Magnetic end switching device based on cleaning robot's mechanical arm

Abstract

The utility model relates to cleaning robot technology discloses a kind of mechanical arm magnetic suction tail end switching device based on cleaning robot including moving unit, storage unit and cleaning unit, the cleaning unit includes mechanical arm and at least one end component, the wrist arm end of the mechanical arm is equipped with first magnetic suction component, and the end component is equipped with second magnetic suction component;The first magnetic suction component includes butt joint shaft body, first electromagnet, clamping shaft, limit pin and card pearl groove;The second magnetic suction component includes base, magnetic attraction piece, clamping groove, limit hole and second electromagnet;Wherein, after the first electromagnet and second electromagnet are electrified, magnetic attraction force is generated, makes clamping shaft insert clamping groove, and realizes mechanical interlock by the cooperation of card pearl and card pearl groove, limit pin and limit hole cooperation prevent relative rotation.

Description

Technical Field

[0001] This utility model relates to cleaning robot technology, and more particularly to a magnetic end-effector switching device for a robotic arm based on a cleaning robot. Background Technology

[0002] With the rapid development of intelligent cleaning robots, their application in home, commercial, and industrial environments is becoming increasingly widespread. Traditional cleaning robots typically have basic functions such as movement, vacuuming, and mopping. However, for complex cleaning tasks, such as corner cleaning, object grasping, and surface drying, multiple specialized end effectors are required. To improve the versatility and automation level of cleaning robots, it is usually necessary to equip the robotic arm with replaceable end tools, such as squeegees, grippers, and nozzles.

[0003] In existing technologies, the end effector switching devices of cleaning robots mostly adopt mechanical buckles, threaded connections, or pneumatic connections.

[0004] Current methods mostly involve manual or semi-automatic end-tool changing, which is time-consuming and cannot achieve rapid, continuous job switching. Furthermore, traditional mechanical connections are prone to loosening under vibration or load, leading to end-tool detachment or positioning deviation. The lack of precise alignment and locking mechanisms, coupled with reliance on manual intervention, makes fully automated operation difficult. They also cannot adapt to the unified docking requirements of various end-tools, resulting in poor versatility.

[0005] Therefore, there is an urgent need for a robotic arm end effector that can achieve fast, reliable, and automatic switching to improve the operational efficiency and versatility of cleaning robots. Utility Model Content

[0006] To address the shortcomings of the existing technology, this invention proposes a magnetic end-effector switching device for a cleaning robot arm.

[0007] The technical solution of this utility model is implemented as follows: A magnetic end effector switching device for a robotic arm based on a cleaning robot includes a moving unit, a storage unit, and a cleaning unit, characterized in that... The cleaning unit includes a robotic arm and at least one end effector. The wrist end of the robotic arm is provided with a first magnetic attraction component, and the end effector is provided with a second magnetic attraction component. The first magnetic attraction assembly includes a docking shaft, a first electromagnet, a snap-fit ​​shaft, a limiting pin, and a bead slot; The second magnetic component includes a base, a magnetic block, a snap-fit ​​groove, a limiting hole, and a second electromagnet; When the first electromagnet and the second electromagnet are energized, they generate magnetic attraction, causing the locking shaft to be inserted into the locking groove. Mechanical interlocking is achieved through the cooperation of the locking ball and the locking ball groove, and the limiting pin cooperates with the limiting hole to prevent relative rotation.

[0008] Preferably, the first magnetic attraction assembly further includes a butterfly frame and a sensor, wherein the butterfly frame is used to guide alignment and the sensor is used to detect the docking distance.

[0009] Preferably, the end assembly includes at least one of a suction rod end, a press-to-open end, a gripper end, and a drying nozzle end.

[0010] Preferably, the end of the squeegee for cleaning the ground is provided with a first connecting hole that connects to a first water supply pipe.

[0011] Preferably, the press-to-open end includes a press body, a suction cup, and a ball head rod.

[0012] Preferably, the gripper end includes a pneumatic gripper for grasping and moving debris.

