CN110053074A - Floating connection system, robot and connection component with the floating connection system - Google Patents
Floating connection system, robot and connection component with the floating connection system Download PDFInfo
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- CN110053074A CN110053074A CN201811083661.XA CN201811083661A CN110053074A CN 110053074 A CN110053074 A CN 110053074A CN 201811083661 A CN201811083661 A CN 201811083661A CN 110053074 A CN110053074 A CN 110053074A
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- Prior art keywords
- supporting member
- floating
- stomidium
- ontology
- connecting portion
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- 230000008093 supporting effect Effects 0.000 claims abstract description 195
- 230000013011 mating Effects 0.000 claims description 10
- 238000003780 insertion Methods 0.000 claims description 8
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- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000003466 welding Methods 0.000 claims 1
- 230000001976 improved effect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 20
- 210000000078 claw Anatomy 0.000 description 14
- 238000000034 method Methods 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
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- 230000008859 change Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
Abstract
The present invention relates to a kind of floating connection system, including ontology, floating part and at least one be set to the connection component between floating part and ontology；Wherein, connection component has elasticity, and floating part passes through connection component and ontology floating connection；Connection component includes floating attachment and the first supporting member and the second supporting member for being set to floating attachment both ends, and the first supporting member is removably coupled with first connecting portion, and the second supporting member is removably coupled with second connecting portion；Floating attachment include between limitation floating part and ontology on perpendicular to the first in-plane the locating part of maximum distance and, and support the elastic element between the first supporting member and the second supporting member；The both ends of locating part are connected with the first supporting member and the second supporting member respectively.The invention further relates to a kind of robots and a kind of connection component for floating connection system.The present invention can be improved product assembly efficiency, reduce assembly cost.
Description
Technical field
The present invention relates to a kind of robot more particularly to a kind of robots with floating connection system.The present invention also relates to
And a kind of floating connection system and a kind of connection component for floating connection system.
Background technique
The mobile robot unavoidable event that collides with extraneous barrier during the work time, so that robot shells
Certain impact force is born, and shakes bring caused by fuselage setting connection structure can slow down well due to collision
Destruction to robot moving equipment, while mobile robot can be based on barrier in the environment that connection structure receives
Information come correct itself walking program.Existing connection structure mostly uses greatly the fixation between robot body and floating part to set
The structure of spring is set, however after mobile work robot certain time, it is horizontal since spring is for a long time by transverse load
It is often exceeded to deformation degree and bears limit, it is easy to be failed, anti-collision effect is had a greatly reduced quality.In addition, in the prior art
The assembling process of connection structure is often relatively complicated, needs to spend a large amount of costs of labor to carry out screws or other fastening structures
Installation, while also consuming a large amount of unnecessary Material Costs.
Summary of the invention
To solve the above-mentioned problems, a specific embodiment of the invention provides a kind of robot, including ontology, floating
Part and at least one be set to the connection component between the floating part and the ontology；Wherein, the ontology bearing makes described
The motion module that robot moves on the first plane, the floating part at least partially project over the outer profile of the ontology,
The connection component has elasticity, and the floating part passes through the connection component and the ontology floating connection；The floating part
Including at least one first connecting portion；The ontology includes at least one second connection corresponding with the first connecting portion
Portion；The connection component includes floating attachment and the first supporting member and second for being set to the floating attachment both ends
Supporting member, first supporting member removably with the first connecting portion be coupled, second supporting member removably with institute
State second connecting portion mating.
As a preferred embodiment, between the first connecting portion and first supporting member and/or described
Mating is plugged together between two interconnecting pieces and second supporting member.
As a preferred embodiment, first supporting member is inserted into the direction and described the of the first connecting portion
The direction that two supporting members are inserted into the second connecting portion is not parallel to each other.
As a preferred embodiment, first supporting member is inserted into the direction and described the of the first connecting portion
The direction that two supporting members are inserted into the second connecting portion is mutually perpendicular to.
As a preferred embodiment, second supporting member is inserted into the direction of the second connecting portion perpendicular to institute
State the first plane.
As a preferred embodiment, being equipped at least one collision sensing between the floating part and the ontology
Device.
As a preferred embodiment, be configured to can be direct from the lower section of the ontology for the second connecting portion
Ground touches.
As a preferred embodiment, the first connecting portion and/or the second connecting portion include hook and with
One of the clamping portion of hook cooperation, first supporting member and/or second supporting member include hook and with it is described
It is another in the clamping portion of hook cooperation.
As a preferred embodiment, the first connecting portion includes the first clamping portion, the second connecting portion packet
Include the second clamping portion；Second clamping portion is configured to away from the floating part direction hollow pillar outstanding, and described second
Supporting member includes the second hook that can be inserted into the hollow pillar.
