Barrier-free composite robot

Abstract

The utility model provides a kind of barrier-free composite robot, comprising: robot body;Intelligent interactive panel, intelligent interactive panel is detachably placed on robot body, and intelligent control module is provided on intelligent interactive panel, and intelligent control module at least includes eye movement instrument, and eye movement instrument is connected with intelligent interactive panel signal;Mechanical arm device, mechanical arm device is set on robot body, for holding and moving article, article at least includes intelligent interactive panel, and mechanical arm device is connected with intelligent interactive panel signal;Intelligent mobile chassis, intelligent mobile chassis is connected with intelligent interactive panel signal.The utility model's barrier-free composite robot's intelligent control module can realize barrier-free operation, facilitate the use of user with difficulty in movement, and mechanical arm device can actively place intelligent interactive panel in suitable position, and mechanical arm device can also assist to grab the article in drawer, and other instructions can also be assisted to complete, and storage function can also be added through drawer.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to an obstacle-free composite robot. Background Technology

[0002] With the implementation of China's family planning policy, the traditional nuclear family structure has changed, with the 4-2-1 family structure becoming the mainstream. Family sizes are increasingly smaller, breaking the traditional family model of three or even four generations living together. At the same time, in modern society, both the elderly and their children demand their own "free space," making the social phenomena of single-parent families and elderly living alone a focus of attention across society. The function of family-based elder care is weakening, and the responsibility for elderly care, originally borne by families, is shifting to social elder care services. Elderly living alone has become a significant social issue that has garnered considerable attention.

[0003] Currently, it is difficult for elderly people living alone with limited mobility to open doors for others. Even if the door is equipped with a smart door opening device, such as a smart lock, the elderly still need to actively press the button on the smart lock or use a special operator for the smart lock, which is inconvenient. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings and deficiencies of the existing technology and provide an accessible composite robot.

[0005] One embodiment of this utility model provides an accessible composite robot, comprising: The robot itself; An intelligent interactive flat panel is detachably placed on the robot body. The intelligent interactive flat panel is equipped with an intelligent control module, which includes at least an eye tracker and is signal-connected to the intelligent interactive flat panel. A robotic arm device is mounted on the robot body and is used to grip and move an object, the object including at least the smart interactive flat panel, and the robotic arm device is signal-connected to the smart interactive flat panel. An intelligent mobile chassis is connected to the intelligent interactive flat panel via a signal.

[0006] In some alternative embodiments, the robotic arm device includes a six-axis rotary drive arm and a gripper mechanism. The six-axis rotary drive arm is mounted on the robot body and is drivenly connected to the gripper mechanism, which is used to grip the item.

[0007] In some alternative embodiments, the six-axis rotary drive arm includes six motors and six rotary arms, which rotate sequentially and are engaged. The six motors drive the rotary arms to rotate accordingly. The rotary arm located at the head end is rotatably mounted on the robot body, and the gripper mechanism is mounted on the rotary arm located at the tail end. The rotation axes of two adjacent rotary arms are perpendicular to each other.

[0008] In some optional embodiments, the side of the robot body is provided with several storage compartments, each of which is equipped with an electric drawer, and the electric drawer is signal-connected to the smart interactive flat panel. The robotic arm device is also used to remove items from the electric drawer or to put items into the electric drawer.

[0009] In some alternative implementations, a standby compartment is provided on the outside of the robot body, and at least part of the robotic arm device is movably housed within the standby compartment.

[0010] In some alternative implementations, the robot body is provided with a support platform. When the smart interactive tablet is detachably placed on the robot body, the robotic arm device clamps the smart interactive tablet and makes the smart interactive tablet abut against one side of the support platform.

[0011] In some optional embodiments, the intelligent mobile chassis includes a chassis housing, multiple wheels, a drive assembly, a control processing module, a positioning module, a power storage module, and a sensor module. The robot body is mounted on the chassis housing. The wheels are rotatably mounted on the bottom of the chassis housing. The drive assembly is mounted on the chassis housing and is driven by the wheels. The control processing module, the positioning module, and the power storage module are all mounted on the chassis housing. The control processing module is electrically connected to the intelligent interactive flat panel, the drive assembly, the positioning module, and the power storage module, respectively. The sensor module is located on the side or bottom of the chassis housing and is signal-connected to the control processing module.

