Intelligent desktop housekeeper device

Abstract

The utility model discloses a desktop intelligent housekeeper device, and belongs to the technical field of intelligent homes. Comprising a rack which is arranged on a table top; the five-degree-of-freedom sorting mechanical device is arranged at the top of the rack; the clamping jaw mechanism is detachably arranged on the five-degree-of-freedom sorting mechanical device; and the control device is arranged on the rack, connected with the five-degree-of-freedom sorting mechanical device and the clamping jaw mechanism and used for controlling the five-degree-of-freedom sorting mechanical device to drive the clamping jaw mechanism to move and tidy the table tops. According to the utility model, the desktop space is saved, and the desktop is more tidy and beautiful visually.

Description

Technical Field

[0001] The utility model relates to the technical field of smart homes, and in particular to a desktop smart housekeeper device. Background Art

[0002] Most of the existing smart housekeepers are used to control the overall home switch device. When cleaning the house as a whole, the existing smart housekeepers can only clean the floor and cannot automatically tidy up the desktop, which still needs to be done manually. Utility Model Content

[0003] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0004] A desktop intelligent housekeeper device, comprising:

[0005] A rack, wherein the rack is arranged on a desktop;

[0006] A five-degree-of-freedom sorting mechanical device, wherein the five-degree-of-freedom sorting mechanical device is arranged on the top of the frame;

[0007] A clamping mechanism, wherein the clamping mechanism is detachably arranged on the five-degree-of-freedom sorting mechanical device;

[0008] A control device is arranged on the frame and is respectively connected to the five-degree-of-freedom sorting mechanical device and the clamping mechanism, and is used to control the five-degree-of-freedom sorting mechanical device to drive the clamping mechanism to move and organize the desktop.

[0009] Further, the five-degree-of-freedom sorting mechanical device includes a Y-axis motion mechanism, an X-axis motion mechanism and a Z-axis motion mechanism;

[0010] The Y-axis motion mechanism is arranged on the top of the frame, and is used to drive the clamping mechanism to move along the Y-axis direction; the X-axis motion mechanism is arranged on the moving part of the Y-axis motion mechanism, and is used to drive the clamping mechanism to move along the X-axis direction; the Z-axis motion mechanism is arranged on the moving part of the X-axis motion mechanism, and is used to drive the clamping mechanism to move along the Z-axis direction; the clamping mechanism is detachably arranged on the moving part of the Z-axis motion mechanism.

[0011] Furthermore, the Y-axis motion mechanism includes two first moving members relatively arranged on both sides of the frame, and a connecting rod is connected between the two first moving members; the X-axis motion mechanism is arranged on the connecting rod;

[0012] Wherein, the frame where the first moving member is located is provided with a first belt, the first moving member is provided with a first pulley transmission assembly matching the first belt, and the first pulley transmission assembly is located on the first belt; the first pulley transmission assembly is connected to a first stepper motor, and the first stepper motor is provided on the first moving member; the first stepper motor is used to drive the first pulley transmission assembly to slide along the first belt; the first moving member is also provided with a first limiter for limiting the position of the first moving member;

[0013] The first stepper motor is connected to the control device.

[0014] Further, the X-axis motion mechanism includes a second moving member arranged on the connecting rod; the Z-axis motion mechanism is arranged on the second moving member;

[0015] The connecting rod is provided with a second belt, the second movable member is provided with a second pulley transmission assembly matching the second belt, and the second pulley transmission assembly is located on the second belt; the second pulley transmission assembly is connected to a second stepping motor, and the second stepping motor is arranged on the second movable member; the second stepping motor is used to drive the second pulley transmission assembly to slide along the second belt; the second movable member is also provided with a second limiting member, which is used to limit the position of the second movable member;

[0016] The second stepping motor is connected to the control device.

[0017] Furthermore, the Z-axis motion mechanism includes a third stepping motor, a screw rod, a fixing frame, a limit rod, a limit rod fixing seat, a first connecting assembly and a sliding block;

[0018] The fixing frame is arranged on the second moving member, and the third stepping motor is arranged on the fixing frame; the driving end of the third stepping motor is connected to the screw rod through a coupling, and the screw rod is arranged on the fixing frame along the Z-axis direction; the end of the screw rod away from the third stepping motor passes through the slider and is connected to the first connecting component; the slider is provided with an internal thread matching the screw rod; the first connecting component is detachably connected to the clamping mechanism;

[0019] The limit rod fixing seat is connected to the fixing frame and is located on one side of the screw rod; one end of the limit rod is connected to the bottom of the limit rod fixing seat, and the other end passes through the slider and is connected to the top of the limit rod fixing seat;

[0020] The third stepping motor is connected to the control device.

