CN107253205A - Mobile robot - Google Patents
Mobile robot Download PDFInfo
- Publication number
- CN107253205A CN107253205A CN201710654106.7A CN201710654106A CN107253205A CN 107253205 A CN107253205 A CN 107253205A CN 201710654106 A CN201710654106 A CN 201710654106A CN 107253205 A CN107253205 A CN 107253205A
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- China
- Prior art keywords
- case
- shell wall
- mobile robot
- shell
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Electric Suction Cleaners (AREA)
Abstract
The invention discloses a kind of mobile robot, the mobile robot includes robot housing and case, robot housing has relative the first shell wall and the second shell wall, first shell wall and second shell wall are revealed in external environment, and case runs through first shell wall and second shell wall of the robot housing.The height of the case of the mobile robot can not be limited by robot housing, so as to increase the volume of case, reduced the frequency of the content of user's process container device, largely reduced the workload of user's process container device.
Description
Technical field
The present invention relates to cleaning equipment field, more particularly to a kind of mobile robot.
Background technology
Mobile robot is a kind of equipment of intelligent control movement to carry out various tasks.Mobile robot, especially takes
Be engaged in robot, for example, clean robot, grass-removing robot, gradually become very common in daily life.It is artificial with cleaning machine
Example, clean robot is the service robot for being used to handle surface to be cleaned (such as floor, glass).Clean robot is more next
It is applied to more in daily life staying idle at home, especially applies more extensive in western countries.Clean robot is all set
There is case, for example, dustbin, carrier fluid case or sewerage recovering box, etc..Dustbin is used to collect rubbish in floor cleaning
Rubbish.Carrier fluid case is used to contain water or thimerosal, and when clean robot is travelled, the water or liquid of carrier fluid case flow to face to be cleaned, make
The stain in face to be cleaned is easier to be cleaned or is easy to treat clean surface and carries out disinfection, sewerage recovering box is treated clearly for recovery
The sewage of face cleaning.
In the prior art, clean robot includes top shell and chassis, and case is located between top shell and chassis, and container
Device is arranged at afterbody or the top of clean robot.In case in the scheme of clean robot afterbody, top shell is
Continuous entity, the position that chassis corresponds to case is also continuous entity so that the height of case receives limit
System, so that the volume of case is restricted, operator mounts and dismounts case by drawing and pulling type.In container
Device also needs to set a retractable cover, chassis correspondence in the scheme on clean robot top above case
In the position of case be continuous entity so that the height of case is restricted, so that case
Volume is restricted.
That is, the volume of case is too small in the scheme of prior art, when case is dustbin, such knot
Structure causes the rubbish in the frequent process container device of user's needs, and when case is carrier fluid case, user needs continually to add
Plus cleaning solution or water, it is so a variety of, increase the workload of user, weaken the meaning that user uses clean robot.Also, it is existing
The case for having technology is capped or cover is covered, and needs lid or cover in opening to take out container during removable container device
Device, dismounting and installation case are inconvenient.
The content of the invention
The technical problems to be solved by the invention are that there is provided a kind of mobile robot, the container of the mobile robot
The height of device can not be limited by the robot housing of mobile robot, so as to increase the volume of case.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：
Embodiments of the invention provide a kind of mobile robot, and the mobile robot includes：
Robot housing, with relative the first shell wall and the second shell wall, first shell wall and second shell wall are aobvious
It is exposed to external environment；And
Case, through first shell wall and second shell wall of the robot housing.
In one embodiment, the case includes relative top shell and drain pan, the top shell and described first
Shell wall is concordant or the top shell is protruded from outside first shell wall, and the top shell is set to the transparent body, so that user is described
The situation in the case can be observed during mobile work robot by the top shell.
In one embodiment, first shell wall and second shell wall are set to：When the mobile robot just
Often during work, first shell wall is away from the face to be cleaned, and second shell wall is close to face to be cleaned；The case bag
Relative top shell and drain pan are included, the top shell is close to first shell wall, and the drain pan and second shell wall are concordant or described
Drain pan is close to second shell wall.
In one embodiment, the case is the transparent body.
In one embodiment, the position of the close case of first shell wall is provided with illuminating lamp or coloured silk
Bar lamp.
In one embodiment, the mobile robot also includes two moving assemblies, and the moving assembly is installed on
Second shell wall, the case is located between two moving assemblies.