[0012] In some optional implementations, the intelligent control module further includes a voice control module, which is signal-connected to the intelligent interactive flat panel.

[0013] Compared to existing technologies, the intelligent control module of this utility model's barrier-free composite robot enables barrier-free control, making it suitable for users with mobility issues. The mobile chassis allows it to follow the elderly person's movements, and can also keep the robot on standby at the bedside when the elderly person is bedridden and unable to move. The robotic arm can actively place the intelligent interactive tablet in a suitable position for easy interaction, and can also assist in grasping items from drawers and completing other commands. In conjunction with a smart door lock, it allows the elderly person to easily open or close the door, improving their safety, quality of life, and dignity, while reducing the burden on family caregivers.

[0014] To provide a clearer understanding of this invention, the specific embodiments of this invention will be described below in conjunction with the accompanying drawings. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an obstacle-free composite robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the barrier-free composite robot of this utility model when it is moving an intelligent interactive flat panel according to an embodiment of the present invention; Figure 3 This is a schematic diagram of one side of the barrier-free composite robot according to an embodiment of the present invention; Figure 4 This is a partial structural schematic diagram of an embodiment of the barrier-free composite robot of the present invention; Figure 5 This is a schematic diagram of the structure of an intelligent mobile chassis according to an embodiment of the present invention; Figure 6 This is a structural schematic diagram of one side of an intelligent mobile chassis according to an embodiment of the present invention; Figure 7 This is a flowchart illustrating the steps of an intelligent door lock according to an embodiment of the present invention to open or close the door based on the first operation command.

[0016] Explanation of reference numerals in the attached figures: 10. Robot body; 11. Storage compartment; 12. Electric drawer; 13. Standby compartment; 14. Tray; 20. Intelligent interactive whiteboard; 30. Robotic arm device; 31. Six-axis rotary drive arm; 311. Rotary arm; 312. Motor; 32. Gripper mechanism; 40. Intelligent mobile chassis; 41. Chassis shell; 42. Wheels; 43. Drive assembly; 44. Control processing module; 45. Positioning module; 46. Power storage module; 47. Sensor module; Detailed Implementation The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model. In the description of the present utility model, unless otherwise stated, "a plurality of" means two or more, and "a number" means one or more. In addition, unless otherwise stated, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0017] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0018] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0019] In the description of this utility model, references to terms such as "one embodiment," "some alternative implementations," or "some optional embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0020] Please see Figure 1 and Figure 2 This invention provides an obstacle-free composite robot in one embodiment, comprising: Robot body 10; The intelligent interactive flat panel 20 is detachably placed on the robot body 10. The intelligent interactive flat panel 20 is equipped with an intelligent control module, which includes at least an eye tracker and is connected to the intelligent interactive flat panel 20 via signal.

[0021] A robotic arm device 30 is mounted on the robot body 10 and is used to grip and move objects. The objects include at least a smart interactive flat panel 20. The robotic arm device 30 is signal-connected to the smart interactive flat panel 20. The intelligent mobile chassis 40 is connected to the intelligent interactive flat panel 20 via a signal connection; wherein... The smart interactive panel 20 is used to connect to the smart door lock signal. When the smart door lock is triggered, it obtains the user's first operation command through the smart control module. The smart interactive panel 20 sends the first operation command to the smart door lock, and the smart door lock performs the opening operation or does not open the door based on the first operation command.

[0022] In some optional implementations, the intelligent control module also includes a voice control module, which is connected to the intelligent interactive flat panel 20 via a signal. Both the voice control module and the eye tracker can capture the user's operation commands, making it convenient for the user to operate.

[0023] An eye tracker is a technological tool that controls electronic devices by tracking eye movements. It can capture the user's eye movements to operate the smart interactive whiteboard 20 and issue operation commands. The principle and structure of the eye tracker are well known to those skilled in the art and will not be described in detail here.

[0024] The voice control module is a component that controls electronic devices based on sound signals. It can capture the user's voice to operate the smart interactive whiteboard 20 and issue operation commands. The principle and structure of the eye tracker are well known to those skilled in the art and will not be described in detail here.

