The bottom of the lifting column is connected to a negative pressure suction cup. The air guide pipe of the negative pressure suction cup passes through the side of the lifting column and is vertically slidably connected to the docking sleeve of the solenoid valve. The groove on the back of the sliding sleeve is fitted with the upper and lower parts of the air guide pipe.

[0007] Furthermore, the working components include one of a robotic arm, a camera, and a temperature and humidity sensor. The robotic arm includes clamping plates, with two meshing large gear disks hinged to the middle of the two clamping plates. The upper claw arm is fixed to the body of the large gear disks. The upper end of the upper claw arm is hinged to the upper end of the gripper, and the middle of the gripper is hinged to the end of the lower claw arm. The beginning of the lower claw arm is hinged to the bottom of the clamping plates. One side of the large gear disk meshes with a drive gear, which is connected to a gripper motor on the clamping plates. The top of the two clamping plates is connected to the bottom of the forearm. The middle of the forearm is hinged to the upper end of the main arm. The output end of the forearm motor on one side of the upper end of the main arm is connected to the forearm. The top of the forearm is hinged to the upper end of the upper connecting arm. The lower end of the upper connecting arm is hinged to the upper end of the lower connecting arm. The lower connecting arm is hinged to the lower end of the main arm. The lower end of the main arm is hinged to the top of the mounting base. The output end of the main arm motor on one side of the top of the mounting base is connected to the main arm.

[0008] Furthermore, a battery slot is provided at the top of the guide arm, and the battery slot is equipped with a battery cover. The battery cover has wire holes on both sides. The battery inside the battery slot is electrically connected to the control module inside the ring seat. The control module is electrically connected to each mechanism and working component.

[0009] The beneficial effects of this invention are as follows: This invention uses the centrifugal compression of the air extraction mechanism to draw in and pressurize the air above, which is then delivered to each air outlet ring. The airflow is ejected along the airfoil-shaped guide duct of the air outlet ring, providing power for the robot's flight. Since there are no exposed propellers, it is safer and more stable during both debugging and flight in the air. The wall-climbing mechanism in the robot can be linked with the air extraction mechanism to achieve wall climbing by controlling the negative pressure suction cup. The hub motor in the robot's walking mechanism enables the robot to run on the ground, making it suitable for various working scenarios. The robot is equipped with working components such as a robotic arm, camera, and temperature and humidity sensor, which can meet different task requirements. Attached Figure Description

[0010] Figure 1 This is a half-sectional view of the front structure of the present invention when the robotic arm is installed; Figure 2 for Figure 1 A magnified view of a portion of region A in the middle; Figure 3 for Figure 1 A magnified view of a portion of region B in the middle; Figure 4 This is a top view of the structure of the present invention; Figure 5 This is a bottom-view structural diagram of the present invention; Figure 6 This is a schematic diagram of the air extraction mechanism and its associated components in this invention; Figure 7 This is a partial structural diagram of the robotic arm in this invention; Figure 8 This is a schematic diagram of the driving principle of the present invention; Figure 9 This is a diagram of the step-down circuit of the present invention.

[0011] The reference numerals in the attached drawings are explained as follows: 1. Frame; 101. Cylinder base; 102. Guide arm; 103. Mounting base; 104. Sliding sleeve; 105. Vertical slot; 106. Slot opening; 107. Battery slot; 2. Exhaust ring; 201. Side shaft tube; 202. Gear ring; 3. Reversing motor; 4. Ring seat; 5. Solenoid valve; 501. Connecting sleeve; 6. Negative pressure suction cup; 601. Air guide pipe; 7. Inner air hood; 701. Outer gear ring; 8. Intake servo motor; 9. Outer air hood; 10. Extraction pipe; 11. Drive motor; 12. Impeller; 13. Double-headed bracket; 1301, Sleeve; 14, Buffer Shaft; 1401, Slide Plate; 15, Buffer Spring; 16, Hub Motor; 17, Lifting Steering Motor; 18, Lifting Arm; 1801, Lifting Slot; 19, Lifting Column; 1901, Slide Key; 20, Clamping Plate; 21, Large Gear Disc; 22, Upper Claw Arm; 23, Claw; 24, Lower Claw Arm; 25, Drive Gear; 26, Claw Motor; 27, Forearm; 28, Upper Arm; 29, Forearm Motor; 30, Upper Connecting Arm; 31, Lower Connecting Arm; 32, Upper Arm Motor; 33, Battery Cover; 3301, Wiring Hole. Detailed Implementation

