End effector and pick module, auxiliary mating module, cleaning robot and system

Abstract

The utility model discloses a terminal execution module, pick up module, supplementary adapter module, cleaning robot and system, terminal execution module and set up in the pick up module of mechanical arm can clutch connection, and terminal execution module includes base, execution piece and drive mechanism. Execution piece movably installs in base, and execution piece is used to execute preset function in its activity process, and drive mechanism is located at base and is driven to be connected with execution piece, and base is equipped with first connecting part, and first connecting part is used to and set up in the first docking part of pick up module can clutch connection. Terminal execution module in the utility model and pick up module in the mechanical arm carry out clutch connection. Terminal execution module can drive execution piece to execute more functions by the flexible drive of mechanical arm, and make terminal execution module can adapt to more diversified execution environment, help to fully enrich the functional diversity of mechanical arm and terminal execution module, and help to improve the practicability of both.

Description

Technical Field

[0001] This utility model relates to the field of cleaning system technology, specifically to an end effector module, a pickup module, an auxiliary docking module, a cleaning robot and system. Background Technology

[0002] Cleaning equipment is a type of mechanical equipment that can replace manual cleaning. It is widely used in cleaning public places and homes. For example, floor scrubbers can help people clean floors, and window cleaning robots can clean windows.

[0003] With the continuous development of cleaning equipment, cleaning devices equipped with robotic arms have appeared on the market. However, the robotic arms currently used in cleaning equipment generally have limited functions, mainly focusing on grasping. This restricts the application of robotic arms in cleaning equipment, reducing their practicality. Utility Model Content

[0004] The main purpose of this invention is to propose an end-effector module, a pickup module, an auxiliary docking module, a cleaning robot and system, which aims to solve the problem of the limited application function of robotic arms in traditional cleaning equipment.

[0005] To achieve the above objectives, this utility model proposes an end effector module for use in a cleaning system. The end effector module is detachably connected to a pickup module disposed at the end of a robotic arm. The end effector module includes: Base; An actuator, movably mounted on the base, is used to perform a preset function during its activity; and, The drive mechanism is located on the base and is connected to the actuator for driving. The base is provided with a first connecting part, which is used to be detachably connected to a first docking part provided at the pickup module.

[0006] Furthermore, to achieve the above objectives, this utility model also provides a pickup module for connection to a robotic arm, so as to be at least driven by the robotic arm to be disengaged from the aforementioned end effector module. The pickup module includes: The docking body is used to connect with the robotic arm; and, The picking body is located on the docking body. The picking body has a first docking part, which is used to connect with a first connecting part located at the end execution module in a disengaging manner.

[0007] In addition, to achieve the above objectives, this utility model also provides an auxiliary mating module to assist the above-mentioned end-effector module and the above-mentioned pickup module in a detachable connection. The auxiliary mating module forms a mating channel, and the auxiliary mating module has a socket at one end of the mating channel. The end effector module and / or pickup module enter and exit the mating channel through the socket. The mating channel has a second guide structure near the socket, which is used to guide the end effector module and / or pickup module to be inserted into the mating channel.

[0008] In addition, to achieve the above objectives, this utility model also provides a cleaning robot, including a body and a robotic arm disposed on the body, a picking module connected to the robotic arm, an end effector module detachably connected to the picking module, and an auxiliary docking module for storing the end effector module. Wherein, the end execution module is the end execution module as described above; and / or, the picking module is the picking module as described above; and / or, the auxiliary mating module is the auxiliary mating module as described above.

[0009] In addition, to achieve the above objectives, this utility model also provides a cleaning system, which includes the cleaning robot described above.

[0010] In the technical solution provided by this utility model, the end effector module can be detachably connected to the pickup module in the robotic arm.

[0011] When needed, the robotic arm can first drive the pickup module to approach and connect with the end effector module. Simultaneously, the first connecting part and the first docking part are driven to complete the connection, which is equivalent to locking the connection between the end effector module and the pickup module, helping to strengthen the connection between the two. In this way, the end effector module can use the flexible drive of the robotic arm to drive the actuator to perform more functions, and make the end effector module adaptable to more diverse execution environments, which helps to fully enrich the functional diversity of the robotic arm and the end effector module, and helps to improve the practicality of both.

[0012] Similarly, when needed, the robotic arm can also drive the first and second connecting parts to separate, releasing the lock between the end effector module and the pickup module. Simultaneously, the robotic arm drives the pickup module to separate from the end effector module. The robotic arm can then drive the pickup module to independently perform other functions. The robotic arm and the end effector module do not interfere with each other. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0014] Figure 1 A perspective view of an embodiment of the end-effector module provided by this utility model; Figure 2 for Figure 1 A three-dimensional schematic diagram of the mid-to-end execution module from another perspective; Figure 3 for Figure 1 A schematic diagram showing the main structural breakdown of the mid-to-end execution module; Figure 4 for Figure 1 A three-dimensional schematic diagram of the bottom of the central base after partial cross-section; Figure 5 An assembly diagram of an embodiment of the end-effector module and pickup module provided by this utility model; Figure 6 for Figure 5 A 3D schematic diagram of the pickup module; Figure 7 for Figure 5 A cross-sectional view of the connected mid-end execution module and pickup module; Figure 8 for Figure 7 Enlarged structural diagram at point A; Figure 9 A three-dimensional schematic diagram of an embodiment of the auxiliary mating module provided by this utility model from a top view.

[0015] Figure 10 for Figure 9 A three-dimensional schematic diagram of the auxiliary connection module from a downward viewing angle; Figure 11 for Figure 9 A three-dimensional schematic diagram of the auxiliary connection module from a side view. Figure 12 for Figure 9 A schematic diagram showing the auxiliary mating module and auxiliary pickup module entering and exiting the mating channel; Figure 13 for Figure 9 A schematic diagram showing the auxiliary mating module, end effector module, and auxiliary pickup module entering and exiting the mating channel.

