Mechanical device and robot capable of simultaneously achieving object grasping and control

Abstract

The application provides a mechanical device and robot capable of simultaneously realizing object grabbing and control, comprising a mechanical hand, a locking mechanism and a clamping manipulation mechanism; the mechanical hand comprises a locking box and moving fingers, at least two moving fingers are arranged on the locking box, and the two moving fingers can move towards each other and away from each other to realize clamping and releasing; a locking cavity is formed on one side surface of the locking box, and locking holes are arranged on the opposite two side surfaces in the locking cavity; the locking mechanism comprises a main frame, a first moving block and a second moving block are arranged in the main frame, the first moving block is movably connected to one side frame of the main frame through a first locking rod, and the second moving block is movably connected to the other side frame of the main frame through a second locking rod; the clamping manipulation mechanism comprises a fixed socket and an execution mechanism; the fixed socket and the execution mechanism are arranged on the front side surface of the main frame, and a trigger end, a transmission member and an execution end are arranged on the execution mechanism in sequence. The application can realize automatic installation and manipulation of target equipment including handheld tools by the robot.

Description

Technical Field

[0001] This invention relates to intelligent robots, specifically to a mechanical device and robot capable of simultaneously grasping and controlling objects. Background Technology

[0002] Intelligent robots are a type of smart appliance that, with a certain level of artificial intelligence, can automatically perform tasks such as floor cleaning, desktop cleaning, clutter tidying, and video monitoring within a room. For example, a smart robotic vacuum cleaner can first suck up debris from the floor and put it into its own dustbin, thus completing the floor cleaning function.

[0003] Currently, most intelligent robot technologies on the market have a single function. For example, robotic vacuum cleaners can only clean up hair, dust, and small particles of debris, and their functions are relatively limited, with few other capabilities besides these basic functions. This limitation in functionality restricts the diversification of intelligent robots, making them difficult to apply to other usage scenarios.

[0004] Existing intelligent robots are often limited by the single function of their robotic arms, which cannot simultaneously grip and manipulate tools. Therefore, they often require additional power components to assist in gripping or manipulating, which greatly increases the complexity and cost of the robotic arms and limits the application scenarios of intelligent robots. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this invention is to provide a mechanical device and robot that can simultaneously grasp and control objects.

[0006] The mechanical device according to the present invention, capable of simultaneously grasping and controlling an object, includes:

[0007] A robotic arm, comprising a locking box and moving fingers, wherein at least two moving fingers are disposed on the locking box and the two moving fingers are capable of moving toward and away from each other to different positions to achieve gripping and releasing;

[0008] A locking mechanism is detachably connected to the robotic arm and can achieve a locking connection with the robotic arm under the drive of the moving fingers;

[0009] A clamping and manipulating mechanism is disposed on the front side of the locking mechanism. The clamping and manipulating mechanism includes a fixed bayonet and an actuating mechanism. The fixed bayonet is used to accommodate the target device. The actuating mechanism is provided with a trigger end and an actuating end connected to each other. When the trigger end moves towards the center of the actuating mechanism under the drive of the moving finger, the actuating end is driven by the transmission member to perform an operation on the target device through the actuating mechanism.

[0010] Preferably, a locking cavity is formed on one side of the locking box, and locking holes are provided on two opposite sides of the locking cavity;

[0011] The locking mechanism includes a main frame, in which a first moving block and a second moving block are disposed. The first moving block is movably connected to one side frame of the main frame via a first locking rod, and the second moving block is movably connected to the other side frame of the main frame via a second locking rod.

[0012] When the first moving block and the second moving block move toward each other under the drive of the moving finger, the first locking rod and the second locking rod extend from the main frame and cooperate with the corresponding locking holes to achieve locking between the robotic arm and the locking mechanism.

[0013] Preferably, the main frame matches the outer contour of the locking cavity;

[0014] When the main 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 of the locking cavity, and the second locking rod is aligned with the locking hole on the other side of the locking cavity.

[0015] Preferably, the first moving block and the second moving block include a first rod and a second rod; one end of the first rod is connected to one end of the second rod to form an L-shaped structure;

[0016] In the first moving block, the first rod is fixedly connected to the first locking rod, and in the second moving block, the first rod is fixedly connected to the second locking rod; a first through hole is provided on one side of the main frame, and the first locking rod can move back and forth through the first through hole; a second through hole is provided on the other side of the main frame, and the second locking rod can move back and forth through the second through hole.