[0012] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0013] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0014] The present invention will be further described below with reference to the accompanying drawings: like Figures 1 to 9 As shown, a multifunctional robot includes a frame 1. A plurality of guide arms 102 are radially and evenly arranged around the cylindrical base 101 of the frame 1. The ends of the guide arms 102 are hinged to the side shaft tubes 201 of the air outlet rings 2. The toothed rings 202 of the side shaft tubes 201 mesh with the gears at the output end of the deflection motor 3 on the bottom surface of the guide arms 102. The inner wall cross-section of each air outlet ring is designed as an airfoil. The inner cavity of the air outlet rings 2 is connected to the air extraction mechanism at the top of the cylindrical base 101. The air extraction mechanism includes an inner air hood 7. The inner air hood 7 is rotatably connected to the cylinder opening of the cylindrical base 101. The outer toothed ring 701 of the inner air hood 7 meshes with the gears at the output end of the air intake servo motor 8. The air intake servo motor 8 is mounted on the flange of the cylindrical base 101. The flange is connected to the outer air hood 9 by bolts. A plurality of mutually cooperating air intake grooves are evenly arranged around the arc surface of the inner and outer air hoods. A drive motor 11 is installed at the center of the top surface of the outer air hood 9. The output end of the drive motor 11 passes through the inner and outer air hoods and connects to the impeller 12.

[0015] In this embodiment, the bottom surface of the frame 1 is connected to the ring seat 4. The ring seat 4 has a built-in three-position five-way solenoid valve 5. One pole of the solenoid valve 5 is connected to the outer air cover 9 through the air extraction pipe 10. The other pole of the solenoid valve 5 is connected to the wall climbing mechanism through the docking sleeve 501. The wall climbing mechanism includes a lifting servo motor 17. The lifting servo motor 17 is installed on the bottom surface of the frame 1. The output end of the lifting servo motor 17 is connected to the head end of the lifting arm 18. The lifting groove 1801 at the tail end of the lifting arm 18 is movably connected to the sliding key 1901 on one side of the lifting column 19. The lifting column 19 is vertically slidably connected to the sliding sleeve 104 on the bottom surface of the frame 1. The vertical groove 105 on the front of the sliding sleeve 104 is vertically slidably connected to the sliding key 1901. The bottom of the lifting column 19 is connected to the negative pressure suction cup 6. The air guide pipe 601 of the negative pressure suction cup 6 passes through the side of the lifting column 19 and is vertically slidably connected to the docking sleeve 501. The groove 106 on the back of the sliding sleeve 104 is engaged with the air guide pipe 601. When the robot is in flight mode, the solenoid valve 5 closes the passage at the exhaust pipe 10, and the air intake servo 8 adjusts the position of the inner air cover 7 so that the air intake slots on the inner and outer air covers overlap. At this time, the impeller 12 guides the air above the robot into each guide arm 102. When the robot is in wall-climbing mode, the solenoid valve 5 opens the passage at the exhaust pipe 10, and the air intake servo 8 adjusts the position of the inner air cover 7 so that the air intake slots on the inner and outer air covers are spaced apart. The hollow parts of the inner and outer air intake slots are blocked by the cover, leaving only one air intake slot on the inner air cover 7 connected to the exhaust pipe 10. At this time, the impeller 12 will evacuate the negative pressure suction cup 6 through the exhaust pipe 10. When it is necessary to release the negative pressure suction cup 6, the solenoid valve 5 connects the air guide pipe 601 to the outside atmosphere.

