Opening and closing press end device based on cleaning robot

Abstract

The utility model relates to cleaning robot technology discloses a kind of opening and closing press terminal device based on cleaning robot, and the device includes mechanical arm unit and terminal unit.The mechanical arm unit is detachably connected with terminal unit by magnetic attraction;The mechanical arm unit includes mechanical arm body and magnetic attraction end head;The terminal unit includes base component and end head component, and the end head component is also equipped with mounting bracket, and suction cup assembly and ball lever assembly are equipped on the mounting bracket;The ball lever assembly includes driving motor and arc-shaped lever, and the arc-shaped lever is used to realize the opening of toilet cover and flush press.The same arc-shaped lever structure is used to realize two functions of cover lifting and flush press, without adding special components, improve the functional integration of device.The arc surface design of lever has guiding and buffering effect, can adapt to position deviation during cover lifting and pressing, avoid rigid impact.

Description

Technical Field

[0001] This utility model relates to cleaning robot technology, and more particularly to an opening and closing pressing end device based on a cleaning robot. Background Technology

[0002] In existing technologies, the use of cleaning robots for automated bathroom cleaning has become a growing trend, especially for operations such as opening and flushing toilet seats. Traditional robots often rely on force control modules to grasp and manipulate toilet seats. For example, a robotic arm combined with sensors precisely controls force and position to avoid damage to the mechanical structure or toilet seat caused by excessive force or positional deviation. However, force control modules are expensive and have complex control systems, limiting their application in low-cost cleaning robots.

[0003] Chinese patent application CN112471981B discloses a multifunctional household bathroom cleaning robot, which has a toilet cleaning function and performs washing operations by extending a mechanical arm. However, it does not involve a dedicated end effector for opening the toilet seat and pressing the flush button, nor does it solve the problem of how to avoid damage to the mechanical structure without using a force control module.

[0004] Another existing technology, such as CN217659532U, proposes a toilet lid lifting device for a cleaning robot. This device achieves lid lifting and flushing functions through suction cup adsorption, push rod pressing, and spring unloading, thus avoiding the use of a force control module to some extent. However, this device still suffers from problems such as complex structure, inconvenient assembly and disassembly, and poor flexibility. In particular, the connection between the end effector and the robotic arm still uses a fixed structure, which is not conducive to quick replacement or maintenance.

[0005] Therefore, there is an urgent need for an end effector that is simple in structure, easy to assemble and disassemble, does not rely on a force control module, and has good overload protection capabilities, so as to achieve safe and efficient operation of the toilet seat. Summary of the Invention

[0006] To address the shortcomings of the existing technology, this invention proposes an opening and closing pressing end device based on a cleaning robot.

[0007] The technical solution of this utility model is implemented as follows: A push-to-open end effector based on a cleaning robot, comprising a robotic arm unit and an end effector unit, characterized in that, The robotic arm unit and the end effector are detachably connected by magnetic attraction; the robotic arm unit includes a robotic arm body and a magnetic end, and the magnetic end has a first magnetic attraction element, a sleeve shaft and a limiting pin. The end unit includes a base component and an end component. The end component has a sleeve end, which has a sleeve cavity, a limiting hole, and a second magnetic suction component. The sleeve shaft cooperates with the sleeve cavity, and the limiting pin cooperates with the limiting hole to restrict circumferential rotation. The first magnetic suction component and the second magnetic suction component attract each other to restrict axial movement. The end component also has a mounting frame, on which a suction cup assembly and a ball rod assembly are mounted. The cue assembly includes a drive motor and an arc-shaped lever, which is used to open the toilet seat and press the flush button.

[0008] Preferably, the suction cup assembly includes a pump body, a conduit, and a suction cup body, wherein the pump body is connected to the suction cup body via the conduit.

[0009] Preferably, the cue assembly further includes a ball head, which is connected to an arc-shaped lever.

[0010] Preferably, the arc-shaped lever has an inner arc-shaped surface and an outer arc-shaped surface. The inner arc-shaped surface is used to contact and lift the edge of the toilet seat when the lid is lifted, and the outer arc-shaped surface is used to align and press the flush button.

[0011] Preferably, the base component is provided with a slide rail groove, and the end component is slidably connected to the base component through the slide rail groove, so that the end unit can be installed on the top or side of the cleaning robot.

[0012] Preferably, the arc-shaped lever is made of an elastic material.

[0013] Preferably, the inner arc-shaped surface is a concave arc surface, which, when the cover is lifted, forms an upward lifting force with the suction cup assembly.

[0014] The opening and closing pressing end device based on this utility model for cleaning robots has the following beneficial effects: The use of a magnetic connection structure enables quick assembly and disassembly of the robotic arm unit and the end effector unit, replacing the traditional fixed connection method. This not only simplifies the structure but also reduces manufacturing costs and maintenance difficulty.