[0017] A first notch is provided on the upper surface of the main frame, and the second rod in the first moving block can reciprocate through the first notch; a second notch is provided on the lower surface of the main frame, and the second rod in the second moving block can reciprocate through the second notch.

[0018] 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;

[0019] A first sliding rod is provided on one side of the main frame, and the first moving block can slide along the first sliding rod through the sliding hole provided therein. A second sliding rod is provided on the other side of the main frame, and the second moving block can slide along the second sliding rod through the sliding hole provided therein.

[0020] Preferably, a limit lock is provided at the end of the second rod;

[0021] When the first rod in the first moving block moves to fit against one side of the main frame, the first locking rod is retracted into the main frame. When the limiting latch in the first moving block moves to fit against one side of the main frame, the first locking rod moves to its limit position in the locking hole on one side of the locking cavity.

[0022] When the first rod in the second moving block moves to fit against the other side of the main frame, the second locking rod is retracted into the main frame. When the limiting latch in the second moving block moves to fit against the other side of the main frame, the second locking rod moves to its limit position in the locking hole on the other side of the locking cavity.

[0023] Preferably, the actuator includes a clamping slot, a trigger end, a transmission component, and an actuating end;

[0024] The clamping slot is used to accommodate the target device;

[0025] The trigger end is triggered by the moving finger and drives the transmission component when triggered;

[0026] The transmission component is triggered by the trigger end, and drives the execution end when triggered;

[0027] The execution end is triggered by the transmission component, and the triggering operation on the target device is completed upon triggering.

[0028] Preferably, 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, the second spring is sleeved on the first sliding rod, and 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;

[0029] When the limiting latch in the first moving block moves to fit against one side frame of the main body frame, the first spring is in a compressed state; when the first rod in the first moving block moves to fit against one side frame of the main body frame, the first spring is in a restored state.

[0030] When the limiting latch in the second moving block moves to fit against the other side frame of the main body, the second spring is in a compressed state. When the first rod in the second moving block moves to fit against one side frame of the main body, the second spring is in a restored state.

[0031] Preferably, the target rod is provided with an elastic switch, which, when the trigger end moves toward the center of the actuator under the drive of the moving finger, drives the actuator end to run toward the center of the actuator to trigger the target device.

[0032] The robot provided by the present invention includes the aforementioned mechanical device capable of simultaneously grasping and controlling objects, and also includes a robotic arm;

[0033] The mechanical device capable of simultaneously grasping and controlling objects is located at the end of the robotic arm.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] In this invention, the locking mechanism is first controlled by the moving fingers, so that the first locking rod and the second locking rod extend from the main frame and cooperate with the corresponding locking holes, thereby locking the robotic hand with the locking mechanism and realizing the automatic installation of the target device. The moving fingers are then controlled to move towards each other, pushing the trigger end, and then driving the transmission component to manipulate the target device, thereby realizing the automatic installation and manipulation of the handheld tool by the robot. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0037] Figure 1 This is a schematic diagram of a mechanical device capable of simultaneously grasping and controlling an object, as described in an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of another state of the mechanical device that can simultaneously grasp and control objects in an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the robotic arm in an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the locking box in an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the locking mechanism in an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of one state of the locking mechanism in an embodiment of the present invention;

[0043] Figure 7 This is a schematic diagram of another state of the locking mechanism in an embodiment of the present invention;

[0044] Figure 8 This is a schematic diagram of the clamping and manipulating mechanism in an embodiment of the present invention;

[0045] Figure 9 This is a schematic diagram showing the cooperation relationship of the various components of the triggering mechanism included in the actuator in an embodiment of the present invention; and

[0046] Figure 10 This is a schematic diagram of the robot in an embodiment of the present invention.

[0047] In the picture:

[0048] 100 is the robotic arm; 101 is the locking box; 102 is the first moving finger; 103 is the second moving finger; 104 is the locking cavity; 105 is the first locking hole; 106 is the second locking hole; 200 is the locking mechanism; 201 is the main frame; 202 is the first moving block; 2021 is the first rod; 2022 is the second rod; 203 is the first locking rod; 204 is the first sliding rod; 205 is the second moving block; 206 is the second locking rod; 2 07 is the first spring; 208 is the second spring; 300 is the clamping and operating mechanism; 301 is the actuator; 302 is the fixed bayonet; 3011 is the trigger end; 3012 is the adapter; 3013 is the first hinge; 3014 is the transmission component; 3015 is the second hinge; 3016 is the third hinge; 3017 is the execution end; 3018 is the fourth hinge; 400 is the target device; 401 is the flexible switch; 500 is the mobile chassis. Detailed Implementation

[0049] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0050] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be for both fixing and circuit connection purposes.

