CN115439274B

CN115439274B - Intelligent house system

Info

Publication number: CN115439274B
Application number: CN202211388419.XA
Authority: CN
Inventors: 沈岗; 李伟
Original assignee: Yinghe Shenzhen Robot and Automation Technology Co Ltd
Current assignee: Yinghe Shenzhen Robot and Automation Technology Co Ltd
Priority date: 2022-11-08
Filing date: 2022-11-08
Publication date: 2023-03-24
Anticipated expiration: 2042-11-08
Also published as: CN115439274A; WO2024098693A1

Abstract

The utility model provides an intelligent house system, including cloud platform and with the intelligent scheduling system of cloud platform communication connection, at least one ceiling robot and at least one wall robot, the intelligent scheduling system is used for sending the scheduling task to the cloud platform, the scheduling task includes preset robot concatenation and/disassembles the order, the cloud platform sends the scheduling task to at least one ceiling robot and at least one wall robot, the ceiling robot splices into the house or will disassemble the house according to the scheduling task with the wall robot. The intelligent house system can be quickly spliced into a house or disassembled, saves manpower and material resources, is low-carbon and environment-friendly, and has automation, intellectualization and science and technology.

Description

Intelligent house system

Technical Field

The invention relates to the technical field of house robots, in particular to an intelligent house system.

Background

The high-tech, green and low-carbon are taken as development concepts and guides to develop circular economy; the prefabricated mobile house starts to rise, the existing house comprises a wall body and a ceiling structure connected to the top of the wall body, and the bottom of the wall body is fixed on the ground through an anchor nail for fixing the house and preventing the house from shifting due to the influence of the external environment; when the house needs to be integrally transferred and the position of the house is in a relatively open environment, the house can be integrally lifted by manually matching with a sling cart, and the position of the house is transferred in a short distance; when the house needs to be integrally transferred and the position of the house is in the interior of the building or the environment with small surrounding space, the wall body and the ceiling structure need to be disassembled, then the wall body and the ceiling structure are transferred by matching with a transport vehicle, and the wall body and the ceiling structure are assembled after the house is transported to a destination. Therefore, in the house transferring process, the house needs to be manually assembled and disassembled, and the house position transferring can be realized only by matching with a sling cart or a transport cart, so that the time and the labor are extremely wasted, and the transferring efficiency is low.

Disclosure of Invention

In view of this, the invention provides an intelligent house system, which can be quickly spliced into a house or disassembled, saves manpower and material resources, and is low-carbon and environment-friendly.

The utility model provides an intelligent house system, including cloud platform and with the intelligent scheduling system of cloud platform communication connection, at least one ceiling robot and at least one wall robot, the intelligent scheduling system is used for sending the scheduling task to the cloud platform, the scheduling task includes preset robot concatenation and/disassembles the order, the cloud platform sends the scheduling task to at least one ceiling robot and at least one wall robot, the ceiling robot splices into the house or disassembles the house with the wall robot according to the scheduling task.

In an embodiment of the present invention, the scheduling task further includes at least one first displacement path and at least one second displacement path, the ceiling robot and the wall robot have autonomous navigation, movement and obstacle avoidance functions, the ceiling robot moves to a first target position according to the first displacement path, and the wall robot moves to a second target position according to the second displacement path, so that the wall body of the ceiling robot and the wall robot complete splicing.

In an embodiment of the present invention, the scheduling task further includes at least one third displacement path, the smart home system includes at least two of the wall robots, and at least one of the wall robots moves to a third target position according to the third displacement path, so that the two wall robots complete docking.

In an embodiment of the present invention, the scheduling task further includes a docking task, when the robot completes docking, the ceiling robot and the wall robot complete mutual locking and fixing according to the docking task, and at least two wall robots complete mutual locking and fixing according to the docking task.

In an embodiment of the invention, the intelligent house system further comprises a digital twin system, the digital twin system is in communication connection with the cloud platform, and the digital twin system is used for realizing real-time state mapping, state tracking and behavior prediction of the ceiling robot and the wall robot digital model.

In an embodiment of the invention, the ceiling robot and/or the wall robot are provided with a display screen, the smart home system further includes a video push system, the video push system is in communication connection with the cloud platform, the video push system is used for sending video play tasks to the cloud platform, the video play tasks include a single screen video play task and/or a plurality of screen video play arbitrarily spliced long-resolution play tasks, and the ceiling robot and/or the wall robot control one display screen to play videos according to the video play tasks or control at least two display screens to splice long-resolution play videos.

In an embodiment of the present invention, the intelligent house system further includes an intelligent terminal device, the intelligent terminal device is in communication connection with the cloud platform, the intelligent terminal device is provided with a human-computer interaction interface, the human-computer interaction interface is used for inputting a control instruction, and the control instruction includes at least one of: the method comprises a robot splicing starting instruction, a robot disassembling starting instruction, a video pushing starting instruction, a robot moving starting instruction and a robot limb starting instruction.

In the embodiment of the invention, the intelligent scheduling system sends the splicing task to the cloud platform, and the cloud platform issues the splicing task to at least one ceiling robot and at least one wall robot;

the ceiling robot and the wall surface robot receive the command, whether splicing can be carried out is confirmed, and if splicing can be carried out, the ceiling robot and the wall surface robot are started;

the intelligent scheduling system decomposes the splicing task into the scheduling task and sends the scheduling task to the cloud platform, the cloud platform decomposes the scheduling task into a plurality of displacement tasks and sends the displacement tasks to at least one ceiling robot and at least one wall robot, and the at least one ceiling robot and the at least one wall robot move to a target position according to the displacement tasks.

In the embodiment of the invention, at least one ceiling robot and at least one wall robot report pose information to the cloud platform in real time in the moving process, the cloud platform stores time sequence data of the ceiling robot and/or the wall robot and sends the time sequence data to the intelligent scheduling system, and the intelligent scheduling system acquires the real-time pose of the ceiling robot and/or the wall robot and confirms the next scheduling task and real-time monitoring according to the real-time pose.

In the embodiment of the invention, when the ceiling robot and the wall robots successfully complete the displacement task, the intelligent scheduling system sends a docking task to the cloud platform, and the cloud platform issues the docking task to at least one ceiling robot and at least one wall robot, so that the ceiling robot and the wall robots are locked and fixed with each other, and at least two wall robots are locked and fixed with each other according to the docking task.

In an embodiment of the present invention, the ceiling robot includes a first wall, a second wall, and a ceiling, the first wall and the second wall are disposed opposite to each other, tops of the first wall and the second wall are movably connected to the ceiling, and bottom portions of the first wall and the second wall are provided with a steering wheel driving device, and the steering wheel driving device is configured to drive the ceiling robot to integrally move according to the scheduling task.

In an embodiment of the present invention, the ceiling includes a fixed canopy, and at least one movable canopy and at least one extension driving mechanism installed in the fixed canopy, the fixed canopy is connected to the first wall and the second wall, at least one side of the fixed canopy is provided with an opening, a driving end of the extension driving mechanism is connected to the movable canopy, and the extension driving mechanism is configured to drive the movable canopy to extend out of the opening according to the scheduling task.

In an embodiment of the present invention, the wall surface robot includes a traveling mechanism and a display screen disposed on the traveling mechanism, the traveling mechanism includes a chassis and a driving wheel assembly, the driving wheel assembly is disposed at the bottom of the chassis and connected to the chassis, and the display screen is disposed above the chassis and connected to the chassis; a power battery system is arranged in the chassis and is electrically connected with the driving wheel assembly and the display screen; the walking mechanism is used for driving the wall surface robot to integrally move according to the scheduling task so as to realize house splicing or dismantling.

In an embodiment of the present invention, a docking and plugging mechanism is disposed on the chassis, the docking and plugging mechanism includes a plugging electric telescopic driving device, a first pair of joints, and a second pair of joints matched with the first pair of joints, one of the first pair of joints and the second pair of joints is a docking plug, and the other of the first pair of joints and the second pair of joints is a docking socket matched with the docking plug; the plug-in electric telescopic driving device is connected with the first pair of joints and is used for driving the first pair of joints to horizontally and telescopically move relative to the chassis; the first butt joint with the second butt joint all with power battery system electricity is connected, one first butt joint on the wall robot can with another the second butt joint on the wall robot links to each other to realize two the electricity between the wall robot is connected.

In an embodiment of the present invention, a first robot connecting mechanism is disposed on the chassis, the robot connecting mechanism includes a first docking device and a second docking device cooperating with the first docking device, and the first docking device and the second docking device are respectively disposed at different positions on the chassis; the first butt joint device on one wall surface robot can be connected with the second butt joint device on the other wall surface robot so as to realize mutual splicing of the two wall surface robots; the ceiling robot comprises a second robot connecting mechanism, the second robot connecting mechanism is the same as the first robot connecting mechanism in structure, and a first butt joint device on the wall robot can be connected with a second butt joint device on the ceiling robot to realize mutual splicing of the wall robot and the ceiling robot.

In an embodiment of the invention, the intelligent house system further comprises at least one table and chair robot, the table and chair robot is in communication connection with the cloud platform, the table and chair robot has an autonomous navigation moving function, and the table and chair robot moves to the position below the ceiling robot according to the scheduling task.

In an embodiment of the invention, the table and chair robot includes an intelligent moving chassis and a table, the intelligent moving chassis and the table can be moved in an autonomous navigation manner, the table includes a support frame, a movable frame, a table plate, a third adjusting mechanism and a fourth adjusting mechanism, the support frame is connected to the intelligent moving chassis, the movable frame is movably connected to the support frame along a first direction, the table plate is movably connected to the movable frame along a second direction, the third adjusting mechanism is connected between the movable frame and the support frame and used for driving the movable frame and the table plate to move along the first direction, the fourth adjusting mechanism is connected between the movable frame and the table plate and used for driving the table plate to move along the second direction, and an included angle is formed between the first direction and the second direction.

In an embodiment of the invention, the intelligent mobile chassis is provided with a bearing plate, the table and chair robot further comprises a seat and an adjusting device, the seat is placed on the bearing plate, the adjusting device is connected to the bearing plate, and the adjusting device is used for fixing and/or transferring the seat according to the scheduling task.

In an embodiment of the present invention, the intelligent housing system further includes a plurality of table and chair robots, the plurality of table and chair robots move to be arranged in a matrix according to the scheduling task, and the third adjustment mechanism and the fourth adjustment mechanism of each of the tables drive each of the tables to move so as to splice the plurality of tables.

In an embodiment of the present invention, the intelligent house system further includes a power supply robot, the power supply robot is in communication connection with the cloud platform, the power supply robot includes a moving body and a power supply mechanism installed on the moving body, the power supply mechanism includes a third butt joint, a second buffer mechanism and a cable harness, the third butt joint is connected with the second buffer mechanism, the second buffer mechanism is connected with the moving body, the second buffer mechanism is used for providing a moving buffer space for the third butt joint, one end of the cable harness is electrically connected with the third butt joint, and the other end of the cable harness is used for being connected to a commercial power; the power supply robot is used for supplying power to the ceiling robot and/or the wall surface robot.

In an embodiment of the present invention, the second buffer mechanism includes a connecting rod, a second slider, a second slide rail, and a reset piece, one end of the connecting rod is movably connected to the third butt joint, the other end of the connecting rod is movably connected to the second slider, the second slider is mounted on the second slide rail and can slide on the second slide rail, the second slide rail is connected to the moving body, and the reset piece has an acting force that makes the second slider slide close to the third butt joint; and the ceiling robot and/or the wall surface robot are/is provided with a fourth butt joint, and the third butt joint and the fourth butt joint are matched with each other to realize electric connection.

The intelligent house system realizes modular rapid splicing of the ceiling robot and the wall surface robot into a house or disassembling the house through data management and monitoring of the cloud platform and modular control of the intelligent dispatching system, saves manpower and material resources, is convenient to transport and store, does not permanently occupy land resources and space, is low-carbon and environment-friendly, has the advantages of high integration and intelligence and the like, and has the rapid popularization characteristic with science and technology and exhibition.

Drawings

Fig. 1 is a schematic diagram of the smart-house system of the present application.

Fig. 2 is a schematic perspective view of a ceiling robot and a wall robot of the present application spliced to form a house.

Fig. 3 is a schematic flow chart of house splicing performed by the intelligent house system of the present application.

Fig. 4 is a schematic perspective view of the ceiling robot according to the present invention.

Fig. 5 is a perspective view of the steering wheel driving device according to the present invention.

Fig. 6 is a schematic structural view of the ceiling robot according to the present invention after the first wall is translated toward the second wall.

Fig. 7 is a schematic perspective view of the first translation drive device or the second translation drive device of the present application.

Fig. 8 is a schematic configuration diagram of the ceiling robot according to the present invention in which the first wall rotates with respect to the ceiling.

Fig. 9 is a schematic structural diagram of the connection between the first wall and the ceiling of the present application.

Fig. 10 is a perspective view of a first anchoring device of the present application.

Fig. 11 is a schematic configuration diagram of the ceiling robot according to the present invention in a deployed state.

Fig. 12 is a schematic plan view of the ceiling of the present application in a deployed state.

Fig. 13 is a perspective view of the extension drive mechanism of the present application.

Fig. 14 is a perspective view of the wall robot according to the present invention.

Fig. 15 is a schematic view of the travel mechanism of fig. 14 with the retractable wheel assembly retracted.

Fig. 16 is a bottom view of the travel mechanism of fig. 15 with the retractable wheel assembly retracted.

Fig. 17 is a schematic view of the travel mechanism of fig. 14 with the retractable wheel assembly extended.

Fig. 18 is a schematic view showing a coupling structure of the telescopic wheel assembly and the link mechanism in fig. 17.

Fig. 19 is a schematic view of the construction of the telescopic wheel assembly of fig. 18.

Fig. 20 is a side view of fig. 18.

Fig. 21 is an enlarged view of the structure at position a in fig. 20.

Fig. 22 is a schematic structural view of the anchor mechanism of the present invention before engagement with the fixing mechanism.

Fig. 23 is a schematic structural view of a first robot link mechanism according to the present application.

Fig. 24 is a schematic structural view of the docking mechanism of the present application.

Fig. 25 is a top view of a modular building module of the present application.

Fig. 26 is a cross-sectional schematic view of fig. 25.

Fig. 27 is a perspective view of a table and chair robot according to the first embodiment of the present application.

Fig. 28 is a schematic perspective view of the intelligent mobile chassis according to the first embodiment of the present application.

Fig. 29 is a schematic diagram of a split structure of the intelligent mobile chassis according to the first embodiment of the present application.

Fig. 30 is a bottom view of the table according to the first embodiment of the present application.

Fig. 31 is a partial perspective view of a table and chair robot according to a second embodiment of the present application.

Fig. 32 is a perspective view of an adjustment device of a second embodiment of the present application in engagement with a seat.

Fig. 33 is a schematic rear view of an adjustment device according to a second embodiment of the present application in engagement with a seat.

Fig. 34 is a perspective view of a table and chair robot according to a third embodiment of the present application.

Fig. 35 is a front view schematically showing a table and chair robot according to a third embodiment of the present invention.

Fig. 36 is a schematic structural view of a second fixing mechanism according to a third embodiment of the present application.

Fig. 37 is a perspective view of a table and chair robot according to a fourth embodiment of the present application.

