A robot that can simultaneously grasp and control an object

Abstract

The present invention provides a robot that can simultaneously achieve grasping and control of an object, including a mobile chassis for moving and positioning according to a pre-constructed map; a robotic arm disposed on the mobile chassis; a controller for issuing a motion signal to cause the mobile chassis to move the robotic arm located thereon to a position on the map; and a grasping control device disposed at the end of the robotic arm for grasping and triggering manipulation of a target device. The present invention can simultaneously achieve automatic installation and manipulation of a target device, including a hand-held tool, by the robot.

Description

Technical Field

[0001] The present invention relates to intelligent robots, and more particularly, to a robot capable of simultaneously grasping and controlling objects. Background Art

[0002] Intelligent robots, as a type of intelligent appliances, can automatically perform tasks such as floor cleaning, desktop cleaning, sundry storage, and video monitoring in a room by virtue of a certain level of artificial intelligence. For example, an intelligent floor cleaning robot can suck up debris on the floor into its own trash collection box to complete the function of floor cleaning.

[0003] Currently, the intelligent robot technologies on the market all have a single functional entity. For example, a floor cleaning robot can only clean hair, dust, small particle garbage, etc., with relatively single functions. Except for the above basic functions, there are few other functions. The single-function nature of intelligent robots limits the diversification of their functions and makes it difficult for intelligent robots to be applicable to other usage scenarios.

[0004] In the existing intelligent robots, due to the limitation of the single function of the manipulator, they are often unable to simultaneously hold and manipulate tools. Therefore, additional power components are often required to assist in completing the holding or manipulation, which greatly increases the complexity and cost of the manipulator and limits the usage scenarios of intelligent robots. Summary of the Invention

[0005] Aiming at the deficiencies in the prior art, the object of the present invention is to provide a robot capable of simultaneously grasping and controlling objects.

[0006] The robot capable of simultaneously grasping and controlling objects according to the present invention includes:

[0007] A mobile chassis for moving and positioning according to a pre-constructed map;

[0008] A robotic arm disposed on the mobile chassis;

[0009] A controller for sending a motion signal to cause the mobile chassis to move the robotic arm located thereon to a position on the map according to the motion signal;

[0010] A grasping control device disposed at the end of the robotic arm for grasping and triggering the manipulation of a target device.

[0011] Preferably, the grasping control device includes:

[0012] A manipulator, which includes a locking box and moving fingers. At least two of the moving fingers are disposed on the locking box, and the two moving fingers can move towards and away from each other to achieve clamping and releasing;

[0013] A locking mechanism, detachably connected to the manipulator, capable of realizing a locking connection with the manipulator under the drive of the moving finger;

[0014] A clamping and operating mechanism, arranged on the front side of the locking mechanism, the clamping and operating mechanism includes a fixed bayonet and an actuating mechanism; the fixed bayonet is used for accommodating a target device, and a trigger end and an actuating end are connected to the actuating mechanism; when the trigger end moves towards the center direction of the actuating mechanism under the drive of the moving finger, the actuating end is driven to move towards the center direction of the actuating mechanism to perform a triggering operation on the target device.

[0015] Preferably, a locking cavity is formed on one side surface of the locking box, and locking holes are arranged on two opposite side surfaces in the locking cavity;

[0016] The locking mechanism includes a main body frame, a first moving block and a second moving block are arranged in the main body frame, the first moving block is movably connected to one side frame of the main body frame through a first locking rod, and the second moving block is movably connected to the other side frame of the main body frame through a second locking rod;

[0017] When the first moving block and the second moving block move towards each other under the drive of the moving finger, the first locking rod and the second locking rod extend out of the main body frame to cooperate with the corresponding locking holes, so as to realize the locking between the manipulator and the locking mechanism.

[0018] Preferably, the outer contour of the main body frame matches that of the locking cavity;

[0019] When the main body frame is assembled in the locking cavity, the first locking rod and the second locking rod are located in the locking cavity, and the first locking rod is aligned with the locking hole on one side surface of the locking cavity, and the second locking rod is aligned with the locking hole on the other side surface of the locking cavity.