The floating part and institute are limited as a preferred embodiment, being equipped between the floating part and the ontology
State the limiting structure of the maximum offset on being parallel to first in-plane between ontology；The limiting structure includes setting
The first limited post on the floating part and the ontology alternative one is set, and is arranged in the floating part and described
The second limited post on both bodies are another；Second limited post is equipped with the hollow cavity that can accommodate first limited post, institute
State the hollow cavity that the first limited post is at least partly axially inserted into second limited post along it；First limited post with
The axially extending direction of second limited post is perpendicular to first plane.
As a preferred embodiment, the floating part is maximum inclined in first plane relative to the ontology
Shifting amount is equal to the half of the difference of the outer diameter of first limited post and the internal diameter of second limited post.
As a preferred embodiment, when the floating part is located at initial position, the axis of first limited post
It is overlapped to center line with the longitudinal center line of second limited post.
As a preferred embodiment, the floating attachment includes limiting between the floating part and the ontology
The locating part of maximum distance on perpendicular to first in-plane, and support in first supporting member and described second
Elastic element between supporting member；The both ends of the locating part respectively with first supporting member and the second supporting member phase
Connection.
As a preferred embodiment, the locating part includes elongated linear portions and is arranged in the line style
The clamp expanded at portion both ends.
As a preferred embodiment, the clamp is configured to spherical shape.
As a preferred embodiment, the locating part both ends respectively removably with first supporting member and
Second supporting member is connected.
As a preferred embodiment, first supporting member have penetrate through its upper and lower surface the first stomidium and
First guiding groove at first supporting member edge is extended to from first stomidium；The linear portions are configured to hang down
Directly first stomidium is entered in the state of first supporting member, along first guiding groove；First stomidium is being carried on the back
One end from the elastic element is equipped with the first bowl-shaped part for accommodating the clamp.
As a preferred embodiment, second supporting member have penetrate through its upper and lower surface the second stomidium and
Second guiding groove at second supporting member edge is extended to from second stomidium；The linear portions are configured to hang down
Directly second stomidium is entered in the state of second supporting member, along second guiding groove；Second stomidium is being carried on the back
One end from the elastic element is equipped with the second bowl-shaped part for accommodating the clamp.
As a preferred embodiment, first supporting member have penetrate through its upper and lower surface the first stomidium and
First guiding groove at first supporting member edge is extended to from first stomidium；The linear portions are configured to hang down
Directly first stomidium is entered in the state of first supporting member, along first guiding groove；The second supporting member tool
There is the second stomidium for penetrating through its upper and lower surface and extend to the second of second supporting member edge from second stomidium and draws
Guide groove；The linear portions be configured to perpendicular to second supporting member state, enter along second guiding groove
Second stomidium；The linear portions are inserted into the direction of first guiding groove and the linear portions are inserted into second guiding groove
Direction it is different.
As a preferred embodiment, the artificial grass-removing robot of the machine or sweeping robot.
On the other hand, the embodiment of the invention provides a kind of floating connection system, including ontology, floating part and
At least one is set to the connection component between the floating part and the ontology；Wherein, the connection component has elasticity,
The floating part passes through the connection component and the ontology floating connection；The connection component include floating attachment and
Be set to first supporting member and the second supporting member at the floating attachment both ends, first supporting member removably with institute
First connecting portion mating is stated, second supporting member is removably coupled with the second connecting portion；The floating attachment packet
Include limit between the floating part and the ontology on perpendicular to first in-plane locating part of maximum distance and,
And support the elastic element between first supporting member and second supporting member；The both ends of the locating part respectively with institute
The first supporting member is stated to be connected with second supporting member.
As a preferred embodiment, the first connecting portion and/or the second connecting portion include hook and with
One of the clamping portion of hook cooperation, first supporting member and/or second supporting member include hook and with it is described
It is another in the clamping portion of hook cooperation.
As a preferred embodiment, the locating part includes elongated linear portions and is arranged in the line style
The clamp expanded at portion both ends.
As a preferred embodiment, the clamp is configured to spherical shape.
As a preferred embodiment, the locating part both ends respectively removably with first supporting member and
Second supporting member is connected.
As a preferred embodiment, first supporting member have penetrate through its upper and lower surface the first stomidium and
First guiding groove at first supporting member edge is extended to from first stomidium；The linear portions are configured to hang down
Directly first stomidium is entered in the state of first supporting member, along first guiding groove；First stomidium is being carried on the back
One end from the elastic element is equipped with the first bowl-shaped part for accommodating the clamp.