[0016] Explanation of icon numbers: 100 End effector module; 110 Base; 111 Mounting cavity; 111a First cavity segment; 111b Second cavity segment; 112 First opening; 113 Second opening; 120 Actuator; 130 Drive mechanism; 131 Transmission assembly; 131a Connecting shaft; 131b Movable seat; 141 First connecting part; 142 First guide structure; 143 Limiting structure; 144 First electrical connection part; 145 Second connecting part; 146 Guide part; 200 Pick-up module; 210 Dating body; 220 Pick-up body; 221 Clamping part; 231 First docking part; 232 Second electrical connection part; 300 Auxiliary mating module; 310 Mating channel; 311 Socket; 312 Guide hole; 321 Second guide structure; 323 Mating part; 324 Second docking part.

[0017] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0020] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are 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 with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0021] This utility model provides a cleaning system and the cleaning robot, end effector module 100, pickup module 200 and auxiliary docking module 300 that may be included therein.

[0022] Cleaning systems can be applied in environments such as homes, offices, shopping malls, and factories. A cleaning system can at least clean the surfaces to be cleaned within its environment. These cleaning operations can include, but are not limited to, vacuuming, mite removal, ironing, and scrubbing.

[0023] The cleaning system includes at least a cleaning robot. The cleaning robot includes a body and a robotic arm, a pickup module 200, an end effector module 100, and an auxiliary docking module 300, which are optionally mounted on the body.

[0024] Of course, the cleaning system may also optionally include a base station or a docking station. The base station can primarily be used for operations such as storing the cleaning robot. The docking station can primarily be used for operations such as storing, charging, and cleaning the cleaning robot.

[0025] The cleaning robot integrates various functional modules necessary to perform its preset functions. These modules can be, but are not limited to, control modules, sensing modules, and drive modules. Depending on the actual needs, the cleaning robot can be configured to move freely, or it can be configured to remain essentially stationary.

[0026] The robotic arm is movably mounted on the body of the cleaning robot. The robotic arm is mechanically connected to the drive module, which is electrically connected to the control module. This allows the drive module to automatically drive the robotic arm to perform any suitable action under the control of the control module. The degree of freedom of this action is not limited; it can be, but is not limited to, linear translation along the target direction and / or rotation around an axis extending in the target direction.

[0027] The pickup module 200 is movably located at the end of the robotic arm, that is, at the free end of the robotic arm away from the main body. The robotic arm can drive the pickup module 200 to perform corresponding activities. Compared with the robotic arm, the pickup module 200 can also perform designated pickup actions on its own.

[0028] The pickup module 200 can be used independently in a cleaning robot and can independently perform preset functions such as pickup. Furthermore, the pickup module 200 can also be used in conjunction with the end effector module 100. For example, as disclosed in the following embodiments, the pickup module 200, by being detachably connected to the end effector module 100, can fully expand the application methods and scenarios of the robotic arm according to actual needs.

[0029] At least when the end-effector module 100 is idle, the auxiliary mating module 300 can be used to store the end-effector module 100. When the end-effector module 100 needs to switch to the working state, specifically when the end-effector module 100 needs to connect with the pickup module 200, the auxiliary mating module 300 can assist the pickup module 200 in completing the connection operation with the end-effector module 100 more smoothly.

[0030] Specifically, please refer to Figures 1 to 13 The end effector module 100 provided by this utility model includes a base 110, an actuator 120, and a drive mechanism 130.

[0031] Please combine Figures 1 to 3 The actuator 120 is movably mounted on the base 110. The actuator 120 performs a preset function during its operation. The drive mechanism 130 is located on the base 110 and is drively connected to the actuator 120. The drive mechanism 130 includes a connected driver and a transmission assembly 131.

[0032] The base 110 is provided with a first connecting part 141. The pickup module 200 is provided with a corresponding first docking part 231. The first connecting part 141 and the first docking part 231 are detachably connected.

[0033] In the technical solution provided by this utility model, the end effector module 100 can be detachably connected to the pickup module 200 in the robotic arm.

[0034] Specifically, such as Figures 4 to 8 As shown, when needed, the robotic arm can first drive the pickup module 200 to approach and connect with the end effector module 100. Simultaneously, the first connecting part 141 and the first docking part 231 are driven to complete the connection, which is equivalent to locking the connection between the end effector module 100 and the pickup module 200, helping to strengthen the connection between them. Thus, the end effector module 100, with the flexible drive of the robotic arm, can drive the actuator 120 to perform more functions, and allows the end effector module 100 to adapt to more diverse execution environments, helping to fully enrich the functional diversity of the robotic arm and the end effector module 100, and improving their respective practicality.

[0035] Similarly, Figures 4 to 8 As shown, when needed, the robotic arm can also drive the first connecting part 141 and the second connecting part 145 to separate, releasing the locking between the end effector module 100 and the pickup module 200. Simultaneously, the robotic arm drives the pickup module 200 to separate from the end effector module 100. The robotic arm can then drive the pickup module 200 to independently perform other functions. The robotic arm and the end effector module 100 do not interfere with each other.

[0036] It's understandable, for example Figure 2 The preset function of the actuator 120 is related to its own structure. Depending on actual needs, the actuator 120 can be, but is not limited to, a picking device. In this case, the preset function corresponding to the picking device can be, but is not limited to, grasping, vacuum adsorption, magnetic adsorption, etc. Alternatively, the actuator 120 can also be, for example, a cleaning device such as a mop tray, a vacuum cleaner, a mite remover, or an iron. Alternatively, the actuator 120 can also be, for example, a cat toy, a laser pointer, a speaker, colored lights, or a camera—a human-pet interaction device. Alternatively, the actuator 120 can also be a storage device.

