Tail end clamping mechanism and smart home robot

Abstract

The utility model relates to the technical field of smart home, in particular to a tail end clamping mechanism and a smart home robot. The clamping jaw aims at solving the problems that a clamping jaw at the tail end of an existing clothes robot is low in grabbing precision and prone to scratching clothes. In order to achieve the purpose, the tail end clamping mechanism comprises a body; at least one of the first clamping jaw and the second clamping jaw is arranged on one end face of the body in a sliding manner; the driving component is arranged on the body and connected with the slidably-arranged clamping jaw in the first clamping jaw and the second clamping jaw, and the driving component is arranged to be capable of driving the slidably-arranged clamping jaw in the first clamping jaw and the second clamping jaw to slide so that the first clamping jaw and the second clamping jaw can get close to each other or get away from each other; the first flexible claw sleeve and the second flexible claw sleeve are arranged on the first clamping claw and the second clamping claw in a sleeving mode respectively. According to the tail end clamping mechanism, the friction force generated when the tail end clamping mechanism clamps clothes can be improved, the force feedback requirement is lowered, and therefore the grabbing precision and the grabbing accuracy are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of smart home, and in particular to an end clamping mechanism and a smart home robot. Background Art

[0002] With the advancement of technology, research on smart home robots is becoming increasingly widespread. Smart home robots often have specific functions designed to assist users in completing specific actions. For example, a laundry robot can use its multi-degree-of-freedom robotic arm and the gripper at the end of the arm to assist users in placing and retrieving clothes, such as picking up clothes from a basket and placing them in a washing machine, or removing washed clothes from the washing machine and placing them in a basket.

[0003] However, existing end grippers are made of rigid materials, which have problems such as low friction coefficient and high force feedback requirements, seriously affecting the grasping precision and accuracy. Moreover, rigid grippers are prone to scratching clothing, which brings a poor user experience.

[0004] Accordingly, this field requires a new technical solution to solve the above problems. Utility Model Content

[0005] In order to solve at least one of the above problems in the prior art, that is, to solve the problem of low grasping accuracy and easy scratching of clothes by the end gripper of the existing clothing robot, the present application provides an end gripping mechanism, which includes:

[0006] ontology;

[0007] a first clamping jaw and a second clamping jaw, at least one of the first clamping jaw and the second clamping jaw being slidably disposed on an end surface of the body;

[0008] a driving component, disposed on the body and connected to a slidably disposed jaw of the first clamping jaw and the second clamping jaw, the driving component being configured to drive the slidably disposed jaw of the first clamping jaw and the second clamping jaw to slide, so as to move the first clamping jaw and the second clamping jaw closer to or farther away from each other;

[0009] The first flexible claw sleeve and the second flexible claw sleeve are respectively sleeved on the first clamping jaw and the second clamping jaw.

[0010] The end-clamping mechanism of the present application, by respectively providing a first flexible claw cover and a second flexible claw cover on the first and second clamping jaws, can increase the friction of the end-clamping mechanism when clamping clothing, reduce the force feedback requirements, and thus improve the gripping precision and accuracy. In addition, the first and second flexible claw covers can better protect clothing from scratches compared to rigid materials.

[0011] In the preferred technical solution of the above-mentioned end clamping mechanism, a first engaging structure is provided on the side of the first flexible claw sleeve facing the second flexible claw sleeve, and a second engaging structure is provided on the side of the second flexible claw sleeve facing the first flexible claw sleeve, and the first engaging structure and the second engaging structure can engage with each other.

[0012] By providing the first meshing structure and the second meshing structure, the clothes can be grasped more firmly and not easily dropped, thereby further improving the grasping accuracy.

[0013] In the preferred technical solution of the above-mentioned end clamping mechanism, the first meshing structure and the second meshing structure are rack structures or wavy surfaces; and / or

[0014] A chamfer is formed between the first engaging structure and the adjacent side surface, and a chamfer is formed between the second engaging structure and the adjacent side surface.

