Service robot with obstacle avoidance processing function

Abstract

The embodiment of the utility model provides a service robot with an obstacle avoidance processing function, and relates to the technical field of service robots, the service robot comprises a robot base, an obstacle avoidance detection radar scans a front area when the service robot moves, the robot can judge the size when encountering an obstacle, and a remote alarm is started when the obstacle is large, so that personnel can take measures conveniently; when a small obstacle exists, a first motor precisely drives a one-way lead screw to enable a sliding block to slide, a rotating assembly, a pushing assembly and a clamping assembly are pushed out, then a second motor drives a rotating disc to rotate and adjusts and drives displacement of the pushing assembly, meanwhile, a fourth motor drives an electric push rod to rotate in a frame, and the stroke angle of the electric push rod is adjusted; and a third motor drives a bidirectional screw rod to enable a clamping piece to position an obstacle, stable clamping is achieved in cooperation with an anti-skid design, the obstacle can be flexibly handled as a whole, stable movement of the robot is guaranteed, and guests are better served.

Description

Technical Field

[0001] The present application relates to the technical field of service robots, and in particular to a service robot with obstacle avoidance and handling functions. Background Art

[0002] Service robots are intelligent mechanical devices designed to provide humans with diverse assistance and services to reduce their workload and improve their quality of life. They can play a role in a variety of scenarios such as homes, hospitals, hotels, airports, etc., such as caring for the elderly and children, assisting medical staff in diagnosis and treatment, providing navigation and consulting services to customers, completing cleaning and security tasks, etc. They are highly flexible and adaptable, and can provide customized services according to different needs and environments. They are the product of the close integration of modern technology and human life.

[0003] With the continuous development of science and technology, the application of service robots in various fields is becoming more and more extensive. At present, existing service robots mainly rely on obstacle avoidance sensors to perform obstacle avoidance operations during operation. When an obstacle appears in front of the robot, the obstacle avoidance sensor will detect it and guide the robot to avoid it. However, in some narrow areas, such as inside alleys, the space is relatively limited. Once encountering an obstacle, the service robot often finds it difficult to find a suitable avoidance path. In daily work scenarios, obstacles in alleys are usually light items such as cardboard boxes, garbage bags or trash cans, but just because of these light obstacles, the service robot cannot continue to walk and requires manual intervention. This greatly affects the ease of use and work efficiency of the service robot, and also limits its application scope in specific scenarios. Therefore, how to solve the problem of service robots passing when encountering light obstacles in narrow areas has become a technical problem that needs to be solved urgently. Utility Model Content

[0004] The embodiments of the present application provide a service robot with an obstacle avoidance function, which is used to solve the problem that existing service robots with an obstacle avoidance function lack the ability to handle obstacles.

[0005] The embodiment of the present application provides a service robot with an obstacle avoidance processing function, comprising: a robot base, the top of the robot base being fixedly connected to a robot body, both sides of the bottom of the robot base being rotatably connected to moving wheels, the middle portion of the rear side of the robot base being rotatably connected to a support wheel, a slot body being provided in the middle of the bottom of the robot base, a processing mechanism being fixedly connected to the top of the slot body, a service interaction screen being fixedly connected to the upper front end of the robot body, an obstacle avoidance detection radar being fixedly connected to the front of the robot base, a remote alarm and a control module being provided inside the robot body; the obstacle avoidance detection radar (800) and the remote alarm being electrically connected to the control module respectively;

[0006] The processing mechanism includes a displacement component, which is fixedly connected to the middle of the top of the tank body, the bottom of the displacement component is fixedly connected to a rotating component, the end of the rotating component is fixedly connected to a pushing component, and the end of the pushing component is fixedly connected to a clamping component.

[0007] In a feasible implementation, the displacement assembly includes a guide rail, which is fixedly connected to the top of the trough body, and the end of the guide rail close to the support wheel is fixedly connected to a first motor, and the output end of the first motor passes through the guide rail and is fixedly connected to a one-way screw, and the one-way screw is rotatably connected to the inside of the guide rail, and the outer surface of the one-way screw is threadedly connected to a sliding block, and the bottom of the sliding block is connected to the top of the rotating assembly.

