CN109068908B - 机器人清洁设备 - Google Patents
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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Abstract
一种机器人清洁设备(10),包括:主体(16);至少一个驱动轮(12),所述至少一个驱动轮用于在水平地面(14)上驱动所述机器人清洁设备(10);至少一个链接构件(44),所述至少一个链接构件围绕悬挂轴线(54)旋转地联接到所述主体(16)并且围绕驱动轮轴线(56)旋转地支撑所述至少一个驱动轮(12),使得通过将所述链接构件(44)围绕所述悬挂轴线(54)在第一方向(58)上旋转,可以将所述主体(16)的至少一部分从更接近所述地面(14)的降低位置升高到更远离所述地面(14)的升高位置;以及第一弹簧构件(46)和第二弹簧构件(48),这两个弹簧构件各自被安排成在所述链接构件(44)上围绕所述悬挂轴线(54)在所述第一方向(58)上提供力矩,以将所述至少一个驱动轮(12)压向所述地面(14);其中,由所述第一弹簧构件(46)提供的力矩在所述降低位置处高于在所述升高位置处,并且由所述第二弹簧构件(48)提供的力矩在所述升高位置处高于在所述降低位置处。
Description
技术领域
本发明总体上涉及机器人清洁设备。具体地,提供了一种机器人清洁设备,所述机器人清洁设备包括至少一个驱动轮以及与所述至少一个驱动轮相关联的第一弹簧构件和第二弹簧构件。
背景技术
一些机器人清洁设备,比如真空清洁机器人,将拉力弹簧悬架用于驱动轮。弹簧力有助于在厚地毯上行进以及爬过门槛、电力电缆和其他物体。
此外,一些机器人清洁设备部分地或完全依赖于测程法,即,将轮子旋转用作反馈以控制机器人的位置。如果轮子在行进表面上滑动,则对机器人的位置控制可能变差。
WO 2014151501 A1披露了一种移动式表面清洁机器人,其中,每个驱动轮由驱动轮悬架臂可旋转地支撑,所述驱动轮悬架臂具有枢转地联接到机器人本体的第一端部和可旋转地支撑所述驱动轮的第二端部、以及将所述驱动轮偏置朝向地板表面的驱动轮螺旋悬架弹簧。此螺旋悬架弹簧在其最小拉伸和在其最大拉伸时都不能够提供相同的力。换言之,当机器人采用使机器人本体接近地面的低位置时,悬架弹簧处于拉伸状态,并且由此提供相对较高的力(根据胡克定律)。然而,当机器人采用使机器人本体升高高于地面上方的升高位置时,悬架弹簧处于较小拉伸状态,并且由此提供相对较低的力。因此,当机器人采用升高位置时,由悬架弹簧生成的、抵靠地面向下推动驱动轮的力相当低。由此,轮子滑动或旋转的风险增加,并且对机器人的位置控制相应变差。
发明内容
本披露的一个目的是提供一种具有改进的行进性能的机器人清洁设备。
本披露的另一个目的是提供一种具有改进的清洁性能的机器人清洁设备。
本披露的又一个目的是提供一种机器人清洁设备,所述机器人清洁设备在一个或多个驱动轮与地面之间具有改进的手柄,具体地,是当所述机器人清洁设备采用升高位置时在一个或多个驱动轮与地面之间的改进手柄。
本披露的又进一步目的是提供一种机器人清洁设备,所述机器人清洁设备具有用于其驱动轮中的一个或多个驱动轮的紧凑且简单的弹簧安排。
根据一个方面,提供了一种机器人清洁设备,所述机器人清洁设备包括:主体;至少一个驱动轮,所述至少一个驱动轮用于在水平地面上驱动所述机器人清洁设备;至少一个链接构件,所述至少一个链接构件围绕悬挂轴线旋转地联接到所述主体并且围绕驱动轮轴线旋转地支撑所述至少一个驱动轮,使得通过将所述链接构件围绕所述悬挂轴线在第一方向上旋转,可以将所述主体的至少一部分从更接近所述地面的降低位置升高到更远离所述地面的升高位置;以及第一弹簧构件和第二弹簧构件,这两个弹簧构件各自被安排成在所述链接构件上围绕所述悬挂轴线在所述第一方向上提供力矩,以将所述至少一个驱动轮压向所述地面;其中,由所述第一弹簧构件提供的力矩在所述降低位置处高于在所述升高位置处,并且由所述第二弹簧构件提供的力矩在所述升高位置处高于在所述降低位置处。
