Cleaning execution head and cleaning robot

Abstract

The utility model provides a cleaning execution head and a cleaning robot, and belongs to the technical field of cleaning equipment, the cleaning execution head comprises a mounting part used for being mounted at a cleaning execution end, and the mounting part can rotate around an axis relative to the cleaning execution end; the execution part is fixed to the mounting part, an electromagnetic adsorption module is arranged on the execution part, the working face of the electromagnetic adsorption module protrudes out of the outer contour surface of the execution part, and the electromagnetic adsorption module is used for adsorbing a cleaning tool; the cleaning device has the advantages that the mounting part and the cleaning executing end are rotationally matched around the axis, so that the executing part can rotate, real-time dynamic posture adjustment is achieved in a complex curved surface cleaning scene, and the problem of cleaning blind areas caused by posture limitation of a traditional fixed connector is solved; the design of the convex electromagnetic adsorption module is adopted, the protruding working face of the convex electromagnetic adsorption module and the cleaning tool form contact type magnetic adsorption coupling, and the switching requirements of different tools are rapidly responded.

Description

Technical Field

[0001] This utility model belongs to the field of cleaning equipment technology, and in particular relates to a cleaning execution head and a cleaning robot. Background Technology

[0002] In both home and professional cleaning, traditional cleaning tools and methods often prove inefficient and ineffective when dealing with complex curved surfaces or hard-to-reach areas. This is particularly true when cleaning toilets and other sanitary ware; traditional toilet brushes, due to their fixed shape and limited flexibility, struggle to effectively clean all areas, leaving blind spots and posing hygiene risks. Furthermore, manual cleaning is not only time-consuming and labor-intensive but may also pose potential health threats due to contact with contaminants.

[0003] With the development of smart home technology and automated equipment, new solutions have emerged in the market aimed at improving cleaning efficiency and user experience. However, when different types of cleaning tools are needed to handle diverse cleaning tasks, how to achieve quick and stable tool switching has become a pressing issue. Utility Model Content

[0004] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a cleaning execution head that allows for rapid and stable tool switching.

[0005] The objective of this utility model can be achieved through the following technical solution: a cleaning execution head, comprising:

[0006] The mounting part is used to be mounted on the cleaning execution end, and the mounting part is rotatable about an axis relative to the cleaning execution end;

[0007] An execution unit is fixed to the mounting unit, and an electromagnetic adsorption module is provided on the execution unit. The working surface of the electromagnetic adsorption module protrudes from the outer contour surface of the execution unit, and the electromagnetic adsorption module is used to adsorb cleaning tools.

[0008] In the cleaning execution head described above, the working surface of the electromagnetic adsorption module is located on the rotation axis of the mounting part, and the working surface is perpendicular to the rotation axis of the mounting part.

[0009] In the cleaning execution head described above, a gap is provided between the execution part and the mounting part to form a receiving cavity, which is used to fix the communication module that is electrically connected to the electromagnetic adsorption module.

[0010] In the above-mentioned cleaning execution head, two connecting plates are integrally provided on both sides of the execution part and fixed to the mounting part to form a receiving cavity.

[0011] In the aforementioned cleaning execution head, the mounting part is provided with an embedded mounting cavity, and a control module is fixedly installed inside the embedded mounting cavity.

[0012] In the above-mentioned cleaning execution head, the embedded mounting cavity is disposed on the side of the mounting part away from the execution part, and the mounting part is also provided with a through connecting channel that communicates with the mounting cavity and the receiving cavity.

[0013] In the cleaning execution head described above, the mounting part is provided with a wire fixing part, and the wire fixing part is provided with a wire through hole.

[0014] A cleaning robot includes the aforementioned cleaning execution head and a cleaning robotic arm, wherein the cleaning execution head is disposed at the execution end of the cleaning robotic arm.

[0015] In the aforementioned cleaning robot, a first vision sensor is provided at the execution end, and a second vision sensor is provided on the joint axis of the cleaning robotic arm.