[0008] In a feasible implementation, the rotating assembly includes an extension frame, which is fixedly connected to the bottom of the sliding block, the outer end of the bottom of the extension frame is fixedly connected to the mounting frame, the inner side of the mounting frame is fixedly connected to the second motor, the output end of the second motor passes through the mounting frame and is fixedly connected to a turntable, and one side of the turntable is connected to the pushing assembly.

[0009] In a feasible implementation, the pushing assembly includes a frame, which is fixedly connected to one side of the turntable, and an electric push rod is rotatably connected to the inner end of the frame away from the turntable, and the output end of the electric push rod is connected to the clamping assembly. A fourth motor is fixedly connected to one side of the frame close to the clamping assembly, and the output end of the fourth motor is fixedly connected to one side of the electric push rod.

[0010] In a feasible implementation, the clamping assembly includes a side rail, which is fixedly connected to the output end of the electric push rod, and the internal rotation of the side rail is connected to a bidirectional screw rod, and the threads at both ends of the bidirectional screw rod rotate in opposite directions. One end of the side rail is fixedly connected to a third motor, and the output end of the third motor is fixedly connected to one end of the bidirectional screw rod, and both ends of the bidirectional screw rod are threadedly connected to movable blocks, and the movable blocks are slidably connected to the internal ends of the side rails, and the outer side of the movable block is fixedly connected to a clamping member.

[0011] In a feasible implementation, the clamping member includes a support rod, which is fixedly connected to the side of the movable block away from the electric push rod. The outer end of the support rod is fixedly connected to a circular plate, and the inner side of the circular plate is fixedly connected to a spring steel clamping frame arranged in a ring shape at equal intervals.

[0012] In a feasible implementation, the inner end of the spring steel clamping frame is fixedly connected with an anti-slip plate, the inner side of the anti-slip plate is fixedly connected with anti-slip protrusions at equal intervals, and the internal cavity of the guide rail and the side shape of the sliding block are both set to be convex.

[0013] The embodiment of the present application provides a service robot with an obstacle avoidance function. When the service robot moves, the obstacle avoidance detection radar scans the area in front. When encountering an obstacle, the robot can judge the size. When the obstacle is large, the remote alarm is activated, which makes it easier for personnel to take measures. When the obstacle is small, the first motor accurately drives the one-way screw to make the sliding block slide, pushing out the rotating component, pushing component and clamping component. Then, the second motor drives the turntable to rotate, adjusting the displacement of the driving pushing component. At the same time, the fourth motor drives the electric push rod to rotate inside the frame to adjust its stroke angle. The third motor drives the two-way screw to allow the clamping part to locate the obstacle. Combined with the anti-slip design, it can clamp stably. The whole can flexibly handle obstacles, ensure the stable movement of the robot, and better serve customers.

[0014] During the use of the service robot, for smaller obstacles, the robot can precisely control the various components to work together and move them away. The first motor, second motor, third motor and fourth motor play a key role in different links respectively. The first motor pushes out the relevant components, the second motor drives the turntable to adjust the displacement, the third motor ensures stable clamping, and the fourth motor adjusts the angle of the electric push rod. The anti-slip design improves friction, and the elasticity of the spring steel clamping frame ensures stable clamping. For larger obstacles, the robot will issue an alarm in time, and relevant personnel can respond quickly. Overall, the device can better handle obstacles, allowing the service robot to move stably, provide high-quality services to guests, improve the practicality and reliability of the robot, and adapt to the needs of different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present application and do not constitute an improper limitation on the present invention.

[0016] In the attached figure:

[0017] Figure 1 This is a schematic diagram of the overall structure provided by an embodiment of the present application;

[0018] Figure 2 This is a side view structural diagram provided by an embodiment of the present application;

[0019] Figure 3 This is a bottom-up structural diagram provided by an embodiment of the present application;

[0020] Figure 4 This is a schematic structural diagram of a pushing assembly, a rotating assembly, and a clamping assembly provided in one embodiment of the present application;

[0021] Figure 5 This is a schematic diagram of the clamping member structure provided in one embodiment of the present application.