Fig. 38 is a front view schematically illustrating a table and chair robot according to a fourth embodiment of the present invention.

Fig. 39 is a schematic side view of a table and chair robot according to a fourth embodiment of the present application.

FIG. 40 is a schematic side view of the seat being moved out of the carrier plate by the linkage transfer mechanism according to the fourth embodiment of the present application.

Fig. 41 is a perspective view of a table and chair robot according to a fourth embodiment of the present application.

Fig. 42-44 are schematic diagrams of a robotic arm transferring a seat to the ground according to a fourth embodiment of the present application.

Fig. 45 is a side view of a table and chair robot according to a sixth embodiment of the present application.

Fig. 46 is a schematic top view of a table and chair robot according to a sixth embodiment of the present application.

Fig. 47 is a schematic perspective view of a multi-table and chair robot according to a seventh embodiment of the present application after joining.

Fig. 48 is a schematic structural view of the power supply system in the present application at the time of charging.

Fig. 49 is a partial schematic top perspective view of the power supply system of the present application during charging.

Fig. 50 is a partial schematic bottom perspective view of the power supply system of the present application during charging.

Fig. 51 is a schematic top perspective view of a part of the power supply system of the present application when not charged.

Fig. 52 is a schematic view of a front-view split structure of the power supply robot in the present application.

Fig. 53 is one of the rear-view disassembled structural diagrams of the power supply robot in the present application.

Fig. 54 is a second schematic view of a front-view disassembled structure of the power supply robot in the present application.

Fig. 55 is a second schematic view showing a rear-view disassembled structure of the power supply robot according to the present application.

Fig. 56 is a front perspective view of the power supply mechanism of the present application.

Fig. 57 is a rear perspective view of the power supply mechanism in the present application.

Fig. 58 is a front view of the power supply mechanism of the present application.

Fig. 59 is a rear view of the power supply mechanism in the present application.

FIG. 60 is a side perspective view of a fourth pair of connectors according to the present application.

Fig. 61 is a front perspective view of a fourth pair of joints in the present application.

Fig. 62 is a bottom perspective view of the fourth docking head of the present application.

Detailed Description

The application provides an intelligent house system.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to facilitate understanding of those skilled in the art, the present application provides a specific implementation process of the technical solution provided by the present application through the following embodiments.

Fig. 1 is a schematic diagram of an intelligent house system of the present application, fig. 2 is a schematic diagram of a three-dimensional structure of a house formed by splicing a ceiling robot and a wall robot of the present application, as shown in fig. 1, fig. 2 and fig. 3, the intelligent house system includes a cloud platform 71, an intelligent scheduling system 72 in communication connection with the cloud platform 71, at least one ceiling robot 10 and at least one wall robot 20, the intelligent scheduling system 72 is configured to send scheduling tasks to the cloud platform 71, the scheduling tasks include preset robot splicing and/or dismantling sequences, the cloud platform 71 sends the scheduling tasks to the at least one ceiling robot 10 and the at least one wall robot 20, and the ceiling robot 10 and the wall robot 20 are spliced into the house or the house according to the scheduling tasks. In this embodiment, the cloud platform 71 can uniformly manage each robot and related data management, realize two-way communication between the robot and the cloud, monitor status data of each robot, and provide the status data of the robot for other systems (the intelligent scheduling system 72, the video push system 74 or the digital twin system 73); the intelligent dispatching system 72 can realize the efficient and orderly position movement and the modularized splicing or disassembling of the robots, and realize the autonomous obstacle avoidance navigation and traffic control of each robot.

The utility model provides an intelligent housing system carries out data management and control and intelligent scheduling system 72 modular control through cloud platform 71 and realizes that ceiling robot 10 splices into the house fast with wall robot 20 modularization or will disassemble the house, uses manpower sparingly, material resources, and the transportation storage is convenient moreover, can not permanently occupy land resource and space, and low carbon environmental protection has and integrates and intelligent advantage such as high, has science and technology nature concurrently and the display nature possesses quick popularization characteristic.

Optionally, the scheduling task further includes at least one first displacement path and at least one second displacement path, the ceiling robot 10 and the wall robot 20 have autonomous navigation movement and obstacle avoidance functions, the ceiling robot 10 moves to a first target position according to the first displacement path, the wall robot 20 moves to a second target position according to the second displacement path, so that the wall body of the ceiling robot 10 and the wall robot 20 are spliced, that is, the splicing task is completed, and at this time, the wall body of the ceiling robot 10 and the wall robot 20 are combined into a wall.

Optionally, the scheduling task further includes at least one third displacement path, the smart home system includes at least two wall robots 20, and the at least one wall robot 20 moves to a third target position according to the third displacement path, so that the two wall robots 20 complete docking, that is, the splicing task is completed, and at this time, the two wall robots 20 form a wall.

Optionally, the scheduling task further includes a docking task, when the robot completes the splicing, the ceiling robot 10 and the wall surface robot complete mutual locking and fixing according to the docking task, and at least two wall surface robots 20 complete mutual locking and fixing according to the docking task.

Optionally, the intelligent house system further comprises a digital twin system 73, the digital twin system 73 is in communication connection with the cloud platform 71, and the digital twin system 73 is used for realizing real-time state mapping, state tracking and behavior prediction of the digital models of the ceiling robot 10 and the wall surface robot 20.

Optionally, the ceiling robot 10 and/or the wall robot 20 are provided with display screens, the smart home system further includes a video push system 74, the video push system 74 is in communication connection with the cloud platform 71, the video push system 74 is configured to send a video playing task to the cloud platform 71, the video playing task includes a single screen video playing task and/or a plurality of screen video playing tasks that can be spliced at will to form a long-resolution playing task, the ceiling robot 10 and/or the wall robot 20 control one display screen to play videos according to the video playing task, or control at least two display screens to splice the long-resolution playing videos. The intelligent house system of this application can realize that ceiling robot 10 and/or wall robot 20 play the propaganda piece at the assigned position under the non-concatenation state, and the arbitrary position provides the intelligent display function of wall for the meeting room temporarily under the state of assembling.

Optionally, the intelligent house system further includes an intelligent terminal device 75, the intelligent terminal device 75 is in communication connection with the cloud platform 71, the intelligent terminal device 75 is provided with a human-computer interaction interface, the human-computer interaction interface is used for inputting a control instruction, and the control instruction includes at least one of the following: the system comprises a robot splicing starting instruction, a robot disassembling starting instruction, a video pushing starting instruction, a robot moving starting instruction and a robot limb starting instruction. In this embodiment, the intelligent terminal device 75 is provided with a simple and clear human-computer interaction interface, which shields the complexity of the bottom layer, and helps group management or cloud maintenance personnel to quickly complete functions of splicing, docking, disassembling, controlling, video pushing, and the like of a managed house.

Optionally, fig. 3 is a schematic flow diagram of house splicing performed by the intelligent house system of the present application, and as shown in fig. 3, the specific steps of house splicing include:

inputting a robot splicing starting instruction on a human-computer interaction interface of the intelligent terminal device 75, and starting splicing;

the intelligent scheduling system 72 sends the splicing task to the cloud platform 71, and the cloud platform 71 issues the splicing task to the at least one ceiling robot 10 and the at least one wall robot 20;

the ceiling robot 10 and the wall robot 20 receive the command, whether splicing can be carried out is confirmed, and if splicing can be carried out, the ceiling robot 10 and the wall robot 20 are started;

then, the intelligent scheduling system 72 decomposes the splicing task into scheduling tasks and sends the scheduling tasks to the cloud platform 71, the cloud platform 71 decomposes the scheduling tasks into a plurality of displacement tasks and sends the displacement tasks to the at least one ceiling robot 10 and the at least one wall robot 20, and the at least one ceiling robot 10 and the at least one wall robot 20 move to target positions according to the displacement tasks.

Optionally, at least one ceiling robot 10 and at least one wall robot 20 report pose information to the cloud platform 71 in real time in the moving process, the cloud platform 71 stores time sequence data of the ceiling robot 10 and/or the wall robot 20 and sends the time sequence data to the intelligent scheduling system 72, and the intelligent scheduling system 72 acquires the real-time pose of the ceiling robot 10 and/or the wall robot 20 and confirms the next scheduling task and monitors in real time. When the robot fails to report the pose, the cloud platform 71 stores task abnormal information, the intelligent scheduling system 72 schedules an abnormal alarm, and the human-computer interaction interface of the intelligent terminal device 75 displays that the task fails.

Optionally, when the ceiling robot 10 and the wall robots 20 successfully complete the displacement task, the intelligent scheduling system 72 sends a docking task to the cloud platform 71, and the cloud platform 71 issues the docking task to at least one ceiling robot 10 and at least one wall robot 20, so that the ceiling robot 10 and the wall robots 20 complete mutual locking and fixing, and at least two wall robots 20 complete mutual locking and fixing according to the docking task. When an abnormal condition occurs in the docking, the cloud platform 71 stores task abnormal information, the intelligent scheduling system 72 schedules an abnormal alarm, and the human-computer interaction interface of the intelligent terminal device 75 displays a task failure.

Optionally, the house dismantling step is opposite to the house splicing step, and for details, reference is made to the above, and details are not described herein again.

Optionally, various sensors are disposed on the ceiling robot 10 and the wall robot 20, and the various sensors include a temperature sensor, a humidity sensor, a photoelectric sensor, and the like.

Optionally, various electrical appliances, such as lights, speakers, etc., are provided on the booth robot 10 and/or the wall robot 20.

Optionally, fig. 4 is a schematic perspective view of the ceiling robot of the present application, and fig. 5 is a schematic perspective view of the steering wheel driving device of the present application, as shown in fig. 4 and 5, the ceiling robot 10 includes a first wall 11, a second wall 12, and a ceiling 13, the first wall 11 is disposed opposite to the second wall 12, tops of the first wall 11 and the second wall 12 are movably connected to the ceiling 13, steering wheel driving devices 14 are disposed at bottoms of the first wall 11 and the second wall 12, and the steering wheel driving devices 14 are configured to drive the ceiling robot 10 to integrally move according to a scheduling task. In this embodiment, the first wall 11 and the second wall 12 are disposed in parallel and opposite to each other, the tops of the first wall 11 and the second wall 12 are vertically connected to the ceiling 13, and an indoor space is formed between the first wall 11, the second wall 12, and the ceiling 13.

The ceiling robot 10 can autonomously move under the driving of the steering wheel driving device 14, the position transfer is realized, the disassembly and assembly combination is not needed, the labor cost (time and labor saving) is saved, the transfer efficiency is high, and the land resource and the space cannot be permanently occupied. Moreover, the ceiling robot 10 of the present application can be used as a temporary meeting room, a temporary tea restaurant, a square propaganda and display or a tourist attraction, and has strong practicability.

Alternatively, as shown in fig. 5, the steering wheel driving device 14 is, for example, an AGV auto-navigation transport vehicle, the steering wheel driving device 14 includes a base 141, a first steering wheel driving assembly 142, a second steering wheel driving assembly 143, a shock absorbing device 144, and a steering wheel gear set 145, the first steering wheel driving assembly 142 and the second steering wheel driving assembly 143 are respectively connected to both sides of the base 141, the shock absorbing device 144 is installed on the base 141, and the steering wheel gear set 145 is installed on the top of the base 141. In this embodiment, two steering wheel driving devices 14 are installed at the bottom of the first wall 11, and are respectively disposed near two opposite sides of the first wall 11; two steering wheel driving devices 14 are mounted at the bottom of the second wall 12, and are respectively arranged near two opposite sides of the second wall 12.

Alternatively, fig. 6 is a schematic structural view of the ceiling robot after the first wall body of the ceiling robot translates towards the second wall body, fig. 7 is a schematic structural view of a three-dimensional structure of the first translation driving device or the second translation driving device of the ceiling robot, as shown in fig. 6 and 7, the ceiling robot 10 includes at least one first translation driving device 15, the first translation driving device 15 is connected between the ceiling 13 and the first wall body 11, the first translation driving device 15 cooperates with the steering wheel driving device 14 to drive the first wall body 11 to move towards the direction close to or away from the second wall body 12, and/or the ceiling robot 10 includes at least one second translation driving device, the second translation driving device is connected between the ceiling 13 and the second wall body 12, and the second translation driving device cooperates with the steering wheel driving device 14 to drive the second wall body 12 to move towards the direction close to or away from the first wall body 11; the first wall 11 and/or the second wall 12 can move horizontally to change the size of the indoor space so as to meet the requirements of houses with different sizes. In this embodiment, two first translation driving devices 15 are installed between the first wall 11 and the ceiling 13, and the two first translation driving devices 15 are respectively disposed near two opposite sides of the first wall 11; two second translation driving devices are arranged between the second wall body 12 and the ceiling 13 and respectively close to two opposite sides of the second wall body 12; preferably, the two first translational drives 15 are each located directly above the two rudder wheel drives 14, and the two second translational drives are each located directly above the two rudder wheel drives 14.

Alternatively, as shown in fig. 7, the first translation driving device 15 and the second translation driving device have the same structure, the first translation driving device 15 includes a first installation seat 151, a first sliding seat 152 and a first driving mechanism 153, the first installation seat 151 is fixed on the ceiling 13, the first sliding seat 152 is slidably connected to the first installation seat 151, the first wall 11 is fixedly connected to the first sliding seat 152, a driving end of the first driving mechanism 153 is connected to the first sliding seat 152, and the first driving mechanism 153 is used for driving the first sliding seat 152 and the first wall 11 to move. In this embodiment, the first driving mechanism 153 includes a first motor assembly (a combination of a motor and a reducer) and a first lead screw, the first motor assembly is fixed at one end of the first mounting seat 151, one end of the first lead screw is linked with the first motor assembly, and the other end of the first lead screw is rotatably connected to an end of the first mounting seat 151; when the first driving assembly drives the first lead screw to rotate, the first sliding seat 152 moves along the length direction of the first lead screw.

Optionally, the second translational driving device includes a second mounting seat, a second sliding seat and a second driving mechanism, the second mounting seat is fixed on the ceiling 13, the second sliding seat is slidably connected to the second mounting seat, the second wall 12 is fixedly connected to the second sliding seat, a driving end of the second driving mechanism is connected to the second sliding seat, and the second driving mechanism is configured to drive the second sliding seat and the second wall 12 to move. In this embodiment, the second driving mechanism includes a second motor assembly (a combination of a motor and a reducer) and a second lead screw, the second motor assembly is fixed at one end of the second mounting seat, one end of the second lead screw is linked with the second motor assembly, and the other end of the second lead screw is rotatably connected to the end of the second mounting seat; when the second driving assembly drives the second screw rod to rotate, the second sliding seat moves along the length direction of the second screw rod.

In other embodiments, the first driving mechanism 153 comprises a first telescopic cylinder or cylinder assembly, the telescopic shaft of which is connected with the first sliding seat 152; the second driving mechanism comprises a second telescopic cylinder or an oil cylinder assembly, and a telescopic shaft of the second telescopic cylinder or the oil cylinder assembly is connected with the second sliding seat.