[0020] Preferably, the first moving block and the second moving block include a first rod body and a second rod body; one end of the first rod body is connected to one end of the second rod body to form an L-shaped structure;

[0021] The first rod body in the first moving block is fixedly connected to the first locking rod, and the first rod body in the second moving block is fixedly connected to the second locking rod; a first through hole is arranged on one side frame of the main body frame, and the first locking rod can move back and forth in the first through hole, and a second through hole is arranged on the other side frame of the main body frame, and the second locking rod can move back and forth in the second through hole;

[0022] A first notch is provided on the upper end surface of the main body frame, and the second rod in the first moving block can move back and forth in the first notch; a second notch is provided on the lower end surface of the main body frame, and the second rod in the second moving block can move back and forth in the second notch.

[0023] Preferably, one end of the first rod is provided with a sliding hole extending from the first rod to the second rod and extending along the axial direction of the second rod;

[0024] A first sliding rod is provided on one side frame of the main body frame, and the first moving block can slide along the first sliding rod through the sliding hole provided thereon; a second sliding rod is provided on the other side frame of the main body frame, and the second moving block can slide along the second sliding rod through the sliding hole provided thereon.

[0025] Preferably, a limiting bayonet is provided at the end of the second rod;

[0026] When the first rod in the first moving block moves to fit with one side frame of the main body frame, the first locking rod is retracted into the main body frame; when the limiting bayonet in the first moving block moves to fit with one side frame of the main body frame, the first locking rod moves to the limit position in the locking hole on one side surface of the locking cavity;

[0027] When the first rod in the second moving block moves to fit with the other side frame of the main body frame, the second locking rod is retracted into the main body frame; when the limiting bayonet in the second moving block moves to fit with the other side frame of the main body frame, the second locking rod moves to the limit position in the locking hole on the other side surface of the locking cavity.

[0028] Preferably, the actuating mechanism includes a clamping bayonet, a trigger end, a transmission member and an actuating end;

[0029] The clamping bayonet is used to accommodate the target device;

[0030] The trigger end is triggered by the moving finger and drives the transmission member when triggered;

[0031] The transmission member is triggered by the trigger end and drives the actuating end when triggered;

[0032] The actuating end is triggered by the transmission member and completes the triggering operation on the target device when triggered.

[0033] Preferably, a first spring pair is disposed between the first moving block and one side frame of the main body frame, and a second spring pair is disposed between the second moving block and the other side frame of the main body frame; the first spring pair includes a first spring and a second spring, the first spring is sleeved on the first locking rod, the second spring is sleeved on the first sliding rod, the second spring pair includes a third spring and a fourth spring, the third spring is sleeved on the second locking rod, and the fourth spring is sleeved on the second sliding rod;

[0034] When the limit bayonet in the first moving block moves to fit with one side frame of the main body frame, the first spring pair is in a compressed state. When the first rod in the first moving block moves to fit with one side frame of the main body frame, the first spring pair is in a restored state;

[0035] When the limit bayonet in the second moving block moves to fit with the other side frame of the main body frame, the second spring pair is in a compressed state. When the first rod in the second moving block moves to fit with one side frame of the main body frame, the second spring pair is in a restored state.

[0036] Preferably, an elastic switch is provided on the target device. When the trigger end moves towards the center of the actuator under the drive of the moving finger, the execution end is driven to move towards the center of the actuator to trigger and manipulate the target device.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] In the present invention, by providing a grasping control device at the end of the robotic arm, the target device can be grasped and triggered, realizing the grasping and triggering of different target devices by the robot;

[0039] In the present invention, the movement finger first controls the operation of the locking mechanism, so that the first locking rod and the second locking rod extend from the main body frame and cooperate with the corresponding locking holes, realizing the locking of the mechanical hand and the locking mechanism, and realizing the automatic installation of the target device. Continuing to control the movement fingers to move towards each other, pushing the trigger end, and then driving the transmission member to make the execution end manipulate the target device, so as to simultaneously realize the automatic installation and manipulation of the hand-held tool by the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more obvious:

[0041] Figure 1 Schematic diagram of the structure of the robot in the embodiment of the present invention;

[0042] Figure 2 Schematic diagram of a state of the robot that can simultaneously achieve object grasping and control in the embodiment of the present invention;

[0043] Figure 3 Schematic diagram of another state of the robot that can simultaneously achieve object grasping and control in the embodiment of the present invention;

[0044] Figure 4 Schematic diagram of the structure of the manipulator in the embodiment of the present invention;

[0045] Figure 5 Schematic diagram of the structure of the locking box in the embodiment of the present invention;

[0046] Figure 6 Schematic diagram of the structure of the locking mechanism in the embodiment of the present invention;

[0047] Figure 7 Schematic diagram of a state of the locking mechanism in the embodiment of the present invention;

[0048] Figure 8 Schematic diagram of another state of the locking mechanism in the embodiment of the present invention;

[0049] Figure 9 Schematic diagram of the structure of the clamping and operating mechanism in the embodiment of the present invention; and

[0050] Figure 10 Schematic diagram of the cooperation relationship of the components of the trigger mechanism included in the actuator in the embodiment of the present invention.

[0051] In the figure:

[0052] 100 is a manipulator; 101 is a locking box; 102 is a first moving finger; 103 is a second moving finger; 104 is a locking cavity; 105 is a first locking hole; 106 is a second locking hole; 200 is a locking mechanism; 201 is a main body frame; 202 is a first moving block; 2021 is a first rod body; 2022 is a second rod body; 203 is a first locking rod; 204 is a first sliding rod; 205 is a second moving block; 206 is a second locking rod; 207 is a first spring; 208 is a second spring; 300 is a clamping and operating mechanism; 301 is an actuating mechanism; 302 is a fixed bayonet; 3011 is a trigger end; 3012 is an adapter; 3013 is a first hinge; 3014 is a transmission member; 3015 is a second hinge; 3016 is a third hinge; 3017 is an actuating end; 3018 is a fourth hinge; 400 is a target device; 401 is an elastic switch; 500 is a mobile chassis. Detailed implementation mode

[0053] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made. These all belong to the protection scope of the present invention.

[0054] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for circuit connection.

[0055] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0056] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0057] The robot provided by the present invention that can simultaneously achieve object grasping and control includes:

[0058] A mobile chassis for moving and positioning according to a pre-constructed map;

[0059] A robotic arm provided on the mobile chassis;

[0060] A controller for sending a motion signal to cause the mobile chassis to move the robotic arm located thereon to a position on the map according to the motion signal;

[0061] A grasping control device provided at the end of the robotic arm for grasping and triggering the manipulation of a target device.

[0062] The grasping control device includes: a mechanical hand, a locking mechanism, and a clamping manipulation mechanism;

[0063] The mechanical hand includes a locking box and moving fingers. At least two moving fingers are provided on the locking box, and the two moving fingers can move towards and away from each other to achieve clamping and releasing; a locking cavity is formed on one side surface of the locking box, and locking holes are provided on two opposite side surfaces in the locking cavity;

[0064] The locking mechanism includes a main body frame. A first moving block and a second moving block are provided in the main body frame. The first moving block is movably connected to one side frame of the main body frame through a first locking rod, and the second moving block is movably connected to the other side frame of the main body frame through a second locking rod;

[0065] When the first moving block and the second moving block move towards each other under the drive of the moving fingers, the first locking rod and the second locking rod extend from the main body frame to cooperate with the corresponding locking holes to achieve the locking between the mechanical hand and the locking mechanism;

[0066] The clamping manipulation mechanism includes a fixed bayonet and an actuating mechanism; the fixed bayonet and the actuating mechanism are provided on the front side surface of the main body frame, and a trigger end and an actuating end are connected to the actuating mechanism;

[0067] When the trigger end moves towards the center direction of the actuating mechanism under the drive of the moving fingers, the actuating end is driven to move towards the center direction of the actuating mechanism through transmission mechanisms such as a connecting rod, a rack and pinion, a lead screw, and a cam to perform the triggering manipulation of the target device. The triggering manipulation includes operations such as switching, squeezing, spreading, and vibrating.