[0016] In this embodiment, the middle of the double-headed support 13 in the walking mechanism is connected to both sides of the ring seat 4. The double-headed support 13 has sleeves 1301 at both ends. The buffer shaft 14 shaft slide plate 1401 is slidably connected inside the sleeve 1301. A buffer spring 15 is provided between the slide plate 1401 and the bottom of the sleeve 1301. The first end of the buffer shaft 14 passes through the center of the buffer spring 15, and the tail end of the buffer shaft 14 is connected to the hub motor 16. A mounting seat 103 is provided on one side of the cylinder seat 101. The mounting seat 103 is connected to the working component. The working component is one of a robot arm, a camera, and a temperature and humidity sensor. The robot arm includes a clamping plate 20. Two meshing large gear disks 21 are hinged to the middle of the two clamping plates 20. The upper claw arm 22 is fixed to the body of the large gear disk 21. The upper end of the upper claw arm 22 is hinged to the upper end of the gripper 23. The middle of the gripper 23 is hinged to the end of the lower claw arm 24. The first end of the lower claw arm 24 is hinged to the bottom of the clamping plate 20. The upper part of one side of the large gear disk 21 meshes with the drive gear 25. The moving gear 25 is connected to the gripper motor 26 on the clamping plate 20. The top of the two clamping plates 20 is connected to the bottom of the forearm 27. The middle of the forearm 27 is hinged to the upper end of the main arm 28. The output end of the forearm motor 29 on one side of the upper end of the main arm 28 is connected to the forearm 27. The top of the forearm 27 is hinged to the upper end of the upper connecting arm 30. The lower end of the upper connecting arm 30 is hinged to the upper end of the lower connecting arm 31. The lower connecting arm 31 is hinged to the lower end of the main arm 28. The lower end of the main arm 28 is hinged to the top of the mounting base 103. The output end of the main arm motor 32 on one side of the top of the mounting base 103 is connected to the main arm 28.

[0017] In this embodiment, a battery slot 107 is formed at the top of the guide arm 102. The battery slot 107 is equipped with a battery cover 33. The battery cover 33 has wire holes 3301 on both sides. The battery slot 107 houses a battery that is electrically connected to the control module inside the ring seat 4 (see...). Figure 5 (The area within the dashed box) The control module is electrically connected to each mechanism and working component. Specifically, the reversing motor 3 is an MG90S (360-degree), the intake servo 8 and the elevator servo 17 are SG90 (180-degree), and the drive motor 11 is a T-MotorMN5208. The processor is an STM32F103C4 with 37 high-speed GPIOs and a main frequency of 72 MHz. First, the actuator's I / O allocation is addressed. Drive motor 11 is a DC motor with PWM speed control. The required analog parameters can be obtained by modulating the width of a series of pulses. Specifically, the speed is adjusted by changing the duty cycle of the high and low level waveforms within a cycle. Since the output power of the microcontroller alone is insufficient to drive the motor, an L298 chip is used for driving. The microcontroller only needs to control the chip. The specific drive circuit is shown in [link to specific circuit description]. Figure 8The L298 chip operates at 5V (VCC connected to 5V) and supports driving two motors simultaneously, with an output current of up to 4A. To prevent damage to the chip from the motor's back EMF, this invention adds a freewheeling diode (such as 1N4007) between the L298D's output terminals (OUT1-OUT2) and ground. VCC2 (motor power supply) needs to be powered independently, separate from the microcontroller's logic power supply.

[0018] Regarding sensors, since the angle of the air vents needs to be adjusted in conjunction with the robot's posture, it is necessary to acquire three-axis acceleration and three-axis gyroscope data. Furthermore, coordinates are required for remote control, and height feedback is needed for high-altitude operations. The system uses a BMP280 barometric pressure sensor, a GPS module, and an MPU6050 six-axis motion sensor. The GPS module receives signals from multiple satellites to calculate the robot's geographical location in real time, facilitating remote control and expanding the robot's working area. The MPU6050 sensor integrates a three-axis accelerometer and a three-axis gyroscope, capable of simultaneously measuring the object's linear acceleration and angular velocity, and sending the information to an STM32 microcontroller for processing. A specific algorithm can then be used to calculate the robot's current posture, thereby coordinating the four air vent rings 2 for posture adjustment. Its built-in Digital Motion Processor (DMP) can directly output quaternion data, significantly simplifying the implementation of attitude fusion algorithms. The BMP280 barometric pressure sensor indirectly calculates altitude by measuring atmospheric pressure and temperature data. This sensor supports both I2C and SPI communication interfaces, operates within a voltage range of 1.8-3.6V, and achieves a pressure measurement accuracy of ±1hPa. See Table 1 for specific wiring schemes. Table 1 Sensor I / O Allocation Table For the power supply system, a 12V lithium battery was selected as the power source. One battery input was split into four 12V outputs via a distribution board for powering the motor. Since devices requiring 5V power, such as flight controllers and sensors, needed to have their 12V power stepped down to 5V, the distribution board incorporated a step-down circuit. The microcontroller power supply used a 3.3V supply, which was reduced to 3.3V using an AMS1117_3.3 voltage regulator chip (see...). Figure 9 ).

