Lightweight end effector structure based on cleaning robot

Abstract

The utility model discloses a lightweight end effector structure based on a cleaning robot, which relates to the technical field of cleaning robots and comprises a sweeping module, a dust collection module arranged on the right side of the sweeping module, a floor washing module arranged on the right side of the dust collection module, and a floor mopping module arranged on the right side of the floor washing module. A connecting mechanism is connected among the sweeping module, the dust collection module, the floor washing module and the floor mopping module and used for achieving modular connection of the end effector structure. A locking assembly; according to the butt joint assembly, the sweeping module, the dust collection module, the floor washing module and the floor mopping module are divided into modules and are connected through the connecting mechanism, so that each module has an independent function and replaceability, when a certain module breaks down or is damaged, only the module needs to be replaced independently, the whole end effector does not need to be disassembled and replaced, and the operation is convenient. Therefore, the time and the cost required by maintenance are greatly reduced, and the operation efficiency of the cleaning robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to a lightweight end effector structure based on a cleaning robot. Background Art

[0002] With the development of science and technology and the improvement of people's quality of life, cleaning robots have become an indispensable cleaning equipment in modern homes and workplaces.

[0003] According to the patent title: Structure for Robot End Effector (patent publication number: CN111148608A, patent publication date: 2020-05-12), a stabilization device is arranged in the palm area of ​​the end-of-arm tool and serves as a stopper. The actuator of the end-of-arm tool can push a flexible or smooth target object against the stopper. Depending on the application, the stabilization device can take a variety of shapes. Based on the shape of the stabilization device and the action of the robot gripper on the target object, the target object can move or rotate in a more stable form, allowing the actuator to apply less force while still maintaining a firm grip on the object.

[0004] Based on the above-mentioned prior art, the currently existing lightweight end effector structure based on the cleaning robot still has the following problems: the existing end effector structure of the cleaning robot is mostly designed to be integrated with the main body. Once the internal structure is damaged, it is usually necessary to manually perform tedious disassembly operations on the entire main body. What is more inconvenient is that even if only a certain module fails, it often means that the entire main body needs to be replaced, which undoubtedly increases the maintenance cost and operation complexity, and reduces the use efficiency of the cleaning robot. For this reason, the utility model provides a lightweight end effector structure based on the cleaning robot. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a lightweight end-effector structure based on a cleaning robot, which solves the following problems existing in the existing lightweight end-effector structure based on a cleaning robot: most of the existing end-effector structures of cleaning robots are designed to be integrated with the main body. Once part of the internal structure is damaged, it is usually necessary to manually perform tedious disassembly operations on the entire main body. What is even more inconvenient is that even if only a certain module fails, it often means that the entire main body needs to be replaced, which undoubtedly increases the maintenance cost and operation complexity, and reduces the use efficiency of the cleaning robot.

[0006] To achieve the above objectives, the utility model is implemented through the following technical solutions: a lightweight end effector structure based on a cleaning robot includes a cleaning module, a dust collection module is arranged on the right side of the cleaning module, a floor washing module is arranged on the right side of the dust collection module, and a floor wiping module is arranged on the right side of the floor washing module. A connecting mechanism is connected between the cleaning module, the dust collection module, the floor washing module and the floor wiping module to realize the modular connection of the end effector structure, and the connecting mechanism includes:

[0007] An installation component is arranged on the front side of the cleaning module, the floor washing module and the floor wiping module, and is used for installing the component;

[0008] The locking assembly is arranged inside the mounting assembly, and comprises a locking column, wherein the top and bottom surfaces of the locking column are provided with a slide groove, a slider is slidably installed inside the slide groove, and a moving ring is fixedly installed outside the slider;

[0009] The docking assembly is arranged at the rear side of the cleaning module, the vacuum module and the floor washing module, and is used to connect the modules.

[0010] Preferably, the locking assembly further comprises a pressure spring movably sleeved on the outer ring of the locking column, the outer ring of the locking column is fixedly sleeved with a fixing ring, a clamping block is fixedly mounted on the left end of the locking column, and a fixing column is fixedly mounted on the left end of the clamping block.

[0011] Preferably, the installation assembly includes an installation box for fixing the front sides of the cleaning module, the floor washing module and the floor wiping module, and a bottom plate of the installation box is provided with a limiting groove.

[0012] Preferably, the docking assembly includes a fixing plate fixedly mounted on the rear side of the cleaning module, the dust collection module and the floor washing module, a docking block is fixedly mounted on the rear side of the fixing plate, a card slot is provided inside the docking block, and slots are provided on the top and bottom surfaces of the card slot.

