A home maintenance robot with omnidirectional movement and electromechanical cooperative posture control

Abstract

The application belongs to the technical field of intelligent service robots, and relates to a home maintenance robot with omni-directional movement and electromechanical cooperative posture control, which comprises an omni-directional chassis, a multi-degree-of-freedom mechanical arm module, a capsule type modular intelligent material supply cabin, an environment sensing and interaction head module, a sensor group and a main controller. The chassis is driven by Mecanum wheels and motors; the material supply cabin comprises an annular cabin body assembly, a plurality of capsule cabins, a central feeding channel, a lifting feeding platform, a platform lifting driving mechanism, a cabin door opening mechanism, a discharging channel and a magnetic guide mechanism. The device can realize standardized classified storage of small standard parts, automatic cabin selection, single capsule release, central receiving and magnetic discharging, thereby reducing the risk of standard part scattering, mixing and jamming; effectively improving the passability of the robot in unstructured terrains such as carpets, doorsteps and slopes, avoiding the imbalance of the center of gravity when the mechanical arm extends for operation, and being compact in structure and suitable for daily maintenance of household items in single-family homes.

Description

Technical Field

[0001] This invention belongs to the field of intelligent service robot technology, specifically relating to a home repair robot with intelligent electromechanical cooperative posture control, and particularly to a home repair robot with omnidirectional movement and electromechanical cooperative posture control. Background Technology

[0002] With the increase in the number of people living alone, the demand for automated services such as repairing small items and replacing fasteners in home settings is becoming increasingly prominent. Existing home service robots mostly adopt a fixed-wheel chassis and open-loop robotic arm structure. While they operate well on flat, hard surfaces, they are prone to slipping, bottoming out, or getting stuck on unstructured terrain such as carpets and mats. Furthermore, when the robot uses its robotic arm to extend and grasp or apply force, the robot's center of gravity shifts significantly. Traditional control systems lack a torque coordination mechanism between the chassis and the robotic arm, leading to potential tipping, shaking, or positioning errors during operation. Current technologies often use open trays or simple drawers for tool management, resulting in fasteners easily scattering and disorganized feeding sequences. At the perception and control level, sensor layouts are scattered, data synchronization is poor, and attitude calculation latency is high. Mechanically, the chassis and upper body lack active deformation adjustment capabilities, making it difficult to adapt to repair work at different heights.

[0003] Meanwhile, in home repair, equipment maintenance, robot-assisted repair, and tool cabinet management scenarios, small standard parts such as screws, bolts, nuts, washers, self-tapping screws, wood screws, and expansion joints are frequently needed. These standard parts are small in size and come in many specifications. If stored in open containers, drawers, or ordinary compartments, problems such as mixing, scattering, jamming, and difficulty in user identification can easily occur. Existing methods for supplying small parts mostly rely on manual retrieval or use industrial feeding structures such as vibratory feeders, conveyor belts, and hoppers to achieve continuous supply of single-specification parts. These industrial feeding structures are usually large in size and customized for single standard parts, making them difficult to directly apply to the scenarios of multi-specification, low-frequency, on-demand retrieval in home repair robots, small intelligent tool cabinets, or portable repair auxiliary equipment. Furthermore, when standard parts need to be delivered from inside the robot or tool cabinet, if they rely solely on gravity to slide out, the capsule or part may stop near the discharge port or roll out from the edge of the receiving platform.

[0004] Based on this, there is a need to develop a home repair robot with a compact structure, strong maneuverability and active center of gravity compensation capability, as well as a modular material supply structure that can encapsulate various standard parts into capsules, select target capsules according to specifications, release target capsules from corresponding compartments to the central platform, and deliver capsules out through magnetic guidance, so as to effectively solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a home repair robot with all-terrain adaptive and electromechanical collaborative attitude control. By using chassis servo motor drive, robotic arm force-position hybrid control, capsule-type modular material bin feeding, and multi-sensor attitude fusion, the robot can solve the problem of center of gravity imbalance during extended operation and achieve stable passage and high-precision repair work in complex home environments.

[0006] This invention is achieved through the following technical solution:

[0007] A home maintenance robot with omnidirectional mobility and electromechanical collaborative attitude control includes an omnidirectional mobile chassis 1, a multi-degree-of-freedom robotic arm module 2, a capsule-type modular intelligent material supply compartment 3, an environmental perception and interaction head module 4, a sensor group and a main controller 5.

[0008] The omnidirectional mobile chassis 1 is used to support the entire machine and enable movement across various terrains within the home. It adopts a Mecanum omnidirectional wheel assembly, forming a four-wheel independent distributed node structure, and is driven by a servo motor 24. The capsule-type modular intelligent material supply compartment 3 is installed above the omnidirectional mobile chassis 1 and includes a vertical outer shell composed of compartment walls 8, a ring-shaped compartment assembly, multiple capsule compartments, a central feeding channel 12, a lifting feeding platform 13, a platform lifting drive mechanism, a door opening mechanism, a discharge channel, a magnetic guide mechanism, a position detection component, and a matching controller, used for three-dimensional storage and on-demand feeding of fasteners. The multi-degree-of-freedom robotic arm module 2 is installed on the capsule-type... The modular intelligent material supply compartment 3 has two sides for tool grasping, disassembly, and maintenance operations; the environmental perception and interaction head module 4 is installed above the capsule-shaped modular intelligent material supply compartment 3 for environmental recognition and human-machine interaction; the sensor group and main controller 5 are installed in front of the capsule-shaped modular intelligent material supply compartment 3. The sensor group is respectively deployed at each joint of the degree-of-freedom robotic arm and at the end of the robotic arm to collect data on body posture, joint angles, and end force. The main controller is used to receive sensor data, perform posture calculation and electromechanical coordination control, and coordinate the vertical displacement of the body and the movement of the robotic arm to maintain the dynamic balance of the whole machine.

[0009] Furthermore, the omnidirectional mobile chassis 1 includes a housing and a fixed connecting plate disposed within the housing, four sets of Mecanum wheels 23 and a servo motor 24. The four sets of Mecanum wheels 23 are independently mounted below the fixed connecting plate and are driven by DC servo motors, i.e., servo motors 24. Each drive node includes a motor driver, an encoder interface and a current sampling circuit. It is powered by a 48V lithium-ion battery pack and is equipped with a battery management circuit to realize charge and discharge protection and temperature monitoring.

