A robot hand execution assembly and a cleaning robot

Abstract

The application discloses a machine hand executing assembly and a cleaning robot, and relates to the technical field of the cleaning robot, which comprises a multi-axis mechanical arm, a driving part and a clamping claw. The multi-axis mechanical arm is used for completing positioning of the clamping claw at an arbitrary point in a three-dimensional coordinate system and controllable track movement. The driving part is installed on a port of the multi-axis mechanical arm, and the clamping claw is further assembled on the driving part. The clamping claw comprises a base and at least two symmetrically arranged clamping fingers. A positioning cylinder is further arranged on the port of the base between the clamping fingers. The locking assembly comprises a lock sleeve and a lock rod. The lock rod is hinged to the outer wall of the lock sleeve. The power of the closed clamping claw is utilized. When the cleaning device is replaced, the driving part works to not only make the lock rod be ejected to realize preliminary locking, but also make the clamping fingers press the pressing plate in the process of moving towards each other and clamping, so that the hydraulic assembly in the containing groove is triggered through the pressing rod to drive the limiting plate to realize internal secondary tightening and dead locking. The magnetic self-resetting cover design improves the dustproof and waterproof capability and service life in a complex environment.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, and in particular to a robotic arm execution component and a cleaning robot. Background Technology

[0002] With the acceleration of urbanization and the improvement of people's living standards, cleaning robots, as intelligent cleaning equipment, are gradually being widely used in homes, offices, public service areas, and industrial settings. The core advantage of cleaning robots lies in their ability to operate autonomously to a certain extent, reducing human intervention. However, complex cleaning tasks often require different types of cleaning tools to work together; for example, vacuum cleaners are used to pick up dust particles, brooms to sweep up larger debris, and dryers to handle slippery surfaces. Therefore, enabling a single cleaning robot to switch between multiple cleaning modes has become a key issue in improving cleaning efficiency and intelligence.

[0003] To address the aforementioned needs, some existing technologies have attempted to solve the problem of automatically changing cleaning tools in cleaning robots. For example, patent document CN217592717U discloses an automatic cleaning component changing device and an intelligent cleaning system, which uses a transport track and drive mechanism to transport the cleaning component to be replaced from the storage area to the replacement port along the track, thereby achieving automatic replacement of the cleaning component. However, the core of this solution lies in the process design and track transport structure for automatic replacement of cleaning tools at the base station, and does not address how the robot's end effector can achieve a stable and reliable lock between itself and the cleaning tool after grasping it. When the multi-axis robotic arm performs high-intensity cleaning operations, there is still a risk that the tool may shake or even accidentally fall off.

[0004] In the field of industrial robots, the technology of quick-change devices for end effectors is relatively mature. Patent application number CN202123064511.4 discloses a locking mechanism for a quick-change device for robot tools, which uses steel balls and locking grooves to lock the main plate and tool plate, and uses pneumatically controlled cams and pistons to achieve unlocking and locking.

[0005] While the aforementioned solutions have achieved good tool quick-change performance in industrial robotic arm applications, their quick-change devices typically require independent drive sources to complete locking and unlocking actions. The drive systems for the quick-change device and the gripper are separate, resulting in a relatively complex overall structure. Furthermore, these quick-change devices are primarily designed for industrial processing scenarios and lack specific consideration for tool locking reliability and adaptability to dust and water resistance in clean environments.

[0006] Comprehensive analysis reveals that existing automatic cleaning tool changing solutions for cleaning robots still have the following technical problems: First, the power source for tool locking and the power source for gripper drive are independent of each other, resulting in structural redundancy and high cost; Second, the locking of the tool and the robot end effector mainly relies on a single mechanical engagement structure, which is insufficient to withstand lateral torque and impact loads when the multi-axis robotic arm of the cleaning robot swings cleaning tools such as brooms to perform high-intensity operations, and there is a risk that the tool may loosen or even fall out of the gripper.

