Intelligent housework robot

Abstract

The utility model discloses an intelligent housework robot, and relates to the technical field of intelligent household housework. Comprising a machine body, mechanical arms, small dragonflies and a movement device. The machine body comprises a head vision module, a man-machine interaction module, a dish preparation module and a storage module; the head vision module is located at the top of the machine body and used for sensing and receiving external information and completing various instructions; the man-machine interaction module is located in the middle of the machine body, is composed of a core moving screen and a data processor and can be matched with the head vision module to complete man-machine interaction. The storage module is used for storing part of articles so as to meet the requirements of a user; the mechanical arms are arranged on the two sides of the machine body and used for completing the needed grabbing and simple arrangement functions, and the mechanical arms are matched with the dish preparation module to complete dish treatment. The small dragonfly aircraft can complete the clothes collecting function and the conveying work of light and small articles; and the robot can move through the moving device, climbing of steps and free movement of complex terrains can be completed, and practicability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent home chores, in particular to an intelligent household chores robot. Background Art

[0002] As people's pace of life accelerates, more and more people choose to order takeout or eat out, and fewer and fewer people choose to cook at home. Most of them choose to order takeout not because they can't cook or don't want to cook, but because of the increasing pressure of life and work. After a tiring day, people have to face the tedious process of preparing food when they get home, which undoubtedly makes the already tired body worse. On the other hand, due to work reasons, some people get off work late, and there is no place to buy food after get off work, which leads to the inability to cook.

[0003] Most of the existing intelligent household robots are in the field of household hygiene, performing simple household cleaning or tidying up the room, and do not have the function of preparing food independently; most of the food preparation machines on the market require manual operation and cannot prepare food independently; and most of the intelligent household robots are only suitable for use on the same floor, cannot adapt to the home environment with stairs, cannot go up and down the stairs, and have poor practicality. Therefore, it is urgent to propose an intelligent household robot to solve the technical problems that the existing intelligent household robots cannot prepare food independently and cannot adapt to a variety of home environments. Utility Model Content

[0004] The purpose of the utility model is to provide an intelligent household robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an intelligent household robot, comprising a body, a mechanical arm, a small dragonfly and a motion device;

[0006] The fuselage includes a head vision module, a human-computer interaction module, a food preparation module and a storage module; the head vision module is located at the top of the fuselage, and is used to sense and receive external information and complete various instructions; the human-computer interaction module is located in the middle of the fuselage, and is composed of a core screen and a data processor, and can cooperate with the head vision module to complete human-computer interaction; the food preparation module is composed of a spherical root vegetable peeling mechanism, a long strip root vegetable peeling mechanism, a vegetable segmentation and strip processing mechanism, a vegetable and meat slicing and shredding mechanism, a food material transportation mechanism, and a bubble cleaning device, and is used for pre-processing dishes; the storage module is composed of a treasure box in the belly of the fuselage, and is used to store some items to meet the needs of users;

[0007] The robotic arms are arranged on both sides of the fuselage to complete the required grasping and simple sorting functions, and cooperate with the food preparation module to complete the food processing. The small dragonfly is used to complete the clothing collection function and the transportation of light and small items. The motion device meets the movement needs of the robot and can complete the climbing of stairs and free movement in complex terrain, thereby improving practicality.

[0008] Furthermore, the head vision module includes an RGB-D camera, physical shielding sunglasses, a head shell, and a high-freedom elastic neck; the RGB-D camera is located on the upper part of the head, for obtaining environmental information and receiving user instructions, and transmitting the received instructions to the processor to complete the corresponding instructions; the physical shielding sunglasses are located directly above the RGB-D camera and are connected to the RGB-D camera, for improving the user's sense of safety through physical shielding methods when necessary, and preventing the user's sense of use from being affected by safety issues; the high-freedom elastic neck is located below the head and connected to the body, and the high-freedom elastic neck can complete actions such as nodding and shaking the head, so that the robot can cooperate with the RGB-D camera to fully obtain environmental and user information; a visual receiving device is fixedly connected to the top of the body, and a bow tie and a chef's hat are fixedly connected to the top of the visual receiving device, and the top outer wall of the body is fixedly connected to a body fixing frame.

[0009] Furthermore, the human-computer interaction module includes a core screen and a data processor. The core screen is located on the chest of the fuselage, and is used to obtain information input by the user and pass the received information to the data processor. The core screen can also feed back the processed information to the user. The data processor is located behind the core screen, and is used to process the transmitted command information and pass the processed information to the core screen, robotic arm, motion device, food preparation module and dragonfly to complete the instructions transmitted by the user.

[0010] Furthermore, the food preparation module includes a spherical root vegetable peeling mechanism, a long root vegetable peeling mechanism, a vegetable segmentation and strip processing mechanism, a vegetable and meat slicing and shredding mechanism, a food material transportation mechanism, a bubble cleaning device and an external food material cleaning device; the spherical root vegetable peeling mechanism is used to peel the spherical food materials and send the food materials to the next link for processing; the long root vegetable peeling mechanism is used to peel the long strip food materials and send the processed food materials to the vegetable segmentation and strip processing mechanism; the vegetable segmentation and strip processing mechanism is used to send the peeled long strip food materials to the vegetable segmentation and strip processing mechanism The ingredients are cut into strips and sent to the ingredient conveying mechanism; the vegetable and meat slicing and shredding mechanism slices and shreds the ingredients sent from the upper part, and finally sends the processed ingredients to the discharge port; the ingredient transporting mechanism is used to send the ingredients processed by the spherical root vegetable peeling mechanism, the long root vegetable peeling mechanism and the vegetable segmentation and stripping mechanism to the vegetable and meat slicing and shredding mechanism, and the ingredient transporting mechanism runs through the upper, middle and lower layers; the external ingredient cleaning device is used to clean the ingredients outside the machine body, and after cleaning, put them into each feed port for the next step.

