Quick-change cleaning robot

Abstract

This utility model discloses a quick-change cleaning robot, including a body and a multi-axis manipulator mounted on the body. The body has multiple detachable mounting seats for mounting cleaning tools. The end of the multi-axis manipulator is equipped with a material-grabbing component, which includes a magnetically pleasing magnetic attractor and multiple retractable elastic support columns. The upper end of the mounting seat has a magnetically attracted surface corresponding to the magnetic attractor, and the attracted surface has positioning holes that match the elastic support columns for positioning. The cleaning tools are mounted on the mounting seats, and the multi-axis manipulator can directly attract the mounting seats via the magnetic attractor, enabling quick gripping. The magnetically pleasing magnetic attractor allows for quick placement of the mounting seats, while the cooperation between the elastic support columns and the positioning holes ensures precise gripping of the mounting seats by the multi-axis manipulator, achieving quick gripping, quick placement, and quick replacement.

Description

Technical Field

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

[0002] Cleaning robots need to handle different cleaning tasks and needs in different scenarios, requiring them to quickly adapt to various cleaning tools, such as vacuum cleaner heads, hair dryers, and water guns. However, current cleaning robots still have significant shortcomings in achieving multi-tool adaptation and rapid tool changeover, making it difficult to meet the efficiency requirements of practical applications. Specifically, the current mainstream connection methods between cleaning robots and cleaning tools mainly rely on traditional mechanical structure designs, such as threaded connections, snap-fit ​​fixings, or bolt fastening structures.

[0003] These connection methods present several key problems: First, replacement is cumbersome and time-consuming. Taking threaded connections as an example, replacing a tool requires manual rotation of the old tool clockwise multiple times until it is completely detached from the machine, followed by aligning the new tool with the interface and rotating it counter-clockwise to tighten it. This entire process requires two-handed operation, and replacing a single tool typically takes over 30 seconds. While snap-fit ​​connections do not require rotation, the elastic fatigue characteristics of the snaps can lead to loosening or difficulty in disassembly after prolonged use. In some scenarios, prying with tools is necessary to separate them, further extending replacement time and severely impacting the continuity of cleaning operations. Second, automation is low, relying heavily on manual intervention. Most current cleaning robots lack the ability to automatically identify and replace tools. Even some high-end models equipped with tool storage base stations still require manual movement of the robot to the designated location on the base station, followed by manual disassembly and installation of tools. In large-area cleaning scenarios (such as large shopping malls and factory workshops), frequent manual intervention significantly increases operational intensity, contradicting the design intent of "unmanned operation" for cleaning robots. The aforementioned shortcomings collectively make it difficult for existing cleaning robots to quickly and conveniently adapt to cleaning tools when dealing with cleaning needs in multiple scenarios, thus restricting the improvement of their application scope and user experience. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a quick-change cleaning robot.

[0005] To achieve the above objectives, a quick-change cleaning robot includes a body and a multi-axis manipulator mounted on the body. The body is detachably equipped with multiple mounting seats for mounting cleaning tools. The end of the multi-axis manipulator is equipped with a material-grabbing component. The material-grabbing component includes a magnetically pleasing element that can switch on and off magnetically and multiple retractable elastic support columns. The upper end of the mounting seat is provided with a magnetically attracted surface corresponding to the magnetically pleasing element. The attracted surface is provided with positioning holes that match the elastic support columns for positioning.

[0006] The cleaning tool is mounted on the mounting base. The multi-axis robot can directly attach to the mounting base via magnetic attachments, allowing for quick gripping. The on / off magnetic attachments enable rapid placement of the mounting base. The cooperation between the elastic support column and the positioning hole ensures that the multi-axis robot accurately grips the mounting base, guaranteeing precise positioning after connection. When the magnetic attachments are disconnected, the elastic support column automatically resets, causing the multi-axis robot to quickly separate from the mounting base. This ensures connection accuracy while achieving quick gripping, quick placement, and quick replacement.