[0007] Therefore, there is an urgent need to develop a robotic arm execution component and cleaning robot that can reliably lock when changing cleaning equipment without the need for additional drive motors. Summary of the Invention

[0008] The purpose of this invention is to provide a robotic arm execution component and a cleaning robot. Utilizing the power of the clamping claw's closing mechanism, during cleaning equipment replacement, the driving component not only causes the locking rod to extend for initial locking, but also, as the clamping fingers move in opposite directions to clamp, they press against the pressure plate. This pressure, in turn, triggers the hydraulic components within the receiving groove via the pressure rod, driving the limiting plate to achieve a secondary, tight lock. The magnetic self-resetting sealing cover design enhances dust and water resistance and extends the robot's lifespan in complex environments.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm execution component, comprising: Multi-axis robotic arms are used to position grippers at any point in a three-dimensional coordinate system and controllable trajectory movements. The drive unit is mounted on the port of the multi-axis robotic arm and is also equipped with gripping claws. The clamping jaws include a base and at least two symmetrically arranged clamping fingers. A drive unit is connected to the clamping fingers and a locking assembly. A shaft fixed on each clamping finger rotates around the base under the push of the drive unit to change the position of the clamping finger. A positioning cylinder is also provided on the port of the base between the clamping fingers. The base is connected to the housing of the drive unit. The locking assembly includes a lock sleeve and a locking lever, with the locking lever hinged to the outer wall of the lock sleeve.

[0010] As an optional implementation, a return spring is provided on the shaft where the locking rod is hinged to the locking sleeve, and the return spring provides elastic force for the locking rod to move in the radial direction of the locking sleeve.

[0011] As an alternative implementation, the radial movement is from the center of the lock sleeve toward the edge of the lock sleeve.

[0012] As an optional implementation, the multi-axis robotic arm is assembled from multiple robotic arm sections, with the drive unit mounted on the last robotic arm section, and a detection module consisting of a laser radar and a camera is also installed on the last robotic arm section.

[0013] As an optional implementation, the drive component includes a motor, a worm gear, and a worm wheel. The worm gear mounted on the output shaft of the motor meshes with the worm wheel on the clamping finger shaft, and the worm gear also penetrates into the positioning cylinder and meshes with the locking sleeve.

[0014] As an optional implementation, a guide groove matching the guide bar is formed on the outer wall of the locking sleeve, and the guide bar is fixed along the internal axial direction of the positioning cylinder.

[0015] As an optional implementation, a sealing assembly is also provided at the port of the positioning cylinder. The sealing assembly includes a cover plate and a connecting rod. One end of the connecting rod is inserted into the port of the positioning cylinder, and the other end is connected to the cover plate. Magnets that attract each other are provided on the cover plate and the positioning cylinder.

[0016] A cleaning robot includes a mobile vehicle body, a garbage collection bin, cleaning equipment, and storage racks. The mobile vehicle body is used to carry a multi-axis robotic arm and a garbage collection bin. The top opening of the garbage collection bin allows garbage to pass through. Several storage racks are fixed on both sides of the top of the garbage collection bin. The cleaning equipment is fixed by the positions of the storage racks.

[0017] As an optional implementation, the cleaning equipment includes a vacuum cleaner, a broom, a dryer, and an adapter head. The vacuum cleaner, broom, and dryer are all equipped with adapter heads. The adapter heads are for the insertion of positioning cylinders, and the adapter heads are also provided with receiving grooves to accommodate the locking rod after it is unfolded. The receiving grooves are equipped with movable limiting plates. The limiting plates are connected to the hydraulic components in the receiving grooves. The hydraulic components include hydraulic cylinders and hydraulic rods, and the hydraulic rods are connected to the limiting plates. Movable pressure plates are provided in the grooves on both sides of the adapter head. The pressure rod connected to the pressure plate passes through the hydraulic cylinder. After the pressure plate is clamped by the clamping fingers, it drives the pressure rod to move toward the hydraulic cylinder, which is used to push the limiting plate against the cover plate and the locking rod.