[0021] Furthermore, the second moving member is also provided with a depth camera for capturing images, and the depth camera is connected to the control device for transmitting the images captured by the depth camera to the control device.

[0022] Further, the clamping jaw mechanism includes a flexible clamping jaw, a second connecting component and a control component;

[0023] The second connecting component is detachably connected to the first connecting component, a side of the second connecting component away from the first connecting component is connected to the control component, and a driving end of the control component is connected to the flexible clamp; the control component is used to control the flexible clamp to clamp and grasp the desktop object;

[0024] The control component is connected to the control device.

[0025] Furthermore, the first connecting component is a first magnetic attraction component, and the second connecting component is a second magnetic attraction component.

[0026] Beneficial effects:

[0027] The design of the utility model that the clamp mechanism can be detachably connected to the five-degree-of-freedom sorting mechanical device allows the clamp to be hung on the suspension when the system is not working. Its unique guide mechanism can achieve precise engagement with the rotating servo on the Z axis; this design not only saves desktop space, but also makes the desktop more neat and beautiful visually; at the same time, this design also facilitates the user to maintain and replace the robot arm. Compared with traditional rigid clamps, flexible clamps can better adapt to objects of different shapes and sizes, ensuring that no loss of objects occurs during the clamping process. This design greatly improves the safety and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of a desktop intelligent housekeeper device proposed by the utility model Figure 1 ;

[0029] Figure 2 This is a schematic diagram of the structure of a desktop intelligent housekeeper device proposed by the utility model Figure 1 ;

[0030] Figure 3 It is a structural schematic diagram of the five-degree-of-freedom sorting mechanical device proposed by the utility model;

[0031] Figure 4 It is a structural schematic diagram of the Y-axis motion mechanism and the X-axis motion mechanism proposed by the utility model;

[0032] Figure 5 It is a structural schematic diagram of the Z-axis motion mechanism proposed by the utility model;

[0033] Figure 6 It is a structural schematic diagram of the clamping mechanism proposed by the utility model;

[0034] Among them, 1. frame; 2. five-degree-of-freedom sorting mechanical device; 21. Y-axis motion mechanism; 211. first stepper motor; 212. first pulley transmission assembly; 213. first limiter; 214. first moving member; 22. X-axis motion mechanism; 221. second stepper motor; 222. second moving member; 223. depth camera; 23. Z-axis motion mechanism; 231. third stepper motor; 232. lead screw; 233. slider; 234. limiter rod; 235. first connecting assembly; 3. clamping mechanism; 31. flexible clamping jaw; 32. second connecting assembly; 33. control assembly; 4. clamping jaw placement rack. DETAILED DESCRIPTION

[0035] Example 1

[0036] refer to Figure 1-Figure 6 , a desktop intelligent housekeeper device, comprising:

[0037] Rack 1, rack 1 is set on the desktop;

[0038] A five-degree-of-freedom sorting mechanical device 2, wherein the five-degree-of-freedom sorting mechanical device 2 is arranged on the top of the frame 1;

[0039] A clamping mechanism 3, the clamping mechanism 3 is detachably arranged on the five-degree-of-freedom sorting mechanical device 2;

[0040] The control device is arranged on the frame 1 and is respectively connected with the five-degree-of-freedom sorting mechanical device 2 and the clamping mechanism 3, and is used for controlling the five-degree-of-freedom sorting mechanical device 2 to drive the clamping mechanism 3 to move and organize the desktop.

[0041] In this embodiment, the frame is further provided with a clamping jaw placing rack 4 for placing the clamping jaw mechanism. The clamping jaw mechanism can be placed in the clamping jaw placing rack 4 when the device does not need to be arranged.

[0042] Preferably, the five-degree-of-freedom sorting mechanical device 2 includes a Y-axis motion mechanism 21, an X-axis motion mechanism 22, and a Z-axis motion mechanism 23;

[0043] The Y-axis motion mechanism 21 is arranged on the top of the frame 1, and is used to drive the clamping mechanism to move along the Y-axis direction; the X-axis motion mechanism 22 is arranged on the moving part of the Y-axis motion mechanism 21, and is used to drive the clamping mechanism to move along the X-axis direction; the Z-axis motion mechanism 23 is arranged on the moving part of the X-axis motion mechanism 22, and is used to drive the clamping mechanism to move along the Z-axis direction; the clamping mechanism 3 is detachably arranged on the moving part of the Z-axis motion mechanism 23.