[0015] The device utilizes a single arc-shaped lever structure to achieve both lid-opening and flushing / pressing functions, eliminating the need for additional specialized components and improving the overall functionality. The lever's arc-shaped surface design serves both guiding and cushioning purposes, accommodating positional deviations during lid opening and pressing, and preventing rigid impacts.

[0016] Through the synergistic effect of the suction cup assembly and the ball rod assembly, combined with the elastic characteristics of the lever, a slight displacement or automatic disengagement can occur when encountering excessive resistance, forming a passive overload protection mechanism that effectively prevents damage to the mechanical structure or toilet components.

[0017] The magnetic connection method supports quick replacement of various end tools, enhancing the robot's task adaptability and application scenario diversity, and is especially suitable for the operation needs of various types of toilet seats and flush buttons. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the opening and closing pressing end device of this utility model; Figure 2 This is a schematic diagram of the installation structure of the opening and closing pressing end device of this utility model; Figure 3 This is a schematic diagram of the installation structure of the opening and closing pressing end device of this utility model; Figure 4 This is a schematic diagram of the structure of the end component of this utility model; Figure 5 This is a schematic diagram of the structure of the end component of this utility model; Figure 6 This is an exploded view of the end component of this utility model.

[0019] The reference numerals in the attached drawings are as follows: 10-robotic arm unit, 11-robotic arm body, 12-magnetic end, 121-end head, 122-first magnetic suction component, 123-sleeve shaft, 124-limiting pin, 20-end unit, 21-base component, 21A-slide rail groove, 22-end head component, 221-sleeve end, 221A-sleeve cavity, 221B-limiting hole, 221C-second magnetic suction component, 23-mounting bracket, 23A-mounting groove, 23B-mounting plate, 24-outer shell, 25-suction cup assembly, 25A-pump body, 25B-conduit, 25C-suction cup body, 26-ball rod assembly, 26A-drive motor, 26B-arc lever, 26C-ball head. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0021] Reference Figures 1 to 6 As shown, this embodiment proposes an opening and closing pressing end device based on a cleaning robot, including a robotic arm unit 10 and an end unit 20. The robotic arm unit 20 and the end unit 20 are magnetically detachably connected.

[0022] Furthermore, the robotic arm unit 10 consists of a robotic arm body 11 and a magnetic end cap 12. The robotic arm body 11 is connected to the magnetic end cap 12. The robotic arm body 11 is a conventional six-axis robotic arm, and its operation is controlled by a PLC program.

[0023] Furthermore, the magnetic end 12 includes an end head 121, with a first magnetic suction element 122 disposed on one side of the end head 121. A sleeve shaft 123 is coaxially disposed with the end head 121, and the sleeve shaft 123 is used to engage with the end unit 20. A limit pin 124 is disposed on one side of the sleeve shaft 123 to restrict the relative circumferential rotation of the sleeve shaft 123 and the end unit 20.

[0024] In this embodiment, the end unit 20 includes a base component 21 and an end component 22. The base component 21 is mounted on the top or side of the cleaning robot. The base component 21 has a slide rail groove 21A, through which the end component 22 is connected to the base component 21, enabling it to be mounted on the top or side of the cleaning robot.

[0025] The end component 22 includes a sleeve end 221, in which a sleeve cavity 221A is provided, which mates with the sleeve shaft 123. At least one limiting hole 221B is provided on one side of the sleeve cavity 221A, which matches the limiting pin 124. When the limiting pin 124 mates with the limiting hole 221B, it restricts the circumferential rotation of the end component 22.

[0026] Furthermore, the end component 22 also includes a second magnetic 221C, which attracts the first magnetic 122 and is used to limit the axial movement of the sleeve shaft 123 and the end component 22.

[0027] In this embodiment, a mounting bracket 23 is also provided on one side of the end component 22, and a housing 24 is sleeved on the outside of the mounting bracket 23. The mounting bracket 23 is composed of a mounting groove 23A and a mounting plate 23B, and the mounting groove 23A and the mounting plate 23B are perpendicularly distributed.

[0028] A cue assembly 26 is installed in the mounting slot 23A, and a suction cup assembly 25 is installed on one side of the mounting plate 23B. The suction cup assembly 25 consists of a pump body 25A, a guide tube 25B, and a suction cup body 25C. The cue assembly 26 consists of a drive motor 26A, an arc-shaped lever 26B, and a cue head 26C.