[0018] The technical effects and advantages of this invention are as follows: 1. Utilizing the power of the clamping claws closing, when changing cleaning equipment, the drive unit not only pushes out the locking rod to achieve initial locking, but also, during the clamping process of the clamping fingers moving in opposite directions, it will press the pressure plate, thereby triggering the hydraulic components in the receiving groove through the pressure rod, driving the limit plate to achieve internal secondary tightening and locking. This design does not require an additional drive motor, and converts the clamping force into internal hydraulic locking force. The multi-axis robotic arm generates huge torque when swinging the broom, and the tool will never fall off.

[0019] 2. The magnetic self-resetting sealing design enhances dust and water resistance and extends the robot's lifespan in complex environments. A sealing component is installed at the port of the positioning cylinder. When the robot arm is not connected to cleaning equipment and is used only as a regular gripper to pick up trash, the cover automatically seals the positioning cylinder under the attraction of the magnet, preventing dust, moisture, or small debris from entering the drive components and jamming the worm gear or locking sleeve. When the adapter head needs to be inserted, the locking rod extends and automatically opens the cover, achieving self-adaptive protection of the mechanical structure.

[0020] 3. The integration of visual radar fusion with a three-dimensional storage rack enables truly fully automated multimodal cleaning. By integrating a detection module combining LiDAR and cameras at the end of the robotic arm, along with a storage rack on the side of the waste collection bin, it can accurately identify the coordinates of different tools on the rack and dock them accordingly. Furthermore, based on the type of waste detected on the ground, large wads of paper are directly gripped by the claws, while dust is automatically replaced with a vacuum cleaner, achieving unmanned deep cleaning in complex, unstructured environments. Attached Figure Description

[0021] Figure 1 This is an overall front view of the present invention; Figure 2 This is an overall side view of the present invention; Figure 3 This is a structural diagram of the clamping claw and the adapter head of the present invention. Figure 4 This is a structural diagram of the gripper detaching from the adapter head according to the present invention; Figure 5 This is a diagram showing the clamping claw of the present invention not locked to the adapter head; Figure 6 This is a diagram showing the locking state of the gripper and adapter head of the present invention; Figure 7 For the present invention Figure 6 Enlarged view of point A; Figure 8 A structural diagram of a dryer used in the execution components of this invention; Figure 9 A structural diagram of a broom used as the execution component of this invention; Figure 10 This is a structural diagram of a vacuum cleaner used as an execution component of the present invention.

[0022] In the picture: 1. Multi-axis robotic arm; 2. Drive components; 21. Motor; 22. Worm gear; 23. Worm wheel; 3. Gripper; 31. Base; 32. Gripper finger; 33. Positioning cylinder; 331. Pressure plate; 332. Pressure rod; 4. Locking assembly; 41. Lock sleeve; 42. Locking rod; 43. Guide bar; 5. Detection module; 6. Cover assembly; 61. Cover plate; 62. Linkage rod; 7. Mobile vehicle body; 8. Garbage collection bin; 9. Cleaning equipment; 91. Vacuum cleaner; 92. Broom; 93. Dryer; 94. Adapter head; 941. Receiving slot; 942. Limiting plate; 943. Hydraulic cylinder; 944. Hydraulic rod; 10. Storage rack. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1, see Figures 1-7 A robotic arm execution component, comprising: The multi-axis robotic arm 1, assembled from multiple electrically controlled rotating joints and multi-segment robotic arms, serves as the motion foundation for the entire assembly, enabling the gripper 3 to be positioned at any point in the three-dimensional coordinate system and to move along a controllable trajectory. To achieve intelligent environmental perception, a detection module 5, consisting of a lidar and a camera, is fixedly installed on the last segment of the robotic arm. The detection direction of this module is consistent with the opening direction of the gripper 3.

