CN113967919B

CN113967919B - Robot of accompanying and attending to at home

Info

Publication number: CN113967919B
Application number: CN202111181969.XA
Authority: CN
Inventors: 蔡嘉乐; 邓兴晟; 王城; 徐庆富; 沈志成; 胡宁晖; 夏冰
Original assignee: Changzhou Vocational Institute of Mechatronic Technology
Current assignee: Changzhou Vocational Institute of Mechatronic Technology
Priority date: 2021-10-11
Filing date: 2021-10-11
Publication date: 2023-03-28
Anticipated expiration: 2041-10-11
Also published as: CN113967919A

Abstract

The utility model relates to a robot of accompanying and attending to at home belongs to domestic intelligent robot's field, and it includes the motor body and monitoring mechanism, be equipped with the action subassembly on the motor body, the action subassembly is including motor wheel, motor wheel is located motor body one side on ground and is connected with motor body rotation, one side that the motor body deviates from motor wheel is provided with coupling mechanism, coupling mechanism is used for monitoring mechanism and motor body coupling, monitoring mechanism includes signal generator and the first camera of electricity interconnection. This application makes the motor-driven body carry monitoring mechanism through coupling mechanism and removes, makes monitoring mechanism can carry out image acquisition and information transfer in each department in the room, has enlarged monitoring mechanism's visual zone scope, provides more comprehensive long-range nurse information for the user.

Description

Robot of accompanying and attending to at home

Technical Field

The application relates to the field of household intelligent robots, in particular to a household accompanying robot.

Background

In recent years, with the increasing aging degree of population, the elderly population is growing, and the accompanying demand of the elderly population is increasing. The problem that children cannot accompany the old people for a long time to cause the problem of the empty nesters is solved, the physical and mental health of the old people living alone becomes an important social problem, and the most obvious problem is that the children cannot know the situation or the condition of the old people in time when the old people living alone has sudden health.

With the continuous maturity and development of the internet and the smart home industry, the household smart product with the functions of nursing, monitoring and information transmission is gradually used by the residents of the public, and the household smart camera is one of the solutions widely adopted.

With respect to the related art in the above, the inventors consider that there are the following drawbacks: according to factors such as the placement position of the intelligent camera, the structural layout of a room and the like, a visual field blind area of the intelligent camera is easy to form in the room; when the old people are just in the blind area of the intelligent camera but in the emergency state of incapability of moving, the intelligent camera cannot timely transmit effective image information to the caretaker, and the implementation speed of necessary measures is influenced.

Disclosure of Invention

In order to improve the above-mentioned problem, the present application provides a house accompanying robot.

The application provides a robot of accompanying and attending to at home adopts following technical scheme:

the utility model provides a robot of accompanying and attending to at home, includes the motor body and monitoring mechanism, be equipped with the action subassembly on the motor body, the action subassembly is including the motor wheel, the motor wheel is located one side of the motor body orientation ground and rotates with the motor body and be connected, one side that the motor body deviates from the motor wheel is provided with coupling mechanism, coupling mechanism is used for monitoring mechanism and motor body coupling, monitoring mechanism includes signal generator and the first camera of mutual electric connection.

Through adopting above-mentioned technical scheme, the first camera of motor-driven body portability moves around in the room, and first camera carries out image acquisition to each position corner in the room, has enlarged the shooting scope of first camera, has reduced because there is the shooting blind area and the probability that the condition that can't catch the portrait takes place.

Preferably, the mobile body is a sweeping robot, the mobile assembly includes a driving source for driving the sweeping robot to work, a second camera is installed on one side of the mobile body, and the second camera and the first camera are both electrically connected with the driving source.

By adopting the technical scheme, the second camera is positioned on the mobile body on the ground, the coverage range of image recording is enlarged, meanwhile, the field condition around the mobile body can be observed by the second camera, and a certain effect on the self path planning of the mobile body is achieved.

Preferably, the monitoring mechanism comprises an installation shell and a monitoring motor, the connecting mechanism comprises a connecting rod, the installation shell rotates relative to the connecting rod, the signal generator and the first camera are installed in the installation shell, the monitoring motor is fixedly connected to the connecting rod, an output shaft of the monitoring motor is connected with the installation shell, and an axis of the output shaft of the monitoring motor is perpendicular to the ground.