As a preferred embodiment, second supporting member have penetrate through its upper and lower surface the second stomidium and
Second guiding groove at second supporting member edge is extended to from second stomidium；The linear portions are configured to hang down
Directly second stomidium is entered in the state of second supporting member, along second guiding groove；Second stomidium is being carried on the back
One end from the elastic element is equipped with the second bowl-shaped part for accommodating the clamp.
As a preferred embodiment, first supporting member have penetrate through its upper and lower surface the first stomidium and
First guiding groove at first supporting member edge is extended to from first stomidium；The linear portions are configured to hang down
Directly first stomidium is entered in the state of first supporting member, along first guiding groove；The second supporting member tool
There is the second stomidium for penetrating through its upper and lower surface and extend to the second of second supporting member edge from second stomidium and draws
Guide groove；The linear portions be configured to perpendicular to second supporting member state, enter along second guiding groove
Second stomidium；The linear portions are inserted into the direction of first guiding groove and the linear portions are inserted into second guiding groove
Direction it is different.
As a preferred embodiment, between the first connecting portion and first supporting member and/or described
Mating is plugged together between two interconnecting pieces and second supporting member.
As a preferred embodiment, first supporting member is inserted into the direction and described the of the first connecting portion
The direction that two supporting members are inserted into the second connecting portion is not parallel to each other.
As a preferred embodiment, first supporting member is inserted into the direction and described the of the first connecting portion
The direction that two supporting members are inserted into the second connecting portion is mutually perpendicular to.
As a preferred embodiment, second supporting member is inserted into the direction of the second connecting portion perpendicular to institute
State the first plane.
As a preferred embodiment, being equipped at least one collision sensing between the floating part and the ontology
Device.
On the other hand, the embodiment of the invention provides a kind of connection component, including floating attachment and sets
It is placed in first supporting member and the second supporting member at the floating attachment both ends；The floating attachment includes limiting described the
The locating part of maximum distance between one supporting member and second supporting member, and support in first supporting member and described the
Elastic element between two supporting members；The both ends of the locating part respectively with first supporting member and second supporting member
It is connected.
On the other hand, the embodiment of the invention provides a kind of 1. floating connection systems, including ontology, floating part
And at least one is set to the connection component between the floating part and the ontology；Wherein, the connection component has bullet
Property, the floating part passes through the connection component and the ontology floating connection；It is equipped between the floating part and the ontology
Limit the limitation knot of the maximum offset on perpendicular to the connection component axial direction between the floating part and the ontology
Structure；The limiting structure includes the first limited post being arranged on the floating part and the ontology alternative one, and setting
The second limited post on both the floating part and the ontology are another；Second limited post, which is equipped with, can accommodate described the
The hollow cavity of one limited post, first limited post are at least partly axially inserted into the hollow interior of second limited post along it
Chamber；The axially extending axial direction for being oriented parallel to the connection component of first limited post and second limited post.
As a preferred embodiment, the floating part is relative to the ontology perpendicular to the connection component axis
Into the plane in direction, maximum offset is equal to the difference of the outer diameter of first limited post and the internal diameter of second limited post
Half.
As a preferred embodiment, when the floating part is located at initial position, the axis of first limited post
It is overlapped to center line with the longitudinal center line of second limited post.
As a preferred embodiment, the floating part includes at least one first connecting portion；The ontology includes
At least one second connecting portion corresponding with the first connecting portion；The connection component includes floating attachment and sets
Be placed in first supporting member and the second supporting member at the floating attachment both ends, first supporting member removably with it is described
First connecting portion mating, second supporting member are removably coupled with the second connecting portion.
As a preferred embodiment, between the first connecting portion and first supporting member and/or described
Mating is plugged together between two interconnecting pieces and second supporting member.
As a preferred embodiment, first supporting member is inserted into the direction and described the of the first connecting portion
The direction that two supporting members are inserted into the second connecting portion is not parallel to each other.
As a preferred embodiment, the floating attachment includes limiting between the floating part and the ontology
The locating part of maximum distance on perpendicular to first in-plane, and support in first supporting member and described second
Elastic element between supporting member；The both ends of the locating part respectively with first supporting member and the second supporting member phase
Connection.
As a preferred embodiment, the locating part includes elongated linear portions and is arranged in the line style
The clamp expanded at portion both ends；The both ends of the locating part respectively removably with first supporting member and second described
Bearing member is connected.
