Clamping device for household service robot

Abstract

The invention discloses a clamping device for a household service robot, and belongs to the field of robots. A clamping device for a household service robot comprises a machine arm rotationally arranged on the robot, a sliding frame sliding on the machine arm and two clamping jaws rotationally connected to the sliding frame. The clamping jaws are hollow; the side wall of the clamping jaw is fixedly connected with an air bag capable of expanding and contracting. A filter element is fixedly connected into the clamping jaw; the clamping jaw is divided into a dust collection cavity and a ventilation cavity by the filter element; a dust collection opening is formed in the side wall of the dust collection cavity; and an air pump connected with the ventilation cavity is mounted in the machine arm. According to the scheme, by controlling the expansion size of the air bag, objects with different properties are adapted.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and more specifically, relates to a clamping device for a domestic service robot. Background Art

[0002] With the popularization of smart homes, domestic service robots have gradually entered households and taken on tasks such as cleaning and tidying up. Domestic service robots are used to provide convenience for life, and thus the robots need more basic functions to cope with different life scenarios. In existing products, airbags are provided on the jaws, which play a buffering role during the clamping process to avoid damaging the object. It is difficult for airbags of the same size to clamp objects of different sizes, resulting in limited usage scenarios. Moreover, the jaws have a single function and cannot meet daily needs. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a clamping device for a domestic service robot, which can control the expansion size of the airbag and increase the function of dust suction.

[0004] A clamping device for a domestic service robot proposed by the present invention includes an arm rotating on the robot, a sliding frame sliding on the arm, and two jaws rotatably connected to the sliding frame; the inside of the jaws is hollow; the side wall of the jaws is fixedly connected with an airbag that can expand and contract; a filter element is fixedly connected inside the jaws; the filter element divides the jaws into a dust suction cavity and a ventilation cavity; a dust suction port is provided on the side wall of the dust suction cavity; an air pump connected to the ventilation cavity is installed inside the arm.

[0005] As a further improvement of the present invention, an airbag vent communicating with the ventilation cavity is provided on the airbag; a valve plate is rotatably connected in the ventilation cavity; when the valve plate is in the first position, the valve plate closes the airbag vent; the dust suction cavity is connected to the air pump; when the valve plate is in the second position, the valve plate does not close the airbag vent, and the valve plate prevents air flow from entering the dust suction cavity.

[0006] As a further improvement of the present invention, a connecting seat is provided at an eccentric position of the valve plate; a through hole is provided in the ventilation cavity; a winding wheel is rotatably connected to the sliding frame; a pull rope passing through the through hole is connected between the connecting seat and the winding wheel; a torsion spring for resetting the valve plate is provided between the valve plate and the ventilation cavity.

[0007] As a further improvement of the present invention, the air pump includes a pump housing, a turntable disposed within the pump housing, and blades radially disposed on the turntable; the pump housing includes a centrifugal chamber and a sealing chamber axially distributed; the diameter of the centrifugal chamber is larger than that of the sealing chamber; when the turntable is located within the sealing chamber, the turntable is in sealed contact with the inner wall of the sealing chamber; when the turntable is located within the centrifugal chamber, there is a gap between the turntable and the inner wall of the centrifugal chamber; a vent pipe communicating with the sealing chamber is provided at the center of the end of the pump housing; the vent pipe communicates with the ventilation chamber.

[0008] As a further improvement of the present invention, the blades extend to the bottom of the sealing chamber; the blades are in sealed sliding connection with the turntable along the axial direction of the turntable.

[0009] As a further improvement of the present invention, a screw rod extending to the outside of the air pump is coaxially provided on the turntable; a sliding seat is provided on the pump housing; a plug is in sealed sliding connection within the sliding seat; the plug can be inserted into the thread on the screw rod.

[0010] As a further improvement of the present invention, a slot with a non-circular cross-section is axially provided within the screw rod; an air pump motor is fixedly connected within the machine arm; a motor shaft inserted into the slot is fixedly connected to the output shaft of the air pump motor.

[0011] As a further improvement of the present invention, a sealing pipe is provided on the side wall of the ventilation chamber; a piston driven by a valve plate is in sealed sliding connection within the sealing pipe; a connection port communicating with the sliding seat is provided on the side wall of the sealing pipe.

[0012] As a further improvement of the present invention, a gear is coaxially provided on the jaw; a rack meshing with the gear is slidably connected to the sliding frame; a rack electric push rod for driving the rack to slide is fixedly connected to the sliding frame; a sliding frame electric push rod for driving the sliding frame to move is fixedly connected within the machine arm.

