A cleaning robot

Abstract

The utility model discloses a kind of cleaning robots, including fuselage and multiple-axis manipulator being set on fuselage, the multiple-axis manipulator end is connected with two-fingered gripper mechanism, multiple removable clamping mechanisms are provided on the fuselage, the clamping mechanism includes mounting portion and clamping portion, left clamping surface and right clamping surface are respectively provided in the clamping portion left and right sides, left clamping surface and right clamping surface are respectively provided with clamping protrusion.The utility model is provided with multiple clamping mechanisms on fuselage to install cleaning tool, it can be applicable to multiple different types of cleaning tool, prevent cleaning tool from being damaged directly by clamping, clamping mechanism is provided with clamping portion, two-fingered gripper mechanism is provided on fuselage to clamp clamping portion, clamping protrusion is provided in clamping portion to form height difference to cooperate with the acute angle clamping mode of two-fingered gripper mechanism in clamping state, clamping firmness is good, also conducive to improving clamping precision.

Description

Technical Field

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

[0002] With the development of technology, more and more intelligent cleaning equipment is entering our field of vision, among which robotic vacuum cleaners are widely used. Current improvements are constantly being made to robotic vacuum cleaners; however, existing robotic vacuum cleaners have significant shortcomings. Robotic vacuum cleaners are only suitable for cleaning floors, which is applicable in clean home environments. However, in more complex public environments, they cannot, like humans, grip cleaning tools to clean different heights and locations, lacking spatial flexibility. Designing a cleaning robot capable of cleaning at different heights, and ensuring accurate and stable gripping of cleaning tools without damaging them using mechanical gripping, are all challenges that need to be addressed. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing a cleaning robot.

[0004] To achieve the above objectives, a cleaning robot includes a body and a multi-axis manipulator mounted on the body. The end of the multi-axis manipulator is connected to a two-finger gripper mechanism. The body is provided with multiple removable gripping mechanisms. Each gripping mechanism includes an mounting part and a gripping part. The left and right sides of the gripping part are respectively provided with a left gripping surface and a right gripping surface. The left and right gripping surfaces are respectively provided with gripping protrusions. The length directions of the gripping protrusions are consistent and they are arranged in parallel.

[0005] The mounting section of the clamping mechanism is used to install and fix cleaning tools. Multiple clamping mechanisms can be used to install various different cleaning tools, making it widely applicable. Moreover, the clamping mechanism can protect the cleaning tools. The two-finger gripper mechanism is characterized by the clamping section being arranged at an acute angle in the clamping state. To better fit the tilt angle of the clamping section, the clamping part is provided with a left clamping surface and a right clamping surface. By setting clamping protrusions to form a height difference, it cooperates with the clamping section of the two-finger gripper mechanism in the clamping state, thereby forming an inclined clamping, which is more in line with the force direction of the two-finger gripper mechanism and the clamping is more stable.

[0006] Preferably, the left or right clamping surface is provided with two parallel limiting protrusions, and the gap between the two limiting protrusions constitutes a limiting area.

[0007] The setting of the limiting zone can ensure that the two-finger gripper mechanism is accurately positioned when gripping, and the limiting protrusion can also form an anti-detachment structure in the limiting zone, making the gripping more secure.

[0008] Preferably, the length direction of the limiting protrusion is perpendicular to the length direction of the clamping protrusion, and the length direction of the limiting protrusion extends beyond the clamping protrusion.

[0009] The length direction of the limiting protrusion is perpendicular to the length direction of the clamping protrusion, which facilitates the positioning of the two-finger gripper mechanism and plays a guiding role.

[0010] Preferably, the clamping protrusion is provided with an arc surface that facilitates clamping.

[0011] The curved surface makes it easier to cooperate with the two-finger gripper mechanism to form an acute-angle gripping state.

[0012] Preferably, the two-finger gripper mechanism includes two symmetrically arranged grippers, and the inner side of the grippers is provided with a gripping surface. When the two gripping surfaces are in the gripping state, the angle between them forms an acute angle.

[0013] The two-finger gripper mechanism clamps the clamping mechanism with its grippers, forming an acute angle between the two gripping surfaces. The wider distance between the gripping surfaces and the tighter pressure at one end facilitate clamping.