[0037] like Figures 1 to 3 As shown, driven by the drive mechanism 130, the actuator 120 is rotatable about an axis extending in the first direction. The rotation of the actuator 120 is an active movement driven by the drive mechanism 130. Taking the actuator 120 as a mop tray as an example: by driving the mop tray to rotate actively through the drive mechanism 130, the surface to be cleaned can be wiped and cleaned more thoroughly, comprehensively, and completely.

[0038] The actuator 120 can oscillate around an axis extending along the second direction under the influence of an external force. In this case, the oscillation of the actuator 120 is a passive motion driven by the external force. Furthermore, because the first and second directions intersect, the active rotational movement and the passive oscillation movement of the actuator 120 are two different forms of activity, which can be selectively set or simultaneously generated.

[0039] Specifically, for example, when the first direction is the direction of gravity, the active rotation of the actuator 120 can clean the surface to be cleaned located below the actuator 120. However, when the actuator 120 encounters uneven structures such as steps on the surface to be cleaned, it will be hindered by the reaction force exerted by the uneven structure, causing the actuator 120 to passively pitch and oscillate. During its pitch and oscillation, the actuator 120 can adapt to the uneven structure of the surface to be cleaned as much as possible, ensuring that the end surface of the actuator 120 maintains as much contact as possible with the surface to be cleaned, thereby improving the cleaning intensity of the surface to be cleaned by the actuator 120.

[0040] As can be seen from the above, there is no limitation on the specific type of the actuator 120. However, depending on the specific type of the actuator 120, its assembly orientation relative to the base 110 may vary.

[0041] For example, in one application, the actuator 120 is configured to be exposed outside the base 110 in order to perform a preset function. In this case, the actuator 120 may specifically be a cleaning component. At least the cleaning end of the cleaning component needs to be exposed outside the base 110 to facilitate contact with the surface to be cleaned.

[0042] Correspondingly, please refer to Figure 2 The base 110 can form a mounting cavity 111. The mounting cavity 111 has a first opening 112. The actuator 120 is movably disposed outside the mounting cavity 111 and is disposed adjacent to the first opening 112.

[0043] Correspondingly, when the drive mechanism 130 as described above includes a connected driver and transmission assembly 131, at least the driver is housed within the mounting cavity 111. Housed within the mounting cavity 111 is chosen because the driver generally has a large mass. The center of gravity of the driver housed within the mounting cavity 111 can be as close as possible to the center of gravity of the entire machine, thus contributing to the stability of the overall machine's center of gravity and its compact structure. Furthermore, the base 110 provides a degree of protection and sound insulation for the driver during operation, helping to reduce noise and vibration and thus improving the overall reliability of the machine.

[0044] The aforementioned actuator 120 may be partially exposed outside the mounting cavity 111, while the remaining portion extends into the mounting cavity 111 through the first opening 112. In this case, the transmission assembly 131 can be entirely housed within the mounting cavity 111 and is connected to the portion of the actuator 120 that extends into the mounting cavity 111 for transmission.

[0045] Alternatively, the actuator 120 described above can be entirely exposed outside the mounting cavity 111. In this case, the transmission assembly 131 can be partially housed within the mounting cavity 111 and connected to the driver. The remaining portion of the transmission assembly 131 can extend outward through the first opening 112 to the outside of the mounting cavity 111 and connect to the actuator 120.

[0046] Please combine Figures 2 to 3 When the actuator 120 described above is specifically configured to actively rotate about an axis extending in a first direction and passively oscillate about an axis extending in a second direction, the transmission assembly 131 may be specifically configured to include a connecting shaft 131a and / or a movable seat 131b.

[0047] The connecting shaft 131a extends elongatedly along a first direction. The connecting shaft 131a is rotatable about an axis extending along the first direction. A portion of the connecting shaft 131a extends through the first opening 112 and connects to the actuator 120. The remaining portion of the connecting shaft 131a extends through the first opening 112 into the mounting cavity 111 and connects to the remaining components of the transmission assembly 131.

[0048] At this point, the remaining components in the transmission assembly 131 connected to the connecting shaft 131a can be specifically configured according to the specific type and installation orientation of the actuator 120 and the driver. For example, the driver can be a motor or a linear cylinder. When the driver is a motor, and the direction of the motor's power output shaft intersects with the first direction, the transmission assembly 131 may also include components that mainly perform the reversing function. These components are, for example, but not limited to, worm gear mechanisms, bevel gear sets, etc. The reversing configuration makes the power output shaft of the motor and the connecting shaft 131a approximately L-shaped. This ensures that neither occupies too much space in the first direction nor too much space in the direction corresponding to the power output shaft, which is approximately perpendicular to the first direction, thus contributing to the overall structural compactness. Alternatively, for example, when the driver is a linear cylinder, the transmission assembly 131 may also include a lead screw and nut mechanism, a gear and rack mechanism, etc., which helps to convert linear output into rotary output.

[0049] It should be noted that the first direction at this time can be the normal direction of the first opening 112, or it can be any other direction that intersects the normal direction of the first opening 112 at an acute angle.

[0050] Next, the connecting shaft 131a is at least partially elastically bendable. That is, the connecting shaft 131a can have the ability to bend laterally throughout its entire length. Alternatively, a portion of the connecting shaft 131a can have the ability to bend laterally (for ease of understanding, it is defined as a deformable shaft segment below), while the remaining shaft segment is rigid and almost non-deformable (for ease of understanding, it is defined as a rigid shaft segment below).

[0051] The connecting shaft 131a can have one or at least two deformable shaft segments. When there are at least two deformable shaft segments, they can be arranged adjacent to each other or alternately with the rigid shaft segments. Similarly, when there are at least two deformable shaft segments, the elastic modulus of each deformable shaft segment can be the same. Alternatively, the elastic modulus of each deformable shaft segment can be set to at least two different values ​​according to actual needs, so that different degrees of bending deformation can be formed at different parts of the connecting shaft 131a under the same external force.