[0022] Description of reference numerals:

[0023] 100-Robot base; 200-Robot body; 300-Moving wheels; 400-Support wheels; 500-Truck; 600-Processing mechanism; 700-Service interaction screen; 800-Obstacle avoidance detection radar;

[0024] 610-displacement assembly; 620-rotation assembly; 630-pushing assembly; 640-clamping assembly;

[0025] 611-guide rail; 612-first motor; 613-one-way screw; 614-sliding block;

[0026] 621- extension frame; 622- mounting frame; 623- second motor; 624- turntable;

[0027] 631-frame; 632-electric push rod; 633-fourth motor;

[0028] 641-side rail; 642-bidirectional screw; 643-third motor; 644-movable block; 645-clamping piece;

[0029] 6451-support rod; 6452-round plate; 6453-spring steel clamping frame; 6454-anti-slip plate; 6455-anti-slip protrusion. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will provide a clear and complete description of the technical solutions in the embodiments of this application in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0031] Example

[0032] refer to Figures 1 to 5, a service robot with obstacle avoidance and processing function of this embodiment includes: a robot base 100, a robot body 200 is fixedly connected to the top of the robot base 100, moving wheels 300 are rotatably connected to both sides of the bottom of the robot base 100, and a support wheel 400 is rotatably connected to the middle of the rear side of the robot base 100, a groove 500 is opened in the middle of the bottom of the robot base 100, and a processing mechanism 600 is fixedly connected to the top of the groove 500, a service interaction screen 700 is fixedly connected to the upper end of the front of the robot body 200, an obstacle avoidance detection radar 800 is fixedly connected to the front of the robot base 100, and a remote alarm and a control module are provided inside the robot body 200; the service interaction screen 700, the obstacle avoidance detection radar 800 and the remote alarm are electrically connected to the control module respectively, and the service interaction screen 700 is used to display the status information of the service robot.

[0033] The processing mechanism 600 includes a displacement assembly 610, which is fixedly connected to the middle of the top of the trough body 500. The bottom of the displacement assembly 610 is fixedly connected to a rotating assembly 620, the end of the rotating assembly 620 is fixedly connected to a pushing assembly 630, and the end of the pushing assembly 630 is fixedly connected to a clamping assembly 640.

[0034] Exemplarily, the obstacle avoidance detection radar 800 can adopt the laser radar of the RPLidar series of Silan Technology and the self-developed 4D laser radar L1 of Unitree Technology. At the same time, millimeter wave radar can also be used, specifically the millimeter wave sensor of TI Texas Instruments or the ZF 4D millimeter wave radar premium. A control module is integrated inside the robot body 200. The control module and the obstacle avoidance detection radar 800 can assist in determining whether there is an obstacle and the size of the obstacle. A corresponding remote alarm is also provided inside the robot body 200, which is electrically connected to the control module. In addition, the remote alarm can also be configured with a Wi-Fi communication module to communicate wirelessly with the control module. It should be noted that the above-mentioned wireless communication, control module, and control method are all existing technologies and are therefore not described here in detail.

[0035] The moving wheels 300 and support wheels 400 at the bottom of the robot's base 100 ensure stable movement. The handling mechanism 600 within the trough 500 is ingeniously designed, with the displacement assembly 610, rotation assembly 620, push assembly 630, and clamping assembly 640 working together to flexibly handle obstacles. When encountering smaller obstacles, the components work together to remove them, improving the robot's maneuverability and service efficiency. The obstacle avoidance radar 800 accurately detects the location and size of obstacles, providing accurate information for the robot's obstacle avoidance decisions. The control module within the robot's main body 200 works in conjunction with the obstacle avoidance radar 800 to intelligently determine the presence and size of obstacles, enhancing the robot's autonomous decision-making capabilities. Furthermore, a remote alarm using a Wi-Fi communication module can promptly issue an alert when encountering larger obstacles that cannot be handled, facilitating appropriate action by relevant personnel. Overall, this device improves the service robot's practicality, reliability, and intelligence, enabling better customer service.