[0019] The working principle of this invention is as follows: When the robot is in flight mode, the air intake servo 8 rotates the inner air shroud 7 until the air intake slots of the inner and outer air shrouds overlap, and starts the drive motor 11 to drive the impeller 12 to rotate at high speed. The impeller 12 draws in air from the air intake slot above the robot and pressurizes it into the guide arm 102. The airflow enters the inner cavity of each air outlet ring 2 through the guide arm 102 and is then ejected. Because the inner wall cross-section of the air outlet ring 2 is designed as an airfoil, the compressed air will gather and accelerate along the airfoil guide duct. The airflow adheres to the outer surface of the inner ring of the air outlet ring 2 and flows rapidly, while driving the surrounding air to flow as well, and generating negative pressure above the air outlet ring 2. The airflow above is continuously drawn into the air outlet ring 2 to maintain pressure balance. Studies have shown that this unique air outlet structure has better entrainment performance under the same working conditions. The final ejected airflow plus the accompanying airflow can reach more than 15 times the intake airflow, providing the robot with strong flight power. During flight, the direction-changing motor 3 can adjust the ejection direction of part of the air outlet ring 2, thereby controlling the flight direction of the robot.

[0020] When the robot is in walking mode, the four hub motors 16 can drive the robot to run at high speed. Since each hub motor 16 can be driven independently, steering can be achieved through differential speed. The buffer spring 15 between the sleeve 1301 and the slide plate 1401 can reduce the impact of vibration and impact on the robot body. When the robot changes from a flight posture to walking, even if the impeller 12 stops too quickly and causes the robot to fall a certain distance, the buffer spring 15 can absorb most of the impact force. It has the characteristics of high efficiency, flexibility, controllability and stability, which is sufficient to meet the various needs proposed by different application scenarios.

[0021] When the robot is in wall-climbing mode, it adjusts from a horizontal position to a vertical position parallel to the wall. After the robot approaches the wall, the four air outlet rings 2 rotate 180° via the reversing motor 3. The air outlet rings 2, which originally provided lift, now apply pressure to the robot, pressing it firmly against the wall. The hub motor 16 is then firmly pressed against the wall by airflow along the wall's normal direction. The robot can then move freely on the wall using its walking mechanism. Since wall walking requires the coordinated operation of the walking mechanism and the airflow from the air outlet rings 2, it is difficult to control and consumes a lot of power. Therefore, when the robot reaches the target position on the wall and needs to work there for an extended period, the wall-climbing mechanism can be used to switch the robot to wall-working mode.

[0022] When the robot is in wall-mounted working mode, the lifting servo motor 17 is activated to bring the negative pressure suction cup 6 into contact with the wall. The air intake servo motor 8 rotates the inner air hood 7 so that the air intake slots of the inner and outer air hoods are spaced apart. Since the impeller 12 cannot be connected to the outside, the generated negative pressure can only be used to evacuate the negative pressure suction cup 6 through the suction pipe 10, firmly adhering it to the wall. This reduces energy consumption and increases the robot's operating time. If it is necessary to release the negative pressure suction cup 6, simply connect the negative pressure suction cup 6 to the outside atmosphere through the solenoid valve 5.

[0023] This invention uses a centrifugal compression mechanism to draw in and pressurize air from above, delivering it to each air outlet ring 2. The compressed airflow is accelerated by the airfoil-shaped guide duct of the air outlet ring 2 and then ejected as a high-speed jet, providing power for the robot's flight. Since there are no exposed propellers, it is safer and more stable during both debugging and flight. The wall-climbing mechanism in the robot can be linked with the air extraction mechanism to achieve wall climbing by controlling the negative pressure suction cup 6. The hub motor 16 in the robot's walking mechanism enables the robot to run on the ground, making it suitable for various work scenarios. The robot is equipped with a robotic arm, camera, temperature and humidity sensor, and other working components to meet different task requirements.

[0024] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A multi-functional robot, comprising a frame (1), characterized in that: The frame (1) has a cylindrical base (101) with several guide arms (102) arranged radially and evenly. The ends of the guide arms (102) are hinged to the side shaft tubes (201) of the air outlet rings (2). The toothed ring (202) of the side shaft tube (201) meshes with the gear at the output end of the reversing motor (3) on the bottom surface of the guide arm (102). The inner wall cross-section of each air outlet ring is designed as an airfoil. The inner cavity of the air outlet ring (2) is connected to the suction mechanism at the top of the cylindrical base (101). A mounting seat (103) is provided on one side of the cylindrical base (101). The mounting seat (103) is connected to the working components. The bottom ring of the frame (1) is connected to the ring seat (4). The two sides of the ring seat (4) are connected to the walking mechanism. The ring seat (4) has a built-in solenoid valve (5). The solenoid valve (5) is connected to the suction mechanism and the negative pressure suction cup (6) in the wall climbing mechanism.