[0052] By setting the connecting shaft 131a to have the ability to bend and deform elastically as described above, the connecting shaft 131a can drive the actuator 120 to rotate actively under the drive of the driver and transmission assembly 131, and can also drive the actuator 120 to swing passively when the actuator 120 is subjected to lateral external force through a certain degree of bending deformation of the deformable shaft section.

[0053] The movable seat 131b is oscillatingly mounted on the base 110 about an axis extending in the second direction. The movable seat 131b is fixedly connected to the actuator 120. The connection method between the movable seat 131b and the base 110 is not limited. For example, a portion of the movable seat 131b can extend into the first opening 112 (for ease of understanding, the portion extending into the first opening 112 is defined hereinafter as the extension section), and through a structure such as a shaft protrusion, the extension section is rotatably mounted on both sides of the first opening 112 in the second direction. The movable seat 131b may also have a clearance recess on each of the opposite sides of the extension section in its oscillation direction. Sufficient space is provided within the clearance recesses for the movable seat 131b to oscillate relative to the base 110. However, when the movable seat 131b sways to the point that the concave surface of the clearance recess abuts against the corresponding part of the base 110, the concave surface of the clearance recess can act as a limiting stop on the movable seat 131b in the sway direction, restricting the movable seat 131b from continuing to sway relative to the base 110. This effectively limits the maximum stroke of the movable seat 131b and the actuator 120 during passive swaying, preventing excessive swaying of the movable seat 131b and the actuator 120, which could lead to structural damage.

[0054] The movable seat 131b may have a through hole extending along a first direction. The connecting shaft 131a and / or the actuator 120 pass through the through hole so that they can be laterally limited, housed, and protected by the through hole. At this time, the connection between the connecting shaft 131a and the actuator 120 may be located inside or outside the through hole.

[0055] Furthermore, depending on actual needs, the movable seat 131b can also be made of an elastically deformable material. However, generally, the stiffness of the movable seat 131b can be set to be greater than the stiffness of the connecting shaft 131a. In this way, the active rotation and passive yaw of the actuator 120 are primarily achieved through the connecting shaft 131a. At the same time, the movable seat 131b, through its own stiffness, can provide sufficient structural strength support for the actuator 120, thereby contributing to a smoother and more reliable movement of the actuator 120.

[0056] It should be noted that the second direction at this time can be the tangent of the first opening 112. Alternatively, the second direction at this time can be any other direction that intersects the tangent of the first opening 112 at an acute angle.

[0057] This design does not restrict the specific orientation of the first opening 112 mentioned above, and it can be adjusted according to actual needs. For example, when the actuator 120 is set as a cleaning actuator, the first opening 112 can be opened towards the surface to be cleaned. In this case, the corresponding first direction is approximately perpendicular to the surface to be cleaned, and the second direction is approximately parallel to the surface to be cleaned.

[0058] Of course, in another application, the actuator 120 can also be configured to perform a preset function without being exposed outside the base 110. In this case, the actuator 120 is, for example, an imaging device or a heating device. Correspondingly, the base 110 can form a mounting cavity 111. The actuator 120 is directly housed within the mounting cavity 111. The mounting cavity 111 is not limited to having the first opening 112 as described above.

[0059] Based on one or more of the above embodiments, such as Figures 4 to 8 As shown, the base 110 is provided with a first connecting portion 141. Depending on actual needs, the first connecting portion 141 can also be exposed on the outer surface of the base 110. Thus, when the pickup module 200 approaches and connects to the end effector module 100, the first connecting portion 141 and the first mating portion 231 are connected on the outside of the base 110. This makes the first connecting portion 141 and the first mating portion 231 easier to visually inspect.

[0060] Alternatively, the first connecting portion 141 can be disposed inside the base 110. Specifically, the base 110 forms a mounting cavity 111 as described above. The mounting cavity 111 has a second opening 113. The pickup module 200 enters and exits the mounting cavity 111 through the second opening 113. At this time, the second opening 113 is also equivalent to the insertion opening constituting the pickup module 200. The detachable connection between the pickup module 200 and the end effector module 100 is specifically manifested as an insertion operation and a withdrawal operation completed through the insertion opening.

[0061] Next, the first connecting part 141 is specifically disposed in the mounting cavity 111 and adjacent to the second opening 113. Regarding the sequential relationship between the clutch connection between the pickup module 200 and the end effector module 100 and the clutch connection between the first connecting part 141 and the first docking part 231.

[0062] Specifically, when the pickup module 200 and the end effector module 100 are connected, that is, after the pickup module 200 is inserted into the mounting cavity 111 via the second opening 113 as described above, the first connecting part 141 and the first docking part 231 are simultaneously connected. This eliminates the need for additional connection operations between the first connecting part 141 and the first docking part 231, as the connection operations of the pickup module 200 and the end effector module 100 can be achieved through the connection operations of the two modules, thus simplifying the overall connection of the pickup module 200 and the end effector module 100.

[0063] Alternatively, even after the pickup module 200 and the end effector module 100 are connected, that is, after the pickup module 200 is inserted into the mounting cavity 111 via the second opening 113 as described above, the first connecting part 141 and the first docking part 231 can still independently perform connection or separation operations. This makes the engagement and disengagement operations of the first connecting part 141 and the first docking part 231 more independent.

[0064] In practical applications, this can be configured so that after the pickup module 200 and the end effector module 100 are plugged in, the plugging joint already provides a certain connection strength between them. The subsequent connection of the first connecting part 141 and the first mating part 231 further enhances the connection strength between the pickup module 200 and the end effector module 100, allowing them to switch between a primary connection reinforcement and a secondary connection strengthening.

[0065] Specifically, the pickup module 200 may include a docking body 210 and a pickup body 220. The docking body 210 is used to connect with the robotic arm. The pickup body 220 is disposed on the docking body 210. The pickup body 220 is provided with a first docking portion 231. The first docking portion 231 is used to be detachably connected to the first connecting portion 141.

[0066] The picking body 220 can remain stationary relative to the docking body 210.