[0013] As a further improvement of the present invention, a return spring for driving the turntable to move towards the centrifugal chamber is provided between the turntable and the pump housing; an exhaust port communicating with the centrifugal chamber is provided at the end of the pump housing.

[0014] Compared with the prior art, the beneficial effects of the solution of the present invention are as follows: By controlling the expansion size of the airbag, it adapts to objects of different properties. When the object is small or fragile, the pressure inside the airbag is controlled to decrease, and the airbag expands less. At this time, the airbag is prone to deformation and gently clamps the object, and the airbag easily wraps around the surface of the object. When the object is large or hard in texture, the pressure inside the airbag is controlled to increase, and the airbag expands more. At this time, the airbag is larger, the contact area with the object increases, and the greater pressure generates a greater clamping force on the object, making the object not easily fall. It is convenient to help users store items of different properties.

[0015] By setting the dust suction port, dirt such as dust from the outside world can be sucked into the dust suction cavity under the action of negative pressure, which increases the basic function of the clamping device and is convenient for dealing with different life scenarios.

[0016] By setting the turntable and blades, when the turntable rotates at a high speed circumferentially, the blades generate centrifugal force, resulting in negative pressure at the dust suction port; by the axial low-speed movement of the turntable, the turntable cooperates with the sealing cavity to inflate and deflate the airbag, thereby controlling the expansion and contraction of the airbag.

[0017] By the rotation of the valve plate, when the valve plate is in the first position, the air pump can control the expansion and contraction of the airbag; when the valve plate is in the second position, the air pump can generate negative pressure at the dust suction port for dust suction work. At the same time, through the cooperation between the valve plate and the piston, the movement of the valve plate can also control the movement of the bolt, and thus control the axial movement of the turntable. When the valve plate is in the first position, the bolt cooperates with the screw rod, and the turntable can move axially. Description of the Drawings

[0018] Figure 1 is the structural schematic diagram of the present invention; Figure 2 is the sectional structural schematic diagram of the present invention; Figure 3 is the structural schematic diagram of the jaw of the present invention; Figure 4 is the structural schematic diagram of the valve plate in the first position of the present invention; Figure 5 is the structural schematic diagram of the valve plate in the second position of the present invention; Figure 6 is the structural schematic diagram of the turntable in the centrifugal cavity of the present invention; Figure 7 is the structural schematic diagram of the turntable in the sealing cavity of the present invention.

[0019] Explanation of the Reference Numerals in the Drawings: 11, machine arm; 12, sliding frame; 2, jaw; 201, dust suction cavity; 202, ventilation cavity; 21, dust suction port; 22, gear; 23, sealing pipe; 24, connection port; 25, filter element; 26, sealing strip; 27, perforation; 28, jaw ventilation port; 3, airbag; 31, airbag ventilation port; 4, air pump; 41, pump housing; 411, centrifugal cavity; 412, sealing cavity; 413, exhaust port; 414, ventilation pipe; 415, sliding seat; 42, air pump motor; 421, motor shaft; 43, turntable; 431, screw rod; 44, blade; 45, bolt; 46, return spring; 5, rack; 6, valve plate; 61, connection seat; 62, pull rope; 7, piston; 71, piston connecting rod; 72, piston spring; 8, winding wheel; 81, winding motor. Detailed Embodiment

[0020] Example 1: Refer to Figures 1-7 A clamping device for a domestic service robot, including an arm 11 rotatably mounted on the robot, a sliding frame 12 slidably mounted on the arm 11, and two jaws 2 rotatably connected to the sliding frame 12; the jaws 2 are hollow inside; a gasbag 3 capable of expanding and contracting is fixedly connected to the side wall of the jaws 2; a filter element 25 is fixedly connected inside the jaws 2; the filter element 25 divides the jaws 2 into a dust suction chamber 201 and a ventilation chamber 202; a dust suction port 21 is provided on the side wall of the dust suction chamber 201; an air pump 4 connected to the ventilation chamber 202 is installed inside the arm 11.

[0021] A gasbag vent 31 communicating with the ventilation chamber 202 is provided on the gasbag 3; a valve plate 6 is rotatably connected inside the ventilation chamber 202; when the valve plate 6 is in the first position, the valve plate 6 closes the gasbag vent 31; the dust suction chamber 201 is connected to the air pump 4; when the valve plate 6 is in the second position, the valve plate 6 does not close the gasbag vent 31, and the valve plate 6 prevents air flow from entering the dust suction chamber 201.