[0011] Furthermore, the spherical root vegetable peeling mechanism includes a spherical root vegetable feeding port, a variable diameter rotary tool transmission gear, a spherical root vegetable storage tank, a spherical root vegetable storage tank drive belt, a spherical root vegetable storage tank drive motor, a spherical root vegetable storage tank active shaft synchronous belt, a spherical root vegetable storage tank driven shaft, a spherical root vegetable push-out rod drive motor, a spherical root vegetable output belt transmission shaft, a spherical root vegetable output belt synchronous belt, a spherical root vegetable push-out rod cam, a spherical root vegetable push-out rod connecting rod, a peeling claw drive belt, a variable diameter rotary tool driven shaft, a variable diameter rotary tool driven shaft fixing frame, a variable diameter rotary tool housing, a variable diameter rotary tool motor, a spherical root vegetable feeding tank, a spherical root vegetable peeling mechanism housing, a spherical root vegetable feeding tank baffle, an ammunition compartment storage tank, a variable diameter rotary tool and a spherical root vegetable output device; The spherical root vegetable feeding port is used to feed the spherical root vegetables into the spherical root vegetable feeding trough for processing; after the spherical root vegetables fall into the spherical root vegetable feeding trough from the spherical root vegetable feeding port, they are pushed into the ammunition compartment type storage trough by the spherical root vegetable feeding rod for peeling; the ammunition compartment type storage trough is used to store the incoming food materials, and send the food materials to the variable diameter rotary tool for peeling; the variable diameter rotary tool is composed of a variable diameter rotary tool driving shaft cam and a peeling claw, and the peeling claw is driven by the variable diameter rotary tool driving shaft cam to peel the food materials delivered from the ammunition compartment type storage trough, and the spherical root vegetable output device is composed of a spherical root vegetable pushing rod and a spherical root vegetable output belt, and the spherical root vegetable pushing rod pushes the processed spherical food materials out of the ammunition compartment type storage trough, and then the spherical root vegetable output belt transports them to the next link.

[0012] Furthermore, the elongated root vegetable peeling mechanism includes an elongated root vegetable feeding port, an elongated root vegetable feeding trough bracket, an elongated root vegetable feeding trough driving rod, an elongated root vegetable feeding belt, a terminal knife breaking mechanism, an elongated root vegetable feeding trough positioning device, an adaptive disc rotating tool fixing frame, a terminal knife breaking mechanism tool, a terminal knife breaking mechanism tool driving gear, a strip cutting and segmenting conveyor belt, an adaptive disc rotating tool housing, an adaptive tool spring support rod, an adaptive tool support rod, an adaptive disc rotating tool driven gear, a vegetable and meat slicing and shredding mechanism positioning device, a gantry, a pneumatic indexing plate, and a vegetable and meat slicing and shredding machine The invention relates to a food material transport mechanism comprising a conveyor belt, a gantry connecting rod, a cam contact wheel, a cam connecting rod mechanism driving rod, a driving rod cam connecting rod, a cam connecting rod mechanism cam, a cam contact wheel fixing rod, a food material transport mechanism driving motor, a food material transport mechanism fixing frame, a food material tray fixing rod, a food material transport mechanism driving belt, a bubble conveying pipe, a clean water conveying pipe, an elongated root vegetable feeding trough, an elongated root vegetable transporting device and a rotary peeling disc; the elongated root vegetable feeding port is used for feeding the elongated root vegetables into the feeding trough for processing; the elongated root vegetable feeding trough is used for feeding the elongated root vegetables into the elongated root vegetable transporting device for further processing.

[0013] Furthermore, the elongated root vegetable transport device is composed of an elongated root vegetable conveyor belt and a positioning mechanism. After the food falls into the elongated root vegetable conveyor belt, it is aligned by the positioning mechanism and then enters the peeling device for peeling; the rotating peeling disc is composed of an adaptive disc rotating tool and an adaptive disc rotating tool driving gear. The adaptive disc rotating tool is driven to rotate by the adaptive disc rotating tool driving gear to complete the peeling process.

[0014] Furthermore, the vegetable segmentation and stripping processing mechanism includes a vegetable segmentation and stripping conveyor belt, a stripping tool and a segmentation tool; the vegetable segmentation and stripping conveyor belt adopts a hollow design, which is convenient for storing stripping tools while meeting the requirements of conveying food materials; the stripping tool is located below the vegetable segmentation and stripping conveyor belt, and the stripping tool uses a screw rod to move up and down to complete the strip cutting process; the segmentation tool is located in front of the vegetable segmentation and stripping conveyor belt, and is used to segment the processed food materials, and can cooperate with the stripping tool to complete the strip cutting process.

[0015] Furthermore, the vegetable and meat slicing and shredding mechanism includes a feed port for food that does not need to be peeled, a vegetable and meat slicing and shredding transport device, a vegetable and meat slicing and shredding knife, a conveyor belt cleaning device and a food discharge port; the feed port for food that does not need to be peeled is used to receive food that does not need to be peeled, and food that does not need to be peeled can enter from here to complete the slicing and shredding process; the vegetable and meat slicing and shredding transport device is composed of a slicing and shredding conveyor belt and a slicing and shredding alignment mechanism. After the food enters the slicing and shredding conveyor belt, it is aligned by the slicing and shredding alignment mechanism and then arrives under the vegetable and meat slicing and shredding knife for slicing and shredding processing; the vegetable and meat slicing and shredding knife is The utility model is composed of a rebound blade device, a pneumatic indexing mechanism and a cam-linkage mechanism; the rebound blade device is used for replacing the tool; the pneumatic indexing mechanism is used for adjusting the cutting angle of the tool; the cam-linkage mechanism is used for driving the tool, and the tool is made to move up and down through the cam-linkage mechanism to complete the cutting action; the conveyor belt cleaning device is composed of a cleaning brush and a residue collection box; the cleaning brush is located under the conveyor belt, and the cleaning brush slides upward along the guide rail to contact the conveyor belt for cleaning, and the residue swept down is collected and removed by the residue collection box; the food material discharge port is used for temporarily storing the processed food material, so that the user can take the processed food material conveniently.

[0016] Furthermore, the food transport mechanism includes a synchronous belt transport device and a food receiving tray; the synchronous belt transport device is composed of a food tray and a synchronous belt driving device, and after the food tray receives the food, the synchronous belt driving device sends it to the food receiving tray; the food receiving tray is used to receive the food from the food tray and send the food to the vegetable and meat slicing and shredding mechanism.

[0017] Furthermore, the bubble cleaning device includes a turbocharger, a robotic arm upper arm, a robotic arm lower arm, a water tank and a bubble cleaning gun; the turbocharger is used to create bubbles in the water tank to make the water tumble, and the water tank is used to store water; the bubble cleaning gun can spray out the cleaning water with bubbles in the water tank to clean dust and pesticide residues on the surface of food materials, one side outer wall of the fuselage is provided with a chest pocket and a spherical root vegetable feed port, one side outer wall of the water tank is fixedly connected with a one-way water inlet, and one end outer wall of the fuselage is fixedly connected with a cooling fan, and one end outer wall of the fuselage is provided with a feed port for food materials that do not need to be peeled and a residue discharge port.