[0025] A drive unit 2 is mounted on the port of the multi-axis robotic arm 1, and a gripper 3 is also mounted on the drive unit 2. The housing of the drive unit 2 is fixedly connected to the base 31 of the gripper 3. The gripper 3 includes a base 31 and at least two gripping fingers 32 symmetrically arranged on both sides of the base 31. A rotating shaft is fixed to the root of each of the two gripping fingers 32, and the rotating shaft is rotatably inserted through the base 31. At the center of the port of the base 31 between the gripping fingers 32, a cylindrical positioning cylinder 33 is integrally formed or fixedly connected outward.

[0026] The core of this embodiment lies in using a single power source to simultaneously achieve gripper opening and closing and quick-change locking. Specifically, the drive component 2 includes a motor 21, a worm gear 22, and two worm wheels 23, each fixed to the shaft of the gripping finger 32. The motor 21 is fixed inside the base 31, and a relatively long worm gear 22 is coaxially mounted on its output shaft. The front half of the worm gear 22 meshes with the worm wheels 23 on both sides; the rear half of the worm gear 22 extends forward and penetrates into the inner cavity of the positioning cylinder 33.

[0027] A locking assembly 4 is also provided inside the positioning cylinder 33. The locking assembly 4 includes a hollow cylindrical locking sleeve 41 and several locking rods 42. The outer wall of the rear half of the worm gear 22 is provided with external threads, and the inner wall of the locking sleeve 41 is provided with internal threads that mate with the external threads, and the two are threadedly connected. In order to convert the rotational motion of the motor 21 into linear motion, a guide groove is provided axially on the outer wall of the locking sleeve 41, and a guide bar 43 that matches the guide groove is fixed on the inner side wall of the positioning cylinder 33.

[0028] When the motor 21 starts and drives the worm 22 to rotate, on the one hand, the worm 22 drives the worm wheel 23 meshing with it to rotate, causing the two clamping fingers 32 to clamp towards each other or loosen away from each other around the base 31; on the other hand, due to the circumferential limiting effect of the guide groove and the guide bar 43, the locking sleeve 41 cannot rotate with the worm 22, and can only move back and forth in a straight line within the positioning cylinder 33 along the axial direction of the worm 22.

[0029] At the front end of the outer wall of the locking sleeve 41, there are multiple locking rods 42 connected by a hinge shaft. A torsion return spring is fitted on the hinge shaft. One end of the return spring abuts against the locking sleeve 41, and the other end abuts against the locking rod 42, providing a spring force that expands radially outward from the center of the locking sleeve 41 toward the edge of the locking sleeve 41. When the locking sleeve 41 is pushed forward by the worm gear 22 to the opening of the positioning cylinder 33, the locking rod 42 loses the constraint of the inner wall of the positioning cylinder 33 and pops outward under the action of the return spring, realizing the physical locking of the external cleaning equipment 9; conversely, when the locking sleeve 41 retracts, the locking rod 42 is squeezed by the edge of the opening of the positioning cylinder 33, overcoming the spring force and retracting back into the positioning cylinder 33.

[0030] In Example 2, the driving component 2 differs from that in Example 1. For industrial-grade or high-load cleaning robots, the driving component 2 can be replaced with a pneumatic transmission structure. Since pneumatically driving the movement of the gripping finger 32 is a common existing technology, it is not shown in the figure. Specifically, the driving component 2 includes a cylinder and a cylinder rod. The output end of the cylinder is connected to the cylinder rod, and the front end of the cylinder rod is directly connected to the locking sleeve 41. By controlling the inflation and deflation of the air circuit, the locking sleeve 41 is directly pushed to move within the positioning cylinder 33. The cylinder rod is also connected to the gripping finger 32 through a multi-bar structure.