[0051] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0053] The mechanical device provided by the present invention, which can simultaneously grasp and control objects, includes a robotic arm, a locking mechanism, and a clamping and manipulating mechanism.

[0054] The robotic arm includes a locking box and moving fingers. At least two moving fingers are disposed on the locking box and can move towards and away from each other to achieve gripping and releasing. A locking cavity is opened on one side of the locking box, and locking holes are provided on two opposite sides of the locking cavity.

[0055] The locking mechanism includes a main frame, in which a first moving block and a second moving block are disposed. The first moving block is movably connected to one side frame of the main frame via a first locking rod, and the second moving block is movably connected to the other side frame of the main frame via a second locking rod.

[0056] When the first moving block and the second moving block move toward each other under the drive of the moving finger, the first locking rod and the second locking rod extend from the main frame and cooperate with the corresponding locking holes to achieve locking between the robotic arm and the locking mechanism;

[0057] The clamping and manipulating mechanism includes a fixed bayonet and an actuator; the fixed bayonet and the actuator are disposed on the front side of the main frame, and the actuator is provided with a trigger end and an execution end connected to each other;

[0058] When the trigger end moves towards the center of the actuator under the drive of the moving finger, it is driven by transmission mechanisms such as linkages, gear racks, lead screws, and cams to run towards the center of the actuator to trigger the target device. The trigger operation includes operations such as switching, squeezing, spreading, and vibration.

[0059] In this embodiment of the invention, the locking mechanism is first controlled by the moving fingers, so that the first locking rod and the second locking rod extend from the main frame and cooperate with the corresponding locking holes, thereby locking the robotic hand with the locking mechanism and realizing the automatic installation of the handheld tool; the moving fingers are then controlled to move towards each other, pushing the trigger end, and the linkage mechanism drives the execution end to manipulate the target device, so that the robot can simultaneously automatically install and manipulate the handheld tool.

[0060] The above is the core idea of ​​this invention. To make the above-mentioned objectives, features, and advantages of this invention more apparent and understandable, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0061] Figure 1 This is a schematic diagram of a mechanical device capable of simultaneously grasping and controlling an object, as described in an embodiment of the present invention. Figure 2 This is another schematic diagram of the mechanical device that can simultaneously grasp and control an object in an embodiment of the present invention, such as... Figure 1 , Figure 2 As shown, the mechanical device provided by the present invention, which can simultaneously grasp and control objects, includes a robotic arm 100, a locking mechanism 200, and a clamping and manipulating mechanism 300.

[0062] The robotic arm 100 includes a locking box 101 and moving fingers. At least two moving fingers are disposed on the locking box 101, and the two moving fingers can move towards and away from each other to achieve gripping and releasing. A locking cavity 104 is opened on one side of the locking box 101, and locking holes are provided on two opposite sides of the locking cavity 104.

[0063] In this embodiment of the invention, the moving fingers are a first moving finger 102 and a second moving finger 103 arranged opposite to each other. The first moving finger 102 and the second moving finger 103 can move towards each other or towards each other under the drive of a cylinder or a motor. The first moving finger 102 and the second moving finger 103 are disposed on the front end face of the locking box 101. The second moving finger 103 moves along the upper rail in the front end face of the locking box 101, and the first moving finger 102 moves along the lower rail in the front end face of the locking box 101. The upper rail and the lower rail are parallel to each other.

[0064] 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 disposed in the lower rail, and the limiting piece of the second moving finger 103 is disposed in the upper rail. The clamping piece in the first moving finger 102 and the clamping piece in the second moving finger 103 are parallel to each other.

[0065] The locking mechanism 200 includes a main frame 201, and a first moving block 202 and a second moving block 205 are provided inside the main frame 201. The first moving block 202 is movably connected to one side frame of the main 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 frame 201 through a second locking rod 206.

[0066] When the first moving block 202 and the second moving block 205 move toward each other under the drive of the moving finger, the first locking rod 203 and the second locking rod 206 extend from the main frame 201 and cooperate with the corresponding locking holes to realize the locking between the robot 100 and the locking mechanism 200.