Optionally, fig. 8 is a structural schematic diagram of a first wall of the ceiling robot of the present application after rotating relative to a ceiling, and fig. 9 is a structural schematic diagram of a connection portion between the first wall and the ceiling, as shown in fig. 8 and fig. 9, a first rotating shaft mechanism 17 is connected between the first wall 11 and the ceiling 13, two steering wheel driving devices 14 are disposed at the bottom of the first wall 11, one steering wheel driving device 14 is disposed near a side edge of the first wall 11, the other steering wheel driving device 14 is disposed near the other opposite side edge of the first wall 11, the two steering wheel driving devices 14 are matched to drive the first wall 11 to rotate around an axis of the first rotating shaft mechanism 17, and/or a second rotating shaft mechanism is connected between the second wall 12 and the ceiling 13, two steering wheel driving devices 14 are disposed at the bottom of the second wall 12, one steering wheel driving device 14 is disposed near a side edge of the second wall 12, the other steering wheel driving device 14 is matched to drive the second wall 12 to rotate around an axis of the second rotating shaft mechanism. The first wall 11 and/or the second wall 12 of the ceiling robot 10 of the present application can rotate and move, and the shape and the size of the ceiling robot 10 are changed to meet different fields and modeling requirements.

Optionally, as shown in fig. 9, the first rotating shaft mechanism 17 has the same structure as the second rotating shaft mechanism, the first rotating shaft mechanism 17 includes a first rotating shaft and a first bearing, the first rotating shaft is fixed on the first wall 11 or the ceiling 13, the first bearing is sleeved on the first rotating shaft, and the first bearing is connected to the first wall 11 or the ceiling 13.

Optionally, as shown in fig. 9, the second rotating shaft mechanism includes a second rotating shaft and a second bearing, the second rotating shaft is fixed on the second wall 12 or the ceiling 13, the second bearing is sleeved on the second rotating shaft, and the second bearing is connected to the second wall 12 or the ceiling 13.

Optionally, fig. 10 is a schematic perspective view of a first anchoring device of the present application, as shown in fig. 10, a first anchoring device 19 is disposed at the bottom of the first wall 11 and the second wall 12, the first anchoring device 19 includes a first connecting seat 191, a lifting driver 192 (a combination of a motor and a reducer), a rotary driver 193 (a motor), an anchoring shaft 194 and an anchoring block 195, the first connecting seat 191 is connected to the first wall 11 and the second wall 12 by a bolt and a screw hole in a matching manner, the lifting driver 192, the rotary driver 193 and the anchoring shaft 194 are connected to the first connecting seat 191, the anchoring shaft 194 is disposed in a vertical direction, the anchoring block 195 is fixed to an end of the anchoring shaft 194, driving ends of the lifting driver 192 and the rotary driver 193 are connected to the anchoring shaft 194, the lifting driver 192 is configured to drive the anchoring shaft 194 to move up and down, the rotary driver 193 is configured to drive the anchoring shaft 194 and the anchoring block 195 to rotate, so that the anchoring block 195 is switched between a locking position and an unlocking position. In this embodiment, the bottom of the first wall 11 is provided with two first anchoring devices 19, and the bottom of the second wall 12 is provided with two first anchoring devices 19; the plurality of first anchoring devices 19 cooperate to secure the ceiling robot 10 against movement by high winds.

Alternatively, fig. 11 is a structural schematic diagram of a ceiling of the ceiling robot of the present application in a deployed state, and fig. 12 is a structural schematic diagram of a ceiling of the present application in a deployed state from above, as shown in fig. 11 and 12, the ceiling 13 includes a fixed canopy 131, at least one movable canopy 132 and at least one extension driving mechanism 133, the fixed canopy 131 is connected to the first wall 11 and the second wall 12, at least one side of the fixed canopy 131 is provided with a first opening 101, a driving end of the extension driving mechanism 133 is connected to the movable canopy 132, and the extension driving mechanism 133 is configured to drive the movable canopy 132 to extend out from the first opening 101 according to a scheduling task, so as to implement the ceiling 13 and the shape with different sizes, and facilitate splicing with the wall robot 20 to expand the indoor space. In this embodiment, the fixed shed 131 is provided with first openings 101 on two opposite sides, and the ceiling 13 includes two movable sheds 132 and two extension driving mechanisms 133, wherein the two extension driving mechanisms 133 respectively drive the two movable sheds 132 to extend out from the two first openings 101.

Optionally, the movable canopy 132 comprises at least two canopy plates 1321 stacked on each other, two adjacent canopy plates 1321 are slidably connected to each other, and the extension driving mechanism 133 is configured to drive the at least two canopy plates 1321 to the unfolded state or drive the at least two canopy plates 1321 to the stacked state; when the movable canopy 132 is in the deployed state, each canopy plate 1321 protrudes from the first opening 101 of the fixed canopy 131; when the movable shelf 132 is in the stacked state, each shelf panel 1321 is shrink-stacked in the fixed shelf 131. In this embodiment, the number of the shelf 1321 is, for example, 1, 2, or 3, and the number of the shelf 1321 can be freely increased or decreased according to actual needs.

Alternatively, fig. 13 is a schematic perspective view of the extension driving mechanism of the present application, and as shown in fig. 12 and 13, the extension driving mechanism 133 includes an extension driving assembly 1331 and a scissor structure 1335, a driving end of the extension driving assembly 1331 is connected to the scissor structure 1335, one end of the scissor structure 1335 is connected to the movable shelf 132, the other end of the scissor structure 1335 is connected to the fixed shelf 131, and the extension driving assembly 1331 is used for driving the scissor structure 1335 to move in an extension or contraction mode. In this embodiment, the scissors fork structure 1335 can move telescopically under the driving of the extension driving assembly 1331, so as to drive the movable canopy 132 to extend out of the opening or close in the fixed canopy 131.

Optionally, as shown in fig. 12 and 13, the extension driving assembly 1331 includes a fixed seat 1332, a first movable seat 1333 and an extension driver 1334, the fixed seat 1332 is connected to the fixed shed 131, the first movable seat 1333 is slidably connected to the fixed seat 1332, and a driving end of the extension driving assembly 1331 is connected to the first movable seat 1333; the scissors fork structure 1335 includes an intermediate crossing portion 1336, a first stretching connection portion 1337 and a second stretching connection portion 1338, the intermediate crossing portion 1336 is hinged between the first stretching connection portion 1337 and the second stretching connection portion 1338, the intermediate crossing portion 1336 is connected to the first movable seat 1333, the first stretching connection portion 1337 is connected to the fixed shed 131, and the second stretching connection portion 1338 is connected to the movable shed 132. In this embodiment, the extension driving assembly 1334 includes a second motor assembly (a combination structure of a motor and a reducer) and a second lead screw, the second motor assembly is fixed at the end of the fixed seat 1332, one end of the second lead screw is linked with the second motor assembly, the other end of the second lead screw is rotatably connected to the fixed seat 1332, and the first movable seat 1333 is in threaded fit connection with the second lead screw; when the second motor assembly drives the second lead screw to rotate, the first movable seat 1333 can move along the length direction of the lead screw, and further drives the scissor fork structure 1335 to move in a telescopic manner.

Optionally, the middle crossing part 1336 includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are arranged in a crossing manner, and the crossing position of the first connecting rod and the second connecting rod is hinged on the first movable seat 1333; the first stretching connection part 1337 includes a third connecting rod and a fourth connecting rod, ends of the third connecting rod and the fourth connecting rod are crossed and hinged on the fixed shed 131, the other end of the third connecting rod is hinged on one end of the first connecting rod, and the other end of the fourth connecting rod is hinged on one end of the second connecting rod; the second stretching connection part 1338 includes a fifth link and a sixth link, ends of which are crossed and hinged on the movable shelf 132, and the other end of which is hinged to the other end of the first link and the other end of which is hinged to the other end of the second link; with the center of the first movable seat 1333, half of the trunk of the first and second connecting rods, the third connecting rod and the fourth connecting rod are combined into a parallelogram structure, and the other half of the trunk of the first and second connecting rods, the fifth connecting rod and the sixth connecting rod are combined into another parallelogram structure.

In other embodiments, the stretching driver 1334 comprises a third motor assembly (a combination of a motor and a speed reducer), a third screw rod and a connecting block, the third screw rod is linked with the third motor assembly, the connecting block is in threaded fit connection with the third screw rod, and the connecting block is connected with the movable shed 132; when the third driving component drives the third screw rod to rotate, the connecting block moves along the length direction of the third screw rod, and then the movable shed 132 is unfolded or folded.

Optionally, a display screen 112 (ice screen) is disposed on the first wall 11, and the display screen 112 is disposed on a side of the first wall 11 close to the second wall 12.

Optionally, a doorway and a door panel 122 disposed corresponding to the doorway are disposed on the second wall 12. In this embodiment, the door panel 122 may be connected in a rotatable or sliding manner through a mechanical structure, and a door panel 122 driving mechanism may be further connected between the second wall 12 and the door panel 122, where the door panel 122 driving mechanism is used to drive the door panel 122 to open or close.

Optionally, a sealing element is arranged between the first wall 11 and the ceiling 13 and between the second wall 12 and the ceiling 13, so that the wall sealing effect is increased.

Alternatively, after the ceiling robot moves to the first target position, the ceiling robot controls the movable shed 132 of the ceiling 13 to be unfolded according to the scheduling task, and also controls the first wall 11 and/or the second wall 12 to translate or rotate if necessary, so as to change the shape of the ceiling robot to be more suitable for the current environment.

Optionally, fig. 14 is a schematic perspective structure diagram of the wall robot of the present application, fig. 15 is a schematic structural diagram of the walking mechanism in fig. 14 when the retractable wheel assembly is retracted, fig. 16 is a bottom view of the walking mechanism in fig. 15 when the retractable wheel assembly is retracted, fig. 17 is a schematic structural diagram of the walking mechanism in fig. 14 when the retractable wheel assembly is extended, and fig. 18 is a schematic structural diagram of the connection between the retractable wheel assembly and the link mechanism in fig. 17, please refer to fig. 14 to fig. 18, in an embodiment of the present application, the wall robot 20 includes a walking mechanism and a display screen 22 disposed on the walking mechanism, and the walking mechanism is configured to drive the wall robot 20 to move integrally according to a scheduling task to implement house splicing or dismantling. In the present embodiment, the display screen 22 may be an ice screen.

Optionally, the traveling mechanism comprises a chassis 211 and a driving wheel assembly 212, the driving wheel assembly 212 is disposed at the bottom of the chassis 211 and connected to the chassis 211, and the driving wheel assembly 212 is used for driving the chassis 211 to move.

Optionally, the display screen 22 is disposed above the chassis 211 and is coupled to the chassis 211. A power battery system 2111 is arranged in the chassis 211, the power battery system 2111 is electrically connected with the driving wheel assembly 212 and the display screen 22, and the power battery system 2111 can supply power to the driving wheel assembly 212 and the display screen 22.

Optionally, a first robot connecting mechanism 31 is provided on the chassis 211, the first robot connecting mechanism 31 includes a first docking device 311 and a second docking device 312 cooperating with the first docking device 311, the first docking device 311 and the second docking device 312 are respectively provided at different positions on the chassis 211 (preferably, the first docking device 311 and the second docking device 312 are respectively provided at opposite ends of the chassis 211); the first docking means 311 on one wall robot 20 can be connected to the second docking means 312 on another wall robot 20 to enable connection between different wall robots 20. In the present embodiment, the ceiling robot 10 includes a second robot connecting mechanism, the second robot connecting mechanism is the same as the first robot connecting mechanism 31, and the first docking device on the wall robot 20 can be connected to the second docking device on the ceiling robot 10, so as to splice the wall robot 20 and the ceiling robot 10 together.

Specifically, the wall surface robot 20 provided by the embodiment is formed by combining the traveling mechanism and the display screen 22, the traveling mechanism and the display screen 22 can serve as a wall body of the combined house module, that is, the plurality of wall surface robots 20 can be assembled to form the combined house module, and the number of the wall surface robots 20 can be determined according to actual use requirements, so that the shape and the structural size of the combined house module can be changed according to actual requirements. Meanwhile, the walking mechanism can provide a walking function for the wall surface robot 20, and a power battery system 2111 is arranged in the chassis 211 and can supply power to the driving wheel assembly 212 and the display screen 22, so that the wall surface robot 20 has an intelligent moving function, an intelligent assembling function, an autonomous power supply function and a wall surface display function, and meanwhile, a first robot connecting mechanism 31 is further arranged on the chassis 211 and used for connecting different wall surface robots 20, so that the stability of the wall surface is enhanced. The wall surface robot 20 not only improves the convenience of assembling the combined house modules, but also increases the expanding function of the combined house modules.

Optionally, fig. 23 is a schematic structural diagram of the first robot connecting mechanism of the present application, as shown in fig. 14 to 16 and 23, as an embodiment, the first docking device 311 includes a clamping plate 3111, the clamping plate 3111 is fixed to an end of the chassis 211, and a clamping hole 104 is formed in the clamping plate 3111;

alternatively, fig. 19 is a schematic structural view of the telescopic wheel assembly in fig. 18, fig. 20 is a side view of fig. 18, fig. 21 is an enlarged schematic structural view at a position a in fig. 20, referring to fig. 14 to 21, the second docking device 312 is disposed in the chassis 211, the second docking device 312 includes a first telescopic driving device 3121, a first rotary driving device 3122 and a first anchor 3123, and a first end of the first anchor 3123 is provided with a first snap-in portion 3124. The first telescopic driving device 3121 is connected with the second end of the first anchor rod 3123, and the first telescopic driving device 3121 is used for driving the first anchor rod 3123 to horizontally extend and retract relative to the chassis 211; the first rotary driving device 3122 is connected to the second end of the first anchor bar 3123, and the first rotary driving device 3122 is configured to drive the first anchor bar 3123 to rotate around the circumferential direction thereof, so that the first anchor bar 3123 of one wall robot 20 can be engaged with the engaging plate 3111 of the other wall robot 20.

Specifically, in the present embodiment, the first fastening portion 3124 is a long strip-shaped protrusion, and the width of the fastening hole 104 is greater than or equal to the width of the first fastening portion 3124 and less than the length of the first fastening portion 3124. When two wall robots 20 are connected, the first telescopic driving device 3121 on one of the wall robots 20 drives the first anchor rod 3123 to move toward the snap plate 3111 on the other wall robot 20, and the first snap portion 3124 on the first anchor rod 3123 extends into and passes through the snap hole 104 on the snap plate 3111, then the first rotary driving device 3122 is used to drive the first anchor rod 3123 to rotate for 90 degrees (or other angles), and then the first telescopic driving device 3121 is used to drive the first anchor rod 3123 to retract for a short distance, so that the first snap portion 3124 on the first anchor rod 3123 is snapped with the snap plate 3111, thereby realizing the connection between the two wall robots 20.

Alternatively, as shown in fig. 14 to 16, as an embodiment, the first docking device 311 and the second docking device 312 are respectively disposed at the front and rear ends of the chassis 211.

Optionally, as shown in fig. 15 and 23, as an embodiment, a first baffle 313 is disposed at one end of the bottom plate 211 close to the second docking device 312, a first through hole 103 is disposed on the first baffle 313, and the first anchor 3123 can extend out of the bottom plate 211 after passing through the first through hole 103, or retract into the bottom plate 211 through the first through hole 103.