[0018] Furthermore, the storage module includes a treasure box; the treasure box is used to place some commonly used items; the robotic arm includes a multi-axis robotic arm, a robotic finger and a flexible robotic finger; the multi-axis robotic arm has a high degree of freedom; the robotic finger is used to clamp harder or smaller objects to achieve precise grasping; the flexible robotic finger can pick up objects regardless of their shape, and is mainly used to clamp food for processing and feed it into the feed port for food that does not require peeling.

[0019] Furthermore, the small dragonfly includes a visual sensor, a clothes collecting device driving rod, a clothes collecting device two-force rod, a clothes collecting hook, a positioning mechanism, a clothes collecting device and a retractable wing module; the visual sensor is used to receive environmental information and transmit it to the processing module to complete precise positioning; the positioning mechanism is used to stabilize the fuselage during the clothes collecting process, and the positioning mechanism hook grabs the clothes drying rod during the clothes taking process to complete the stabilization of the fuselage; the clothes collecting device is used to collect clothes, and the clothes collecting device can fix the clothes drying rack to complete the clothes collecting work; the retractable wing module is used to retract the wings of the small dragonfly, and the wings of the small dragonfly are retracted to complete the storage when the small dragonfly is not in use.

[0020] Furthermore, the motion device includes an infrared sensor, a robot charging port, a chassis lifting support pneumatic rod, a chassis lifting support rod, a frame, a double-row stabilizing wheel, a wheel support frame, a shock absorbing device and a stair climbing support device; the infrared sensor is used to detect the inclination angle of the stairs and the basic parameters of the stairs; the wheel support frame is used to lift the vehicle body and wheels to facilitate climbing; the shock absorbing device is used to alleviate the instability of the vehicle body caused by driving on bumpy terrain; the stair climbing support device is composed of a stair climbing telescopic rod and a clamp. During the climbing process, the stair climbing telescopic rod is extended to clamp the clamp at a right angle to the stairs or on the ground, thereby supporting the vehicle body to facilitate climbing, and is an important component of the stair climbing support device.

[0021] Compared with the prior art, the beneficial effects of the utility model are:

[0022] The intelligent household robot is composed of a body, a mechanical arm, a small dragonfly aircraft and a motion device; the body integrates a head perception module, a human-computer interaction module, a food preparation module and a storage module; the robot perceives the surrounding environment and obtains user information through the head perception module, transmits the information to the human-computer interaction module for processing, and converts the user information into command information and transmits it to various parts of the body; the food preparation module completes the pre-processing of dishes and completes the user's instructions according to needs; the storage module is used to store some items to meet the needs of users; the mechanical arms are arranged on both sides of the body, for completing the required grasping and simple sorting functions, and cooperate with the food preparation module to complete the food processing; the small dragonfly aircraft can complete the clothing collection function and the transportation of light and small items; the robot can move through the motion device, can complete the climbing of stairs and the free movement of complex terrain, thereby improving practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a front structural schematic diagram of an intelligent household robot provided by the utility model;

[0024] Figure 2 This is a schematic diagram of the back structure of an intelligent household robot provided by the utility model;

[0025] Figure 3A schematic diagram of the structure of the head vision system provided by the utility model;

[0026] Figure 4 A schematic diagram of a spherical root vegetable peeling mechanism provided by the utility model;

[0027] Figure 5 A schematic diagram of a variable diameter rotary cutter for a spherical root vegetable peeling mechanism provided by the utility model;

[0028] Figure 6 A schematic diagram of the ammunition compartment type storage tank of the spherical root vegetable peeling mechanism provided by the utility model;

[0029] Figure 7 A schematic diagram of a long strip root vegetable peeling mechanism and a vegetable segmentation and stripping processing mechanism provided by the utility model;

[0030] Figure 8 It is a schematic diagram of the overall structure of a tool of an embodiment of a long strip root vegetable peeling mechanism and a vegetable segmentation and stripping processing mechanism provided by the utility model;

[0031] Fig. 9 A schematic diagram of an adaptive disc rotating cutter for peeling long root vegetables provided by the utility model;

[0032] Fig.10 A schematic diagram of the vegetable and meat slicing and shredding mechanism provided by the utility model;

[0033] Fig.11 A schematic diagram of a cam-connecting rod mechanism driven by a cutter of a vegetable and meat slicing and shredding mechanism provided by the utility model;

[0034] Fig.12 A schematic diagram of the food transport mechanism provided by the utility model;

[0035] Fig.13 A schematic diagram of the bubble cleaning device provided by the utility model;

[0036] Fig.14 A schematic diagram of the motion device provided by the utility model;

[0037] Fig.15 A schematic diagram of a small dragonfly provided by the utility model;

[0038] Fig.16 A schematic diagram of a small dragonfly retractable wing module provided by the utility model;

[0039] Fig.17 This is a schematic diagram of the small dragonfly clothes collecting device provided by the utility model.