[0015] The arrangement in which the first engaging structure forms a chamfer with the adjacent side surface, and the second engaging structure forms a chamfer with the adjacent side surface, can prevent the flexible clothing from being hooked, and further reduce the risk of scratching.

[0016] In the preferred technical solution of the above-mentioned end clamping mechanism, the first flexible claw sleeve and the second flexible claw sleeve are both made of rubber material.

[0017] In a preferred technical solution of the above-mentioned end clamping mechanism, both the first clamping jaw and the second clamping jaw are slidably disposed on an end surface of the body.

[0018] In a preferred technical solution of the above-mentioned end clamping mechanism, the first clamping jaw includes a first jaw body and a first slide seat, the first jaw body is connected to the first slide seat, the end surface of the body is provided with a first slide rail or a first slide groove, the first slide seat is slidably provided on the first slide rail or the first slide groove, and the first flexible jaw sleeve is sleeved on the first jaw body;

[0019] The second clamping jaw includes a second claw body and a second slide seat, the second claw body is connected to the second slide seat, the end surface of the body is also provided with a second slide rail or a second slide groove, the second slide seat can be slidably set on the second slide rail or the second slide groove, and the second flexible claw sleeve is sleeved on the second claw body.

[0020] In the preferred technical solution of the above-mentioned end clamping mechanism, the first claw body includes a first connecting seat and a first claw arm, the first connecting seat is fixedly connected to the side surface of the first claw arm, and the first connecting seat is connected to the first sliding seat;

[0021] The second claw body includes a second connecting seat and a second claw arm, the second connecting seat is fixedly connected to the side surface of the second claw arm, and the second connecting seat is connected to the second sliding seat.

[0022] In a preferred technical solution of the above-mentioned end clamping mechanism, the first claw arm includes a first clamping section and a first avoidance section arranged in sequence, the first connecting seat is fixedly connected to a side surface of the first avoidance section, the side surface of the first clamping section facing the second clamping jaw is a first effective clamping surface, and the first avoidance section is inclined and recessed toward the side surface of the second clamping jaw in a direction away from the second clamping jaw;

[0023] The second claw arm includes a second clamping section and a second avoidance section arranged in sequence, the second connecting seat is fixedly connected to the side of the second avoidance section, the side of the second clamping section facing the first clamping jaw is a second effective clamping surface, and the second avoidance section is inclined and recessed toward the side of the first clamping jaw in a direction away from the first clamping jaw.

[0024] By providing the first avoidance section and the second avoidance section, sufficient clamping space can be left between the first clamping jaw and the second clamping jaw during the process of clamping clothes, thereby improving the force feedback accuracy.

[0025] In a preferred technical solution of the above-mentioned end clamping mechanism, a first mounting hole and a first positioning hole are formed on the first connecting seat, and a second mounting hole and a second positioning hole are formed on the first sliding seat. A positioning member is inserted through the first positioning hole into the second positioning hole to achieve positioning of the first connecting seat and the first sliding seat, and a connecting member is inserted through the first mounting hole and connected to the second mounting hole to achieve connection between the first connecting seat and the first sliding seat.

[0026] A third mounting hole and a third positioning hole are provided on the second connecting seat, and a fourth mounting hole and a fourth positioning hole are provided on the second slide seat. The positioning member passes through the third positioning hole and is inserted into the fourth positioning hole to realize the positioning of the second connecting seat and the second slide seat, and the connecting member passes through the third mounting hole and is connected to the fourth mounting hole to realize the connection between the second connecting seat and the second slide seat.

[0027] By providing the positioning holes, the installation accuracy of the first claw body and the second claw body can be improved and the installation difficulty can be reduced.

[0028] The present application also provides a smart home robot, which includes an end clamping mechanism according to any one of the above technical solutions.

[0029] The smart home robot of the present application, by respectively providing first and second flexible claw covers on the first and second claws of the terminal clamping mechanism, can increase the friction of the terminal clamping mechanism when gripping clothing, reduce the force feedback requirements, and thus improve gripping precision and accuracy. In addition, the first and second flexible claw covers can better protect clothing from scratches compared to rigid materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present application is described below with reference to the accompanying drawings.