Through adopting above-mentioned technical scheme, when the monitoring motor rotated, drive installation shell and first camera synchronous rotation for 360 picture contents around it can be gathered to first camera, has further enlarged the image collection scope of first camera promptly.

Preferably, the connecting rod includes a fixed cylinder and an adjusting rod, one end of the fixed cylinder is connected with the motor, one end of the adjusting rod is connected with the monitoring mechanism, the other end of the adjusting rod is coaxially inserted into the fixed cylinder, the connecting mechanism further includes an adjusting component, and the adjusting component is used for controlling the adjusting rod to move along the length direction of the fixed cylinder.

By adopting the technical scheme, the whole length of the connecting rod can be changed by the operation of the adjusting assembly, namely, the height of the monitoring mechanism is changed, and the erection height of the first camera is changed; on one hand, the range of the first camera is enlarged, and on the other hand, when the length of the connecting rod is adjusted to be in the minimum state, various room structures or furniture and the like cannot cause great obstruction to the movement of the mobile body.

Preferably, the adjusting rod is a screw rod, the adjusting assembly comprises an adjusting nut, the adjusting nut is positioned in the fixed cylinder and close to the monitoring mechanism, the adjusting nut and the fixed cylinder coaxially rotate relatively, and the adjusting nut is in threaded fit with the adjusting rod; the adjusting rod is provided with a rotation stopping groove along the length direction of the adjusting rod, the inner wall of the fixed cylinder is provided with a rotation stopping piece, and the rotation stopping piece is located in the rotation stopping groove.

Preferably, the rotation stopping member is a rotation stopping wheel, the rotation stopping wheel is rotatably connected with the fixed cylinder, the circumferential surface of the rotation stopping wheel is abutted against the groove wall of the rotation stopping groove, and the rotation plane of the rotation stopping wheel is parallel to the length direction of the rotation stopping groove.

By adopting the technical scheme, the adjusting nut is rotated, and the adjusting rod moves; in the groove that splines of the wheel regulating lever that splines as the rotation stopping piece simultaneously, carry out the rotation stopping spacing to the regulating lever for adjust the friction size that the pole structure received under the condition that the pole does not rotate has also reduced itself to adjust under the nearly.

Preferably, the adjusting assembly further comprises an adjusting motor, the adjusting motor is fixedly connected to the fixed cylinder, a gear portion is fixedly connected to the outer peripheral surface of the adjusting nut, an adjusting gear is coaxially and fixedly connected to an output shaft of the adjusting motor, and the adjusting gear is meshed with the gear portion of the adjusting nut.

By adopting the technical scheme, the adjusting motor controls the rotation process of the adjusting nut, so that the rotation state of the adjusting nut tends to be stable, namely the lifting speed of the adjusting rod tends to be stable.

Preferably, the mobile body is a sweeping robot, the fixed cylinder and the mobile body rotate relatively, a rotation plane of the fixed cylinder is perpendicular to the ground, a rod turning motor for controlling the fixed cylinder to rotate is arranged on the mobile body, and the rod turning motor is electrically connected with the driving source.

Through adopting above-mentioned technical scheme, the robot of sweeping the floor carries out the ground daily and cleans work, under the drive of pole motor that turns over, when meetting barriers such as table chair, the connecting rod upset is emptyd, and the connecting rod reduces the occupation volume of the vertical space of robot this moment for the robot can avoid the barrier of relative height.

Preferably, the number of the motorized wheels is not less than three, and an abutment point of at least one motorized wheel with the ground is located on a plane where a rotation plane of the fixed cylinder is located.

By adopting the technical scheme, in the process of overturning the connecting rod, the total gravity center of the connecting mechanism and the monitoring mechanism also moves in the horizontal direction, the connecting part of the motorized wheel and the motorized body is the action point of the supporting force of the motorized body, and at least one action point is positioned in the plane formed by the moving tracks of the total gravity center of the connecting mechanism and the monitoring mechanism, so that the state stability of the robot when the connecting rod rotates can be improved.

Preferably, the end of the fixed cylinder facing the motorized body is fixedly connected with a limiting portion, the end of the fixed cylinder facing the motorized body is provided with an arc notch, the limiting portion and the arc notch are respectively located on two opposite sides of a rotating shaft of the fixed cylinder, when the length direction of the fixed cylinder is perpendicular to the ground, the limiting portion abuts against the motorized body, and an abutting point with the ground is located on a rotating plane of the fixed cylinder, and the motorized wheel is opposite to the limiting portion about an axis of the fixed cylinder.