所述第一弹簧构件可以被安排成:当主体处于降低位置时,在链接构件上围绕悬挂轴线在第一方向上提供较高的第一力矩;并且当主体处于升高位置时,在链接构件上围绕悬挂轴线在第一方向上提供较低的第二力矩。作为替代方案,所述第一弹簧构件可以被安排成:当主体处于降低位置时,在链接构件上围绕悬挂轴线在第一方向上提供力矩;并且当主体处于升高位置时,围绕悬挂轴线在链接构件上不提供、或基本上不提供(例如,小于当主体处于降低位置时提供的力矩的2%)力矩。
所述第二弹簧构件可以被安排成:当主体处于降低位置时,围绕悬挂轴线在链接构件上不提供、或基本上不提供(例如,小于当主体处于升高位置时提供的力矩的2%)力矩;并且当主体处于升高位置时,在链接构件上围绕悬挂轴线在第一方向上提供力矩。作为替代方案,所述第二弹簧构件可以被安排成:当主体处于降低位置时,在链接构件上围绕悬挂轴线在第一方向上提供较低的第一力矩;并且当主体处于升高位置时,在链接构件上围绕悬挂轴线在第一方向上提供较高的第二力矩。
所述第一弹簧构件和所述第二弹簧构件可以被安排成使得:当主体处于降低位置时,来自所述第一弹簧构件和所述第二弹簧构件的、围绕悬挂轴线在第一方向上作用在链接构件上的力矩的总和与处于升高位置时力矩的总和相同、或基本上相同(例如,小于5%的差异)。
当主体处于升高位置或处于降低位置时,链接构件也可以被认为处于对应的升高位置或降低位置。贯穿本披露,链接构件的升高位置可以是最大升高位置、或者是降低位置与最大升高位置之间的任何中间位置。在最大升高位置处,链接构件可以相对于水平地面倾斜30°至60°,比如40°至50°,比如45°。链接构件的最大升高位置可以由链接构件上的突出结构机械地限定,所述突出结构接合主体(或反之亦然)以便当链接构件已经达到最大升高位置时停止链接构件围绕悬挂轴线在第一方向上的进一步旋转。
所述机器人清洁设备可以由用于清洁表面的自动自推进机器,例如机器人真空吸尘器、机器人扫地机或机器人地板清洗机构成。根据本披露的机器人清洁设备能够用市电操作并且具有电绳、能够用电池操作或者使用任何其他种类的合适的能源,例如,太阳能。
主体可以具有各种不同的设计,比如总体上圆形或总体上三角形。主体可以具有取向与地面基本上平行的扁平外观。可以在主体中提供集尘器箱、电池、抽风机、吸嘴和驱动电子器件等。贯穿本披露,主体可以可替代地被称为机箱。尽管所述机器人清洁设备最通常被命令在水平地面上行进,但是也可以在不平坦和/或略微倾斜的表面上行进。
如本文中所使用的,竖直取向是基本上垂直于机器人清洁设备在其上行进的地面的取向,并且水平取向是基本上平行于机器人清洁设备在其上行进的地面的取向。如本文中所使用的基本上垂直/平行的关系包括完全垂直/平行的关系以及与完全垂直/平行的关系偏差达5%、比如达2%。
根据一种实现,机器人清洁设备包括用于在地面上驱动机器人清洁设备的两个驱动轮。这两个驱动轮可以被基本上同心地安排成围绕同心旋转轴线,所述同心旋转轴线基本上垂直于机器人清洁设备的前进方向。驱动轮可以包括任何合适的结构比如橡胶轮胎,以增加与地面的摩擦力。
链接构件可以由悬架臂或摆臂构成,即,链接构件可以具有安排和操作在基本上竖直的平面中的细长外观。链接构件可以由一个单件材料(例如,硬塑料)制成和/或可以是刚性的。
悬挂轴线可以例如包括连接到主体的枢转销或铰轴,以便将链接构件旋转地联接到主体以围绕悬挂轴线旋转。悬挂轴线可以被安排成基本上垂直于机器人清洁设备的前进方向。
此外,驱动轮轴线可以包括连接到链接构件的枢转销或铰轴,以便围绕驱动轮轴线旋转地支撑驱动轮。每条驱动轮轴线可以被安排成基本上垂直于机器人清洁设备的前进方向。