[0022] The side wall of the valve plate 6 is in sealed contact with the inner wall of the ventilation chamber 202; a sealing strip 26 is provided on the inner wall of the ventilation chamber 202; when the valve plate 6 is in the second position, the valve plate 6 is in sealed contact with the sealing strip 6, and air flow cannot enter the dust suction chamber 201 through the valve plate 6.

[0023] A connecting seat 61 is provided at an eccentric position of the valve plate 6; a through hole 27 is provided inside the ventilation chamber 202; a winding wheel 8 is rotatably connected to the sliding frame 12; a pull rope 62 passing through the through hole 27 is connected between the connecting seat 61 and the winding wheel 8; a torsion spring for resetting the valve plate 6 is provided between the valve plate 6 and the ventilation chamber 202.

[0024] A winding motor 81 for driving the winding wheel 8 to rotate is fixedly connected to the sliding frame 12.

[0025] When the pull rope 62 does not exert a pulling force on the valve plate 6, the valve plate 6 rotates to the second position under the action of the torsion spring; when the winding wheel 8 rotates and the stretch 62 is wound around the winding wheel 8, the pull rope 62 exerts a pulling force on the valve plate 6, and the valve plate 6 rotates to the first position.

[0026] The air pump 4 includes a pump housing 41, a turntable 43 disposed within the pump housing 41, and blades 44 radially disposed on the turntable 43; the pump housing 41 includes a centrifugal chamber 411 and a sealing chamber 412 axially distributed; the diameter of the centrifugal chamber 411 is larger than that of the sealing chamber 412; when the turntable 43 is located within the sealing chamber 412, the turntable 43 is in sealing contact with the inner wall of the sealing chamber 412; when the turntable 43 is located within the centrifugal chamber 411, there is a gap between the turntable 43 and the inner wall of the centrifugal chamber 411; a ventilation pipe 414 communicating with the sealing chamber 412 is disposed at the center of the end of the pump housing 41; the ventilation pipe 414 communicates with the ventilation chamber 202.

[0027] A jaw ventilation port 28 communicating with the ventilation chamber 202 is disposed on the side wall of the jaw 2; the jaw ventilation port 28 is connected to the ventilation pipe 414 through a hose; there is an air pump 4 within the robotic arm 11; the ventilation pipes 414 of the air pump 4 are simultaneously communicated with the ventilation chambers 202 of the two jaws 2.

[0028] When the turntable 43 is located within the centrifugal chamber 411, the turntable 43 rotates circumferentially, and the blades 44 generate a centrifugal force to discharge the air within the pump housing 41 from the gap between the centrifugal chamber 411 and the turntable 43, creating a negative pressure at the ventilation pipe 414, and thus the outside air will enter the pump housing 41 through the dust suction port 21 and the ventilation pipe 414.

[0029] When the turntable 43 is located within the sealing chamber 412, the turntable 43 slides axially, and the turntable 43 slides in a sealed manner within the sealing chamber 412, thereby controlling the expansion and contraction of the airbag 3.

[0030] The blade 44 extends to the bottom of the sealing chamber 412; the blade 44 is in sealed sliding connection with the turntable 43 along the axial direction of the turntable 43.

[0031] When the turntable 43 moves axially, the turntable 43 slides relative to the blade 44; when the turntable 43 rotates circumferentially within the centrifugal chamber 4, the turntable 43 drives each blade 44 to rotate circumferentially synchronously. Since the blade 44 extends to the bottom of the sealing chamber 412, the height of the blade 44 is relatively long, generating a relatively large centrifugal force, thereby improving the working efficiency of the air pump 4.

[0032] In the second embodiment, the following improvements are made on the basis of the first embodiment: a screw 431 extending to the outside of the air pump 4 is coaxially disposed on the turntable 43; a sliding seat 415 is disposed on the pump housing 41; a plug pin 45 is in sealed sliding connection within the sliding seat 415; the plug pin 45 can be inserted into the thread on the screw 431.

[0033] When the bolt 45 is not inserted into the thread on the screw 431, the turntable 43 only rotates circumferentially around itself; when the bolt 45 is inserted into the thread on the screw 431, while the turntable 43 rotates circumferentially around itself, the turntable 43 will also move axially along itself, and then the turntable 43 will slide sealingly within the sealing cavity 412.

[0034] A non-circular cross-section slot is axially arranged within the screw 431; a pneumatic pump motor 42 is fixedly connected within the machine arm 11; a motor shaft 421 inserted into the slot is fixedly connected to the output shaft of the pneumatic pump motor 42.

[0035] The motor shaft 421 rotates synchronously with the screw 431 in the circumferential direction and slides relatively axially; when the pneumatic pump motor 42 drives the motor shaft 421 to rotate, the motor shaft 421 drives the screw 431 to rotate synchronously in the circumferential direction through the slot.