Through adopting above-mentioned technical scheme, spacing portion has played the restriction effect to the upset scope of connecting rod, and the total focus of connecting rod and monitoring mechanism can't remove to the one side that does not have the motor-driven wheel with ground butt, has reduced the risk that the robot topples over because the focus is unstable.

In summary, the present application includes at least one of the following beneficial technical effects:

1. through the arrangement of the mobile body, the mobile assembly and the connecting mechanism, the mobile body can carry the first camera to move in a room in a wandering manner, and the first camera acquires images of all direction corners in the room, so that the shooting range of the first camera is improved, and the probability that a portrait cannot be captured due to the existence of a shooting blind area is reduced;

2. through the arrangement of the adjusting assembly, the overall length of the connecting rod can be adjusted, and the space influence of furniture on the working state of the sweeping robot during working can be reduced when the connecting rod is shorter; meanwhile, the connecting rod has a certain length adjusting range, so that the visual field range of the first camera can be further expanded;

3. through the arrangement of the rod turning motor, the connecting rod is rotated to reduce the space occupation in the vertical direction, so that the motor body as the sweeping robot can enter a shorter space when moving.

Drawings

Fig. 1 is a schematic overall structure diagram of a robot for home care according to an embodiment of the present application.

Fig. 2 is a schematic diagram for embodying the working principle of the adjusting assembly in the first embodiment of the present application.

Fig. 3 is a schematic structural diagram for embodying a connection point of a connecting rod and a mobile body in the first embodiment of the present application.

Fig. 4 is a schematic structural diagram for embodying a monitoring mechanism in an embodiment of the present application.

Fig. 5 is a schematic structural diagram for embodying an adjusting assembly in the second embodiment of the present application.

Fig. 6 is a schematic structural diagram for embodying the bottom of the mobile body in the second embodiment of the present application.

Fig. 7 is a schematic cross-sectional structural view for embodying the fixing cylinder at the accommodating step in the second embodiment of the present application.

Description of reference numerals: 1. a motorized body; 11. a mobile component; 111. a second camera; 112. a motorized wheel; 12. a rod turning motor; 2. a connecting mechanism; 21. a connecting rod; 211. a fixed cylinder; 2111. a force transfer groove; 2112. an accommodation step; 212. adjusting a rod; 2121. a rotation stopping groove; 213. a limiting part; 22. an adjustment assembly; 221. adjusting the motor; 222. an adjusting gear; 223. adjusting the nut; 2231. a gear portion; 224. placing a tray; 225. a buffer spring; 226. a rotation stopping member; 23. a force transfer assembly; 231. a dowel bar; 232. a butt joint body; 233. a force transfer bearing; 234. abutting the ball; 3. a monitoring mechanism; 31. mounting a shell; 32. monitoring the motor; 33. a signal generator; 34. a first camera; 35. provided is a video call system.

Detailed Description

The present application is described in further detail below with reference to figures 1-7.

The first embodiment is as follows:

the embodiment of the application discloses robot of accompanying and attending to at home, as shown in fig. 1, including the mobile body 1, coupling mechanism 2 and monitoring mechanism 3, the mobile body 1 is responsible for carrying coupling mechanism 2 and monitoring mechanism 3 and removes everywhere, and monitoring mechanism 3 is used for image information's collection and remote signal transmission.

As shown in fig. 1, the mobile body 1 adopts a household floor sweeping robot, a mobile assembly 11 is arranged on the floor sweeping robot, the mobile assembly 11 includes a driving source inside the mobile body 1, an electric energy conversion device, a mobile wheel 112 rotatably connected to the bottom of the mobile body 1 and a second camera 111 installed at the side of the mobile body 1, the driving source is a storage battery, and the electric energy provided by the driving source is used as power for driving the floor sweeping robot to work and move: the electric energy can drive the maneuvering wheels 112 to rotate through the electric energy conversion device, so that the sweeping robot can move freely on the ground, the second camera 111 is internally provided with a distance sensor and an information processor, the second camera 111 is electrically connected with the driving source, and the information processor collects and analyzes the conditions of obstacles around the maneuvering body 1 detected by the distance sensor and sends a signal instruction to the electric energy conversion device, so that the movement condition of the maneuvering body 1 can be controlled or adjusted. In this embodiment, the number of the motorized wheels 112 is three, and one of the motorized wheels 112 is a universal wheel having two wheel discs, and the universal wheel is used for controlling the steering of the sweeping robot.