[0010] Furthermore, the multi-degree-of-freedom robotic arm module 2 includes a base installed on the outside of the cabin wall 8, a robotic arm pivot embedded inside the base, and a shoulder joint, an elbow joint, and a wrist joint sequentially connected above the base. Each joint is driven by a servo motor, and the end is equipped with a two-finger parallel electric gripper. The gripper is equipped with a linkage force amplification mechanism and an anti-slip finger pad.

[0011] Furthermore, a central feeding channel 12 is formed within the annular chamber assembly; multiple capsule chambers are arranged around the central feeding channel 12, and the capsule chambers are used to store capsules containing standard parts; a lifting feeding platform 13 is arranged within the central feeding channel 12, and is used to move between positions corresponding to different capsule chambers and to receive target capsules released from target capsule chambers; a platform lifting drive mechanism is connected to the lifting feeding platform 13 for driving the lifting feeding platform 13 to move along the central feeding channel 12; a door opening mechanism is used to open the target capsule chamber when the lifting feeding platform 13 moves to the position corresponding to the target capsule chamber, so that the target capsule enters the lifting feeding platform 13 from the target capsule chamber; a discharge channel is connected to the central feeding channel 12; a magnetic guide mechanism is arranged at or near the discharge channel, and is used to act on the capsule shell of the target capsule to push the target capsule away from the lifting feeding platform 13 and towards the discharge channel.

[0012] Furthermore, the plurality of capsule chambers are divided into at least two annular capsule supply layers, each annular capsule supply layer including a plurality of capsule chambers distributed circumferentially; the annular capsule supply layers are three layers, each annular capsule supply layer including eight capsule chambers distributed circumferentially, to form twenty-four capsule chambers.

[0013] Furthermore, the lifting and feeding platform 13 includes a platform body, the upper surface of which is an inverted conical receiving surface 16. The center of the inverted conical receiving surface is lower than its edge, which is used to make the capsules falling into the lifting and feeding platform gather towards the center of the lifting and feeding platform.

[0014] The platform lifting drive mechanism includes a ball screw mechanism, which includes a ball screw 14, a nut seat, and a lifting drive motor. The nut seat is connected to the lifting feeding platform 13, and the lifting drive motor is used to drive the ball screw 14 to rotate, so as to drive the lifting feeding platform 13 to rise and fall along the central feeding channel 12.

[0015] Furthermore, each of the capsule chambers is provided with a door on the side near the central feeding channel 12. The door is connected to the capsule chamber by a pivot or bearing. A spring return member 22 is provided on the door at a position near its lower quarter end. The spring return member 22 is used to keep the door closed or return it to the closed state when it is not pushed by an external force.

[0016] The hatch opening mechanism includes a retractable top rod 18 located below the lifting and feeding platform 13. When the lifting and feeding platform 13 moves to the corresponding position of the target capsule chamber, the retractable top rod 18 extends and pushes the upper part of the hatch door of the target capsule chamber, causing the hatch door to rotate and open around the pivot. After the retractable top rod 18 retracts, the hatch door is reset and closed under the action of the spring reset member 22 to prevent other capsules in the same target capsule chamber from continuing to roll out.

[0017] Furthermore, the capsule shell is provided with a magnetic response part, which includes at least one of a magnetic sheet, a ferromagnetic insert, or a magnetic guide ring; the magnetic guiding mechanism includes a permanent magnet guide or an electromagnetic guide; when the lifting and feeding platform 13 carries the target capsule to the corresponding position of the discharge channel, the permanent magnet guide or electromagnetic guide acts on the magnetic response part of the target capsule shell to push the target capsule from the lifting and feeding platform 13 to the discharge channel opening.

[0018] Furthermore, the position detection component is used to detect the layer or height of the lifting and feeding platform 13, and the controller is used to control the platform lifting drive mechanism, the hatch opening mechanism, and the magnetic guide mechanism according to the target standard part specifications; the position detection component includes at least one of an encoder, a limit switch, a Hall sensor, and a photoelectric sensor; the controller is configured with a standard part mapping table, which is used to record the correspondence between standard part type, standard part specification, capsule chamber layer, and capsule chamber circumferential position.

[0019] Furthermore, the environmental perception and interaction head module 4 integrates a binocular camera, an inertial measurement unit, a laser ranging module, a microphone array, and a touch screen, supporting environmental feature extraction, voice command recognition, and maintenance screen display.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. Omnidirectional movement: The distributed architecture of the Mecanum wheel chassis allows for flexible movement in narrow indoor aisle environments;

[0022] 2. Stable working posture: Through multi-sensor data fusion and center of gravity feedforward compensation mechanism, the tilt angle of the whole machine is controlled within ±2° when the robotic arm is extended, effectively avoiding tipping and shaking;

[0023] 3. Material Management Standards: By encapsulating standard parts, bulk small parts are transformed into identifiable, storable, and supplyable independent material units, reducing the risk of mixing and spillage; multi-layered annular capsule chambers and a central feeding channel enable compact storage of standard parts of various specifications within a limited space; a lifting feeding platform with an inverted conical receiving surface causes capsules to converge towards the center after falling onto the platform, improving receiving reliability; a retractable top rod pushes an elastic reset door, enabling on-demand opening and automatic reset of the target chamber, reducing accidental discharge; a magnetic guiding mechanism acts on the capsule shell, pushing the capsules from the lifting feeding platform to the discharge channel, improving discharge stability; a matrix-type capsule chamber, combined with a guide ramp and a pushing mechanism, achieves precise extraction of fasteners, with a feeding success rate of ≥99%, eliminating spillage and jamming;

[0024] 4. Compact and reliable structure: With a centralized main controller, communication latency is low, and the emergency stop circuit and lateral support mechanism provide dual safety protection, meeting the requirements of home use environment;

[0025] 5. Automatic compartment selection based on specifications is achieved through a standard parts mapping table and controller, applicable to various equipment such as maintenance robots, intelligent tool cabinets, and automatic spare parts cabinets. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic diagram of the overall system architecture and module distribution of the home repair robot of this invention;

[0028] Figure 2 This is a schematic diagram of the upper chamber assembly and the central feeding channel at a 45° angle, according to the present invention.