可以完全机械地实施对如本文中描述的机器人清洁设备的地板间隙控制。例如,如果机器人清洁设备遇到障碍物,来自障碍物(例如,地毯或门槛)对驱动轮的冲击力连同由第一弹簧构件(也可能由第二弹簧构件)在链接构件上围绕悬挂轴线在第一方向上提供的力矩一起可以足够将主体从降低位置升高到升高位置。一旦移除来自障碍物的冲击力,主体的重量克服由第二弹簧构件(也可能由第一弹簧构件)在链接构件上围绕悬挂轴线在第一方向上提供的力矩,并且主体被允许再次采用降低位置。当主体从升高位置降低到降低位置时,链接构件围绕悬挂轴线在与第一方向相反的第二方向上旋转。
所述一个或多个驱动轮可以相对于链接构件拖尾,即,对于每个驱动轮,悬挂轴线可以相对于机器人清洁设备的前进方向被安排在驱动轮轴线的前方。
贯穿本披露,降低位置和升高位置分别可以可替代地被称为低间隙位置或正常模式和高间隙位置或地毯模式。
第一弹簧构件可以由拉力弹簧例如盘簧构成。拉力弹簧可以在主体处于降低位置时拉伸较长的第一距离,并且在主体处于升高位置时拉伸较短的第二距离。由此,第一弹簧构件被安排成当主体处于降低位置时在链接构件上围绕悬挂轴线在第一方向上提供比当主体处于升高位置时更高的力矩。
可替代地,第一弹簧构件可以由压缩弹簧构成。所述压缩弹簧可以被安排成当主体处于降低位置时在链接构件上围绕悬挂轴线在第一方向上提供比当处于升高位置时更高的力矩。即,压缩弹簧可以在主体处于降低位置时压缩较长的第一距离(更多压缩),并且在主体处于升高位置时压缩较短的第二距离(更少压缩)。压缩弹簧可以例如被竖直地安排在悬挂轴线的前方,如在机器人清洁设备的前进方向上看见的。
作为另一个替代方案,第一弹簧构件可以由安排成与悬挂轴线同心的扭转弹簧构成。所述扭转弹簧可以被安排成当处于降低位置时在链接构件上围绕悬挂轴线在第一方向上提供比当处于升高位置时更高的力矩。其还可以将第一弹簧构件实施为悬臂弹簧。
第二弹簧构件可以由抵靠链接构件偏置的悬臂弹簧构成。悬臂弹簧的一个示例是片簧。
第二弹簧构件可以包括固定部分和自由部分,其中,所述固定部分相对于所述主体固定,并且所述自由部分抵靠所述链接构件偏置。第二弹簧构件可以是基本上水平的,并且可以被安排成对链接构件施加向下偏置力。
链接构件可以包括通过所述第二弹簧构件的所述自由部分接合在第二弹簧接合点处的凸轮轮廓。凸轮轮廓可以被设计成使得:当链接构件围绕悬挂轴线旋转时,沿着第二弹簧构件的第二弹簧接合点基本上维持在相对于主体固定的水平平面中。
在降低位置处,驱动轮轴线可以竖直地定位在第二弹簧接合点与悬挂轴线之间;并且在升高位置处,悬挂轴线可以竖直地定位在第二弹簧接合点与驱动轮轴线之间。在降低位置处,悬挂轴线与驱动轮轴线之间的竖直距离可以是悬挂轴线与第二弹簧接合点之间的竖直距离的30%至50%,比如40%。在升高位置处,驱动轮轴线与悬挂轴线之间的竖直距离可以是驱动轮轴线与第二弹簧接合点之间的竖直距离的5%至20%,比如10%。
在降低位置处,悬挂轴线与第二弹簧接合点可以基本上水平对准;并且在升高位置处,第二弹簧接合点可以水平地定位在悬挂轴线与驱动轮轴线之间。通过将第二弹簧接合点定位成在降低位置处水平对准或基本上水平对准,以及通过将第二弹簧构件安排成提供向下作用于链接构件的偏置力,当链接构件处于降低位置时,不存在或基本上不存在由第二弹簧构件围绕悬挂轴线生成的扭矩。在升高位置处,悬挂轴线与第二弹簧接合点之间的水平距离可以是悬挂轴线与驱动轮轴线之间的水平距离的20%至40%,比如30%。
当主体处于降低位置时,第二弹簧构件的抵靠链接构件偏置的自由部分作用在悬挂轴线上的力矩臂基本上为零。
在降低位置和/或升高位置处,第一弹簧构件与第二弹簧构件可以基本上对准。
在降低位置处,第一弹簧构件和第一弹簧构件可以与链接构件的上边缘基本上对准(即,基本上齐平)。当链接构件处于降低位置时,链接构件的上边缘可以是基本上水平的。在链接构件具有细长外观的情况下,链接构件的上边缘可以基本上平行于链接构件的总体延伸方向。因此,当链接构件采用升高位置时,上边缘可以相对于水平地面倾斜例如大约45°。