[0067] The clamping and manipulating mechanism 300 includes a fixed bayonet 302 and an actuation mechanism 301; the fixed bayonet 302 and the actuation mechanism 301 are disposed on the front side of the main body frame 201, and the actuation mechanism 301 is provided with a trigger end 3011 and an execution end 3017 connected to each other;

[0068] When the trigger end 3011 moves toward the center of the actuator 301 under the drive of the moving finger, the actuator end 3017 is driven to run toward the center of the actuator 301 through the linkage mechanism to perform the triggering operation of the target device 400.

[0069] Figure 3 This is a schematic diagram of the robotic arm in an embodiment of the present invention. Figure 4 This is a schematic diagram of the locking box structure in an embodiment of the present invention, as shown below. Figure 3 , Figure 4 As shown, the locking cavity 104 is cubic in shape; the locking cavity 104 matches the outer contour of the main frame 201;

[0070] When the main 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 of the locking cavity 104, and the second locking rod 206 is aligned with the locking hole on the other side of the locking cavity 104.

[0071] In this embodiment of the invention, the locking hole on one side of the locking cavity 104 is a first locking hole 105, and the locking hole on the other side 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.

[0072] In a modified embodiment of the present invention, both the first locking hole 105 and the second locking hole 106 include two cylindrical holes disposed opposite to each other.

[0073] Figure 5 This is a schematic diagram of the locking mechanism in an embodiment of the present invention, as shown below. Figure 5 As shown, the first moving block 202 and the second moving block 205 include a first rod 2021 and a second rod 2022; one end of the first rod 2021 is connected to one end of the second rod 2022 to form an L-shaped structure;

[0074] In the first moving block 202, the first rod 2021 is fixedly connected to the first locking rod 203, and in the second moving block 205, the first rod is fixedly connected to the second locking rod 206; a first through hole is provided on one side of the main 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 of the main frame 201, and the second locking rod 206 can move back and forth in the second through hole;

[0075] A first notch is provided on the upper surface of the main frame 201, and the second rod 2022 in the first moving block 202 can move back and forth through the first notch; a second notch is provided on the lower surface of the main frame 201, and the second rod in the second moving block 205 can move back and forth through the second notch.

[0076] In an embodiment of the present invention, one end of the first rod 2021 is provided with a sliding hole extending from the first rod 2021 to the second rod 2022 and extending axially along the second rod 2022;

[0077] A first slide bar 204 is provided on one side of the main frame 201, and the first moving block 202 can slide along the first slide bar 204 through the sliding hole provided therein. A second slide bar is provided on the other side of the main frame 201, and the second moving block 205 can slide along the second slide bar through the sliding hole provided therein.

[0078] Figure 6 This is a schematic diagram of one state of the locking mechanism in an embodiment of the present invention. Figure 7 This is a schematic diagram of another state of the locking mechanism in an embodiment of the present invention, such as... Figure 6 , Figure 7 As shown, a limit lock is provided at the end of the second rod 2022;

[0079] When the first rod 2021 in the first moving block 202 moves to fit against one side frame of the main body frame 201, the first locking rod 203 is retracted into the main body frame 201. When the limiting latch in the first moving block 202 moves to fit against one side frame of the main body frame 201, the first locking rod 203 moves to the limit position in the locking hole on one side of the locking cavity 104.

[0080] In this embodiment of the invention, when the first rod 2021 in the first moving block 202 moves to fit against the inner side of the right side frame of the main body frame 201, the first locking rod 203 is retracted into the main body frame 201. When the limiting latch in the first moving block 202 moves to fit against the outer side of the right side frame of the main body frame 201, the first locking rod 203 moves to its limit position in the locking hole on one side of the locking cavity 104.

[0081] When the first rod in the second moving block 205 moves to fit against the other side of the main frame 201, the second locking rod 206 is retracted into the main frame 201. When the limiting latch in the second moving block 205 moves to fit against the other side 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.

[0082] In this embodiment of the invention, when the first rod in the second moving block 205 moves to fit against the inner side of the left frame of the main body frame 201, the second locking rod 206 is retracted into the main body frame 201. When the limiting slot in the second moving block 205 moves to fit against the outer side of the left frame of the main body frame 201, the second locking rod 206 moves to its limit position in the locking hole on the other side of the locking cavity 104.