[0029] Figure 3 This is a schematic diagram of the feeding mechanism and ball screw structure of the present invention;

[0030] Figure 4 This is a schematic diagram of the feeding platform structure of the present invention;

[0031] Figure 5 This is a schematic diagram of the capsule supply compartment and the fan-shaped capsule compartment of the present invention;

[0032] Figure 6 This is a schematic diagram of the omnidirectional Mecanum wheel chassis structure of the present invention;

[0033] Figure 7This is a schematic diagram of the intelligent head mechanism structure of the present invention.

[0034] In the diagram: 1. Omnidirectional mobile chassis; 2. Multi-degree-of-freedom robotic arm module; 3. Capsule-type modular intelligent material supply compartment; 4. Environmental perception and interaction head module; 5. Sensor group and main controller; 6. Screen door; 7. Tool table door; 8. Cabin wall; 9. Pull-out tool layer; 10. VR glasses; 11. Material box; 12. Central feeding channel; 13. Lifting feeding platform; 14. Ball screw; 15. Lifting drive motor; 16. Inverted conical receiving surface; 17. Top rod drive motor; 18. Telescopic top rod; 19. Upper capsule storage compartment; 20. Fan-shaped capsule receiving compartment; 21. Rotatable stop door; 22. Spring return component; 23. Mecanum wheel; 24. Servo motor; 25. Head camera; 26. Head drive motor; 27. Servo motor. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0036] like Figures 1-7 As shown, the home repair robot of the present invention, featuring all-terrain adaptive and electromechanical cooperative attitude control, comprises an omnidirectional mobile chassis 1, a multi-degree-of-freedom robotic arm module 2, a capsule-shaped modular intelligent material supply compartment 3, an environmental perception and interaction head module 4, a sensor group, and a main controller 5. The capsule-shaped modular intelligent material supply compartment 3 is mounted above the omnidirectional mobile chassis 1, with its bottom shell welded and fixed to the outer shell of the omnidirectional mobile chassis 1. The multi-degree-of-freedom robotic arm module 2 is mounted on both sides of the capsule-shaped modular intelligent material supply compartment 3, the environmental perception and interaction head module 4 is mounted above the capsule-shaped modular intelligent material supply compartment 3, and the sensor group and main controller 5 are mounted in front of the capsule-shaped modular intelligent material supply compartment 3.

[0037] The omnidirectional mobile chassis 1, used to support the entire unit and enable movement across various terrains within the home, employs a Mecanum omnidirectional wheel assembly, forming a four-wheel independent distributed node structure driven by servo motors 24. Specifically, the omnidirectional mobile chassis 1 includes a housing, a fixed connecting plate housed within the housing, four sets of Mecanum wheels 23, and servo motors 24. The four sets of Mecanum wheels 23 are independently mounted below the fixed connecting plate and are driven by DC servo motors 24 to achieve omnidirectional translation. An angle encoder is configured at the hinge point. Each Mecanum wheel 23 is driven by a servo motor 24, mounted in one of the four directions of the chassis. Each drive node integrates current sampling, temperature monitoring, and overvoltage protection circuitry. Specifically, it includes a motor driver, an encoder interface, and a current sampling circuit, powered by a 48V lithium-ion battery pack and equipped with a battery management circuit. Specifically, it features a charge / discharge management board that monitors voltage, current, and cell temperature in real time, automatically cutting off output in case of abnormalities to achieve charge / discharge protection and temperature monitoring. It is also equipped with over-temperature / over-current protection, enabling movement across most terrains within the home. In this invention, the output end of the servo motor 24 is connected to the axle of the Mecanum wheel 23 via a flange, providing power to the Mecanum wheel 23.

[0038] The multi-degree-of-freedom robotic arm module 2 is symmetrically assembled on both sides of the cabin wall 8, used for tool gripping, disassembly, and maintenance operations. It includes a base mounted on the outside of the cabin wall 8, with a robotic arm pivot (base rotation joint) embedded inside the base to achieve overall horizontal rotation of the robotic arm. Connecting arm segments and wrist joints are sequentially connected above the base, corresponding to the shoulder and elbow joints respectively, enabling pitch and flexion movements. These, in conjunction with the end-effector wrist joint, achieve multi-degree-of-freedom linkage adjustment. Each joint is equipped with a servo motor 24, whose output is rigidly connected to the flange of the joint arm segment via a harmonic reducer, driving each joint to achieve rotation, pitch, flexion, extension, and yaw movements, providing multi-degree-of-freedom operating power for the robotic arm. The multi-degree-of-freedom robotic arm module 2 has a total of 7 degrees of freedom from the base to the end-effector. The end-effector is equipped with a two-finger parallel electric gripper, internally employing a four-bar linkage force amplification mechanism to convert the linear thrust of the motor into gripper opening and closing movements, supporting position control and torque feedback, with an adjustable gripping force from 0 to 200N. The gripper finger pads are covered with microstructured anti-slip silicone, making them compatible with various materials such as metal and plastic parts.

[0039] The capsule-type modular intelligent material supply chamber 3 is used for three-dimensional storage and on-demand material supply of fasteners. It includes a vertical integral shell composed of chamber walls 8, a ring chamber assembly, multiple capsule chambers, a central feeding channel 12, a lifting feeding platform 13, a platform lifting drive mechanism, a door opening mechanism, a discharge channel, a magnetic guide mechanism, a position detection component, and a matching controller.

[0040] The upper part of the cabin wall 8 has an installation window adapted to the screen door 6. The screen door 6 is pivotally connected to the cabin wall 8 and can be flipped open and closed. When closed, it seals the upper window, protecting the internal display components. When open, it exposes the internal display components, facilitating human-machine interaction and parameter viewing. The lower part of the cabin wall 8 has a window adapted to the tool table door 7. The tool table door 7 is pivotally connected to the cabin wall 8. When closed, it seals and protects the lower cavity. When opened, it folds outward to form a dedicated tool table for equipment maintenance.

