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CN-117754614-B - Mechanical device capable of simultaneously realizing object grabbing and controlling and robot

CN117754614BCN 117754614 BCN117754614 BCN 117754614BCN-117754614-B

Abstract

The invention provides a mechanical device and a robot capable of simultaneously achieving grabbing and controlling objects, which comprises a mechanical arm, a locking mechanism and a clamping control mechanism, wherein the mechanical arm comprises a locking box and moving fingers, at least two moving fingers are arranged on the locking box, the two moving fingers can move oppositely and reversely to achieve grabbing and releasing, a locking cavity is formed in one side face of the locking box, locking holes are formed in two opposite side faces in the locking cavity, the locking mechanism comprises a main body frame, a first moving block and a second moving block are arranged in the main body frame, the first moving block is movably connected with one side frame of the main body frame through a first locking rod, the second moving block is movably connected with the other side frame of the main body frame through a second locking rod, the clamping control mechanism comprises a fixed bayonet and an executing mechanism, the fixed bayonet and the executing mechanism are arranged on the front side face of the main body frame, and a trigger end, a transmission piece and an executing tail end which are connected are arranged on the executing mechanism. The invention can simultaneously realize the automatic installation and operation of the robot to the target equipment including the handheld tool.

Inventors

  • XU QING

Assignees

  • 星猿哲科技(上海)有限公司

Dates

Publication Date
20260512
Application Date
20220919

Claims (10)

  1. 1. A mechanical device for simultaneously gripping and controlling an object, comprising: the manipulator comprises a locking box and moving fingers, wherein at least two moving fingers are arranged on the locking box, and the two moving fingers can move oppositely and reversely to realize clamping and releasing; The locking mechanism is detachably connected with the manipulator and can realize locking connection with the manipulator under the driving of the moving finger; the device comprises a locking mechanism, a clamping control mechanism and a target device, wherein the locking mechanism is arranged on the front side surface of the locking mechanism, the clamping control mechanism comprises a fixed bayonet and an executing mechanism, the fixed bayonet is used for accommodating the target device, a trigger end and an executing tail end which are connected are arranged on the executing mechanism, and when the trigger end moves towards the center direction of the executing mechanism under the driving of a moving finger, the executing tail end is driven to move towards the center direction of the executing mechanism so as to trigger and control the target device.
  2. 2. The mechanical device for simultaneously capturing and controlling objects according to claim 1, wherein a locking cavity is formed on one side surface of the locking box, and locking holes are formed on two opposite side surfaces in the locking cavity; the locking mechanism comprises a main body frame, a first moving block and a second moving block are arranged in the main body frame, the first moving block is movably connected with one side frame of the main body frame through a first locking rod, and the second moving block is movably connected with the other side frame of the main body frame through a second locking rod; When the first moving block and the second moving block are driven by the moving fingers to move in opposite directions, the first locking rod and the second locking rod extend out of the main body frame to be matched with the corresponding locking hole, so that the locking between the manipulator and the locking mechanism is realized.
  3. 3. The mechanical device for simultaneously gripping and controlling objects according to claim 2, wherein the main frame is matched with the outer contour of the locking cavity; when the main body frame is assembled in the locking cavity, the first locking rod and the second locking rod are positioned in the locking cavity, the first locking rod is aligned with the locking hole on one side surface of the locking cavity, and the second locking rod is aligned with the locking hole on the other side surface of the locking cavity.
  4. 4. The mechanical device capable of simultaneously realizing grabbing and controlling objects according to claim 2, wherein the first moving block and the second moving block comprise a first rod body and a second rod body, and one end of the first rod body is connected with one end of the second rod body to form an L-shaped structure; The first rod body in the first motion block is fixedly connected with a first locking rod, and the first rod body in the second motion block is fixedly connected with a second locking rod; a first through hole is formed in one side frame of the main body frame, the first locking rod can reciprocate in the first through hole, a second through hole is formed in the other side frame of the main body frame, and the second locking rod can reciprocate in the second through hole; The upper end face of the main body frame is provided with a first notch, the second rod body in the first moving block can move back and forth in the first notch, the lower end face of the main body frame is provided with a second notch, and the second rod body in the second moving block can move back and forth in the second notch.
  5. 5. The mechanical device for simultaneously capturing and controlling objects according to claim 4, wherein one end of the first rod body is provided with a sliding hole extending from the first rod body to the second rod body and extending along the axial direction of the second rod body; the sliding mechanism comprises a main body frame, and is characterized in that a first sliding rod is arranged on one side frame of the main body frame, a first moving block can slide along the first sliding rod through a sliding hole arranged in the first moving block, a second sliding rod is arranged on the other side frame of the main body frame, and the second moving block can slide along the second sliding rod through a sliding hole arranged in the second moving block.
  6. 6. The mechanical device for simultaneously capturing and controlling objects according to claim 4, wherein a limiting bayonet is arranged at the tail end of the second rod body; When the first rod body in the first moving block moves to be attached to one side frame of the main body frame, the first locking rod is retracted into the main body frame, and when the limiting bayonet in the first moving block moves to be attached to one side frame of the main body frame, the first locking rod moves to an extreme position in a locking hole on one side surface of the locking cavity; When the first rod body in the second moving block moves to be attached to the other side frame of the main body frame, the second locking rod is retracted into the main body frame, and when the limiting bayonet in the second moving block moves to be attached to the other side frame of the main body frame, the second locking rod moves to the limit position in the locking hole on the other side surface of the locking cavity.
  7. 7. The mechanical device for simultaneously capturing and controlling an object according to claim 1, wherein the actuator comprises a clamping bayonet, a trigger end, a transmission member and an actuator end; The clamping bayonet is used for accommodating target equipment; the trigger end is triggered by the moving finger and drives the transmission piece when triggered; the transmission piece is triggered by the trigger end and drives the execution end when triggered; the execution end is triggered by the transmission piece, and trigger operation of the target equipment is completed when the execution end is triggered.
  8. 8. The mechanical device capable of simultaneously realizing grabbing and controlling objects according to claim 5, wherein a first spring pair is arranged between the first moving block and one side frame of the main body frame, a second spring pair is arranged between the second moving block and the other side frame of the main body frame, the first spring pair comprises a first spring and a second spring, the first spring is sleeved on the first locking rod, the second spring is sleeved on the first sliding rod, the second spring pair comprises a third spring and a fourth spring, the third spring is sleeved on the second locking rod, and the fourth spring is sleeved on the second sliding rod; When the limiting bayonet in the first moving block moves to be attached to one side frame of the main body frame, the first spring pair is in a compressed state, and when the first rod body in the first moving block moves to be attached to one side frame of the main body frame, the first spring pair is in a recovery state; When the limiting bayonet in the second moving block moves to be attached to the other side frame of the main body frame, the second spring pair is in a compressed state, and when the first rod body in the second moving block moves to be attached to the one side frame of the main body frame, the second spring pair is in a recovery state.
  9. 9. The mechanical device for simultaneously capturing and controlling an object according to claim 1, wherein an elastic switch is arranged on the target device, and when the trigger end moves towards the center direction of the executing mechanism under the driving of the moving finger, the trigger end is driven to move towards the center direction of the executing mechanism so as to trigger and operate the target device.
  10. 10. A robot comprising the mechanical device for simultaneously gripping and controlling an object according to any one of claims 1 to 9, and further comprising a mechanical arm; the mechanical device capable of simultaneously realizing grabbing and controlling the object is arranged at the tail end of the mechanical arm.