[0016] In one of the aforementioned cleaning robots, the mounting end of the cleaning robotic arm is fixedly mounted on a mounting base; or the mounting end of the cleaning robotic arm is fixedly mounted on a transfer platform.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows: by cooperating with the installation part and the cleaning execution end around the axis, the execution part can be rotated, realizing real-time dynamic posture adjustment in complex curved surface cleaning scenarios, solving the problem of cleaning blind spots caused by the posture limitation of traditional fixed connectors; adopting the design of an outward convex electromagnetic adsorption module, its protruding working surface forms a contact magnetic coupling with the cleaning tool, quickly responding to the switching needs of different tools. Attached Figure Description

[0018] Figure 1 This is a structural diagram of the installation section and the execution section;

[0019] Figure 2 This is one of the three-dimensional structural diagrams of the cleaning actuator head;

[0020] Figure 3 This is the second schematic diagram of the three-dimensional structure of the cleaning actuator head;

[0021] Figure 4 This is an assembly diagram showing the cleaning actuator head and the cleaning robotic arm after installation;

[0022] Figure 5 This is an assembly diagram of the first vision sensor.

[0023] In the diagram, 100 is the mounting section; 101 is the execution section; 102 is the electromagnetic adsorption module; 103 is the working surface; 104 is the receiving cavity; 105 is the connecting plate; 106 is the embedded mounting cavity; 107 is the wire passage; 108 is the connection channel; 109 is the wire fixing section; 110 is the wire bundling through hole; 200 is the cleaning robot arm; 201 is the connecting flange; and 202 is the first vision sensor. Detailed Implementation

[0024] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0025] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0026] like Figures 1-3 As shown, a cleaning execution head includes:

[0027] Mounting part 100 is used to be mounted on the cleaning execution end, and the mounting part 100 can rotate about an axis relative to the cleaning execution end;

[0028] The execution part 101 is fixed to the mounting part 100, and an electromagnetic adsorption module 102 is provided on the execution part 101. The working surface 103 of the electromagnetic adsorption module 102 protrudes from the outer contour surface of the execution part 101. The electromagnetic adsorption module 102 is used to adsorb cleaning tools.

[0029] In this embodiment, by rotating the mounting part 100 around the axis with the cleaning execution end, the execution part 101 can be rotated, realizing real-time dynamic posture adjustment in complex curved surface cleaning scenarios, solving the problem of cleaning blind spots caused by posture limitations of traditional fixed connectors; the outward convex electromagnetic adsorption module 102 is designed, and its protruding working surface 103 forms a contact magnetic coupling with the cleaning tool, quickly responding to the switching needs of different tools.

[0030] Specifically, the working surface 103 of the electromagnetic adsorption module 102 is located on the rotation axis of the mounting part 100, and the working surface 103 is perpendicular to the rotation axis of the mounting part 100.

[0031] In this embodiment, the electromagnetic adsorption module 102 and the mounting part 100 are located on opposite sides of the execution part 101. Since the working surface 103 of the electromagnetic adsorption module 102 is located on the rotation axis and is perpendicular to the rotation axis, this ensures that the cleaning tool can maintain a stable adsorption state no matter how the execution part 101 rotates. The angle of the cleaning tool relative to the working surface can be controlled more precisely, which helps to improve the cleaning effect.

[0032] Preferably, a gap is provided between the execution part 101 and the mounting part 100 to form a receiving cavity 104, which is used to fix the communication module that is electrically connected to the electromagnetic adsorption module 102.

[0033] In this embodiment, the receiving cavity 104 formed between the execution part 101 and the mounting part 100 is mainly used to fix the communication module and enable the communication module to be electrically connected to the electromagnetic adsorption module 102. This not only makes efficient use of space but also protects the internal electronic components from the influence of the external environment, improving the reliability and durability of the device.

[0034] The communication module fixed inside the receiving cavity 104 is electrically connected to the electromagnetic adsorption module 102, which can realize the transmission of data or signals, including controlling the working state of the electromagnetic adsorption module 102 (e.g., turning the magnet on / off), monitoring the adsorption status of the tool, or interacting with other system components.

[0035] Specifically, two connecting plates 105 are integrally provided on both sides of the execution part 101 and fixed to the mounting part 100 to form a receiving cavity 104. The connecting plates 105 are integrally formed with the execution part 101 and the mounting part 100, which enhances the stability of the entire structure. The connecting plates 105 are provided on both sides of the execution part 101, so that a receiving cavity 104 with openings on both sides is formed between the execution part 101 and the mounting part 100, which facilitates the installation and maintenance of electronic components such as communication modules, and also allows signal lines to enter and exit through the openings, which facilitates connection with other system components.