[0040] In the figure: 1. Body; 2. Robotic arm; 3. Small dragonfly; 4. Movement device; 5. Head vision module; 6. Chef hat; 7. Bow tie; 8. Visual receiving device; 9. Robotic arm; 10. Robotic arm forearm; 11. Bubble cleaning gun; 12. Robotic finger; 13. Chest pocket; 14. Spherical root vegetable feed port; 15. Long root vegetable feed port; 16. Core dynamic screen; 17. Treasure box; 18. Food discharge port; 19. Flexible mechanical finger; 20. Turbocharger; 21. Water tank; 22. One-way water inlet; 23. Cooling fan; 24. Feed port for food that does not require peeling; 25. Residue discharge port; 26. Head shell; 27. Physical blocking sunglasses; 28. RGB-D camera; 29. ​​High-precision 30. Body fixing frame; 31. Spherical root vegetable feeding rod; 32. Variable diameter rotary tool; 33. Ammunition compartment storage tank; 34. Spherical root vegetable output belt; 35. Spherical root vegetable feeding tank; 36. Spherical root vegetable feeding tank baffle; 37. Spherical root vegetable peeling mechanism shell; 38. Variable diameter rotary tool shell; 39. Variable diameter rotary tool motor; 40. Peeling claw; 41. Peeling claw drive belt; 42. Variable diameter rotary tool driven shaft fixing frame; 43. Variable diameter rotary tool driven shaft; 44. Variable diameter rotary tool driving shaft cam; 45. Variable diameter rotary tool transmission gear; 46. Spherical root vegetable storage tank; 47. Spherical root vegetable storage tank drive belt; 48. Spherical root Stem vegetable storage tank driving motor; 49. Ball-shaped root vegetable storage tank driving shaft synchronous belt; 50. Ball-shaped root vegetable storage tank driven shaft; 51. Ball-shaped root vegetable push rod driving motor; 52. Ball-shaped root vegetable output belt transmission shaft; 53. Ball-shaped root vegetable output belt synchronous belt; 54. Ball-shaped root vegetable push rod cam; 55. Ball-shaped root vegetable push rod connecting rod; 56. Ball-shaped root vegetable push rod; 57. Long strip root vegetable feed trough bracket; 58. Long strip root vegetable feed trough driving rod; 59. Long strip root vegetable feed belt; 60. Terminal knife breaking mechanism; 61. Rotating peeling disc; 62. Long strip root vegetable feed trough; 63. Long strip root vegetable feed trough positive positioning device; 64. Adaptive disc rotating knife Tool fixing frame; 65, tool for terminal blade breaking mechanism; 66, tool driving gear for terminal blade breaking mechanism; 67, conveyor belt for cutting strips and sections; 68, cutting strip tool; 69, driving gear for adaptive disc rotary tool; 70, housing for adaptive disc rotary tool; 71, spring support rod for adaptive tool; 72, adaptive disc rotary tool; 73, support rod for adaptive tool; 74, driven gear for adaptive disc rotary tool; 75, positioning device for vegetable and meat slicing and shredding mechanism; 76, tool for vegetable and meat slicing and shredding; 77, gantry; 78, pneumatic indexing plate; 79, cleaning brush; 80, conveyor belt for vegetable and meat slicing and shredding mechanism; 81, rebound blade device; 82, cam connecting rod mechanism; 83, gantry connecting rod; 84, cam contact wheel;85. Cam-link mechanism driving rod; 86. Driving rod cam-link; 87. Cam-link mechanism cam; 88. Cam contact wheel fixing rod; 89. Food transport mechanism driving motor; 90. Food transport mechanism fixing frame; 91. Food tray fixing rod; 92. Food tray; 93. Food receiving tray; 94. Food transport mechanism driving belt; 95. Bubble conveying pipe; 96. Clean water conveying pipe; 97. Robot charging port; 98. Chassis lifting support Gas pressure rod; 99, chassis lifting support rod; 100, frame; 101, infrared sensor; 102, climbing support device; 103, clamp; 104, shock absorption device; 105, double-row stabilizing wheel; 106, small dragonfly wing; 107, positioning mechanism; 108, clothes collection device; 109, retractable wing module; 110, visual sensor; 111, clothes collection device driving rod; 112, clothes collection device two-force rod; 113, clothes collection hook. ; DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] like Figure 1-Figure 17 As shown, the utility model provides a technical solution: an intelligent household robot, including a body 1, a mechanical arm 2, a small dragonfly 3 and a motion device 4; the body 1 includes a head vision module 5, a human-computer interaction module, a food preparation module and a storage module; the head vision module is located at the top of the body 1, and is used to sense and receive external information and complete various instructions; the human-computer interaction module is located in the middle of the body 1, and is composed of a core dynamic screen 16 and a data processor, and can cooperate with the head vision module to complete human-computer interaction; the food preparation module is composed of a spherical root vegetable peeling mechanism, a long strip root vegetable peeling mechanism, a vegetable storage module, and a storage module. The device is composed of a vegetable cutting and stripping processing mechanism, a vegetable and meat slicing and shredding mechanism, a food material transport mechanism, and a bubble cleaning device, and is used for pre-processing of dishes; the storage module is composed of a treasure box 17 on the abdomen of the fuselage 1, and is used to store some items to meet the needs of users; the mechanical arms 2 are arranged on both sides of the fuselage 1, and are used to complete the required grasping and simple sorting functions, and cooperate with the food preparation module to complete the food processing; the dragonfly 3 is used to complete the clothing collection function and the transportation of light and small items; the motion device 4 meets the movement of the robot, and can complete the climbing of stairs and the free movement of complex terrain, thereby improving practicality.

[0043] The head vision module 5 includes an RGB-D camera 28, physical shielding sunglasses 27, a head shell 26, and a high-freedom elastic neck 29; the RGB-D camera 28 is located on the upper part of the head, and is used to obtain environmental information and receive user instructions, and transmit the received instructions to the processor to complete the corresponding instructions. The physical shielding sunglasses 27 are located directly above the RGB-D camera 28 and are connected to the RGB-D camera 28. They are used to improve the user's sense of safety through physical shielding methods when necessary to prevent the user's sense of use from being affected by safety issues. The high-freedom elastic neck 29 is located below the head and is connected to the fuselage 1. The high-freedom elastic neck 29 can complete actions such as nodding and shaking the head, so that the robot can cooperate with the RGB-D camera 28 to fully obtain environmental and user information. A visual receiving device 8 is fixedly connected to the top of the fuselage 1, and a bow tie 7 and a chef's hat 6 are fixedly connected to the top of the visual receiving device 8. The top outer wall of the fuselage 1 is fixedly connected to a fuselage fixing frame 30.

[0044] The human-computer interaction module includes a core screen 16 and a data processor. The core screen 16 is located on the chest of the fuselage 1, and is used to obtain information input by the user and pass the received information to the data processor. The core screen 16 can also feed back the processed information to the user. The data processor is located behind the core screen 16, and is used to process the transmitted command information and pass the processed information to the core screen 16, the robotic arm 2, the motion device 4, the food preparation module and the dragonfly 3 to complete the instructions transmitted by the user.

[0045] The food preparation module includes a spherical root vegetable peeling mechanism, a long root vegetable peeling mechanism, a vegetable segmentation and strip processing mechanism, a vegetable and meat slicing and shredding mechanism, a food transportation mechanism, a bubble cleaning device and an external food cleaning device; the spherical root vegetable peeling mechanism is used to peel the spherical food and send the food to the next link for processing; the long root vegetable peeling mechanism is used to peel the long food and send the processed food to the vegetable segmentation and strip processing mechanism; the vegetable segmentation and strip processing mechanism is used to slice the peeled long food The food is cut into strips and sent to the food conveying mechanism; the vegetable and meat slicing and shredding mechanism slices and shreds the food sent from the upper part, and finally sends the processed food to the discharge port; the food transportation mechanism is used to send the food processed by the spherical root vegetable peeling mechanism, the long root vegetable peeling mechanism and the vegetable cutting and stripping mechanism to the vegetable and meat slicing and shredding mechanism, and the food transportation mechanism runs through the upper, middle and lower layers; the external food cleaning device is used to clean the food outside the fuselage 1, and after cleaning, put it into each feeding port for the next step.