[0044] Preferably, the Y-axis motion mechanism 21 includes two first moving members 214 relatively arranged on both sides of the frame 1, and a connecting rod is connected between the two first moving members 214; the X-axis motion mechanism 22 is arranged on the connecting rod;

[0045] The frame 1 where the first moving member 214 is located is provided with a first belt, and the first moving member 214 is provided with a first pulley transmission assembly 212 matching the first belt, and the first pulley transmission assembly 212 is located on the first belt; the first pulley transmission assembly 212 is connected to a first stepper motor 211, and the first stepper motor 211 is provided on the first moving member 214; the first stepper motor 211 is used to drive the first pulley transmission assembly 212 to slide along the first belt; the first moving member 214 is also provided with a first limiter 213, which is used to limit the position of the first moving member 214;

[0046] The first stepper motor 211 is connected to the control device.

[0047] In this embodiment, the first stepper motors 211 provided on the two first moving members 214 rotate synchronously.

[0048] Preferably, the X-axis motion mechanism 22 includes a second moving member 222 disposed on the connecting rod; the Z-axis motion mechanism 23 is disposed on the second moving member 222;

[0049] The connecting rod is provided with a second belt, and the second movable member 222 is provided with a second pulley transmission assembly matching the second belt, and the second pulley transmission assembly is located on the second belt; the second pulley transmission assembly is connected to a second stepping motor 221, and the second stepping motor 221 is arranged on the second movable member 222; the second stepping motor 221 is used to drive the second pulley transmission assembly to slide along the second belt; the second movable member 222 is also provided with a second limiting member, which is used to limit the position of the second movable member;

[0050] The second stepping motor 221 is connected to the control device.

[0051] Preferably, the Z-axis motion mechanism 23 includes a third stepping motor 231, a screw rod 232, a fixing frame, a limit rod 234, a limit rod fixing seat, a first connecting assembly 235 and a slider 233;

[0052] The fixed frame is arranged on the second moving member 222, and the third stepping motor 231 is arranged on the fixed frame; the driving end of the third stepping motor 231 is connected to the screw rod 232 through a coupling, and the screw rod 232 is arranged on the fixed frame along the Z-axis direction; the end of the screw rod 232 away from the third stepping motor 231 passes through the slider 233 and is connected to the first connecting component 235; the slider 233 is provided with an internal thread that matches the screw rod 232; the first connecting component 235 is detachably connected to the clamping mechanism 3;

[0053] The limiting rod fixing seat is connected to the fixing frame and is located on one side of the screw rod 232; one end of the limiting rod 234 is connected to the bottom of the limiting rod fixing seat, and the other end passes through the slider 233 and is connected to the top of the limiting rod fixing seat;

[0054] The third stepping motor 231 is connected to the control device.

[0055] In this embodiment, two limiting rods 234 are provided, which are respectively located on two sides of the screw rod 232 .

[0056] In order to ensure the accuracy of the clamping jaws, the Z-axis motion mechanism 23 in this embodiment is also arranged on a rotary servo, and the first connecting component is connected to the screw rod through the rotary servo.

[0057] Preferably, the second moving member 222 is further provided with a depth camera 223 for capturing images, and the depth camera 223 is connected to the control device for transmitting the images captured by the depth camera to the control device.

[0058] Preferably, the clamping mechanism 3 includes a flexible clamping jaw 31, a second connecting component 32 and a control component 33;

[0059] The second connecting component 32 is detachably connected to the first connecting component 235. The side of the second connecting component 32 away from the first connecting component 235 is connected to the control component 33. The driving end of the control component 33 is connected to the flexible clamp 31. The control component is used to control the flexible clamp 31 to clamp and grasp the desktop object.

[0060] The control assembly 33 is connected to the control device.

[0061] Preferably, the first connecting component 235 is a first magnetic attraction component, and the second connecting component 32 is a second magnetic attraction component.