2. The multifunctional robot according to claim 1, characterized in that: The air extraction mechanism includes an inner air hood (7), which is rotatably connected to the cylinder mouth of the cylinder seat (101). The outer gear ring (701) of the inner air hood (7) meshes with the gear at the output end of the air intake servo motor (8). The air intake servo motor (8) is installed on the cylinder body flange of the cylinder seat (101). The flange is connected to the outer air hood (9) by bolts. Several mutually cooperating air intake grooves are evenly arranged on the arc surface of the inner and outer air hoods. The outer air hood (9) is connected to the solenoid valve (5) through the air extraction pipe (10). The drive motor (11) is installed at the center of the top surface of the outer air hood (9). The output end of the drive motor (11) passes into the inner and outer air hoods and connects to the impeller (12).

3. The multifunctional robot according to claim 1, characterized in that: The walking mechanism includes a double-headed bracket (13), a ring seat (4) is connected in the middle of the double-headed bracket (13), and sleeves (1301) are provided at both ends of the double-headed bracket (13). A buffer shaft (1401) shaft slide plate (1401) is slidably connected inside the sleeve (1301). A buffer spring (15) is provided between the slide plate (1401) and the bottom of the sleeve (1301). The first end of the buffer shaft (14) passes through the center of the buffer spring (15), and the tail end of the buffer shaft (14) is connected to the hub motor (16).

4. A multifunctional robot according to claim 1, characterized in that: The wall-climbing mechanism includes a lifting servo motor (17), which is installed on the bottom surface of the frame (1). The output end of the lifting servo motor (17) is connected to the head end of the lifting arm (18). The lifting groove (1801) at the tail end of the lifting arm (18) is slidably connected to the sliding key (1901) on one side of the lifting column (19). The lifting column (19) is vertically slidably connected to the sliding sleeve (104) on the bottom surface of the frame (1). The vertical groove (105) on the front of the sliding sleeve (104) is vertically slidably connected to the sliding key (1901). The bottom of the lifting column (19) is connected to the negative pressure suction cup (6). The air guide pipe (601) of the negative pressure suction cup (6) passes through the side of the lifting column (19) and is vertically slidably connected to the docking sleeve (501) of the solenoid valve (5). The groove (106) on the back of the sliding sleeve (104) is in upper and lower cooperation with the air guide pipe (601).

5. A multifunctional robot according to claim 1, characterized in that: The working components are one of a robotic arm, a camera, and a temperature and humidity sensor. The robotic arm includes a clamping plate (20), with two meshing large gear disks (21) hinged in the middle of the two clamping plates (20). The upper claw arm (22) is fixed to the body of the large gear disk (21). The upper end of the upper claw arm (22) is hinged to the upper end of the gripper (23). The middle of the gripper (23) is hinged to the end of the lower claw arm (24). The head of the lower claw arm (24) is hinged to the bottom of the clamping plate (20). The upper part of one side of the large gear disk (21) meshes with a drive gear (25). The drive gear (25) is connected to the gripper motor on the clamping plate (20). (26) The top of the two clamps (20) is connected to the bottom of the forearm (27). The middle of the forearm (27) is hinged to the upper end of the upper arm (28). The output end of the forearm motor (29) on one side of the upper end of the upper arm (28) is connected to the forearm (27). The top of the forearm (27) is hinged to the upper end of the upper connecting arm (30). The lower end of the upper connecting arm (30) is hinged to the upper end of the lower connecting arm (31). The lower connecting arm (31) is hinged to the lower end of the upper arm (28). The lower end of the upper arm (28) is hinged to the top of the mounting base (103). The output end of the upper arm motor (32) on one side of the top of the mounting base (103) is connected to the upper arm (28).

6. A multifunctional robot according to claim 1, characterized in that: The top of the guide arm (102) has a battery slot (107), the battery slot (107) is equipped with a battery cover (33), and the battery cover (33) has wire holes (3301) on both sides. The battery slot (107) has a built-in battery that is electrically connected to the control module in the ring seat (4), and the control module is electrically connected to each mechanism and working component.

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