[0041] The interior of the cabin wall 8 is equipped with a pull-out tool layer 9, which slides in conjunction with the inner guide structure of the cabin wall 8 and can be pulled out and extended horizontally. The surface of the pull-out tool layer 9 is stamped with tool contour grooves for limiting and fixing commonly used maintenance tools such as screwdrivers and wrenches. The lower area of ​​the pull-out tool layer 9 is independently equipped with a VR glasses 10 placement slot and a material 11 storage area, with a material box 11 mounting position. The material box 11 adopts a pull-out embedded structure, which can be freely removed and put back in place, and is mainly used to store loose parts, auxiliary consumables and small accessories of the equipment.

[0042] The tool table is equipped with foldable extension panels on both sides. When folded, the panels fit snugly against the sides of the tool table, maintaining a neat overall appearance. When unfolded, they effectively widen the maintenance work surface and expand the working space. The VR glasses 10 establish a communication connection with the head camera 25 via a wireless link, projecting real-time images of the maintenance area into the user's field of vision. This helps the user observe blind spots, predict maintenance status, and improve the accuracy and safety of maintenance operations.

[0043] The annular capsule assembly serves as the main storage structure, forming multiple annular capsule supply layers internally. A vertically arranged central feeding channel 12 runs through the center of the annular capsule assembly, serving as a dedicated channel for vertical capsule transport. Multiple capsule chambers are evenly arranged circumferentially around the central feeding channel 12, and these chambers store capsules containing standard parts. Each capsule chamber stores several capsules of the same specification, and each capsule contains a standard part of one specification or a combination of specifications. This transforms standard parts from bulk components into capsule-based material units that are easy to identify, store, and supply. The multiple capsule chambers are divided into at least two annular capsule supply layers, each layer comprising multiple capsule chambers distributed circumferentially. Specifically, the annular capsule assembly includes three annular capsule supply layers, each layer comprising eight capsule chambers, forming a total of twenty-four capsule chambers. This number is suitable for the categorized storage of common standard parts used in home repairs, but the scope of this invention is not limited to three layers and eight chambers; it can also be configured with two, four, or other numbers of capsule chambers depending on the equipment size and spare parts type. Specifically, capsules within the same capsule compartment contain standard parts of the same specification and size, while different capsule compartments correspond to standard parts of different types, thread diameters, or lengths; the standard parts include at least one of machine screws, bolts, nuts, flat washers, spring washers, self-tapping screws, wood screws, and expansion connectors; the thread diameter of the standard parts includes at least one of M2, M2.5, M3, M4, M5, M6, and M8.

[0044] A lifting and feeding platform 13 is vertically positioned within the central feeding channel 12. It includes a platform body with an inverted conical receiving surface 16 on its upper surface. The center of the inverted conical receiving surface 16 is lower than its edge, allowing capsules to gather towards the center of the platform after rolling out of the capsule chamber, preventing them from rolling off the platform edge during the receiving process. The lifting and feeding platform 13 is driven by a ball screw mechanism and can move up and down along the central feeding channel 12. It is used to move between positions corresponding to different capsule chambers and to receive target capsules released from the target capsule chamber. Each capsule chamber has a door on the side closest to the central feeding channel 12. The door is connected to the capsule chamber via a pivot or bearing and is kept closed by a spring-loaded return mechanism. The door is a narrow, elongated regular hexagon or approximately narrow, elongated regular hexagon. A spring-loaded return mechanism 22 is located near the lower quarter of the door. The spring-loaded return mechanism 22 is used to keep the door closed or return it to a closed state when not pushed by external force, preventing capsules from slipping off. The spring return element 22 can be a torsion spring, a tension spring, or a compression spring.

[0045] The platform lifting drive mechanism is connected to the lifting and feeding platform 13 for driving the lifting and feeding platform 13 to move along the central feeding channel 12. The platform lifting drive mechanism includes a ball screw mechanism. The bottom of the ball screw mechanism is fixed to the fixed connecting plate of the omnidirectional moving chassis 1, and the top is connected to the upper disc structure of the capsule-type modular intelligent material supply chamber 3. The ball screw mechanism includes a ball screw 14, a nut seat, and a lifting drive motor 15. The nut seat is connected to the platform body of the lifting and feeding platform 13. The output end of the lifting drive motor 15 is rigidly connected to the end of the ball screw 14 for driving the ball screw 14 to rotate, converting the rotational motion into linear lifting motion, so as to drive the lifting and feeding platform 13 to rise and fall along the central feeding channel 12.

[0046] Inside the vertical outer shell formed by the cabin wall 8, at the top, is a capsule storage compartment 19. The lower end of the upper capsule storage compartment 19 is connected to a fan-shaped capsule receiving compartment 20. The bottom of the fan-shaped capsule receiving compartment 20 is equipped with a rotatable baffle 21. The rotatable baffle 21, in conjunction with a spring reset component 22, achieves elastic closing and opening / resetting, completing the temporary storage and controlled discharge of the upper capsule material. At the same time, a push rod drive motor 17 is fixedly installed inside the cabin wall 8. The push rod drive motor 17 and a telescopic push rod 18 form a transmission cooperation. The telescopic push rod 18 moves telescopically along the axis of the central feeding channel 12, cooperating with the lifting feeding platform 13 to achieve precise ejection and pushing of capsules.

[0047] The hatch opening mechanism is used to open the target capsule compartment when the lifting and feeding platform 13 moves to the corresponding position of the target capsule compartment, allowing the target capsule to enter the lifting and feeding platform 13 from the target capsule compartment. The hatch opening mechanism includes a retractable push rod 18 disposed below the lifting and feeding platform 13. The retractable push rod 18 can be driven by a miniature electric push rod, an electromagnetic push rod, or a cam mechanism. When material needs to be retrieved, when the lifting and feeding platform 13 moves to the corresponding position of the layer where the target capsule compartment is located, the retractable push rod 18 extends and pushes the upper part of the hatch door of the target capsule compartment, causing the hatch door to rotate and open around a pivot or bearing, and the target capsule rolls from the capsule compartment onto the inverted conical receiving surface 16 of the lifting and feeding platform 13; after material retrieval, the retractable push rod 18 retracts, and the hatch door is reset and closed under the elastic force of the spring reset member 22, so as to prevent other capsules in the same target capsule compartment from continuing to roll out.