[0046] The spherical root vegetable peeling mechanism includes a spherical root vegetable feeding port 14, a variable diameter rotary cutter transmission gear 45, a spherical root vegetable storage tank 46, a spherical root vegetable storage tank drive belt 47, a spherical root vegetable storage tank drive motor 48, a spherical root vegetable storage tank driving shaft synchronous belt 49, a spherical root vegetable storage tank driven shaft 50, a spherical root vegetable push rod drive motor 51, a spherical root vegetable output belt transmission shaft 52, a spherical root vegetable output belt synchronous belt 53, The spherical root vegetable push rod cam 54, the spherical root vegetable push rod connecting rod 55, the peeling claw drive belt 41, the variable diameter rotary tool driven shaft 43, the variable diameter rotary tool driven shaft fixing frame 42, the variable diameter rotary tool housing 38, the variable diameter rotary tool motor 39, the spherical root vegetable feeding trough 35, the spherical root vegetable peeling mechanism housing 37, the spherical root vegetable feeding trough baffle 36, the ammunition compartment storage tank 33, the variable diameter rotary tool 32 and the spherical root vegetable output device The spherical root vegetable feeding port 14 is used to feed the spherical root vegetables into the spherical root vegetable feeding trough 35 for processing; after the spherical root vegetables fall into the spherical root vegetable feeding trough 35 from the spherical root vegetable feeding port 14, they are pushed into the ammunition compartment storage trough 33 by the spherical root vegetable feeding rod 31 for peeling; the ammunition compartment storage trough 33 is used to store the incoming food and send the food to the variable diameter rotary cutter 32 for peeling; the variable diameter rotary cutter 32 is The variable diameter rotary tool driving shaft cam 44 and the peeling claw 40 are composed of the variable diameter rotary tool driving shaft cam 44, and the peeling claw 40 is driven by the variable diameter rotary tool driving shaft cam 44 to peel the food conveyed from the ammunition compartment storage tank 33. The spherical root vegetable output device is composed of a spherical root vegetable pushing rod 56 and a spherical root vegetable output belt 34. The spherical root vegetable pushing rod 56 pushes the processed spherical food out of the ammunition compartment storage tank 33, and then the spherical root vegetable output belt 34 transports it to the next link.

[0047] The long strip root vegetable peeling mechanism includes a long strip root vegetable feeding port 15, a long strip root vegetable feeding trough bracket 57, a long strip root vegetable feeding trough driving rod 58, a long strip root vegetable feeding belt 59, a terminal cutting mechanism 60, a long strip root vegetable feeding trough positioning device 63, an adaptive disc rotating tool fixing frame 64, a terminal cutting mechanism tool 65, a terminal cutting mechanism tool driving gear 66, a cutting and segmenting conveyor belt 67, and an adaptive disc rotating tool housing. 70, adaptive tool spring support rod 71, adaptive tool support rod 73, adaptive disc rotating tool driven gear 74, vegetable and meat slicing and shredding mechanism positioning device 75, gantry 77, pneumatic indexing plate 78, vegetable and meat slicing and shredding mechanism transmission belt 80, gantry connecting rod 83, cam contact wheel 84, cam connecting rod mechanism driving rod 85, driving rod cam connecting rod 86, cam connecting rod mechanism cam 87, cam contact wheel fixing rod 88, food transport mechanism driving Motor 89, food material transport mechanism fixing frame 90, food material tray fixing rod 91, food material transport mechanism driving belt 94, bubble conveying pipe 95, clean water conveying pipe 96, elongated root vegetable feeding trough 62, elongated root vegetable transport device and rotating peeling disc 61; elongated root vegetable feeding port 15 is used to send elongated root vegetables into the feeding trough 62 for processing; elongated root vegetable feeding trough 62 is used to send elongated root vegetables into the elongated root vegetable transport device for further processing; the elongated root vegetable transport device is composed of an elongated root vegetable conveyor belt and a positioning mechanism. After the food falls into the elongated root vegetable conveyor belt, it is aligned by the positioning mechanism and then enters the peeling device for peeling; the rotating peeling disc 61 is composed of an adaptive disc rotating tool 72 and an adaptive disc rotating tool driving gear 69. The adaptive disc rotating tool 72 is driven to rotate by the adaptive disc rotating tool driving gear 69 to complete the peeling process.

[0048] The vegetable segmenting and stripping processing mechanism includes a vegetable segmenting and stripping conveyor belt, a stripping tool 68 and a segmenting tool; the vegetable segmenting and stripping conveyor belt adopts a hollow design, which is convenient for storing stripping tools while meeting the requirements of conveying food materials; the stripping tool 68 is located below the vegetable segmenting and stripping conveyor belt, and the stripping tool 68 uses a screw rod to move up and down to complete the stripping process; the segmenting tool is located in front of the vegetable segmenting and stripping conveyor belt, and is used to segment the processed food materials, and can cooperate with the stripping tool 68 to complete the stripping process.

[0049] The vegetable and meat slicing and shredding mechanism comprises an inlet 24 for food materials that do not need to be peeled, a vegetable and meat slicing and shredding transport device, a vegetable and meat slicing and shredding knife 76, a conveyor belt cleaning device and a food material discharge port 18; the inlet 24 for food materials that do not need to be peeled is used to receive food materials that do not need to be peeled, and food materials that do not need to be peeled can enter from here to complete the slicing and shredding process; the vegetable and meat slicing and shredding transport device is composed of a slicing and shredding conveyor belt and a slicing and shredding alignment mechanism. After the food materials enter the slicing and shredding conveyor belt, they are aligned by the slicing and shredding alignment mechanism and then arrive under the vegetable and meat slicing and shredding knife 76 for slicing and shredding processing; the vegetable and meat slicing and shredding knife 76 is composed of a rebound blade The conveyor belt cleaning device 18 is composed of a device 81, a pneumatic indexing mechanism and a cam-linkage mechanism 82; the rebound blade device 81 is used for replacing the tool; the pneumatic indexing mechanism is used to adjust the cutting angle of the tool; the cam-linkage mechanism 82 is used to drive the tool, and the tool is moved up and down by the cam-linkage mechanism 82 to complete the cutting action; the conveyor belt cleaning device is composed of a cleaning brush 79 and a residue collection box; the cleaning brush 79 is located below the conveyor belt, and the cleaning brush 79 slides upward along the guide rail to contact the conveyor belt for cleaning, and the cleaned residue is collected and removed by the residue collection box; the food discharge port 18 is used to temporarily store processed food, so that users can take the processed food conveniently.