[0014] Preferably, the upper end of the gripper protrudes outward to form a connecting rod portion, an inner connecting rod is hinged to one end of the connecting rod portion near the gripper, and an outer connecting rod is hinged to the other end of the connecting rod portion. The two-finger gripper mechanism includes a gripping body, the other end of the inner connecting rod is hinged to the gripping body, and the other end of the outer connecting rod is hinged to a supporting connecting rod, the other end of which is hinged to the gripping body.

[0015] The outer connecting rod and the support connecting rod work together to drive the gripper to tilt inward to form an acute angle grip.

[0016] Preferably, the inner side of the inner connecting rod is provided with a support surface, and the left clamping surface and the right clamping surface are respectively provided with support blocks corresponding to the support surface.

[0017] There is no clamping space between the inner connecting rods when they are clamped, which may cause the tool to fall off or loosen during operation. Setting a support surface and a support block to cooperate can fill the no-clamping space, increase the clamping force area, improve the clamping stability, and thus effectively solve the problem of tool falling off or loosening.

[0018] Preferably, the mounting part is provided with a mounting through hole for mounting cleaning tools.

[0019] The cleaning tool can be installed through the mounting hole, and the two-finger gripper mechanism holds it on the clamping mechanism, effectively preventing damage to the cleaning tool.

[0020] Preferably, the machine body is provided with a tool tray, the tool tray is provided with a receiving groove and multiple fixing grooves, the clamping mechanism is provided with a fixing part that matches the fixing groove, an electromagnet is provided in the fixing groove, and a magnetic iron block is provided in the fixing part.

[0021] Adding a magnetic block increases the weight of the cleaning tool, improving its stability during use. When not in use, the magnetic block is firmly fixed to the electromagnet, preventing the cleaning tool from falling off when the robot is moving or subjected to vibration. When the robot needs to work, simply disconnect the power supply to the electromagnet to easily remove the clamping mechanism.

[0022] Preferably, the output end of the multi-axis robot is also equipped with a vision camera.

[0023] The visual camera serves two purposes: first, it can locate the trash in the cleaning area; second, it can assist the two-finger gripper mechanism in precise clamping.

[0024] Compared with the prior art, the beneficial effects of this utility model are:

[0025] This utility model features multiple clamping mechanisms on the machine body for mounting cleaning tools, making it suitable for various types of cleaning tools. It prevents cleaning tools from being directly damaged by clamping. The clamping mechanism has a clamping part, and a two-finger gripper mechanism is provided on the machine body to perform clamping operations on the clamping part. The clamping part has a clamping protrusion to form a height difference to cooperate with the acute angle clamping method of the two-finger gripper mechanism in the clamping state, which is more in line with the force direction of the two-finger gripper mechanism, resulting in good clamping stability and improving clamping accuracy. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the accompanying drawings used in the embodiments will be briefly introduced below.

[0027] Figure 1 This is a schematic diagram of the structure of this utility model.

[0028] Figure 2 This is a partial structural schematic diagram of the present invention.

[0029] Figure 3 This is a schematic diagram of the clamping mechanism of this utility model.

[0030] Figure 4 This is a schematic diagram of the clamping mechanism of this utility model from another perspective.

[0031] Figure 5 This is a schematic diagram of the clamping mechanism of this utility model from another perspective.

[0032] Figure 6 This is a schematic diagram of the tool tray structure of this utility model.

[0033] Figure 7 This is a schematic diagram of the clamping state structure of the two-finger gripper mechanism of this utility model.

[0034] Figure 8 This is a schematic diagram of the two-finger gripper mechanism of this utility model. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of this utility model.

[0036] This utility model provides a cleaning robot, such as Figures 1-8 As shown, the device includes a body 1 and a multi-axis robotic arm 2 mounted on the body 1. A two-finger gripper mechanism 3 is connected to the end of the multi-axis robotic arm 2. The two-finger gripper mechanism 3 includes two symmetrically arranged grippers 4. Each gripper 4 has a gripping surface 5 on its inner side. The grippers 4 grip the object through the gripping surface 5. The gripping surface 5 has anti-slip textures, which can be implemented using any existing technology (not shown in the figure and will not be described in detail here). In the gripping state, the angle between the two gripping surfaces 5 of the two-finger gripper mechanism 3 forms an acute angle, thus creating an acute-angle gripping state. The two-finger gripper mechanism 3 has strong adaptive gripping capabilities; the two grippers 4 can adjust the gripping angle by changing the contact point, without needing to precisely align with the center of the object.