在降低位置和/或升高位置处,第一弹簧构件和第二弹簧构件可以取向与地面基本上平行。例如,在降低位置和/或升高位置处,第一弹簧构件与第二弹簧构件二者可以基本上水平对准。尽管这种配置在空间限制方面可以是优选的,但是在降低位置和升高位置之一或二者处,可以设想第一弹簧构件与第二弹簧构件的其他取向。
第一弹簧构件可以在第一弹簧接合点处附接到链接构件,并且在降低位置处,驱动轮轴线可以竖直地定位在第一弹簧接合点与悬挂轴线之间;并且在升高位置处,悬挂轴线可以竖直地定位在第一弹簧接合点与驱动轮轴线之间。第一弹簧接合点可以由从链接构件向上突出(在降低位置处)的突起比如钩子构成。所述突起可以与链接构件一体形成。第一弹簧构件还可以以相应的方式附接到主体,例如附接到设置在主体上的钩子。
在降低位置处,悬挂轴线与驱动轮轴线之间的竖直距离可以是悬挂轴线与第一弹簧接合点之间的竖直距离的30%至50%,比如40%。在升高位置处,驱动轮轴线与悬挂轴线之间的竖直距离可以是驱动轮轴线与第一弹簧接合点之间的竖直距离的5%至20%,比如10%。
第一弹簧构件可以在第一弹簧接合点处附接到链接构件,并且在降低位置处,驱动轮轴线可以水平地定位在第一弹簧接合点与驱动轮轴线之间;并且在升高位置处,第一弹簧接合点可以水平地定位在悬挂轴线与驱动轮轴线之间。例如,在降低位置处,第一弹簧接合点与悬挂轴线之间的水平距离可以是第一弹簧接合点与驱动轮轴线之间的水平距离的5%至20%,比如10%。在升高位置处,悬挂轴线与第一弹簧接合点之间的水平距离可以是悬挂轴线与驱动轮轴线之间的水平距离的20%至40%,比如30%。
第一弹簧构件可以在第一弹簧接合点处附接到链接构件,并且在降低位置处,悬挂轴线与第一弹簧接合点可以基本上水平对准;并且在升高位置处,第一弹簧接合点可以水平地定位在悬挂轴线与驱动轮轴线之间。例如,在升高位置处,悬挂轴线与第一弹簧接合点之间的水平距离可以是悬挂轴线与驱动轮轴线之间的水平距离的40%至60%,比如50%。如本文中所使用的,水平距离和竖直距离分别指代距离的水平分量和竖直分量。
附图说明
根据结合附图进行的以下实施例,本披露的其他细节、优点和方面将变得明显,在附图中:
图1:示意性地表示了处于降低位置的机器人清洁设备的正视图;
图2:示意性地表示了机器人清洁设备的底视图;
图3:示意性地表示了处于降低位置的机器人清洁设备的驱动轮组件的正面透视图;
图4:示意性地表示了处于降低位置的驱动轮组件的后部透视图;
图5:示意性地表示了处于升高位置的驱动轮组件的正面透视图;
图6:示意性地表示了处于升高位置的驱动轮组件的后部透视图;
图7:示意性地表示了处于降低位置的驱动轮组件的侧视图;并且
图8:示意性地表示了处于升高位置的驱动轮组件的侧视图。
具体实施方式
以下将描述一种机器人清洁设备,所述机器人清洁设备包括至少一个驱动轮以及与所述至少一个驱动轮相关联的第一弹簧构件和第二弹簧构件。相同的附图标记将用于表示相同的或类似的结构特征。
图1示意性地表示了处于降低位置的机器人清洁设备10的正视图。机器人清洁设备10包括用于在待清洁表面14上驱动机器人清洁设备10的两个驱动轮12以及主体16。可以如以下将描述的来调整主体16与表面14之间的间隙。
驱动轮12可以被共同地驱动以在前进方向上或在向后方向上驱动机器人清洁设备10,或者被独立地驱动以使机器人清洁设备10转弯。例如,一个驱动轮12可以被向前驱动而另一个驱动轮12可以被向后驱动,以使机器人清洁设备10基本上在某个地点上转动;或者一个驱动轮12可以被向前驱动而另一个驱动轮12可以被锁定,以使机器人清洁设备10围绕静止的驱动轮12转动。
机器人清洁设备10可选地包括水平地安排在其前方的可旋转刷辊18,以增强机器人清洁设备10的灰尘和碎屑收集性能。机器人清洁设备10可以进一步可选地包括3D传感器系统,所述传感器系统包括相机20和两个线激光器22、24,这两个线激光器可以是水平地或竖直地取向的线激光器。