As shown in fig. 1 and 2, the connecting mechanism 2 includes a connecting rod 21 and an adjusting assembly 22, the connecting rod 21 is located on the side of the motorized body 1 facing away from the ground, and the axis of the connecting rod 21 is perpendicular to the ground; the connecting rod 21 is composed of a fixed cylinder 211 and an adjusting rod 212 which are coaxial with each other, wherein one end of the fixed cylinder 211 is connected with the motorized body 1, the adjusting rod 212 is inserted into the fixed cylinder 211 from a cylinder opening of one end of the fixed cylinder 211, which is far away from the motorized body 1, and the adjusting assembly 22 is used for controlling the adjusting rod 212 to move along the self axial direction, namely, the whole length of the connecting rod 21 is changed.

As shown in fig. 2, the adjusting assembly 22 includes an adjusting motor 221, an adjusting gear 222, an adjusting nut 223 and a placing disc 224, the placing disc 224 is an annular disc and is coaxially installed at a port of the fixed cylinder 211 far from the maneuvering body 1, the adjusting nut 223 is located at a cylinder port of one end of the fixed cylinder 211 far from the maneuvering body 1, the adjusting nut 223 is coaxially and rotatably connected with the placing disc 224, that is, the placing disc 224 can be regarded as a bearing connecting the adjusting nut 223 and the fixed cylinder 211; the adjusting rod 212 is a screw rod, one end of the adjusting rod 212 is inserted into the fixed cylinder 211 and simultaneously passes through the adjusting nut 223, and the adjusting rod 212 is in threaded fit with the adjusting nut 223. The inner wall of the fixed cylinder 211 is provided with a rotation stopper 226 for preventing the adjustment rod 212 from rotating in a circumferential direction, and the side wall of the adjustment rod 212 is provided with a rotation stopper 2121 along the length direction thereof for inserting the rotation stopper 226. The rotation stopping piece 226 is a rotation stopping wheel which is rotatably connected with the fixed cylinder 211, two rotation stopping wheels are arranged in each of the rotation stopping groove 2121 and the rotation stopping wheel and are symmetrically arranged about the axis of the connecting rod 21, and the rotation axis of the rotation stopping wheel is coplanar and perpendicular to the axis of the connecting rod 21; the groove width of the anti-rotation groove 2121 is 0.4mm larger than the radial dimension of the anti-rotation wheel, that is, when the adjusting nut 223 rotates, the adjusting rod 212 obtains a rotation trend, the wheel surface of the anti-rotation wheel abuts against one groove wall of the anti-rotation groove 2121, and the anti-rotation limit is formed on the adjusting rod 212; meanwhile, the adjusting rod 212 moves along the length direction thereof under the action of the thread fit, so as to achieve the purpose of changing the total length of the connecting rod 21.

As shown in fig. 2, the adjusting motor 221 is mounted on the side wall of the fixed cylinder 211 near the end thereof far from the motorized body 1, and the adjusting gear 222 is coaxially and fixedly connected to the output shaft of the adjusting motor 221. The outer circumferential surface of the adjusting nut 223 is formed with a gear portion 2231, and the side wall of the fixed cylinder 211 is provided with a notch structure, wherein the saw teeth of the adjusting gear 222 are engaged with the saw teeth of the gear portion 2231. The adjustment motor 221 is electrically connected to an information processor in the motorized body 1, i.e., the elevation of the adjustment lever 212 is controlled by the information processor.

As shown in fig. 1 and 3, in order to reduce the limitation of the space occupation of the connecting rod 21 in the vertical direction on the moving range of the robot, one end of the fixed cylinder 211 facing the mobile body 1 is rotatably connected with the mobile body 1, a rod-turning motor 12 for controlling the rotation of the fixed cylinder 211 is installed on the mobile body 1, and the rotating plane of the fixed cylinder 211 is perpendicular to the ground. The rotation angle range of the fixed cylinder 211 is 90 degrees, and the contact point of the motorized wheel 112 which is a universal wheel and the ground is positioned in the rotation plane of the fixed cylinder 211; an arc notch is formed in the end part of the fixed cylinder 211 facing the motorized body 1 and facing one side of the universal wheel, a limiting part 213 is integrally formed on one side of the fixed cylinder facing away from the universal wheel, when the fixed cylinder 211 rotates, the arc notch and the limiting part 213 are respectively positioned on two opposite sides of the rotating shaft of the fixed cylinder 211, and the universal wheel and the limiting part 213 are respectively opposite to each other about the axis of the fixed cylinder 211; the space that the cambered surface breach formed provides the space condition for the rotation of fixed section of thick bamboo 211, and when the length direction of fixed section of thick bamboo 211 was perpendicular with ground, spacing portion 213 and motor body 1 contact and butt, it can make connecting rod 21 can't overturn towards the one side of keeping away from the universal wheel to the in-process motor body 1 that makes connecting rod 21 overturn has comparatively stable whole stress state.