[0029] In this embodiment, the robotic arm unit 10 includes a robotic arm body 11 and a magnetic end cap 12. The magnetic end cap 12 is provided with a first magnetic attractor 122 and a sleeve shaft 123, and a limiting pin 124 is provided on the sleeve shaft 123. The end unit 20 includes a sleeve end cap 221, which has a sleeve cavity 221A inside that mates with the sleeve shaft 123 and matches the limiting pin 124 through a limiting hole 221B to prevent circumferential rotation. At the same time, the second magnetic attractor 221C and the first magnetic attractor 122 attract each other along the F1 direction to ensure axial fixation. Unlike the existing method of fixing the connection through a substrate, the magnetic connection of this application allows for quick disassembly and replacement of the end tool, improving the robot's flexibility and maintenance convenience.

[0030] In this embodiment, the robotic arm moves the end effector to align and adhere the suction cup body 25C to the surface of the toilet seat. The pump 25A is activated, creating a vacuum through the conduit 25B, firmly attaching the suction cup to the toilet seat. This step provides a reliable fixed point for the subsequent lifting action. The drive motor 26A is activated, moving the arc-shaped lever 26B along its specific arc trajectory. At this time, the inner arc-shaped surface of the lever, i.e., the side closest to the suction cup assembly 25, gradually contacts and supports the edge of the toilet seat that has been suctioned. As the lever continues to move upward, its inner arc-shaped surface acts as a ramp or support, smoothly lifting the toilet seat upward and flipping it open. Throughout this process, the suction cup provides suction force to prevent the seat from slipping off, and works in conjunction with the lever to create a coordinated suction and lifting action.

[0031] In this design, the drive motor reverses, causing the arc-shaped lever to fall downwards. The inner arc-shaped surface guides the toilet seat to close smoothly, and the suction cup releases pressure from the pump body at the appropriate time, releasing the suction. This application achieves lid lifting directly through the flexible movement of the arc-shaped lever, simplifying the structure, reducing costs, and avoiding mechanical damage caused by positional errors.

[0032] Furthermore, after completing the lid-lifting action, the robotic arm adjusts its position so that the outer arc-shaped surface of the curved lever 26B, i.e., the side facing away from the suction cup, is aligned with the toilet's flush button. The drive motor 26A restarts, controlling the curved lever 26B to move forward, using the top or a specific part of its outer arc-shaped surface to directly press the flush button. Because the lever 26B has a certain degree of elasticity, the suction connection may experience slight displacement or detachment when subjected to excessive reverse force, thus forming a passive overload protection mechanism to prevent damage to the button or the robotic arm.

[0033] This application achieves the flushing function in another degree of freedom of the existing lever without adding any new special parts.

[0034] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A closing and pressing end device based on a cleaning robot, comprising a robotic arm unit (10) and an end unit (20), characterized in that, The robotic arm unit (10) and the end unit (20) are detachably connected by magnetic attraction; the robotic arm unit (10) includes a robotic arm body (11) and a magnetic end (12), the magnetic end (12) having a first magnetic attraction element (122), a sleeve shaft (123) and a limiting pin (124). The end unit (20) includes a base component (21) and an end component (22). The end component (22) has a sleeve end (221), which has a sleeve cavity (221A), a limiting hole (221B), and a second magnetic suction component (221C). The sleeve shaft (123) cooperates with the sleeve cavity (221A), and the limiting pin (124) cooperates with the limiting hole (221B) to restrict circumferential rotation. The first magnetic suction component (122) and the second magnetic suction component (221C) attract each other to restrict axial movement. The end component (22) also has a mounting bracket (23), which has a suction cup assembly (25) and a cue assembly (26). The cue assembly (26) includes a drive motor (26A) and an arc-shaped lever (26B), the arc-shaped lever (26B) being used to open the toilet seat and press the flush button.

2. The opening and closing pressing end device according to claim 1, characterized in that, The suction cup assembly (25) includes a pump body (25A), a conduit (25B) and a suction cup body (25C), wherein the pump body (25A) is connected to the suction cup body (25C) through the conduit (25B).

3. The opening and closing pressing end device according to claim 1, characterized in that, The cue assembly (26) also includes a ball head (26C) which is connected to an arc-shaped lever (26B).

4. The opening and closing pressing end device according to claim 1, characterized in that, The arc-shaped lever (26B) has an inner arc-shaped surface and an outer arc-shaped surface. The inner arc-shaped surface is used to contact and lift the edge of the toilet seat when the lid is lifted, and the outer arc-shaped surface is used to align and press the flush button.

5. The opening and closing pressing end device according to claim 1, characterized in that, The base component (21) is provided with a slide rail groove (21A), and the end component (22) is slidably connected to the base component (21) through the slide rail groove (21A), so that the end unit (20) can be installed on the top or side of the cleaning robot.

6. The opening and closing pressing end device according to claim 1, characterized in that, The arc-shaped lever (26B) is made of elastic material.

7. The opening and closing pressing end device according to claim 4, characterized in that, The inner arc-shaped surface is a concave arc surface, which, when the cover is lifted, forms an upward lifting force with the suction cup assembly.

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