[0025] Both the eye tracker and the voice control module are arranged on the smart interactive flat panel 20. The arrangement is a technique known to those skilled in the art and will not be illustrated here.

[0026] The intelligent interactive flat panel 20 typically has a display screen capable of displaying images, as well as a corresponding processor, storage device, and other structures. It can be connected to the intelligent mobile chassis 40 and the robotic arm device 30 via a wireless communication module, while the voice control module and eye tracker can be connected to the intelligent interactive flat panel 20 via wired or wireless means.

[0027] The Smart Interactive Flat Panel 20 can display the time, real-time weather, simulated facial expressions, and listen for distress signals when in standby mode.

[0028] The working principle of an embodiment of the barrier-free composite robot of this utility model is explained below: The intelligent mobile chassis 40 can move the robot body 10 to a designated location, such as the bedside or sofaside, or it can follow the user.

[0029] Users can remotely control the smart door lock by directly inputting operation commands through the smart interactive panel 20, or by inputting operation commands through the eye tracker or voice control module of the smart control module. The image outside the door captured by the camera on the smart door lock can be transmitted to the smart interactive panel 20, which displays the image outside the door for the user to view.

[0030] The robotic arm 30 can grip and move the smart interactive panel 20 in front of the user, or it can place the smart interactive panel 20 on the robot body 10. In one application scenario, the user can issue corresponding voice control commands. After the voice control module receives the voice control commands, it sends control signals to the robotic arm 30 through the smart interactive panel 20. The robotic arm 30 then moves the smart interactive panel 20 in front of the user. In this way, the user can observe the smart interactive panel 20 while lying in bed without moving. The user can then operate the smart interactive panel 20 through an eye tracker.

[0031] In some optional embodiments, the robotic arm device 30 includes a six-axis rotary drive arm 31 and a gripper mechanism 32. The six-axis rotary drive arm 31 is mounted on the robot body 10 and is drivenly connected to the gripper mechanism 32. The gripper mechanism 32 is used to grip an object, which can be the smart interactive tablet 20. Of course, the gripper mechanism 32 can also grip other objects, such as medicine bottles. The six-axis rotary drive arm 31 can rotate on six axes. Its structure can be designed according to actual needs. For example, in this embodiment, the six-axis rotary drive arm 31 includes six motors 312 and six rotating arms 311. The six rotating arms 311 rotate and cooperate sequentially. The six motors 312 drive the rotating arms 311 to rotate accordingly. The rotating arm 311 located at the head end is rotatably mounted on the robot body 10, and the gripper mechanism 32 is mounted on the rotating arm 311 located at the tail end. The rotation axes of two adjacent rotating arms 311 are perpendicular to each other. In this embodiment, the robotic arm device 30 also includes a controller, which is wirelessly connected to the smart interactive tablet 20.

[0032] The principle and structure of the gripper mechanism 32 are well known to those skilled in the art and will not be described in detail here.

[0033] In some optional embodiments, the robot body 10 has several storage compartments 11 on its side, each containing an electric drawer 12. The electric drawers 12 are connected to the smart interactive panel 20 via a signal. Preferably, the smart interactive panel 20 and the electric drawers 12 are connected wirelessly. Users can control the electric drawers 12 via a voice control module, eye tracker, or interactive panel. For example, a user can say "open drawer" or "close drawer," and the voice control module receives the command and sends it to the electric drawer 12 via the interactive panel, causing the electric drawer 12 to open or close. The electric drawers 12 can hold everyday items, medicines, etc., for easy access by the user or for the robotic arm 30 to grasp and hand to the user.

[0034] The robotic arm device 30 is also used to remove or place items from the electric drawer 12. After the electric drawer 12 is opened, the mechanical wall device can also be used to grip and remove the items from the electric drawer 12 and place them on top of the robot body 10, in front of the user, or in other suitable locations.

[0035] The principle and structure of the electric drawer 12 are well known to those skilled in the art and will not be described in detail here. Of course, the electric drawer 12 can also be opened manually by the user, and is not limited to being opened only by inputting commands.

[0036] In some alternative implementations, a standby compartment 13 is provided on the outside of the robot body 10, and at least part of the robotic arm device 30 is movably stored in the standby compartment 13, thereby preventing the robotic arm device 30 from being too exposed when not in use, which would affect the movement of the robot body 10 or affect its aesthetics.