[0083] Figure 8 This is a schematic diagram of the clamping and manipulating mechanism in an embodiment of the present invention, as shown below. Figure 8As shown, the actuator 301 includes a clamping slot, a trigger end 3011, an adapter 3012, and an execution end 3017; the first end of the adapter 3012 is hinged to one side of the clamping slot, 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.

[0084] In this embodiment of the invention, the clamping slot is disposed on the upper side of the fixed slot 302. The fixed slot 302 is used for the initial locking of the target device 400. The clamping slot is used to cooperate with the fixed slot 302 to complete the clamping and switching control of the target device 400.

[0085] 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.

[0086] The target device 400 can be the handle of a vacuum cleaner, a floor scrubber, or a sweeper, etc.

[0087] Figure 9 This is a schematic diagram illustrating the cooperation relationship between the components of the linkage mechanism included in the actuator in an embodiment of the present invention, as shown below. Figure 9 As shown, the actuator also includes a transmission component 3014;

[0088] The trigger end 3011 drives the transmission component 3014 when triggered;

[0089] The transmission component 3014 is triggered by the trigger end 3011 and drives the execution end 3017 when triggered;

[0090] The execution end 3017 is triggered by the transmission component 3014, and completes the triggering operation on the target device when triggered.

[0091] 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 of the execution end 3017. The rear end of the execution end 3017 is also hinged to one side of the clamping slot.

[0092] In this embodiment of the invention, the transmission member 3014 and the adapter 3012 are hinged together by a fourth hinge member 3018; the first end of the adapter 3012 is hinged to one side of the clamping slot by a first hinge member 3013, the rear end of the execution end 3017 is hinged to one side of the clamping slot by a second hinge member 3015, one end of the transmission member 3014 is hinged to the third end of the adapter 3012 by a fourth hinge member 3018, and the other end is hinged to the rear end of the execution end 3017 by a third hinge member 3016.

[0093] In this embodiment of the 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, and 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.

[0094] When the limiting latch in the first moving block 202 moves to fit against 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 against one side frame of the main body frame 201, the first spring pair is in a restored state.

[0095] When the limiting latch in the second moving block 205 moves to fit against 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 against one side frame of the main body frame 201, the second spring pair is in a restored state.

[0096] When using the mechanical device provided by this invention, which can simultaneously grasp and control objects, to grasp the target device 400, the first moving finger 102 and the second moving finger 103 first clamp the two sides of the locking mechanism 200 and then move towards each other, causing the first moving block 202 and the second moving block 205 to move towards each other. The first locking rod 203 and the second locking rod 206 extend from the main frame 201 and cooperate with the corresponding locking holes to achieve locking between the robotic arm 100 and the locking mechanism 200; when the first moving finger 102 and the second moving finger 103... When the moving fingers 103 continue to move towards each other, the trigger end 3011, driven by one of the moving fingers, moves towards the center of the actuator 301, driving the execution end 3017 to move towards the center of the actuator 301 to clamp the target device 400. The target device 400 is provided with an elastic switch 401. When the trigger end 3011 moves towards the center of the actuator 301 under the drive of the moving fingers, the execution end 3017 moves towards the center of the actuator 301 to trigger the operation of the target device 400, such as pressing the elastic switch 401.

[0097] Figure 10 This is a schematic diagram of the robot's structure in an embodiment of the present invention, such as... Figure 10 As shown, the robot provided by the present invention includes the aforementioned mechanical device capable of simultaneously grasping and controlling objects, and also includes a mobile chassis, a controller, a connecting base, and a robotic arm.

[0098] The mechanical device capable of simultaneously grasping and controlling objects is located at the end of the robotic arm;

[0099] The connecting seat is disposed on the mobile chassis;

[0100] The robotic arm is detachably connected to the mobile chassis via the connecting seat, and is used to grasp and control the target device 400 via a mechanical device that can simultaneously grasp and control objects.

[0101] The mobile chassis is used to move and position itself according to a pre-built map, and to move to a position on the map according to a motion signal issued by the controller.

[0102] The controller is used to control the movement of the mobile chassis and / or control the robotic arm to perform operational functions.

[0103] In this embodiment of the invention, the locking mechanism is first controlled by the moving fingers, so that the first locking rod and the second locking rod extend from the main frame and cooperate with the corresponding locking holes, thereby locking the robotic hand with the locking mechanism. The moving fingers are then controlled to move towards each other, pushing one end of the trigger end, so that the execution end moves towards the center of the execution mechanism to perform clamping and switching control of the target device, and at the same time realizes the robot's automatic installation and switching control of the handheld tool.