[0031] In this embodiment, which also applies to Embodiment 1, a sealing assembly 6 is innovatively provided at the port of the positioning cylinder 33 to address dust and water stains during cleaning operations. The sealing assembly 6 includes a cover plate 61 and a connecting rod 62. The connecting rod 62 is L-shaped or straight, with one end sliding or hinged into the edge of the port of the positioning cylinder 33, and the other end connected to the cover plate 61. Magnets of opposite polarity and magnetic attraction are pre-embedded on the edge of the cover plate 61 and the end face of the positioning cylinder 33.

[0032] Whether it's the motor 21 in Embodiment 1 or the cylinder in Embodiment 2, the drive source can extend or retract the locking rod 42 from the positioning cylinder 33. When the robotic arm is not connected to the external cleaning equipment 9 and is only used as a regular gripper, the cover plate 61 firmly seals the port of the positioning cylinder 33 under the attraction of the magnet, preventing dust from entering. In addition, since the connecting rod 62 has a certain amount of play, during the up-and-down swinging and rotation of the multi-axis robotic arm 1, as long as the cover plate 61 is above the space and the positioning cylinder 33 is below, under the combined effect of gravity and magnetism, the cover plate 61 will also have a downward displacement tendency, sealing the positioning cylinder 33 more tightly.

[0033] When the external cleaning device 9 needs to be installed, the locking rod 42 extends outward along with the locking sleeve 41, and its tip first touches the cover plate 61. As the driving force is continuously applied, the locking rod 42 overcomes the attraction of the magnet and forcibly pushes the cover plate 61 and the connecting rod 62 to flip and move outward / to the side, thereby exposing the channel of the positioning cylinder 33 and completing the connection. During the movement, the connecting rod 62 is blocked by the internal limiting structure of the positioning cylinder 33 and will not detach from the positioning cylinder 33.

[0034] Example 3, see Figures 1-2 , Figures 5-7 This embodiment discloses a cleaning device 9, the overall structure of which includes a mobile vehicle body 7, a garbage collection bin 8, several cleaning devices 9, and storage racks 10. The chassis of the mobile vehicle body 7 houses a drive motor and a battery, used to support the multi-axis robotic arm 1 and the garbage collection bin 8. The top of the garbage collection bin 8 has an open opening for the multi-axis robotic arm 1 to directly deposit the held garbage through it. Several storage racks 10 arranged in a matrix are fixed to the top outer side or sides of the garbage collection bin 8, with each type of cleaning device 9 moored at a different position on the storage rack 10.

[0035] The cleaning equipment 9, depending on its function, includes, but is not limited to, a vacuum cleaner 91, a broom 92, and a dryer 93. To achieve a unified and quick change, all cleaning equipment 9 are equipped with a standardized adapter head 94 at their top. The adapter head 94 has a blind hole in its center for the positioning cylinder 33 to be inserted, and a receiving groove 941 is recessed on the inner wall of the blind hole to accommodate the aforementioned unfolded locking rod 42. Movable pressure plates 331 are provided in the grooves on both sides of the adapter head 33. The pressure rod 332 connected to the pressure plate 331 passes into the hydraulic cylinder 943. After the pressure plate 331 is clamped by the clamping finger 32, the pressure rod 332 is driven to move toward the hydraulic cylinder 943 to push the limiting plate 942 against the cover plate 61 and the locking rod 42.

[0036] To completely solve the technical problem that relying solely on mechanical grippers can easily cause the cleaning equipment 9 to detach, this invention creatively introduces a hydraulic interlocking assembly within the connecting end face. The specific structure is as follows: Movable pressure plates 331 are respectively installed in the grooves on both sides of the outer side of the positioning cylinder 33. A pressure rod 332 is connected to the inner side of the pressure plate 331, and the pressure rod 332 is inserted into the hydraulic cylinder 943 pre-installed inside the adapter head 94. The hydraulic cylinder 943 is filled with incompressible hydraulic oil, and the other end is connected to a hydraulic rod 944. The front end of the hydraulic rod 944 is connected to the limiting plate 942, and the limiting plate 942 is slidably assembled inside the receiving groove 941.