[0050] The food transport mechanism includes a synchronous belt transport device and a food receiving tray 93; the synchronous belt transport device is composed of a food tray 92 and a synchronous belt driving device. After the food tray 92 receives the food, the synchronous belt driving device sends it to the food receiving tray 93; the food receiving tray 93 is used to receive the food from the food tray 92 and send the food to the vegetable and meat slicing and shredding mechanism.

[0051] The bubble cleaning device includes a turbocharger 20, a robot arm 9, a robot arm forearm 10, a water tank 21 and a bubble cleaning gun 11; the turbocharger 20 is used to create bubbles in the water tank 21 to make the water tumble, and the water tank 21 is used to store water; the bubble cleaning gun 11 can spray the cleaning water with bubbles in the water tank 21 to clean dust and pesticide residues on the surface of food materials, a chest pocket 13 and a spherical root vegetable feed port 14 are provided on one side outer wall of the fuselage 1, a one-way water inlet 22 is fixedly connected to one side outer wall of the water tank 21, and a cooling fan 23 is fixedly connected to one end outer wall of the fuselage 1, and a feed port 24 for food materials that do not need to be peeled and a residue discharge port 25 are provided on one end outer wall of the fuselage 1.

[0052] The storage module includes a treasure box 17; the treasure box 17 is used to place some commonly used items; the robotic arm 2 includes a multi-axis robotic arm, a robotic finger 12 and a flexible robotic finger 19; the multi-axis robotic arm has a high degree of freedom; the robotic finger 12 is used to clamp harder or smaller objects to achieve precise grasping; the flexible robotic finger 19 can pick up objects regardless of their shape, and is mainly used to clamp food ingredients for processing and feed them into the feed port 24 for food ingredients that do not require peeling.

[0053] The small dragonfly 3 includes a visual sensor 110, a clothes collecting device driving rod 111, a clothes collecting device two-force rod 112, a clothes collecting hook 113, a positioning mechanism 107, a clothes collecting device 108 and a retractable wing module 109; the visual sensor 110 is used to receive environmental information and transmit it to the processing module to complete precise positioning; the positioning mechanism 107 is used to stabilize the fuselage 1 during the clothes collecting process, and the positioning mechanism 107 hook grabs the clothes drying rod during the clothes taking process to complete the stabilization of the fuselage 1; the clothes collecting device 108 is used to collect clothes, and the clothes collecting device 108 can fix the clothes drying rack to complete the clothes collecting work; the retractable wing module 109 is used to retract the wings of the small dragonfly 106, and the wings of the small dragonfly 106 are retracted to complete the storage when the small dragonfly 3 is not in use.

[0054] The motion device includes an infrared sensor 101, a robot charging port 97, a chassis lifting support pneumatic rod 98, a chassis lifting support rod 99, a frame 100, a double-row stabilizing wheel 105, a wheel support frame, a shock absorbing device 104 and a stair climbing support device 102; the infrared sensor 101 is used to detect the inclination angle of the stairs and the basic parameters of the stairs; the wheel support frame is used to raise the vehicle body and wheels to facilitate climbing; the shock absorbing device 104 is used to alleviate the instability of the vehicle body caused by driving on bumpy terrain; the stair climbing support device 102 is composed of a stair climbing telescopic rod and a clamp 103. During the climbing process, the stair climbing telescopic rod is extended to clamp the clamp 103 at a right angle to the stairs or on the ground, thereby supporting the vehicle body to facilitate climbing, and is an important component of the stair climbing support device 102.

[0055] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. An intelligent household robot, characterized in that: It comprises a body (1), a mechanical arm (2), a small dragonfly (3) and a motion device (4); The fuselage (1) comprises a head vision module (5), a human-computer interaction module, a food preparation module and a storage module; the head vision module is located at the top of the fuselage (1) and is used to sense and receive external information and complete various instructions; the human-computer interaction module is located in the middle of the fuselage (1) and is composed of a core screen (16) and a data processor, and can cooperate with the head vision module to complete human-computer interaction; the food preparation module is composed of a spherical root vegetable peeling mechanism, a long strip root vegetable peeling mechanism, a vegetable cutting and stripping processing mechanism, a vegetable and meat slicing and shredding mechanism, a food material transportation mechanism, and a bubble cleaning device, and is used for pre-processing dishes; the storage module is composed of a treasure box (17) in the abdomen of the fuselage (1) and is used to store some items to meet the needs of users; The mechanical arms (2) are arranged on both sides of the body (1) and are used to complete the required grasping and simple sorting functions, and cooperate with the food preparation module to complete the food processing. The small dragonfly (3) is used to complete the clothing collection function and the transportation of light and small items. The motion device (4) satisfies the movement of the robot and can complete the climbing of stairs and free movement in complex terrain, thereby improving practicality.

2. The intelligent household robot according to claim 1, characterized in that: The head vision module (5) includes an RGB-D camera (28), physical shielding sunglasses (27), a head shell (26), and a high-freedom elastic neck (29); the RGB-D camera (28) is located on the upper part of the head, and is used to obtain environmental information and receive user instructions, and transmit the received instructions to the processor to complete the corresponding instructions; the physical shielding sunglasses (27) is located directly above the RGB-D camera (28), is connected to the RGB-D camera (28), and is used to improve the user's vision through a physical shielding method when necessary. The robot can enhance the sense of security when using the robot and prevent the user's sense of security from being affected by safety issues. The high-freedom elastic neck (29) is located below the head and is connected to the body (1). The high-freedom elastic neck (29) can nod and shake the head, so that the robot can cooperate with the RGB-D camera (28) to fully obtain environmental and user information. The top of the body (1) is fixedly connected to a visual receiving device (8), and the top of the visual receiving device (8) is fixedly connected to a bow tie (7) and a chef's hat (6). The top outer wall of the body (1) is fixedly connected to a body fixing frame (30).

3. The intelligent household robot according to claim 2, characterized in that: The human-computer interaction module comprises a core screen (16) and a data processor. The core screen (16) is located on the chest of the fuselage (1) and is used to obtain information input by a user and transmit the received information to the data processor. The core screen (16) can also feed back the processed information to the user. The data processor is located behind the core screen (16) and is used to process the transmitted instruction information and transmit the processed information to the core screen (16), the mechanical arm (2), the motion device (4), the food preparation module and the dragonfly (3) to complete the instructions transmitted by the user.