As shown in fig. 15 to 19, as an embodiment, the wall robot 20 further includes a telescopic wheel assembly 23, the telescopic wheel assembly 23 includes a roller telescopic driving device 231 and a first roller 232, the roller telescopic driving device 231 is disposed in the chassis 211, and the first roller 232 is disposed at the bottom of the chassis 211 and is located at one side of the chassis 211. The roller extension driving device 231 is connected to the chassis 211 and the first roller 232, and the roller extension driving device 231 is used for driving the first roller 232 to make left and right extension movement relative to the chassis 211 along the horizontal direction (as shown in fig. 15 and 17, S in the figure indicates the front and back direction of the chassis 211, i.e. the movement direction of the chassis 211; W in the figure indicates the left and right direction of the chassis 211, i.e. the width direction of the chassis 211, and the roller extension driving device 231 can drive the first roller 232 to make extension movement along the left and right direction W of the chassis 211).

Specifically, in the present embodiment, by providing the retractable wheel assembly 23 on the chassis 211, when the chassis 211 moves, the roller retractable driving device 231 is used to drive the first roller 232 to extend out, so as to increase the area of the chassis 211 (i.e. increase the width of the chassis 211), so that the wall robot 20 has good balance and stability when moving, and avoids side turning; when the wall robot 20 stops moving, the first roller 232 is driven to retract by the roller extension driving device 231, so that the floor area of the chassis 211 is reduced. This retractable wheel subassembly 23 not only can increase the stability of wall robot 20 when the motion, does not increase the volume and the area of chassis 211 when wall robot 20 is the stall state moreover to increase the flexibility of chassis 211, and be favorable to the miniaturized design of chassis 211.

Optionally, as shown in fig. 16, as an embodiment, the wall robot 20 further includes a second roller 213, the second roller 213 is disposed at the bottom of the chassis 211 and connected to the chassis 211, and the second roller 213 and the first roller 232 are disposed at the left and right sides of the chassis 211, respectively; when the first roller 232 extends in the horizontal direction, the distance between the first roller 232 and the second roller 213 is increased, which is equivalent to increasing the track width, thereby increasing the stability of the chassis 211 during movement.

Alternatively, as shown in fig. 16, as an embodiment, the second roller 213 is not capable of stretching left and right compared to the chassis 211, that is, the second roller 213 is fixed on the chassis 211. Of course, in other embodiments, the second roller 213 may also be in a form similar to the first roller 232, i.e., the second roller 213 may also be in a telescopic form (i.e., the telescopic wheel assemblies 23 are disposed on two opposite sides of the chassis 211), thereby further increasing the area of the chassis 211 during movement.

Optionally, as shown in fig. 16, as an embodiment, a third roller 214 is further disposed at the bottom of the chassis 211, the third roller 214 is disposed between the first roller 232 and the second roller 213, the third roller 214 is located at a middle position of the chassis 211, and the third roller 214 can further increase stability and trafficability of the chassis 211 during movement.

Alternatively, as shown in fig. 16, as an embodiment, the first roller 232, the second roller 213 and the third roller 214 are all universal wheels, so as to increase the flexibility of the chassis 211 during movement; meanwhile, since the first roller 232 is a universal wheel, the first roller 232 can smoothly perform a lateral telescopic motion (i.e., the first roller 232 can move not only forward and backward but also leftward and rightward, thereby facilitating extension and retraction of the first roller 232).

Alternatively, as shown in fig. 15 and 16, the driving wheel assembly 212 is a double differential driving wheel as an embodiment. The number of the first rollers 232, the second rollers 213, the third rollers 214 and the driving wheel assemblies 212 is equal to two, and the two first rollers 232, the two second rollers 213, the two third rollers 214 and the two driving wheel assemblies 212 are equal to two and are respectively arranged at the front end and the rear end of the chassis 211. Meanwhile, a plurality of radars 2113 and a plurality of ultrasonic sensors 2114 are arranged on the outer side wall of the chassis 211, so that a walking route can be automatically planned when the chassis 211 moves. Through the cooperation of radar 2113, ultrasonic sensor 2114, first roller 232, second roller 213, third roller 214 and drive wheel assembly 212, the autonomous movement functions of omnidirectional movement, climbing, obstacle crossing and the like of chassis 211 can be realized.

Alternatively, as shown in fig. 15 to 17, as an embodiment, the number of the retractable wheel assemblies 23 is at least two, at least two retractable wheel assemblies 23 are arranged on the same side of the chassis 211, and at least two retractable wheel assemblies 23 are arranged at intervals along the front-rear direction S of the chassis 211.

Specifically, in the present embodiment, the number of the retractable wheel assemblies 23 is two, two retractable wheel assemblies 23 are disposed on the same side of the chassis 211, and the two retractable wheel assemblies 23 are disposed at intervals along the front-rear direction S of the chassis 211.

Alternatively, as shown in fig. 15 to 18, at least two retractable wheel assemblies 23 are connected by a linkage 24 so that the at least two retractable wheel assemblies 23 can perform a synchronized retractable movement.

Specifically, the link mechanism 24 not only enables the plurality of retractable wheel assemblies 23 to perform the retractable movement synchronously, thereby reducing the stroke deviation (or referred to as a position deviation, i.e., a difference in the retractable distance) of the plurality of retractable wheel assemblies 23 during the retractable movement, maintaining the consistency of the front and rear widths of the vehicle body, facilitating the simultaneous control of the retractable strokes of the plurality of retractable wheel assemblies 23, but also increasing the structural strength of the vehicle body and the stability of the chassis 211.

Alternatively, as shown in fig. 17, as an embodiment, the side portion of the chassis 211 is provided with a receiving groove 102 for receiving the retractable wheel assembly 23 and the link mechanism 24, so that the retractable wheel assembly 23 and the link mechanism 24 can be received in the receiving groove 102 when retracted, thereby further reducing the floor space of the chassis 211 in the stopped state and improving the aesthetic appearance.

Alternatively, as shown in fig. 18 and 20, as an embodiment, at least two retractable wheel assemblies 23 are each connected to a linkage 24 through a movable mechanism 25, so that the at least two retractable wheel assemblies 23 can perform synchronous retractable movement within a certain deviation range. In this embodiment, the at least two retractable wheel assemblies 23 are capable of synchronous telescoping movement within a travel deviation of 15 cm.

Specifically, the movable mechanism 25 can play a certain buffering role, so that the plurality of retractable wheel assemblies 23 can be out of synchronization to a certain extent during retractable movement, thereby increasing the flexibility and stability of the retractable wheel assemblies 23, greatly reducing the requirements on the control accuracy and the manufacturing dimensional accuracy of the equipment, and simultaneously reducing the abrasion to the equipment during the synchronous retractable movement (easily understood, if the retractable wheel assemblies 23 are rigidly connected with the link mechanism 24, during the synchronous retractable movement, the allowed travel deviation between the plurality of retractable wheel assemblies 23 is required to be almost zero, so that the requirements on mechanical and electrical control accuracy are very high, and the equipment is easily damaged).

Alternatively, as shown in fig. 20, as an embodiment, the number of the telescopic wheel assemblies 23 is two, two telescopic wheel assemblies 23 are respectively disposed corresponding to both ends of the link mechanism 24, one of the telescopic wheel assemblies 23 is connected to one end of the link mechanism 24 through the movable mechanism 25, and the other telescopic wheel assembly 23 is connected to the other end of the link mechanism 24 through the movable mechanism 25.

Alternatively, as shown in fig. 20 and 21, as an embodiment, one end of the movable mechanism 25 is rotatably connected to the retractable wheel assembly 23, and the other end of the movable mechanism 25 is rotatably connected to the link mechanism 24, so that the retractable wheel assembly 23 is movably connected to the link mechanism 24. Of course, in other embodiments, the movable mechanism 25 may be an elastic mechanism with certain elasticity.

Alternatively, as shown in fig. 20 and 21, as an embodiment, the movable mechanism 25 includes a connecting pin 251 and a rotating rod 252, a first end of the connecting pin 251 is connected to the rotating rod 252, the rotating rod 252 is rotatably connected to the link mechanism 24, and a second end of the connecting pin 251 is hinged to the retractable wheel assembly 23.

Alternatively, as shown in fig. 20 and 21, each of the movable mechanisms 25 may include two connecting pins 251, and the two connecting pins 251 are spaced up and down. Of course, the number of the connecting pins 251 may be more.

Alternatively, as shown in fig. 20 and 21, as an embodiment, the link mechanism 24 includes a first cross bar 241 and a second cross bar 242 which are horizontally disposed, the first cross bar 241 and the second cross bar 242 are vertically disposed at an interval, the rotating rod 252 is vertically disposed, a top end of the rotating rod 252 is rotatably connected to the first cross bar 241, and a bottom end of the rotating rod 252 is rotatably connected to the second cross bar 242. The link mechanism 24 further includes a plurality of vertical rods 243, the vertical rods 243 are sequentially arranged along the length direction of the link mechanism 24, and the upper and lower ends of each vertical rod 243 are respectively fixedly connected with the first cross rod 241 and the second cross rod 242, so as to increase the structural strength and stability of the link mechanism 24.

Optionally, as shown in fig. 20, as an embodiment, the wall robot 20 further includes a fourth roller 215, the fourth roller 215 is disposed below the linkage 24 and connected to the linkage 24, and the fourth roller 215 is used for supporting the linkage 24 so as to prevent the linkage 24 from rolling over.

Alternatively, as shown in fig. 20, the fourth roller 215 is a universal wheel, and the fourth roller 215 is connected to the second cross bar 242.

Optionally, as shown in fig. 18 to 21, as an embodiment, the retractable wheel assembly 23 further includes a roller fixing plate 234, the first roller 232 is disposed on the roller fixing plate 234, and the first roller 232 is located below the roller fixing plate 234; the roller telescopic driving means 231 is connected to a roller fixing plate 234, and the roller fixing plate 234 is connected to the link mechanism 24 through the movable mechanism 25.

Specifically, in the present embodiment, the roller fixing plate 234 includes a horizontal plate 2341 and a vertical plate 2342, and the horizontal plate 2341 is fixedly connected to the bottom end of the vertical plate 2342. The first roller 232 is located below the horizontal plate 2341 and connected to the horizontal plate 2341, the roller extension driving device 231 is connected to the vertical plate 2342, and the vertical plate 2342 is connected to the link mechanism 24 through the movable mechanism 25.

Alternatively, as shown in fig. 18 and 19, as an embodiment, the telescopic wheel assembly 23 further includes a guiding telescopic assembly 233, the roller telescopic driving device 231 is connected to the first roller 232 through the guiding telescopic assembly 233, and the guiding telescopic assembly 233 is used for guiding the first roller 232 during left-right telescopic movement.

Alternatively, as shown in fig. 18 and 19, as an embodiment, the guide telescopic assembly 233 includes a guide rod 2331 and a guide sleeve 2332, the guide rod 2331 is inserted into the guide sleeve 2332 and can be telescopically moved in the guide sleeve 2332; the guide sleeve 2332 is fixed to the base plate 211, one end of the guide rod 2331 is connected to the roller telescopic driving unit 231, and the other end of the guide rod 2331 is connected to the first roller 232 (specifically, the other end of the guide rod 2331 is connected to the vertical plate 2342 of the roller fixing plate 234). Meanwhile, the length of the guide rod 2331 can be increased or decreased as needed by the distance of extension or contraction.

Alternatively, as shown in fig. 18 and 19, each of the telescopic wheel assemblies 23 includes two guiding telescopic assemblies 233, and the two guiding telescopic assemblies 233 are respectively disposed at opposite sides of the roller telescopic driving means 231, thereby providing a more stable guiding support function.

Alternatively, as shown in fig. 18 and 19, as an embodiment, the roller telescopic driving device 231 is a linear guide module, the roller telescopic driving device 231 includes a first guide rail 2311 and a first slider 2312, the first guide rail 2311 is fixed to the chassis 211, the first slider 2312 is disposed on the first guide rail 2311 and can slide along the first guide rail 2311, and the guide rod 2331 is connected to the first slider 2312; the guide rod 2331, the roller fixing plate 234 and the first roller 232 are moved in a telescopic manner by the movement of the first slider 2312. Of course, in other embodiments, the roller driving device 231 may be a telescopic driving device such as an electric cylinder or an air cylinder.

Alternatively, fig. 22 is a schematic structural view of the anchoring mechanism of the present application before being engaged with the fixing mechanism, and as shown in fig. 16 and 22, as an embodiment, the wall robot 20 further includes a second anchoring device 26, the second anchoring device 26 is disposed at the bottom of the chassis 211, and the second anchoring device 26 can perform vertical telescopic movement relative to the chassis 211. The second anchoring device 26 is used for cooperating with the first fixing mechanism 32 (the first fixing mechanism 32 can be arranged on the ground or at other target positions), when the chassis 211 stops moving and needs to be fixed, the second anchoring device 26 extends downwards and cooperates with the first fixing mechanism 32, so that the chassis 211 is fixed at the target position; when the chassis 211 needs to be moved, the second anchoring device 26 is retracted upwards and disengaged from the first securing mechanism 32, so that the chassis 211 is unlocked and free to move.

Alternatively, as shown in fig. 16, as an embodiment, the number of the second anchoring devices 26 is two, and the two second anchoring devices 26 are arranged at intervals in the front-rear direction S of the chassis 211.

Alternatively, as shown in fig. 22, as an embodiment, the second anchoring device 26 includes a second telescopic driving device 261 and a second anchor rod 262, the second telescopic driving device 261 is connected with the second anchor rod 262, and the second telescopic driving device 261 is used for driving the second anchor rod 262 to do up-and-down telescopic movement relative to the chassis 211. In this embodiment, the second telescopic driving device 261 is an eddy current elevator, and the second anchor 262 is a worm.

Alternatively, as shown in fig. 22, as an embodiment, the bottom end of the second anchor rod 262 is provided with a second clamping portion 2621. The second anchoring device 26 further includes a second rotation driving device 263, the second rotation driving device 263 is connected to the second anchor rod 262, and the second rotation driving device 263 is used for driving the second anchor rod 262 to make horizontal rotation movement, so that the second clamping portion 2621 on the second anchor rod 262 can be clamped with the first fixing mechanism 32.

Specifically, in this embodiment, the first fixing mechanism 32 is provided with a slot 106, the second clamping portion 2621 is a long-strip-shaped protrusion, and the width of the slot 106 is greater than or equal to the width of the second clamping portion 2621 and is smaller than the length of the second clamping portion 2621. In the process of clamping the second anchor rod 262 with the first fixing mechanism 32, the second rotary driving device 263 is firstly used to drive the second anchor rod 262 to extend downwards, so that the second clamping portion 2621 passes through the clamping groove 106 and then extends into the first fixing mechanism 32 (since the width of the clamping groove 106 is greater than or equal to the width of the second clamping portion 2621, the second clamping portion 2621 can smoothly pass through the clamping groove 106); then utilize second rotary driving device 263 to drive second stock 262 horizontal rotation 90, recycle second rotary driving device 263 drive second stock 262 upward movement a short distance to make second joint portion 2621 on the second stock 262 and first fixed establishment 32 block (because the width of draw-in groove 106 is less than the length of second joint portion 2621, second joint portion 2621 can't pass draw-in groove 106 during this time), and then fix chassis 211 in target position department. Of course, in other embodiments, the second anchoring device 26 and the first securing mechanism 32 may have other configurations of engagement.