In one embodiment, each moving assembly includes wheel, transmission case and motor, and the wheel is located at institute
One end of transmission case is stated, the motor is located at the other end of the transmission case, and the wheel and the motor are located at described pass
The same side of dynamic case, center line perpendicular to direction of advance of the wheel close to the mobile robot.
In one embodiment, the mobile robot also includes cleaning assemblies, and the cleaning assemblies is located at two institutes
State in front of moving assembly, and in front of the case.
In one embodiment, in one embodiment, the case is dustbin, carrier fluid case, sewage receipts
One or more of combinations among header.
The case is dustbin, and the case has the first opening, and first opening is by described clear
Clean component and the cleaning assemblies is directed at, for collecting the rubbish that the cleaning assemblies is cleaned；The mobile robot is also wrapped
Pressure relief assembly is included, the pressure relief assembly is adjacent with the case, the case is subtracted by one second opening with described
Press component ventable, the pressure relief assembly is used to produce suction to guide the rubbish to enter the case, described second
Rotatable door component is provided with opening.
In one embodiment, be provided with locking mechanism on first shell wall, the locking mechanism be used to lock or
Eject the case.
In one embodiment, the locking mechanism includes button, the first transmission arm, the second transmission arm, the first lock
Portion and the second latch part, one end of first transmission arm coordinate or are connected with the button, the other end and the described first lock
Portion coordinates or connected, and one end of second transmission arm coordinates or is connected with the button, the other end and second latch part
Coordinate or connect, first latch part and second latch part close to or the embedded case, pressing or touch institute
The locking mechanism can be made to be in the state opened or closed when stating button, first described in when the locking mechanism is in the state closed
Latch part and second latch part lock the case, the container dress when the locking mechanism is in the state opened
Put in non-locking state.
Compared with prior art, technical scheme at least has the advantages that：
In embodiments of the invention, because the mobile robot includes robot housing and case, the machine
People's housing includes the first shell wall and the second shell wall, and first shell wall and second shell wall are revealed in external environment, container
Device runs through first shell wall and second shell wall of the robot housing, therefore, and the case can not be by
The height of the limitation of robot housing, especially case can not be limited by robot housing, so that case
Can be concordant with the first shell wall and/or the second shell wall or case be set to protrude from the first shell wall and/or the second shell wall, from
And increase the volume of case, the frequency of the content of user's process container device is reduced, user is largely reduced
The workload of process container device.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other variants are obtained according to these accompanying drawings.
Fig. 1 a are the structural representations that robot housing and case are separated in embodiments of the invention；
Fig. 1 b are schematic top plan views when mobile robot is normally placed in embodiments of the invention；
Fig. 1 c are elevational schematic views when mobile robot is normally placed in embodiments of the invention；
Fig. 1 d are the diagrammatic cross-sections along the cutting line A-A in Fig. 1 b of mobile robot in embodiments of the invention；
Fig. 1 e are that the structure of mobile robot in embodiments of the invention splits schematic diagram；
Fig. 2 a are the dimensional structure diagrams of case in embodiments of the invention；
Fig. 2 b are the schematic side views of case in embodiments of the invention；
Fig. 3 a and 3b are that the structure of case in embodiments of the invention splits schematic diagram；
Fig. 4 a are the inside structures of the first shell wall of mobile robot in embodiments of the invention and for locking the appearance
The structural representation of the locking mechanism of device device；
Fig. 4 b are the partial enlarged drawings of I parts in Fig. 4 a；
Fig. 4 c are the structural representations of locking mechanism in embodiments of the invention；
Fig. 4 d are the diagrammatic cross-sections along the cutting line B-B in Fig. 1 b of mobile robot in embodiments of the invention；With
And
Fig. 5 is the structural representation of the moving assembly of mobile robot in embodiments of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly retouched
State, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Unless otherwise specified, this paper orientation term "front", "rear", "left", "right" is relative to mobile robot
For direction of advance during normal work, front refers to the direction that cleaning equipment is advanced.Term " on " " under " " bottom " or " top " is
It is using the laying state during cleaning equipment normal work as reference.
