Self-heat-dissipation type environment sensing manipulator and robot

Abstract

The invention discloses a self-heat-dissipation type environment sensing manipulator and a robot. The self-heat-dissipation type environment sensing manipulator comprises a manipulator body and a clamping jaw. An environment perception sensor; a guard; the heat dissipation assembly comprises a sensor connecting end and a heat dissipation end, the heat dissipation end is exposed out of the protection part, and heat generated by the environment sensing sensor is conducted to the heat dissipation end through the sensor connecting end. And the protective piece covers the outer sides of the manipulator main body and the environment sensing sensor. The environment sensing sensor can move along with the manipulator main body, so that the environment sensing sensor can fully acquire the surrounding environment information in the working process of the manipulator main body, and the detection blind area of the environment sensing sensor can be reduced, so that the positioning precision of the environment sensing sensor and the reliability of environment sensing are improved; heat generated by the environment sensing sensor is conducted to the heat dissipation end through the sensor connecting end and is conducted out of the protection piece through the heat dissipation end, and the situation that the detection work of the environment sensing sensor is affected due to the fact that the temperature is too high when the environment sensing sensor works is avoided.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a self-heating environmental sensing manipulator and robot. Background Technology

[0002] In standardized commercial catering scenarios, robots typically automate the entire process from ingredient identification, grasping, processing, cooking, to plating. During ingredient identification, environmental sensing devices, such as cameras, are crucial data sources for robots performing cooking tasks. These devices primarily acquire environmental data by collecting images, videos, and / or point clouds. Because the temperature is usually high during cooking, if the camera is near a heat source and heat dissipation is insufficient, it can cause frame drops in the collected data, affecting the robot's judgment of environmental objects and ultimately leading to the failure of the robot's robotic arm to grasp and locate objects.

[0003] In related technologies, the camera is fixed in a position away from the heat source. However, this setting limits the camera's shooting angle, resulting in problems such as blind spots, attitude deviations, and dynamic lag in the environmental and target data acquired by the algorithm. Ultimately, this reduces the positioning accuracy and the reliability of environmental perception. Summary of the Invention

[0004] The main purpose of this application is to provide a self-heating environmental perception manipulator and robot to solve the problem that in related technologies, the camera is fixed in a certain position away from the heat source. Such a setting will limit the shooting angle of the camera, resulting in problems such as blind spots, posture deviation and dynamic lag in the environmental and target data obtained by the algorithm, which will ultimately reduce the positioning accuracy and the reliability of environmental perception.

[0005] To achieve the above objectives, this application provides a self-heating environmental sensing robotic arm, comprising: The robotic arm body is connected to the robotic arm, and a movable gripper is installed at the distal end of the robotic arm body; An environmental sensing sensor is installed on one side of the main body of the robotic arm and moves with the main body of the robotic arm. The detection direction is towards the far end of the main body of the robotic arm. The environmental sensing sensor is used to detect information about the surrounding environment or food. A protective component is provided to cover the outside of the main body of the robotic arm and the environmental sensing sensor, and the gripper is located outside the coverage area of ​​the protective component; The heat dissipation assembly includes a sensor connection end and a heat dissipation end. The sensor connection end is located within the coverage area of ​​the protective component and is connected to the environmental sensing sensor. The heat dissipation end is exposed outside the coverage area of ​​the protective component. The heat generated by the environmental sensing sensor is conducted to the heat dissipation end through the sensor connection end.

[0006] In one exemplary embodiment of this application, the sensor connection end is provided with a heat dissipation fin; The environmental sensing sensor is equipped with heat dissipation fins. When the environmental sensing sensor is installed at the sensor connection end, the heat dissipation fins and the heat dissipation support are arranged in an alternating manner.

[0007] In one exemplary embodiment of this application, the heat dissipation assembly includes a robotic arm connection end, which is located within the coverage area of ​​the protective member and connected to the side of the robotic arm body; a heat insulation cavity is provided inside the robotic arm connection end.