Optionally, fig. 24 is a schematic structural diagram of the docking and plugging mechanism of the present application, as shown in fig. 14 to 16 and 24, as an embodiment, a docking and plugging mechanism 33 is disposed on the chassis 211, the docking and plugging mechanism 33 includes a telescopic plug driving device 331, a first pair of joints 332, and a second pair of joints 333 matching with the first pair of joints 332, one of the first pair of joints 332 and the second pair of joints 333 is a docking plug, and the other of the first pair of joints 332 and the second pair of joints 333 is a docking socket matching with the docking plug. The plug-in telescopic driving device 331 is connected to the first pair of joints 332, and the plug-in telescopic driving device 331 is used for driving the first pair of joints 332 to make horizontal telescopic movement relative to the chassis 211. The first pair of joints 332 and the second pair of joints 333 are electrically connected with the power battery system 2111, and the first pair of joints 332 and the second pair of joints 333 are respectively arranged at different positions on the chassis 211 (preferably, the first pair of joints 332 and the second pair of joints 333 are respectively arranged at two opposite ends of the chassis 211); the first pair of connectors 332 on one wall robot 20 can be connected to the second pair of connectors 333 on another wall robot 20 to enable electrical connection between different wall robots 20. In this embodiment, the first pair of contacts 332 are mating plugs and the second pair of contacts 333 are mating receptacles that mate with the mating plugs. Of course, in other embodiments, the second pair of connectors 333 may be mating plugs and the first pair of connectors 332 may be mating sockets that mate with the mating plugs.

Specifically, when the two wall robots 20 are electrically connected, the plug-in telescopic driving device 331 on one of the wall robots 20 drives the first pair of connectors 332 to move toward the second pair of connectors 333 on the other wall robot 20, so that the first pair of connectors 332 and the second pair of connectors 333 are plugged in and connected, and thus the two wall robots 20 are electrically connected. This embodiment is through setting up the butt joint on chassis 211 and inserting electric mechanism 33 for can realize the interconnection power supply automatically between each wall robot 20, need not all to be equipped with external power source for every wall robot 20 (one of them or several wall robots 20 are connected the back with the external power source electricity promptly, can realize all wall robots 20 and supply power or the function of charging simultaneously), need not the manual work simultaneously and carry out the electricity with each wall robot 20 and connect, improved the security and the convenience of power supply.

In one embodiment, the first pair of connectors 332 and the second pair of connectors 333 are further electrically connected to the display screen 22, so that the first pair of connectors 332 and the second pair of connectors 333 can directly supply power to the display screen 22 after being connected to an external power source (due to the fact that the display screen 22 has a large size and large power consumption, and the power battery system 2111 cannot supply enough power to the display screen 22 during long-time operation, the external power source needs to be connected for supplying power).

Optionally, as shown in fig. 24, as an embodiment, the docking and plugging mechanism 33 further includes a first buffer mechanism 334, the first docking head 332 is connected to the plugging and telescoping driving device 331 through the first buffer mechanism 334, and the first buffer mechanism 334 is configured to provide a movement buffer space for the first docking head 332.

Specifically, in the present embodiment, the first buffer mechanism 334 is an elastic mechanism. By providing the first buffer mechanism 334 to provide a moving buffer space for the first butt joint 332, even if there is a certain deviation between the positions of the first butt joint 332 and the second butt joint 333 when butt-jointed, the first butt joint 332 can be accurately combined with the second butt joint 333 through the moving buffer space provided by the first buffer mechanism 334, and the requirement on the accuracy of the control system is reduced. Meanwhile, the first buffer mechanism 334 can avoid hard collision of the first butt joint 332 and the second butt joint 333 during butt joint, which is beneficial to prolonging the service life of the butt joint power plug-in mechanism 33.

Optionally, as shown in fig. 15 and fig. 16, as an embodiment, a second baffle 335 is disposed on the bottom plate 211 at an end close to the first pair of joints 332, and the second baffle 335 is disposed with a second through hole 107 for the first pair of joints 332 to pass through. A third baffle 336 is arranged at one end of the bottom plate 211 close to the second pair of joints 333, and a third through hole 108 for the first pair of joints 332 to pass through is arranged on the third baffle 336.

Alternatively, fig. 25 is a top view of the modular building module of the present application, and fig. 26 is a schematic cross-sectional view of fig. 25, as shown in fig. 14, 25 and 26, as an embodiment, an air-conditioning interface 271 for passing through the air-conditioning docking mechanism 27 is provided on the bottom chassis 211.

Specifically, as shown in fig. 25 and 26, after the plurality of wall robots 20 are connected to each other to form a combined house module, an air conditioner internal unit 28 (for example, a cabinet air conditioner) is disposed inside (indoor) the combined house module, an air conditioner external unit 29 (the air conditioner internal unit 28 and the air conditioner external unit 29 may be of a movable structure) is disposed outside (outdoor) the combined house module, one end of the air conditioner docking mechanism 27 is connected to the air conditioner internal unit 28, and the other end of the air conditioner docking mechanism 27 passes through an air conditioner interface 271 on the chassis 211 and then is connected to the air conditioner external unit 29, so that the connection between the air conditioner internal unit 28 and the air conditioner external unit 29 is realized, and air conditioning and cooling are provided for the internal space of the combined house module.

The work flow of the wall robot 20 in this embodiment is as follows:

1. as shown in fig. 14 and 15, when the wall robot 20 is at rest, the retractable wheel assembly 23 is in a retracted state and the second anchoring device 26 is in an extended state; as shown in fig. 14, when the chassis 211 moves, the first roller 232 is driven to extend by the roller telescopic driving device 231, so as to increase the area of the chassis 211, so that the chassis 211 has good balance and stability when moving, and then the second anchoring device 26 retracts upwards, so that the wall robot 20 can move freely;

2. when the wall surface robot 20 moves to a designated position, the wall surface robot stops moving, the second anchoring device 26 is firstly extended out, so that the chassis 211 is fixed in position, and slipping or side turning is prevented; the first roller 232 is then driven to retract by the roller extension driving means 231, thereby reducing the floor area of the chassis 211 when the chassis 211 is fixed at the target position. Meanwhile, the adjacent wall robots 20 are connected through the first robot connecting mechanism 31, so that the stability of the wall surface is improved, and meanwhile, the wall robots 20 are interconnected and powered through the butt-joint power plugging mechanism 33. The plurality of wall robots 20 are connected to each other and then combined to form a combined house module as shown in fig. 25.

The application provides a wall robot 20, it is formed by running gear and display screen 22 combination, and running gear and display screen 22 can act as the wall body of combination house module, can assemble through a plurality of wall robots 20 promptly and form combination house module, and the quantity of wall robot 20 can be decided according to the actual use demand for the shape and the structural dimension of combination house module can be according to the actual demand change. Meanwhile, the walking mechanism can provide a walking function for the wall surface robot 20, and a power battery system 2111 is arranged in the chassis 211 and can supply power to the driving wheel assembly 212 and the display screen 22, so that the wall surface robot 20 has an intelligent moving function, an intelligent assembling function, an autonomous power supply function and a wall surface display function, and meanwhile, a first robot connecting mechanism 31 is further arranged on the chassis 211 and used for connecting different wall surface robots 20, so that the stability of the wall surface is enhanced. The wall surface robot 20 not only improves the convenience of assembling the combined house modules, but also increases the expanding function of the combined house modules.

Optionally, fig. 27 is a schematic perspective structure diagram of a table and chair robot according to a first embodiment of the present application, fig. 28 is a schematic perspective structure diagram of an intelligent mobile chassis according to the first embodiment of the present application, fig. 29 is a schematic disassembly structure diagram of the intelligent mobile chassis according to the first embodiment of the present application, fig. 30 is a schematic elevation structure diagram of a table according to the first embodiment of the present application, please refer to fig. 27 to fig. 30, the intelligent home system further includes at least one table and chair robot 40, the table and chair robot 40 is in communication connection with a cloud platform 71, the table and chair robot 40 has an autonomous navigation moving function, and the table and chair robot 40 moves to a position below the ceiling robot 10 according to a scheduling task.

Alternatively, referring to fig. 27 to 30, the table and chair robot 40 includes an intelligent mobile chassis 41 capable of autonomous navigation and movement and a table 45, the table 45 includes a support frame 451, a movable frame 452, a table 453, a third adjustment mechanism 454 and a fourth adjustment mechanism 455, the support frame 451 is connected to the intelligent mobile chassis 41, the movable frame 452 is movably connected to the support frame 451 along a first direction X, the table 453 is movably connected to the movable frame 452 along a second direction Y, the third adjustment mechanism 454 is connected between the movable frame 452 and the support frame 451 and is used for driving the movable frame 452 and the table 453 to move along the first direction X, the fourth adjustment mechanism 455 is connected between the movable frame 452 and the table 453 and is used for driving the table 453 to move along the second direction Y, the first direction X and the second direction Y have an included angle, for example, the included angle is 30 ° to 150 °, and preferably 90 °; when the included angle is 90 °, the first direction X is perpendicular to the second direction Y, wherein the first direction X is parallel to the width direction of the table 453, and the second direction Y is parallel to the length direction of the table 453, i.e., the table 453 is parallel to the first direction X and the second direction Y. In this embodiment, the movable frame 452 is movably connected to the supporting frame 451 through the matching of the sliding grooves and the sliding rails, and the table 453 is movably connected to the movable frame 452 through the matching of the sliding grooves and the sliding rails.

The table and chair robot 40 can move by means of the intelligent moving chassis 41 in an autonomous navigation mode, and can transport a table 45 to a place where the table 45 is needed; the table 453 can move in the first direction and/or the second direction under the driving of the third adjusting mechanism 454 and the fourth adjusting mechanism 455, so that the table 453 is located at a position where the user is most comfortable to work or use, the use experience is improved, noise is not generated during the moving process of the table 453, and the floor is not scratched; after desk 45 finishes using, intelligent movement chassis 41 carries the whole transfer position of desk 45, and occupation space not can adapt to different environment and place, satisfies the actual demand, has stronger practicality, uses manpower sparingly moreover, improves the availability factor.

Optionally, as shown in fig. 30, the third adjusting mechanism 454 includes a third motor-driven component 4541 and a third screw rod, the third motor-driven component 4541 is fixed on the supporting frame 451, a driving end of the third motor-driven component 4541 is connected with the third screw rod, a first connecting block 4521 is fixed on the movable frame 452, and the first connecting block 4521 is in threaded connection with the third screw rod; when the third motor drive assembly 4541 drives the third lead screw to rotate, the movable frame 452 and the table 453 move synchronously along the first direction X.

Alternatively, as shown in fig. 30, the fourth adjusting mechanism 455 includes a fourth motor driving component 4551 and a fourth lead screw 4552, the fourth motor driving component 4551 is fixed on the movable frame 452, a driving end of the fourth motor driving component 4551 is connected with the fourth lead screw 4552, a second connecting block 4531 is fixed on the back surface of the table 453, and the second connecting block 4531 is in threaded connection with the fourth lead screw 4552; when the fourth motor drive assembly 4551 drives the fourth lead screw 4552 to rotate, the table 453 moves in the second direction Y.

Optionally, the supporting frame 451 comprises at least one supporting leg 4511, the supporting leg 4511 comprises a fixed section and at least one telescopic section, an end of the fixed section is connected to the bearing plate 4111, the telescopic section is movably connected to the fixed section along a third direction, the table 45 comprises a fifth adjusting mechanism (not shown), the fifth adjusting mechanism is connected between the fixed section and the telescopic section and is used for driving the telescopic section to move up and down along the third direction, and the third direction is perpendicular to the first direction X and the second direction Y. In this embodiment, the supporting frame 451 includes two supporting legs 4511, two pairs of the two supporting legs 4511 are provided, and the seat 42 is located between the two supporting legs 4511.

Optionally, the supporting frame 451 further includes a fixing frame 4512, the fixing frame 4512 and the bearing plate 4111 are disposed opposite to each other up and down, the movable frame 452 is disposed above the fixing frame 4512, the fixing frame 4512 is fixedly connected between the two supporting legs 4511, and the third motor driving component 4541 is fixed on the fixing frame 4512.

Optionally, the fifth adjusting mechanism is, for example, an electric lifting cylinder or a combined structure of a motor and a screw rod, and can be freely selected according to actual needs.

Optionally, as shown in fig. 28 and fig. 29, the smart mobile chassis 41 includes a bearing plate 4111, a frame 4117, and a first driving wheel device 4121, a second driving wheel device 4122, a driving control module 413, and a battery module 414 mounted on the frame 4117, where the bearing plate 4111 is fixed on the frame 4117, the adjusting device, the first driving wheel device 4121, the second driving wheel device 4122, and the driving control module 413 are electrically connected to the battery module 414, the battery module 414 provides electric energy for the first driving wheel device 4121, the second driving wheel device 4122, and the driving control module 413, the first driving wheel device 4121 and the second driving wheel device 4122 are respectively disposed at two ends of the frame 4117, and the first driving wheel device 4121 and the second driving wheel device 4122 can turn 360 ° to realize movement of the smart mobile chassis 41.

Optionally, the intelligent mobile chassis 41 further includes a first universal wheel set 4151 and a second universal wheel set 4152, the first universal wheel set 4151 and the second universal wheel set 4152 are mounted on the framework 4117, the first universal wheel set 4151 is disposed near the first driving wheel device 4121, the second universal wheel set 4152 is disposed near the second driving wheel device 4122, and the first universal wheel set 4151 and the second universal wheel set 4152 are used for assisting the intelligent mobile chassis 41 to move, so that the intelligent mobile chassis 41 is ensured to move more stably.

Optionally, the intelligent mobile chassis 41 further includes a PLC module 416, an ultrasonic switch 417, a depth camera 418, and a navigation component 419 (e.g., a laser radar), the PLC module 416 is electrically connected to the ultrasonic switch 417, the depth camera 418, the navigation component 419, the driving control module 413, and the battery module 414, respectively, and the ultrasonic switch 417, the depth camera 418, and the navigation component 419 cooperate to enable autonomous navigation movement of the intelligent mobile chassis 41.

Alternatively, fig. 31 is a schematic partial perspective view of a table and chair robot according to a second embodiment of the present invention, fig. 32 is a schematic perspective view of an adjusting device according to the second embodiment of the present invention when fitted with a seat, and fig. 33 is a schematic rear view of an adjusting device according to the second embodiment of the present invention when fitted with a seat, and as shown in fig. 31, 32, and 33, a table and chair robot 40 according to the present embodiment has substantially the same structure as the table and chair robot 40 according to the first embodiment, and is different in that the table and chair robot 40 further includes a seat 42 and an adjusting device. In this embodiment, fig. 31 only illustrates the intelligent mobile chassis 41, the seat 42 and the adjusting device, the table 45 is not shown, and please refer to the first embodiment for the structure of the intelligent mobile chassis 41 and the table 45, which will not be described herein again.

Alternatively, as shown in fig. 31, 32 and 33, the seat 42 is placed on the carrier plate 4111, and an adjusting means for fixing and/or transferring the seat 42 according to a scheduling task is connected to the carrier plate 4111. In this embodiment, one or more seats 42 can be placed on the intelligent mobile chassis 41, and can be freely increased or decreased according to actual needs.