Also referring to Fig. 1 a, 1b, 1c and 1d, Fig. 1 a are robot housing and case point in embodiments of the invention
The structural representation opened；Fig. 1 b are schematic top plan views when mobile robot is normally placed in embodiments of the invention；Fig. 1 c are
Elevational schematic view when mobile robot is normally placed in embodiments of the invention；Fig. 1 d are moving machines in embodiments of the invention
The diagrammatic cross-section along the cutting line A-A in Fig. 1 b of device people；Fig. 1 e are the structures of mobile robot in embodiments of the invention
Split schematic diagram.The mobile robot that embodiments of the invention are provided includes robot housing 10 and case 20.It is described
Robot housing 10 has relative the first shell wall 110 and the second shell wall 120, first shell wall 110 and second shell wall
120 are revealed in external environment, that is, robot housing 10 has generally defined the appearance profile of the mobile robot.When
When mobile robot is in normal operating conditions, first shell wall 110 is away from face to be cleaned or is traveling face, the second shell wall
120 close to the face to be cleaned or are traveling face.Formed between first shell wall 110 and second shell wall 120 and accommodate sky
Between, for accommodating each mechanical part and electronic unit.Mobile robot in the present embodiment is generally circular, but this only shows
Example, in other embodiments, can also be square, triangle, hexagon, humanoid either other shapes or variously-shaped
Combination.Arrow f in Fig. 1 c illustrates the direction of advance of the mobile robot.In certain embodiments, robot housing 10
Buffer 80 can also be included, buffer 80 is located at the front portion of the mobile robot, for sensing the barrier encountered.It is described
Mobile robot also includes control system, and all parts for controlling the mobile robot make mobile robot independently complete
Into task.The mobile robot can also include other barrier detectors, positioning and navigation module, charging device, remote control
Device and miscellaneous part of the prior art, are not repeated herein.
The case 20 runs through first shell wall 110 and second shell wall 120 of robot housing 10, also
That is, from external environment it can be seen that case 20.Case 20 has top shell 210 and drain pan 220 (referring to Fig. 2 a).Tool
Body, from Fig. 1 e, the first shell wall 110 has first window 111, and the second shell wall 120 has the second window 121, container dress
The top shell 210 for putting 20 is exposed from the first shell wall 110, and the drain pan of case 20 exposes from the second shell wall 120.The top shell 210
Close to the first shell wall 110, the drain pan is close to second shell wall 120.In one embodiment, the top of the case 20
Shell 210 is concordant with first shell wall 110.In another embodiment, top shell 210 protrude from first shell wall 110 and
Stretch out.It should be understood that container in one embodiment, the top shell 210 of device 20 can be relative to the first shell
Wall 110 is retracted a small distance into mobile robot.In one embodiment, the drain pan 220 of the case 20 and institute
State the second shell wall 120 concordant.In another embodiment, drain pan 220 protrudes from second shell wall 120 and stretched out.By
Run through first shell wall 110 and second shell wall 120 of robot housing 10, therefore, case in case 20
20 height can not be limited by the thickness of the first shell wall 110 and the second shell wall 120, so as to increase the appearance of case 20
Product, when case 20 is used for load garbage and sewage, user is without because case 20 is easily filled and is frequently handled
Rubbish；When case 20 is used to load wax liquor, thimerosal, water or other cleaning solutions, without often frequently adding wax liquor, disappearing
Venom, water or other cleaning solutions.In this way, greatly reducing the workload of user.In addition, when the top shell 210 of case 20
The transparent body or translucent body are set to, user can observe the situation in case 20 at any time, without setting rubbish sensor
Deng both having saved cost, and reduced technology difficulty, it is accurate to the observation visual result in case 20 to cause again.
It should be understood that in one embodiment, as needed or hobby, the drain pan 220 of case 20 can be with
A small distance is retracted into mobile robot relative to second shell wall 120.
Specifically, the top shell 210 of the case 20 is set to the transparent body, so that user is in the mobile robot work
The situation in the case 20 can be observed when making by the top shell 210.In further embodiments, the container dress
It is of entirely transparent to put 20, and the situation in case 20 can be also clearly observed without opening case 20.It is described to hold
Device device 20 can be one kind or a variety of combination therein among dustbin, carrier fluid case, dirty water collecting tank, for example, can be
The combination of dustbin or dustbin and carrier fluid case.Certainly, the case 20 can be also used for containing or collect visitor
Other desired materials of family.In one embodiment, case 20 is the dustbin for containing rubbish.The rubbish includes
Other waste products that dust, chip, dirt and user throw away.In addition, when mentioning particle herein, particle includes but is not limited to ash
Dirt, chip, dirt and other waste products.