[0037] When the robotic arm 30 extends out of the standby compartment 13 and completes the operation of gripping and moving an object, such as when the robotic arm 30 grips and moves the smart interactive tablet 20 in front of the user, after the user completes the operation, the robotic arm 30 returns the smart interactive tablet 20 to the robot body 10. Then, part of the robotic arm 30 hovers outside the standby compartment 13 for a preset time. At this time, the part of the robotic arm 30 that can be stored in the standby compartment 13 does not move into the standby compartment 13, but stays for a preset time to standby. This allows the robotic arm 30 to react quickly when the user needs to use it again, shortening the operation time of the robotic arm 30 and avoiding frequent retraction and extension of the robotic arm 30 when the user needs to use it again, which would increase the travel distance required by the robotic arm 30.

[0038] Please see Figure 3 and Figure 4In some optional embodiments, the robot body 10 is provided with a support platform 14. When the smart interactive tablet 20 is detachably placed on the robot body 10, the robotic arm device 30 clamps the smart interactive tablet 20 and makes the smart interactive tablet 20 abut against one side of the support platform 14, so that the smart interactive tablet 20 can be stably placed on the robot body 10.

[0039] Please see Figure 5 and Figure 6 In some optional embodiments, the intelligent mobile chassis 40 includes a chassis housing 41, multiple wheels 42, a drive assembly 43, a control processing module 44, a positioning module 45, a power storage module 46, and a sensor module 47. The robot body 10 is mounted on the chassis housing 41. The wheels 42 are rotatably mounted on the bottom of the chassis housing 41. The drive assembly 43 is mounted on the chassis housing 41 and is driven by the wheels 42. The control processing module 44, the positioning module 45, and the power storage module 46 are all mounted on the chassis housing 41. The control processing module 44 is electrically connected to the intelligent interactive flat panel 20, the drive assembly 43, the positioning module 45, and the power storage module 46, respectively. The sensor module 47 is located on the side or bottom of the chassis housing 41 and is signal-connected to the control processing module 44. To facilitate the separate design of the intelligent interactive flat panel 20 and the robot body 10, the control processing module 44 and the intelligent interactive flat panel 20 are signal-connected through the intelligent interactive flat panel 20. In this embodiment, there are four walking wheels 42. The drive assembly 43 can drive two walking wheels 42 to rotate, while the other two walking wheels 42 are responsible for controlling turning. Turning can be achieved by driving the walking wheels 42 through a servo motor. In turn, the walking wheels 42 drive the chassis housing 41 to move and turn. The drive assembly 43 is usually a drive motor assembly. Of course, the drive assembly 43 can also drive two walking wheels 42 to rotate and turn, while the other two walking wheels 42 are driven wheels and do not rotate actively.

[0040] The positioning module 45 is used to locate the position of the intelligent mobile chassis 40. The positioning module 45 can be a LiDAR module, while the sensor module 47 can be used to check the environment around the chassis housing 41. The sensor module 47 can be an infrared sensor module 47, an ultrasonic sensor module 47, etc. The control processor receives and processes the information from the positioning module 45 and the sensor module 47, and then controls the drive component 43 to operate, thereby controlling the intelligent mobile chassis 40 to move to the designated position. The specific processing method is well-known to those skilled in the art and will not be described in detail here. In this embodiment, the LiDAR module is mainly used for D / D map building, thereby facilitating the perception of the surrounding environment. Of course, the specific working principle of the LiDAR module and how to use the information detected by the LiDAR module are well-known to those skilled in the art and will not be described in detail here. The LiDAR module can be set on the chassis housing 41, for example, on the top of the chassis housing 41. Of course, the LiDAR module can also be set on the top of the robot body 10.

[0041] The energy storage module 46 is used to supply power to the drive assembly 43, the control processing module 44, the positioning module 45, the energy storage module 46, and the sensor module 47.

[0042] Of course, the technology of the intelligent mobile chassis 40 is already quite mature. It is commonly used in delivery or inspection scenarios. It can be equipped with functional components to meet different functional requirements. For example, intelligent service robots, self-service ordering robots, etc. often use the intelligent mobile chassis 40. Therefore, the structure of the intelligent mobile chassis 40 is not limited to the above.