[0036] It is understandable that the robot body 200 is also provided with a power supply and other necessary robot components, which are all prior art and will not be described in detail here. The displacement assembly 610 includes a guide rail 611, which is fixedly connected to the top of the tank body 500. The end of the guide rail 611 near the support wheel 400 is fixedly connected to the first motor 612. The output end of the first motor 612 passes through the guide rail 611 and is fixedly connected to a one-way screw rod 613. The one-way screw rod 613 is rotatably connected to the interior of the guide rail 611. The outer surface of the one-way screw rod 613 is threadedly connected to a sliding block 614. The bottom of the sliding block 614 is connected to the top of the rotating assembly 620. The rotation assembly 620 includes an extension frame 621, which is fixedly connected to the bottom of the sliding block 614. The outer end of the bottom of the extension frame 621 is fixedly connected to the mounting frame 622. The inner side of the mounting frame 622 is fixedly connected to the second motor 623. The output end of the second motor 623 passes through the mounting frame 622 and is fixedly connected to the turntable 624. One side of the turntable 624 is connected to the push assembly 630. The guide rail 611 of the displacement assembly 610 is fixed to the top of the tank body 500, providing a stable movement track for the sliding block 614. The first motor 612 drives the one-way screw 613 to rotate, causing the threaded sliding block 614 to slide precisely within the guide rail 611, thereby achieving precise adjustment of the position of the lower components. This design allows the rotation assembly 620, push assembly 630, and clamping assembly 640 to be flexibly removed from the tank body 500 according to actual conditions to deal with obstacles. When encountering smaller obstacles, it can respond quickly, improving the robot's ability to cope with them.

[0037] The extension frame 621 in the rotating assembly 620 connects the sliding block 614 and the mounting frame 622, providing a stable connection. A second motor 623 inside the mounting frame 622 precisely controls the rotation of the turntable 624, which in turn drives the propulsion assembly 630 and the clamping assembly 640 to adjust their orientation. This rotational function allows the clamping assembly 640 to more flexibly align with obstacles, adapting to obstacles at different positions and angles, thereby improving the efficiency and accuracy of the robot's obstacle handling. Whether in confined spaces or complex environments, this function effectively ensures the service robot's stable movement and efficient service.

[0038] The pushing assembly 630 includes a frame 631, which is fixedly connected to one side of the turntable 624. An electric push rod 632 is rotatably connected to the inner end of the frame 631 away from the turntable 624. The output end of the electric push rod 632 is connected to the clamping assembly 640. A fourth motor 633 is fixedly connected to one side of the frame 631 near the clamping assembly 640. The output end of the fourth motor 633 is fixedly connected to one side of the electric push rod 632. The clamping assembly 640 includes a side rail 641, which is fixedly connected to the output end of the electric push rod 632. A bidirectional screw rod 642 is rotatably connected to the inside of the side rail 641. The two ends of the bidirectional screw rod 642 have oppositely rotating threads. A third motor 643 is fixedly connected to one end of the side rail 641. The output end of the third motor 643 is fixedly connected to one end of the bidirectional screw rod 642. A movable block 644 is threadedly connected to each end of the bidirectional screw rod 642. The movable block 644 is slidably connected to the inner ends of the side rail 641. A clamping member 645 is fixedly connected to the outer side of the movable block 644. In the push assembly 630, the frame 631 provides a stable mounting base for the electric push rod 632. The electric push rod 632 precisely moves the clamping assembly 640, enabling it to approach obstacles. The fourth motor 633 drives the electric push rod 632 to rotate, thereby adjusting the travel angle. This allows the clamping assembly 640 to better adapt to obstacles at different positions and angles, enhancing the robot's flexibility in obstacle handling. This multi-angle adjustment capability ensures the robot can effectively handle various obstacles in complex environments.

[0039] In the clamping assembly 640, the side rail 641 is fixed to the output end of the electric push rod 632, providing a stable structure for the clamping operation. The third motor 643 drives the bidirectional screw 642 to rotate. Since the threads at both ends of the bidirectional screw 642 rotate in opposite directions, the movable blocks 644 at both ends can slide in opposite directions in the side rail 641 at the same time, driving the clamping parts 645 to move closer or further away from each other. This design can quickly and accurately achieve the clamping and positioning of obstacles. The clamping parts 645 can be flexibly adjusted according to the size of the obstacle to ensure stable clamping. Whether it is a small obstacle or an irregularly shaped object, it can be effectively handled by this clamping assembly 640, which improves the practicality and reliability of the service robot.