[0048] The discharge channel is connected to the central feeding channel 12. The magnetic guiding mechanism is located at or near the discharge channel. The capsule shell is provided with a magnetic response part, which includes at least one of a magnetic sheet, a ferromagnetic insert, or a magnetic guide ring. The magnetic guiding mechanism includes a permanent magnet guide or an electromagnetic guide. When the lifting feeding platform 13 moves the target capsule to the corresponding position in the discharge channel, the magnetic guiding mechanism acts on the magnetic response part of the target capsule shell, pushing the target capsule away from the lifting feeding platform 13 and towards the discharge channel opening, allowing the capsule to slide out through the discharge channel. The outlet of the discharge channel can be connected to a receiving platform, a folding worktable, a material picking box, or a robotic arm picking position.

[0049] The device of this invention is equipped with a dedicated controller and position detection components to achieve automated control. Specifically, the controller controls the ball screw mechanism of the platform lifting drive mechanism, the retractable top rod 18 of the hatch opening mechanism, and the magnetic guide mechanism according to the target standard part specifications. The controller can be configured with a standard part mapping table to record the correspondence between standard part types, standard part specifications, capsule chamber levels, and circumferential positions. After the user or host computer inputs the target standard part specifications, the controller controls the movement of the lifting and feeding platform 13, the opening of the top rod door, the platform continuing to rise to the discharge position, and the magnetic guide for material discharge, based on the standard part mapping table.

[0050] The position detection component is used to detect the layer or height of the lifting and feeding platform 13; the position detection component includes at least one of an encoder, a limit switch, a Hall sensor, and a photoelectric sensor.

[0051] The capsule-shaped modular intelligent material supply compartment 3 has a disc structure on its upper part, on which the environmental perception and interaction head module 4 is fixedly mounted via a servo motor 27. A harmonic reducer is installed inside the disc structure, which, with stable support from the chassis, enables 360° high-precision rotation of the upper body. The disc structure supports the robot's upper body components.

[0052] The environmental perception and interaction head module 4, used for environmental recognition and human-computer interaction, includes a head shell, a neck shell, a head camera 25, a head drive motor 26, and a servo motor 27. The head camera 25 is a dual-sided camera integrated inside the head shell. The head drive motor 26 is located inside the neck shell, with its output mechanically connected to the head shell and its input fixedly connected to the output shaft of the servo motor 27. The servo motor 27 provides power output to the head drive motor 26, driving the head shell to rotate. The head shell also integrates an inertial measurement unit, a laser ranging module, a microphone array, and a touchscreen. The inertial measurement unit measures and provides feedback on the head's posture in real time, working with the head drive motor 26 and the servo motor 27 to achieve closed-loop control, ensuring the accuracy and stability of head rotation. The laser ranging module, in conjunction with the binocular camera, constructs a depth perception capability for measuring the distance between the device and obstacles in front. The microphone array can collect sound signals and achieve sound source localization, noise suppression, and sound enhancement through multi-channel sound pickup. Thus, environmental feature recognition and extraction, voice command recognition and parsing, and visualization of the maintenance process can be achieved.

[0053] The sensor group and main controller 5 consist of a sensor group and a main controller. The sensor group is respectively installed at each joint of the degree-of-freedom robotic arm and at the end effector position of the robotic arm, and is used to collect data on the body posture, joint angle and end force. The sensor group includes a robotic arm joint encoder and an end effector six-dimensional force sensor. The data from each sensor is synchronously input to the main controller after being filtered by hardware.

[0054] The main controller is installed in the electrical control mounting cavity fixedly embedded inside the cabin wall 8. It is connected to each sensor and is used to receive sensor data, perform attitude calculation and electromechanical coordinated control, and coordinate the vertical displacement of the fuselage and the movement of the robotic arm to maintain the dynamic balance of the entire machine. The main controller adopts an industrial-grade ARM microprocessor with a built-in real-time task scheduling module and communicates with each drive node via RS485 or CAN bus.

[0055] The electromechanical cooperative attitude control method executed by the main controller includes the following steps:

[0056] S1. Real-time acquisition and synchronization of acceleration, angular velocity, joint angle and end force data of sensor group;

[0057] S2. Fuselage attitude calculation and center of mass offset calculation based on complementary filtering: The fuselage pitch angle and roll angle are calculated by complementary filtering algorithm, and the fuselage center of mass offset is calculated by combining the kinematic model of the robotic arm.

[0058] S3. Overturning moment threshold determination, chassis suspension deformation and robotic arm joint impedance compensation command issuance: The main controller sends a command to the servo drive assembly through the bus, the body actively adjusts the height, and the robotic arm synchronously switches to impedance control mode to perform center of gravity compensation.

[0059] S4. Residual tilt angle monitoring and safety redundancy intervention: Real-time monitoring of residual tilt angle. If the angle still exceeds the limit after compensation, the emergency stop circuit is triggered and the lateral support structure is deployed.

[0060] A capsule-type material supply method is applied to a capsule-type modular intelligent material supply compartment. The method includes: determining the target capsule compartment according to the specifications of the target standard part; controlling the lifting drive motor 15 of the control platform to drive the lifting feeding platform 13 to move to the corresponding position of the target capsule compartment; controlling the door opening mechanism to open the door of the target capsule compartment, so that the target capsule rolls out of the target capsule compartment; receiving the target capsule through the lifting feeding platform 13, and using the inverted conical receiving surface 16 of the lifting feeding platform 13 to gather the target capsule towards the center of the platform; controlling the door to reset and close; controlling the lifting feeding platform 13 to move to the corresponding position of the discharge channel; controlling the magnetic guiding mechanism to act on the capsule shell of the target capsule to push the target capsule away from the lifting feeding platform and towards the discharge channel.

[0061] Determining the target capsule compartment involves: querying the standard parts mapping table to determine the capsule compartment level and circumferential position corresponding to the target standard parts specifications.

[0062] The control mechanism for opening the door of the target capsule chamber includes: controlling the extension of a retractable top rod located below the lifting and feeding platform 13 to push the upper part of the door of the target capsule chamber, so that the door opens around the pivot or bearing.