Further, the position of the close case 20 of first shell wall 110 is provided with lamp assembly 30, lamp
Tool component 30 can be packaged in the illuminating lamp or colour bar lamp on circuit board.In one embodiment, lamp assembly 30 is along
The edge of the first window 111 of one shell wall 110 is set, and is enclosed around first window 111 1.In one embodiment, lamp assembly 30
It can also be arranged on case 20.Lamp assembly 30 can also be arranged at the first shell wall 110 other can illuminate container
The position of device 20.Lamp assembly 30 can be that case 20 is illuminated at night so that user can see appearance in the dark
Situation in device device 20, for example, it can be seen that whether the rubbish in case is full, so that user is in the appropriate time
Rubbish is handled, so, it is possible to the sensor that need not set rubbish detection related in the mobile robot, reduced into
This, in the prior art for detecting that the sensor of rubbish there may come a time when to malfunction, testing result may be inaccurate, but uses this hair
Case in bright embodiment can avoid such mistake.It is understood that in the present embodiment, the lamp assembly 30
Can be used to decorate, mobile robot is shown the position of mobile robot in night operation, and increase aesthetic feeling.
In one embodiment, the mobile robot also includes cleaning assemblies 50 and two moving assemblies 40, described clear
Clean component 50 is located at the front of two moving assemblies 40, and positioned at the front of the case 20.Cleaning assemblies 50
It is more than the distance between two moving assemblies 50 across the width of robot housing 10, that is, cleaning assemblies 50 is across robot
The width of housing 10 is more than the width of two moving assemblies 50 across robot housing 10, described across referring to perpendicular to movement
The bearing of trend of direction of advance during robot normal work.The cleaning assemblies 50 includes the first cleaning sub-component 510 and the
Two cleaning sub-components 520.The first cleaning sub-component 510 is set at least one, it is preferable that the first cleaning sub-component
510 are set to two, respectively positioned at the both sides of the robot housing 10 (on the basis of direction of advance).First cleaning
Sub-component 510 rotates (for example, around axle rotation perpendicular to face to be cleaned) around the axle for being not parallel to face to be cleaned, treats clear to stir
Dirt (rubbish) in face cleaning (such as ground).
The second cleaning sub-component 520 is across robot housing 10, around the axle rotation parallel to face to be cleaned, by the
The rubbish that one cleaning sub-component 510 is stirred is swept in the case 20.The second cleaning sub-component 520 can be further
Two including rotating against can round brush.
The mobile robot also includes pressure relief assembly 90, and pressure relief assembly 90 is adjacent with case 20, and is filled with container
Can mutual vent flow between putting 20.In one embodiment, pressure relief assembly 90 is arranged at the rear of case 20.Pressure relief assembly
90 are used to make space that is inside the mobile robot and connecting with the pressure relief assembly produce the pressure smaller than external environment
Power, for example, pressure relief assembly 90 is blower fan or other vacuum subassemblies.When pressure relief assembly 90 starts, become the air pressure of case 20
Small or be changed into vacuum, the air pressure in the space where cleaning assemblies 50 also diminishes therewith, so that extraneous (for example, face to be cleaned)
Air-flow pour into cleaning assemblies 50, make the rubbish on face to be cleaned by the suction towards case 20, so that will be to be cleaned
Rubbish suction case 20 on rubbish and cleaning assemblies 50 on face.
Specifically, the three-dimensional knot that Fig. 2 a, Fig. 2 b, 3a and 3b, Fig. 2 a are cases in embodiments of the invention is referred to
Structure schematic diagram；Fig. 2 b are the schematic side views of case in embodiments of the invention；Fig. 3 a and 3b are embodiments of the invention
The structure of middle case splits schematic diagram.
Case 20 includes top shell 210, drain pan 220 and side wall 260.The top shell 210 and drain pan 220 are oppositely arranged,
The connection top shell 210 of side wall 260 and drain pan 220.In one embodiment, the He of the first opening 230 is provided with side wall 260
Second opening 240.First opening 230 is adjacent with cleaning assemblies 50, and is directed at the second cleaning sub-component 520.In one embodiment
In, the air-flow in the space where the second cleaning sub-component 520 is oriented to first opening 230 by a guide channel 521.First is clear
Clean sub-component 510 and second cleaning sub-component 520 is swept to the rubbish or the grass that is cut off of mobile robot and opened by first
Mouth 230 enters case 20.The case 20 is ventilated by the second opening 240 with the pressure relief assembly 90, described to subtract
Pressure component 90 is used to produce suction to guide the rubbish or grass to enter the case 20.Set at second opening 240
It is equipped with rotatable door component 250.