图2示意性地表示了机器人清洁设备10的底视图。如图2中可以看见的,主体16具有与水平地面14平行的基本上三角形外观,并且具有面向机器人清洁设备10的前进方向26的基本笔直边。在主体16的后部部分处,脚轮28被放置成支撑主体16的向后部分。在这个实施方式中,脚轮28被安排成围绕竖直轴线旋转。
机器人清洁设备10进一步包括:两个轮电机30,一个与每个驱动轮12相关联,以旋转地驱动对应的驱动轮12;以及控制单元32,以控制对应轮电机30的驱动。可以使用各种不同类型的传动装置,以将驱动力从轮电机30传输到驱动轮12,比如齿轮传动装置或皮带传动装置。
图2进一步示出了,机器人清洁设备10可以包括:可旋转侧刷34、可由风扇电机38驱动的抽风机36、以及操作地联接到刷辊18的刷辊电机40,所述风扇电机通信地连接到控制单元32,风扇电机38从所述控制单元接收指令以控制抽风机36,所述刷辊电机用于根据从控制单元32接收的指令来控制所述刷辊的旋转。
图3和图4分别示意性地表示了处于降低位置的机器人清洁设备10的两个驱动轮组件42之一的正面透视图和后部透视图。可以例如在清洁硬地板(例如,镶木地板)并且不存在要爬越的障碍物时采用降低位置。除了之前提到的驱动轮12和驱动电机30之外,驱动轮组件42包括链接构件44、第一弹簧构件46和第二弹簧构件48。链接构件44枢转地连接到主体16并且旋转地支撑驱动轮12。
以下,第一弹簧构件46被例示为拉力弹簧,并且第二弹簧构件48被例示为呈片簧形式的悬臂弹簧。然而,这些类型的弹簧对于在降低位置和在升高位置二者处在驱动轮12上提供压缩力的一般功能而言不是必不可少的。
第一弹簧构件46被连接在主体16与链接构件44之间。第一弹簧构件46与链接构件44之间的附接点被称为第一弹簧接合点50。第二弹簧构件48包括相对于主体16固定的一个部分以及相反的自由部分52。在所展示的降低位置处,第一弹簧构件46处于拉伸状态以拉动第一弹簧接合点50,并且第二弹簧构件48在链接构件44上提供向下的作用力。
第一弹簧构件46和第二弹簧构件48二者都基本上水平对准,并且被安排成平行于彼此。在所展示的实施方式中,第一弹簧构件46和第二弹簧构件48二者都与链接构件44的上边缘齐平。如图3和图4中可以看见的,在降低位置处,第一弹簧构件46和第二弹簧构件48以紧凑的安排对准。
图5和图6分别示意性地表示了处于升高位置的驱动轮组件42的正面透视图和后部透视图。当机器人清洁设备10在厚地毯上行进和/或当其爬越障碍物时,可以采用升高位置。在升高位置处,机器人清洁设备10的驱动轮12从主体16移出,并且向下朝向地面14(例如,地板)。
在这个状态下,第一弹簧构件46仍然在第一弹簧接合点50处拉动链接构件44。然而,由于在所展示的升高位置处第一弹簧构件46处于较小拉伸状态,因此第一弹簧构件46在升高位置处比在降低位置施加的力要低。在升高位置处,第二弹簧构件48也对链接构件44提供向下的作用力。同样在升高位置处,第一弹簧构件46和第二弹簧构件48以紧凑的安排对准。
图7示意性地表示了处于降低位置的驱动轮组件42的侧视图,并且图8示意性地表示了处于升高位置的驱动轮组件42的侧视图。
链接构件44围绕悬挂轴线54旋转地联接到主体16。链接构件44进一步被安排成围绕驱动轮轴线56旋转地支撑相关联的驱动轮12。悬挂轴线54和驱动轮轴线56二者取向基本上垂直于机器人清洁设备10的前进方向26。如图7和图8中可以看见的,悬挂轴线54被安排在驱动轮轴线56的前方,如在前进方向26上看见的,并且可以因此认为链接构件44构造了拖尾悬挂。在降低位置处,链接构件44的总体延伸方向与机器人清洁设备10的前进方向26基本上平行。
