Washing machine door opening and closing handle with composite positioning and grabbing characteristics

Abstract

The invention relates to the technical field of automatic operation equipment, in particular to a washing machine door opening and closing handle with a composite positioning grabbing characteristic. Comprising a grabbing part used for being connected with an execution part of the automation equipment; the positioning feature is arranged on the grabbing part so that the automatic part can be positioned and recognized; the connecting assembly is installed on the grabbing component, and the length of the connecting assembly in the first direction is not smaller than the length of an execution part of the automatic equipment in the first direction, so that the execution part of the automatic equipment can grab the connecting assembly in a closed mode; and the locking structure is mounted on the connecting assembly and is used for connecting the grabbing part with the grabbed part. The problem that in the prior art, an end effector of automation equipment cannot stably and reliably grab a hidden door handle is solved.

Description

Technical Field

[0001] This application relates to the field of automatic operating equipment technology, and more specifically, to a washing machine door handle with composite positioning and gripping features. Background Technology

[0002] In the industrial design of modern household and industrial laundry equipment, aesthetic appeal and ease of human-computer interaction have become crucial competitive factors. Among these, the washing machine door, as one of the components where users interact most frequently with the equipment, is a key focus. To achieve a clean, streamlined, and integrated visual experience, and to avoid potential bumps or snagging on clothes caused by protruding parts, the current mainstream design trend is to "hide" or "embed" the door opening mechanism, especially the door handle. This design philosophy has led to two common implementation schemes: one is to hide a slender, grooved handle on the outer perimeter of the washing machine door frame, flush with or slightly recessed to the door frame surface, allowing fingers to reach in and apply force only when needed; the other is to place a similar grooved structure on the inner edge of the washing machine door frame, almost invisible when the door is closed, allowing the user's hand to naturally reach and pull the handle when opening.

[0003] However, with the deepening of industrial manufacturing and the rapid development of the smart home ecosystem, highly automated assembly and testing production lines are becoming increasingly common in the manufacturing sector. These lines often involve automated robots or high-precision robotic arms performing functional tests, quality checks, or final operations before packaging finished or semi-finished washing machines. At the end-user level, smart home scenarios are also expanding. For example, in integrated smart washing systems, a central home service robot, a dedicated laundry handling robotic arm, or other automated equipment may be needed to complete a series of tasks, from collecting dirty clothes, putting them in the washing machine, adding detergent, starting the machine, and finally removing the clean clothes.

[0004] In both of these automation scenarios, the washing machine door is opened and closed by automated equipment. Current automated equipment, such as multi-axis industrial robotic arms or service robot end effectors, typically uses a "grasp-rotate" or "insert-pull" mechanical principle for opening. They usually rely on a well-defined, stable, and easily identifiable and engageable physical feature point. Existing hidden recessed handle designs, however, pose significant obstacles to automated equipment in terms of identifiability, engageability, and mechanical compatibility.

[0005] Regarding the aforementioned technologies, the inventors believe that the existing design of concealed recessed handles for washing machine doors, which heavily relies on human biometrics and intelligent adaptability, makes it unsuitable for meeting the growing demands for automated and intelligent operation. This necessitates the design of complex, expensive, and unstable visual servoing and dexterity operation solutions for automated equipment in automated production lines or advanced smart home scenarios. Alternatively, the washing machine door may need temporary modifications or automated opening may be abandoned in favor of manual intervention, severely restricting production efficiency and the continuity of intelligent scenarios. Summary of the Invention

[0006] The purpose of this application is to provide a washing machine door handle with composite positioning and gripping features, so as to solve the technical problem that the end effector of the existing automated equipment cannot reliably grip the hidden door handle.

[0007] To achieve the above objectives, this application provides a washing machine door handle with composite positioning and gripping features, comprising: Gripper, used to connect to the actuator of automated equipment; Positioning features are provided on the gripping component to enable the automated component to be positioned and identified. A connecting component is installed on the gripping component, wherein the length of the connecting component along the first direction is not less than the length of the execution part of the automated device along the first direction, so that the execution part of the automated device can close and grip the connecting component. A locking structure is installed on the connecting assembly to connect the gripping component to the gripped component.

[0008] In one embodiment, the positioning feature includes at least one or more of a shape positioning part, a color positioning part, and a positioning code.