[0062] In this embodiment, the first magnetic attraction member is a truncated cone-shaped connecting block, the large diameter end of the first magnetic attraction member is connected to the screw rod, and the small diameter end of the first magnetic attraction member is provided with multiple first electromagnets; the second magnetic attraction member is provided with a groove matching the shape of the first magnetic attraction member, and the bottom of the groove is provided with a second electromagnet matching the first electromagnet.

[0063] Example 2

[0064] This embodiment is further configured on the basis of the embodiment 1.

[0065] The control device includes:

[0066] An information collection module, connected to the depth camera, for collecting image information collected by the depth camera;

[0067] An information storage module, connected to the information collection module, and used to store data collected by the information collection module;

[0068] An information processing module is connected to the information storage module; the collected image information is processed by the Halcon algorithm; and the processed information is sorted by the path planning algorithm to obtain the best path;

[0069] The principle of Halcon algorithm mainly includes image preprocessing, feature extraction and pattern matching. It supports a variety of image input devices, such as cameras and scanners, and improves image quality through preprocessing operations such as denoising, enhancement and edge detection. Feature extraction uses edge detection, corner detection and other methods to extract the shape, texture and color features of the target object. Pattern matching uses template matching, shape matching and other methods to achieve the recognition and positioning of the target object. Halcon algorithm has powerful image processing and analysis functions, supports multi-core processing and GPU acceleration, provides efficient algorithm library and wide compatibility, and is widely used in industrial automation, quality inspection and other fields to achieve efficient image processing and target recognition. Desktop Smart Butler uses Halcon matching templates to obtain pictures from the beginning, read template images to create shape templates, save templates, and test templates to achieve recognition and detection objects.

[0070] The path planning algorithm is based on the known starting point, end point and obstacle information, and finds the optimal path from the starting point to the end point by searching and evaluating different path options. The shortest path algorithm comprehensively considers factors such as the length, safety, and smoothness of the path to calculate the shortest path that meets the constraints. The efficiency, high accuracy and good flexibility of the path planning algorithm make the desktop smart butler more efficient and reliable in providing smart services.

[0071] In this embodiment, in order to prevent collision with the human body during the sorting process and to inspect the desktop, the information processing module also includes an obstacle avoidance algorithm to detect obstacles in the robot's surrounding environment in real time. Once an obstacle is detected, the obstacle avoidance algorithm will be quickly activated, analyzing the data collected by the sensor and combining the robot's current motion state to calculate the optimal obstacle avoidance strategy. These strategies can guide the robot to adjust its direction or speed, thereby ensuring that the robot can avoid obstacles safely and accurately. This algorithm has strong real-time performance and high accuracy, providing the robot with excellent obstacle avoidance capabilities.

[0072] The execution module is connected to the information processing module; and is respectively connected to the five-degree-of-freedom sorting mechanical device and the clamping mechanism; the five-degree-of-freedom sorting mechanical device is driven to move through the obtained optimal path, so that the clamping mechanism clamps the desktop object and organizes the desktop;

[0073] The display module is connected to the information processing module and the wireless network respectively, and is used to display weather, temperature, ultraviolet intensity and time.

[0074] In this embodiment, the display module is an OLED display screen.

[0075] In this embodiment, in order to better enhance the user experience, the smart housekeeper also includes a natural voice interaction system and voice control of smart switches for lights and fans.

[0076] Users can control the lights and fans by simple voice commands without manual operation. This voice control method not only improves the convenience of use, but also brings users a more intelligent experience.

[0077] The voice control system allows users to interact naturally with the smart butler and implement various functions through voice commands. This interactive method is more intuitive and convenient, improving the user experience.

[0078] In this embodiment, when the user issues a command to perform a desktop inspection, not only can the user control it by voice, but the desktop butler can also automatically detect whether the user has left. If it is detected that the user has left, the smart butler will first perform a comprehensive scan of the desktop through the image acquisition module, and then the signal control module will analyze and process the collected image information, and broadcast the inspection results to the user in the form of voice, helping the user to quickly understand the status of the items on the desktop.

[0079] When the user issues a command to tidy up the desktop, the smart butler will return the items on the desktop to the designated area one by one according to the pre-planned plan to ensure that the desktop is neat and tidy. After finishing the tidying, the smart butler will automatically return to the initial position and wait for the next command. Throughout the process, the smart butler demonstrated a high degree of intelligence and autonomy, bringing great convenience and comfort to users.