[0036] A sealing pipe 23 is arranged on the side wall of the air vent cavity 202; a piston 7 driven by a valve plate 6 is sealingly slidably connected within the sealing pipe 23; a connection port 24 communicating with the sliding seat 415 is arranged on the side wall of the sealing pipe 23.

[0037] A piston connecting rod 71 extending into the air vent cavity 202 is arranged on the piston 7; a piston spring 72 for resetting the piston 7 is arranged between the piston 7 and the sealing pipe 23.

[0038] When the valve plate 6 is in the first position, the valve plate 6 abuts against the piston connecting rod 71 and drives the piston 7 to move to the inner extreme position within the sealing pipe 23, and the piston spring 72 is compressed. At this time, the space between the piston 7 and the sealing pipe 23 increases, and thus the air pressure decreases. The bolt 45 will move in a direction away from the screw 431, and the bolt 45 is not inserted into the thread on the screw 431.

[0039] When the valve plate 6 is in the second position, the valve plate 6 does not contact the piston connecting rod 71. Then the piston spring 72 causes the piston 7 to move to the extreme position close to the connection port 24. The space between the piston 7 and the sealing pipe 23 decreases, and thus the air pressure increases, forcing the bolt 45 to move in the direction of the screw 431. Then the bolt 45 is inserted into the thread on the screw 431.

[0040] A gear 22 is coaxially arranged on the jaw 2; a rack 5 meshing with the gear 22 is slidably connected on the sliding frame 12; a rack electric push rod for driving the rack 5 to slide is fixedly connected to the sliding frame 12; a sliding frame electric push rod for driving the sliding frame 12 to move is fixedly connected within the machine arm 11.

[0041] A return spring 46 for driving the turntable 43 to move in the direction of the centrifugal cavity 411 is arranged between the turntable 43 and the pump housing 41; an exhaust port 413 communicating with the centrifugal cavity 411 is arranged at the end of the pump housing 41.

[0042] When clamping an object, the wire-winding motor 81 controls the wire-winding wheel 8 to rotate, causing the valve plate 6 to rotate to the second position. At this time, the gas generated by the air pump 4 is only communicated with the airbag 3. At the same time, the piston 7 moves to the limit position close to the connection port 24, and the plug 45 is inserted into the thread on the screw 431 by air pressure drive.

[0043] Then the air pump motor 42 drives the motor shaft 421 to rotate slowly, and then the screw 431 drives the turntable 43 to rotate slowly synchronously. Since the plug 45 cooperates with the screw 431, the turntable 43 moves axially while rotating circumferentially. The turntable 43 enters the sealing cavity 412 and seals against the sealing cavity 412.

[0044] After that, the turntable 43 continues to slide into the sealing cavity 412. The turntable 43 will compress the air in the sealing cavity 412, so that the gas enters the airbag 3 through the air pipe 414. The airbag 3 gradually expands. According to parameters such as the size of the clamped object, the movement of the turntable 43 is controlled to reach the specified position in the sealing cavity 412, and then the airbag 3 expands to the required size.

[0045] Then the rack 5 drives the two jaws 2 to rotate relative to each other through the gear 22 to clamp and move the object.

[0046] After the clamping and moving of the object are completed, the air pump motor 42 drives the turntable 43 to rotate, so that the turntable 43 moves axially into the centrifugal cavity 411.

[0047] When it is necessary to perform dust suction work on the outside world, the wire-winding wheel 8 rotates, causing the valve plate 6 to move to the first position. The valve plate 6 closes the airbag opening 31 and abuts against the piston connecting rod 71 at the same time, causing the piston 7 to move to the limit position inside the sealing pipe 23, and the plug 45 is separated from the thread on the screw 431 by air pressure.

[0048] Then the air pump motor 42 drives the turntable 43 to rotate at high speed. At this time, the turntable 43 only rotates circumferentially. Then the rotation of the turntable 43 and the blade 44 generates centrifugal force, exhausting the air in the air pump 4 to the outside world through the centrifugal cavity 411. Then a negative pressure is generated at the air pipe 414, causing the outside air to enter the jaws 2 through the dust suction port 21 and sequentially pass through the dust suction cavity 201 and the ventilation cavity 202 into the air pipe 414.

[0049] As the outside air enters the dust suction cavity 201 through the dust suction port 21, a negative pressure will be generated at the dust suction port 21, and dirt such as dust on the surface of the object will enter the dust suction cavity 201 together with the air. Due to the filtration of the filter element 25, the dirt such as dust will be retained in the dust suction cavity 201.