The door component can be rotated around axle 251.The axle 251 is arranged at a part of edge of second opening 240,
In one embodiment, axle 251 is arranged on side wall 260.The door component 250 is rotated and is opened or closed around the axle 251,
It is intermeshed when the door component 250 is closed with the described second opening 240, forms the screen taken blocking effect to particle (rubbish)
Barrier, door component 250 can discharge the content of the case 20 when opening from the case 20, such as rubbish, especially
It is dust.Because door component 250 is disposed on side wall, during cleaning case, as long as opening door component 250, and container is filled
Put 20 to be slightly tilted to the side of door component 250, the content such as rubbish in case 20 can be just poured out, Er Qieyong
Family easily clears up content from the second opening 240 outward, without turning over a bottom as prior art towards day.
In one embodiment, the door component 250 be arranged at the case 20 and the pressure relief assembly 90 it
Between, door component 250 includes filter mechanism 252, and the filter mechanism 252 is used to filter particle and other solids (for example, solid
Rubbish), i.e., filter mechanism 252 allows air-flow or liquid to pass through, but does not allow particle or other solids to pass through.
The door component 250 also includes nested frame 254, and the filter mechanism 252 is embedded in nested frame 254, the filter
Structure 252 includes inline boxes 2521 and filtration members 2523, and the filtration members 2523 are arranged at the inline boxes 2521, the inline boxes
The 2521 insertion nested framves 254, the nested frame 254 is rotatably connected at the axle 251.Filtration members 2523 can be filter
Net, filtering foam or other can be with the existing filtering object of filtration.Filter mechanism 252 can also include aided filter part
2524, aided filter part can be identical with filtration members 2523, can also be different.Specifically, the side of nested frame 254 is provided with recessed
Hole, the wall of pit is provided with multiple through holes, and the filter mechanism 252 is placed in the pit.
Door component 250 can also include the first sealing frame 255, and the first sealing frame 255 is arranged at nested frame 254 and container
Between the container side wall 260 of device 20；The filter mechanism 252 can also include the second sealing frame (not shown), described
Second sealing frame is arranged between the edge of nested frame 254 and the edge of filter mechanism 252；Filter mechanism 252 can also include
3rd sealing frame (not shown), the 3rd sealing frame is arranged at the edge and the inline boxes of the filtration members 2523
Between 2521.
In one embodiment, door component 250 can also include door lock 253, to lock or release door component 250.
In one embodiment, the side wall 260 includes relative the first container side wall 261 and second container side wall 262,
First opening 230 is arranged at first container side wall 261, and the first opening 230 can be less than first container
Side wall 261, second opening 240 is arranged at second container side wall 262.First opening 230 is perpendicular to the first shell wall
Width on 110 direction is less than the first container side wall 261.In one embodiment, the first opening 230 is perpendicular to first
Width on the direction of shell wall 110 is four points of width of first container side wall 261 on the direction perpendicular to the first shell wall 110
One of in the range of 1/2nd.
It is first of mobile robot in embodiments of the invention to please refer to Fig. 4 a, Fig. 4 b, Fig. 4 c and Fig. 4 d, Fig. 4 a
The inside structure of shell wall and for the structural representation for the locking mechanism for locking the case, Fig. 4 b are I parts in Fig. 4 a
Partial enlarged drawing, Fig. 4 c are the structural representations of locking mechanism in embodiments of the invention, and Fig. 4 d are embodiments of the invention
The diagrammatic cross-section along the cutting line B-B in Fig. 1 b of middle mobile robot.In one embodiment of the present of invention, the first shell wall
Be provided with locking mechanism 60 on 110, the locking mechanism 60 be used to lock case 20 from mobile robot main body or
Ejection.