[0007] Preferably, the magnetic attractor is an electromagnet, and the end of the magnetic attractor is provided with a magnetic attractor surface corresponding to the attracted surface, and the elastic support column is vertically arranged on the magnetic attractor surface.

[0008] The magnetic surface is designed to match the surface it is attracted to, ensuring a tight connection between the magnetic component and the mounting base. The flexible support column and the magnetic surface ensure convenient connection and positioning.

[0009] Preferably, the elastic support column includes a column body and a support body that can be telescopically disposed on the column body, and a return spring is disposed in the column body for providing elastic extension and retraction of the support body.

[0010] The column can be used for the fixed installation of elastic support columns, and the support body can realize the connection, positioning and resetting of elastic support columns.

[0011] Preferably, when the support body matches the positioning hole and the two are aligned and connected, the support body abuts against the bottom of the positioning hole.

[0012] When the support body is connected, it presses against the bottom of the positioning hole, which compresses the return spring. When the support body is separated, the return spring elastically restores itself, which helps the support body to detach from the positioning hole.

[0013] Preferably, the elastic support columns surround the magnetic attractor in a ring array.

[0014] The elastic support columns of the ring array are subjected to more even force during connection, which facilitates separation from the mounting base and avoids jamming due to uneven force.

[0015] Preferably, the material handling assembly further includes a housing for fixing and installing the magnetic suction component and the elastic support column, the housing enclosing the magnetic suction component and the column and exposing the magnetic suction surface and the support body.

[0016] The housing is designed to securely install the magnetic components and the column, ensuring the accuracy of the installation position of the magnetic components and the elastic support column.

[0017] Preferably, the end effector of the multi-axis manipulator is also equipped with an observation camera.

[0018] The observation camera can detect information about the area to be cleaned in real time, making it easier to select the appropriate cleaning tools. More importantly, when the multi-axis robotic arm grabs the cleaning tools, the observation camera can assist in positioning to ensure accurate grabbing and placement, and achieve a quick change effect.

[0019] Preferably, the machine body is provided with multiple magnetic slots, each magnetic slot is equipped with a magnet, and the mounting base is provided with magnetically adsorbable blocks, with each magnetic slot corresponding to a mounting base.

[0020] To ensure ease of placement and gripping of the mounting base, a magnetic groove is provided to hold magnets in place for magnetic attraction.

[0021] Preferably, the machine body is provided with a tray, and the end of the mounting base for mounting cleaning tools extends into the tray.

[0022] The purpose of setting up a tray is twofold: to hold cleaning tools and to catch any dust and debris that may accidentally fall from the tools, ensuring that the area being cleaned is not contaminated.

[0023] Compared with the prior art, the beneficial effects of this utility model are: This utility model cleaning tool is mounted on a mounting base. The multi-axis robotic arm can directly adhere to the mounting base via a magnetic suction device, allowing for quick gripping. The on / off magnetic suction device enables rapid lowering of the mounting base. The cooperation between the elastic support column and the positioning hole ensures that the multi-axis robotic arm accurately grips the mounting base, guaranteeing precise and feasible positioning after connection. When the magnetic suction device is disconnected, the elastic support column can elastically reset, causing the multi-axis robotic arm to quickly separate from the mounting base. This ensures connection accuracy while achieving the effects of quick gripping, quick release, and quick replacement. Attached Figure Description

[0024] 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.

[0025] Figure 1 This is a schematic diagram of the structure of this utility model.

[0026] Figure 2 This is a partial structural schematic diagram of the present invention.

[0027] Figure 3 This is a partial structural schematic diagram of the present invention.

[0028] Figure 4 This is a partial structural schematic diagram of the present invention.

[0029] Figure 5 This is a partial structural schematic diagram of the present invention.

[0030] Figure 6 This is a partial structural schematic diagram of the present invention. Detailed Implementation

[0031] 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.