[0031] Figure 1 This is an assembly diagram of the end clamping mechanism of the present application;

[0032] Figure 2 This is a partial exploded view of the end clamping mechanism of this application.

[0033] Reference Signs List

[0034] 1. Main body; 11. First slide groove; 12. Second slide groove; 2. First clamping jaw; 21. First claw body; 211. First connecting seat; 2111. First mounting hole; 2112. First positioning hole; 212. First claw arm; 2121. First clamping section; 2122. First avoidance section; 23. First slide; 231. Third mounting hole; 232. Third positioning hole; 3. Second clamping jaw; 31. Second claw body; 311. Second connecting seat; 3111. Second mounting hole; 3112. Second positioning hole; 312. Second claw arm; 3121. Second clamping section; 3122. Second avoidance section; 33. Second slide; 331. Fourth mounting hole; 332. Fourth positioning hole; 4. First flexible claw sleeve; 41. First meshing structure; 5. Second flexible claw sleeve; 51. Second meshing structure. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0036] It should be noted that, in the description of this application, the terms "upper", "lower", "vertical", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of this application. In addition, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, "multiple" refers to at least two.

[0037] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0038] First refer to Figure 1 , a brief introduction is given to the end clamping mechanism of this application.

[0039] like Figure 1 As shown, in order to solve the problems of low grasping accuracy and easy scratching of clothes in the end grippers of the existing clothing robot, the end gripping mechanism of the present application includes a body 1, a first gripper 2, a second gripper 3, a driving component, a first flexible claw sleeve 4 and a second flexible claw sleeve 5. At least one of the first gripper 2 and the second gripper 3 is slidably provided on an end surface of the body 1, the driving component is provided on the body 1 and is connected to the slidable gripper of the first gripper 2 and the second gripper 3, and the driving component is configured to drive the slidable gripper of the first gripper 2 and the second gripper 3 to slide, so as to realize the first gripper 2 and the second gripper 3 approaching or moving away from each other, and the first flexible claw sleeve 4 and the second flexible claw sleeve 5 are respectively sleeved on the first gripper 2 and the second gripper 3.

[0040] During one application, the end clamping mechanism moves to the location where the clothes are to be clamped (such as in a clothes basket). At this time, the driving component is controlled to rotate forward, driving the slidable clamping jaw to slide along the end surface of the body 1. At this time, the first clamping jaw 2 and the second clamping jaw 3 approach each other. Finally, the first clamping jaw 2 and the second clamping jaw 3 close together, clamping the clothes to be clamped between the first clamping jaw 2 and the second clamping jaw 3. The end clamping mechanism then moves to the target placement location (such as the treatment drum of a clothes processing device). At this time, the driving component is controlled to rotate backward, driving the slidable clamping jaw to slide in the opposite direction along the end surface of the body 1. At this time, the first clamping jaw 2 and the second clamping jaw 3 move away from each other, and the clothes between the first clamping jaw 2 and the second clamping jaw 3 fall to the target placement location.

[0041] The end-gripping mechanism of the present application, by respectively providing a first flexible claw cover 4 and a second flexible claw cover 5 on the first clamping jaw 2 and the second clamping jaw 3, can increase the friction force of the end-gripping mechanism when clamping clothing, reduce the force feedback requirements, and thus improve the gripping precision and accuracy. In addition, the first flexible claw cover 4 and the second flexible claw cover 5 can better protect clothing from being scratched compared to rigid materials.

[0042] Refer to the following Figure 1 and Figure 2, a preferred implementation of the end clamping mechanism of the present application is introduced.

[0043] like Figure 1 and Figure 2 As shown, in a preferred embodiment, the end clamping mechanism includes a body 1 , a first clamping jaw 2 , a second clamping jaw 3 , a driving component, a first flexible claw sleeve 4 and a second flexible claw sleeve 5 .

[0044] The main body 1 is roughly shaped like an elliptical cone, with both its top (smaller surface) and bottom (larger surface) being flat. The top surface of the main body 1 is provided with a first chute 11 and a second chute 12, which are arranged parallel to each other and are used to mount the first and second grippers 2 and 3, respectively. The bottom surface of the main body 1 is used to connect to the end of an actuator, such as the end of a robotic arm.