[0040] The clamping member 645 includes a support rod 6451, which is fixedly connected to the side of the movable block 644 away from the electric push rod 632. The outer end of the support rod 6451 is fixedly connected to a circular plate 6452. The inner side of the circular plate 6452 is fixedly connected with a spring steel clamping frame 6453 arranged in a ring at equal intervals. The inner end of the spring steel clamping frame 6453 is fixedly connected to an anti-slip plate 6454. The inner side of the anti-slip plate 6454 is fixedly connected with anti-slip protrusions 6455 at equal intervals. The internal cavity of the guide rail 611 and the side shape of the sliding block 614 are both set to be convex. The support rod 6451 of the clamping member 645 connects the movable block 644 and the circular plate 6452 to provide stable support for the clamping operation. The spring steel clamping frame 6453, arranged in a ring on the inner side of the circular plate 6452, is flexible and can adapt to obstacles of varying shapes and sizes. During the clamping process, it can deform to a certain extent based on the actual situation of the obstacle, ensuring a close fit and improving clamping stability. The anti-slip protrusions 6455 on the inner side of the anti-slip plate 6454 further increase friction, preventing slippage during the process of clamping and moving obstacles, ensuring safe and reliable obstacle handling. The internal cavity of the guide rail 611 and the side profile of the sliding block 614 are designed to be convex. This shape effectively prevents the sliding block 614 from shaking or shifting within the guide rail 611, ensuring the stability and accuracy of the displacement assembly 610. During the robot's obstacle handling process, precise displacement control is crucial for accurately moving the clamping assembly 640 to the obstacle location. This design improves the reliability and practicality of the entire device, enabling the service robot to more efficiently handle various obstacle situations and provide better service to guests.

[0041] It should be noted that the first motor 612 , the second motor 623 , the third motor 643 and the fourth motor 633 are electrically connected to the control modules inside the robot body respectively, and the control modules control the rotation of the above motors respectively.

[0042] The operating principle and advantages are as follows: The processing mechanism 600 enables the device to demonstrate excellent performance during actual use. The base of the robot body 200 moves smoothly on the ground using the moving wheels 300 and support wheels 400. During movement, if an obstacle appears in front, the obstacle avoidance detection radar 800 plays a vital role, comprehensively scanning the area in front of the robot base 100. It can quickly identify obstacles in the robot body 200's path. If the robot body 200 determines that the obstacle is large, the remote alarm is activated, issuing an alarm signal so that relevant personnel can take timely action. If the obstacle is smaller, the control module within the robot body 200 can precisely control the operation of the first motor 612. The first motor 612 drives the one-way screw 613 to rotate, thereby causing the sliding block 614 to slide smoothly within the guide rail 611. By adjusting the sliding of the sliding block 614, the extension frame 621 can be pushed forward, thereby smoothly removing the rotating assembly 620, the pushing assembly 630, and the clamping assembly 640 from the interior of the tank 500.

[0043] Next, the second motor 623 is activated, driving the turntable 624 to rotate, thereby cleverly adjusting the displacement of the drive assembly 630. Simultaneously, the fourth motor 633 is activated, driving the electric push rod 632 to rotate within the frame 631. Adjusting the rotation angle of the electric push rod 632 assists in adjusting its travel angle. At this point, the rotation assembly 620 can change the direction of the clamping assembly 640. The coordinated operation of the second motor 623 and the electric push rod 632 enables further flexible and stable displacement of the clamping assembly 640, enabling it to precisely move to the position of an obstacle. Subsequently, the third motor 643 is activated, driving the bidirectional screw 642 to rotate. This rotation simultaneously drives the two movable blocks 644 to slide within the side rails 641. The sliding of the two movable blocks 644 assists in the relative displacement of the clamping members 645, which in turn drives the circular plate 6452 at the end of the support rod 6451 back and forth. As circular plate 6452 moves back and forth, it drives spring steel clamping frame 6453 and its inner anti-slip plate 6454 to tightly adhere to the obstacle. Anti-slip protrusions 6455 on the inner end of anti-slip plate 6454 further enhance the friction inside the anti-slip plate 6454. Furthermore, during the clamping process, the elastic design of spring steel clamping frame 6453 ensures a stable hold on the obstacle.

[0044] Once the obstacle is clamped, the second motor 623 is restarted, driving the turntable 624 to rotate, thereby adjusting the direction of the clamping assembly 640. The operation of the electric push rod 632 can push the clamping assembly 640 to further move, further adjusting and driving the movement of the clamped obstacle. It can be seen that during the overall application of this device, obstacles can be flexibly removed and handled. Smaller obstacles can be removed and handled; larger obstacles can be promptly alarmed. Overall, this device can better handle obstacles, enabling the service robot to move stably and provide guests with better service.

[0045] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on the several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the scope of protection of the present application.