[0008] In one exemplary embodiment of this application, the heat dissipation assembly includes a first heat dissipation component, a second heat dissipation component, and a third heat dissipation component. The first heat dissipation component includes the sensor connection end and the robot arm connection end. The third heat dissipation component includes the heat dissipation end. The second heat dissipation component is connected between the first heat dissipation component and the third heat dissipation component.

[0009] In one exemplary embodiment of this application, the heat dissipation assembly further includes a fourth heat dissipation component, which is connected to the first heat dissipation component and located between the sensor connection end and the robot connection end. The upper end of the environmental sensing sensor is connected to the sensor connection end, and the fourth heat dissipation component is attached to the side of the environmental sensing sensor.

[0010] In one exemplary embodiment of this application, the fourth heat sink is configured to have an adjustable tilt angle in the direction toward the side of the environmental sensing sensor.

[0011] In one exemplary embodiment of this application, the lower end face of the third heat sink is provided with a heat-conducting structure, which is configured to conduct heat from the cavity enclosed by the protective member to the third heat sink. The upper surface of the third heat sink is provided with heat conduction grooves, which are strip-shaped and spaced apart, and the cross-sections of the multiple strip-shaped heat conduction grooves are wavy.

[0012] In one exemplary embodiment of this application, the protective component includes a rigid end cap and a rubber sleeve, the rigid end cap and the rubber sleeve wrapping around the outside of the robot body and the environmental sensing sensor, and the heat dissipation end being disposed on the rigid end cap.

[0013] In one exemplary embodiment of this application, the rubber sleeve includes a hard rubber sleeve and a soft rubber sleeve. The hard rubber sleeve is fitted over the outside of the environmental sensing sensor, and the soft rubber sleeve is fitted over the outside of the robot body. The hard rubber sleeve and the soft rubber sleeve are connected by a connector.

[0014] According to a second aspect of this application, a robot is provided, including the aforementioned self-heating environmental sensing manipulator.

[0015] The exemplary embodiments of this application may have some or all of the following beneficial effects: This application provides a self-heating environmental sensing robotic arm, comprising a robotic arm body, a ring-shaped sensing sensor, a protective component, and a heat dissipation assembly. The robotic arm body is used to connect to a robotic arm, and a gripper is movably mounted at the distal end of the robotic arm body for gripping food. The environmental sensing sensor is mounted on one side of the robotic arm, with its detection direction facing the distal end of the robotic arm body, for monitoring the surrounding environment or food information. The protective component covers the outside of the robotic arm body and the environmental sensing sensor, protecting them from being penetrated by oil fumes, food, etc., during cooking. The gripper is located outside the protective component to facilitate gripping food. The heat dissipation assembly includes a sensor connection end and a heat dissipation end. The connecting end is located inside the protective component and connected to the environmental sensing sensor, while the heat dissipation end is exposed outside the protective component. This design allows the environmental sensing sensor to be mounted on the robot body and move with it, enabling the sensor to fully acquire information about the surrounding environment during the robot's operation. This reduces the sensor's blind spots, thereby improving its positioning accuracy and the reliability of environmental sensing. Simultaneously, the heat generated by the environmental sensing sensor is conducted through the sensor connecting end to the heat dissipation end, and then through the heat dissipation end out of the protective component, dissipating the heat outside the protective component and preventing the sensor from overheating and affecting its detection capabilities.

[0016] The self-heating environmental sensing robot provided in this application has an environmental sensing sensor connected to the sensor connection end by interlocking heat dissipation fins and heat dissipation supports. This design has a compact structure, which can reduce the overall size of the robot and improve the heat transfer efficiency between the environmental sensing sensor and the heat dissipation component.

[0017] The self-heating environmental sensing robot provided in this application has a connecting end embedded in a protective component, which enhances the structural strength of the heat dissipation component and the robot body, preventing the connection from becoming loose due to vibration or collision. At the same time, the protective component can be quickly disassembled, facilitating the inspection or replacement of the heat dissipation component.