[0045] The first clamping jaw 2 and the second clamping jaw 3 can both be slidably arranged on the top surface of the main body 1, wherein the first clamping jaw 2 can be slidably arranged in the first slide groove 11, and the second clamping jaw 3 can be slidably arranged in the second slide groove 12. After being set, the first clamping jaw 2 and the second clamping jaw 3 can slide in the direction of approaching or moving away from each other respectively to realize the opening and closing of the end clamping mechanism.

[0046] The following combination Figure 2 , the structures of the first clamping jaw 2 and the second clamping jaw 3 are described. It should be noted that in the preferred embodiment of the present application, the first clamping jaw 2 and the second clamping jaw 3 are arranged in a similar manner, so the following embodiment focuses on the detailed structure of the first clamping jaw 2, and the structure of the second clamping jaw 3 is only briefly introduced.

[0047] like Figure 2As shown, the first clamping jaw 2 includes a first jaw body 21 and a first slide 23. The first jaw body 21 is connected to the first slide 23, which is slidably disposed in the first slide groove 11. Specifically, the first slide 23 has a convex cross-section and is slidably connected to the first slide groove 11. The first jaw body 21 includes a first connecting seat 211 and a first jaw arm 212. The first connecting seat 211 is integrally formed on one side of the first jaw arm 212 and is connected to the first slide 23. The first connecting seat 211 is provided with a first mounting hole 2111 and a first positioning hole 2112, and the first sliding seat 23 is provided with a second mounting hole 3111 and a second positioning hole 3112. The positioning member passes through the first positioning hole 2112 and is inserted into the second positioning hole 3112 to achieve positioning of the first connecting seat 211 and the first sliding seat 23. The connecting member passes through the first mounting hole 2111 and is connected to the second mounting hole 3111 to achieve connection between the first connecting seat 211 and the first sliding seat 23. In the present application, the first connecting seat 211 is provided with a first mounting hole 2111 and two first positioning holes 2112. The three holes are located in a straight line, and the two first positioning holes 2112 are distributed on both sides of the first mounting hole 2111. The first slide 23 is provided with two second mounting holes 3111 and three second positioning holes 3112. The five holes are aligned in a straight line, and the two second mounting holes 3111 are interspersed between the three second positioning holes 3112. In other words, a second mounting hole 3111 is provided between every two adjacent second positioning holes 3112. Thus, when installing the first claw 21 to the first slide 23, the first claw 21 is first positioned to be installed, that is, to determine which of the two second mounting holes 3111 the first mounting hole 2111 is to be connected to. The two first positioning holes 2112 are then aligned with the two second positioning holes 3112. A positioning member (such as a positioning pin) is inserted through the first positioning holes 2112 and into the second positioning holes 3112 to achieve positioning of the first connecting seat 211 and the first slide 23. Next, a connecting member (such as a bolt) is inserted through the first mounting hole 2111 and screwed into the second mounting hole 3111 to achieve connection of the first connecting seat 211 and the first slide 23.

[0048] Further references Figure 2 The first claw arm 212 includes a first clamping section 2121 and a first avoidance section 2122 arranged in sequence. The first connecting seat 211 is fixedly connected to the side of the first avoidance section 2122. The side of the first clamping section 2121 facing the second clamping jaw 3 is a first effective clamping surface. The first avoidance section 2122 is inclined and recessed toward the side of the second clamping jaw 3 away from the first effective clamping surface. Figure 2As shown in FIG, the first clamping section 2121 is located above the first avoidance section 2122. The side of the first clamping section 2121 facing the second clamping jaw 3 serves as a first effective clamping surface, which extends generally vertically. The first avoidance section 2122 extends downwardly from the lower end of the first clamping section 2121 to form a recess, with the inclination direction being away from the second clamping jaw 3.