As a preferred embodiment, first supporting member have penetrate through its upper and lower surface the first stomidium and
First guiding groove at first supporting member edge is extended to from first stomidium；The linear portions are configured to hang down
Directly first stomidium is entered in the state of first supporting member, along first guiding groove；The second supporting member tool
There is the second stomidium for penetrating through its upper and lower surface and extend to the second of second supporting member edge from second stomidium and draws
Guide groove；The linear portions be configured to perpendicular to second supporting member state, enter along second guiding groove
Second stomidium；The linear portions are inserted into the direction of first guiding groove and the linear portions are inserted into second guiding groove
Direction it is different.
The technical effect that the present invention can reach realizes quick, the simple peace of floating connecting structure using above scheme
Dress, improves product assembly efficiency, reduces assembly cost.The present invention can also reach a lot of other beneficial effects, will be
Following description part elaborates.
Detailed description of the invention
Fig. 1 is the side schematic view of robot in the embodiment of the invention.
Fig. 2 be Fig. 1 in along the sectional view of A-A.
Fig. 3 is the detail view of part a in Fig. 2.
Fig. 4 is the explosive view of connection component in the embodiment of the invention.
Fig. 4 a is the bottom view of the first supporting member in the embodiment of the invention.
Fig. 4 b is the cross-sectional view in Fig. 4 a along C-C.
Fig. 4 c is the top-level view of the second supporting member in the embodiment of the invention.
Fig. 4 d is the cross-sectional view in Fig. 4 c along E-E.
Fig. 5 is the floating part schematic diagram of robot in the embodiment of the invention.
Fig. 5 a is the detail view of part g in Fig. 5.
Fig. 6 is the cross-sectional view in Fig. 5 a along D-D.
Fig. 7 a is the assembling process schematic diagram of connection component and floating part in the embodiment of the invention.
Fig. 7 b is the assembly completion status schematic diagram of connection component and floating part in the embodiment of the invention.
Fig. 8 is the ontology schematic diagram of robot in the embodiment of the invention.
Fig. 9 is the detail view of part b in Fig. 8.
Figure 10 is the cross-sectional view in Fig. 1 along B-B.
Figure 11 is the detail view of part c in Figure 10.
Figure 12 is the cross-sectional view in Fig. 1 along F-F.
Figure 13 is the detail view of part d in Figure 12.
Figure 14 is the detail view of part e in Fig. 5.
Figure 15 is the detail view of part f in Fig. 8.
Specific embodiment
Below with reference to specific embodiment shown in the drawings, the present invention will be described in detail.But these embodiments are simultaneously
The present invention is not limited, structure that those skilled in the art are made according to these embodiments, method or functionally
Transformation be included within the scope of protection of the present invention.
It is to be appreciated that the terms such as " first ", " second " are only used for retouching in the description of the specific embodiment of the invention
Purpose is stated, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.By
This defines " first ", the feature of " second " can explicitly or implicitly include one or more this feature.
In the specific embodiment of the invention unless specifically defined or limited otherwise, the terms such as " connected ", " connection " are answered
It is interpreted broadly, for example, it may be being fixedly connected, is also possible to be flexibly connected, can also be and be detachably connected, or is integral；
It can be directly connected, it can also be indirectly connected through an intermediary；It can be the connection inside two elements or two elements
Interaction relationship.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In the specific embodiment of the invention unless specifically defined or limited otherwise, fisrt feature second feature it
"upper" or "lower" may include that the first and second features directly contact, may include the first and second features be not direct yet
It contacts but by the other characterisation contact between them.
In the specific embodiment of the invention unless specifically defined or limited otherwise, term " more " refers to two or two
More than a.
A specific embodiment of the invention discloses a kind of robot, specially a kind of self-movement robot, with reference to Fig. 1
~Fig. 2.Self-movement robot generally has the ontology 2 for supporting each functional entity, and covered on outside ontology 2 from top,
And at least partially project over the floating part 1 of ontology 2.As a specific embodiment of the invention, self-movement robot is to mow
Robot covers on the floating part 1 outside ontology 2 including ontology 2 and from top, and ontology 2 is used to support the control of grass-removing robot
Module, energy module, motion module and operational module, above-mentioned each module is well known to those skilled in the art, therefore is not being illustrated
Book attached drawing is shown in detail.In the present embodiment, control module includes microprocessor (MCU), sensor (sensor) and control electricity
Road, energy module include that rechargeable battery packet, and motion module includes traveling wheel and the movable motor for driving traveling wheel, work
Module includes mowing cutterhead and the main motor for driving mowing cutterhead.