当链接构件44围绕悬挂轴线54在第一方向58上旋转时,链接构件44可以从降低位置移动(如图7所示)到升高位置(如图8所示)。在此,升高位置由链接构件44相对于水平地面14倾斜大约45°的最大升高位置构成,但是也可以由中间位置构成。因为悬挂轴线54在图8的升高位置处比在图7的降低位置处在水平地面14上方被升高得更高,所以链接构件44所附接至的主体16的一部分在升高位置处比在降低位置处在水平地面14上方被升高得更高。
此间隙控制在机器人清洁设备10的这两个驱动轮组件42之间可以是完全独立的。例如,一个链接构件44可以采用降低位置,而其他链接构件44采用升高位置,并且反之亦然。当然,两个链接构件44也可以同时采用降低位置或升高位置。
因为第一弹簧构件46在图7的降低位置处拉伸,所以其在第一弹簧接合点50上产生力,所述第一弹簧接合点在此被实施为第一弹簧构件46所附接至的向上突出的钩子。作用在第一弹簧接合点50上的这个力进而在链接构件44上围绕悬挂轴线54在第一方向58上产生力矩。由此,第一弹簧构件46被安排成在链接构件44上围绕悬挂轴线54在第一方向58上提供力矩,以将驱动轮12向下压向地面14。
然而,在图8的升高位置处,第一弹簧构件46与图7相比拉伸较小。因此,在升高位置处,作用在第一弹簧接合点50上的力以及作用在链接构件44上围绕悬挂轴线54在第一方向58上的相应力矩与降低位置相比较低。由此,第一弹簧构件46被安排成在降低位置处提供比在升高位置处更高的力矩。更具体地,第一弹簧构件46由此被安排成:当主体16处于降低位置时,在链接构件44上围绕悬挂轴线54在第一方向58上提供较高的第一力矩;并且当主体16处于升高位置时,在链接构件44上围绕悬挂轴线54在第一方向58上提供较低的第二力矩。
第二弹簧构件48包括固定部分60和自由部分52,所述固定部分相对于主体16固定,并且所述自由部分抵靠链接构件44偏置。第二弹簧构件48向下偏置并且在链接构件44的凸轮轮廓64上提供向下的力62。第二弹簧构件48与链接构件44之间的接触点被称为第二弹簧接合点66。
如由图7的竖直线68展示的,由第二弹簧构件48作用在链接构件44上的力62指向悬挂轴线54。因此,在降低位置处,第二弹簧构件48在链接构件44上围绕悬挂轴线54不产生任何力矩。
当链接构件44开始围绕悬挂轴线54在第一方向58上旋转时,例如,如果机器人清洁设备10遇到障碍物,使得来自障碍物对驱动轮12的冲击力连同由第一弹簧构件46在链接构件44上围绕悬挂轴线54在第一方向58上提供的力矩一起克服来自主体16作用于驱动轮组件42的重力,第二弹簧接合点66相对于悬挂轴线54水平位移(在向后方向上、与前进方向26相反)。因此,来自第二弹簧构件48作用于链接构件44的向下力62开始在悬挂轴线54上在第一方向58上产生力矩。此力矩的力矩臂由线70展示。
换言之,第二弹簧构件48被安排成在升高位置处在链接构件44上提供比在降低位置处更高的力矩。更具体地,第二弹簧构件48由此被安排成:当主体16处于降低位置时,在链接构件44上围绕悬挂轴线54不提供力矩;并且当主体16处于升高位置时,在链接构件44上围绕悬挂轴线54在第一方向58上提供力矩。
当链接构件44围绕悬挂轴线54从降低位置旋转到升高位置时,第二弹簧接合点66沿着链接构件44的凸轮轮廓64行进。如从图7和图8中可以得知的,凸轮轮廓64被设计成使得:当链接构件44围绕悬挂轴线54旋转时,第二弹簧接合点66相对于主体16基本上维持在同一水平平面中。换言之,第二弹簧构件48维持基本上水平,并且当主体16从降低位置移动到升高位置时并且反之亦然与主体16一起升高。
图7示出了在降低位置处,驱动轮轴线56竖直地定位在第二弹簧接合点66与悬挂轴线54之间。更具体地,当链接构件44采用降低位置时,悬挂轴线54与驱动轮轴线56之间的竖直距离是悬挂轴线54与第二弹簧接合点66之间的竖直距离的大约40%。
图8进一步示出了在升高位置处,悬挂轴线54略微上方地并且竖直地定位在第二弹簧接合点66与驱动轮轴线56之间。更具体地,驱动轮轴线56与悬挂轴线54之间的竖直距离是驱动轮轴线56与第二弹簧接合点66之间的竖直距离大约10%。