[0063] Controlling the magnetic guiding mechanism to act on the capsule shell of the target capsule includes: controlling the electromagnetic guiding component to be energized so that the electromagnetic guiding component acts on the magnetic response part of the capsule shell, or causing the permanent magnet guiding component to guide the magnetic response part of the capsule shell when the lifting feeding platform reaches the discharge position.

[0064] An intelligent maintenance device includes a device body and a capsule-type modular intelligent material supply compartment. The capsule-type modular intelligent material supply compartment is disposed within the device body and is used to output capsules containing standard parts to users, robotic arms, or material handling mechanisms.

[0065] Example 1

[0066] This embodiment of the home repair robot adopts a layered mechanical architecture. The bottom layer is an omnidirectional mobile chassis module, with the structural range defined by a fixed connecting plate, and Mecanum wheels 23 independently mounted in four directions. Each wheel assembly is driven by a DC servo motor 24, achieving omnidirectional translation. The servo motor 24 provides power to the chassis wheel assembly, the joints of the robotic arm, and the gripper. Each drive node integrates current sampling, temperature monitoring, and overvoltage protection circuits. The 48V lithium-ion battery pack is equipped with a charge and discharge management board, which monitors voltage, current, and cell temperature in real time, and automatically cuts off the output in case of abnormalities. A JWB010US ordinary ball screw type lifting mechanism is installed in the middle of the body, connected to the fixed connecting plate of the chassis and the top execution platform. The motor drives the screw to rotate, realizing the vertical displacement of the body to handle repair work on furniture or equipment of different heights. The top execution platform has a disc structure at its center, which is equipped with a harmonic reducer. This structure achieves 360° high-precision rotation of the upper body based on the stable support provided by the chassis. The top execution platform supports the upper body components of the robot, ensuring that the body remains structurally stable when the robotic arm moves over a wide range or applies operating forces.

[0067] The capsule-type modular intelligent material supply compartment is installed inside the machine body and includes a compartment assembly, a central feeding channel 12, four capsule supply layers, a lifting feeding platform 13, a ball screw 14, a telescopic top rod 18, an upper capsule storage compartment 19, a rotatable door 21, and a spring reset mechanism 22.

[0068] The capsule supply layer is circular or nearly circular. The central feeding channel 12 is located at the center of the capsule assembly. The four capsule supply layers are stacked vertically, and each ring capsule supply layer includes eight capsule compartments evenly distributed circumferentially, forming a total of twenty-four capsule compartments. Each capsule compartment holds multiple capsules, and the capsules in the same capsule compartment contain standard parts of the same specification and size.

[0069] As an example of a 24-compartment configuration suitable for home repairs, the first layer can store M2, M2.5, and M3 machine screws and small washer combinations; the second layer can store M4 and M5 machine screws or bolts, corresponding nuts and washer combinations, and self-tapping screws; the third layer can store M6 and M8 bolts, corresponding nuts and washer combinations, wood screws, and expansion connectors. Example capsule compartment configurations are shown in Table 1.

[0070] Table 1

[0071] tiers and compartments Capsule contents example First floor A1 M2×6 and M2×8 machine screws First floor A2 M2.5×6 and M2.5×8 machine screws First floor, A3 M3×6 machine screws First floor A4 M3×10, M3×12 machine screws First floor, A5 M3 nut, M3 flat washer, M3 spring washer combination capsule First floor, A6 ST2.9×9.5 self-tapping screws First floor, A7 ST3.5×13 self-tapping screws First floor A8 M2, M2.5, and M3 small flat washer combination capsules Second floor B1 M4×10 machine screws Second floor B2 M4×16 machine screws Second floor B3 M4 nut, M4 flat washer, M4 spring washer combination capsule Second floor B4 M5×12 machine screws or bolts Second floor B5 M5×20 machine screws or bolts Second floor B6 M5 nut, M5 flat washer, M5 spring washer combination capsule Second floor, B7 ST4.2×16 self-tapping screws Second floor B8 3.5mm x 16mm wood screws Third layer C1 M6×16 bolts Third layer C2 M6×25 bolts Third layer C3 M6 nut, M6 flat washer, M6 spring washer combination capsule Third layer C4 M8×25 bolts Third layer C5 M8 nut, M8 flat washer, M8 spring washer combination capsule Third layer C6 4mm×30mm wood screws Third layer C7 5mm×40mm wood screws Third layer C8 M6 or M8 expansion connector

[0072] The above configuration is for illustrative purposes only. Depending on the application scenario, the capsule in any capsule compartment can be replaced with a snap ring, insulating gasket, plastic expansion tube, sealing ring, or other small spare parts.

[0073] The lifting and feeding platform 13 is located within the central feeding channel 12. The lifting and feeding platform 13 includes a platform body and an inverted conical receiving surface 16. The center of the inverted conical receiving surface 16 is lower than its edge, allowing the capsules to converge towards the center of the platform after rolling out of the capsule chamber. The ball screw mechanism includes a ball screw 14, a nut seat, and a lifting drive motor 15. The nut seat is connected to the platform body, and the lifting drive motor 15 drives the ball screw 14 to rotate, thereby causing the lifting and feeding platform 13 to rise and fall.

[0074] A door is provided on the side of the capsule chamber near the central feeding channel 12. The door can be a narrow, elongated regular hexagon or approximately a narrow, elongated regular hexagon. The door is connected to the capsule chamber via a pivot or a small bearing. A spring return element 22 is provided on the door near its lower quarter position. The spring return element 22 can be a torsion spring, tension spring, or compression spring, used to keep the door closed.

[0075] A telescopic push rod 18 is positioned below the lifting and feeding platform 13. The telescopic push rod 18 can be driven by a miniature electric push rod, an electromagnetic push rod, or a cam mechanism. During material retrieval, the controller queries a standard part mapping table based on the target standard part specifications to determine the layer and circumferential position of the target capsule compartment. The ball screw mechanism first drives the lifting and feeding platform 13 to the target layer, and then the telescopic push rod 18 extends and pushes the upper part of the target compartment door. The compartment door rotates around a pivot or bearing to open, and the target capsule rolls into the center of the inverted conical receiving surface 16 of the lifting and feeding platform 13 under gravity. After the telescopic push rod 18 retracts, the compartment door is reset and closed by the action of the spring reset element 22.