Description

Mechanical device capable of simultaneously realizing object grabbing and controlling and robot Technical Field The invention relates to an intelligent robot, in particular to a mechanical device and a robot capable of simultaneously achieving grabbing and controlling of objects. Background The intelligent robot is an intelligent electric appliance, and can automatically finish the work of floor cleaning, desktop cleaning, sundry storage, video monitoring and the like in a room by means of certain artificial intelligence. If the intelligent sweeping robot can absorb the sundries on the ground into the garbage storage box of the intelligent sweeping robot, the function of cleaning the ground is completed. The intelligent robot technology on the market at present has a single functional main body, for example, a sweeping robot can only clean hair, dust, small particle garbage and the like, has single function and has few other functions besides the basic functions. The function singleization of intelligent robot has restricted intelligent robot function pluralism, makes intelligent robot be difficult to be suitable for other service scenarios. The intelligent robot in the prior art is often limited by a single function of the manipulator, and can not clamp and operate tools at the same time, so that additional power elements are often added to assist in clamping or operating, the complexity and cost of the manipulator are greatly increased, and the use scene of the intelligent robot is limited. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a mechanical device and a robot capable of simultaneously realizing grabbing and controlling objects. According to the invention, the mechanical device capable of simultaneously realizing grabbing and controlling the object comprises: the mechanical arm comprises a locking box and moving fingers, wherein at least two moving fingers are arranged on the locking box, and the two moving fingers can move to different positions in opposite directions and back to each other so as to realize clamping and releasing; The locking mechanism is detachably connected with the manipulator and can realize locking connection with the manipulator under the driving of the moving finger; The clamping control mechanism is arranged on the front side surface of the locking mechanism and comprises a fixed bayonet and an executing mechanism, wherein the fixed bayonet is used for accommodating target equipment, the executing mechanism is provided with a trigger end and an executing tail end which are connected, and when the trigger end moves towards the center direction of the executing mechanism under the driving of the moving finger, the executing tail end is driven by the driving piece to execute operation on the target equipment towards the executing mechanism. Preferably, a locking cavity is formed in one side surface of the locking box, and locking holes are formed in two opposite side surfaces in the locking cavity; the locking mechanism comprises a main body frame, a first moving block and a second moving block are arranged in the main body frame, the first moving block is movably connected with one side frame of the main body frame through a first locking rod, and the second moving block is movably connected with the other side frame of the main body frame through a second locking rod; When the first moving block and the second moving block are driven by the moving fingers to move in opposite directions, the first locking rod and the second locking rod extend out of the main body frame to be matched with the corresponding locking hole, so that the locking between the manipulator and the locking mechanism is realized. Preferably, the main body frame is matched with the outer contour of the locking cavity; when the main body frame is assembled in the locking cavity, the first locking rod and the second locking rod are positioned in the locking cavity, the first locking rod is aligned with the locking hole on one side surface of the locking cavity, and the second locking rod is aligned with the locking hole on the other side surface of the locking cavity. Preferably, the first motion block and the second motion block comprise a first rod body and a second rod body, wherein one end of the first rod body is connected with one end of the second rod body to form an L-shaped structure; The first rod body in the first motion block is fixedly connected with a first locking rod, and the first rod body in the second motion block is fixedly connected with a second locking rod; a first through hole is formed in one side frame of the main body frame, the first locking rod can reciprocate in the first through hole, a second through hole is formed in the other side frame of the main body frame, and the second locking rod can reciprocate in the second through hole; The upper end face of the main body frame is provided with a first notch, the second rod body in t