As shown in fig. 1 and 4, the monitoring mechanism 3 includes a mounting shell 31, a signal generator 33, a first camera 34 and a monitoring motor 32, and meanwhile, a video call system 35 including a display screen, a microphone, a sound box and the like is further mounted on the mounting shell 31, so as to provide an exchange channel of remote video for a user. The mounting shell 31 is approximately cuboid in shape, and the length direction of the mounting shell is vertical to the length direction of the connecting rod 21; the monitoring motor 32 is fixedly arranged at the end part of the adjusting rod 212 far away from the motor body 1, and the output shaft of the monitoring motor 32 is coaxial with the connecting rod 21; the output shaft of the monitoring motor 32 extends into the mounting shell 31 and is fixedly connected with the mounting shell 31, and the mounting shell 31 rotates relative to the connecting rod 21 through the monitoring motor 32. Two first cameras 34 are respectively positioned at two ends of the mounting shell 31 in the length direction, and a distance sensor and an infrared temperature measuring sensor are arranged in each first camera 34; the signal generator 33 is installed on the installation shell 31, and the signal generator 33 is electrically connected with the first camera 34 and the monitoring motor 32 at the same time, both the signal generator 33 and the information processor in the mobile body 1 have wireless information transmission function, which can be realized by bluetooth or wireless local area network, and the two are in wireless signal connection with a wireless router at home at the same time, so that the signal generator 33 can transmit signals to a specific wireless network terminal (such as a mobile phone of a user connected to the internet) through the router. The monitoring mechanism 3 is not directly connected to the mobile body 1 by a wire, so that a storage battery for supplying electric energy to the first camera 34, the monitoring motor 32 and the signal generator 33 is further installed in the installation shell 31.

The implementation principle of the household accompanying robot in the embodiment of the application is as follows:

the floor sweeping robot as the mobile body 1 can perform ground cleaning work daily, and in the process of the continuous moving work of the mobile body 1, the first camera 34 monitors and accompanies the old at home, can collect pictures and video information about the old at home, and then transmits the pictures and the video information to the old and children through a home network, so that the children can know the living condition of the old in real time. In the process of cleaning the ground by the robot, if the robot cannot enter a corner at a lower position due to the space influence of the connecting mechanism 2 and the monitoring mechanism 3 in the height direction, the rod turning motor 12 drives the connecting rod 21 to rotate so as to enable the connecting rod 21 to lie down, so that the height of the robot is reduced, and obstacles at a high position are avoided.

Example two:

as shown in fig. 5 and 6, the difference from the first embodiment is that: the fixed cylinder 211 is fixedly connected with the maneuvering body 1, that is, the fixed cylinder 211 keeps vertical and cannot rotate; the adjusting assembly 22 further comprises a buffer spring 225, a containing step 2112 is formed in the fixed cylinder 211 at one end far away from the motor body 1, and the table surface of the containing step 2112 faces to one side far away from the motor body 1 and is parallel to the ground; the number of the buffer springs 225 is four, and the four buffer springs 225 are arranged in an annular array with the axis of the connecting rod 21 as the center, one end of each buffer spring 225 is fixedly connected with the accommodating step 2112, and the other end of each buffer spring 225 is fixedly connected with the placing disc 224; the adjustment nut 223 and the placing disk 224 remain coaxial with the connecting rod 21.