[0013] Preferably, the slider is adapted to be slidably inserted into the interior of the slot.

[0014] Preferably, the pull block is adapted to slide inside the limiting groove.

[0015] The utility model provides a lightweight end effector structure based on a cleaning robot. Compared with the prior art, it has the following beneficial effects:

[0016] (1) The lightweight end-effector structure based on the cleaning robot is modularized by separating the cleaning module, the vacuum module, the floor washing module, and the floor wiping module, and connecting them with a connecting mechanism, so that each module has independent functions and replaceability. When a module fails or is damaged, only the module needs to be replaced separately without disassembling and replacing the entire end-effector. This greatly reduces the time and cost required for maintenance and improves the operational efficiency of the cleaning robot.

[0017] (2) The lightweight end-effector structure based on the cleaning robot is connected with the card block through the docking block, and the card block enters the interior of the card slot. The pressure spring pushes the slider to slide inside the slide slot through its own elasticity, so that the slider is inserted into the interior of the slot and the position of the docking block is fixed, thereby realizing the connection between the cleaning module, the vacuum module, the floor washing module, and the floor mopping module, thereby making the assembly and disassembly process of each module simpler and more convenient, greatly shortening the maintenance time and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a right-side stereoscopic structural diagram of the utility model;

[0019] Figure 2 This is a front perspective structural diagram of the installation assembly of the utility model;

[0020] Figure 3 This is a three-dimensional structural diagram of the locking assembly of the utility model;

[0021] Figure 4 It is a three-dimensional structural diagram of the docking assembly of the utility model.

[0022] In the figure: 1-connecting mechanism, 11-installation assembly, 111-installation box, 112-limiting groove, 12-locking assembly, 121-fixed column, 122-locking column, 123-block, 124-slide, 125-moving ring, 126-slider, 127-fixed ring, 128-pressure spring, 129-pull block, 13-docking assembly, 131-fixed plate, 132-docking block, 133-slot, 134-slot, 2-cleaning module, 3-vacuum module, 4-floor washing module, 5-floor mopping module. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1-4 , the utility model provides a technical solution:

[0025] The lightweight end effector structure based on the cleaning robot includes a cleaning module 2, a dust collection module 3 is arranged on the right side of the cleaning module 2, a floor washing module 4 is arranged on the right side of the dust collection module 3, and a floor wiping module 5 is arranged on the right side of the floor washing module 4. A connecting mechanism 1 is connected between the cleaning module 2, the dust collection module 3, the floor washing module 4 and the floor wiping module 5 to realize the modular connection of the end effector structure, and the connecting mechanism 1 includes:

[0026] The mounting assembly 11 is disposed on the front side of the cleaning module 2, the floor washing module 4, and the floor wiping module 5, and is used for mounting the assembly;

[0027] The locking assembly 12 is arranged inside the mounting assembly 11, and includes a locking column 122. The top and bottom surfaces of the locking column 122 are provided with a slide groove 124, and a slider 126 is slidably installed inside the slide groove 124, and a moving ring 125 is fixedly installed on the outer side of the slider 126. The locking assembly 12 also includes a pressure spring 128 movably sleeved on the outer ring of the locking column 122, and a fixing ring 127 is fixedly sleeved on the outer ring of the locking column 122. A clamping block 123 is fixedly installed on the left end of the locking column 122, and a fixing column 125 is fixedly installed on the left end of the clamping block 123. 121, the docking block 132 docks with the card block 123, the card block 123 enters the interior of the card slot 133, and the pressure spring 128 pushes the slider 126 to slide inside the slide slot 124 through its own elasticity, so that the slider 126 is inserted into the interior of the slot 134, and the position of the docking block 132 is fixed, thereby realizing the connection between the cleaning module 2, the dust collection module 3, the floor washing module 4, and the floor mopping module 5, so that the assembly and disassembly process of each module becomes simpler and more convenient, greatly shortening the maintenance time and improving the work efficiency;

[0028] The docking assembly 13 is arranged on the rear side of the cleaning module 2, the dust collection module 3, and the floor washing module 4, and is used to cooperate with the connection between the modules. The cleaning module 2, the dust collection module 3, the floor washing module 4, and the floor mopping module 5 are separated into modules and connected with the connecting mechanism 1, so that each module has independent functions and replaceability. When a module fails or is damaged, only the module needs to be replaced separately without disassembling and replacing the entire end effector. This greatly reduces the time and cost required for maintenance and improves the operating efficiency of the cleaning robot.