4. The intelligent household robot according to claim 1, characterized in that: The food preparation module includes a spherical root vegetable peeling mechanism, a long root vegetable peeling mechanism, a vegetable segmentation and strip processing mechanism, a vegetable and meat slicing and shredding mechanism, a food material transportation mechanism, a bubble cleaning device and an external food material cleaning device; the spherical root vegetable peeling mechanism is used to peel the spherical food materials and send the food materials to the next link for processing; the long root vegetable peeling mechanism is used to peel the long food materials and send the processed food materials to the vegetable segmentation and strip processing mechanism; the vegetable segmentation and strip processing mechanism is used to slice the peeled long food materials The food is cut into strips and sent to the food conveying mechanism; the vegetable and meat slicing and shredding mechanism slices and shreds the food sent from the upper part, and finally sends the processed food to the discharge port; the food transporting mechanism is used to send the food processed by the spherical root vegetable peeling mechanism, the long root vegetable peeling mechanism and the vegetable cutting and slicing mechanism to the vegetable and meat slicing and shredding mechanism, and the food transporting mechanism runs through the upper, middle and lower layers; the external food cleaning device is used to clean the food outside the machine body (1), and after cleaning, put it into each feed port for the next step.

5. The intelligent household robot according to claim 4, characterized in that: The spherical root vegetable peeling mechanism comprises a spherical root vegetable feeding port (14), a variable diameter rotary cutter transmission gear (45), a spherical root vegetable storage tank (46), a spherical root vegetable storage tank driving belt (47), a spherical root vegetable storage tank driving motor (48), a spherical root vegetable storage tank driving shaft synchronous belt (49), a spherical root vegetable storage tank driven shaft (50), a spherical root vegetable ejection rod driving motor (51), a spherical root vegetable output belt transmission shaft (52), a spherical root vegetable output belt synchronous belt (53), a spherical root vegetable output shaft synchronous belt (54), a spherical root vegetable output shaft synchronous belt (55), a spherical root vegetable output shaft synchronous belt (56), a spherical root vegetable output shaft synchronous belt (57), a spherical root vegetable output shaft synchronous belt (58), a spherical root vegetable output shaft synchronous belt (59), a spherical root vegetable output shaft synchronous belt (59), a spherical root vegetable output shaft synchronous belt (51), a spherical root vegetable output shaft synchronous belt (52), a spherical root vegetable output shaft synchronous belt (53), a spherical root vegetable output shaft synchronous belt (54), a spherical root vegetable output shaft synchronous belt (55), a spherical root vegetable output shaft synchronous belt (55), a spherical root vegetable output shaft synchronous belt (56), a spherical root vegetable output shaft synchronous belt (57), a spherical root vegetable output shaft synchronous belt (58), a spherical root vegetable output shaft synchronous belt (59 ... a spherical root vegetable ejection rod cam (54), a spherical root vegetable ejection rod connecting rod (55), a peeling clamp driving belt (41), a variable diameter rotary tool driven shaft (43), a variable diameter rotary tool driven shaft fixing frame (42), a variable diameter rotary tool housing (38), a variable diameter rotary tool motor (39), a spherical root vegetable feeding trough (35), a spherical root vegetable peeling mechanism housing (37), a spherical root vegetable feeding trough baffle (36), an ammunition compartment storage trough (33), a variable diameter rotary tool (32) and a spherical root vegetable output device The spherical root vegetable feeding port (14) is used to feed the spherical root vegetables into the spherical root vegetable feeding trough (35) for processing; after the spherical root vegetables fall into the spherical root vegetable feeding trough (35) from the spherical root vegetable feeding port (14), they are pushed into the ammunition compartment type storage trough (33) by the spherical root vegetable feeding rod (31) for peeling; the ammunition compartment type storage trough (33) is used to store the food entering and to feed the food to the variable diameter rotary cutter (32) for peeling; the variable diameter rotary cutter (32) The device is composed of a variable diameter rotary tool driving shaft cam (44) and a peeling clamp (40). The peeling clamp (40) is driven by the variable diameter rotary tool driving shaft cam (44) to peel the food delivered from the ammunition compartment storage tank (33). The spherical root vegetable output device is composed of a spherical root vegetable push rod (56) and a spherical root vegetable output belt (34). The spherical root vegetable push rod (56) pushes the processed spherical food out of the ammunition compartment storage tank (33), and the spherical root vegetable output belt (34) then transports the processed spherical food to the next link.

6. The intelligent household robot according to claim 4, characterized in that: The strip root vegetable peeling mechanism comprises a strip root vegetable feed port (15), a strip root vegetable feed trough support (57), a strip root vegetable feed trough drive rod (58), a strip root vegetable feed belt (59), a terminal blade breaking mechanism (60), a strip root vegetable feed trough positioning device (63), an adaptive disc rotary tool fixing frame (64), a terminal blade breaking mechanism tool (65), a terminal blade breaking mechanism tool driving gear (66), a strip cutting and segmenting transmission belt (67), an adaptive disc rotary tool housing (70), an adaptive tool spring support rod (71), an adaptive tool support rod (73), an adaptive disc rotary tool driven gear (74), a vegetable and meat slicing and shredding mechanism positioning device (75), a gantry (77), a pneumatic indexing plate (78), a vegetable and meat slicing and shredding mechanism transmission belt ( 80), a gantry connecting rod (83), a cam contact wheel (84), a cam connecting rod mechanism driving rod (85), a driving rod cam connecting rod (86), a cam connecting rod mechanism cam (87), a cam contact wheel fixing rod (88), a food material transport mechanism driving motor (89), a food material transport mechanism fixing frame (90), a food material tray fixing rod (91), a food material transport mechanism driving belt (94), a bubble conveying pipe (95), a clean water conveying pipe (96), an elongated root and stem vegetable feeding trough (62), an elongated root and stem vegetable transport device and a rotary peeling disc (61); the elongated root and stem vegetable feeding port (15) is used to feed the elongated root and stem vegetables into the feeding trough (62) for processing; the elongated root and stem vegetable feeding trough (62) is used to feed the elongated root and stem vegetables into the elongated root and stem vegetable transport device for further processing; The long strip root vegetable transport device is composed of a long strip root vegetable conveyor belt and a positioning mechanism. After the food falls into the long strip root vegetable conveyor belt, it is aligned by the positioning mechanism and then enters the peeling device for peeling. The rotating peeling disc (61) is composed of an adaptive disc rotating tool (72) and an adaptive disc rotating tool driving gear (69). The adaptive disc rotating tool (72) is driven to rotate by the adaptive disc rotating tool driving gear (69) to complete the peeling process.