[0009] In one embodiment, the shape positioning part includes a first positioning part, a second positioning part, and a connecting part. The two ends of the connecting part are respectively connected to the first positioning part and the second positioning part, and the first positioning part and the second positioning part have different shapes.

[0010] In one embodiment, the color positioning part includes a color differentiation part that covers part or all of the washing machine door handle, and the color of the color differentiation part is different from the ambient color.

[0011] In one embodiment, the positioning code is installed on the gripping component near the execution part of the automated device.

[0012] In one embodiment, the connection assembly includes a connecting post mounted on the gripping component, and the actuator of the automation device is sleeved on the outside of the connecting post so that the actuator of the automation device can be fully closed.

[0013] In one embodiment, the connecting component further includes an abutment surface that protrudes from the side wall of the connecting column so that the top wall of the execution part of the automation device abuts against the abutment surface.

[0014] In one embodiment, the locking structure includes a support, a locking part, and a locking member, the support and the locking part being hinged together, the support being mounted on a connecting assembly, the locking part being engaged with a gripped member, and the locking member limiting the opening angle between the support and the hinge.

[0015] In one embodiment, the locking structure includes a support, two locking parts and a locking member, the support and the locking parts being slidably connected, the support being mounted on a connecting assembly, the locking parts being engaged with a gripped member, and the locking member limiting the distance between the two locking parts.

[0016] In one embodiment, multiple locking parts are provided along the first direction, and the distance between two adjacent locking parts is not less than the length of the execution part of the automation device along the first direction.

[0017] The beneficial effects of the washing machine door handle with composite positioning and gripping features provided in this application are at least as follows: the gripping component is connected to the execution component of the automated device, and the gripping component is connected to the locking structure through a connecting component, so that the execution component of the automated device can synchronously drive the locking structure and the gripped component to move. Since the length of the connecting component along the first direction is not less than the length of the execution component of the automated device along the first direction, the washing machine door does not need to rely on the positive friction force generated by the gripping force of the robotic arm's claw to open the washing machine door. Instead, it mainly relies on the force that the robotic arm itself can withstand to open the washing machine door. Furthermore, the positioning features provided make it easy for the automated device to identify the position of the gripping component, so that the end effector of the automated device can stably and reliably grip the hidden door handle. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the overall structure of a washing machine door handle with composite positioning and grasping features provided in an embodiment of this application; Figure 2 This is a schematic diagram of the gripping component of a washing machine door handle with composite positioning and gripping features, provided in an embodiment of this application.

[0020] Figure 3 This is a schematic diagram of a locking structure for a washing machine door handle with composite positioning and gripping features, provided in an embodiment of this application.

[0021] Figure 4 This is a schematic diagram of the locking structure in another embodiment of a washing machine door handle with composite positioning and gripping features provided in this application.

[0022] The following are the labeling elements in the figure: 1. Grip component; 11. Grip bar; 2. Positioning feature; 21. Shape positioning part; 211. First positioning part; 212. Second positioning part; 22. Positioning code; 3. Locking structure; 31. Support part; 32. Locking part; 33. Locking element; 4. Connecting assembly; 41. Connecting column. Detailed Implementation

[0023] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0024] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application's specification are for illustrative purposes only and do not represent the only possible implementation.

[0025] 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 at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0028] Regarding the aforementioned technologies, the inventors believe that the existing design of concealed recessed handles for washing machine doors, which heavily relies on human biometrics and intelligent adaptability, makes it unsuitable for meeting the growing demands for automated and intelligent operation. This necessitates the design of complex, expensive, and unstable visual servoing and dexterity operation solutions for automated equipment in automated production lines or advanced smart home scenarios. Alternatively, the washing machine door may need temporary modifications or automated opening may be abandoned in favor of manual intervention, severely restricting production efficiency and the continuity of intelligent scenarios.

[0029] To address this issue, this application provides a washing machine door handle with composite positioning and gripping features, thereby solving the problem that the end effector of existing automated equipment cannot reliably grip concealed door handles.

[0030] Please see Figure 1 , Figure 2 This embodiment provides a washing machine door handle with composite positioning and gripping features, including a gripping component 1. The gripping component 1 is used to connect relative to the execution component of an automated device, so that the execution component of the automated device is connected to the gripping component 1 through gripping, thereby fixing the execution component of the automated device relative to the gripping component 1.