[0036] Preferably, the mounting part 100 is provided with an embedded mounting cavity 106, and a control module is fixedly installed in the embedded mounting cavity 106. A through wire passage 107 is also provided on the embedded mounting cavity 106 and connected to the embedded mounting cavity 106.

[0037] More preferably, the embedded mounting cavity 106 is disposed on the side of the mounting part 100 away from the execution part 101, and the mounting part 100 is also provided with a through connecting channel 108 that communicates with the embedded mounting cavity 106 and the receiving cavity 104.

[0038] In this embodiment, the control module includes a control circuit board with a control chip electrically connected to it. The embedded mounting cavity 106 provided on the mounting part 100 can place the control module in a relatively closed environment to prevent it from being affected by the external environment. A through wire passage 107 is also provided on the embedded mounting cavity 106 to allow cables or lines to pass through, thereby realizing the electrical connection between the control module and other external components.

[0039] The through-connection channel 108 provided on the mounting section 100 allows the pins on the control circuit board to extend into the receiving cavity 104 through the connection channel 108, facilitating electrical connection with the electromagnetic adsorption module 102 or other electronic components, simplifying internal wiring, and improving the overall reliability and maintainability of the system.

[0040] In a further preferred embodiment, the mounting part 100 is provided with a wire fixing part 109, and the wire fixing part 109 is provided with a wire bundling through hole 110.

[0041] In this embodiment, a wire fixing part 109 is provided at the openings on both sides of the receiving cavity 104, so that the wires can enter or exit the receiving cavity 104 from both sides, providing a clear path for the wires to enter and exit, reducing the bending and tangling of the wires, thereby reducing the risk of wire wear; the wire bundle through hole 110 can arrange the connection cables between the communication module, the control module and the external system in an orderly manner, avoiding the wires being messy.

[0042] like Figures 4-5 As shown, a cleaning robot includes a cleaning execution head and a cleaning robotic arm 200, with the cleaning execution head disposed at the execution end of the cleaning robotic arm 200.

[0043] In this embodiment, the execution end of the cleaning robotic arm 200 is the cleaning execution end. The cleaning robotic arm 200 is a multi-joint robotic arm, and the execution end is also provided with a connecting flange 201 to connect with the mounting part 100, so as to realize the connection between the cleaning robotic arm 200 and the cleaning connector, and also to allow the cleaning execution head to rotate relative to the execution end. When the mounting part 100 is fixed with the connecting flange 201, the embedded mounting cavity 106 is located inside the connecting flange 201, and the key components such as the control module are protected in a relatively safe environment, reducing the impact of the external environment on them.

[0044] The cleaning robotic arm 200 adopts a multi-joint design, which gives the robotic arm a high degree of flexibility and operability, enabling it to perform precise cleaning in complex or hard-to-reach spaces. Even in complex curved surfaces or narrow spaces, it can flexibly adjust the angle of the cleaning tools, making it suitable for work surfaces of various shapes and sizes. Whether it is a flat surface or a complex curved surface, it can efficiently complete the cleaning task. The connecting flange 201 has both mechanical connection and rotational degree of freedom control functions, thereby achieving dynamic adjustment to adapt to different cleaning needs.

[0045] It is worth mentioning that the execution end is equipped with a first vision sensor 202, and the joint axis of the cleaning robot arm 200 is equipped with a second vision sensor.

[0046] In this embodiment, the first vision sensor 202 is set at the execution end of the cleaning robot arm 200 (i.e., near the cleaning execution head), mainly used to monitor the interaction between the cleaning tool and the target surface in real time. It can capture key information in the cleaning process, such as the posture of the cleaning tool, the state of the working surface 103, and the cleaning effect. The second vision sensor is set on the joint axis of the cleaning robot arm 200 to monitor the overall motion state and posture changes of the robot arm. It can provide information about the joint angles, motion trajectory, and surrounding environment of the robot arm, helping the system to better plan the cleaning path and adjust the posture.