[0104] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0105] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A mechanical device capable of simultaneously grasping and controlling an object, characterized in that, include: A robotic arm, comprising a locking box and moving fingers, wherein at least two moving fingers are disposed on the locking box and are capable of moving towards and away from each other to achieve gripping and releasing; A locking mechanism is detachably connected to the robotic arm and can achieve a locking connection with the robotic arm under the drive of the moving fingers; A clamping and manipulating mechanism is disposed on the front side of the locking mechanism. The clamping and manipulating mechanism includes a fixed bayonet and an actuating mechanism. The fixed bayonet is used to accommodate the target device. The actuating mechanism is provided with a trigger end and an actuating end connected to each other. When the trigger end moves towards the center of the actuating mechanism under the drive of the moving finger, it drives the actuating end to run towards the center of the actuating mechanism to perform triggering and manipulating the target device.

2. The mechanical device according to claim 1, capable of simultaneously grasping and controlling an object, is characterized in that, A locking cavity is provided on one side of the locking box, and locking holes are provided on two opposite sides of the locking cavity; The locking mechanism includes a main frame, in which a first moving block and a second moving block are disposed. The first moving block is movably connected to one side frame of the main frame via a first locking rod, and the second moving block is movably connected to the other side frame of the main frame via a second locking rod. When the first moving block and the second moving block move toward each other under the drive of the moving finger, the first locking rod and the second locking rod extend from the main frame and cooperate with the corresponding locking holes to achieve locking between the robotic arm and the locking mechanism.

3. The mechanical device according to claim 2, capable of simultaneously grasping and controlling an object, is characterized in that, The main frame matches the outer contour of the locking cavity; When the main 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 of the locking cavity, and the second locking rod is aligned with the locking hole on the other side of the locking cavity.

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

5. The mechanical device according to claim 4, capable of simultaneously grasping and controlling an object, is characterized in that, One end of the first rod is provided with a sliding hole that extends from the first rod to the second rod and along the axial direction of the second rod; A first sliding rod is provided on one side of the main frame, and the first moving block can slide along the first sliding rod through the sliding hole provided therein. A second sliding rod is provided on the other side of the main frame, and the second moving block can slide along the second sliding rod through the sliding hole provided therein.

6. The mechanical device according to claim 4, capable of simultaneously grasping and controlling an object, is characterized in that, The end of the second rod is provided with a limit lock. When the first rod in the first moving block moves to fit against one side of the main frame, the first locking rod is retracted into the main frame. When the limiting latch in the first moving block moves to fit against one side of the main frame, the first locking rod moves to its limit position in the locking hole on one side of the locking cavity. When the first rod in the second moving block moves to fit against the other side of the main frame, the second locking rod is retracted into the main frame. When the limiting latch in the second moving block moves to fit against the other side of the main frame, the second locking rod moves to its limit position in the locking hole on the other side of the locking cavity.

7. The mechanical device according to claim 1, capable of simultaneously grasping and controlling an object, is characterized in that, The actuator includes a clamping bayonet, a trigger end, a transmission component, and an execution end. The clamping slot is used to accommodate the target device; The trigger end is triggered by the moving finger and drives the transmission component when triggered; The transmission component is triggered by the trigger end, and drives the execution end when triggered; The execution end is triggered by the transmission component, and the triggering operation on the target device is completed upon triggering.

8. The mechanical device according to claim 5, capable of simultaneously grasping and controlling an object, is characterized in that, 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, the second spring is sleeved on the first sliding rod, and 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 latch in the first moving block moves to fit against 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 against one side frame of the main body frame, the first spring pair is in a restored state. When the limiting latch in the second moving block moves to fit against the other side frame of the main body, the second spring pair is in a compressed state. When the first rod in the second moving block moves to fit against one side frame of the main body, the second spring pair is in a restored state.

9. The mechanical device according to claim 1, capable of simultaneously grasping and controlling an object, characterized in that, The target device is equipped with a flexible switch. When the trigger end moves toward the center of the actuator under the drive of the moving finger, it drives the actuator end to run toward the center of the actuator to trigger the target device.

10. A robot, characterized in that, The device includes the mechanical apparatus capable of simultaneously grasping and controlling an object as described in any one of claims 1 to 9, and also includes a robotic arm; The mechanical device capable of simultaneously grasping and controlling objects is located at the end of the robotic arm.

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