[0049] Similar to the first clamping jaw 2, the second clamping jaw 3 includes a second jaw body 31 and a second slide 33. The second jaw body 31 is connected to the second slide 33, and the second slide 33 is slidably disposed in the second slide groove 12. The second jaw body 31 includes a second connecting seat 311 and a second jaw arm 312. The second connecting seat 311 is integrally formed on one side of the second jaw arm 312 and connected to the second slide 33. The second connecting seat 311 is defined by a third mounting hole 231 and two third positioning holes 232. The second slide 33 is defined by two fourth mounting holes 331 and three fourth positioning holes 332. A positioning member is inserted through the third positioning hole 232 into the fourth positioning hole 332 to achieve positioning of the second connecting seat 311 and the second slide 33. The connecting member is connected through the third mounting hole 231 to the fourth mounting hole 331 to achieve connection between the second connecting seat 311 and the second slide 33. The second claw arm 312 includes a second clamping section 3121 and a second avoidance section 3122 arranged in sequence. The second connecting seat 311 is fixedly connected to the side of the second avoidance section 3122. The side of the second clamping section 3121 facing the first clamping jaw 2 is the second effective clamping surface, and the second avoidance section 3122 is inclined and recessed toward the side of the first clamping jaw 2 away from the first clamping jaw 2.

[0050] In this way, when the first clamping jaw 2 and the second clamping jaw 3 slide close to each other and close, the first effective clamping surface and the second effective clamping surface abut each other (indirectly abut through the first flexible claw sleeve 4 and the second flexible claw sleeve 5), and a certain accommodating space is formed between the first avoidance section 2122 and the second avoidance section 3122.

[0051] Those skilled in the art will appreciate that the provision of the first avoidance section 2122 and the second avoidance section 3122 allows the first jaw 2 and the second jaw 3 to form a certain accommodation space when they are closed. This allows the effective clamping surface of the first jaw 2 and the effective clamping surface of the second jaw 3 to clamp the clothes tightly enough during the clothing clamping process, thereby improving the force feedback accuracy of the first jaw 2 and the second jaw 3 at the effective clamping surface, and avoiding the situation where the force feedback accuracy is reduced due to excessive superposition of clothes on the first avoidance section 2122 and the second avoidance section 3122, resulting in the situation where the force feedback has been clamped but the actual clothes are not clamped firmly. In addition, by providing positioning holes, the installation accuracy of the first claw body 21 and the second claw body 31 can be improved and the installation difficulty can be reduced. By providing multiple positioning holes and mounting holes on the first slide 23 and the second slide 33, the first jaw 2 and the second jaw 3 can be installed in multiple positions, thereby improving the adaptability of the two jaws to application scenarios.

[0052] The driving component is disposed in the main body 1, and the driving component is connected to the first jaw 2 and the second jaw 3 at the same time to drive the first jaw 2 and the second jaw 3 to slide closer to or away from each other. The specific form of the driving component is not limited in this application, as long as it can achieve the purpose of driving the first jaw 2 and the second jaw 3 to slide at the same time. For example, the driving component includes a motor and a gear rack set, the gear is mounted on the motor, and two racks are provided. The two racks are fixedly connected to the first slide 23 and the second slide 33 respectively, and the two racks are engaged with the gears. In this way, when the motor is running, the two racks are driven to move at the same time by the rotation of the gear, thereby realizing the sliding of the first slide 23 and the second slide 33.

[0053] See also Figure 1 and Figure 2 , the first flexible claw sleeve 4 and the second flexible claw sleeve 5 are both made of rubber material, wherein the first flexible claw sleeve 4 is sleeved on the first claw body 21, and the second flexible claw sleeve 5 is sleeved on the second claw body 31. A first meshing structure 41 is provided on the side of the first flexible claw sleeve 4 facing the second flexible claw sleeve 5, and a second meshing structure 51 is provided on the side of the second flexible claw sleeve 5 facing the first flexible claw sleeve 4, and the first meshing structure 41 and the second meshing structure 51 can mesh with each other. Preferably, the first meshing structure 41 and the second meshing structure 51 are rack structures. In this way, when the first clamping jaw 2 and the second clamping jaw 3 approach each other and close, the first meshing structure 41 and the second meshing structure 51 mesh with each other to lock the clothes between the two clamping jaws. In addition, a chamfer is formed between the first meshing structure 41 and the adjacent side surface, and a chamfer is formed between the second meshing structure 51 and the adjacent side surface. As Figure 2 As shown, the adjacent side surfaces of the first meshing structure 41 and the adjacent side surfaces of the second meshing structure mainly refer to the two side surfaces connected at both ends in the length direction of their respective teeth.