[0047] More preferably, the mounting end of the cleaning robotic arm 200 is fixedly mounted on the mounting base; or the mounting end of the cleaning robotic arm 200 is fixedly mounted on the transfer platform.

[0048] In this embodiment, the mounting end of the cleaning robot's robotic arm 200 can be configured in two ways: one is fixed to a mounting base, and the other is fixed to a transfer platform. The mounting end of the cleaning robotic arm 200 is fixed to a stable mounting base. This is suitable for scenarios requiring long-term fixed-point operation; the base provides a robust foundation, ensuring the robotic arm remains stable during operation and reducing operational errors caused by vibration or external interference. The mounting end of the cleaning robotic arm 200 is fixed to a transfer platform, meaning the entire cleaning system can be moved to different work locations. This is suitable for applications requiring frequent changes in work areas; the transfer platform allows the cleaning robot to quickly reach different work sites, improving equipment utilization and work efficiency.

[0049] It is worth mentioning that each cleaning tool connected to the electromagnetic adsorption module 102 is provided with a mounting slot, and a magnetic sheet is provided in the mounting slot. The working surface 103 of the electromagnetic adsorption module 102 protrudes from the outer contour surface of the execution part 101. The electromagnetic adsorption module 102 can be inserted into the mounting slot and magnetically fixed with the magnetic sheet to pick up the cleaning tool. Through the precisely aligned mounting slot and magnetic sheet design, the electromagnetic adsorption module 102 can provide a stronger adsorption force in contact magnetic coupling, ensuring that the cleaning tool will not fall off accidentally during operation.

[0050] It should be noted that in this utility model, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly defined. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly defined. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0051] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the protection scope claimed by this utility model.

[0052] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A cleaning actuator head, characterized in that, include: Mounting part (100) is used to be mounted on the cleaning execution end, and the mounting part (100) is rotatable about an axis relative to the cleaning execution end; An execution unit (101) is fixed to the mounting unit (100), and an electromagnetic adsorption module (102) is provided on the execution unit (101). The working surface (103) of the electromagnetic adsorption module (102) protrudes from the outer contour surface of the execution unit (101). The electromagnetic adsorption module (102) is used to adsorb cleaning tools.

2. The cleaning execution head according to claim 1, characterized in that, The working surface (103) of the electromagnetic adsorption module (102) is located on the rotation axis of the mounting part (100), and the working surface (103) is perpendicular to the rotation axis of the mounting part (100).

3. A cleaning actuator head according to claim 1, characterized in that, A gap is provided between the execution part (101) and the mounting part (100) to form a receiving cavity (104), which is used to fix the communication module electrically connected to the electromagnetic adsorption module (102).

4. A cleaning actuator head according to claim 3, characterized in that, Two connecting plates (105) are integrally provided on both sides of the execution part (101) and fixed to the mounting part (100) to form a receiving cavity (104).

5. A cleaning actuator head according to claim 3, characterized in that, The mounting part (100) is provided with an embedded mounting cavity (106), and a control module is fixedly installed in the embedded mounting cavity (106).

6. A cleaning execution head according to claim 5, characterized in that, The embedded mounting cavity (106) is disposed on the side of the mounting part (100) away from the execution part (101), and the mounting part (100) is also provided with a through connecting channel (108) that communicates with the mounting cavity and the receiving cavity (104).

7. A cleaning actuator head according to claim 1, characterized in that, The mounting part (100) is provided with a wire fixing part (109), and the wire fixing part (109) is provided with a wire through hole (110).

8. A cleaning robot, characterized in that, The device includes a cleaning execution head as described in any one of claims 1-7, and also includes a cleaning robotic arm (200), wherein the cleaning execution head is disposed at the execution end of the cleaning robotic arm (200).

9. A cleaning robot according to claim 8, characterized in that, The actuator is equipped with a first vision sensor (202), and the joint axis of the cleaning robot arm (200) is equipped with a second vision sensor.

10. A cleaning robot according to claim 8, characterized in that, The mounting end of the cleaning robotic arm (200) is fixedly mounted on the mounting base; or the mounting end of the cleaning robotic arm (200) is fixedly mounted on the transfer platform.

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