[0068] In the embodiment of the present invention, by arranging a grasping control device at the end of the robotic arm, the target device can be grasped and triggered for manipulation, realizing the grasping and triggering manipulation of different target devices by the robot; by first controlling the locking mechanism to operate with the moving fingers, the first locking rod and the second locking rod are made to extend from the main body frame and cooperate with the corresponding locking holes, so as to lock the mechanical hand and the locking mechanism, realizing the automatic installation of the handheld tool; continuing to control the moving fingers to move towards each other to push the trigger end, and driving the execution end to manipulate the target device through the link mechanism, realizing the simultaneous automatic installation and manipulation of the handheld tool by the robot.

[0069] The above is the core idea of the present invention. To make the above objects, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0070] Figure 1 It is a schematic structural diagram of the robot in the embodiment of the present invention, as Figure 1 shown, the robot provided by the present invention includes the robot that can simultaneously realize the grasping and control of an object, and also includes a mobile chassis 500, a controller, a grasping control device, and a robotic arm;

[0071] The mobile chassis 500 is used for moving and positioning according to a pre-constructed map;

[0072] The robotic arm is arranged on the mobile chassis 500;

[0073] The controller is used for sending a motion signal, so that the mobile chassis 500 moves the robotic arm located thereon to a position on the map according to the motion signal;

[0074] The grasping control device 100 is arranged at the end of the robotic arm and is used for grasping and triggering manipulation of the target device.

[0075] In the embodiment of the present invention, the robotic arm is detachably connected to the mobile chassis 500 through the connecting seat, and the grasping control device can simultaneously realize the grasping and switch control of the target device 400 by the robot capable of grasping and controlling an object;

[0076] The controller is used for controlling the movement of the mobile chassis 500 and / or controlling the robotic arm to execute an operation function.

[0077] Figure 2This is a schematic diagram of a state of a robot that can simultaneously achieve object grasping and control in an embodiment of the present invention. Figure 3 This is another schematic diagram of a state of a robot that can simultaneously achieve object grasping and control in an embodiment of the present invention. As Figure 2 , Figure 3 shown, the robot provided by the present invention that can simultaneously achieve object grasping and control includes a mechanical hand 100, a locking mechanism 200, and a clamping and operating mechanism 300;

[0078] The mechanical hand 100 includes a locking box 101 and moving fingers. At least two of the moving fingers are arranged on the locking box 101, and the two moving fingers can move towards and away from each other to achieve clamping and releasing; a locking cavity 104 is formed on one side surface of the locking box 101, and locking holes are arranged on two opposite side surfaces in the locking cavity 104;

[0079] In an embodiment of the present invention, the moving fingers are a first moving finger 102 and a second moving finger 103 arranged oppositely, and the first moving finger 102 and the second moving finger 103 can move towards or away from each other under the drive of a cylinder or a motor; the first moving finger 102 and the second moving finger 103 are arranged on the front end surface of the locking box 101, the second moving finger 103 moves along the upper rail in the front end surface of the locking box 101, the first moving finger 102 moves along the lower rail in the front end surface of the locking box 101, and the upper rail and the lower rail are parallel to each other;

[0080] The first moving finger 102 and the second moving finger 103 include a limiting piece and a clamping piece. One end of the clamping piece is connected to one end of the limiting piece and is perpendicular to the limiting piece. The limiting piece of the first moving finger 102 is arranged in the lower rail, the limiting piece of the second moving finger 103 is arranged in the upper rail, and the clamping pieces in the first moving finger 102 and the second moving finger 103 are parallel to each other.