[0054] Those skilled in the art will understand that the force feedback mode of the end clamping mechanism can usually be the movement stroke of the clamping claw, the motor current, the motor angle, etc. In the case where the movement stroke of the clamping claw is used as the basis for judgment, if a meshing structure is set, it is easy for the movement stroke of the clamping claw to clamp the clothes (such as thin clothes) to be closer to the movement stroke of no clothes, thereby affecting the force feedback accuracy. However, the present application provides a first meshing structure 41 and a second meshing structure 51, which can make the clothes be grasped more firmly and not easy to fall off. In addition, the clothes can also hinder the meshing process during the process of clamping the clothes by the meshing structure to increase the stroke difference, thereby reducing the difficulty of force feedback judgment. The setting method in which the first meshing structure 41 forms a chamfer with the adjacent side surface, and the second meshing structure 51 forms a chamfer with the adjacent side surface can prevent the flexible clothes from being hooked and further reduce the risk of scratches.

[0055] The following is a brief introduction to the principles of the preferred implementation of this application.

[0056] In one possible embodiment, the end clamping mechanism is driven by the robotic arm to move to the clothes basket. The motor is then controlled to rotate forward, driving the first and second clamping jaws 2 and 3 to slide toward each other. During this sliding process, the first meshing structure 41 and the second meshing structure 51 engage with each other, thereby clamping the clothes. The end clamping mechanism is then driven by the robotic arm to move into the treatment drum of the clothes processing equipment. The motor is then controlled to rotate backward, driving the first and second clamping jaws 2 and 3 to slide away from each other. During this sliding process, the first meshing structure 41 and the second meshing structure 51 move away from each other, causing the clothes to fall into the treatment drum.

[0057] It should be noted that the above preferred embodiments are only used to illustrate the principles of this application and are not intended to limit the scope of protection of this application. Without departing from the principles of this application, those skilled in the art may adjust the above settings so that this application can be applied to more specific application scenarios.

[0058] For example, in an alternative embodiment, although the above embodiment is described in conjunction with the example in which both the first clamping jaw 2 and the second clamping jaw 3 are slidably arranged, this is only a preferred embodiment. In other embodiments, those skilled in the art can also adjust it so that one of the first clamping jaw 2 and the second clamping jaw 3 is slidably arranged and the other is fixed on the end face of the main body 1.

[0059] For another example, although the above embodiment does not specifically describe the driving component, this is not unclear. Those skilled in the art will understand that any component capable of driving the first clamping jaw 2 and the second clamping jaw 3 to slide can replace the driving component of the present application. For example, the driving component can also be a combination of a motor and a chain assembly or a pulley assembly; for example, the motor can also be equipped with a speed reducer to improve control accuracy.

[0060] For example, in another alternative embodiment, although the first flexible claw sleeve 4 and the second flexible claw sleeve 5 are respectively provided with the first meshing structure 41 and the second meshing structure 51, this is only a preferred embodiment. Those skilled in the art may selectively omit the setting of the first meshing structure 41 and the second meshing structure 51. Although this setting may result in a certain degree of reduction in force feedback accuracy, it does not deviate from the principle of this application.

[0061] For another example, in the above-described alternative embodiment, the first meshing structure 41 and the second coupling structure are described using a rack structure as an example. However, the configuration of the first meshing structure 41 and the second meshing structure 51 is not exclusive and can be adjusted by those skilled in the art, as long as the adjusted first meshing structure 41 and the second meshing structure 51 can improve force feedback accuracy by meshing with each other. For example, the first meshing structure 41 and the second meshing structure 51 can also be configured as a smooth shape such as a wavy surface, or any other structure that can mesh with each other.