[0018] The self-heating environmental sensing robot provided in this application has a heat insulation cavity inside the robot's connecting end. The heat insulation cavity can reduce the heat generated by the robot body to be conducted to the heat dissipation component. The robot body is connected to a gripper that needs to grasp food for processing. During the processing, it will be close to the heat source. After the heat is conducted to the robot body, the temperature of the robot body will be high. The setting of the heat insulation cavity can reduce the heat conduction from the robot body to the environmental sensing sensor, reduce the impact of the high temperature of the robot body on the environmental sensing sensor, thereby ensuring that the environmental sensing sensor works in a lower temperature environment and improving the accuracy of data acquisition.

[0019] The self-heating environmental sensing robot provided in this application allows heat to be naturally conducted upwards when the heat dissipation end is located at the top, reducing heat accumulation at the sensor connection end and improving heat dissipation efficiency. At the same time, this design allows the heat dissipation components to be compactly arranged in the vertical direction, saving the robot's lateral space.

[0020] The self-heating environmental sensing robot provided in this application has a fourth heat sink movably mounted on the first heat sink, and its tilt angle can be adjusted to adapt to different specifications and models of environmental sensing sensors. This allows the fourth heat sink to be adjusted according to the side angle of the environmental sensing sensor, enabling it to fit as close as possible to the side of the sensor. This close fit design not only allows heat dissipation from both the side and top surfaces of the environmental sensing sensor, but also shortens the heat conduction path, reduces heat accumulation on the side of the sensor, and ensures stable operation of the sensor in high-temperature environments. The close fit also reduces the gap between the heat dissipation components and the environmental sensing sensor, improving the overall compactness of the robot.

[0021] The self-heating environmental sensing robot provided in this application has multiple spaced strip-shaped heat conduction grooves on its heat dissipation end. The cross-section of the multiple strip-shaped heat conduction grooves is a smooth wavy groove. This design can increase the heat dissipation area of ​​the upper surface of the third heat dissipation component and facilitate cleaning. Since the robot provided in this application is used for cooking, oil stains and other substances will adhere to it. The wavy grooves are designed to be smooth and easy to clean without dead corners.

[0022] The self-heating environmental sensing robot provided in this application has a protective component including a rigid end cap and a rubber sleeve. The rubber sleeve is connected to the rigid end cap, which facilitates the disassembly and installation of the protective component. The rubber sleeve includes a rigid rubber sleeve and a soft rubber sleeve. The rigid rubber sleeve provides structural support, while the soft rubber sleeve enhances sealing and flexibility to adapt to the deformation requirements of the robot during movement. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings: Figure 1 This is a structural schematic diagram of a self-heating environmental sensing robot according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the self-heating environmental sensing robot arm removing protective components according to the embodiments of this application; Figure 3 This is a top view of the self-heating environmental sensing robot arm after removing the protective parts, according to an embodiment of this application. Figure 4 This is a front view schematic diagram of the self-heating environmental sensing robot arm after removing the protective parts according to the embodiments of this application; Figure 5 This is a side view of the self-heating environmental sensing robot arm after removing the protective parts according to the embodiments of this application; Figure 6 This is a schematic diagram of the heat dissipation component of the self-heating environmental sensing robot according to the embodiments of this application; Figure 7 This is a schematic diagram of the first angle structure of the first heat sink of the self-heating environmental sensing robot according to the embodiments of this application; Figure 8 This is a schematic diagram of the second angle structure of the first heat sink of the self-heating environmental sensing robot according to the embodiments of this application; Figure 9 This is a schematic diagram showing the connection between the heat dissipation component and the main body of the self-heating environmental sensing robot according to an embodiment of this application. Figure 10 This is a front view schematic diagram of the connection between the heat dissipation component and the main body of the self-heating environmental sensing robot according to the embodiments of this application; Figure 11 This is a top view of the connection between the heat dissipation component of the self-heating environmental sensing robot and the robot body according to the embodiments of this application; Figure 12 This is a side view of the connection between the heat dissipation component of the self-heating environmental sensing robot and the robot body according to the embodiments of this application; Figure label: 1. Protective component; 101. Hard end cap; 102. Soft rubber sleeve; 103. Hard rubber sleeve; 2. Gripper; 3. Heat dissipation end; 4. Environmental sensing sensor; 401. Heat dissipation fins; 5. Heat dissipation assembly; 501. Sensor connection end; 5011. Heat dissipation support; 502. Second heat dissipation component; 503. Third heat dissipation component; 5031. Thermal conduction structure; 5032. Thermal conduction groove; 504. Fourth heat dissipation component; 505. Robotic arm connection end; 5051. Heat insulation cavity; 506. First heat dissipation component; 6. Robotic arm body. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate for the embodiments of this application described herein.

