CN109419453A - 移动机构及具有该移动机构的移动机器人 - Google Patents

移动机构及具有该移动机构的移动机器人 Download PDF

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CN109419453A
CN109419453A CN201710778260.5A CN201710778260A CN109419453A CN 109419453 A CN109419453 A CN 109419453A CN 201710778260 A CN201710778260 A CN 201710778260A CN 109419453 A CN109419453 A CN 109419453A
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slide
shell
mobile
mobile mechanism
robot
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李孟钦
丁利国
杨锴
其他发明人请求不公开姓名
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Guangzhou Coayu Robot Co Ltd
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Guangdong Bolak Robot Ltd By Share Ltd
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Priority to CN201710778260.5A priority Critical patent/CN109419453A/zh
Priority to PCT/CN2018/075230 priority patent/WO2019041754A1/zh
Priority to EP18850520.0A priority patent/EP3677161A4/en
Publication of CN109419453A publication Critical patent/CN109419453A/zh
Priority to US16/598,008 priority patent/US11376908B2/en
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    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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    • 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
    • A—HUMAN NECESSITIES
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    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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    • A—HUMAN NECESSITIES
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    • 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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    • 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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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/423—Rails, tubes, or the like, for guiding the movement of suspension elements
    • B60G2204/4232—Sliding mounts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
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    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract

本发明揭示了一种移动机构及具有该移动机构的移动机器人，其移动机构包括壳体、滑座、移动轮、抵压部以及形变部，所述壳体内设置有导向部；所述滑座安装在所述导向部上并可沿所述导向部移动；所述移动轮固定在所述滑座上,并部分露出所述壳体表面；所述抵压部抵压于所述滑座上且使所述滑座向所述壳体表面运动；所述形变部安装在所述壳体上并与所述抵压部相连，在形变时通过所述抵压部给予所述滑座向所述壳体表面运动的作用力。本发明可以使机器人适用于在不同类型的工作面运动，特别是遇障时，抵压部能给予滑座向下的作用力，使移动轮最大限度的靠近工作面，与工作面接触，以产生摩擦，使移动机器人能够移动并离开障碍。