[0067] For example, the pickup body 220 may include a vacuum adsorption end. The pickup module 200 operates the vacuum adsorption end to have a negative pressure adsorption state and a positive pressure release state through (its own preset gas source). By switching between the negative pressure adsorption state and the positive pressure release state, the purpose of vacuum adsorption and release of the target object can be achieved.

[0068] Alternatively, the pickup body 220 may include an electromagnetic adsorption end. The pickup module 200 controls the electromagnetic adsorption end to have an electromagnetic adsorption state and a de-energized release state via (its own preset power supply). By switching between the electromagnetic adsorption state and the de-energized release state, the purpose of magnetic attraction and release of the target object can be achieved.

[0069] Of course, the picking entity 220 can also be set to be movable relative to the docking entity 210: For example Figures 5 to 6 In this process, the picking body 220 may include at least two gripping parts 221. The picking module 200 operates the two gripping parts 221 through a preset power mechanism, allowing them to move closer to each other and further apart. When they move closer together, the two gripping parts 221 can grasp the target object; conversely, when they move further apart, the two gripping parts 221 can release their grip on the target object.

[0070] And such Figures 1 to 13 In the embodiments shown, the picking body 220 including the clamping part 221 is mainly used as an example for explanation.

[0071] As described above, the connection between the pickup module 200 and the end effector module 100 can specifically include the insertion action between the pickup module 200 and the mounting cavity 111 of the base 110, and the connection action between the first connecting part 141 and the second connecting part 145. It should be noted that these two connection actions can be performed independently, can be assisted by other connection structures, or can be assisted by the pickup action of, for example, the two clamping parts 221 in the pickup body 220.

[0072] When both of the above connection actions can be performed independently or with the assistance of other connection structures, the picking action of the picking body 220 is not limited by the connection state of the picking module 200 and the end-effector module 100. That is, at least after the picking module 200 and the end-effector module 100 have completed the connection, the picking module 200 can still choose to execute or not execute the picking action according to actual needs, without affecting the connection effect between the picking module 200 and the end-effector module 100.

[0073] When the insertion action between the aforementioned pickup module 200 and the mounting cavity 111 of the base 110 is assisted by the pickup action of the pickup body 220, specifically, taking the pickup body 220 including at least two clamping parts 221 as an example: during the process of inserting the pickup body 220 into the mounting cavity 111 through the second opening 113, the two clamping parts 221 can be driven to move closer together to minimize the space occupied between the two clamping parts 221, thereby minimizing the overall size of the pickup body 220 and making it easier to insert smoothly. After the pickup body 220 is inserted into the mounting cavity 111, the two clamping parts 221 can be driven to move further away appropriately to appropriately increase the size between the two clamping parts 221, thereby appropriately increasing the overall size of the pickup body 220 and forming an interference fit with the mounting cavity 111, which helps to limit the pickup body 220 from detaching from the mounting cavity 111.

[0074] When the connection action between the first connecting part 141 and the first docking part 231 is assisted by the picking action of the picking body 220, specifically, as follows: Figure 7 Figure 8As shown, taking the pickup body 220 including at least two clamping parts 221 as an example: a first docking part 231 is provided at at least one clamping part 221. Specifically, the first docking part 231 can be configured such that when the two clamping parts 221 approach each other, it is driven to approach the first connecting part 141 and connects with the first connecting part 141. Conversely, when the two clamping parts 221 move away from each other, the first docking part 231 can be driven away from the first connecting part 141 and separate from the first connecting part 141. Alternatively, the first docking part 231 can be configured such that when the two clamping parts 221 move away from each other, it is driven to approach the first connecting part 141 and connects with the first connecting part 141. Conversely, when the two clamping parts 221 approach each other, the first docking part 231 can be driven away from the first connecting part 141 and separate from the first connecting part 141.

[0075] For example Figure 8 As shown, in practical applications, one of the first connecting portion 141 and the first mating portion 231 is a stop protrusion, and the other is a stop recess. The first connecting portion 141 is located on one side wall of the mounting cavity 111 near the second opening 113. The first mating portion 231 is located at the clamping portion 221 corresponding to this side wall. When the mating body 210 is connected to the robotic arm, and the picking body 220 is driven by the robotic arm to insert into the mounting cavity 111 through the second opening 113, the two clamping portions 221 move closer to each other, causing the first mating portion 231 to move away from the first connecting portion 141, facilitating smooth insertion. After the picking body 220 is inserted into the mounting cavity 111, the two clamping portions 221 move away from each other, causing the first mating portion 231 to gradually move closer to the first connecting portion 141. Finally, the interlocking connection between the first mating portion 231 and the first connecting portion 141 is completed. The interlocking between the first docking portion 231 and the first connecting portion 141 can at least restrict the picking body 220 from detaching outward from the second opening 113.

[0076] More specifically, for example Figures 4 to 8 As shown, the first connecting portion 141 is a stop recess formed in the side wall of the mounting cavity 111. The first mating portion 231 protrudes from the stop protrusion on the side wall of the clamping portion 221. When the two clamping portions 221 approach each other, the first mating portion 231 is moved away from the first connecting portion 141. Conversely, when the two clamping portions 221 move away from each other, the first mating portion 231 is moved closer and interlocks with the first connecting portion 141.

[0077] Similarly, taking the picking body 220 as an example, which includes at least two clamping parts 221.

[0078] When the picking body 220 includes two clamping parts 221, one or both of the two clamping parts 221 may be provided with a first docking part 231. The first connecting part 141 is adaptively configured according to the number, orientation, etc. of the first docking parts 231.