[0031] A positioning feature 2 is further provided on the side wall area of ​​the gripping component 1. This positioning feature 2 is mainly used to achieve rapid and accurate alignment and connection between the actuator of the automated equipment and the gripping component 1. Through the guidance and cooperation of this positioning feature 2, the actuator can dock with the gripping component 1 with higher precision, thereby significantly improving the connection accuracy between the two and effectively reducing the overall installation time, which is conducive to improving equipment assembly efficiency and operational reliability.

[0032] To further optimize the positioning effect and avoid problems such as cumulative errors, alignment deviations, or positioning failures that may occur during the alignment process due to relying solely on a single type of positioning feature 2, this application adopts a composite positioning scheme that combines multiple positioning methods. Specifically, positioning feature 2 is composed of at least two different types or different locations of positioning structures, forming a composite positioning system, thereby significantly improving the overall accuracy and fault tolerance of the positioning.

[0033] The aforementioned composite positioning design not only significantly reduces the risk of positioning failure due to wear of a single structure, misalignment, or environmental interference, but also effectively enhances the system's stability and repeatability in continuous operation. Furthermore, positioning feature 2 helps simplify the operation of automated equipment, reduces manual intervention, and thus improves the overall assembly consistency, operational accuracy, and long-term reliability of the entire equipment system.

[0034] A locking structure 3 is also provided on one side of the gripping component 1. The locking structure 3 is used to connect the gripped object. A connecting component 4 is also provided between the locking structure 3 and the gripping component 1. One end of the connecting component 4 is connected to the gripping component 1, and the other end of the connecting component 4 is connected to the locking structure 3. The locking structure 3 is installed on the side wall of the gripping component 1 through the connecting component 4. That is, the locking structure 3 and the gripping component 1 are integrated into one structure through the connecting structure, so that the gripping component 1 can drive the locking structure 3 to move synchronously. Since the locking structure 3 is connected to the gripped object, the gripping component 1 can drive the gripped object to move synchronously.

[0035] Specifically, the actuator of the automated equipment is connected to the side wall of the gripping component 1 or the connecting component 4. The movement of the actuator of the automated equipment drives the locking structure 3 and the gripped component to move synchronously, thereby causing the gripped component to open or close.

[0036] In some embodiments, the gripping component 1 includes a gripping rod 11, which is a rod-shaped structure. The sidewall of the gripping rod 11 is used to connect to the execution component of the automation equipment. The cross-section of the gripping rod 11 can be adaptively adjusted according to the different execution components of the automation equipment. In specific embodiments, the sidewall of the gripping rod 11 can be circular, rectangular, polygonal, or have grooves or protrusions provided according to the specific execution component of the automation equipment, so that the gripping rod 11 can better match the execution component of the automation equipment, thereby improving the connection strength between the gripping rod 11 and the execution component of the automation equipment.

[0037] The main structure of the gripping component 1, especially its key stress-bearing area—the outer wall of the gripping rod 11—can be further functionalized. Specifically, a frosted texture can be formed on the surface of the outer wall, or it can be covered, coated, or inlaid with a functional material with a high coefficient of friction. This design aims to significantly improve the interfacial friction and engagement strength between the gripping rod 11 and the actuators of automated equipment (such as the gripping jaws of a robotic arm, drive connectors, etc.).

[0038] By enhancing the surface friction characteristics, it is possible to effectively ensure that the two maintain a stable connection during power transmission and load bearing, thereby significantly reducing the risk of relative slippage, accidental disengagement or loosening of the gripping rod 11 and the actuator under high-speed motion, high-load operation or vibration conditions, and ensuring the continuity and reliability of the entire automated operation process.

[0039] In specific embodiments, the frosted surface can be formed through various refined processing techniques. For example, sandblasting can be used to create a uniform micro-roughness on the surface of the metal rod; or laser etching or chemical etching can be used to prepare fine textures with specific patterns and depths; or a mold with a frosted surface can be used directly during injection molding. The frosted structure formed by these processes not only increases friction but also, because it does not change the overall size of the component, helps to maintain a precise fit with the interface of the actuator.