[0032] This utility model provides a quick-change cleaning robot, such as Figures 1-6 As shown, the device includes a body 1 and a multi-axis robotic arm 2 mounted on the body 1. Multiple mounting bases 3 for mounting cleaning tools are detachably mounted on the body 1. A material-grabbing component 4 is located at the end of the multi-axis robotic arm 2. The material-grabbing component 4 includes a magnetically pleasing element 41 and multiple retractable elastic support columns 42. The upper end of the mounting base 3 has a magnetically attracted surface 31 corresponding to the magnetically pleasing element 41. The multi-axis robotic arm 2 grasps the mounting base 3 by aligning the magnetically pleasing element 41 with the attracted surface 31. By controlling the on / off state of the magnetically pleasing element 41, the cleaning tools are grasped and lowered, achieving quick tool changes. To ensure the accuracy of the multi-axis robotic arm 2's grasping of the mounting base 3 and the stability of the grasp, the attracted surface 31 is provided with positioning holes 32 that match the elastic support columns 42 for positioning. The cooperation between the elastic support columns 42 and the positioning holes 32 ensures grasping accuracy and connection stability.

[0033] The magnetic attractor 41 is an electromagnet. To ensure the tightness of the magnetic attractor 41 and the attracted surface 31, the end of the magnetic attractor 41 is provided with a magnetic attractor surface 43 corresponding to the attracted surface 31. The magnetic attractor surface 43 is tightly attached to the attracted surface 31 for adsorption. In order to facilitate the alignment and installation of the elastic support column 42 and the positioning hole 32, the elastic support column 42 is vertically arranged on the magnetic attractor surface 43.

[0034] Considering the accuracy requirements of the installation of the elastic support column 42, the elastic support column 42 includes a column body 421 and a support body 422 that can be telescopically set on the column body 421. The column body 421 is used for installation and fixation, and the support body 422 is used to match and connect with the positioning hole 32. The column body 421 is provided with a return spring (not shown in the figure) for providing elastic extension and contraction of the support body 422.

[0035] Considering that sufficient elastic restoring potential energy is required when the elastic support column 42 and the positioning hole 32 are separated, when the support body 422 and the positioning hole 32 are matched and aligned, the support body 422 abuts against the bottom of the positioning hole 32, and the support body 422 exerts pressure on the bottom of the mounting hole 32. This makes it easier for the elastic support column 42 to detach from the mounting hole 32 when the return spring returns, and also facilitates the separation of the multi-axis robot 2 from the mounting base 3.

[0036] Considering the force exerted by the elastic support column 42 on the mounting base 3, the elastic support column 42 is arranged in a ring array around the magnetic suction component 41, which ensures uniform force distribution, good connection stability, and avoids jamming due to uneven force distribution when the elastic support column 42 is removed from the mounting hole 32.

[0037] Considering the stability requirements of the fixed installation of the elastic support column 42 and the magnetic suction component 41, the material handling assembly 4 also includes a housing 44 for fixing the magnetic suction component 41 and the elastic support column 42. The housing 44 is set to install and fix the two. The housing 44 can be fixed to the end of the multi-axis robot 2 by any existing technology, which is convenient to install. The housing 44 covers the magnetic suction component 41 and the column 421 and exposes the magnetic suction surface 43 and the support body 422.

[0038] The multi-axis manipulator 2 is also equipped with an observation camera 5 at its end.

[0039] The body 1 is provided with multiple magnetic slots 6, each containing a magnet (not shown in the figure). The mounting base 3 is provided with magnetically adsorbable blocks 33, and each magnetic slot 6 corresponds to a mounting base 3. To ensure the ease of gripping and placing the mounting base 3, magnets are installed in the magnetic slots 6 to adsorb and fix the mounting base 3. The magnets can be implemented using any existing technology, such as permanent magnets or electromagnets.