[0079] When the picking body 220 includes multiple clamping parts 221, and each pair of clamping parts 221 constitutes a clamping group: In one application, all clamping groups may be provided with a first docking part 231. In this case, each clamping group may selectively be provided with one or two docking parts. The first connecting part 141 is adaptively configured according to the number, orientation, etc. of the first docking parts 231. Alternatively, in another application, some clamping groups may be provided with first docking parts 231. The clamping group provided with the first docking parts 231 may selectively provide one first clamping part 221 at one clamping part 221, or two first docking parts 231 at two clamping parts 221. The first connecting part 141 is adaptively configured according to the number, orientation, etc. of the first docking parts 231.

[0080] In order to facilitate the insertion of the pickup body 220 into the mounting cavity 111 via the second opening 113, in one embodiment, the base 110 is provided with a first guide structure 142 in the cavity section adjacent to the second opening 113. The first guide structure 142 is used to guide the pickup module 200 into and out of the mounting cavity 111.

[0081] Specifically, such as Figures 4 to 5 As shown, the mounting cavity 111 can be configured as a first tapered cavity segment adjacent to the second opening 113. At least the cavity wall of this first tapered cavity segment forms a first guide structure 142. More specifically, the first tapered cavity segment is flared in the direction close to the second opening 113. This creates a larger diameter at the second opening 113, allowing at least the pickup body 220 of the pickup module 200 to be smoothly inserted. Then, guided by the inclined flat or arc-shaped cavity wall of the first tapered cavity segment, the pickup body 220 can achieve centering and alignment during insertion, completing the accurate insertion of the pickup module 200 and the end effector module 100.

[0082] like Figure 4As shown, in one embodiment, the mounting cavity 111 includes a first cavity segment 111a and a second cavity segment 111b connected sequentially in a direction away from the second opening 113. The pickup module 200 is inserted into the first cavity segment 111a under external force. The base 110 is provided with a limiting structure 143 at the second cavity segment 111b, which restricts the insertion of the pickup module 200 into the second cavity segment 111b. It is understood that the limiting structure 143 ensures that the pickup module 200 is only inserted into the first cavity segment 111a and not into the second cavity segment 111b. The second cavity segment 111b can then be used, for example, to accommodate components such as the aforementioned driver, thus facilitating partitioned storage within the mounting cavity 111 and preventing structural damage to the driver caused by the insertion of the pickup module 200.

[0083] Specifically, the mounting cavity 111 can be configured as a second tapered cavity segment at the section of the second cavity segment 111b adjacent to the first cavity segment 111a. At least the cavity wall of this second tapered cavity segment forms a limiting structure 143. More specifically, the second tapered cavity segment is narrowed in the direction away from the first cavity segment 111a. In this way, when the pickup body 220 is further inserted into the second cavity segment 111b, it is blocked by the smaller diameter of the second tapered cavity segment.

[0084] In one embodiment, when the mounting cavity 111 is further provided with a first opening 112 as described above, and the actuator 120 is movably mounted at the second opening 113, the first opening 112 and the second opening 113 are respectively located on different sides of the base 110. And / or, the first opening 112 and the second opening 113 are oriented in opposite directions. As described above, if the actuator 120 is a cleaning component, it can be understood that the first opening 112 can be opened on the side surface of the base 110 facing the surface to be cleaned. Then the second opening 113 is preferably located on the other side surface of the base 110. Alternatively, through structural arrangements such as partial protrusions, even if the first opening 112 and the second opening 113 are opened on the same side surface of the base 110, the orientations of the first opening 112 and the second opening 113 are as different as possible, that is, the second opening 113 is as far away from the surface to be cleaned as possible.

[0085] By setting the orientations of the first opening 112 and the second opening 113 to be opposite, the connection operation between the pickup module 200 and the end effector module 100 can be completely separated from the activities of the preset functions performed by the actuator 120, ensuring that the two will not affect each other significantly. Furthermore, sufficient space can be reserved for the robotic arm to operate, allowing the pickup module 200 to move fully closer to and further away from the end effector module 100.

[0086] Furthermore, please combine Figures 4 to 6The base 110 has a first electrical connection part 144 inside the mounting cavity 111. The outer wall of the docking body 210 has a second electrical connection part 232 exposed. After the pickup module 200 and the end effector module 100 are connected in place, the second electrical connection part 232 and the first electrical connection part 144 are electrically connected.

[0087] The specific form of the first electrical connection part 144 and the second electrical connection part 232 is not limited; it can be a complete plug structure and a socket structure, or it can be two exposed electrical terminals, etc.

[0088] Depending on the actual needs, the second electrical connection 232 can be configured to be directly electrically connected to the robotic arm. Alternatively, the second electrical connection 232 can also be configured to ultimately be electrically connected to components such as the control module and drive module in the cleaning robot via the robotic arm.

[0089] The first electrical connection 144 is generally electrically connected to the drive mechanism 130. This means that when the second electrical connection 232 and the first electrical connection 144 are electrically connected, it is equivalent to connecting the circuit between the drive mechanism 130 and the robotic arm, or connecting the drive mechanism 130 and the body of the cleaning robot, making it easier to achieve intelligent automated control of the drive mechanism 130 based on the robotic arm or the cleaning robot.

[0090] Specifically, the base 110 has a wiring channel (not shown in the attached drawings) on the inner wall of the mounting cavity 111. The end effector module 100 also includes a connecting cable. The connecting cable is laid in the wiring channel and connects to the first electrical connection part 144 and the drive mechanism 130 respectively. The wiring channel and connecting cable are designed to accommodate different assembly orientations between the drive mechanism 130 and the first electrical connection part 144. This makes the assembly schemes of the drive mechanism 130 and the first electrical connection part 144 more flexible and adjustable.

[0091] The wiring channel can be located inside the shell plate of the base 110, that is, it can be either concealed within or outside the mounting cavity 111. This facilitates hiding the wiring, helps to effectively protect the connecting cables, and improves the aesthetics to some extent. Alternatively, the wiring channel can be a wiring groove formed in the inner wall of the mounting cavity 111, that is, it can be exposed within the mounting cavity 111, which further facilitates wiring operations.