[0026] In this application, the terms "upper," "lower," "inner," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily used to better describe this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0027] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0028] Furthermore, the terms "set up," "equipped with," "connected," and "fixed" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0029] In addition, the term "multiple" should mean two or more.

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] Example 1 This embodiment provides a specific implementation of a self-heating environmental sensing robotic arm, such as... Figure 1 and Figure 2 As shown, it includes a protective component 1, an environmental sensing sensor 4, a heat dissipation assembly 5, and a robotic arm body 6. The robotic arm body 6 is used to connect with a robotic arm, and a movable gripper 2 is installed at the distal end of the robotic arm body 6. The gripper 2 is used to grasp food ingredients.

[0032] Combination Figure 2 and Figure 3 As shown, the environmental sensing sensor 4 is installed on one side of the robotic arm body 6, with its detection direction facing the distal end of the robotic arm body 6. It is used to monitor the surrounding environment or food information. The distal end of the robotic arm body 6 is the end where it connects to the gripper 2. Specifically, taking... Figure 2 For example, the upper part of the robotic arm body 6 is the proximal end, and the lower part is the distal end. The gripper 2 is connected to the distal end of the robotic arm body 6, and the gripper 2 moves along the left and right sides of the robotic arm body 6. The environmental perception sensor 4 is installed on one of the front and rear sides of the robotic arm body 6, and the other side is used to connect to the robot so that the robotic arm body 6 can move according to the robot's instructions.

[0033] Specifically, the environmental sensing sensor 4 is mounted on the robotic arm body 6 and can move synchronously with the robotic arm body 6 in multiple poses. The detection direction of the environmental sensing sensor 4 is towards the far end of the robotic arm body 6, which is the direction in which the robotic arm grasps the food. Compared to a fixed-position setting, the environmental sensing sensor 4 of this invention can fully acquire information about the surrounding environment during the operation of the robotic arm body 6, significantly reducing the detection blind zone of the environmental sensing sensor 4, thereby improving the positioning accuracy and reliability of environmental sensing.

[0034] The protective element 1 covers the outside of the robotic arm body 6 and the environmental sensing sensor 4, protecting them from intrusion by oil fumes and moisture during cooking, while also ensuring the robotic arm meets hygiene requirements in catering settings. The gripper 2 is located outside the protective element 1's coverage area, allowing it to move and pick up food. In some embodiments, because the protective element 1 completely encloses the robotic arm body 6 and the environmental sensing sensor, and the robotic arm remains close to a heat source during cooking, it faces a significant heat dissipation problem.

[0035] This invention solves the above problems through targeted heat dissipation design. For example... Figure 4 As shown, the heat dissipation assembly 5 includes a sensor connection end 501 and a heat dissipation end 3. The sensor connection end 501 is located within the coverage area of ​​the protective component 1 and is connected to the environmental sensing sensor 4. The heat dissipation end 3 is exposed outside the coverage area of ​​the protective component 1. The heat generated by the environmental sensing sensor 4 is conducted to the heat dissipation end 3 through the sensor connection end 501, and then conducted out of the protective component 1 through the heat dissipation end 3, so that the heat generated by the environmental sensing sensor 4 is dissipated outside the protective component 1.