As shown in fig. 5, 6 and 7, when the elderly have difficulty in rising from a sitting posture and moving, the motor-driven body 1 moves to the side of the elderly, and the connecting rod 21 can be used as a temporary crutch for holding and relaying by the elderly; when the elderly holds the adjusting rod 212 and presses down, most of the pressure is transmitted to the motorized body 1 through the connecting mechanism 2, so in order to reduce the pressure damage received by the motorized body 1, the connecting mechanism 2 further comprises a force transmission assembly 23, the force transmission assembly 23 is used for directly transmitting the acting force, in the length direction of the connecting rod 21, received by the adjusting rod 212 and the mounting shell 31 to the ground, and the force transmission assembly 23 comprises a force transmission rod 231, a butting body 232, a force transmission bearing 233 and a butting ball 234. The length direction of the dowel bars 231 is consistent with that of the connecting rod 21, the number of the dowel bars 231 is four, and the four dowel bars 231 are arranged in an annular array by taking the axis of the fixed cylinder 211 as a center; one end of the force transmission rod 231 is fixedly connected with one side, away from the adjusting nut 223, of the placing disc 224, a force transmission groove 2111 for the force transmission rod 231 to penetrate through is formed in the inner side wall of the fixing cylinder 211, the length direction of the force transmission groove 2111 is identical to that of the fixing cylinder 211, the outline of the groove wall of the force transmission groove 2111 in the cross section of the force transmission groove 2111 is an arc of 290 degrees, and the notch of the force transmission groove 2111 is located on the inner wall of the fixing cylinder 211. One end of the transmission rod 231 far away from the placing disc 224 passes through the maneuvering body 1, the abutting body 232 is annular, the axis of the abutting body 232 is overlapped with the axis of the connecting rod 21, and one side of the abutting body 232 facing the maneuvering body 1 is fixedly connected with the end parts of all the transmission rods 231. The outer ring of the force transmission bearing 233 is coaxially and fixedly connected to one side of the abutting body 232, which is far away from the force transmission rod 231, the force transmission bearing 233 is a thrust bearing, the abutting ball 234 is rotatably connected with the inner ring of the force transmission bearing 233, and the rotating plane of the abutting ball 234 is perpendicular to the ground.

As shown in fig. 5 and 6, in the present embodiment, the connecting rod 21 and the mounting shell 31 are made of glass fiber reinforced plastics, the transmission rod 231 and the contact body 232 are made of aluminum-magnesium alloy, and the contact ball 234 is made of polyurethane; in a state where the link mechanism 2 is not under pressure, the end of the abutment ball 234 close to the ground surface just contacts the ground surface.

the floor sweeping robot as the mobile body 1 can perform ground cleaning work daily, and in the process of the continuous moving work of the mobile body 1, the first camera 34 monitors and accompanies the old at home, can collect pictures and video information about the old at home, and then transmits the pictures and the video information to the old and children through a home network, so that the children can know the living condition of the old in real time. When the old who is inconvenient to move needs to get up and is unsupported, the robot moves to the side of the old, and the connecting rod 21 can be used as a 'crutch' for the old to support. The elderly holds the adjustment lever 212 or the mounting case 31 and applies downward pressure thereto, the adjustment lever 212 transmits the pressure to the force transmission lever 231 through the adjustment nut 223, the force transmission lever 231 transmits the pressure to the abutting body 232, and the abutting body 232 transmits the pressure to the ground, during which the motorized body 1 receives only the elastic force due to the deformation from the buffer spring 225.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a robot of accompanying and attending to at home which characterized in that: the monitoring device comprises a motorized body (1) and a monitoring mechanism (3), wherein a moving assembly (11) is arranged on the motorized body (1), the moving assembly (11) comprises a motorized wheel (112), the motorized wheel (112) is positioned on one side, facing the ground, of the motorized body (1) and is rotatably connected with the motorized body (1), a connecting mechanism (2) is arranged on one side, away from the motorized wheel (112), of the motorized body (1), the connecting mechanism (2) is used for connecting the monitoring mechanism (3) with the motorized body (1), and the monitoring mechanism (3) comprises a signal generator (33) and a first camera (34) which are electrically connected with each other;

the monitoring mechanism (3) comprises a mounting shell (31) and a monitoring motor (32), the connecting mechanism (2) comprises a connecting rod (21), the mounting shell (31) and the connecting rod (21) rotate relatively, the signal generator (33) and the first camera (34) are mounted in the mounting shell (31), the monitoring motor (32) is fixedly connected to the connecting rod (21), an output shaft of the monitoring motor (32) is connected with the mounting shell (31), and an axis of the output shaft of the monitoring motor (32) is perpendicular to the ground;