[0040] In other embodiments, the high-friction material covering provides greater flexibility in material selection and performance control. This material can be an elastomer or polymer, and can be firmly bonded to the gripping rod 11 substrate through processes such as fitting, bonding, interference fit, in-mold molding, or secondary injection molding. The introduction of the high-friction material layer not only provides excellent frictional performance but also absorbs vibration and mitigates impact to a certain extent, protecting the surfaces of mating parts and reducing wear.

[0041] Differentiated surface treatments can be applied to specific functional areas of the outer wall of the gripping lever 11. For example, a high-friction material can be used in the central area that contacts the main clamping surface of the actuator of the automated equipment, while a hard, smooth surface can be maintained near the edges or positioning features 2 to ensure positioning accuracy. Alternatively, a surface design with a gradient of friction coefficient along the axial or circumferential direction can be used to guide stress distribution or facilitate installation alignment.

[0042] This surface treatment scheme, in conjunction with the aforementioned composite positioning feature 2 and locking structure 3, constitutes a multi-layered and highly reliable connection and transmission system. The high-friction surface ensures a strong static and dynamic friction connection between the gripping rod 11 and the actuating component, preventing slippage. The composite positioning feature 2 provides precise initial alignment and radial / circumferential constraints, preventing misalignment. The locking structure 3 and connecting assembly 4 ensure a robust mechanical linkage between the gripping component 1, the locking structure 3, and the gripped object. Together, these three elements guarantee the rigidity and precision of the power transmission path from the automated actuating component to the final grasped object.

[0043] In some embodiments, the positioning feature 2 includes a shape positioning part 21, a color positioning part, and a positioning code 22. The positioning feature 2 is mainly used to generate differential information for the execution parts of the automated equipment to identify, so that the execution parts of the automated equipment can accurately identify the position of the equipment and connect the gripping part 1 to the execution parts of the automated equipment. Therefore, the positioning feature 2 is not limited to the above. It only needs to create a differential effect between the gripping part 1 or the whole equipment and the environment to highlight the position and structure of the whole equipment.

[0044] In a specific embodiment, the shape positioning part 21 includes a first positioning part 211, a second positioning part 212, and a connecting part. One end of the connecting part is fixedly connected to the first positioning part 211, and the other end of the connecting part is fixedly connected to the second positioning part 212. The connecting part can be a separate structure installed on the side wall of the gripping member 1. Alternatively, the gripping member 1 can be used as the connecting part, so that one end of the gripping member 1 is fixed to the first positioning part 211, and the other end of the gripping member 1 is fixed to the second positioning part 212. The execution part of the automated device is directly connected to the side wall of the gripping member 1. The first positioning part 211 and the second positioning part 212 at both ends of the gripping member 1 are used to directly position the position and angle of the gripping member 1.

[0045] The first positioning part 211 and the second positioning part 212 have different external structures. Specifically, the first positioning part 211 may be a rectangular block structure, and the second positioning part 212 may be a spherical structure. Alternatively, the first positioning part 211 and the second positioning part 212 have different external dimensions. Specifically, the external dimension of the first positioning part 211 is larger than that of the second positioning part 212. Alternatively, both the external structure and the dimensions of the first positioning part 211 and the second positioning part 212 have differences. In summary, only the external shape and / or dimensions of the first positioning part 211 and the second positioning part 212 need to be different to be able to identify the first positioning part 211 and the second positioning part 212.

[0046] In this embodiment, the first positioning part 211 is a spherical structure with a radius of 1 cm, and the second positioning part 212 is a cubic structure with a side length of 2 cm. The connecting part is the gripping component 1, one end of which is fixedly connected to the first positioning part 211, and the other end of which is fixedly connected to the second positioning part 212. The gripping component 1 is a rod-shaped structure, and its axis passes through the center of the sphere of the first positioning part 211 and the center of gravity of the second positioning part 212, respectively.

[0047] The color positioning section includes a color-differentiating section, which is typically in the form of a coating, film, color strip, or a separate colored component, covering the entire outer wall surface of the overall device, or at least covering a specific outer wall area of ​​the actuator that is easily observed and captured by the visual recognition system or optical sensor.