[0081] The locking mechanism 200 includes a main body frame 201. A first moving block 202 and a second moving block 205 are arranged in the main body frame 201. The first moving block 202 is movably connected to one side frame of the main body frame 201 through a first locking rod 203, and the second moving block 205 is movably connected to the other side frame of the main body frame 201 through a second locking rod 206;

[0082] When the first moving block 202 and the second moving block 205 move towards each other under the drive of the moving fingers, the first locking rod 203 and the second locking rod 206 extend out of the main body frame 201 to cooperate with the corresponding locking holes, so as to realize the locking between the mechanical hand 100 and the locking mechanism 200;

[0083] The clamping and manipulating mechanism 300 includes a fixed bayonet 302 and an actuator 301; the fixed bayonet 302 and the actuator 301 are disposed on the front side surface of the main body frame 201, and a connected trigger end 3011 and an execution end 3017 are provided on the actuator 301;

[0084] When the trigger end 3011 moves towards the center direction of the actuator 301 under the drive of the moving finger, the execution end 3017 is driven to move towards the center direction of the actuator 301 through a link mechanism to perform the triggering manipulation of the target device 400.

[0085] Figure 4 It is a schematic structural diagram of the manipulator in the embodiment of the present invention. Figure 5 It is a schematic structural diagram of the locking box in the embodiment of the present invention. As Figure 4 、 Figure 5 shown, the locking cavity 104 is in a cubic shape; the locking cavity 104 matches the outer contour of the main body frame 201;

[0086] When the main body frame 201 is assembled in the locking cavity 104, the first locking rod 203 and the second locking rod 206 are located in the locking cavity 104, and the first locking rod 203 is aligned with the locking hole on one side surface of the locking cavity 104, and the second locking rod 206 is aligned with the locking hole on the other side surface of the locking cavity 104.

[0087] In the embodiment of the present invention, the locking hole on one side surface of the locking cavity 104 is a first locking hole 105, and the locking hole on the other side surface of the locking cavity 104 is a second locking hole 106. The second locking hole 106 is located above the first locking hole 105. Both the first locking hole 105 and the second locking hole 106 are cylindrical holes.

[0088] In the modification of the present invention, both the first locking hole 105 and the second locking hole 106 include two relatively arranged cylindrical holes.

[0089] Figure 6 It is a schematic structural diagram of the locking mechanism in the embodiment of the present invention. As Figure 6 shown, the first moving block 202 and the second moving block 205 include a first rod body 2021 and a second rod body 2022; one end of the first rod body 2021 is connected to one end of the second rod body 2022 to form an L-shaped structure;

[0090] The first rod 2021 in the first moving block 202 is fixedly connected to the first locking rod 203, and the first rod in the second moving block 205 is fixedly connected to the second locking rod 206; a first through hole is provided on one side frame of the main body frame 201, and the first locking rod 203 can move back and forth in the first through hole. A second through hole is provided on the other side frame of the main body frame 201, and the second locking rod 206 can move back and forth in the second through hole;

[0091] A first notch is provided on the upper end surface of the main body frame 201, and the second rod 2022 in the first moving block 202 can move back and forth in the first notch; a second notch is provided on the lower end surface of the main body frame 201, and the second rod in the second moving block 205 can move back and forth in the second notch.

[0092] In an embodiment of the present invention, a sliding hole extending from the first rod 2021 to the second rod 2022 and extending along the axial direction of the second rod 2022 is provided at one end of the first rod 2021;

[0093] A first sliding rod 204 is provided on one side frame of the main body frame 201, and the first moving block 202 can slide along the first sliding rod 204 through the sliding hole provided thereon. A second sliding rod is provided on the other side frame of the main body frame 201, and the second moving block 205 can slide along the second sliding rod through the sliding hole provided thereon.

[0094] Figure 7 It is a schematic diagram of a state of the locking mechanism in an embodiment of the present invention, Figure 8 It is another schematic diagram of the state of the locking mechanism in an embodiment of the present invention, as Figure 7 、 Figure 8 As shown, a limit bayonet is provided at the end of the second rod 2022;

[0095] When the first rod 2021 in the first moving block 202 moves to fit with one side frame of the main body frame 201, the first locking rod 203 is retracted into the main body frame 201. When the limit bayonet in the first moving block 202 moves to fit with one side frame of the main body frame 201, the first locking rod 203 moves to the extreme position in the locking hole on one side surface of the locking cavity 104;

[0096] In an embodiment of the present invention, when the first rod body 2021 in the first movement block 202 moves to fit with the inner side surface of the right frame of the main frame 201, the first locking rod 203 is retracted into the main frame 201. When the limit latch in the first movement block 202 moves to fit with the outer side surface of the right frame of the main frame 201, the first locking rod 203 moves to the extreme position in the locking hole on one side of the locking cavity 104.