[0043] In some alternative implementations, the robotic arm 30 is used to move the smart interactive flat panel 20 to the user's front, a predetermined mounting position, or onto the robot body 10. Moving the smart interactive flat panel 20 to the user's front allows the user to easily view the information displayed on the smart interactive flat panel 20 and also facilitates the user to input operation commands via an eye tracker. The smart interactive panel 20 can also be placed beside a user's bed, sofa, or other locations, and mounted using a fixed bracket. For example, in one embodiment, if a user needs to stay in bed frequently due to physical limitations, a magnetic mounting bracket can be added beside the bed. The robotic arm device 30 can move the smart interactive panel 20 onto the magnetic mounting bracket, where it is magnetically secured. In this case, the smart interactive panel 20 and the robot body 10 are separate. The user can operate the robot body 10 from the bed using the smart interactive panel 20 to move it and perform other appropriate operations. For example, the robot body 10 can move to the location of a mobile phone or water cup under the drive of the smart mobile chassis 40, and then use the robotic arm device 30 to pick up the items before returning to the bedside, thus eliminating the need for the user to actively retrieve the items. Of course, the separate design of the smart interactive panel 20 and the robot body 10 can also enable "hands-free welcoming operations," where the user can operate the robot through the smart interactive panel 20 to hand water, retrieve items, or open doors for visitors.

[0044] In some alternative implementations, when the smart lock is triggered, the smart mobile chassis 40 drives the robot body 10 to move to a preset location or to the user's location. The preset location is typically a place where the user frequently stays, such as beside a bed or sofa. When the smart lock is triggered, the smart mobile chassis 40 moves directly to the preset location, allowing the user to quickly check the status of the smart lock. Alternatively, the smart mobile chassis 40 can also be equipped with a human body sensor module to detect the location of a person, thus quickly reaching the user without requiring the user to move.

[0045] Smart door locks typically have a camera that can capture images of the outside of the door, a wireless communication module, and an automatic lock that enables the door to open and close. Their principles and structures are well-known to those skilled in the art and will not be described in detail here.

[0046] Please see Figure 7 In some optional implementations, the steps of the smart door lock opening or closing the door based on a first operation command include: After receiving the first operation command, the smart door lock determines whether to turn on the camera based on the first operation command; If the camera is not turned on, it means that the user does not accept visitors, and the smart door lock will automatically determine that it will not open the door.

[0047] If the camera is activated, the smart interactive panel 20 displays the view outside the door captured by the smart door lock's camera, allowing the user to easily determine the situation and issue a second operation command based on the view. Considering that some people with mobility impairments may have difficulty assessing the situation, the smart interactive panel 20 can be equipped with AI-assisted judgment software. This software uses facial recognition, voiceprint comparison, and semantic analysis to tag the displayed image with labels such as "suspected delivery person," "neighbor Aunt Zhang," or "stranger soliciting," for the user's reference. The view outside the door can also be transmitted in real-time to the mobile device of the user's relatives, allowing them to confirm the situation.

[0048] The user issues a second operation command via the intelligent control module or the intelligent interactive panel 20. The second operation command can be to open the door, not to open the door, to issue an alarm, or other suitable commands. The intelligent door lock determines whether to open the door based on the second operation command. If the second operation command is to open the door, the intelligent door lock will perform the opening operation.

[0049] If the first operation command is to disable the camera, or the second operation command is to not open the door or to sound an alarm, the smart lock will determine not to open the door. In this case, the smart lock will send a notification signal to the preset terminal.

[0050] If the first or second operation command is to issue an alarm, the smart lock will determine that the door will not be opened. The smart lock will then send a notification signal to a preset terminal and issue an alarm. The preset terminal can be a mobile phone, personal computer, or other devices; for example, the preset terminal could be a family member's mobile phone. Issuing the alarm can be done by directly dialing an emergency number, or by the smart lock emitting a loud sound signal or a bright light signal, thereby deterring potential perpetrators.

[0051] The smart interactive whiteboard 20 displays corresponding icons to show the first and second operation commands. For example, a user can issue a first or second operation command to the eye tracker by staring at the corresponding icon for a certain period of time. Of course, for users with good mobility, the first or second operation command can also be issued by directly operating the smart interactive whiteboard 20, or by using voice control.