[0048] The core characteristic of the color-differentiating section lies in the significant difference and high contrast between its color attributes and the background color of the overall equipment in its normal operating environment. It aims to use the contrast principle of color science to make the overall equipment or its key features clearly stand out from the color atmosphere of its operating environment, forming a distinct visual difference. This functional design serves the actuators of automated equipment or its integrated machine vision system and optical positioning device, facilitating the automated system to quickly and accurately distinguish the target equipment from the environmental background, thereby efficiently completing the identification, tracking, and positioning processes.

[0049] To achieve optimal recognition results, the color selection for the color differentiation section can employ highly saturated colors that strongly contrast with common industrial environments (such as the dark background of factory buildings, the natural metallic colors of equipment, etc.), such as bright red, bright orange, fluorescent green, bright yellow, or a specific blue. In more sophisticated systems, special coatings that only develop under specific spectra (such as infrared and ultraviolet) can be used to adapt to special optical sensing conditions. The range and pattern of color coverage can also be designed specifically; for example, forming a ring-shaped color band around the positioning feature 2, or setting colored stripes along the axis of the gripping lever 11, can not only indicate the position but also assist in determining direction or status through pattern changes.

[0050] The positioning code 22 is installed on the side surface of the gripping component 1 facing the actuator of the automation equipment, that is, in the area where the two face each other in their normal docking posture. This ensures that when the actuator of the automation equipment approaches the gripping component 1, its integrated image acquisition device (such as an industrial camera or scanner) can obtain an unobstructed, clear field of view, thereby directly capturing and reading the positioning code 22.

[0051] The positioning code 22 provides the automated system with digital, high-precision spatial position and attitude reference information. As a visually recognized marker, it carries data such as the precise coordinates, rotation angle, and even a specific identification number of the gripping component 1 in a predetermined coordinate system. By accurately recognizing the positioning code 22, the actuating component can obtain this crucial positioning information in real time, thereby driving itself to adjust its posture and achieve millimeter-level or even sub-millimeter-level precise docking with the gripping component 1.

[0052] In practical implementation, the positioning code 22 can be selected from mature machine-readable encoding formats such as QR codes or star codes. QR codes have the advantages of large information capacity, strong fault tolerance, and low cost. They can encode absolute positions or unique IDs, and the system maps the IDs to specific coordinates by querying the database. Star codes, on the other hand, are usually composed of a set of precisely arranged circular or specifically shaped markers. They directly express position and angle information through the geometric arrangement of the dot matrix, exhibiting excellent robustness to perspective distortion and being particularly suitable for high-precision calculation of three-dimensional spatial attitude.

[0053] The positioning code 22, installed on a specific side, converts the spatial information of the gripping component 1 into a digital signal that can be directly read by the machine vision system, providing an accurate and reliable navigation target for the automated execution component. This not only significantly improves the absolute accuracy and repeatability of docking but also enhances the system's adaptability to complex paths and flexible production tasks.

[0054] The connecting component 4 includes a connecting post 41, which is arranged along the direction of the gripping member 1, and the connecting component 4 is mounted on the gripping member 1. In some embodiments, the gripping rod 11 of the gripping member 1 can also serve as the connecting component 4 so that the locking structure 3 is directly mounted on the side wall of the gripping rod 11.

[0055] In one embodiment, multiple locking structures 3 are provided, and the length direction of the connecting component 4 is set as the first direction. In this embodiment, the connecting component 4 is set along the height direction, that is, the first direction is set along the height direction. Multiple locking structures 3 are set along the first direction, and multiple locking structures 3 are respectively installed at both ends of the connecting component 4. The distance between two adjacent locking structures 3 is greater than the length of the execution component of the automation device along the first direction, so that one end of the execution component of the automation device can be located on the side of the connecting component 4 away from the locking structure 3, and the other end is located on the side of the connecting component 4 close to the locking structure 3. The execution component of the automation device can be completely closed, so that the connection between the execution component of the automation device and the connecting component 4 can be reduced by frictional force, and mainly rely on the mechanical arm itself to withstand the load force to open the washing machine door.

[0056] In this embodiment, the distance between two adjacent locking structures 3 is greater than 3cm, so that the execution part of the automated device can be completely located between the two adjacent locking structures 3, and the execution part of the automated device can be completely closed. Therefore, it is not necessary to rely on the positive friction force generated by the gripping force of the robotic arm's gripper to open the washing machine door, but mainly relies on the force that the robotic arm itself can withstand to open the washing machine door.