[0076] Each Mecanum wheel 23 is driven by a servo motor 24, mounted in one of the four directions of the chassis. Upon receiving a maintenance command or participating in a safety inspection, the robot's head-mounted LiDAR and depth camera visualize obstacles in the path. The upper-level controller then issues path planning commands, which are processed by the lower-level controller. Following the planned path, the robot tracks the trajectory, and an algorithm controls the motor's output torque. Finally, the actuators respond, and the chassis tracks the trajectory.

[0077] The lifting and feeding platform 13 carries the target capsule as it rises or moves to the corresponding position in the discharge channel. The capsule's outer shell is equipped with a magnetic response unit. This unit can be a magnetic sheet, a ferromagnetic insert, or a magnetic guide ring. The magnetic guiding mechanism can be a permanent magnet guide or an electromagnetic guide. When the target capsule reaches the discharge position, the magnetic guiding mechanism acts on the magnetic response unit, pushing the target capsule away from the lifting and feeding platform 13 and towards the entrance of the discharge channel, allowing it to slide out along the discharge channel. The outlet of the discharge channel can connect to a receiving platform, a folding worktable, a material handling box, or a robotic arm's material handling position.

[0078] The controller is used to control the ball screw mechanism, the telescopic push rod 18, and the magnetic guide mechanism. The controller can receive target standard part specifications from a user interface, host computer, robot main controller, or maintenance assistance system, and execute the feeding process according to the standard part mapping table. The controller can also be connected to encoders, limit switches, Hall effect sensors, or photoelectric sensors to confirm the position of the lifting feeding platform 13.

[0079] The toolbox covers the upper body of the robot, and a maintenance tool storage box is hinged to the inner side wall of the cabin wall 8. The storage box is stamped with tool contour grooves for fixing commonly used tools such as screwdrivers and wrenches. Folding doors are installed on both sides of the tool table, forming a protective shell when closed and unfolding into a maintenance work surface when opened. Independent material boxes 11 are located on both sides of the bottom of the work table for storing VR glasses 10 and auxiliary accessories. The VR glasses 10 are connected to the head camera 25 via a wireless link, which can project real-time images of the maintenance part into the field of vision, making it easier for users to identify blind spots and maintenance expectations.

[0080] The multi-degree-of-freedom robotic arm module 2 is symmetrically assembled on both sides of the toolbox, consisting of a robotic arm pivot, connecting arm segments, wrist joints, and end effector grippers. The end effector uses a two-finger parallel electric gripper with an internal four-bar linkage force amplification mechanism that converts the linear thrust of the motor into gripper opening and closing motion, achieving precise control of gripping force from 0 to 30N. The gripper finger pads are covered with microstructured anti-slip silicone, compatible with various materials such as metal and plastic parts.

[0081] The environmental perception and interaction head module 4 is located at the front of the unit and integrates a binocular camera, a three-axis accelerometer, a three-axis gyroscope, a laser rangefinder module, a microphone array, and a touch screen. The binocular camera is used for target recognition and distance estimation, providing high-frequency attitude data; the touch screen displays system status, operation progress, and fault codes. The main controller uses an industrial-grade ARM microprocessor with a built-in real-time task scheduling module and communicates with each drive node via RS485 or CAN bus.

[0082] The material supply process is as follows: 1. Receive the target standard parts, such as M4×16 machine screws or M5 nut and washer combinations; 2. The controller queries the standard parts mapping table to determine the corresponding target capsule compartment level and circumferential position; 3. The ball screw mechanism drives the lifting feeding platform to move to the level where the target capsule compartment is located; 4. The retractable push rod extends, pushing the upper part of the target capsule compartment door to open the door; 5. The target capsule rolls out of the target capsule compartment and falls into the center of the inverted conical receiving surface of the lifting feeding platform; 6. The retractable push rod retracts, and the door closes under the action of the spring reset component; 7. The lifting feeding platform moves to the discharge channel... 8. The magnetic guiding mechanism acts on the magnetic response part of the capsule shell, pushing the target capsule away from the lifting feeding platform and towards the discharge channel; 9. The target capsule slides out through the discharge channel to the receiving platform, folding worktable, material box, or robotic arm picking position; 10. The sensor group collects acceleration, angular velocity, joint angle, and end force data at a frequency of 100Hz, and inputs them to the main controller after low-pass filtering; 11. The complementary filtering algorithm is used to fuse IMU and joint encoder data to calculate the body pitch angle θ and roll angle ϕ, and calculates the overall center of gravity offset ∆Cx and ∆Cy by combining the robotic arm's forward kinematic model; 12. The overturning moment is calculated. If M > Mlimit, the main controller generates the body lifting adjustment amount ∆H and the robotic arm joint damping coefficient K. d 13. The command is sent to the servo drive assembly, the body lead screw actively adjusts the height, and the robotic arm switches to impedance control mode: Implement flexible compensation.

[0083] This embodiment of the machine meets the IP54 protection rating, operates with a noise level of <45dB, and has a continuous operating time of ≥6 hours. The system features a modular structure, facilitating maintenance and making it suitable for light-duty repair tasks in urban households, such as tightening pipe connections, disassembling and assembling appliance casings, and replacing furniture hardware.

[0084] It will be understood by those skilled in the art that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A home repair robot with omnidirectional mobility and electromechanical cooperative attitude control, characterized in that: It includes an omnidirectional mobile chassis (1), a multi-degree-of-freedom robotic arm module (2), a capsule-type modular intelligent material supply cabin (3), an environmental perception and interaction head module (4), a sensor group and a main controller (5). The omnidirectional mobile chassis (1) is used to carry the whole machine and realize the movement of the home in various terrains. It adopts a combination of Mecanum omnidirectional wheels, which is a four-wheel independent distributed node structure and is driven by a servo motor (24). The capsule-type modular intelligent material supply compartment (3) is installed above the omnidirectional mobile chassis (1) and includes a vertical shell composed of a compartment wall (8), a ring-shaped compartment assembly, multiple capsule compartments, a central feeding channel (12), a lifting feeding platform (13), a platform lifting drive mechanism, a door opening mechanism, a discharge channel, a magnetic guide mechanism, a position detection component, and a matching controller, for three-dimensional storage and on-demand feeding of fasteners; the multi-degree-of-freedom robotic arm module (2) is installed on both sides of the capsule-type modular intelligent material supply compartment (3) for performing tool gripping, disassembly and maintenance operations. The environmental perception and interaction head module (4) is installed above the capsule-type modular intelligent material supply cabin (3) for environmental recognition and human-machine interaction. The sensor group and main controller (5) are installed in front of the capsule-type modular intelligent material supply cabin (3). The sensor group is respectively installed at each joint of the degree-of-freedom robotic arm and at the end of the robotic arm to collect the body posture, joint angle and end force data. The main controller is used to receive sensor data, perform posture calculation and electromechanical coordination control, and coordinate the vertical displacement of the body and the movement of the robotic arm to maintain the dynamic balance of the whole machine.