7. The intelligent household robot according to claim 4, characterized in that: The vegetable slicing and stripping processing mechanism comprises a vegetable slicing and stripping conveyor belt, a stripping cutter (68) and a slicing cutter; the vegetable slicing and stripping conveyor belt adopts a hollow design, which is convenient for storing the slicing tool while meeting the requirement of conveying food materials; the stripping cutter (68) is located below the vegetable slicing and stripping conveyor belt, and the stripping cutter (68) uses a screw rod to complete the up and down movement to complete the stripping process; the slicing cutter is located in front of the vegetable slicing and stripping conveyor belt, and is used to slicing the processed food materials, and can cooperate with the stripping cutter (68) to complete the stripping process; the vegetable and meat slicing and shredding mechanism comprises a feed port (24) for food materials that do not need to be peeled, a vegetable and meat slicing and shredding transport device, a vegetable and meat slicing and shredding cutter (76), a conveyor belt cleaning device and a food material discharge port (18); the feed port (24) for food materials that do not need to be peeled is used to receive food materials that do not need to be peeled, and food materials that do not need to be peeled can enter from here to complete the slicing and shredding process; the vegetable and meat slicing and shredding transport device is composed of a slicing and shredding cutter (76) and a food material discharge port (18); The conveyor belt is composed of a conveyor belt and a slicing and shredding alignment mechanism. After the food enters the slicing and shredding conveyor belt, it is aligned by the slicing and shredding alignment mechanism and then arrives below the vegetable and meat slicing and shredding cutter (76) for slicing and shredding. The vegetable and meat slicing and shredding cutter (76) is composed of a rebound blade device (81), a pneumatic indexing mechanism and a cam connecting rod mechanism (82). The rebound blade device (81) is used for replacing the cutter. The pneumatic indexing mechanism is used for adjusting the cutting angle of the cutter. The cam connecting rod mechanism (82) is used for driving the cutter. The cutter is made to move up and down through the cam connecting rod mechanism (82) to complete the cutting action. The conveyor belt cleaning device is composed of a cleaning brush (79) and a residue collection box. The cleaning brush (79) is located below the conveyor belt. The cleaning brush (79) slides upward along the guide rail to contact the conveyor belt for cleaning. The cleaned residue is collected and removed by the residue collection box. The food material discharge port (18) is used to temporarily store the processed food materials, so that users can take the processed food materials conveniently.

8. The intelligent household robot according to claim 4, characterized in that: The food material transport mechanism comprises a synchronous belt transport device and a food material receiving tray (93); the synchronous belt transport device comprises a food material tray (92) and a synchronous belt driving device; after the food material tray (92) receives the food material, the synchronous belt driving device sends the food material to the food material receiving tray (93); the food material receiving tray (93) is used to receive the food material on the food material tray (92) and send the food material to the vegetable and meat slicing and shredding mechanism; the bubble cleaning device comprises a turbocharger (20), a mechanical arm upper arm (9), a mechanical arm lower arm (10), a water storage tank (21) and a bubble cleaning gun (11); the turbocharger (20) is used to clean the water storage tank (21) bubbles are created in the water to cause the water to tumble, and the water storage tank (21) is used to store water; the bubble cleaning gun (11) can spray the cleaning water with bubbles in the water storage tank (21) to clean dust and pesticide residues on the surface of food materials; a chest pocket (13) and a spherical root vegetable feed port (14) are arranged on one side outer wall of the machine body (1); a one-way water inlet (22) is fixedly connected to one side outer wall of the water storage tank (21); a cooling fan (23) is fixedly connected to one end outer wall of the machine body (1); and a feed port (24) for food materials that do not need to be peeled and a residue discharge port (25) are arranged on one end outer wall of the machine body (1).

9. The intelligent household robot according to claim 1, characterized in that: The storage module comprises a treasure box (17); the treasure box (17) is used to place some commonly used items; the mechanical arm (2) comprises a multi-axis mechanical arm, a mechanical finger (12) and a flexible mechanical finger (19); the multi-axis mechanical arm has a high degree of freedom; the mechanical finger (12) is used to clamp hard or small objects to achieve precise grasping; the flexible mechanical finger (19) can pick up objects regardless of the shape of the objects, and is mainly used to clamp food materials for processing and feeding into a feed port (24) for food materials that do not require peeling; the small dragonfly (3) comprises a visual sensor (110), a driving rod (111) of a clothes collection device, a two-force rod (112) of a clothes collection device, a clothes collection hook (113), A positioning mechanism (107), a clothes collecting device (108) and a retractable wing module (109); the visual sensor (110) is used to receive environmental information and transmit it to the processing module to complete precise positioning; the positioning mechanism (107) is used to stabilize the fuselage (1) during the clothes collecting process, and the positioning mechanism (107) grabs the clothes drying rod during the clothes taking process to complete the stabilization of the fuselage (1); the clothes collecting device (108) is used to collect clothes, and the clothes collecting device (108) can fix the clothes drying rack to complete the clothes collecting work; the retractable wing module (109) is used to retract the wings of the small dragonfly (106), and when the small dragonfly (3) is not in use, the wings of the small dragonfly (106) are retracted to complete the storage.

10. The intelligent household robot according to claim 1, characterized in that: The motion device comprises an infrared sensor (101), a robot charging port (97), a chassis lifting support pneumatic rod (98), a chassis lifting support rod (99), a vehicle frame (100), a double-row stabilizing wheel (105), a wheel support frame, a shock absorbing device (104) and a stair climbing support device (102); the infrared sensor (101) is used to detect the inclination angle of the stairs and the basic parameters of the stairs; the wheel support frame is used to raise the vehicle body and wheels to facilitate stair climbing; the shock absorbing device (104) is used to alleviate the instability of the vehicle body caused by driving on bumpy terrain; the stair climbing support device (102) is composed of a stair climbing telescopic rod and a clamp (103); during the stair climbing process, the stair climbing telescopic rod is extended to clamp the clamp (103) at a right angle to the stairs or on the ground, thereby supporting the vehicle body to facilitate stair climbing, and is an important component of the stair climbing support device (102).

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