[0013] Preferably, the drying nozzle for drying the ground or spraying cleaning agents has a second connecting hole at its end, which is connected to a second water supply pipe.

[0014] Preferably, the storage unit is provided with multiple supports, including a first support, a second support, a third support and a fourth support, to support each end component to the same horizontal height.

[0015] Preferably, the snap-fit ​​groove is provided with a spring-driven snap-fit ​​bead, which forms a conical or spherical fit with the snap-fit ​​bead groove. Preferably, the mobile unit drives the cleaning robot to move along a predetermined route, and the storage unit is used to store cleaning fluid, collect sewage, and control electronic components.

[0016] The magnetic end effector switching device for a robotic arm based on a cleaning robot, as described in this invention, has the following advantages: The mechanical interlocking structure of the ball and ball groove, combined with the cooperation of the limit pin and the limit hole, effectively prevents the end tool from loosening or falling off under vibration or load, thus improving the stability and safety of the connection.

[0017] By using a butterfly frame to guide alignment and sensors to detect distance, high-precision docking and positioning are achieved, reducing the dependence on the absolute positioning accuracy of the robotic arm and adapting to the unified docking requirements of various end-effectors. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the magnetic end-effector switching device for the robotic arm of this utility model; Figure 2This is a schematic diagram of the structure of the magnetic end-effector switching device for the robotic arm of this utility model; Figure 3 This is a partial structural schematic diagram of the magnetic end-effector switching device for the robotic arm of this utility model; Figure 4 This is a partial structural schematic diagram of the magnetic end-effector switching device for the robotic arm of this utility model; Figure 5 This is a partial structural schematic diagram of the magnetic end-effector switching device for the robotic arm of this utility model; Figure 6 This is a partial structural schematic diagram of the magnetic end-effector switching device for the robotic arm of this utility model; Figure 7 This is a partial structural schematic diagram of the magnetic end-effector switching device for the robotic arm of this utility model; Figure 8 This is a partial structural schematic diagram of the magnetic end-effector switching device for the robotic arm of this utility model; Figure 9 This is a partial structural schematic diagram of the magnetic end-effector switching device for the robotic arm of this utility model; Figure 10 This is a partial structural schematic diagram of the magnetic end-effector switching device of the robotic arm of this utility model.

[0019] The reference numerals in the attached drawings are as follows: moving unit 10, storage unit 20, cleaning unit 30, robotic arm 31, bushing 311, shaft arm 312, lower swing arm 313, upper swing arm 314, wrist arm 315, first magnetic attraction assembly 316, docking shaft 316A, first electromagnet 316B, snap-fit ​​shaft 316C, limit pin 316D, bead slot 316E, butterfly frame 316F, sensor 316G, first water supply pipe 33, second water supply pipe 34, water suction rod end 321, first connecting hole 32 1A, Water suction rod 321B, First bracket 321C, Pressing opening and closing end 322, Pressing body 322A, Suction cup 322B, Ball head rod 322C, Second bracket 322D, Gripper end 323, Pneumatic gripper 323A, Third bracket 323B, Drying nozzle end 324, Second connecting hole 324A, Drying nozzle 324B, Fourth bracket 324C, Base 325A, Magnetic block 325B, Snap-fit ​​groove 325C, Limiting hole 325D, Second electromagnet 325E. 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 10As shown, this utility model proposes a magnetic end effector switching device for a cleaning robot, comprising a moving unit 10, a storage unit 20, and a cleaning unit 30. The moving unit 10 drives the cleaning robot to move along a predetermined route; the storage unit 20 stores cleaning fluid, collects wastewater, and controls the various electronic components of the cleaning unit 30.

[0022] Furthermore, refer to again Figure 2 As shown, the cleaning unit 30 includes a robotic arm 31, an end effector 32, a first water supply pipe 33, and a second water supply pipe 34.

[0023] The robotic arm 31 includes a bushing 311, a shaft arm 312, a lower swing arm 313, an upper swing arm 314, and a wrist arm 315. One end of the wrist arm 315 is connected to a first magnetic attraction component 316.