The table and chair robot 40 can move by means of autonomous navigation of the intelligent moving chassis 41, and can transport the seat 42 to a place where the seat 42 is needed; in addition, the intelligent mobile chassis 41 can fix the seat 42 by using the adjusting device in the process of transporting the seat 42, so that the seat 42 is prevented from falling; after the destination is reached, the seat 42 can be transferred to the ground by the adjusting device, and the whole process is intelligent and quick; after the seat 42 is used, the seat 42 is placed on the intelligent mobile chassis 41, and the seat 42 is transferred by the intelligent mobile chassis 41 without occupying space. Consequently, table chair robot 40 of this application can intelligent transportation seat 42, can adapt to different environment and place, satisfies the actual demand, has stronger practicality, uses manpower sparingly moreover, improves the availability factor.

Alternatively, as shown in fig. 31, 32 and 33, the adjusting device includes a first translational driving mechanism 431 and a swing driving mechanism 432, one end of the swing driving mechanism 432 is connected with the first translational driving mechanism 431, the other end of the swing driving mechanism 432 is connected with the seat 42, the first translational driving mechanism 431 is used for driving the swing driving mechanism 432 and the seat 42 to move horizontally, and the swing driving mechanism 432 is used for transferring the seat 42.

Optionally, the first translation driving mechanism 431 includes a first motor driving component 4311 (a combination structure of a motor and a speed reducer) and a first lead screw 4312, the first motor driving component 4311 is connected to the first lead screw 4312, the first lead screw 4312 is disposed along a width direction of the bearing plate 4111, the swing driving mechanism 432 is connected to the first lead screw 4312, and the swing driving mechanism 432 and the seat 42 can be moved horizontally by the first motor driving component 4311 driving the first lead screw 4312 to rotate.

Optionally, the first translation driving mechanism 431 further includes a plurality of first guide rods 4313, the plurality of first guide rods 4313 are parallel to the first lead screw 4312, the swing driving mechanism 432 is provided with a plurality of first guide holes, and each first guide rod 4313 is respectively disposed through each first guide hole, so as to improve the stability of the horizontal movement of the swing driving mechanism 432.

In other embodiments, the first translation driving mechanism 431 includes a driving cylinder (oil cylinder or air cylinder) and a driving shaft, the driving cylinder is connected to the driving shaft, the swing driving mechanism 432 is connected to the driving shaft, and the driving cylinder drives the driving shaft to move telescopically, so that the swing driving mechanism 432 and the seat 42 can move horizontally.

Alternatively, as shown in fig. 31, 32 and 33, the swing driving mechanism 432 includes a second movable seat 4321, a swing arm 4322 and a swing actuator 4323, one end of the swing arm 4322 is movably connected to the second movable seat 4321, the other end of the swing arm 4322 is movably connected to the seat 42, the swing actuator 4323 is fixed to the second movable seat 4321, a driving end of the swing actuator 4323 is connected to the swing arm 4322, the swing actuator 4323 is used for driving the swing arm 4322 to move the seat 42, and a driving end of the first translation driving mechanism 431 is connected to the second movable seat 4321. In this embodiment, the plurality of first guide holes penetrate through the second movable seat 4321, and the second movable seat 4321 is in threaded connection with the first lead screw 4312; when the first motor driving assembly 4311 drives the first lead screw 4312 to rotate, the second movable seat 4321 moves on the bearing plate 4111.

Alternatively, the swing driver 4323 is a combination of a motor and a reducer, an output shaft of the reducer is connected to the swing arm 4322, and the swing driver 4323 drives the swing arm 4322 to swing around a joint to transfer the seat 42 from the smart mobile chassis 41 to the ground, or from the ground to the smart mobile chassis 41.

Optionally, the swing arm 4322 includes a first swing rod 4322a and a second swing rod 4322b disposed parallel to each other, one end of the first swing rod 4322a and one end of the second swing rod 4322b are movably connected to the second movable seat 4321, the other end of the first swing rod 4322a and the other end of the second swing rod 4322b are movably connected to the back of the seat plate 421 of the seat 42, the swing actuator 4323 is connected to the first swing rod 4322a or the second swing rod 4322b, and the swing actuator 4323 outputs a power to drive the first swing rod 4322a and the second swing rod 4322b to swing synchronously. In the present embodiment, the seat plate 421 of the seat 42 is used for seating a person.

Alternatively, as shown in fig. 33, a second connection seat 423 is connected to a back surface of the seat plate 421, and the first and

second swing levers

4322a and 4322b are movably connected to the second connection seat 423; second connecting seat 423 accessible bolt fastening is on bedplate 421, and seat 42 can not break away from second connecting seat 423 this moment, perhaps sets up the tray on the second connecting seat 423 for bearing seat 42's bedplate 421, seat 42 can break away from second connecting seat 423 this moment, perhaps passes through spout, slide rail and fastening bolt cooperation between second connecting seat 423 and the bedplate 421, is used for adjusting seat 42's position, increases seat 42's travelling comfort.

Optionally, as shown in fig. 31, fig. 32 and fig. 33, the adjusting device includes a second fixing mechanism 433, the second fixing mechanism 433 includes a fixed component 4331, a movable component 4332 and a fixed driver 4333, the fixed component 4331 is fixed on the supporting plate 4111, the movable component 4332 is movably disposed on the supporting plate 4111, a receiving area for receiving the leg 422 of the seat 42 is formed between the movable component 4332 and the fixed component 4331, a driving end of the fixed driver 4333 is connected to the movable component 4332, and the fixed driver 4333 is configured to drive the movable component 4332 to move and cooperate with the fixed component 4331 to clamp or release the leg 422; when the seat 42 is placed on the intelligent mobile chassis 41, the legs 422 of the seat 42 are located in the accommodating area, two of the legs 422 are disposed near the fixed part 4331, the other two legs 422 are disposed near the movable part 4332, and the fixed driver 4333 can drive the movable part 4332 to move toward the direction near the fixed part 4331 until the legs 422 are clamped between the fixed part 4331 and the movable part 4332. In the present embodiment, the first translation driving mechanism 431 is disposed in the accommodating area and located between the fixed member 4331 and the movable member 4332. Optionally, the fixed part 4331 and the movable part 4332 are both L-shaped, specifically, the fixed part 4331 includes a first blocking beam and a second blocking beam, the first blocking beam and the second blocking beam are connected perpendicular to each other, and the first blocking beam and the second blocking beam are combined into an L-shape, wherein the first blocking beam is disposed along a width direction of the bearing plate 4111, and the second blocking beam is disposed along a length direction of the bearing plate 4111; the movable member 4332 comprises a third blocking beam and a fourth blocking beam, the third blocking beam and the fourth blocking beam are vertically connected with each other, the third blocking beam and the fourth blocking beam are combined into an L shape, the third blocking beam is arranged along the width direction of the bearing plate 4111, the third blocking beam is parallel to the first blocking beam, and the fourth blocking beam is arranged along the length direction of the bearing plate 4111; when the seat 42 is placed in the accommodating area, one leg 422 of the seat 42 is close to the junction of the first blocking beam and the second blocking beam, and the other leg 422 of the seat 42 is close to the junction of the third blocking beam and the fourth blocking beam. In order to prevent the seat 42 from falling, a baffle 4114 is further fixed on the bearing plate 4111, the second blocking beam and the fourth blocking beam are both parallel to and opposite to the baffle 4114, one end of the baffle 4114 extends to the first blocking beam, and the other end of the baffle 4114 extends to the third blocking beam; when the seat 42 is placed in the accommodating area, each leg 422 of the seat 42 is located in the accommodating area surrounded by the fixed member 4331, the movable member 4332 and the baffle 4114, the two rear legs 422 of the seat 42 are limited by the second blocking beam and the fourth blocking beam, and the two front legs 422 of the seat 42 are limited by the baffle 4114.

Optionally, the bearing plate 4111 is further provided with a first fixing seat 4115 and a second fixing seat 4116; the first translation driving mechanism 431 is connected to the first fixing seat 4115, an end portion of the first lead screw 4312 far from the first motor driving component 4311 is rotatably connected to the first fixing seat 4115, and both ends of the first guide rod 4313 are fixed to the first fixing seat 4115; the fixed driver 4333 is connected to the second fixed seat 4116, the fixed driver 4333 may be driven by a telescopic cylinder, or may be driven by a combination structure of a motor set (combination of a motor and a speed reducer) and a lead screw, for example, the fixed driver 4333 includes a motor set and a lead screw, the motor set is fixed to the second fixed seat 4116, one end of the lead screw is connected to the motor set, the other end of the lead screw is rotatably connected to the second fixed seat 4116, and the movable member 4332 is in threaded connection with the lead screw; when the motor set drives the screw rod to rotate, the movable part 4332 moves towards a direction close to or far away from the fixed part 4331; in order to ensure the stability of the movement of the movable member 4332, the second fixed seat 4116 is further connected to at least one second guide rod, the movable member 4332 is provided with at least one second guide hole, and the second guide rod passes through the second guide hole. In this embodiment, the middle portion of the blocking plate 4114 is fixed on the first fixing seat 4115.

Alternatively, fig. 34 is a schematic perspective view of a table and chair robot according to a third embodiment of the present invention, fig. 35 is a schematic front view of the table and chair robot according to the third embodiment of the present invention, and fig. 36 is a schematic structural view of a second fixing mechanism according to the third embodiment of the present invention, and as shown in fig. 34, 35, and 36, the table and chair robot 40 according to the present embodiment has substantially the same structure as the table and chair robot 40 according to the second embodiment, and is different in an adjustment device.

Optionally, as shown in fig. 35 and fig. 36, the adjusting device includes a third fixing mechanism 434, the third fixing mechanism 434 includes a supporting column 4341, a carrying seat 4342, a first positioning rod 4343, a second positioning rod 4344 and a positioning driver 4345, one end of the supporting column 4341 is fixed to the carrying plate 4111, the other end of the supporting column 4341 is fixed to the carrying seat 4342, the carrying seat 4342 is used for carrying the back of the seat plate 421 of the seat 42, the first positioning rod 4343 and the second positioning rod 4344 are movably disposed at two opposite ends of the carrying seat 4342, the positioning driver 4345 is fixed to the supporting column 4341, the positioning driver 4345 is used for driving the first positioning rod 4343 and the second positioning rod 4344 to abut against the leg 422 of the seat 42 for positioning, and the first positioning rod 4343 and the second positioning rod 4344 are further used for carrying the seat plate 421 of the seat 42. In this embodiment, the supporting column 4341 is disposed along a vertical direction, that is, the supporting column 4341 is perpendicular to the supporting plate 4111, the carrying seat 4342 is fixed on the top of the supporting column 4341, and the carrying seat 4342 is parallel to the supporting plate 4111; when the seat 42 is placed on the smart mobile chassis 41, the carrying seat 4342 is used to carry the seat plate 421 of the seat 42, and at this time, the leg 422 of the seat 42 may be separated from the carrying plate 4111, or the leg 422 of the seat 42 may be in contact with the carrying plate 4111.

Alternatively, the positioning driver 4345 is, for example, a combination of a motor and a gear set.

Alternatively, as shown in fig. 36, the third fixing mechanism 434 includes a first clamping driver 4346, a second clamping driver 4347, a first clamping jaw 4348 and a second clamping jaw 4349, the first clamping driver 4346 and the second clamping driver 4347 are fixed to the carrying seat 4342, a driving end of the first clamping driver 4346 is connected to the first clamping jaw 4348, a driving end of the second clamping driver 4347 is connected to the second clamping jaw 4349, the first clamping driver 4346 is used for driving the first clamping jaw 4348 to clamp one side of the seat plate 421, and the second clamping driver 4347 is used for driving the second clamping jaw 4349 to clamp the other side of the seat plate 421. In this embodiment, the first clamp driver 4346 and the second clamp driver 4347 are both electric push rod mechanisms.

Alternatively, as shown in fig. 36, one end of the first jaw 4348 is hinged to the driving end of the first clamp driver 4346, and the middle portion of the first jaw 4348 is hinged to the first positioning rod 4343; the first clamping driver 4346 can drive the first clamping jaw 4348 to swing around the connection (the connection between the first clamping jaw 4348 and the first positioning rod 4343) to clamp the seat plate 421; one end of the second clamping jaw 4349 is hinged to the driving end of the second clamping driver 4347, and the middle part of the second clamping jaw 4349 is hinged to the second positioning rod 4344; the second clamping driver 4347 can drive the second clamping jaw 4349 to swing around the connection (the connection between the second clamping jaw 4349 and the second positioning rod 4344) to clamp the seat plate 421. In this embodiment, the first clamping jaw 4348 and the second clamping jaw 4349 each include a first connecting portion, a second connecting portion and a hook portion, one end of the second connecting portion is connected to the first connecting portion, the other end of the second connecting portion is connected to the hook portion, an included angle between the second connecting portion and the first connecting portion is greater than 90 °, an included angle between the second connecting portion and the hook portion is equal to or greater than 90 °, an end portion of the first connecting portion away from the second connecting portion is connected to a driving end of the first clamping driver 4346 or the second clamping driver 4347, and a joint of the first connecting portion and the second connecting portion is hinged to the first positioning rod 4343 or the second positioning rod 4344.

For the structure and function of the intelligent mobile chassis 41, please refer to the first embodiment, which will not be described herein.

Alternatively, fig. 37 is a schematic perspective view of a table and chair robot according to a fourth embodiment of the present application, fig. 38 is a schematic front view of the table and chair robot according to the fourth embodiment of the present application, fig. 39 is a schematic side view of the table and chair robot according to the fourth embodiment of the present application, fig. 40 is a schematic side view of the link transfer mechanism according to the fourth embodiment of the present application when a seat is transferred out of a loading board, referring to fig. 37 to 40, the table and chair robot 40 according to the present embodiment has substantially the same structure as the table and chair robot 40 described above, and the difference is that an adjusting device is different.

Alternatively, the adjusting device includes a link transfer mechanism 435, the link transfer mechanism 435 includes a first transfer link 4351, a second transfer link 4352, a third transfer link 4353, a cross beam 4354 and a transfer driver 4355 (e.g. a combination of a motor and a reducer), the first transfer link 4351 and the second transfer link 4352 are disposed in parallel, one end of the first transfer link 4351 and one end of the second transfer link 4352 are movably connected to the carrying plate 4111, the other end of the first transfer link 4351 and the other end of the second transfer link 4352 are movably connected to the third transfer link 4353, the cross beam 4354 is fixed to the third transfer link 4353, the seat 42 is connected to or placed on the cross beam 4354, the transfer driver 4355 is fixed to the carrying plate 4111, a driving end of the transfer driver 4355 is connected to the first transfer link 4351, and the transfer driver 4355 is used for driving the first transfer link 4351 to swing to realize the transfer of the seat 42, for example, the transfer of the seat 42 to the floor, or the intelligent transfer from the floor to the mobile chassis 41. In this embodiment, a first hinge seat 4112 and a second hinge seat 4113 are fixed on the bearing plate 4111, the first hinge seat 4112 and the second hinge seat 4113 are disposed opposite to each other in the width direction of the bearing plate 4111, one end of the first transfer link 4351 is hinged to the first hinge seat 4112, the other end of the first transfer link 4351 is hinged to the end of the third transfer link 4353, one end of the second transfer link 4352 is hinged to the second hinge seat 4113, the other end of the second transfer link 4352 is hinged to the trunk of the third transfer link 4353, the end of the third transfer link 4353 away from the first transfer link 4351 and the second transfer link 4352 is fixedly connected to the cross beam 4354, and the first transfer link 4351, the second transfer link 4352 and the third transfer link 4353 form a parallelogram structure.