[0037] The working principle and process of collaborative locking is as follows: when different cleaning equipment 9 needs to be replaced, the multi-axis robotic arm 1 aligns the positioning cylinder 33 and inserts it into the adapter head 94 of the target cleaning equipment 9. At this time, the drive unit 2 starts to work: In the first step, the locking sleeve 41 moves, the locking rod 42 pushes open the cover plate 61, passes through the positioning cylinder 33, and extends into the receiving groove 941 of the adapter head 94 under the action of the return spring, thus achieving preliminary mechanical anti-disengagement limit.

[0038] In the second step, the clamping fingers 32 slowly close towards the center under the drive of the worm gear 23, worm 22, or cylinder. During the closing process, the inner wall of the clamping fingers 32 first contacts the protruding pressure plates 331 on both sides of the positioning cylinder 33.

[0039] Thirdly, the strong clamping force applied by the clamping finger 32 forces the pressure plate 331 to deflect inward, thereby pushing the pressure rod 332 to move deeper into the hydraulic cylinder 943. According to the principles of fluid mechanics, the hydraulic oil in the hydraulic cylinder 943 is squeezed, instantly transmitting pressure to the hydraulic rod 944, pushing the hydraulic rod 944 out of the hydraulic cylinder 943.

[0040] In the fourth step, the hydraulic rod 944 drives the limiting plate 942 to slide within the receiving groove 941 until the limiting plate 942 firmly presses against the already opened cover plate 61 and the unfolded locking rod 42.

[0041] At this point, the powerful external clamping of the gripping fingers 32 and the tight locking provided by the internal limit plate 942 create an interference interlock in three-dimensional space, completely completing the locking action. When the robotic arm swings the broom 92 for high-intensity sweeping, any impact force from any direction is absorbed by the hydraulic system and the rigid mechanical structure, truly achieving the stable function of the cleaning tool.

[0042] To more intuitively demonstrate the operating environment of the cleaning robot and the use of different cleaning tools for different types of debris, the following scenario settings are provided: Scenes involving dry dust and fine particles: See Figure 10Suitable for home floors or office carpets, this robot requires replacement of vacuum cleaner 91. The multi-axis robotic arm 1 drives the drive unit 2 to insert the positioning cylinder 33 into the adapter head 94 at the top of the vacuum cleaner 91. The locking sleeve 41 moves, causing the locking rod 42 to pop out of the positioning cylinder 33 and extend into the receiving groove 941 of the adapter head 94 for initial locking. Subsequently, the gripping fingers 32 close together, pressing the pressure plates 331 on both sides of the adapter head 94. The pressure rod 332 pushes the hydraulic oil in the hydraulic cylinder 943, causing the limiting plate 942 to abut against the locking rod 42 and the cover plate 61, achieving a secondary hydraulic lock and ensuring that the vacuum cleaner 91 will not loosen during high-frequency vacuuming operations.

[0043] Large-volume waste scenarios: Suitable for use in public places or classrooms where paper balls, plastic bottles, etc. are found, the robot does not require replacement of the additional cleaning equipment 9; it directly uses the gripper 3 to grasp the waste. The gripping fingers 32 open and grip the waste under the action of the drive unit 2, while the cover 61 in the magnetic self-resetting sealing assembly 6 at the port of the positioning cylinder 33 remains closed to prevent dust from entering the drive unit 2. The gripper 3 then places the waste into the waste collection bin 8 on the mobile vehicle 7, completing the cleaning process.

[0044] Slippery surfaces and liquid spill scenarios: See Figures 8-9 Suitable for kitchens, bathrooms, or rainy corridors, the robot first replaces the absorbent mop to remove liquid, and then replaces the dryer 93 to dry the floor. When replacing the absorbent mop, the positioning cylinder 33 is inserted into the adapter head 94, the locking rod 42 pops out and triggers the hydraulic components to complete the locking. After the robot arm swings the mop to absorb water, it returns to the storage rack 10 to replace the dryer 93. Similarly, a reliable connection is achieved through the coordinated action of the locking sleeve 41, locking rod 42, pressure plate 331, and hydraulic rod 944, preventing tools from falling off in wet and slippery environments.