[0024] Refer again Figure 4 As shown, the first magnetic attraction assembly 316 includes a docking shaft 316A, with a first electromagnet 316B disposed at one end of the docking shaft 316A. A locking shaft 316C is coaxially disposed with the docking shaft 316A, and at least one limiting pin 316D is disposed on one circumferential side of the locking shaft 316C. The locking shaft 316C has a plurality of bead grooves 316E arranged circumferentially.

[0025] A butterfly frame 316F is provided below the docking shaft 316A, and a sensor 316G is provided below the butterfly frame 316F.

[0026] In this embodiment, refer again Figures 5 to 9 As shown, the end component 32 includes a water suction rod end 321, a press-to-open end 322, a gripper end 323, and a drying nozzle end 324. Each of the water suction rod end 321, the press-to-open end 322, the gripper end 323, and the drying nozzle end 324 is equipped with a second magnetic suction component 325 on the side closest to the robotic arm 31.

[0027] Furthermore, the second magnetic suction assembly 325 includes a base 325A, on which a magnetic suction block 325B is slidably connected. A locking groove 325C is provided in the middle of the magnetic suction block 325B. The locking groove 325C cooperates with the locking shaft 316C, and the locking groove 325C contains the same number of locking beads as the locking bead grooves 316E, used to restrict the locking shaft 316C.

[0028] The circumferential side of the slot 325C is provided with a limiting hole 325D that matches the limiting pin 316D. The top of the magnetic block 325B is provided with a second electromagnet 325E that can attract the first electromagnet 316B.

[0029] In this embodiment, when the robotic arm 31 needs to switch the end effector, its workflow is as follows: Under the command of the control system, the robotic arm 31 moves to the vicinity of the target end effector. The butterfly frame 316F first acts as a physical guide mechanism, contacting the end effector that needs to be switched, initially correcting the positional deviation, and guiding the locking shaft 316C to align with the locking slot 325C.

[0030] When sensor 316G detects that the two sides have reached the preset distance, it energizes the first electromagnet 316B and the second electromagnet 325E. A strong electromagnetic attraction is generated between the two, which quickly pulls the snap-fit ​​shaft 316C into and fully inserts it into the snap-fit ​​slot 325C, achieving a preliminary and secure connection.

[0031] During insertion, when the retaining ball groove 316E on the retaining shaft 316C moves to the position corresponding to the retaining ball in the retaining groove 325C, the retaining ball pops out under the action of the internal spring and embeds itself into the groove, forming a mechanical interlock. This effectively prevents accidental dislodgement due to vibration or external force. At the same time, the limiting pin 316D fully enters the limiting hole 325D, completely eliminating relative rotation after connection.

[0032] Among them, the first electromagnet 316B and the second electromagnet 325E are made of high magnetic permeability materials. When energized, they generate a strong magnetic attraction force that has been calculated and tested, which is sufficient to withstand the normal load and vibration in cleaning operations and ensure that the connection surfaces fit tightly.

[0033] The conical or spherical engagement of the locking beads with the 316E locking bead groove automatically locks in place during adsorption, providing additional mechanical strength and enabling the connection to withstand the complex forces and torques generated in various cleaning tasks.

[0034] The butterfly frame 316F, acting as a support structure, guides alignment and distributes stress at the connection points, particularly on the mating shaft 316A, thus improving the durability and reliability of the entire first magnetic assembly 316. Furthermore, the physical guidance provided by the butterfly frame 316F during the initial docking stage compensates for minor errors in the robotic arm's absolute positioning, ensuring that the snap-fit ​​shaft 316C can smoothly enter the snap-fit ​​slot 325C, ultimately achieving successful and precise docking.

[0035] The squeegee end 321 consists of a first connecting hole 321A and a squeegee 321B, with the first connecting hole 321A connected to a first water supply pipe 33. The squeegee end 321 is used for floor cleaning, especially for absorbing water and removing water stains.

[0036] The press-to-open / close end 322 consists of a press body 322A, a suction cup 322B, and a ball joint 322C. The press-to-open / close end 322 is used to operate objects that need to be pressed or opened / closed, and achieves automatic opening and closing by applying pressure or pulling force through the robotic arm.