[0097] When the first rod body of the second motion block 205 moves to fit the other side frame of the main frame 201, the second locking rod 206 is retracted into the main frame 201. When the limit latch of the second motion block 205 moves to fit the other side frame of the main frame 201, the second locking rod 206 moves to the limit position in the locking hole on the other side of the locking cavity 104.

[0098] In an embodiment of the present invention, when the first rod body in the second motion block 205 moves to fit together with the inner side surface of the left frame of the main frame 201, the second locking rod 206 is retracted into the main frame 201. When the limiting latch in the second motion block 205 moves to fit together with the outer side surface of the left frame of the main frame 201, the second locking rod 206 moves to the extreme position in the locking hole on the other side of the locking cavity 104.

[0099] Figure 9 FIG. 1 is a schematic structural diagram of a clamping and operating mechanism according to an embodiment of the present invention. Figure 9 As shown, the actuator 301 includes a clamping bayonet, a trigger end 3011, an adapter 3012 and an execution end 3017; the first end of the adapter 3012 is hinged to one side end of the clamping bayonet, the trigger end 3011 is fixedly connected to the second end of the adapter 3012, and the execution end 3017 is hinged to the third end of the adapter 3012.

[0100] In the embodiment of the present invention, the clamping bayonet is arranged on the upper side of the fixed bayonet 302. The fixed bayonet 302 is used for the preliminary locking of the target device 400. The clamping bayonet is used to cooperate with the fixed bayonet 302 to complete the clamping and switch control of the target device 400.

[0101] The trigger end 3011 is located below the execution end 3017 , so that the moving finger triggers the trigger end 3011 instead of the execution end 3017 .

[0102] The target device 400 may be a handle of a vacuum cleaner, a handle of a floor scrubber, a handle of a sweeper, or the like.

[0103] Figure 10This is a schematic diagram of the cooperation relationship among the components in the link mechanism included in the actuator in the embodiments of the present invention. As Figure 10 shown, the actuator further includes a transmission member 3014;

[0104] When the trigger end 3011 is triggered, it drives the transmission member 3014;

[0105] The transmission member 3014 is triggered by the trigger end 3011 and drives the execution end 3017 when triggered;

[0106] The execution end 3017 is triggered by the transmission member 3014 and completes the triggering operation on the target device when triggered.

[0107] More specifically, one end of the transmission member 3014 is hinged to the third end of the adapter 3012, and the other end is hinged to the rear end portion of the execution end 3017. The rear end of the execution end 3017 is simultaneously hinged to one side end of the clamping bayonet.

[0108] In the embodiments of the present invention, the transmission member 3014 and the adapter 3012 are hinged through a fourth hinge member 3018; the first end of the adapter 3012 is hinged to one side end of the clamping bayonet through a first hinge member 3013, the rear end of the execution end 3017 is hinged to one side end of the clamping bayonet through a second hinge member 3015, one end of the transmission member 3014 is hinged to the third end of the adapter 3012 through a fourth hinge member 3018, and the other end is hinged to the rear end portion of the execution end 3017 through a third hinge member 3016.

[0109] In the embodiments of the present invention, a first spring pair is provided between the first moving block 202 and one side frame of the main body frame 201, and a second spring pair is provided between the second moving block 205 and the other side frame of the main body frame 201; the first spring pair includes a first spring 207 and a second spring 208. The first spring 207 is sleeved on the first locking rod, the second spring 208 is sleeved on the first sliding rod 204, the second spring pair includes a third spring and a fourth spring. The third spring is sleeved on the second locking rod, and the fourth spring is sleeved on the second sliding rod;

[0110] When the limit bayonet in the first moving block 202 moves to fit with one side frame of the main body frame 201, the first spring pair is in a compressed state. When the first rod 2021 in the first moving block 202 moves to fit with one side frame of the main body frame 201, the first spring pair is in a restored state;

[0111] When the limit bayonet in the second moving block 205 moves to fit with the other side frame of the main body frame 201, the second spring pair is in a compressed state. When the first rod in the second moving block 205 moves to fit with one side frame of the main body frame 201, the second spring pair is in a restored state.