[0029] In this embodiment, the installation component 11 includes an installation box 111 for fixing the front side of the cleaning module 2, the floor washing module 4, and the floor mopping module 5. The bottom plate of the installation box 111 is provided with a limiting groove 112, so that the locking component 12 can fix the front side of the cleaning module 2, the floor washing module 4, and the floor mopping module 5.

[0030] In this embodiment, the docking assembly 13 includes a fixed plate 131 fixedly installed on the rear side of the cleaning module 2, the dust collection module 3, and the floor washing module 4, and a docking block 132 is fixedly installed on the rear side of the fixed plate 131, and a card slot 133 is opened inside the docking block 132, and a slot 134 is opened on the top and bottom surfaces of the card slot 133, and a slider 126 is adapted to slide into the interior of the slot 134. The slider 126 is inserted into the interior of the slot 134 to fix the position of the docking block 132, and the card block 123 is adapted to enter the interior of the card slot 133, thereby fixing the position of the docking block 132.

[0031] In this embodiment, the pull block 129 is adapted to slide inside the limiting groove 112 , so that the pull block 129 is limited when sliding, and the movement of the moving ring 125 is further limited.

[0032] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0033] During operation, the user first pulls the pull block 129 to the right, so that the movable ring 125 squeezes the pressure spring 128, and then the docking block 132 docks with the block 123, and the block 123 enters the interior of the slot 133. The pressure spring 128 pushes the slider 126 to slide inside the slide slot 124 through its own elasticity, so that the slider 126 is inserted into the interior of the slot 134, and the position of the docking block 132 is fixed, thereby connecting the cleaning module 2, the dust collection module 3, the floor washing module 4, and the mopping module 5. When disassembling the cleaning module 2, the dust collection module 3, the floor washing module 4, and the mopping module 5, the user pulls the pull block 129 to the right, so that the movable ring 125 squeezes the pressure spring 128, and pulls the slider 126 out of the interior of the slot 134, and then pulls the docking block 132 out of the interior of the installation box 111 to complete the disassembly.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lightweight end-effector structure based on a cleaning robot comprises a cleaning module (2), a dust collection module (3) is arranged on the right side of the cleaning module (2), a floor scrubbing module (4) is arranged on the right side of the dust collection module (3), and a floor mopping module (5) is arranged on the right side of the floor scrubbing module (4), characterized in that: A connecting mechanism (1) is connected between the cleaning module (2), the dust collection module (3), the floor washing module (4) and the floor wiping module (5) for realizing modular connection of the end effector structure, and the connecting mechanism (1) includes: An installation component (11) is arranged on the front side of the cleaning module (2), the floor washing module (4), and the floor wiping module (5), and is used for installing the components; The locking assembly (12) is arranged inside the mounting assembly (11), and comprises a locking column (122), wherein the top and bottom surfaces of the locking column (122) are provided with a slide groove (124), a slider (126) is slidably mounted inside the slide groove (124), and a moving ring (125) is fixedly mounted on the outer side of the slider (126); The docking assembly (13) is arranged on the rear side of the cleaning module (2), the dust collection module (3) and the floor washing module (4) and is used to connect the modules.

2. The lightweight end effector structure based on the cleaning robot according to claim 1 is characterized in that: The locking assembly (12) further comprises a pressure spring (128) movably sleeved on the outer ring of the locking column (122); the outer ring of the locking column (122) is fixedly sleeved with a fixing ring (127); a clamping block (123) is fixedly mounted on the left end of the locking column (122); and a fixing column (121) is fixedly mounted on the left end of the clamping block (123).

3. The lightweight end effector structure based on the cleaning robot according to claim 1 is characterized in that: The installation assembly (11) comprises an installation box (111) for fixing the front side of the cleaning module (2), the floor washing module (4) and the floor wiping module (5), and a limiting groove (112) is provided on the bottom plate of the installation box (111).

4. The lightweight end effector structure based on the cleaning robot according to claim 1 is characterized in that: The docking assembly (13) comprises a fixing plate (131) fixedly mounted on the rear side of the cleaning module (2), the dust collection module (3) and the floor scrubbing module (4); a docking block (132) is fixedly mounted on the rear side of the fixing plate (131); a card slot (133) is provided inside the docking block (132); and slots (134) are provided on the top and bottom surfaces of the card slot (133).

5. The lightweight end effector structure based on the cleaning robot according to claim 4 is characterized in that: The slider (126) is adapted to be slidably inserted into the interior of the slot (134).

6. The lightweight end effector structure based on the cleaning robot according to claim 3 is characterized in that: The pull block (129) is adapted to slide inside the limiting groove (112).

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