[0046] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A service robot with obstacle avoidance function, characterized in that: include: A robot base (100), wherein the top of the robot base (100) is fixedly connected to a robot body (200), both sides of the bottom of the robot base (100) are rotatably connected to moving wheels (300), the middle of the rear side of the robot base (100) is rotatably connected to a support wheel (400), a groove (500) is provided in the middle of the bottom of the robot base (100), a processing mechanism (600) is fixedly connected to the top of the groove (500), a service interaction screen (700) is fixedly connected to the upper end of the front of the robot body (200), an obstacle avoidance detection radar (800) is fixedly connected to the front of the robot base (100), and a remote alarm and a control module are provided inside the robot body (200); the obstacle avoidance detection radar (800) and the remote alarm are respectively electrically connected to the control module; The processing mechanism (600) includes a displacement assembly (610), the displacement assembly (610) is fixedly connected to the middle of the top of the tank body (500), the bottom of the displacement assembly (610) is fixedly connected to a rotating assembly (620), the end of the rotating assembly (620) is fixedly connected to a pushing assembly (630), and the end of the pushing assembly (630) is fixedly connected to a clamping assembly (640).

2. The service robot with obstacle avoidance function according to claim 1, characterized in that: The displacement assembly (610) comprises a guide rail (611), wherein the guide rail (611) is fixedly connected to the top of the trough body (500), and one end of the guide rail (611) close to the support wheel (400) is fixedly connected to a first motor (612), and the output end of the first motor (612) passes through the guide rail (611) and is fixedly connected to a one-way screw rod (613), wherein the one-way screw rod (613) is rotatably connected to the inside of the guide rail (611), and the outer surface of the one-way screw rod (613) is threadedly connected to a sliding block (614), and the bottom of the sliding block (614) is connected to the top of the rotating assembly (620).

3. The service robot with obstacle avoidance function according to claim 2, characterized in that: The rotating assembly (620) includes an extension frame (621), the extension frame (621) is fixedly connected to the bottom of the sliding block (614), the outer end of the bottom of the extension frame (621) is fixedly connected to a mounting frame (622), the inner side of the mounting frame (622) is fixedly connected to a second motor (623), the output end of the second motor (623) passes through the mounting frame (622) and is fixedly connected to a turntable (624), and one side of the turntable (624) is connected to the pushing assembly (630).

4. The service robot with obstacle avoidance function according to claim 3, characterized in that: The pushing assembly (630) includes a frame (631), the frame (631) is fixedly connected to one side of the turntable (624), an inner side of the frame (631) away from the turntable (624) is rotatably connected to an electric push rod (632), the output end of the electric push rod (632) is connected to the clamping assembly (640), and a side of the frame (631) close to the clamping assembly (640) is fixedly connected to a fourth motor (633), and the output end of the fourth motor (633) is fixedly connected to one side of the electric push rod (632).

5. The service robot with obstacle avoidance function according to claim 4, characterized in that: The clamping assembly (640) includes a side rail (641), the side rail (641) is fixedly connected to the output end of the electric push rod (632), the side rail (641) is internally rotatably connected to a bidirectional screw rod (642), the two ends of the bidirectional screw rod (642) have opposite screw rotation directions, one end of the side rail (641) is fixedly connected to a third motor (643), the output end of the third motor (643) and one end of the bidirectional screw rod (642) are fixedly connected, both ends of the bidirectional screw rod (642) are threadedly connected to movable blocks (644), the movable blocks (644) are slidably connected to the inner ends of the side rail (641), and the outer side of the movable block (644) is fixedly connected to a clamping member (645).

6. The service robot with obstacle avoidance function according to claim 5, characterized in that: The clamping member (645) includes a support rod (6451), which is fixedly connected to a side of the movable block (644) away from the electric push rod (632). The outer end of the support rod (6451) is fixedly connected to a circular plate (6452), and the inner side of the circular plate (6452) is fixedly connected to a spring steel clamping frame (6453) arranged in a ring shape at equal intervals.

7. The service robot with obstacle avoidance function according to claim 6, characterized in that: The inner end of the spring steel clamping frame (6453) is fixedly connected to an anti-slip plate (6454), and the inner side of the anti-slip plate (6454) is fixedly connected to anti-slip protrusions (6455) at equal intervals. The inner cavity of the guide rail (611) and the side shape of the sliding block (614) are both set to be convex.

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