In one embodiment, the locking mechanism 60 include button 610, the first transmission arm 620, the second transmission arm 630,
First latch part 640 and the second latch part 650, one end of first transmission arm 620 coordinate or are connected with the button 610,
The other end coordinates or is connected with first latch part 640, and one end of second transmission arm 630 coordinates with the button 610
Or connect, the other end coordinates or is connected with second latch part.First latch part 640 and the second latch part 650 are close to described
Case 20.Preferably, the first latch part 640 and the second latch part 650 are located at the relative both sides of case 20 respectively.
First latch part 640 and the clamping of the second latch part 650 case 20.The button is stirred in pressing or movement
The locking mechanism 60 can be made to be in the state opened or closed when 610, the first lock described in when locking mechanism 60 is in the state closed
Buckle 620 and second latch part 630 locking case 20, when the locking mechanism 60 is in the state opened, container dress
Put 20 and be in non-locking state.
In one embodiment, button 610 can include key main body 613, the first extension 611 and the second extension
612, the first extension 611 and the second extension 612 are respectively positioned at the both sides of key main body 613.First extension 611 and first
Transmission arm 620 is contacted, and the second extension 612 is contacted with the second transmission arm 630, and the first transmission arm 620 and the first latch part 640 can
To be to be integrally formed, the second transmission arm 630 can be integrally formed with the second latch part 650.It is understood that at another
In embodiment, the first transmission arm 620 can be contacted in the form of transmission with the first latch part 640, the second transmission arm 630 and
Two latch parts 650 can be contacted in the form of transmission.When pressing or touching button 610, the first extension of button 610
611 drive the first transmission arm 620, and the second extension 612 drives the second transmission arm 630, and the first transmission arm 620 drives first to latch
Portion 640 makes it away from case 20, and the second transmission arm 630 drives the second latch part 650 away from case 20, so as to will hold
Device device 20 discharges, and case 20 is in non-locking state.
In one embodiment, the end of the remote key main body 613 of the first extension 611 does sloping 6111, second
Do sloping 6121 in the end of the remote key main body 613 of extension 612.The transmission arm 620 of slope 6111 and first away from the
One end docking of one latch part 640, slope 6121 is docked with one end away from the second latch part 650 of the second transmission arm 630.
On the side wall 260 of case 20 the first groove is respectively arranged with corresponding to the latch part 650 of the first latch part 640 and second
263, when locking mechanism 60 is in the lock state, the first latch part 640 and the second latch part 650 are stuck in each self-corresponding
At first groove 263.The side wall 260 of case 20 or bottom are also provided with least two second grooves 264, right
At least two second grooves 264 described in Ying Yu are provided with elastic component on the second shell wall 120 respectively, in the quilt of case 20
Case 20 is ejected after release, for example, elastic component 680 and 690 (Fig. 4 d).
The inclined-plane on slope 6111 and 6121 can face away from the side of the first shell wall 110, when pushing button 610, tiltedly
The motion (to robot interior) downwards of slope 6111 and 6121, slope 6111 contradicts the first transmission arm 620, makes the first transmission arm 620
Mobile (toward the direction away from button 610) outward, so as to promote the first latch part 640 outwards, slope 6121 contradicts second and is driven
Arm 630, makes the second transmission arm 630 mobile (toward the direction away from button 610) outward, so that promote the second latch part 650 outwards,
So as to which the first latch part 640 and the second latch part 650 are moved away from into respective first groove 263 respectively, so as to discharge case
20.Then, elastic component 680 and 690 is respectively upspring case 20 by respective second groove 264, makes case 20
The outer surface certain distance of the first shell wall 110 is protruded from, facilitates user to take out case 20 and is cleared up.
Further, one end of the remote case 20 of the first latch part 640 is provided with elastic component 660, elastic component
660 are installed on the first shell wall 110 (it is understood that can also be installed on what other can be fixed by elastic component seat 661
On part), one end of the remote case 20 of the second latch part 650 is provided with elastic component 670, and elastic component 670 passes through elasticity
Part seat 671 is installed on the first shell wall 110 (it is understood that can also be installed on the part of other fixations).Work as user
Case 20 has been cleared up, when case 20 is attached in mobile robot main body, has directly been put into case 20
Receiving space formed by the window 121 of first window 111 and second is at least partially based on, and downwards (to the inside of mobile robot)
By case, when the first latch part 640 and the second latch part 650 are respectively aligned to the first groove 263, elastic component 660 and bullet
Property part 670 resets respectively, so that the first latch part 640 and the second latch part 650 are pushed into two the first grooves 263 respectively, from
And lock case 20.The locking mechanism 60 greatly simplify the difficulty of user installation and removable container device, make user more
Easily.
