拾取装置及清洁设备
By designing a robotic arm with anti-collision and pickup modes, the problems of single and complex robotic arms in cleaning equipment are solved, realizing the multi-functionality and structural simplification of the robotic arm.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 麦悦未来智能科技(苏州)有限公司
- Filing Date
- 2025-07-28
- Publication Date
- 2026-07-17
AI Technical Summary
In existing cleaning equipment, the robotic arm has a single function and a complex structure. The interference between the anti-collision plate and the robotic arm leads to an increase in the need for additional structures.
Design a picking device with a robotic arm that has both anti-collision and picking modes. By changing the movement of the swing arm and gripper, it can both pick up items and form an anti-collision section, simplifying the structure.
This design achieves versatility and simplifies the structure of the robotic arm, eliminating the need for additional anti-collision structures and improving the practicality and ease of operation of the cleaning equipment.
Smart Images
Figure CN224505347U_ABST
Abstract
Claims
1. A pick-up device for a cleaning apparatus, characterized in that include: A robotic arm includes a swing arm and grippers movably mounted on the swing arm. The swing arm is movably mounted on the side of the cleaning device's body. At least one of the swing arm and the grippers forms a collision-prevention section. The robotic arm has a collision-prevention state and a picking-up state. In the collision-prevention state, the grippers retract, and the swing arm retracts towards the side of the device body, so that the collision-prevention section surrounds the side of the device body. In the picking-up state, the swing arm extends away from the device body, and the grippers open. The driving mechanism includes a swing arm driving part and a gripper driving part, wherein the swing arm driving part is drivingly connected to the swing arm and the gripper driving part is drivingly connected to the gripper.
2. The pickup device according to claim 1, characterized in that The gripper includes two sets of gripping arms movably disposed on the swing arm, and the two sets of gripping arms can move relative to each other; In the anti-collision state, the swing arm moves to at least partially retract into the fuselage, and at least one set of the clamping arms surrounds the side of the fuselage, with the side surface facing away from the fuselage forming the anti-collision part; In the picking state, the swing arm moves and unfolds to the side away from the machine body, and the two sets of clamping arms move and open relative to each other.
3. The pickup device according to claim 2, characterized in that The clamping arm has opposing first and second sides; In the anti-collision state, the two sets of clamping arms move relative to each other and jointly surround the side of the fuselage, and both first sides are set away from the fuselage, and the two first sides are spliced together to form the anti-collision part; In the picking state, the two sets of clamping arms move relative to each other, and the two second sides are spaced apart and opposite to each other, forming a clamping groove for picking up objects.
4. The pickup device according to claim 3, characterized in that The two sets of clamping arms include a first clamping arm and a second clamping arm, and the gripper drive unit includes: A first motor, disposed on the swing arm and drivenly connected to the first clamping arm, drives the first clamping arm to rotate relative to the swing arm about the output axis of the first motor; and A second motor is disposed on the first clamping arm and driven to the second clamping arm, so as to drive the second clamping arm to rotate relative to the first clamping arm about the output axis of the second motor; The output shafts of the first motor and the second motor are arranged in parallel.
5. The pickup device according to claim 3, characterized in that The drive mechanism also includes a linkage frame and a linkage structure. The linkage frame is rotatably mounted on the swing arm. The linkage structure includes a first linkage and a second linkage with hinged ends. The free end of the first linkage is fixedly connected to one of the clamping arms and pinned to the linkage frame. The free end of the second linkage is fixedly connected to the other clamping arm and pinned to the linkage frame. The gripper drive unit includes a third motor and a fourth motor. The third motor is located on the swing arm and drives the linkage frame. The fourth motor drives the free end of the first connecting rod. The output axes of the third motor and the fourth motor are arranged in parallel.
6. The pickup device according to claim 5, characterized in that In the anti-collision state, the two sets of clamping arms are moved and retracted to the linkage frame, and the side surface of the linkage frame opposite to the machine body is spliced with the two first side surfaces to form the anti-collision part.