[0057] In another embodiment, in order to better enable the actuator of the automated equipment to perform work by relying on the force of the load it bears, an abutment surface is also provided on the side wall of the connecting component 4. The abutment surface protrudes outward from the side wall of the connecting component 4 and is located above the actuator of the automated equipment, so that the top wall of the actuator of the automated equipment can abut against the abutment surface, thereby supporting the abutment surface and the top wall of the actuator of the automated equipment relative to each other.

[0058] Reference Figure 3 , Figure 4 The locking structure 3 includes a support portion 31, a locking portion 32, and a locking member 33. In one embodiment, the support portion 31 is used to connect relative to the connecting assembly 4. The side of the support portion 31 facing away from the connecting assembly 4 is connected to the locking portion 32, and the locking portion 32 is used to engage with the side wall of the gripped component to connect the locking portion 32 relative to the gripped component. The locking member 33 is used to adjust the relative positional relationship between the support portion 31 and the locking portion 32, and can effectively engage with a specific side wall, groove, flange, or other feature of the gripped component.

[0059] The locking element 33 serves a dual function of adjustment and fixation in this structure. Its core function is to adjust the relative positional relationship between the support part 31 and the locking part 32. To achieve flexible clamping adjustment, the connection between the support part 31 and the locking part 32 is not completely rigidly fixed, but is designed to allow relative movement, such as relative rotation, hinged connection via a hinge or pivot, or sliding connection via a groove and slider. This movable connection allows the locking part 32 to move relative to the support part 31, thereby changing the opening size or clamping posture of the clamping port of the locking part 32 itself (or formed together with other parts).

[0060] Through this coordinated action, a reliable relative connection is established between the locking part 32 and the gripped part, enabling the movement and force generated by the gripping part 1 to be effectively transmitted to the gripped part through the locking part 32. The support part 31 and the locking part 32 are rotatable, hinged, or slidably connected to each other to adjust the size of the opening between the locking parts 32, thereby opening and closing the gripped part through the locking part 32, and locking the movement of the locking part 32 by the locking member 33.

[0061] The locking member 33, acting on the support part 31 and the locking part 32, can precisely control and maintain this relative position. When it is necessary to grasp an object, the locking member 33 is operated to move the locking part 32, widening the opening to accommodate the object to be grasped; once the object is in place, the locking member 33 is operated in the opposite direction, driving the locking part 32 to move in the closing direction, narrowing the opening until it tightly locks the object to be grasped, thus achieving clamping. Finally, the locking member 33 itself also has a locking or limiting function, which can fix the relative relationship between the support part 31 and the locking part 32 after reaching the preset clamping force or position, preventing accidental loosening due to vibration or external force during subsequent work, thereby ensuring the absolute reliability of the grasp.

[0062] In a specific embodiment, the support part 31 is a first locking rod, and the locking part 32 is a second locking rod. The first locking rod and the second locking rod are hinged together, and the second locking rod extends from the side of the first locking rod away from the connecting assembly 4. The second locking rod has an "L" shaped structure, and the end of the second locking rod away from the first locking rod extends toward the relatively close side, so that the end of the second locking rod away from the first locking rod can be engaged with the side wall of the gripped part, so that the second locking rod is connected to the gripped part. When the first locking rod and the second locking rod are at a certain angle, the bent end of the second locking rod can hook or be engaged from the side into the recess, edge or specific structure of the side wall of the gripped part.

[0063] The locking element 33 is a screw. One end of the screw is threaded onto the side wall of the first locking rod, and the other end is threaded onto the side wall of the second locking rod. The screw is angled, with one end (usually the tail of the screw) threaded into a pre-drilled threaded hole in the side wall of the second locking rod, and the other end (the head of the screw or the part that passes through it) threaded into a corresponding threaded hole or groove in the side wall of the first locking rod. The angle gradually increases from the side closest to the center of the first locking rod to the side away from the center of the first locking rod, gradually moving towards the distal end of the second locking rod. The axis of the screw forms a certain angle with both the first and second locking rods, creating a pulling or pushing mechanism.