[0080] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A desktop intelligent housekeeper device, characterized in that: include: A rack, wherein the rack is arranged on a desktop; A five-degree-of-freedom sorting mechanical device, wherein the five-degree-of-freedom sorting mechanical device is arranged on the top of the frame; A clamping mechanism, wherein the clamping mechanism is detachably arranged on the five-degree-of-freedom sorting mechanical device; A control device is arranged on the frame and is respectively connected to the five-degree-of-freedom sorting mechanical device and the clamping mechanism, and is used to control the five-degree-of-freedom sorting mechanical device to drive the clamping mechanism to move and organize the desktop.

2. A desktop intelligent housekeeper device as claimed in claim 1, characterized in that: The five-degree-of-freedom sorting mechanical device includes a Y-axis motion mechanism, an X-axis motion mechanism and a Z-axis motion mechanism; The Y-axis motion mechanism is arranged on the top of the frame, and is used to drive the clamping mechanism to move along the Y-axis direction; the X-axis motion mechanism is arranged on the moving part of the Y-axis motion mechanism, and is used to drive the clamping mechanism to move along the X-axis direction; the Z-axis motion mechanism is arranged on the moving part of the X-axis motion mechanism, and is used to drive the clamping mechanism to move along the Z-axis direction; the clamping mechanism is detachably arranged on the moving part of the Z-axis motion mechanism.

3. A desktop intelligent housekeeper device as claimed in claim 2, characterized in that: The Y-axis motion mechanism comprises two first moving members arranged on both sides of the frame, and a connecting rod is connected between the two first moving members; the X-axis motion mechanism is arranged on the connecting rod; Wherein, the frame where the first moving member is located is provided with a first belt, the first moving member is provided with a first pulley transmission assembly matching the first belt, and the first pulley transmission assembly is located on the first belt; the first pulley transmission assembly is connected to a first stepper motor, and the first stepper motor is provided on the first moving member; the first stepper motor is used to drive the first pulley transmission assembly to slide along the first belt; the first moving member is also provided with a first limiter for limiting the position of the first moving member; The first stepper motor is connected to the control device.

4. A desktop intelligent housekeeper device as claimed in claim 3, characterized in that: The X-axis motion mechanism includes a second moving member arranged on the connecting rod; the Z-axis motion mechanism is arranged on the second moving member; The connecting rod is provided with a second belt, the second movable member is provided with a second pulley transmission assembly matching the second belt, and the second pulley transmission assembly is located on the second belt; the second pulley transmission assembly is connected to a second stepping motor, and the second stepping motor is arranged on the second movable member; the second stepping motor is used to drive the second pulley transmission assembly to slide along the second belt; the second movable member is also provided with a second limiting member, which is used to limit the position of the second movable member; The second stepping motor is connected to the control device.

5. A desktop intelligent housekeeper device as claimed in claim 4, characterized in that: The Z-axis motion mechanism includes a third stepping motor, a screw rod, a fixing frame, a limit rod, a limit rod fixing seat, a first connecting assembly and a sliding block; The fixing frame is arranged on the second moving member, and the third stepping motor is arranged on the fixing frame; the driving end of the third stepping motor is connected to the screw rod through a coupling, and the screw rod is arranged on the fixing frame along the Z-axis direction; the end of the screw rod away from the third stepping motor passes through the slider and is connected to the first connecting component; the slider is provided with an internal thread matching the screw rod; the first connecting component is detachably connected to the clamping mechanism; The limit rod fixing seat is connected to the fixing frame and is located on one side of the screw rod; one end of the limit rod is connected to the bottom of the limit rod fixing seat, and the other end passes through the slider and is connected to the top of the limit rod fixing seat; The third stepping motor is connected to the control device.

6. A desktop intelligent housekeeper device as claimed in claim 4, characterized in that: The second moving member is also provided with a depth camera for acquiring images, and the depth camera is connected to the control device for transmitting the images acquired by the depth camera to the control device.

7. The desktop intelligent housekeeper device according to claim 5, characterized in that: The clamping mechanism comprises a flexible clamping jaw, a second connecting component and a control component; The second connecting component is detachably connected to the first connecting component, a side of the second connecting component away from the first connecting component is connected to the control component, and a driving end of the control component is connected to the flexible clamp; the control component is used to control the flexible clamp to clamp and grasp the desktop object; The control component is connected to the control device.

8. A desktop intelligent housekeeper device as claimed in claim 7, characterized in that: The first connecting component is a first magnetic attraction component, and the second connecting component is a second magnetic attraction component.

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