Optionally, the seat plate 421 of the seat 42 is fixed on the cross beam 4354 by bolts and screw holes, at this time, the seat 42 cannot be detached from the cross beam 4354, or a tray is arranged on the cross beam 4354 for supporting the seat plate 421 of the seat 42, at this time, the seat 42 can be detached from the cross beam 4354, or the cross beam 4354 and the seat plate 421 are matched by a sliding groove, a sliding rail and a fastening bolt, so as to adjust the position of the seat 42 and increase the comfort of the seat 42.

The table 45 of the present embodiment has the same structure and function as the table 45 of the second embodiment, that is, the table 453 of the present embodiment can be horizontally moved in the first direction X and/or the second direction Y under the driving of the third adjusting mechanism 454 and the fourth adjusting mechanism 455, which is beneficial to increase the comfort of the user, and the support leg 4511 of the table 45 can be moved up and down under the driving of the fifth adjusting mechanism, but this is not limited thereto, for example, the table 453 of the table 45 of the present embodiment is fixed on the support frame 451, the table 453 cannot be moved horizontally, only the support leg 4511 of the table 45 can be moved up and down, or both the table 453 and the support leg 4511 cannot be moved, and the corresponding structure and function can be freely increased and decreased according to the actual requirement.

Fig. 41 is a schematic perspective view illustrating a table and chair robot according to a fourth embodiment of the present invention, and fig. 42 to 44 are schematic views illustrating a flow of a robot arm transferring a seat to a floor according to the fourth embodiment of the present invention, and referring to fig. 41 to 44, the table and chair robot 40 according to the present embodiment has substantially the same configuration as the table and chair robot 40 described above, and is different in an adjustment device.

Optionally, the adjusting device comprises a mechanical arm 436, wherein the mechanical arm 436 comprises a plurality of movable arms 4361 movably connected in sequence and a plurality of movable actuators 4362 respectively actuating each of the movable arms 4361, and the plurality of movable actuators 4362 are adapted to actuate the plurality of movable arms 4361 to be folded into a parallel state or actuate the plurality of movable arms 4361 to be unfolded to transfer the seat 42. In this embodiment, each movable arm 4361 is plate-shaped, and the plurality of movable arms 4361 can be folded to be parallel to each other, so that the mechanical arm 436 does not occupy too much space below the table 45, and the space utilization rate can be improved.

Optionally, the robotic arm 436 comprises three movable arms 4361 and three movable actuators 4362; the end of the first movable arm 4361 is connected to the intelligent mobile chassis 41, and a movable driver 4362 is connected to the connection between the first movable arm 4361 and the intelligent mobile chassis 41, wherein the movable driver 4362 is used for driving the first movable arm 4361 to move around the hinge; one end of the second movable arm 4361 is connected to the first movable arm 4361, the other end of the second movable arm 4361 is connected to the third movable arm 4361, a movable actuator 4362 is connected to the joint of the second movable arm 4361 and the first movable arm 4361, and the movable actuator 4362 is configured to actuate the second movable arm 4361 to move around the joint; a movable driver 4362 is connected to the joint of the third movable arm 4361 and the second movable arm 4361, and the movable driver 4362 is used for driving the third movable arm 4361 to move around the joint; the three movable arms 4361 cooperate with the three movable actuators 4362 to complete the transfer of the seat 42. In this embodiment, an insert plate 363 is connected to the third movable arm 4361, and the insert plate 363 is used for supporting the seat plate 421 of the seat 42 when the seat 42 is transferred.

Optionally, a second translation driving mechanism (not shown) is disposed in the intelligent mobile chassis 41, the second translation driving mechanism includes a third sliding seat 4110 and a second translation driver, a driving end of the second translation driver is connected to the third sliding seat 4110, a strip-shaped movable hole 109 is disposed on the bearing plate 4111, the third sliding seat 4110 is disposed corresponding to the movable hole 109, an end of the mechanical arm 436 is connected to the third sliding seat 4110, and the second translation driver is configured to drive the third sliding seat 4110 to move so as to change a position of the mechanical arm 436. In this embodiment, the movable hole 109 penetrates through the bearing plate 4111, and the movable hole 109 is disposed along the length direction of the bearing plate 4111 (along the second direction Y); when a plurality of seats 42 are placed on the intelligent mobile chassis 41, the second translation driver can drive the mechanical arm 436 to pass through different seats 42 through the third sliding seat 4110, so that the mechanical arm 436 can transfer different seats 42 conveniently.

Optionally, the second translation driver is a telescopic cylinder structure or a combined structure of a motor and a screw rod, and can be freely selected according to actual requirements.

Optionally, the adjusting device comprises at least one supporting mechanism 437, wherein the supporting mechanism 437 comprises a column 4371, a plate 4372 and a plate actuator 4373, wherein an end of the column 4371 is connected to the carrying plate 4111, the plate 4372 is movably connected to the column 4371, the plate actuator 4373 is fixed to the column 4371, a driving end of the plate actuator 4373 is connected to the plate 4372, the plate actuator 4373 is used for driving the plate 4372 to turn, and the robot arm 436 is used for transferring the chair 42 to the plate 4372 or carrying the chair 42 away from the plate 4372. When the supporting mechanism 437 supports the seat 42, the supporting plate driver 4373 drives the supporting plate 4372 to a horizontal state, and the mechanical arm 436 transfers the seat 42 to the supporting plate 4372; when it is desired to transfer the seat 42 to the ground, the robot arm 436 moves the seat 42 on the tray 4372 to be lifted and then transferred to the ground.

Optionally, the table 45 of the present embodiment has the same structure and function as the table 45 of the second embodiment, that is, the table 453 of the present embodiment can be horizontally moved in the first direction X and/or the second direction Y under the driving of the third adjusting mechanism 454 and the fourth adjusting mechanism 455, which is beneficial to increase the comfort of the user, and the supporting leg 4511 of the table 45 can be driven by the fifth adjusting mechanism to be moved up and down; when the mechanical arm 436 transfers the seat 42 from the supporting plate 4372 to the ground or from the ground to the supporting plate 4372, the supporting leg 4511 is driven by the fifth adjusting mechanism to ascend, so as to prevent the seat 42 from colliding with the table 453 during the transfer; when the seat 42 is completely transferred, the supporting leg 4511 descends by being driven by the fifth adjusting mechanism.

Alternatively, fig. 45 is a schematic side view and fig. 46 is a schematic top view of a table and chair robot according to a sixth embodiment of the present invention, and as shown in fig. 45 and 46, the table and chair robot 40 according to this embodiment has substantially the same configuration as the table and chair robot 40 described above, and is different in an adjustment device.

Optionally, the adjustment device comprises a first adjustment mechanism (not shown) for the movement of the seat 42 in the first direction X and a second adjustment mechanism (not shown) for the movement of the seat 42 in the second direction Y, the first direction X and the second direction Y having an angle, for example, of 30 ° to 150 °, preferably 90 °; when the included angle is 90 °, that is, the first direction X is perpendicular to the second direction Y, wherein the first direction X is parallel to the width direction of the loading plate 4111, the second direction Y is parallel to the length direction of the loading plate 4111, the loading plate 4111 is parallel to the first direction X and the second direction Y, and the loading plate 4111 is parallel to the table 453. In this embodiment, please refer to the second embodiment for the functions and structures of the first and second adjusting mechanisms to drive the table 453 to move the relevant structure, and the details are not repeated herein.

Optionally, a position adjusting mechanism is disposed on the seat 42, the position adjusting mechanism is electrically connected to the first adjusting mechanism and the second adjusting mechanism, and the position adjusting mechanism is configured to adjust the position of the seat 42. In the present embodiment, the position adjusting mechanism is, for example, an operation rod 424 and an electric button or knob 425 for controlling the direction, and the operation rod 424 and the electric button or knob 425 can control the energization start of the first adjusting mechanism and the second adjusting mechanism and the direction of the movement of the seat 42.

The seat 42 of the present embodiment is, for example, a couch, and is comfortable.

Optionally, fig. 47 is a schematic perspective structure diagram of a plurality of table and chair robots spliced together according to a seventh embodiment of the present application, please refer to fig. 27 to 47, a smart home system includes the plurality of table and chair robots 40, a table of the table and chair robot 40, a table of the table and chair robot 40, a plurality of table and chair robots 40 move to be arranged in a matrix according to a scheduling task, and the third adjustment mechanism 454 and the fourth adjustment mechanism 455 of each table 45 drive each table 453 to move so as to splice the plurality of tables 453, so that a table top with a large area can be temporarily spliced in a room or an outdoor space such as a conference table, an office table, a lounge, a tea break room, and the like; after the large desktop is used, the plurality of table and chair robots 40 can be moved independently to be dispersed or moved to other places, can be used under various environments, have high practicability and can meet actual requirements.

Alternatively, fig. 48 is a schematic structural diagram of the power supply system in the present application when charging. Fig. 49 is a partial schematic top perspective view of the power supply system of the present application during charging. Fig. 50 is a partial schematic bottom perspective view of the power supply system of the present application during charging. Fig. 51 is a schematic top perspective view of a part of the power supply system of the present application when not being charged. Fig. 52 is one of the schematic front-view disassembled structures of the power supply robot in the present application. Fig. 53 is one of the schematic rear-view split structures of the power supply robot in the present application. Fig. 54 is a second schematic view of the power supply robot in the present application, which is a front view and a disassembled structure. Fig. 55 is a second schematic view showing a rear-view disassembled structure of the power supply robot according to the present application. Fig. 56 is a front perspective view of the power supply mechanism of the present application. Fig. 57 is a rear perspective view of the power supply mechanism in the present application. Fig. 58 is a front view of the power supply mechanism of the present application in a disassembled configuration. Fig. 59 is a rear view of the power supply mechanism in the present application. FIG. 60 is a side perspective view of a fourth pair of connectors according to the present application. Fig. 61 is a front perspective view of a fourth docking head in the present application. Fig. 62 is a bottom perspective view of the fourth docking head of the present application.

As shown in fig. 49 to fig. 59, in the power supply robot 50 provided by the present application, the power supply robot 50 is in communication connection with a cloud platform 71, the power supply robot 50 includes a moving body 51 and a power supply mechanism 52 mounted on the moving body 51, the power supply mechanism 52 includes a third pair of connectors 521, a second buffer mechanism 522 and a cable harness 523, the third pair of connectors 521 is connected with the second buffer mechanism 522, the second buffer mechanism 522 is connected with the moving body 51, and the second buffer mechanism 522 is used for providing a moving buffer space for the third pair of connectors 521; one end of the cable harness 523 is electrically connected to the third butt joint 521, and the other end of the cable harness 523 is used for connecting to the commercial power; the power supply robot 50 is used to supply power to the ceiling robot 10 and/or the wall robot 20 and the table and chair robot 40. In the present embodiment, the power supply robot 50 can autonomously navigate and move according to the scheduling task, and supply power to or charge the ceiling robot 10, the wall surface robot 20, and the table and chair robot 40.

According to the power supply robot, the power supply mechanism 52 is mounted on the moving body 51, so that the power supply robot can autonomously move to the vicinity of mechanical equipment 62 (the ceiling robot 10, the wall surface robot 20 and the table and chair robot 40) needing to be charged, and the mechanical equipment 62 which is lack of power is charged; and provide the buffering space that removes for third butt joint 521 through setting up second buffer gear 522, even there is certain deviation in the counterpoint of the joint that charges, the butt joint of power supply mechanism 52 also can be through the removal buffering space that second buffer gear 522 provided, with lack the accurate combination of joint of electric mechanical equipment 62, thereby need not the manual work and go to combine, reduce the cost of labor and improve the security, make power supply robot can be applied to unmanned on duty and the low space in be not convenient for manual operation's the consumer scene of supplying power.

In this embodiment, as shown in fig. 52 to 59, the second buffer mechanism 522 includes a connecting rod 5221, a second slider 5222, a second slide rail 5223 and a reset piece 5224, one end of the connecting rod 5221 is movably connected to the third docking head 521, the other end of the connecting rod 5221 is movably connected to the second slider 5222, the second slider 5222 is mounted on the second slide rail 5223 and can slide on the second slide rail 5223, the second slide rail 5223 is connected to the moving body 51, and the reset piece 5224 has an acting force that causes the second slider 5222 to slide close to the third docking head 521. The second buffering mechanism 522 adopts the connecting rod 5221, the second slider 5222, the second sliding rail 5223, the resetting element 5224 and the like, so that the second buffering mechanism 522 can provide a translational buffering space for the third butt joint 521, and the direction of the third butt joint 521 is prevented from being changed.

Optionally, the number of the connecting rods 5221, the second sliders 5222, the second slide rails 5223 and the reset pieces 5224 are all multiple, such that the second damping mechanism 522 can provide a translational damping space for the third docking head 521 in multiple directions (e.g., up-down, left-right, and front-back). In this embodiment, the number of the connecting rods 5221 is six, the number of the second sliders 5222, the number of the second sliding rails 5223 and the number of the reset pieces 5224 are three, every two connecting rods 5221 are matched with one second slider 5222, one second sliding rail 5223 and one reset piece 5224 to form one assembly, and the radian of the interval between the three assemblies is 120 °. Of course, in other embodiments, the second buffer mechanism 522 may also employ a plurality of sliding assemblies, such as a sliding assembly in the up-down direction and a sliding assembly in the front-back direction, so as to provide a buffer space for the third pair of connectors 521 to translate in a plurality of directions (e.g., the up-down direction and the left-right direction).

Optionally, the end of the connecting rod 5221 is movably connected to the third docking head 521 and the second slider 5222 by a rotating shaft or a universal ball head. In this embodiment, one end of the connecting rod 5221 is movably connected to the third docking head 521 through a rotating shaft, and the other end of the connecting rod 5221 is movably connected to the second slider 5222 through a rotating shaft. Of course, in other embodiments, one end of the connecting rod 5221 is movably connected to the third pair of joints 521 through a universal ball head, and the other end of the connecting rod 5221 is movably connected to the second slider 5222 through a universal ball head.

In this embodiment, the moving body 51 is provided with a guide post 5125, the second slider 5222 is sleeved on the guide post 5125 and can slide on the guide post 5125, the reset member 5224 is sleeved on the guide post 5125, one end of the reset member 5224 abuts against the moving body 51, and the other end of the reset member 5224 abuts against the second slider 5222. Wherein, the piece 5224 that resets adopts the spring, on the spring cover established and guide post 5125, guide post 5125 parallels with second slide rail 5223.

In this embodiment, the power supply mechanism 52 further includes a cable harness 523, one end of the cable harness 523 is electrically connected to the third pair of connectors 521, and the other end of the cable harness 523 is used for being connected to the commercial power, so as to supply power to the third pair of connectors 521 through the commercial power. Of course, the moving body 51 is also electrically connected to the cable harness 523, so that on one hand, the moving body 51 can be provided with moving power, and on the other hand, the controller on the moving body 51 can control the state of the commercial power supplying the third docking head 521.

In this embodiment, as shown in fig. 52 to 55, the moving body 51 includes a moving base 511 and a sliding mechanism 512 mounted on the moving base 511, and the sliding mechanism 512 is connected to the power supply mechanism 52 and is used for driving the power supply mechanism 52 to slide. The sliding direction of the sliding mechanism 512 is parallel to the guide post 5125 and the second slide rail 5223.