[0112] When using the robot provided by the present invention that can simultaneously achieve object grasping and control, when the robot that can simultaneously achieve object grasping and control grasps the target device 400, first, the first moving finger 102 and the second moving finger 103 clamp both sides of the locking mechanism 200 and then move towards each other, so that the first moving block 202 and the second moving block 205 move towards each other. The first locking rod 203 and the second locking rod 206 extend from the main body frame 201 and cooperate with the corresponding locking holes to achieve the locking between the manipulator 100 and the locking mechanism 200. When the first moving finger 102 and the second moving finger 103 continue to move towards each other, the trigger end 3011 drives the execution end 3017 to move towards the center of the execution mechanism 301 to clamp the target device 400 when the trigger end 3011 is driven by one of the moving fingers towards the center of the execution mechanism 301. An elastic switch 401 is provided on the target device 400. When the trigger end 3011 is driven by the moving finger towards the center of the execution mechanism 301, the execution end 3017 moves towards the center of the execution mechanism 301 to perform the triggering operation on the target device 400, such as pressing the elastic switch 401.

[0113] In the embodiment of the present invention, the moving fingers first control the operation of the locking mechanism to achieve the cooperation between the first locking rod and the second locking rod extending from the main body frame and the corresponding locking holes, so as to lock the manipulator and the locking mechanism. Then, continue to control the moving fingers to move towards each other, push one end of the trigger end, so that the execution end moves towards the center of the execution mechanism to clamp the target device and control the switch, and simultaneously realize the automatic installation and switch control of the handheld tool by the robot.

[0114] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0115] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A robot capable of simultaneously grasping and controlling an object, characterized in that, Comprising: A mobile chassis for movement and positioning according to a pre-built map; A robotic arm disposed on the mobile chassis; A controller for sending a movement signal to cause the mobile chassis to move the robotic arm located thereon to a position on the map according to the movement signal; A grasping control device disposed at the end of the robotic arm for grasping and triggering manipulation of a target device; The grasping control device includes: A robotic hand, the robotic hand including a locking box and moving fingers, at least two of the moving fingers being disposed on the locking box, and the two moving fingers being capable of moving towards and away from each other to achieve clamping and releasing; A locking mechanism detachably connected to the robotic hand and capable of achieving a locking connection with the robotic hand under the drive of the moving fingers; A clamping manipulation mechanism disposed on the front side of the locking mechanism, the clamping manipulation mechanism including a fixed bayonet and an actuating mechanism; the fixed bayonet for accommodating the target device, and the actuating mechanism being provided with a connected trigger end and an actuating end; the actuating mechanism includes a trigger end, the trigger end being located below the actuating end, and when the trigger end moves towards the center direction of the actuating mechanism under the drive of the moving fingers, driving the actuating end to move towards the center direction of the actuating mechanism to perform triggering manipulation of the target device.

2. The robot capable of simultaneously grasping and controlling an object according to claim 1, characterized in that, A locking cavity is formed on one side surface of the locking box, and locking holes are provided on two opposite side surfaces in the locking cavity; The locking mechanism includes a main body frame, a first moving block and a second moving block are disposed in the main body frame, the first moving block is movably connected to one side frame of the main body frame through a first locking rod, and the second moving block is movably connected to the other side frame of the main body frame through a second locking rod; When the first moving block and the second moving block move towards each other under the drive of the moving fingers, the first locking rod and the second locking rod extend out of the main body frame to cooperate with the corresponding locking holes, realizing the locking between the robotic hand and the locking mechanism.