图7进一步示出了在降低位置处,悬挂轴线54与第二弹簧接合点66水平对准,使得当链接构件44处于降低位置时,第二弹簧构件48围绕悬挂轴线54不产生扭矩。换言之,来自第二弹簧构件48向下作用于链接构件44的力62的力矩臂70为零(如图8的升高位置处展示的)、或基本上为零(在图7的降低位置处)。
图8进一步示出了在链接构件44的升高位置处,第二弹簧接合点66水平地定位在悬挂轴线54与驱动轮轴线56之间。更具体地,悬挂轴线54与第二弹簧接合点66之间的水平距离是悬挂轴线54与驱动轮轴线56之间的水平距离的大约30%。
图7进一步示出了在降低位置处,驱动轮轴线56竖直地定位在第一弹簧接合点50与悬挂轴线54之间。更具体地,悬挂轴线54与驱动轮轴线56之间的竖直距离是悬挂轴线54与第一弹簧接合点50之间的竖直距离大约40%。
图8进一步示出了在升高位置处,悬挂轴线54竖直地定位在第一弹簧接合点50与驱动轮轴线56之间。更具体地,驱动轮轴线56与悬挂轴线54之间的竖直距离是驱动轮轴线56与第一弹簧接合点50之间的竖直距离的大约10%。
图7进一步示出了在降低位置处,悬挂轴线54与第一弹簧接合点50基本上水平对准。图8进一步示出了在升高位置处,第一弹簧接合点50水平地定位在悬挂轴线54与驱动轮轴线56之间。更具体地,在升高位置处,悬挂轴线54与第一弹簧接合点50之间的水平距离是悬挂轴线54与驱动轮轴线56之间的水平距离的大约50%。
第二弹簧构件48由此确保驱动轮12向下压在地面14上,其中,具有足够的力以防止滑动,在由第一弹簧构件46产生的力减小的升高位置处也同样。由于驱动轮12与地面14之间的更强接触,因此改进了由机器人清洁设备10完全或部分地基于测程法进行的任何导航。机器人清洁设备10因此较不易失去对其位置的跟踪。
在升高位置处驱动轮12上增加的向下力也给予升高位置处的吸嘴更强的力,并且机器人清洁设备10因此较不易于粘住例如地毯。
尽管已经参照示例性实施例对本披露进行了描述,但应理解的是,本发明并不限于以上描述的内容。例如,应理解的是,可以根据需要改变零件的尺寸。因此,本发明旨在可以仅受到所附权利要求的范围的限制。
Claims (15)
1.一种机器人清洁设备(10),包括:
-主体(16);
-至少一个驱动轮(12),所述至少一个驱动轮用于在水平地面(14)上驱动所述机器人清洁设备(10);
-至少一个链接构件(44),所述至少一个链接构件围绕悬挂轴线(54)旋转地联接到所述主体(16)并且围绕驱动轮轴线(56)旋转地支撑所述至少一个驱动轮(12),使得通过将所述链接构件(44)围绕所述悬挂轴线(54)在第一方向(58)上旋转,可以将所述主体(16)的至少一部分从更接近所述地面(14)的降低位置升高到更远离所述地面(14)的升高位置;以及
-第一弹簧构件(46)和第二弹簧构件(48),这两个弹簧构件各自被安排成在所述链接构件(44)上围绕所述悬挂轴线(54)在所述第一方向(58)上提供力矩,以将所述至少一个驱动轮(12)压向所述地面(14);
其中,由所述第一弹簧构件(46)提供的力矩在所述降低位置处高于在所述升高位置处,并且由所述第二弹簧构件(48)提供的力矩在所述升高位置处高于在所述降低位置处。
2.根据权利要求1所述的机器人清洁设备(10),其中,所述第一弹簧构件(46)由拉力弹簧构成。
3.根据权利要求1所述的机器人清洁设备(10),其中,所述第二弹簧构件(48)由抵靠所述链接构件(44)偏置的悬臂弹簧构成。
4.根据权利要求3所述的机器人清洁设备(10),其中,所述第二弹簧构件(48)包括固定部分(60)和自由部分(52),其中,所述固定部分(60)相对于所述主体(16)固定,并且所述自由部分(52)抵靠所述链接构件(44)偏置。
5.根据权利要求4所述的机器人清洁设备(10),其中,所述链接构件(44)包括通过所述第二弹簧构件(48)的所述自由部分(52)接合在第二弹簧接合点(66)处的凸轮轮廓(64)。