[0036] In this embodiment, as Figure 4 , Figure 5 and Figure 10 As shown, the sensor connection end 501 is provided with a heat dissipation support 5011, and the environmental sensing sensor 4 is provided with a heat dissipation fin 401. When the environmental sensing sensor 4 is assembled and installed with the sensor connection end 501, the heat dissipation fin 401 and the heat dissipation support 5011 are arranged in an alternating manner and are in close contact with each other, so that the heat generated by the environmental sensing sensor 4 can be quickly conducted to the heat dissipation end 3 through the heat dissipation fin 401 and the heat dissipation support 5011 and dissipated, so that the environmental sensing sensor 4 is kept at a stable operating temperature.

[0037] In this embodiment, as Figure 6 As shown, the heat dissipation assembly 5 also includes a robotic arm connection end 505. The robotic arm connection end 505 is located within the coverage area of ​​the protective component 1 and is connected to the side of the robotic arm body 6, so that the environmental sensing sensor 4 installed on the heat dissipation assembly 5 can move synchronously with the heat dissipation assembly 5 and the robotic arm body 6. By directly connecting to the side of the robotic arm body 6 through the robotic arm connection end 505 in the heat dissipation assembly 5, the connection length can be shortened and the end load can be reduced. On the other hand, the stability and motion consistency of the environmental sensing sensor 4 and the heat dissipation assembly 5 during the movement of following the robotic arm body 6 can be increased.

[0038] In some other embodiments, the heat dissipation component 5 can be directly connected to the side of the robot body 6 via the robot arm connection end 505, or it can be connected to the joint of the robot body 6 via a connector that goes around from the top of the robot body 6. The connector can be a link or other component.

[0039] Furthermore, such as Figure 7 and Figure 8As shown, a heat insulation cavity 5051 is provided inside the robotic arm connection end 505. Specifically, the robotic arm body 6 is provided with a gripper 2 for gripping food. The gripper 2 grips the food for processing. During the processing, the robotic arm body 6 and the gripper 2 will be close to the heat source. The heat generated by the heat source will be conducted to the robotic arm body 6, which will cause the temperature of the robotic arm body 6 to be high. By providing a heat insulation cavity 5051 inside the robotic arm connection end 505, the heat conduction from the robotic arm body 6 to the environmental sensing sensor 4 can be reduced, thereby reducing the impact of the high temperature of the robotic arm body 6 on the environmental sensing sensor 4, so as to ensure the working environment temperature of the environmental sensing sensor 4.

[0040] Specifically, the side of the robotic arm connection end 505 that connects to the robotic arm body 6 has an opening communicating with the heat insulation cavity 5051, such as... Figure 8 As shown, the side of the robotic arm connection end 505 has an opening that communicates with the internal heat insulation cavity 5051. This design ensures that only the right side of the robotic arm connection end 505, specifically the four edges, contacts and connects with the robotic arm body 6. The heat insulation cavity 5051 can block some heat transfer to the robotic arm connection end 505. In this embodiment, both the robotic arm connection end 505 and the robotic arm body 6 are rigid structures, and the connection between them is rigid to ensure the positioning accuracy of the environmental sensing sensor 4 and its positional stability during movement. While adding a heat insulation pad between the robotic arm connection end and the robotic arm can provide insulation, the pad is a flexible structure, and deformation during the connection process can affect the sensor's accuracy. Therefore, the opening of the robotic arm connection end 505 communicates with the heat insulation cavity 5051, reducing the contact area between the robotic arm connection end 505 and the side of the robotic arm body 6. Combined with the design of the heat insulation cavity 5051, this further reduces heat conduction from the robotic arm body 6 to the environmental sensing sensor 4.