In one embodiment, it is provided with the first shell wall 110 for the spacing shell to 20 position-limiting actions of case
70, the empty window 730 that the spacing formation of shell 70 one is engaged with the shape of case 20, case 20 can be placed in sky window 730.
The position for corresponding to the first latch part 640 and the second latch part 650 on spacing shell 70 is respectively arranged with through hole 711, the first lock
When the latch part 650 of portion 640 and second pins case, the first latch part 640 and the second latch part 650 are each passed through through hole
711 contact with case 20.
In one embodiment, locking mechanism 60 can limit the work of locking mechanism by the cooperation of through hole and gag lever post
Dynamic scope.For example, refer to Fig. 4 a and 4c, by being arranged at the through hole 6013 of the first transmission arm 620 and through through hole 6013
Gag lever post 6023 limits the scope of activities of the first transmission arm 620；By being arranged at the through hole 6014 of the second transmission arm 630 and wearing
The gag lever post 6024 of through hole 6014 is crossed to limit the scope of activities of the second transmission arm 630；By being arranged at the first latch part 640
Through hole 6011 and limit the scope of activities of the first latch part 640 through the gag lever post 6021 of through hole 6011；By being arranged at
The through hole 6012 of two latch parts 650 and limit the movable model of the second latch part 650 through the gag lever post 6022 of through hole 6012
Enclose.
It is to look up signal when mobile robot is normally placed in embodiments of the invention to refer to Fig. 1 c and Fig. 5, Fig. 1 c
Figure, Fig. 5 is the structural representation of the moving assembly of mobile robot in embodiments of the invention.The mobile robot also includes
At least two moving assemblies 40, moving assembly 40 can be installed on housing 10, it is preferred that can be installed on second shell wall
120, case 20 can be located between two moving assemblies 40.Second cleaning sub-component 520 is located at moving assembly 40
And the front of case 20, and second cleaning sub-component 520 be located on or near the mobile robot perpendicular to advance side
To center line m.
In one embodiment, moving assembly 20 includes wheel 410, transmission case 420 and motor 430.Wheel 410 is arranged at
One end of transmission case 420, motor 430 is located at the other end of transmission case 420, and motor 430 is that wheel 410 is carried by transmission case 420
For power, rotate wheel 410.Wheel 410 and motor 430 are located at the same side of transmission case 420, for example, wheel 410
It is located at the side towards case 20 of transmission case 420 with motor 430.The wheel 410 is disposed proximate to the movement
The center line m perpendicular to direction of advance of robot, the transmission case 420 and motor 430 are arranged to away from described perpendicular to preceding
Enter the center line m in direction.In the embodiment that the mobile robot is circular, center line m is located at the vertical of the mobile robot
In on the straight line where the diameter in direction of advance.In this way, wheel 410 is as can be used as load-supporting part while moving parts
And close proximity to the centre position of the mobile robot, it is more beneficial for movement and the stability of the mobile robot；In addition,
Being arranged such the moving assembly 40 can make the second cleaning sub-component 520 closer to center line m, make the second cleaning sub-component 520
It is longer along the length on center line m directions, so as to increase the working width of the mobile robot, mobile robot is improved as clear
Cleaning efficiency during clean robot.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the feature that the embodiment or example are described
It is contained at least one embodiment of the present invention or example.In this manual, the schematic representation of above-mentioned term is differed
Surely identical embodiment or example are referred to.Moreover, specific features, structure, material or the feature of description can be any one
Combined in an appropriate manner in individual or multiple embodiments or example.
Embodiments described above, does not constitute the restriction to the technical scheme protection domain.It is any in above-mentioned implementation
Modifications, equivalent substitutions and improvements made within the spirit and principle of mode etc., should be included in the protection model of the technical scheme
Within enclosing.
Claims (12)
1. a kind of mobile robot, it is characterised in that the mobile robot includes：
Robot housing, with relative the first shell wall and the second shell wall, first shell wall and second shell wall are revealed in
External environment；And
Case, through first shell wall and second shell wall of the robot housing.
2. mobile robot as claimed in claim 1, it is characterised in that the case includes relative top shell and bottom
Shell, the top shell is concordant with first shell wall or the top shell is protruded from outside first shell wall, and the top shell is set to
The transparent body, so that user can observe the feelings in the case in the mobile work robot by the top shell
Condition.