[0092] Furthermore, based on one or more of the above embodiments, as follows: Figures 9 to 13As shown, the auxiliary mating module 300, as described above, is used to assist the disengageable connection between the end effector module 100 and the pickup module 200. Specifically, the auxiliary mating module 300 forms a mating channel 310. The auxiliary mating module 300 has a socket 311 at one end of the mating channel 310. The end effector module 100 and / or the pickup module 200 enter and exit the mating channel 310 through the socket 311.

[0093] Please refer to [the document]. Figure 11 The mating channel 310 has a second guide structure 321 near the socket 311. The second guide structure 321 is used to guide the end effector module 100 and / or the pickup module 200 into the mating channel 310. Similarly, the second guide structure 321 can also be defined by the first gradient cavity segment as described above, which will not be elaborated here.

[0094] In practical applications, such as Figure 12 As shown, the end effector module 100 can be housed within the channel. When it is necessary to connect the pickup module 200 and the end effector module 100, the robotic arm can drive the pickup module 200 to be inserted into the mating channel 310 via the connector 311. And after the pickup module 200 completes its connection with the end effector module 100, it can be... Figure 13 As shown, the robotic arm can drive the pickup module 200 to drive the end effector module 100 to disengage from the mating channel 310 via the connector 311.

[0095] Or such as Figure 13 As shown, the robotic arm can drive the pickup module 200 to move the end effector module 100 into the mating channel 310 via the connector 311. And after the pickup module 200 completes its separation from the end effector module 100, it can... Figure 12 As shown, the robotic arm can drive the pickup module 200 to independently detach from the mating channel 310 via the connector 311.

[0096] Furthermore, such as Figures 1 to 2 , Figures 9 to 10 As shown, the base 110 is also provided with a second connecting portion 145. The mating channel 310 is also provided with a second mating portion 324. The second connecting portion 145 is used to connect with the second mating portion 324 in a detachable manner. After the second connecting portion 145 and the second mating portion 324 are connected, it helps to enhance the connection strength between the end effector module 100 and the auxiliary mating module 300.

[0097] Specifically, one of the second connecting part 145 and the second mating part 324 can be configured as a snap fastener, and the other as a snap hole. The snap fastener and the snap hole form a latching connection. For example... Figures 9 to 13 As shown, the second connecting part 145 can be a snap hole. The second mating part 324 can be a snap fastener.

[0098] Please combine Figures 1 to 2 , Figures 10 to 11 In one embodiment, the base 110 is further provided with a guide portion 146. The mating channel 310 is also provided with a mating portion 323 at a distance from the socket 311. The guide portion 146 is used to guide and engage with the mating portion 323 to guide the base 110 to move relative to the auxiliary mating module 300.

[0099] It is understood that the second guide structure 321 facilitates the smooth insertion of the pickup module 200 and / or the end effector module 100 into the mating channel 310 at the socket 311. Since the mating part 323 and the guide part 146 are located within the mating channel 310 at a location away from the socket 311, i.e., deep within the mating channel 310, the guiding engagement of the guide part 146 and the mating part 323 further facilitates the continued guidance of, for example, the end effector module 100 deep within the mating channel 310. This, in turn, aids in the accurate movement of, for example, the end effector module 100 deep within the mating channel 310.

[0100] Specifically, one of the guide portion 146 and the mating portion 323 is configured as a sliding protrusion, and the other is configured as a sliding groove. The sliding protrusion and / or the sliding groove extends elongatedly along the moving direction of the end effector module 100. Alternatively, one of the guide portion 146 and the mating portion 323 may be a roller, and the other may be a rolling groove. The rolling groove extends elongatedly along the moving direction of the end effector module 100.

[0101] like Figures 9 to 13 As shown, based on the embodiment described above, when at least the actuator 120 of the end effector module 100 is exposed outside the base 110, that is, protruding from the outer wall of the base 110, the auxiliary mating module 300 also has a guide hole 312 on one side of the mating channel 310. The guide hole 312 connects to the insertion port 311. During the process of the end effector module 100 entering and exiting the mating channel 310, the part of the drive mechanism 130 connected to the actuator 120 or the actuator 120 slides along the guide hole 312. At this time, the width of the guide hole 312 is at least greater than the diameter of, for example, the connecting shaft 131a passing through the guide hole 312, to avoid excessive sliding friction between the connecting shaft 131a and the guide hole 312. The guide hole 312 can both allow the at least actuator 120 to be exposed outside the auxiliary mating module 300 and accurately guide the end effector module 100 to enter and exit the mating channel 310.

[0102] This disclosure utilizes a disengageable connection between the pickup module 200 and the end effector module 100. After connection, the robotic arm drives the end effector module 100 to handle more complex and varied cleaning scenarios. For example, when the actuator 120 is a cleaning component, the robotic arm can flexibly bend or extend to reach areas that traditional fixed brush heads cannot cover, such as under tables and chairs, corners, and edges of steps, reducing manual intervention. It can also adjust its angle via joints to conform to uneven surfaces (such as the junction of carpet and tile), improving cleaning efficiency. The floor scrubber can also automatically change brush heads (hard bristles, soft cloth discs) via the robotic arm to adapt to different materials (flooring, tiles, marble). The robotic arm can also achieve precise localized cleaning (such as treating oily areas separately to avoid large areas becoming slippery).

[0103] By making corresponding structural improvements to the pickup module 200, the end effector module 100, and the auxiliary docking module 300, better connection and separation between the pickup module 200 and the end effector module 100 are facilitated. Furthermore, since the aforementioned structural improvements do not significantly affect the movement of the actuator 120, they contribute to the universal connection between the robotic arm and different types of end effector modules 100, thereby improving the overall ease of use of the machine.

[0104] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An end effector module for use in a cleaning system, characterized in that, The end effector module is detachably connected to a pickup module disposed at the end of the robotic arm, and the end effector module includes: Base; An actuator, movably mounted on the base, is configured to perform a preset function during its activity; and, A drive mechanism is disposed on the base and is drivenly connected to the actuator; The base is provided with a first connecting part, which is used to be detachably connected to a first docking part provided at the pickup module.