[0045] Scenes involving oil and viscous substances: Suitable for restaurants or canteens, the robot requires a special brush head for cleaning oil stains, which has a built-in cleaning agent spray nozzle. After the positioning cylinder 33 is inserted into the adapter head 94, the locking rod 42 initially locks in place; when the clamping fingers 32 close, they press against the pressure plate 331, and the hydraulic limit plate 942 tightens it a second time. At the same time, the drive component 2 provides rotational power, driving the brush head to rotate and scrub the oil stains, spray cleaning agent, and then suck it up again. Throughout the process, the hydraulic locking structure can withstand a large lateral torque without failing.

[0046] Dust in tiny crevices: Suitable for sofa crevices, keyboards, or window tracks, this robot replaces the crevice tool with a narrow-mouth design and no moving parts. After the positioning cylinder 33 is inserted into the adapter head 94, the locking rod 42 pops out and engages with the receiving groove 941. The clamping finger 32 clamps and triggers the hydraulic limit plate 942, firmly fixing the tool to the front end of the positioning cylinder 33. The multi-axis robotic arm 1 controls the crevice tool to move along the crevice, removing deep dust.

[0047] Scene with stains on glass and mirror: Suitable for windows or mirrors, this robot replaces glass wipers and features a water spray function. After the positioning cylinder 33 is inserted into the adapter head 94, the locking sleeve 41 moves forward, causing the locking rod 42 to unfold. The clamping fingers 32 close and press against the pressure plate 331, and the hydraulic rod 944 pushes the limiting plate 942 to firmly hold the locking rod 42 in place. The multi-axis robotic arm 1 drives the wiper to reciprocate across the glass surface, spraying water and then wiping. Due to the hydraulic interlock design, even if the glass surface is wet and slippery and the reaction force is large, the wiper will not disengage.

[0048] Pet hair scene: Suitable for carpets or sofas, this robot replaces the rubber broom head or hair-absorbing roller brush. After the positioning cylinder 33 mates with the adapter head 94, the locking rod 42 pops out to achieve initial mechanical anti-detachment. During the clamping process of the gripping finger 32, the pressure plate 331, pressure rod 332, hydraulic cylinder 943, and hydraulic rod 944 move sequentially, causing the limiting plate 942 to press the locking rod 42 from the inside. The pulling force generated when the rubber broom head rolls on the carpet is absorbed by the hydraulic system and rigid structure, ensuring reliable cleaning.

[0049] Outdoor scene with fallen leaves and mud: Suitable for parks or garages, the robot replaces the broom 92 with a dust collection shovel. The positioning cylinder 33 is inserted into the adapter head 94 of the broom 92, and the locking rod 42 enters the receiving groove 941 under the action of the return spring. The clamping fingers 32 close to trigger a hydraulic secondary locking. The broom 92 swings to sweep up fallen leaves, and the dust collection shovel picks up the garbage and then it is clamped by the clamping claws 3 and placed into the garbage collection bin 8. No additional drive motor is required during the multi-scene switching process; locking and clamping are all completed by the same power source.

[0050] The cleaning tools used in the above scenarios are all existing equipment. Therefore, this embodiment only lists a few common tools for explanation. Other existing tools not mentioned in the embodiment can be adapted to the execution components of this robot after being equipped with the adapter head 94.