[0064] By rotating the screw, the opening angle between the first locking lever and the second locking lever can be adjusted. When the angle between the first locking lever and the second locking lever is increased, the end of the second locking lever that is away from the first locking lever can be engaged with the gripped part. When the angle between the first locking lever and the second locking lever is reduced, the second locking lever and the gripped part can be locked and fixed.

[0065] Reference Figure 1 , Figure 4 In another embodiment, the support part 31 is a first locking rod, the locking part 32 is a second locking rod, and the first locking rod and the second locking rod are slidably connected. The second locking rod is perpendicular to the first locking rod, and the two opposing second locking rods can move along the length direction of the first locking rod to adjust the distance between the two opposing second locking rods. When the distance between the two second locking rods is increased, the second locking rod can be placed on the outside of the gripped part, and by reducing the distance between the two second locking rods, the second locking rod is engaged with the gripped part.

[0066] The locking component 33 is a bidirectional lead screw, which includes a first threaded section and a second threaded section arranged coaxially. The threads of the first threaded section and the second threaded section are opposite in direction, and two opposing second locking rods are respectively threaded onto the first threaded section and the second threaded section. By rotating the bidirectional lead screw, the two opposing second locking rods are moved toward a direction that is relatively close or relatively far apart, thereby adjusting the distance between the two opposing second locking rods.

[0067] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A washing machine door handle with composite positioning and gripping features, characterized in that, include: A gripping component (1) is used to connect to the execution part of an automated device; Positioning feature (2) is provided on the gripping component (1) to enable the automated equipment to be positioned and identified; A connecting component (4) is installed on the gripping component (1). The length of the connecting component (4) along the first direction is not less than the length of the execution part of the automation device along the first direction, so that the execution part of the automation device can close and grip the connecting component (4). The locking structure (3) is installed on the connecting assembly (4) to connect the gripping component (1) to the gripped component.

2. The washing machine door handle with composite positioning and gripping features as described in claim 1, characterized in that, The positioning feature (2) includes at least one or more of the following: shape positioning part (21), color positioning part, and positioning code (22).

3. The washing machine door handle with composite positioning and gripping features as described in claim 2, characterized in that, The shape positioning part (21) includes a first positioning part (211), a second positioning part (212) and a connecting part. The two ends of the connecting part are respectively connected to the first positioning part (211) and the second positioning part (212). The first positioning part (211) and the second positioning part (212) have different shapes.

4. The washing machine door handle with composite positioning and gripping features as described in claim 2, characterized in that, The color positioning part includes a color differentiation part, which covers part or all of the washing machine door handle, and the color of the color differentiation part is different from the ambient color.

5. The washing machine door handle with composite positioning and gripping features as described in claim 2, characterized in that, The positioning code (22) is installed on the gripping component (1) near the execution part of the automated equipment.

6. The washing machine door handle with composite positioning and gripping features as described in claim 1, characterized in that, The connecting component (4) includes a connecting column (41), which is installed on the gripping component (1). The execution part of the automated device is sleeved on the outside of the connecting column (41) so that the execution part of the automated device can be completely closed.

7. The washing machine door handle with composite positioning and gripping features as described in claim 6, characterized in that, The connecting component (4) also includes an abutting surface that protrudes from the side wall of the connecting column (41) so that the top wall of the execution part of the automated equipment abuts against the abutting surface.

8. The washing machine door handle with composite positioning and gripping features as described in claim 1, characterized in that, The locking structure (3) includes a support (31), a locking part (32) and a locking member (33). The support (31) and the locking part (32) are hinged together. The support (31) is mounted on the connecting assembly (4). The locking part (32) is engaged with the gripped part. The locking member (33) limits the opening angle between the support (31) and the locking part (32).

9. The washing machine door handle with composite positioning and gripping features as described in claim 8, characterized in that, The locking structure (3) includes a support (31), two locking parts (32) and a locking member (33). The support (31) and the locking parts (32) are slidably connected. The support (31) is installed on the connecting assembly (4). The locking parts (32) are snapped into the gripped part. The locking member (33) limits the distance between the two locking parts (32).

10. The washing machine door handle with composite positioning and gripping features as described in claim 8, characterized in that, Multiple locking parts (32) are provided along the first direction, and the distance between two adjacent locking parts (32) is not less than the length of the execution part of the automation device along the first direction.

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