the connecting rod (21) comprises a fixed cylinder (211) and an adjusting rod (212), one end of the fixed cylinder (211) is connected with the motorized body (1), one end of the adjusting rod (212) is connected with the monitoring mechanism (3), the other end of the adjusting rod is coaxially inserted into the fixed cylinder (211), the connecting mechanism (2) further comprises an adjusting component (22), and the adjusting component (22) is used for controlling the adjusting rod (212) to move along the length direction of the fixed cylinder (211);

the adjusting rod (212) is a screw rod, the adjusting assembly (22) comprises an adjusting nut (223), the adjusting nut (223) is located in the fixed cylinder (211) and close to the monitoring mechanism (3), the adjusting nut (223) and the fixed cylinder (211) coaxially rotate relatively, and the adjusting nut (223) is in threaded fit with the adjusting rod (212); the adjusting rod (212) is provided with a rotation stopping groove (2121) along the length direction, the inner wall of the fixed cylinder (211) is provided with a rotation stopping piece (226), and the rotation stopping piece (226) is positioned in the rotation stopping groove (2121);

the adjusting assembly (22) further comprises a placing disc (224), the placing disc (224) is an annular disc and is coaxially arranged at a port of the fixed cylinder (211) far away from the motor body (1), and the adjusting nut (223) is coaxially and rotatably connected with the placing disc (224);

the adjusting assembly (22) further comprises a buffer spring (225), an accommodating step (2112) is formed in the fixed cylinder (211) and located at one end, far away from the motorized body (1), of the fixed cylinder, the table top of the accommodating step (2112) faces one side, far away from the motorized body (1), of the fixed cylinder and is parallel to the ground, one end of the buffer spring (225) is fixedly connected with the accommodating step (2112), and the other end of the buffer spring is fixedly connected with the placing disc (224); the adjusting nut (223) and the placing disc (224) are coaxial with the connecting rod (21);

the connecting mechanism (2) further comprises a force transmission assembly (23), the force transmission assembly (23) comprises force transmission rods (231), a butting body (232), force transmission bearings (233) and butting balls (234), the length direction of the force transmission rods (231) is consistent with that of the connecting rod (21), the number of the force transmission rods (231) is four, and the four force transmission rods (231) are arranged in an annular array by taking the axis of the fixed cylinder (211) as a center; one end of the force transmission rod (231) is fixedly connected with one side of the placing disc (224) departing from the adjusting nut (223), a force transmission groove (2111) for the force transmission rod (231) to penetrate through is formed in the inner side wall of the fixing cylinder (211), and the length direction of the force transmission groove (2111) is identical to that of the fixing cylinder (211);

one end, far away from the placement disc (224), of each dowel bar (231) penetrates through the maneuvering body (1), the abutting body (232) is annular and the axis of the abutting body coincides with the axis of the connecting rod (21), one side, facing the maneuvering body (1), of the abutting body (232) is fixedly connected with the end parts of all the dowel bars (231), the outer ring of the force transmission bearing (233) is fixedly connected to one side, far away from the dowel bars (231), of the abutting body (232) in a coaxial mode, the abutting ball (234) is rotatably connected with the inner ring of the force transmission bearing (233), and the rotating plane of the abutting ball (234) is perpendicular to the ground.

2. A home accompanying robot as claimed in claim 1, wherein: the sweeping robot is characterized in that the maneuvering body (1) is a sweeping robot, the maneuvering assembly (11) comprises a driving source for driving the sweeping robot to work, a second camera (111) is installed on one side of the maneuvering body (1), and the second camera (111) and the first camera (34) are both electrically connected with the driving source.

3. A home accompanying robot as claimed in claim 1, wherein: the rotation stopping piece (226) is a rotation stopping wheel, the rotation stopping wheel is rotatably connected with the fixed cylinder (211), the circumferential surface of the rotation stopping wheel is abutted against the groove wall of the rotation stopping groove (2121), and the rotating plane of the rotation stopping wheel is parallel to the length direction of the rotation stopping groove (2121).

4. A home accompanying robot as claimed in claim 1, wherein: the adjusting assembly (22) further comprises an adjusting motor (221), the adjusting motor (221) is fixedly connected to the fixed cylinder (211), a gear portion (2231) is arranged on the peripheral surface of the adjusting nut (223), an adjusting gear (222) is coaxially and fixedly connected to an output shaft of the adjusting motor (221), and the adjusting gear (222) is meshed with the gear portion (2231) of the adjusting nut (223).