2. The home repair robot with omnidirectional movement and electromechanical cooperative attitude control according to claim 1, characterized in that: The omnidirectional mobile chassis (1) includes a housing and a fixed connecting plate set inside the housing, four sets of Mecanum wheels (23) and a servo motor (24). The four sets of Mecanum wheels 23 are independently mounted under the fixed connecting plate and are driven by DC servo motors, i.e. servo motors 24. Each drive node includes a motor driver, an encoder interface and a current sampling circuit. It is powered by a 48V lithium-ion battery pack and is equipped with a battery management circuit to realize charge and discharge protection and temperature monitoring.

3. The home repair robot with omnidirectional movement and electromechanical cooperative attitude control according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm module (2) includes a base installed on the outside of the cabin wall (8), a robotic arm shaft embedded inside the base, and a shoulder joint, elbow joint and wrist joint connected in series above the base. Each joint is driven by a servo motor, and the end is equipped with a two-finger parallel electric gripper. The gripper is equipped with a linkage force amplification mechanism and an anti-slip finger pad.

4. A home repair robot with omnidirectional movement and electromechanical cooperative attitude control according to claim 1, characterized in that: A central feeding channel (12) is formed within the annular chamber assembly; multiple capsule chambers are arranged around the central feeding channel (12), and the capsule chambers are used to store capsules containing standard parts; a lifting feeding platform (13) is arranged within the central feeding channel (12), and is used to move between the corresponding positions of different capsule chambers and receive the target capsules released from the target capsule chambers; a platform lifting drive mechanism is connected to the lifting feeding platform (13) and is used to drive the lifting feeding platform (13) to move along the central feeding channel (12); a door opening mechanism is used to open the target capsule chamber when the lifting feeding platform (13) moves to the corresponding position of the target capsule chamber, so that the target capsule enters the lifting feeding platform (13) from the target capsule chamber; a discharge channel is connected to the central feeding channel (12); a magnetic guide mechanism is arranged at or near the discharge channel and is used to act on the capsule shell of the target capsule to push the target capsule away from the lifting feeding platform (13) and towards the discharge channel.

5. A home repair robot with omnidirectional movement and electromechanical cooperative attitude control according to claim 4, characterized in that: The multiple capsule chambers are divided into at least two annular capsule supply layers, each annular capsule supply layer including multiple capsule chambers distributed circumferentially; the annular capsule supply layers are three layers, each annular capsule supply layer including eight capsule chambers distributed circumferentially, to form twenty-four capsule chambers.

6. A home repair robot with omnidirectional movement and electromechanical cooperative attitude control according to claim 5, characterized in that: The lifting and feeding platform (13) includes a platform body, and the upper surface of the platform body is an inverted conical receiving surface (16). The center of the inverted conical receiving surface is lower than its edge, which is used to make the capsules falling into the lifting and feeding platform gather towards the center of the lifting and feeding platform. The platform lifting drive mechanism includes a ball screw mechanism, which includes a ball screw (14), a nut seat and a lifting drive motor. The nut seat is connected to the lifting feeding platform (13). The lifting drive motor is used to drive the ball screw (14) to rotate, so as to drive the lifting feeding platform (13) to rise and fall along the central feeding channel (12).

7. A home repair robot with omnidirectional movement and electromechanical cooperative attitude control according to claim 4, characterized in that: Each capsule chamber is provided with a door on the side near the central feeding channel (12). The door is connected to the capsule chamber by a pivot or bearing. A spring reset member (22) is provided at the lower quarter position of the door. The spring reset member (22) is used to keep the door closed or reset to the closed state when it is not pushed by an external force. The hatch opening mechanism includes a telescopic top rod (18) located below the lifting and feeding platform (13); when the lifting and feeding platform (13) moves to the corresponding position of the target capsule chamber, the telescopic top rod (18) extends and pushes the upper part of the hatch door of the target capsule chamber, so that the hatch door rotates around the pivot and opens. After the retractable top rod (18) retracts, the hatch is reset and closed by the spring reset component (22) to prevent other capsules in the same target capsule compartment from continuing to roll out.

8. A home repair robot with omnidirectional movement and electromechanical cooperative attitude control according to claim 4, characterized in that: The capsule shell is provided with a magnetic response part, which includes at least one of a magnetic sheet, a ferromagnetic insert, or a magnetic guide ring; the magnetic guide mechanism includes a permanent magnet guide or an electromagnetic guide; when the lifting feeding platform (13) carries the target capsule to the corresponding position of the discharge channel, the permanent magnet guide or electromagnetic guide acts on the magnetic response part of the target capsule shell to push the target capsule from the lifting feeding platform (13) to the discharge channel opening.

9. A home repair robot with omnidirectional movement and electromechanical cooperative attitude control according to claim 1, characterized in that: The position detection component is used to detect the level or height of the lifting and feeding platform (13). The controller is used to control the platform lifting drive mechanism, the hatch opening mechanism and the magnetic guide mechanism according to the target standard part specifications. The position detection component includes at least one of an encoder, a limit switch, a Hall sensor and a photoelectric sensor. The controller is configured with a standard part mapping table, which is used to record the correspondence between standard part type, standard part specification, capsule chamber level and capsule chamber circumferential position.

10. A home repair robot with omnidirectional movement and electromechanical cooperative attitude control according to claim 1, characterized in that: The environmental perception and interaction head module (4) integrates a binocular camera, an inertial measurement unit, a laser ranging module, a microphone array and a touch screen, and supports environmental feature extraction, voice command recognition and maintenance screen display.

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