[0040] The body 1 is provided with a tray 7, and the mounting base 3 has one end for mounting cleaning tools extending into the tray 7. The purpose of the tray 7 is twofold: to accommodate cleaning tools and to catch dust and debris that may accidentally fall from the cleaning tools, ensuring that the cleaning area is not contaminated.

[0041] Working principle: The cleaning robot arrives at the scene to be cleaned and acquires cleaning information through the observation camera 5. The internal control system processes the information from the observation camera 5 using a built-in algorithm and determines the cleaning tool to be used. This control system can be implemented using any existing technology. After the control system obtains the position of the cleaning tool to be used through the observation camera 5 again, it sends a signal to the cleaning robot, controlling the multi-axis robotic arm 2 to move to the corresponding position of the mounting base 3 of the cleaning tool, so that the magnetic surface 43 of the magnetic suction component 41 is aligned with the suction surface 31 of the mounting base 3, and the elastic support column 42 is aligned with the positioning hole 32 on the mounting base 3. When the multi-axis robotic arm 2 reaches the vicinity of the designated tool position, the control system sends a positioning signal, which the magnetic suction component 41 receives and is energized, and the magnetic surface 43 and the suction surface 31 are tightly attached. At the same time, the end of the elastic support column 42 is also inserted into the positioning hole 32 due to magnetic attraction.

[0042] After the cleaning robot completes the cleaning task, the multi-axis robotic arm 2 moves to the tool placement position and sends a signal. The magnetic suction component 41 receives the signal, cuts off the power, and loses its magnetic force. At the same time, the elastic support column 42 will pop open the mounting base 3, so that the magnetic suction surface 43 and the suction surface 31 are separated. The suction block 33 on the mounting base 3 will be firmly attracted by the magnet installed in the magnetic suction groove 6, fixing the cleaning tool to the corresponding position on the tray 7.

[0043] 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 quick-change cleaning robot, characterized in that, The device includes a main body and a multi-axis robotic arm mounted on the main body. The main body is detachably equipped with multiple mounting bases for mounting cleaning tools. The end of the multi-axis robotic arm is equipped with a material-grabbing component. The material-grabbing component includes a magnetically pleasing magnetic element and multiple retractable elastic support columns. The upper end of the mounting base is provided with a magnetically adsorbed surface corresponding to the magnetic element. The adsorbed surface is provided with positioning holes that match the elastic support columns for positioning.

2. The quick-change cleaning robot according to claim 1, characterized in that, The magnetic attractor is an electromagnet, and the end of the magnetic attractor is provided with a magnetic attractor surface corresponding to the attracting surface. The elastic support column is vertically arranged on the magnetic attractor surface.

3. The quick-change cleaning robot according to claim 2, characterized in that, The elastic support column includes a column body and a support body that can be telescopically mounted on the column body. A return spring is provided in the column body to provide elastic extension and retraction for the support body.

4. The quick-change cleaning robot according to claim 3, characterized in that, When the support body matches the positioning hole and the two are aligned and connected, the support body abuts against the bottom of the positioning hole.

5. A quick-change cleaning robot according to claim 4, characterized in that, The elastic support columns surround the magnetic attractor in a ring array.

6. A quick-change cleaning robot according to claim 5, characterized in that, The material handling assembly also includes a housing for fixing and installing the magnetic suction component and the elastic support column. The housing encloses the magnetic suction component and the column and exposes the magnetic suction surface and the support body.

7. A quick-change cleaning robot according to claim 1, characterized in that, The multi-axis robotic arm is also equipped with an observation camera at its end.

8. A quick-change cleaning robot according to claim 1, characterized in that, The device body is provided with multiple magnetic slots, each containing a magnet. The mounting base is provided with magnetically adsorbable blocks, and each magnetic slot corresponds to a mounting base.

9. A quick-change cleaning robot according to claim 1, characterized in that, The machine body is provided with a tray, and the end of the mounting base for mounting cleaning tools extends into the tray.

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