[0062] For another example, in another alternative embodiment, the first flexible claw sleeve 4 and the second flexible claw sleeve 5 may be made of other soft materials, such as silicone, in addition to being made of rubber material.

[0063] For example, in another alternative embodiment, although the first clamping jaw 2 is described as comprising a first jaw body 21 and a first slide 23, this embodiment is merely exemplary, and those skilled in the art may adjust the specific structure of the first clamping jaw 2 based on design requirements. For example, the first slide 23 may be omitted, and the first jaw body 21 may be directly slidably disposed in the first slide groove 11. The second clamping jaw 3 is similarly configured and will not be described in detail.

[0064] For example, in another alternative embodiment, although the first claw body 21 and the first claw arm 212 are described as being integrally formed, the connection method between the two is not limited to this. Persons skilled in the art may adjust the connection method. For example, the two may be fixedly connected by a bolt or other connecting member. For another example, the first claw arm 212 may be omitted, and the first claw body 21 may be directly bent and connected to the first slide 23. The second claw body 31 and the second claw arm 312 are similarly configured and will not be described in detail.

[0065] For example, in another alternative embodiment, the specific structure of the first claw arm 212 is not fixed and can be adjusted by those skilled in the art. For example, the first avoidance section 2122 is not required and can be omitted by those skilled in the art. However, this will not be conducive to improving the accuracy of force feedback.

[0066] For example, in another alternative embodiment, the number of first mounting holes 2111 and first positioning holes 2112 defined in the first connecting base 211 is not limited, and can be adjusted by those skilled in the art based on their needs. The number of second mounting holes 3111 and second positioning holes 3112 defined in the first sliding base 23 is also not necessarily greater than the number of first mounting holes 2111 and first positioning holes 2112, and can be adjusted by those skilled in the art. The same applies to the third mounting holes 231, third positioning holes 232, and fourth mounting holes 331 and fourth positioning holes 332, and will not be further described.

[0067] For another example, in another alternative embodiment, although the above embodiment is described with reference to the example of the first and second slide grooves 11 and 12 provided on the end surface of the body 1, this is not intended to limit the scope of protection of this application, and those skilled in the art may make adjustments as long as effective sliding of the first and second clamping jaws 2 and 3 is achieved. For example, the first and second slide grooves 11 and 12 may be replaced with first and second slide rails, respectively, and matching slide grooves may be provided on the first and second slide seats 23 and 33.

[0068] Of course, the above-mentioned replaceable implementations, as well as the replaceable implementations and the preferred implementations, can be used in a cross-functional manner to combine new implementations to suit more specific application scenarios.

[0069] The present application also provides a smart home robot, which includes the end clamping mechanism in the above embodiment.

[0070] In one embodiment, the smart home robot includes a body and a multi-degree-of-freedom robotic arm mounted on the body, with an end-gripping mechanism located at the end of the robotic arm. During use, the smart home robot can move between multiple positions based on received commands, and grasp and release clothing items through the movement of the robotic arm and the opening and closing of the end-gripping mechanism.

[0071] The smart home robot of the present application, by respectively providing a first flexible claw cover 4 and a second flexible claw cover 5 on the first clamping jaw 2 and the second clamping jaw 3 of the end clamping mechanism, can increase the friction of the end clamping mechanism when clamping clothing, reduce the force feedback requirements, and thus improve the grasping precision and accuracy. In addition, the first flexible claw cover 4 and the second flexible claw cover 5 can better protect clothing from being scratched compared to rigid materials.

[0072] Those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, in the claims of this application, any of the claimed embodiments may be used in any combination.

[0073] Thus far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present application.