2. The end-effector module as described in claim 1, characterized in that, Driven by the drive mechanism, the actuator is rotatable about an axis extending in a first direction; and / or, Driven by an external force, the actuator can swing around an axis extending in the second direction; The first direction and the second direction intersect.

3. The end-effector module as described in claim 1 or 2, characterized in that, The base has an internal mounting cavity, and the mounting cavity has a first opening; The actuator is movably disposed outside the mounting cavity; The drive mechanism includes a driver and a transmission assembly connected together. At least the driver is housed within the mounting cavity, and at least a portion of the transmission assembly extends out of the mounting cavity through the first opening and is drively connected to the actuator.

4. The end-effector module as described in claim 3, characterized in that, The transmission assembly includes: A connecting shaft, partially extending through the first opening and connecting to the actuator, the connecting shaft being rotatable about an axis extending in a first direction, and the connecting shaft being elastically bendable and deformable; and / or, A movable seat, which is pivotally mounted on the base about an axis extending in a second direction and is fixedly connected to the actuator; The first direction and the second direction intersect.

5. The end-effector module as described in claim 1, characterized in that, The base has an internal mounting cavity, and the mounting cavity has a second opening through which the pickup module enters and exits the mounting cavity. The first connecting part is disposed in the mounting cavity and adjacent to the second opening. The pickup module is inserted into the mounting cavity through the second opening. The first connecting part and the first docking part are detachably connected.

6. The end-effector module as described in claim 5, characterized in that, The base has a first guide structure in a cavity section adjacent to the second opening, the first guide structure being used to guide the pickup module in and out of the mounting cavity; and / or, The mounting cavity includes a first cavity segment and a second cavity segment, wherein the first cavity segment has a second opening at the end away from the second cavity segment; the pickup module is inserted into the first cavity segment under external force; the base has a limiting structure at the second cavity segment, the limiting structure being used to restrict the insertion of the pickup module into the second cavity segment; and / or... The mounting cavity is further provided with a first opening, and the actuator is movably mounted at the second opening; wherein the first opening and the second opening are respectively located on different sides of the base; and / or the first opening and the second opening are arranged with different orientations.

7. The end-effector module as described in claim 3, characterized in that, The base is provided with a first electrical connection portion within the mounting cavity. After the pickup module and the end effector module are connected in place, a second electrical connection portion located at the pickup module is electrically connected to the first electrical connection portion. The first electrical connection portion is electrically connected to the drive mechanism; or, The base is provided with a wiring channel on the inner wall of the mounting cavity. The end effector module also includes a connecting cable, which is laid in the wiring channel and is respectively connected to the first electrical connection part and the drive mechanism.

8. The end-effector module as described in claim 1, characterized in that, The base also includes a second connecting portion for detachable connection with a second mating portion located at the auxiliary mating module; and / or, The base is also provided with a guide portion, which is used to guide and cooperate with a mating portion provided at the auxiliary mating module to guide the base to move relative to the auxiliary mating module; The auxiliary mating module is used to assist the end effector module and the pickup module in a disengaging connection.

9. A pickup module, characterized in that, The pickup module is configured to connect to a robotic arm, and is at least driven by the robotic arm to be disengaged from the end effector module as described in any one of claims 1 to 8, the pickup module comprising: A docking body for connecting to the robotic arm; and, The picking body is located on the docking body. The picking body is provided with a first docking part, which is used to be detachably connected to a first connecting part located at the end execution module.

10. The pickup module as described in claim 9, characterized in that, The picking body is movably disposed relative to the docking body. In response to the docking body being fixed relative to the base, the picking body can cause the first docking portion to have a connected state that moves closer to the first connecting portion and a separated state that moves away from the first connecting portion; and / or The picking body includes at least two clamping parts, which are movably disposed in directions of approaching and moving away from each other; the first docking part is disposed at at least one of the clamping parts; and / or The outer wall of the docking body is provided with a second electrical connection part; in response to the pickup module and the end effector module being connected in place, the second electrical connection part and the first electrical connection part provided at the end effector module are electrically connected.

11. An auxiliary mating module, characterized in that, Used to facilitate a removable connection between the end-effector module as described in any one of claims 1 to 8 and the pickup module as described in any one of claims 9 to 10; The auxiliary mating module forms a mating channel, and the auxiliary mating module has a socket at one end of the mating channel. The end effector module and / or the pickup module enter and exit the mating channel through the socket. The mating channel has a second guide structure near the socket, which guides the end effector module and / or the pickup module to be inserted into the mating channel.

12. The auxiliary mating module as described in claim 11, characterized in that, The mating channel also has a mating part located away from the socket, the mating part being used to guide and engage with a guide part located on the end effector module, so as to guide the end effector module to move deep within the mating channel; and / or, The mating channel is further provided with a second docking part, which is used to be detachably connected to a second connecting part provided at the end execution module.

13. The auxiliary mating module as described in claim 11, characterized in that, At least the actuator of the end effector module protrudes from the base; The auxiliary mating module also has a guide hole on one side of the mating channel. The guide hole is connected to the socket. During the process of the end effector module entering and exiting the mating channel, the part of the drive mechanism connected to the actuator or the actuator slides along the guide hole.

14. A cleaning robot, characterized in that, It includes a body and a robotic arm mounted on the body, a pickup module connected to the robotic arm, an end effector module that is detachably connected to the pickup module, and an auxiliary mating module for housing the end effector module; Wherein, the end-effector module is the end-effector module according to any one of claims 1 to 8; and / or, the pickup module is the pickup module according to any one of claims 9 to 10; and / or, the auxiliary mating module is the auxiliary mating module according to any one of claims 11 to 13.

15. A cleaning system, characterized in that, Including the cleaning robot as described in claim 14.

Images