Optionally, the sliding mechanism 512 includes a driving mechanism 5121, a third slider 5122, a third sliding rail 5123, and a transmission assembly (not shown), where the driving mechanism 5121 and the third sliding rail 5123 are connected to the moving base 511, the third slider 5122 is connected to the third sliding rail 5123, the third slider 5122 can slide on the third sliding rail 5123, the power supply mechanism 52 is connected to the third slider 5122, and the driving mechanism 5121 is connected to the third slider 5122 through the transmission assembly and is configured to drive the third slider 5122 to slide. Wherein, the driving mechanism 5121 is a driving motor, and the transmission assembly can be a screw rod structure. Of course, in other embodiments, the driving mechanism 5121 may be a telescopic cylinder or a telescopic oil cylinder, and the telescopic rod of the telescopic cylinder or the telescopic oil cylinder is directly connected to the third sliding block 5122, so that a transmission assembly is not required.

Preferably, the third sliding rail 5123 is provided with a position detecting sensor for detecting the sliding distance of the third sliding block 5122 to avoid the power supply mechanism 52 from sliding out of position or having an excessively large sliding distance.

Optionally, a mounting bracket 5124 is disposed on the third slider 5122, the power supply mechanism 52 is mounted on the mounting bracket 5124, and the mounting bracket 5124 is connected to the third slider 5122. The second slide rail 5223 of the second damping mechanism 522 is mounted to the mounting bracket 5124, and the guide post 5125 is mounted to the mounting bracket 5124.

In this embodiment, the moving body 51 includes a housing 513, the housing 513 is connected to the moving base 511 to form an accommodating cavity 204, the power supply mechanism 52 and the sliding mechanism 512 are both located in the accommodating cavity 204, a second opening 201 matched with the third pair of connectors 521 is provided on the housing 513, and the sliding mechanism 512 is configured to drive the third pair of connectors 521 to extend and retract at the second opening 201. When power is not needed, the third pair of connectors 521 can be retracted into the housing 513, so that leakage is avoided, and safety is improved. One end of the cable harness 523, which is far away from the third docking head 521, is exposed out of the housing 513, so as to be conveniently connected with the commercial power.

Optionally, a shielding plate 5131 and a driver 5132 are disposed on the housing 513, the shielding plate 5131 is located at the second opening 201, and the driver 5132 is used for driving the shielding plate 5131 to close or open the second opening 201. By providing the shielding plate 5131, when power is not needed, the third pair of connectors 521 can be retracted into the housing 513, and the shielding plate 5131 shields the second opening 201, thereby further increasing the safety.

Optionally, the housing 513 is further provided with a partition 5133 and a shielding case 5134, the power supply mechanism 52 is located below the partition 5133, the cable harness 523 is located between the partition 5133 and the shielding case 5134, one end of the cable harness 523 passes through the partition 5133 to be connected with the third pair of connectors 521, and the shielding case 5134 is used for shielding an electromagnetic field generated by the cable harness 523 to improve safety.

Optionally, as shown in fig. 50, the bottom of the moving body 51 is further provided with a plurality of wheels 514, and the wheels 514 are used for driving the moving body 51 to move. Of course, the moving body 51 is further provided with a positioning element, an image sensor, a radar sensor, and the like, so that the moving body 51 can automatically find the mechanical device 62 to be charged.

Optionally, a fourth butt joint 61 is arranged on the ceiling robot 10 and/or the wall robot 20 and the table and chair robot 40, and the third butt joint 521 and the fourth butt joint 61 are matched with each other to realize electrical connection.

As shown in fig. 48 to 51, the present application also provides a power supply system including the fourth pair of joints 61 and the power supply robot as described above. The fourth pair of contacts 61 is engaged with the third pair of contacts 521, and the fourth pair of contacts 61 has a guide slope 611 on a side facing the third pair of contacts 521 (fig. 60 to 62). One of the third pair of contacts 521 and the fourth pair of contacts 61 is a plug and the other is a socket, so that the third pair of contacts 521 and the fourth pair of contacts 61 can be brought together and energized. When the third docking head 521 is docked with the fourth docking head 61, the second buffer mechanism 522 provides a buffer space for the third docking head 521 to move, and if there is a certain deviation, the guide slope 611 forces the third docking head 521 to move within the buffer space until the third docking head 521 is docked with the fourth docking head 61.

Optionally, as shown in fig. 60 to 62, the third butt joint 521 is provided with heat dissipation holes 202 penetrating through the third butt joint 521, opposite sides of the fourth butt joint 61 are provided with ventilation holes 203 corresponding to the heat dissipation holes 202, and the fourth butt joint 61 is provided with a heat dissipation fan 612 at least one of the ventilation holes 203. During charging, the third docking head 521 and the fourth docking head 61 generate a certain amount of heat, and the heat dissipation holes 202 are formed in the third docking head 521, and the ventilation holes 203 corresponding to the heat dissipation holes 202 are formed in two opposite sides of the fourth docking head 61, so that only one cooling fan 612 is needed to dissipate heat for the third docking head 521 and the fourth docking head 61 at the same time. The high-temperature resistant material PEEK selected for the third butt joint 521 and the fourth butt joint 61 ensures timely transfer of heat generated in the power supply process.

In this embodiment, as shown in fig. 48, the power supply system further includes a mechanical device 62, a winding reel 63, and a wire 64, the fourth butt joint 61 is installed on the mechanical device 62 and is used for charging the mechanical device 62, the wire 64 is wound on the winding reel 63, one end of the wire 64 is connected to a cable harness 523, and one end of the wire 64 is connected to the commercial power. Preferably, the wires 64 are detachably connected to the cable harness 523, so that the wires 64 with different lengths can be replaced conveniently, and the wires 64 are electrically connected to the cable harness 523 by aviation plugs and aviation sockets.

The preferred embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the present application within the technical idea of the present application, and these simple modifications are included in the scope of protection of the present application. The various features described in the foregoing detailed description may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations are not described separately.

Claims

1. An intelligent house system is characterized by comprising a cloud platform, an intelligent scheduling system, at least one ceiling robot and at least one wall robot, wherein the intelligent scheduling system is in communication connection with the cloud platform, the intelligent scheduling system is used for sending scheduling tasks to the cloud platform, the scheduling tasks comprise preset robot splicing and/or disassembling sequences, the cloud platform sends the scheduling tasks to the at least one ceiling robot and the at least one wall robot, and the ceiling robot and the wall robot are spliced into a house or disassembled into the house according to the scheduling tasks; the wall surface robot comprises a walking mechanism, the walking mechanism comprises a chassis, a first robot connecting mechanism is arranged on the chassis, the robot connecting mechanism comprises a first butt joint device and a second butt joint device matched with the first butt joint device, and the first butt joint device and the second butt joint device are respectively arranged at different positions on the chassis; one first butt joint device on the wall robot can with another second butt joint device on the wall robot links to each other to realize two the wall robot splices each other.

2. The intelligent housing system according to claim 1, wherein the scheduling task further comprises at least one first displacement path and at least one second displacement path, the ceiling robot and the wall robot have autonomous navigation movement and obstacle avoidance functions, the ceiling robot moves to a first target position according to the first displacement path, and the wall robot moves to a second target position according to the second displacement path, so that the wall of the ceiling robot and the wall robot are spliced.

3. The intelligent-home system of claim 2, wherein said scheduled task further comprises at least a third displacement path, said intelligent-home system comprising at least two of said wall robots, at least one of said wall robots moving to a third target location according to said third displacement path, said wall robots being docked.

4. The intelligent housing system according to claim 3, wherein the scheduling task further comprises a docking task, when the robots complete docking, the ceiling robot and the wall robots complete mutual locking and fixing according to the docking task, and at least two of the wall robots complete mutual locking and fixing according to the docking task.

5. The intelligent-home system as claimed in claim 1, further comprising a digital-twin system communicatively connected to the cloud platform, the digital-twin system being configured to implement real-time state mapping, state tracking, and behavior prediction for the ceiling robot and the wall robot digitized models.

6. The intelligent house system according to claim 1, wherein the ceiling robot and/or the wall robot are provided with a display screen, the intelligent house system further comprises a video push system, the video push system is in communication connection with the cloud platform, the video push system is configured to send a video play task to the cloud platform, the video play task includes a single screen video play task and/or a plurality of screen video play tasks arbitrarily spliced with a long resolution, and the ceiling robot and/or the wall robot controls one display screen to play a video or controls at least two display screens to splice with a long resolution to play a video according to the video play task.

7. The intelligent-house system as claimed in claim 1, further comprising an intelligent terminal device, wherein the intelligent terminal device is communicatively connected to the cloud platform, the intelligent terminal device is provided with a human-computer interaction interface, the human-computer interaction interface is used for inputting control instructions, and the control instructions comprise at least one of: the system comprises a robot splicing starting instruction, a robot disassembling starting instruction, a video pushing starting instruction, a robot moving starting instruction and a robot limb starting instruction.

8. The smart-home system of any one of claims 1 to 7, wherein said smart-dispatching system sends a splicing task to said cloud platform, said cloud platform issuing said splicing task to at least one of said ceiling robots and at least one of said wall robots; the ceiling robot and the wall surface robot receive the command, whether splicing can be carried out or not is confirmed, and if splicing can be carried out, the ceiling robot and the wall surface robot are started; the intelligent scheduling system decomposes the splicing task into the scheduling task and sends the scheduling task to the cloud platform, the cloud platform decomposes the scheduling task into a plurality of displacement tasks and sends the displacement tasks to at least one ceiling robot and at least one wall robot, and the at least one ceiling robot and the at least one wall robot move to a target position according to the displacement tasks.

9. The intelligent house system according to claim 8, wherein at least one ceiling robot and at least one wall robot report pose information to the cloud platform in real time during movement, the cloud platform stores time series data of the ceiling robot and/or the wall robot and sends the time series data to the intelligent scheduling system, and the intelligent scheduling system acquires real-time poses of the ceiling robot and/or the wall robot and confirms the next scheduling task and real-time monitoring according to the real-time poses.

10. The intelligent housing system according to claim 9, wherein when the ceiling robot and the wall robots successfully complete the displacement task, the intelligent scheduling system sends a docking task to the cloud platform, and the cloud platform issues the docking task to at least one ceiling robot and at least one wall robot, so that the ceiling robot and the wall robots complete the mutual locking and fixing, and at least two of the wall robots complete the mutual locking and fixing according to the docking task.

11. The intelligent house system according to any one of claims 1 to 7, wherein the ceiling robot comprises a first wall body, a second wall body and a ceiling, the first wall body is arranged opposite to the second wall body, the top parts of the first wall body and the second wall body are movably connected to the ceiling, and the bottom parts of the first wall body and the second wall body are provided with steering wheel driving devices which are used for driving the ceiling robot to integrally move according to the dispatching task.

12. The intelligent housing system according to claim 11, wherein the ceiling comprises a fixed canopy, and at least one movable canopy and at least one extension driving mechanism installed in the fixed canopy, the fixed canopy is connected to the first wall and the second wall, at least one side of the fixed canopy is provided with an opening, a driving end of the extension driving mechanism is connected to the movable canopy, and the extension driving mechanism is used for driving the movable canopy to extend out of the opening according to the scheduling task.

13. The smart home system of any one of claims 1 to 7, wherein said wall robot includes a display screen disposed on said travel mechanism, said travel mechanism including a drive wheel assembly disposed at a bottom of said chassis and coupled to said chassis, said display screen disposed above and coupled to said chassis; a power battery system is arranged in the chassis and is electrically connected with the driving wheel assembly and the display screen; the walking mechanism is used for driving the wall surface robot to integrally move according to the scheduling task so as to realize house splicing or dismantling.

14. The intelligent housing system according to claim 13, wherein a docking mechanism is provided on the chassis, the docking mechanism comprising an electro-telescoping drive, a first pair of contacts, and a second pair of contacts mating with the first pair of contacts, one of the first pair of contacts and the second pair of contacts being a docking plug, the other of the first pair of contacts and the second pair of contacts being a docking receptacle mating with the docking plug; the plug-in electric telescopic driving device is connected with the first pair of joints and is used for driving the first pair of joints to horizontally and telescopically move relative to the chassis; first butt joint with the second butt joint all with power battery system electricity is connected, one first butt joint on the wall robot can with another second butt joint on the wall robot links to each other to realize two the electricity between the wall robot is connected.

15. The smart-home system of claim 13, wherein the ceiling robot includes a second robot linkage, the second robot linkage being identical in construction to the first robot linkage, the first docking device on the wall robot being connectable to the second docking device on the ceiling robot to effect the wall robot and the ceiling robot being docked with one another.

16. The intelligent house system according to any one of claims 1 to 7, further comprising at least one table and chair robot, wherein the table and chair robot is in communication connection with the cloud platform, the table and chair robot has an autonomous navigation movement function, and the table and chair robot moves to a position below the ceiling robot according to the scheduling task.

17. The intelligent housing system according to claim 16, wherein the table and chair robot comprises an intelligent mobile chassis and a table capable of autonomous navigational movement, the table comprises a support frame, a movable frame, a table, a third adjustment mechanism and a fourth adjustment mechanism, the support frame is connected to the intelligent mobile chassis, the movable frame is movably connected to the support frame along a first direction, the table is movably connected to the movable frame along a second direction, the third adjustment mechanism is connected between the movable frame and the support frame and is configured to actuate the movable frame and the table to move along the first direction, the fourth adjustment mechanism is connected between the movable frame and the table and is configured to actuate the table to move along the second direction, and the first direction and the second direction have an included angle.

18. The intelligent-housing system of claim 17, wherein the intelligent-movement chassis is provided with a loading board, the table-chair robot further comprises a seat and an adjusting device, the seat is placed on the loading board, the adjusting device is connected to the loading board, and the adjusting device is used for fixing and/or transferring the seat according to the scheduling task.

19. The intelligent-home system according to claim 17, further comprising a plurality of table and chair robots, wherein the plurality of table and chair robots move to be arranged in a matrix according to the scheduling task, and the third adjustment mechanism and the fourth adjustment mechanism of each table drive each table to move to realize splicing of the plurality of tables.

20. The intelligent house system according to any one of claims 1 to 7, further comprising a power supply robot, wherein the power supply robot is communicatively connected to the cloud platform, the power supply robot comprises a moving body and a power supply mechanism mounted on the moving body, the power supply mechanism comprises a third pair of connectors, a second buffer mechanism and a cable harness, the third pair of connectors is connected to the second buffer mechanism, the second buffer mechanism is connected to the moving body, the second buffer mechanism is used for providing a moving buffer space for the third pair of connectors, one end of the cable harness is electrically connected to the third pair of connectors, and the other end of the cable harness is used for being connected to a commercial power; the power supply robot is used for supplying power to the ceiling robot and/or the wall surface robot.

21. The intelligent housing system according to claim 20, wherein the second buffer mechanism comprises a connecting rod, a second slider, a second slide rail, and a reset member, wherein one end of the connecting rod is movably connected to the third docking head, the other end of the connecting rod is movably connected to the second slider, the second slider is mounted on the second slide rail and can slide on the second slide rail, the second slide rail is connected to the moving body, and the reset member has a force that allows the second slider to slide close to the third docking head; and the ceiling robot and/or the wall surface robot are/is provided with a fourth butt joint, and the third butt joint and the fourth butt joint are matched with each other to realize electric connection.