[0050] After the dust suction is completed, the air pump motor 42 stops working.

[0051] Embodiment 3. The following improvements are made to this embodiment on the basis of the above embodiments: A domestic robot includes a machine body, a crawler provided at the lower end of the machine body, and a control module installed in the machine body; the machine arms 11 are respectively rotatably connected to both sides of the machine body; a touch screen is provided on the surface of the machine body; the robot can be set through the touch screen.

[0052] An identification module is provided in the machine body; the identification module collects object images through an RGB-D camera, analyzes the shape, size and material of the object through a deep learning algorithm, and generates a three-dimensional model.

[0053] A path tracking module is provided in the machine body; the path tracking module constructs an environmental map through SLAM technology, combines real-time sensor data to dynamically plan a path, and ensures that the robot moves along a preset trajectory.

Claims

1. A clamping device for a domestic service robot, characterized in that: It includes an arm rotatably mounted on the robot, a carriage slidably mounted on the arm, and two jaws rotatably connected to the carriage; the inside of the jaws is hollow; a gasbag capable of expanding and contracting is fixedly connected to the side wall of the jaws; a filter element is fixedly connected inside the jaws; the filter element divides the jaws into a dust suction cavity and a ventilation cavity; a dust suction port is provided on the side wall of the dust suction cavity; an air pump connected to the ventilation cavity is installed inside the arm.

2. The clamping device for a domestic service robot according to claim 1, characterized in that: An airbag vent is provided on the gasbag and is communicated with the ventilation cavity; a valve plate is rotatably connected inside the ventilation cavity; when the valve plate is in the first position, the valve plate closes the airbag vent; the dust suction cavity is connected to the air pump; when the valve plate is in the second position, the valve plate does not close the airbag vent and the valve plate prevents air flow from entering the dust suction cavity.

3. The clamping device for a domestic service robot according to claim 2, characterized in that: A connecting seat is provided at an eccentric position of the valve plate; a through hole is provided inside the ventilation cavity; a wire winding wheel is rotatably connected to the carriage; the connecting seat and the wire winding wheel are connected by a pull rope passing through the through hole; a torsion spring for resetting the valve plate is provided between the valve plate and the ventilation cavity.

4. The clamping device for a domestic service robot according to claim 2, characterized in that: The air pump includes a pump housing, a turntable arranged inside the pump housing, and blades arranged radially on the turntable; the pump housing includes a centrifugal cavity and a sealing cavity distributed axially; the diameter of the centrifugal cavity is larger than that of the sealing cavity; when the turntable is located inside the sealing cavity, the turntable is in sealing contact with the inner wall of the sealing cavity; when the turntable is located inside the centrifugal cavity, there is a gap between the turntable and the inner wall of the centrifugal cavity; a ventilation pipe communicated with the sealing cavity is provided at the center of the end of the pump housing; the ventilation pipe is communicated with the ventilation cavity.

5. The clamping device for a domestic service robot according to claim 4, characterized in that: The blade extends to the bottom of the sealing cavity; the blade is in sealing sliding connection with the turntable along the axial direction of the turntable.

6. The clamping device for a domestic service robot according to claim 4, characterized in that: A screw rod extending to the outside of the air pump is coaxially arranged on the turntable; a sliding seat is provided on the pump housing; a plug is in sealing sliding connection inside the sliding seat; the plug can be inserted into the thread on the screw rod.

7. The clamping device for a domestic service robot according to claim 6, characterized in that: A non-circular cross-section slot is arranged axially inside the screw rod; an air pump motor is fixedly connected inside the arm; a motor shaft inserted into the slot is fixedly connected to the output shaft of the air pump motor.

8. The clamping device for a domestic service robot according to claim 6, characterized in that: A sealing pipe is provided on the side wall of the ventilation cavity; a piston driven by the valve plate is in sealing sliding connection inside the sealing pipe; a connection port communicated with the sliding seat is provided on the side wall of the sealing pipe.

9. The clamping device for a domestic service robot according to claim 1, characterized in that: A gear is coaxially arranged on the jaw; a rack meshing with the gear is slidably connected to the carriage; a rack electric push rod for driving the rack to slide is fixedly connected to the carriage; a carriage electric push rod for driving the carriage to move is fixedly connected inside the arm.

10. The clamping device for a domestic service robot according to claim 8, characterized in that: A reset spring for driving the turntable to move towards the centrifugal cavity direction is provided between the turntable and the pump housing; an exhaust port communicated with the centrifugal cavity is provided at the end of the pump housing.

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