Claims

1. An end clamping mechanism, characterized in that: The end clamping mechanism comprises: ontology; a first clamping jaw and a second clamping jaw, at least one of the first clamping jaw and the second clamping jaw being slidably disposed on an end surface of the body; a driving component, disposed on the body and connected to a slidably disposed jaw of the first clamping jaw and the second clamping jaw, the driving component being configured to drive the slidably disposed jaw of the first clamping jaw and the second clamping jaw to slide, so as to move the first clamping jaw and the second clamping jaw closer to or farther away from each other; The first flexible claw sleeve and the second flexible claw sleeve are respectively sleeved on the first clamping jaw and the second clamping jaw.

2. The end clamping mechanism according to claim 1, characterized in that: A first engaging structure is provided on a side of the first flexible claw sleeve facing the second flexible claw sleeve, and a second engaging structure is provided on a side of the second flexible claw sleeve facing the first flexible claw sleeve. The first engaging structure and the second engaging structure can engage with each other.

3. The end clamping mechanism according to claim 2, characterized in that: The first meshing structure and the second meshing structure are rack structures or wavy surfaces; and / or A chamfer is formed between the first engaging structure and the adjacent side surface, and a chamfer is formed between the second engaging structure and the adjacent side surface.

4. The end clamping mechanism according to claim 1, characterized in that: The first flexible claw sleeve and the second flexible claw sleeve are both made of rubber material.

5. The end clamping mechanism according to any one of claims 1 to 4, characterized in that: The first clamping jaw and the second clamping jaw are both slidably disposed on an end surface of the body.

6. The end clamping mechanism according to claim 5, characterized in that: The first clamping jaw includes a first jaw body and a first slide seat, the first jaw body is connected to the first slide seat, the end surface of the body is provided with a first slide rail or a first slide groove, the first slide seat is slidably provided on the first slide rail or the first slide groove, and the first flexible jaw sleeve is sleeved on the first jaw body; The second clamping jaw includes a second claw body and a second slide seat, the second claw body is connected to the second slide seat, the end surface of the body is also provided with a second slide rail or a second slide groove, the second slide seat can be slidably set on the second slide rail or the second slide groove, and the second flexible claw sleeve is sleeved on the second claw body.

7. The end clamping mechanism according to claim 6, characterized in that: The first claw body includes a first connecting seat and a first claw arm, the first connecting seat is fixedly connected to the side surface of the first claw arm, and the first connecting seat is connected to the first sliding seat; The second claw body includes a second connecting seat and a second claw arm, the second connecting seat is fixedly connected to the side surface of the second claw arm, and the second connecting seat is connected to the second sliding seat.

8. The end clamping mechanism according to claim 7, characterized in that: The first claw arm includes a first clamping section and a first avoidance section arranged in sequence, the first connecting seat is fixedly connected to a side surface of the first avoidance section, the side surface of the first clamping section facing the second clamping jaw is a first effective clamping surface, and the first avoidance section is inclined and recessed toward the side surface of the second clamping jaw in a direction away from the second clamping jaw; The second claw arm includes a second clamping section and a second avoidance section arranged in sequence, the second connecting seat is fixedly connected to the side of the second avoidance section, the side of the second clamping section facing the first clamping jaw is a second effective clamping surface, and the second avoidance section is inclined and recessed toward the side of the first clamping jaw in a direction away from the first clamping jaw.

9. The end clamping mechanism according to claim 7, characterized in that: The first connecting seat is provided with a first mounting hole and a first positioning hole, the first sliding seat is provided with a second mounting hole and a second positioning hole, a positioning member is inserted through the first positioning hole into the second positioning hole to achieve positioning of the first connecting seat and the first sliding seat, and a connecting member is passed through the first mounting hole and connected to the second mounting hole to achieve connection between the first connecting seat and the first sliding seat; A third mounting hole and a third positioning hole are provided on the second connecting seat, and a fourth mounting hole and a fourth positioning hole are provided on the second slide seat. The positioning member passes through the third positioning hole and is inserted into the fourth positioning hole to realize the positioning of the second connecting seat and the second slide seat, and the connecting member passes through the third mounting hole and is connected to the fourth mounting hole to realize the connection between the second connecting seat and the second slide seat.

10. A smart home robot, characterized in that: The smart home robot comprises the end clamping mechanism according to any one of claims 1 to 9.

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