3. The robot capable of simultaneously grasping and controlling an object according to claim 2, wherein The outer contour of the main body frame matches that of the locking cavity; When the main body frame is assembled in the locking cavity, the first locking rod and the second locking rod are located in the locking cavity, and the first locking rod is aligned with the locking hole on one side surface of the locking cavity, and the second locking rod is aligned with the locking hole on the other side surface of the locking cavity.

4. The robot capable of simultaneously grasping and controlling an object according to claim 2, wherein, The first moving block and the second moving block respectively include a first rod body and a second rod body; one end of the first rod body is connected to one end of the second rod body to form an L-shaped structure; In the first moving block, the first rod body is fixedly connected to the first locking rod, and in the second moving block, the first rod body is fixedly connected to the second locking rod; a first through hole is provided on one side frame of the main body frame, and the first locking rod can move back and forth in the first through hole, and a second through hole is provided on the other side frame of the main body frame, and the second locking rod can move back and forth in the second through hole; A first notch is provided on the upper end face of the main body frame, and the second rod in the first moving block can move back and forth in the first notch; a second notch is provided on the lower end face of the main body frame, and the second rod in the second moving block can move back and forth in the second notch.

5. The robot capable of simultaneously grasping and controlling an object according to claim 4, wherein One end of the first rod is provided with a sliding hole extending from the first rod to the second rod and extending along the axial direction of the second rod; A first sliding rod is provided on one side frame of the main body frame, and the first moving block can slide along the first sliding rod through the sliding hole provided thereon. A second sliding rod is provided on the other side frame of the main body frame, and the second moving block can slide along the second sliding rod through the sliding hole provided thereon.

6. The robot capable of simultaneously grasping and controlling an object according to claim 4, wherein A limiting bayonet is provided at the end of the second rod; When the first rod in the first moving block moves to fit with one side frame of the main body frame, the first locking rod is retracted into the main body frame. When the limiting bayonet in the first moving block moves to fit with one side frame of the main body frame, the first locking rod moves to the limit position in the locking hole on one side surface of the locking cavity; When the first rod in the second moving block moves to fit with the other side frame of the main body frame, the second locking rod is retracted into the main body frame. When the limiting bayonet in the second moving block moves to fit with the other side frame of the main body frame, the second locking rod moves to the limit position in the locking hole on the other side surface of the locking cavity.

7. The robot capable of simultaneously grasping and controlling an object according to claim 1, wherein The actuating mechanism includes a clamping bayonet, a transmission member, and an actuating end. The clamping bayonet is provided above the fixed bayonet; The clamping bayonet is used to accommodate the target device; The trigger end is triggered by the moving finger and drives the transmission member when triggered; The transmission member is triggered by the trigger end and drives the actuating end when triggered; The actuating end is triggered by the transmission member and completes the triggering operation on the target device when triggered.

8. The robot capable of simultaneously grasping and controlling an object according to claim 5, wherein A first spring pair is provided between the first moving block and one side frame of the main body frame, and a second spring pair is provided between the second moving block and the other side frame of the main body frame; the first spring pair includes a first spring and a second spring. The first spring is sleeved on the first locking rod, and the second spring is sleeved on the first sliding rod. The second spring pair includes a third spring and a fourth spring. The third spring is sleeved on the second locking rod, and the fourth spring is sleeved on the second sliding rod; When the limiting bayonet in the first moving block moves to fit with one side frame of the main body frame, the first spring pair is in a compressed state. When the first rod in the first moving block moves to fit with one side frame of the main body frame, the first spring pair is in a restored state; When the limiting bayonet in the second moving block moves to fit with the other side frame of the main body frame, the second spring pair is in a compressed state. When the first rod in the second moving block moves to fit with one side frame of the main body frame, the second spring pair is in a restored state.

9. The robot capable of simultaneously grasping and controlling an object according to claim 1, wherein, An elastic switch is provided on the target device. When the trigger end moves towards the center direction of the actuator under the drive of the moving finger, it drives the execution end to move towards the center direction of the actuator to perform the triggering operation of the target device.

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