7. The pickup device of claim 2, wherein The two sets of clamping arms include a main arm and an auxiliary arm. The main arm has a collision-resistant side and a clamping side, and the auxiliary arm is movably disposed on the clamping side. In the anti-collision state, the auxiliary arm moves and retracts towards the side closer to the clamping side, the swing arm moves and retracts towards the side closer to the machine body, and the main arm surrounds the side of the machine body, with the anti-collision side of the main arm facing away from the machine body to form the anti-collision part; In the picking state, the swing arm extends to the side away from the machine body, and the auxiliary arm opens to the side away from the clamping side, forming a clamping groove for picking up objects.
8. The pickup device according to claim 7, characterized in that The gripper drive unit includes a main arm motor and an auxiliary arm motor. The main arm motor is located on the swing arm and is driven to connect to the main arm to drive the main arm to rotate around the output axis of the main arm motor. The auxiliary arm motor is located on the gripping side and is driven to connect to the auxiliary arm to drive the auxiliary arm to rotate around the output axis of the auxiliary arm motor. The output axis of the main arm motor and the output axis of the auxiliary arm motor are arranged in parallel.
9. The pickup device of claim 2, wherein The swing arm drive unit includes a swing motor, a connecting frame, and a tilting motor. The tilting motor is located on the machine body and drives the connecting frame to rotate the connecting frame around the output axis of the tilting motor. The swing motor is mounted on the connecting frame and drives one end of the swing arm so that the other end of the swing arm rotates around the output axis of the swing motor. The output axis of the swing motor and the output axis of the flip motor are arranged to intersect.
10. The pickup device according to claim 1, characterized in that, The gripper is located on the side of the swing arm facing the machine body and can move along the length of the swing arm to be movably stored in the swing arm or movably extended from the swing arm; In the anti-collision state, the gripper is movably retracted into the swing arm, the swing arm moves toward the side closer to the fuselage and surrounds the side of the fuselage, and the side surface of the swing arm opposite to the fuselage forms the anti-collision part; In the picking state, the swing arm extends to the side away from the machine body, and the gripper extends from the swing arm.
11. The pickup device according to claim 10, characterized in that The gripper includes a first clamping plate and a second clamping plate that are movable relative to each other. When the gripper is retracted to the swing arm, the first clamping plate and the second clamping plate are retracted. When the gripper is extended from the swing arm, the first clamping plate and the second clamping plate are opened. The gripper drive unit includes: A first driving unit is connected to the first clamping plate to drive the first clamping plate to move along the length direction of the swing arm; as well as, The second drive unit is disposed on the first clamping plate and is driven to connect to the second clamping plate, for driving the second clamping plate to open or close relative to the first clamping plate.
12. The pickup device according to claim 11, characterized in that The first drive unit includes a first clamping plate motor and a transmission component. The first clamping plate motor drives the transmission component, and the transmission component drives the first clamping plate and the swing arm. The output axis of the first clamping plate motor is arranged to intersect the length direction of the swing arm; and / or, The second drive unit includes a second clamping plate motor, which is disposed on the first clamping plate and driven to drive the second clamping plate to rotate relative to the first clamping plate around the output axis of the second clamping plate motor. The output axis of the second clamping plate motor is arranged to cross the length direction of the swing arm.
13. The pickup device of claim 1, wherein The picking device further includes an image acquisition component, which is configured corresponding to the gripper and is used to acquire an image of the object picked up by the gripper. The image acquisition component is electrically connected to the driving mechanism.
14. A cleaning apparatus, characterized by include: body; as well as, The pickup device as described in any one of claims 1-13, wherein the pickup device is disposed on the side of the fuselage.
15. The cleaning apparatus of claim 14, wherein, The cleaning equipment also includes a main cleaning module and an auxiliary cleaning module. The main cleaning module is located at the bottom of the machine body and is used to clean the surfaces along the route. When the robotic arm of the picking device is in the picking state, the grippers on the robotic arm open and pick up the auxiliary cleaning module to perform auxiliary cleaning on the surface it passes through.