[0037] The gripper end 323 includes a pneumatic gripper 323A. The gripper end 323 is used to grasp and move debris.

[0038] The drying nozzle end 324 includes a second connecting hole 324A and a drying nozzle 324B, wherein the second connecting hole 324A is connected to a second water supply pipe 34. The drying nozzle end 324 is used to dry the ground or spray cleaning agents. It can quickly dry surfaces with hot air or high-pressure airflow, or atomize and spray disinfectant.

[0039] Furthermore, refer to again Figure 10 As shown, the upper surface of the storage unit 20 also includes a first support 321C, a second support 322D, a third support 323B, and a fourth support 324C. The first support 321C, the second support 322D, the third support 323B, and the fourth support 324C support the water-absorbing rod end 321, the pressing and opening end 322, the gripper end 323, and the drying nozzle end 324 to the same horizontal height.

[0040] 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 magnetic end effector switching device for a robotic arm based on a cleaning robot, comprising a moving unit (10), a storage unit (20), and a cleaning unit (30), characterized in that, The cleaning unit (30) includes a robotic arm (31) and at least one end component (32). The end of the wrist arm (315) of the robotic arm (31) is provided with a first magnetic component (316), and the end component (32) is provided with a second magnetic component (325). The first magnetic attraction assembly (316) includes a docking shaft (316A), a first electromagnet (316B), a snap-fit ​​shaft (316C), a limiting pin (316D), and a bead groove (316E). The second magnetic attraction assembly (325) includes a base (325A), a magnetic block (325B), a snap-fit ​​groove (325C), a limiting hole (325D), and a second electromagnet (325E); When the first electromagnet (316B) and the second electromagnet (325E) are energized, they generate magnetic attraction, causing the snap-fit ​​shaft (316C) to be inserted into the snap-fit ​​groove (325C). Mechanical interlocking is achieved through the cooperation of the snap-fit ​​ball and the snap-fit ​​ball groove (316E). The limit pin (316D) cooperates with the limit hole (325D) to prevent relative rotation.

2. The robotic arm magnetic end-effector switching device according to claim 1, characterized in that, The first magnetic attraction assembly (316) also includes a butterfly frame (316F) and a sensor (316G), wherein the butterfly frame (316F) is used to guide alignment and the sensor (316G) is used to detect the docking distance.

3. The robotic arm magnetic end-effector switching device according to claim 1, characterized in that, The end assembly (32) includes at least one of the following: a water suction rod end (321), a press-to-open end (322), a gripper end (323), and a drying nozzle end (324).

4. The robotic arm magnetic end effector switching device according to claim 3, characterized in that, The end (321) of the water suction rod for cleaning the ground is provided with a first connecting hole (321A) and connected to the first water supply pipe (33).

5. The robotic arm magnetic end-effector switching device according to claim 3, characterized in that, The press-to-open end (322) includes a press body (322A), a suction cup (322B), and a ball head rod (322C).

6. The robotic arm magnetic end effector switching device according to claim 3, characterized in that, The gripper end (323) includes a pneumatic gripper (323A) for gripping and moving debris.

7. The robotic arm magnetic end-effector switching device according to claim 3, characterized in that, The drying nozzle (324) for drying the ground or spraying cleaning agent has a second connecting hole (324A) connected to the second water supply pipe (34).

8. The robotic arm magnetic end-effector switching device according to claim 1, characterized in that, The storage unit (20) is provided with multiple supports, including a first support (321C), a second support (322D), a third support (323B) and a fourth support (324C), which support each end component (32) to the same horizontal height.

9. The robotic arm magnetic end effector switching device according to claim 1, characterized in that, The snap-fit ​​groove (325C) is provided with a spring-driven snap ball, which forms a conical or spherical fit with the snap ball groove (316E).

10. The robotic arm magnetic end effector switching device according to claim 1, characterized in that, The mobile unit (10) drives the cleaning robot to move along a predetermined route, and the storage unit (20) is used to store cleaning liquid, collect sewage and control electronic components.

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