3. mobile robot as claimed in claim 1, it is characterised in that first shell wall and second shell wall are set
For：When the mobile robot normal work, first shell wall is away from the face to be cleaned, and second shell wall is close to be treated
Clean surface；The case includes relative top shell and drain pan, and the top shell is close to first shell wall, the drain pan and institute
State that the second shell wall is concordant or the drain pan is close to second shell wall.
4. mobile robot as claimed in claim 1, it is characterised in that the case is the transparent body.
5. the mobile robot as described in any one of Claims 1-4, it is characterised in that first shell wall close to described
The position of case is provided with illuminating lamp or colour bar lamp.
6. the mobile robot as described in any one of Claims 1-4, it is characterised in that the mobile robot also includes two
Individual moving assembly, the moving assembly is installed on second shell wall, the case be located at two moving assemblies it
Between.
7. mobile robot as claimed in claim 6, it is characterised in that each moving assembly includes wheel, transmission case
And motor, the wheel is positioned at one end of the transmission case, and the motor is located at the other end of the transmission case, and the wheel
It is located at the same side of the transmission case with the motor, the wheel is close to the mobile robot perpendicular to direction of advance
Center line.
8. mobile robot as claimed in claim 6, it is characterised in that the mobile robot also includes cleaning assemblies, institute
Cleaning assemblies is stated in front of two moving assemblies, and in front of the case.
9. mobile robot as claimed in claim 8, it is characterised in that the case is dustbin, carrier fluid case, sewage
One or more of combinations among collecting box.
10. mobile robot as claimed in claim 8, it is characterised in that the case is dustbin, the container dress
Put with the first opening, first opening is by the cleaning assemblies and is directed at the cleaning assemblies, described for collecting
The rubbish that cleaning assemblies is cleaned；The mobile robot also includes pressure relief assembly, the pressure relief assembly and the case phase
Neighbour, the case by one second opening it is ventable with the pressure relief assembly, the pressure relief assembly for produce suction with
Guide the rubbish to enter at the case, second opening and be provided with rotatable door component.
11. the mobile robot as described in any one of Claims 1-4, it is characterised in that be provided with lock on first shell wall
Determine mechanism, the locking mechanism is used to locking or ejecting the case, and the locking mechanism includes button, the first transmission
Arm, the second transmission arm, the first latch part and the second latch part, one end of first transmission arm coordinate or connected with the button
Connect, the other end coordinates or is connected with first latch part, one end of second transmission arm coordinates or is connected with the button,
The other end coordinates or is connected with second latch part, and first latch part and second latch part are close or embedded described
Case, presses or the locking mechanism can be made to be in the state opened or closed when touching the button, when the locking mechanism
First latch part described in during state in pass and second latch part lock the case, at the locking mechanism
The case is in non-locking state when the state opened.
12. a kind of mobile robot, it is characterised in that the mobile robot includes：
Robot housing, with relative the first shell wall and the second shell wall, first shell wall and second shell wall are revealed in
External environment；
Two moving assemblies, the moving assembly is installed on second shell wall, for moving the mobile robot；
Case, through first shell wall and second shell wall of the robot housing, and positioned at described in two
Between moving assembly；And
Cleaning assemblies, is installed on second shell wall, and in front of two moving assemblies and the case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710654106.7A CN107253205B (en) | 2017-08-03 | 2017-08-03 | Mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710654106.7A CN107253205B (en) | 2017-08-03 | 2017-08-03 | Mobile robot |
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| Publication Number | Publication Date |
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| CN107253205A true CN107253205A (en) | 2017-10-17 |
| CN107253205B CN107253205B (en) | 2023-06-20 |
Family
ID=60025751
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710654106.7A Active CN107253205B (en) | 2017-08-03 | 2017-08-03 | Mobile robot |
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| Country | Link |
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| CN (1) | CN107253205B (en) |
Cited By (1)
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| WO2019024376A1 (en) * | 2017-08-03 | 2019-02-07 | 深圳市银星智能科技股份有限公司 | Mobile robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107253205B (en) | 2023-06-20 |
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Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Applicant after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 D, Longhua science and Technology Park, Guanfu street, Longhua, Shenzhen. Applicant before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |
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