[0037] The upper end of the gripper 4 protrudes outward to form a connecting rod portion 6. An inner connecting rod 7 is hinged to one end of the connecting rod portion 6 near the gripper 4, and an outer connecting rod 8 is hinged to the other end of the connecting rod portion 6. The two-finger gripper mechanism 3 includes a gripping body 9. The other end of the inner connecting rod 7 is hinged to the gripping body 9, and the other end of the outer connecting rod 8 is hinged to a supporting connecting rod 10. The other end of the supporting connecting rod 10 is also hinged to the gripping body 9. In the gripping state, the outer connecting rod 8 and the supporting connecting rod 10 work together to drive the lower end of the gripper 4 to tilt inward to form an acute-angle grip. The two-finger gripper mechanism 3 utilizes a lever structure to amplify the gripping force, resulting in a stronger clamping force.

[0038] The body 1 is provided with multiple removable clamping mechanisms 11. Each clamping mechanism 11 includes a mounting part 12 and a clamping part 13. The mounting part 12 of the clamping mechanism 11 is used to install and fix cleaning tools. Multiple clamping mechanisms 11 can be used to install various different cleaning tools. The left clamping surface 14 and the right clamping surface 15 are respectively provided on the left and right sides of the clamping part 13. The left clamping surface 14 and the right clamping surface 15 are respectively provided with clamping protrusions 16. The length direction of the clamping protrusions 16 is consistent and parallel. The clamping protrusions 16 are provided with arc surfaces that are conducive to clamping. The left and right clamping method ensures uniform clamping force. The left clamping surface 14 and the right clamping surface 15 form a height difference with the clamping protrusions 16. The clamping arc surfaces facilitate the adjustment of the clamping force. The clamping jaws 4 are closed at an angle. The left clamping surface 14 and the right clamping surface 15 respectively form two supports with the clamping arc surfaces. The clamping increases the pressure by reducing the contact area, ensuring the stability of the clamping. The left clamping surface 14 or the right clamping surface 15 is provided with two parallel limiting protrusions 17. The gap between the two limiting protrusions 17 forms a limiting area 18. When the gripper 4 clamps, it falls into the limiting area 18 and matches the limiting area 18. By setting the limiting area 18 as the positioning of the gripper 4, the limiting protrusions 17 can also prevent the gripper 4 from moving laterally, thus playing a role in preventing it from falling off. The length direction of the limiting protrusions 17 is perpendicular to the length direction of the clamping protrusions 16, which facilitates the positioning of the gripper 4 during clamping and can also guide the gripper 4 to clamp from the front. The length direction of the limiting protrusions 17 extends across the clamping protrusions 16, ensuring that the gripper 4 can be limited.

[0039] The inner side of the inner connecting rod 7 is provided with a support surface 19, and the left clamping surface 14 and the right clamping surface 15 are respectively provided with support blocks 20 corresponding to the support surface 19. When the two-finger gripper mechanism 3 clamps, it clamps through the gripper 4. The distance between the inner connecting rods 7 does not clamp the object, forming a no-clamping space. If the gripper 4 is used alone, the tool may fall off or loosen during operation. The cooperation between the support surface 19 and the support block 20 fills the no-clamping space, making the clamping more stable.

[0040] The mounting part 12 is provided with a mounting through hole 21 for mounting cleaning tools. The cleaning tools can be installed through the mounting through hole 21. The specific installation method of the cleaning tools can be implemented by any existing technology, which will not be described in detail here.

[0041] The machine body 1 is equipped with a tool tray 22, which has a material collection trough 23 and multiple fixing slots 24. The material collection trough 23 is used to collect garbage or hold dust that falls off after the cleaning tools are fixed. The clamping mechanism 11 is equipped with a fixing part 25 that matches the fixing slot 24. An electromagnet is installed in the fixing slot 24. The electromagnet can be implemented using any existing technology, which is not shown in the figure and will not be described in detail here. The fixing part 25 is equipped with a magnetic iron block 26. When the clamping mechanism 11 is not in operation, it matches and fixes the fixing part 25 with the fixing slot 24. When the electromagnet is activated, it attracts and fixes the fixing part 25, which can prevent the cleaning tools from falling off. When in operation, the two-finger gripper mechanism 3 clamps the clamping mechanism 11. When the current to the electromagnet is disconnected, the clamping mechanism 11 can be easily removed. The fixing part 25 is provided with a receiving groove 27 for accommodating the magnetic iron block 26 and a plurality of fastening members 28 extending into the receiving groove 27. The magnetic iron block 26 is installed in the receiving groove 27 and is fastened by the fastening members 28.