[0051] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0052] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm execution component, characterized in that, include: A multi-axis robotic arm (1) is used to complete the positioning and controllable trajectory movement of the gripper (2) at any point in the three-dimensional coordinate system; The drive unit (2) is mounted on the port of the multi-axis robotic arm (1), and the drive unit (2) is also equipped with a gripper (3). The clamping claw (3) includes a base (31) and at least two symmetrically arranged clamping fingers (32). The driving member (2) is connected to the clamping fingers (32) and the locking component (4). The shaft fixed on the clamping fingers (32) rotates around the base (31) under the push of the driving member (2) to change the position of the clamping fingers (32). A positioning cylinder (33) is also provided on the port of the base (31) between the clamping fingers (32). The base (31) is connected to the outer shell of the driving member (2). The locking assembly (4) includes a locking sleeve (41) and a locking bar (42), the locking bar (42) being hinged to the outer wall of the locking sleeve (41).

2. The robotic arm execution component according to claim 1, characterized in that, A return spring is provided on the shaft where the locking rod (42) and the locking sleeve (41) are hinged. The return spring provides elastic force for the locking rod (42) to move in the radial direction along the locking sleeve (41).

3. The robotic arm execution component according to claim 2, characterized in that, The radial movement is from the center of the lock sleeve (41) toward the edge of the lock sleeve (41).

4. The robotic arm execution component according to claim 3, characterized in that, The multi-axis robotic arm (1) is assembled from multiple robotic arm sections. The drive unit (2) is assembled on the last robotic arm section, and a detection module (5) consisting of a laser radar and a camera is also installed on the last robotic arm section.

5. A robotic arm execution component according to claim 4, characterized in that, The drive unit (2) includes a motor (21), a worm (22) and a worm wheel (23). The worm (22) mounted on the output shaft of the motor (21) meshes with the worm wheel (23) on the shaft of the clamping finger (32). The worm (22) also passes into the positioning cylinder (33) and meshes with the locking sleeve (41).

6. The robotic arm execution component according to claim 5, characterized in that, The outer wall of the locking sleeve (41) is provided with a guide groove that matches the guide bar (43), and the positioning cylinder (33) is fixed with the guide bar (43) along the internal axis.

7. A robotic arm execution component according to claim 6, characterized in that, The positioning cylinder (33) is also provided with a cover assembly (6) at the port. The cover assembly (6) includes a cover plate (61) and a connecting rod (62). One end of the connecting rod (62) is inserted into the port of the positioning cylinder (33), and the other end is connected to the cover plate (61). The cover plate (61) and the positioning cylinder (33) are provided with magnets that attract each other.

8. A cleaning robot, wherein the robotic arm execution assembly according to claim 8 is mounted, characterized in that: It includes a mobile vehicle body (7), a garbage collection bin (8), a cleaning device (9), and a storage rack (10). The mobile vehicle body (7) is used to carry the multi-axis robotic arm (1) and the garbage collection bin (8). The top opening of the garbage collection bin (8) is used for garbage to pass through. Several storage racks (10) are fixed on both sides of the top of the garbage collection bin (8). The cleaning device (9) is fixed by the position of the storage racks (10).

9. A cleaning robot according to claim 8, characterized in that, The cleaning equipment (9) includes a vacuum cleaner (91), a broom (92), a dryer (93), and an adapter (94). The vacuum cleaner (91), broom (92), and dryer (93) are all equipped with adapters (94). The adapters (94) are for the positioning cylinder (33) to be inserted into. The adapters (94) are also provided with a receiving groove (941) for accommodating the unfolded locking rod (42). The receiving groove (941) is equipped with a movable limiting plate (942). The limiting plate (942) is connected to the hydraulic components in the receiving groove (941). The hydraulic components include a hydraulic cylinder (943) and a hydraulic rod (944). The hydraulic rod (944) is connected to the limiting plate (942). Movable pressure plates (331) are provided in the grooves on both sides of the adapter head (94). The pressure rod (332) connected to the pressure plate (331) passes into the hydraulic cylinder (943). After the pressure plate (331) is clamped by the clamping finger (32), the pressure rod (332) is driven to move toward the hydraulic cylinder (943) to push the limiting plate (942) against the cover plate (61) and the locking rod (42).

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