[0041] In this embodiment, the heat dissipation end 3 is located above the sensor connection end 501, specifically, as shown in the figure. Figure 6 and Figure 7As shown, the heat dissipation assembly 5 includes a first heat dissipation component 506, a second heat dissipation component 502 and a third heat dissipation component 503. The first heat dissipation component 506 includes a sensor connection end 501 and a robot connection end 505. The third heat dissipation component 503 includes a heat dissipation end 3. The second heat dissipation component 502 is connected between the first heat dissipation component 506 and the third heat dissipation component 503. In this embodiment, the sensor connection end 501 of the first heat sink 506 is connected to the environmental sensing sensor 4, and the robotic arm connection end 505 of the first heat sink 506 is connected to the robotic arm body 6, thus realizing the connection of the ring sensing sensor to the robotic arm body 6, so that the environmental sensing sensor 4 can move with the movement of the robotic arm body 6, thereby monitoring the environmental information of the real-time position of the robotic arm body 6; the third heat sink 503 is connected to the first heat sink 506 through the second heat sink 502, and the heat dissipation end 3 of the third heat sink 503 is exposed outside the protective member 1, so that the heat generated by the environmental sensing sensor 4 can be dissipated through the path of heat dissipation fin 401-heat dissipation support 5011-first heat sink 506-second heat sink 502-third heat sink 503-heat dissipation end 3.

[0042] In this embodiment, the heat dissipation assembly 5 includes a first heat dissipation component 506, a second heat dissipation component 502, and a third heat dissipation component 503, wherein the structure of the first heat dissipation component 506 is as follows: Figure 6 and Figure 7 As shown, the system includes a sensor connection terminal 501 and a robotic arm connection. The sensor connection terminal is used to connect the environmental sensing sensor 4, and the robotic arm connection terminal 505 is used to connect to the robotic arm body 6. The upper end of the first heat sink 506 is connected to the second heat sink 502. The second heat sink 502 is a heat dissipation block, located between the first heat sink 506 and the third heat sink 503, and is used to transfer the heat conducted by the first heat sink 506 to the third heat sink 503. The third heat sink 503 is embedded on the end face of the protective component 1. The lower end face of the third heat sink 503 is located inside the protective component 1 and abuts against the second heat sink 502, so as to receive the heat conducted by the second heat sink 502. The upper end face of the third heat sink 503 is located outside the protective component 1, so as to dissipate the received heat into the air, thereby keeping the internal temperature of the protective component 1 low and ensuring the working environment temperature of the environmental sensing sensor 4, so that the environmental sensing sensor 4 can work at a suitable temperature.

[0043] In this embodiment, the heat dissipation component 5 further includes a fourth heat dissipation component 504, which is connected to the first heat dissipation component 506 and located between the sensor connection end 501 and the robot connection end 505. The upper end of the environmental sensing sensor 4 is connected to the sensor connection end 501, and the fourth heat dissipation component 504 is attached to the side of the environmental sensing sensor 4 to further improve the heat dissipation efficiency of the environmental sensing sensor 4.

[0044] Specifically, such as Figure 9 As shown, the fourth heat sink 504 is movably mounted on the first heat sink 506. The tilt angle of the fourth heat sink 504 can be adjusted to accommodate different specifications and models of environmental sensing sensors 4. In this embodiment, the fourth heat sink 504 is plate-shaped and preferably made of a metal material with good thermal conductivity. The fourth heat sink 504 can be mounted on the first heat sink 506 through a hinged structure with locking capability. Figure 5 For example, the right side of the environmental sensing sensor 4 is fitted with the fourth heat sink 504, which allows the fourth heat sink 504 to be adjusted and locked according to the side angle of the environmental sensing sensor 4. This allows the fourth heat sink 504 to fit the side of the environmental sensing sensor 4 to the maximum extent. The fitting design not only allows heat dissipation on both the side and top of the environmental sensing sensor 4, but also shortens the heat conduction path, reduces heat accumulation on the side of the environmental sensing sensor 4, and ensures that the environmental sensing sensor 4 works stably in high-temperature environments. Through the fitting installation, the gap between the heat dissipation component 5 and the environmental sensing sensor 4 is reduced, improving the overall compactness of the robot.