Description

移动机构及具有该移动机构的移动机器人
技术领域
本发明涉及移动设备技术领域，尤其涉及一种可应用于家庭清洁或草坪移动的移动机构及具有该移动机构的移动机器人。
背景技术
随着人们对生活要求的提高，市场上也出现了越来越多为人类服务的机器人，而这些机器人大多是在工作面自行移动，如居家使用的扫地机器人、安防机器人，商业服务机器人如科沃斯推出的公共服务机器人，并将智能机器服务到日常生活中的导游讲解、饭店点餐等生活细节。这类机器人都是可以在工作面自行移动，通过智能程序以在目标地点对目标执行指定的功能程序，使使用者得以享受智能生活。
由于机器人需要在工作面移动，就不可避免地会遇到不同类型的工作面环境，如水泥地、地板、地毯等，这些工作面都会存在一些无法避让的障碍，如一些不同类型工作面的过渡段产生的高度落差，或门槛，或线缆，或可以使机器人在翻越时易产生悬空状态的突起。这种落差或突起不仅会导致机器人悬空，还会导致机器人在翻越时产生振动，并对机器人内部的电子元件造成影响。
发明内容
为解决背景技术中的技术问题，本发明提供的移动机器人技术方案如下：
一种移动机器人，包括：
壳体，所述壳体内设置有导向部；
滑座，安装在所述导向部上并可沿所述导向部移动；
移动轮，固定在所述滑座上,并部分露出所述壳体表面；
抵压部，抵压于所述滑座上且使所述滑座向所述壳体表面运动；
形变部，安装在所述壳体上并与所述抵压部相连，在形变时通过所述抵压部给予所述滑座向所述壳体表面运动的作用力。
进一步地，所述导向部为导轨。
在一个实施例中，所述导向部为导柱。
进一步地，所述壳体包括上壳体和下壳体，所述导柱设置在所述上壳体与所述下壳体之间。
进一步地，所述导柱包括两根，对称设置在所述滑座的两侧。
进一步地，所述抵压部包括转动部、第一端部、第二端部，所述转动部通过转轴固定在所述壳体上，所述第一端部自所述转动部向远离所述滑座的方向延伸，并通过形变部与所述壳体连接；所述第二端部自所述转动部向所述滑座的方向延伸，并抵压在所述滑座上。
进一步地，所述滑座包括本体，以及收容在所述本体内的传动部，所述传动部与所述移动轮传动连接。
进一步地，所述滑座还包括与所述导柱滑动设置的滑套
一种移动机器人，其包括上述的移动机构。
进一步地，上述移动机器人为扫地机器人或割草机器人。
与现有技术相比，本发明的有益效果在于：可以适用于在不同类型的工作面移动的移动机器人，在移动机器人障碍时，抵压部给予滑座向下的作用力，使移动轮最大限度的靠近工作面，与工作面接触，以产生摩擦，使移动机器人能够移动并离开障碍。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明较佳实施例的扫地机器人结构示意图；
图2为图1中扫地机器人的仰视图；
图3为图1中扫地机器人的移动机构结构示意图；
图4为图3的爆炸结构示意图；
图5为图3的移动机构一使用状态结构示意图；
图6为抵压部结构示意图；
图7为滑座结构示意图。
具体实施方式
下面将结合附图和具体实施例对本发明技术方案进行清楚、完整地描述，显然，这里所描述的实施例仅仅是发明的一部分实施例，而不是全部的实施例。基于本发明描述的具体实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明权利要求所限定的保护范围内。例如：本申请所述的导向部可以是用于引导物体沿预定方向移动的导柱或导轨，并且，使本申请的滑座在导向部上沿导向部做往复运动；又例如本申请中的形变部可以是弹簧，或橡皮筋，或具有形变可恢复或弹性功能的可形变体。
本发明提供一种在工作面自行移动的移动机器人为扫地机器人100为例，该扫地机器人100的结构如图1和图2所示，扫地机器人100包括构成外形的主体，以及承载所述主体在工作面移动的移动机构1，在扫地机器人100在工作面移动时，移动机构1承载着主体以及设置在主体上的其他功能部件(如尘盒、风机、清洁组件、控制主板、马达等)的重量。其中，主体包括下壳体10和上壳体20，移动机构1如图3至图7所示。
在本实施例中，如图3、图4所示，移动机构1包括：壳体、滑座80、抵压部40、移动轮70以及弹簧30。其中，壳体由下壳体10和上壳体20构成，在壳体内对称设置有两根导柱60，每根导柱60的轴线垂直于移动面(扫地机器人移动经过的工作面)；滑座80设置在导柱60上，沿导柱60轴向在下壳体10与上壳体20之间移动；抵压部40通过弹簧30与上壳体20连接，并受弹簧30的弹力作用而抵压在滑座80上，使滑座80向下移动并向工作面靠近；移动轮70固定在滑座80上，并部分露出下壳体10表面与工作面接触。
构成移动机构1的壳体包括上壳体20和下壳体10，其中，上壳体10与主体一体成型，上壳体20与下壳体10之间设置有导柱60,滑座80滑动设置在导柱60上，滑座80受外力时在导柱60上作升降运动。为减少滑座80的运动时晃动，导柱60至少为两根且分别设置在滑座80的对角位置(如图3至图5所示)，呈对称设置；导柱60还可以是三根，呈三角型分布，使滑座80的受力时更均匀，运动更稳定。
见图5及图6所示，抵压部40还包括转动部400，转动部400通过转轴50固定在上壳体20上，抵压部40具有彼此分离并向外延伸呈一定角度设置的第一端部401和第二端部402，第一端部401自转动部400向远离滑座80的方向延伸，并通过弹簧30与上壳体20连接；第二端部402自转动部400向滑座80的方向延伸，并抵压在滑座80上。第一端部401被弹簧30牵拉时，第二端部402可以随动。
见图7所示，滑座80包括本体800，以及收容在本体800内的传动部(内部元件，未示出)，传动部与移动轮70传动连接。其中，本体800构成一个腔体，腔体内设置有作为传动部的传动齿轮和/或传动轴。
当扫地机器人100在工作面移动时，移动轮70与工作面接触，且因移动轮70需要承载整机的重量，而滑座80与主体是活动连接的，主体的重量迫使主体离地高度下降，使滑座80在导柱60上呈上升姿态，且滑座80在上升时推动抵压部40的第二端部402上升，进而使第一端部401拉伸弹簧30，而弹簧30由于被拉伸而产生一个拉力，该拉力使第一端部401向第二端部402的一端靠近，而第二端部402给予滑座80一个向下的作用力，使滑座80下降，并尽最大限度地将移动轮70顶出下壳体10表面，让主体与工作面保持一个安全距离，该安全距离可以使扫地机器人100在越障时，让移动轮70与工作面保持接触，避免移动轮70悬空。
进一步地，如图7所示，滑座80还包括与导柱60滑动设置的滑套801。
当本申请中的导向部为导轨时，导轨的数量至少为一条，且滑座具有在导轨内沿导轨滑动的滑动块，通过滑座的自重或滑座受外力作用而使滑座在导轨内移动。
进一步地，传动部包括转动轴，转动轴与移动轮70传动连接。
进一步地，如图7所示，滑座80上还设置有电机802，电机802通过转动轴与移动轮70传动连接，使移动机器人在工作时能在工作面移动。
以上所揭露的仅为本发明技术方案的实施例而已，不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (10)

1.一种移动机构，其特征在于，包括：
壳体，所述壳体内设置有导向部；
滑座，安装在所述导向部上并可沿所述导向部移动；
移动轮，固定在所述滑座上,并部分露出所述壳体表面；
抵压部，抵压于所述滑座上且使所述滑座向所述壳体表面运动；
形变部，安装在所述壳体上并与所述抵压部相连，在形变时通过所述抵压部给予所述滑座向所述壳体表面运动的作用力。
2.根据权利要求1所述的移动机构，其特征在于：所述导向部为导轨。
3.根据权利要求1所述的移动机构，其特征在于：所述导向部为导柱。
4.根据权利要求3所述的移动机构，其特征在于：所述壳体包括上壳体和下壳体，所述导柱设置在所述上壳体与所述下壳体之间。
5.根据权利要求4所述的移动机构，其特征在于：所述导柱包括两根，对称设置在所述滑座的两侧。
6.根据权利要求1所述的移动机构，其特征在于：所述抵压部包括转动部、第一端部、第二端部，所述转动部通过转轴固定在所述壳体上，所述第一端部自所述转动部向远离所述滑座的方向延伸，并通过形变部与所述壳体连接；所述第二端部自所述转动部向所述滑座的方向延伸，并抵压在所述滑座上。
7.根据权利要求1所述的移动机构，其特征在于：所述滑座包括本体，以及收容在所述本体内的传动部，所述传动部与所述移动轮传动连接。
8.根据权利要求3所述的移动机构，其特征在于：所述滑座还包括与所述导柱滑动设置的滑套。
9.一种移动机器人，其特征在于：包括权利要求1-8任一项所述的移动机构。
10.根据权利要求9所述的移动机器人，其特征在于：所述移动机器人为扫地机器人或割草机器人。
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