6.根据权利要求5所述的机器人清洁设备(10),其中,在所述降低位置处,所述驱动轮轴线(56)竖直地定位在所述第二弹簧接合点(66)与所述悬挂轴线(54)之间;并且在所述升高位置处,所述悬挂轴线(54)竖直地定位在所述第二弹簧接合点(66)与所述驱动轮轴线(56)之间。
7.根据权利要求5所述的机器人清洁设备(10),其中,在所述降低位置处,所述悬挂轴线(54)与所述第二弹簧接合点(66)基本上水平对准;并且在所述升高位置处,所述第二弹簧接合点(66)水平地定位在所述悬挂轴线(54)与所述驱动轮轴线(56)之间。
8.根据权利要求6所述的机器人清洁设备(10),其中,在所述降低位置处,所述悬挂轴线(54)与所述第二弹簧接合点(66)基本上水平对准;并且在所述升高位置处,所述第二弹簧接合点(66)水平地定位在所述悬挂轴线(54)与所述驱动轮轴线(56)之间。
9.根据权利要求4至8中任一项所述的机器人清洁设备(10),其中,当所述主体(16)处于所述降低位置时,所述第二弹簧构件(48)的抵靠所述链接构件(44)偏置的所述自由部分(52)作用在所述悬挂轴线(54)上的力矩臂(70)基本上为零。
10.根据权利要求3至8中任一项所述的机器人清洁设备(10),其中,在所述降低位置和/或所述升高位置处,所述第一弹簧构件(46)与所述第二弹簧构件(48)基本上对准。
11.根据权利要求3至8中任一项所述的机器人清洁设备(10),其中,在所述降低位置处,所述第一弹簧构件(46)和所述第二弹簧构件(48)与所述链接构件(44)的上边缘基本上对准。
12.根据权利要求3至8中任一项所述的机器人清洁设备(10),其中,在所述降低位置和/或所述升高位置处,所述第一弹簧构件(46)和所述第二弹簧构件(48)取向与所述地面(14)基本上平行。
13.根据权利要求1至8中任一项所述的机器人清洁设备(10),其中,所述第一弹簧构件(46)在第一弹簧接合点(50)处附接到所述链接构件(44),并且其中,在所述降低位置处,所述驱动轮轴线(56)竖直地定位在所述第一弹簧接合点(50)与所述悬挂轴线(54)之间;并且在所述升高位置处,所述悬挂轴线(54)竖直地定位在所述第一弹簧接合点(50)与所述驱动轮轴线(56)之间。
14.根据权利要求1至8中任一项所述的机器人清洁设备(10),其中,所述第一弹簧构件(46)在第一弹簧接合点(50)处附接到所述链接构件(44),并且其中,在所述降低位置处,所述悬挂轴线(54)水平地定位在所述第一弹簧接合点(50)与所述驱动轮轴线(56)之间;并且在所述升高位置处,所述第一弹簧接合点(50)水平地定位在所述悬挂轴线(54)与所述驱动轮轴线(56)之间。
15.根据权利要求1至8中任一项所述的机器人清洁设备(10),其中,所述第一弹簧构件(46)在第一弹簧接合点(50)处附接到所述链接构件(44),并且其中,在所述降低位置处,所述悬挂轴线(54)与所述第一弹簧接合点(50)基本上水平对准;并且在所述升高位置处,所述第一弹簧接合点(50)水平地定位在所述悬挂轴线(54)与所述驱动轮轴线(56)之间。
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EP3454707B1 (en) | 2020-07-08 |
US20190133401A1 (en) | 2019-05-09 |
CN109068908A (zh) | 2018-12-21 |
EP3454707A1 (en) | 2019-03-20 |
US11122953B2 (en) | 2021-09-21 |
WO2017194102A1 (en) | 2017-11-16 |
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