[0045] In this embodiment, as Figure 6 As shown, the lower end face of the third heat sink 503 is provided with a heat-conducting structure 5031. The heat-conducting structure 5031 consists of several strip grooves, which are spaced apart and form heat sinks between the strip grooves. The strip grooves can increase the contact area of ​​the cavity formed by the third heat sink 503 and the protective member 1. The environmental sensing sensor 4 is arranged in the cavity. Therefore, the temperature of the environmental sensing sensor 4 is conducted to the third heat sink 503 through the gas in the cavity. Thus, the heat dissipation effect can be further improved by increasing the contact area between the third heat sink 503 and the gas in the cavity through the strip grooves.

[0046] In this embodiment, the upper end face of the third heat sink 503 protrudes from the surface of the protective member 1, and the protruding portion of the third heat sink 503 forms a heat dissipation end 3, such as... Figure 11 As shown, the protruding portion is provided with strip-shaped heat-conducting grooves 5032, and the cross-section of the multiple strip-shaped heat-conducting grooves 5032 is a smooth, wavy groove, such as... Figure 12 As shown, this design increases the heat dissipation area of ​​the upper surface of the third heat sink 503 and facilitates cleaning. Since the robotic arm provided in this application performs cooking tasks, oil stains and other contaminants may adhere to it. The wavy groove is a smooth design, making cleaning easy and eliminating dead corners. The bottom surface of the heat conduction groove 5032 is flush with or higher than the upper surface of the protective component 1, further facilitating the removal of oil stains and other contaminants from the heat conduction groove 5032.

[0047] This embodiment achieves stable operating temperature of the environmental sensing sensor 4 within the protective component 1 through the collaborative design formed by the structural cooperation, positional relationship, and functional relationship of multiple parts, components, and / or components in the heat dissipation end 3 and heat dissipation assembly 5, thus solving the heat dissipation problem of the robotic arm in high-temperature cooking scenarios.

[0048] In this embodiment, as Figure 1 As shown, the protective component 1 includes a rigid end cap 101 and a rubber sleeve. A third heat sink 503 is mounted on the rigid end cap 101, and the upper surface of the third heat sink 503 protrudes from the surface of the rigid end cap 101. The rubber sleeve is connected to the rigid end cap 101, enclosing the robot body 6 and the environmental sensing sensor 4 inside for oil fume protection. Further, the rubber sleeve includes a rigid rubber sleeve 103 and a soft rubber sleeve 102. The rigid rubber sleeve 103 is fitted on the outside of the environmental sensing sensor 4 and the heat sink, and the soft rubber sleeve 102 is fitted on the outside of the robot body 6. The rigid rubber sleeve 103 and the soft rubber sleeve 102 can be connected by snaps, fastening screws, etc. The end faces of both the rigid rubber sleeve 103 and the soft rubber sleeve 102 are connected to the rigid end cap 101. The environmental sensing sensor 4 is relatively fixed in position after installation, so a hard rubber sleeve 103 is used to cover its outer side. The robotic arm body 6 will also move or undergo structural changes, so a soft rubber sleeve 102 is used to cover its outer side to accommodate the movement and other operations of the robotic arm body 6.

[0049] Specifically, an observation window is provided below the hard rubber sleeve 103. The observation window can be snapped into the housing of the environmental sensing sensor 4 to form a partial seal, so that the environmental sensing sensor 4 can detect environmental information outside through the observation window.

[0050] Example 2 This embodiment provides a specific implementation of a robot, including the self-heating environmental sensing manipulator in Embodiment 1.

[0051] Specifically, the robot also includes a robotic arm and cooking components. A self-cooling environmental sensing robotic hand is mounted at the end of the robotic arm and moves in different postures under the drive of the robotic arm. The robotic arm passes through the protective component 1 via a connector and extends to one side of the robotic hand body 6, connecting to the robotic hand body 6. An environmental sensing sensor 4 is mounted on the side away from the robotic arm, and the self-cooling environmental sensing robotic hand collects environmental data through the environmental sensing sensor 4. For example, in the cooking process, the robot uses the RGB camera on the self-cooling environmental sensing robotic hand to collect environmental data. After dynamic positioning analysis and motion planning by the robot processor, motion commands are issued to enable the self-cooling environmental sensing robotic hand to grasp the cooking components.