[0052] The smart lock can also be used to detect dangerous situations. Detection sensors, including accelerometers, microphones, and magnetic sensors, can be designed on the smart lock. The methods used by these sensors to determine anti-theft and security are well-known to those skilled in the art and will not be elaborated upon here. When a dangerous situation is detected by the sensors, the smart lock can directly send a crisis signal to the smart interactive panel 20. The smart interactive panel 20 then sends a signal to the smart mobile chassis 40. The smart mobile chassis 40 moves the robot body 10 to a preset location or the user's location and alerts the user of the dangerous situation through sound signals, light signals, or the screen displayed on the smart interactive panel 20. The user can then take further action. If the user does not take any action within a set time (e.g., 20 seconds, one minute, two minutes), it may indicate that the user is unconscious or that there is no one inside. In this case, the smart interactive panel 20 sends a preset operation command. Upon receiving the preset operation command, the smart lock will not open the door and will record the situation outside the door. Simultaneously, the smart interactive panel 20 sends a notification to a preset terminal and dials an alarm number.

[0053] It should be noted that the above-mentioned methods for achieving wireless signal connection can be implemented through Bluetooth modules, WiFi modules, 3 / 4 / 5G modules, etc.

[0054] Although 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 alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An accessible composite robot, characterized by, include: The robot itself; An intelligent interactive flat panel is detachably placed on the robot body. The intelligent interactive flat panel is equipped with an intelligent control module, which includes at least an eye tracker and is signal-connected to the intelligent interactive flat panel. A robotic arm device is mounted on the robot body and is used to grip and move an object, the object including at least the smart interactive flat panel, and the robotic arm device is signal-connected to the smart interactive flat panel. An intelligent mobile chassis is connected to the intelligent interactive flat panel via a signal.

2. The barrier-free composite robot according to claim 1, characterized in that: The robotic arm device includes a six-axis rotary drive arm and a gripper mechanism. The six-axis rotary drive arm is mounted on the robot body and is driven to connect with the gripper mechanism, which is used to grip the item.

3. The barrier-free composite robot according to claim 2, characterized in that: The six-axis rotary drive arm includes six motors and six rotary arms. The six rotary arms rotate in sequence and cooperate with each other. The six motors drive the rotary arms to rotate accordingly. The rotary arm located at the head end is rotatably mounted on the robot body. The gripper mechanism is mounted on the rotary arm located at the tail end. The rotation axes of two adjacent rotary arms are perpendicular to each other.

4. The barrier-free composite robot according to claim 1, characterized in that: The robot body has several storage compartments on its side, and each storage compartment has an electric drawer. The electric drawer is connected to the smart interactive flat panel via a signal. The robotic arm device is also used to remove items from the electric drawer or to put items into the electric drawer.

5. The barrier-free composite robot according to claim 1, characterized in that: The robot body has a standby compartment on its outer side, and at least part of the robotic arm device is movably stored in the standby compartment.

6. The barrier-free composite robot according to claim 1, characterized in that: The robot body is equipped with a support platform. When the smart interactive tablet is detachably placed on the robot body, the robotic arm device clamps the smart interactive tablet and makes the smart interactive tablet abut against one side of the support platform.

7. A barrier-free composite robot according to any one of claims 1 to 6, characterized in that: The intelligent mobile chassis includes a chassis shell, multiple wheels, a drive assembly, a control processing module, a positioning module, a power storage module, and a sensor module. The robot body is mounted on the chassis shell. The wheels are rotatably mounted on the bottom of the chassis shell. The drive assembly is mounted on the chassis shell and is driven by the wheels. The control processing module, the positioning module, and the power storage module are all mounted on the chassis shell. The control processing module is electrically connected to the intelligent interactive flat panel, the drive assembly, the positioning module, and the power storage module, respectively. The sensor module is located on the side or bottom of the chassis shell and is signal-connected to the control processing module.

8. A barrier-free composite robot according to any one of claims 1 to 6, characterized in that: The intelligent control module also includes a voice control module, which is connected to the intelligent interactive flat panel via a signal.

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