[0042] The multi-axis robotic arm 2 is also equipped with a vision camera 29 at its output end. The vision camera 29 serves two purposes: first, it can locate the debris in the cleaning area; second, it can assist the two-finger gripper mechanism 3 in precise gripping. The cleaning robot has a control center inside, and the gripper 4 is equipped with a pressure sensor. The vision camera 29, multi-axis robotic arm 2, two-finger gripper mechanism 3, electromagnet, and pressure sensor are all electrically connected to the control center, which coordinates and controls them uniformly. The control center, pressure sensor, vision camera 29, multi-axis robotic arm 2, and electromagnet can be implemented using any existing technology, which will not be elaborated upon here.

[0043] Working principle:

[0044] The visual recognition algorithm for the cleaning tool acquires its position via a vision camera. The control center sends commands to drive the multi-axis robotic arm 2 to move near the cleaning tool, bringing the two-finger gripper mechanism 3 close to the corresponding gripping position of the gripping mechanism 11. After the multi-axis robotic arm 2 reaches the position, the control center controls the gripper 4 to close, bringing it into the predetermined gripping position. The limiting protrusion 17 limits the gripper 4, preventing the tool from shaking during operation. When the gripper 1 closes and locks, the pressure sensor inside the gripper 1 sends a signal. Upon receiving the signal, the control center sends a command to the electromagnet, which closes, releasing the magnetically attracted iron block 26. The multi-axis robotic arm 2 can then grip the cleaning tool to perform the cleaning task.

[0045] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of this utility model and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of this utility model should be included within its protection scope. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A cleaning robot, characterized in that, The device includes a body and a multi-axis robotic arm mounted on the body. The end of the multi-axis robotic arm is connected to a two-finger gripper mechanism. The body is provided with multiple removable gripping mechanisms. Each gripping mechanism includes a mounting part and a gripping part. The left and right sides of the gripping part are respectively provided with a left gripping surface and a right gripping surface. The left and right gripping surfaces are respectively provided with gripping protrusions. The length direction of the gripping protrusions is consistent and they are arranged in parallel.

2. A cleaning robot according to claim 1, characterized in that, The left or right clamping surface is provided with two parallel limiting protrusions, and the gap between the two limiting protrusions constitutes a limiting area.

3. A cleaning robot according to claim 2, characterized in that, The length direction of the limiting protrusion is perpendicular to the length direction of the clamping protrusion, and the length direction of the limiting protrusion crosses the clamping protrusion.

4. A cleaning robot according to claim 1, characterized in that, The clamping protrusion is provided with an arc surface that facilitates clamping.

5. A cleaning robot according to claim 1, characterized in that, The two-finger gripper mechanism includes two symmetrically arranged grippers, and the inner side of each gripper is provided with a gripping surface. When the gripper is in the gripping state, the angle between the two gripping surfaces forms an acute angle.

6. A cleaning robot according to claim 5, characterized in that, The upper end of the gripper protrudes outward to form a connecting rod portion. An inner connecting rod is hinged to one end of the connecting rod portion near the gripper, and an outer connecting rod is hinged to the other end of the connecting rod portion. The two-finger gripper mechanism includes a gripping body. The other end of the inner connecting rod is hinged to the gripping body, and a support connecting rod is hinged to the other end of the outer connecting rod. The other end of the support connecting rod is hinged to the gripping body.

7. A cleaning robot according to claim 6, characterized in that, The inner side of the inner connecting rod is provided with a support surface, and the left clamping surface and the right clamping surface are respectively provided with support blocks corresponding to the support surface.

8. A cleaning robot according to claim 1, characterized in that, The mounting section is provided with mounting through holes for mounting cleaning tools.

9. A cleaning robot according to claim 1, characterized in that, The machine body is provided with a tool tray, the tool tray is provided with a receiving groove and multiple fixing grooves, the clamping mechanism is provided with a fixing part that matches the fixing groove, the fixing groove is provided with an electromagnet, and the fixing part is provided with a magnetic iron block.

10. A cleaning robot according to claim 1, characterized in that, The output end of the multi-axis robot is also equipped with a vision camera.

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