[0052] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A self-heating environmental sensing robotic arm, characterized in that, include: The robotic arm body is connected to the robotic arm, and a movable gripper is installed at the distal end of the robotic arm body; An environmental sensing sensor is installed on one side of the main body of the robotic arm and moves with the main body of the robotic arm. The detection direction is towards the far end of the main body of the robotic arm. The environmental sensing sensor is used to detect information about the surrounding environment or food. A protective component is provided to cover the outside of the main body of the robotic arm and the environmental sensing sensor, and the gripper is located outside the coverage area of ​​the protective component; The heat dissipation assembly includes a sensor connection end and a heat dissipation end. The sensor connection end is located within the coverage area of ​​the protective component and is connected to the environmental sensing sensor. The heat dissipation end is exposed outside the coverage area of ​​the protective component. The heat generated by the environmental sensing sensor is conducted to the heat dissipation end through the sensor connection end.

2. The self-heating environmental sensing robotic arm according to claim 1, characterized in that, The sensor connection end is equipped with a heat dissipation fin; The environmental sensing sensor is equipped with heat dissipation fins. When the environmental sensing sensor is installed at the sensor connection end, the heat dissipation fins and the heat dissipation support are arranged in an alternating manner.

3. The self-heating environmental sensing robotic arm according to claim 1, characterized in that, The heat dissipation component includes a robotic arm connection end, which is located within the coverage area of ​​the protective component and connected to the side of the robotic arm body; a heat insulation cavity is provided inside the robotic arm connection end.

4. The self-heating environmental sensing robotic arm according to claim 3, characterized in that, The heat dissipation assembly includes a first heat dissipation component, a second heat dissipation component, and a third heat dissipation component. The first heat dissipation component includes the sensor connection end and the robot arm connection end. The third heat dissipation component includes the heat dissipation end. The second heat dissipation component is connected between the first heat dissipation component and the third heat dissipation component.

5. The self-heating environmental sensing robotic arm according to claim 4, characterized in that, The heat dissipation assembly further includes a fourth heat dissipation component, which is connected to the first heat dissipation component and located between the sensor connection end and the robot connection end. The upper end of the environmental sensing sensor is connected to the sensor connection end, and the fourth heat dissipation component is attached to the side of the environmental sensing sensor.

6. The self-heating environmental sensing robotic arm according to claim 5, characterized in that, The fourth heat sink is configured to have an adjustable tilt angle in the direction toward the side of the environmental sensing sensor.

7. The self-heating environmental sensing robotic arm according to claim 4, characterized in that, The lower end face of the third heat sink is provided with a heat-conducting structure, which is configured to conduct heat from the cavity formed by the protective component to the third heat sink. The upper surface of the third heat sink is provided with heat conduction grooves, which are strip-shaped and spaced apart, and the cross-sections of the multiple strip-shaped heat conduction grooves are wavy.

8. The self-heating environmental sensing robotic arm according to claim 1, characterized in that, The protective component includes a rigid end cap and a rubber sleeve, which wrap around the outside of the robot body and the environmental sensing sensor. The heat dissipation end is located on the rigid end cap.

9. The self-heating environmental sensing robotic arm according to claim 8, characterized in that, The rubber sleeve includes a hard rubber sleeve and a soft rubber sleeve. The hard rubber sleeve is fitted over the outside of the environmental sensing sensor, and the soft rubber sleeve is fitted over the outside of the robot body. The hard rubber sleeve and the soft rubber sleeve are connected by a connector.

10. A cooking robot, characterized in that, The self-heating environmental sensing robotic arm includes any one of claims 1-9.

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