In this embodiment, floating connection, connection group are realized by connection component 3 between ontology 2 and floating part 1
Part 3 has elasticity.Ontology 2, floating part 1 and connection component 3 collectively form a floating connection system.The floating connection is
Refer to, floating part 1 can be moved in a certain range relative to ontology 2 under external force, deviate its initial position, be reached with this
To the function of cushion impact forces and/or triggering sensing device；After external force revocation, floating part 1 can be restored to initial bit
It sets.Specifically, it defines grass-removing robot and moves and execute cutting operation on the first plane, connection component 3 can be to being applied to
The impact force that the first plane is parallel on floating part 1 generates buffer function.As a special case, mobile robot is flat first
It advances forward on face, the barrier in front of it or in front of side is collided during traveling, floating part 1 can be produced relative to ontology 2
Life is rearward or the offset at side rear, impact force are connected component 3 and absorb, and makes connection component 3 that elasticity occur in its radial direction
Deformation；After avoiding obstacles, connection component 3 makes floating part 1 be restored to its initial position.Between floating part 1 and ontology 2
Equipped at least one connection component 3, it is preferred that connection component 3 is there are four symmetrically setting between floating part 1 and ontology 2 to protect
Demonstrate,prove integrally-built stability.For ease of description, being hereinafter horizontal plane by the first plane definition, it is parallel to the side of horizontal plane
To referred to as horizontal direction, the direction definition perpendicular to horizontal plane is vertical direction.
As shown in figure 3, the connection component 3 is including floating attachment 31 and is detachably connected to the floating attachment
First supporting member 32 and the second supporting member 33 at 31 both ends.In the present embodiment, the first supporting member 32 and floating part 1 are detachable
Ground is fixedly connected；In other embodiments, the first supporting member 32 can also be integrally formed with floating part 1.In the present embodiment,
Second supporting member 33 is removably secured with ontology 2 to be connect；In other embodiments, the second supporting member 33 and ontology 2 can also be with
It is to be integrally formed.Floating attachment 31 includes locating part 311 and the elastic element 312 for being set in 311 periphery of locating part.It is excellent
Choosing, elastic element 312 is spring.Further, elastic element 312 is helical spring.Elastic element 312 is supported first
Between supporting member 32 and the second supporting member 33.
With reference to Fig. 4, Fig. 4 a and Fig. 4 b, the first supporting member 32 is equipped with the first support on the surface close to elastic element 312
Body 325, which protrudes from 32 surface of the first supporting member, in hollow column.The diameter of first supporter 325
With the straight radial adaptation of elastic element 312.Specifically, the outer diameter of the first supporter 325 is no more than elasticity member in the present embodiment
The internal diameter of part 312, one end of elastic element 312 are set in the periphery of the first supporter 325 to keep in the course of work one end not
It is detached from first supporter 325.With reference to Fig. 4, Fig. 4 c and Fig. 4 d, the second supporting member 33 is on the surface close to elastic element 312
Equipped with the second supporter 335, structure is same or like with the first supporter 325.In other embodiments, elastic element 312
Outer diameter be no more than the internal diameter of the first supporter 325 or the second supporter 335, make the first supporter 325 or second to reach
Support body 335 is set in the construction of 312 end of elastic element periphery.In other embodiments, the first supporter 325 or second
Support body 335 is also possible at least two fins being arranged concentrically, as long as being capable of fixing the both ends of elastic element 312.
With reference to Fig. 3 and Fig. 4, locating part 311 is configured to the linear structure that both ends are expanded.Specifically, locating part 311 includes thin
Long linear portions 3112 and the clamp 3111 that 3112 both ends of linear portions are arranged in, clamp 3111 have biggish cross section ruler
It is very little, make entire locating part 311 on the whole in dumbbell shaped.Preferably, the clamp 3111 is configured to spherical shape.It is worth noting that,
In other embodiments, clamp can be configured to other forms, such as rectangular, taper etc..Locating part 311 by its two
The clamp 3111 at end is connect with the first supporting member 32 and the second supporting member 33 respectively, limits the first supporting member 32 and second
Bearing member 33 is when mobile robot collides behavior, the peak excursion distance of floating part 1, thus to the cross of elastic element 312
The threshold value lower than its deformation limit is set to deformation quantity, to avoid leading to mobile machine since elastic element 312 fails
The situation that the crash protection function of people is lost.Transverse deformation mentioned here refers to elastic element 312 along perpendicular to its axis
To direction on the deformation that occurs
Since connection component 3 has elasticity, floating part 1 can move in any horizontal direction relative to ontology 2.It is preferred that
, the length of above-mentioned locating part 311 is denoted as L, since locating part 311 is non-telescoping in its longitudinal direction or stroke pole
Small, length L can be considered substantially constant.Length when length L is not collided in mobile robot slightly larger than elastic element 312
Degree, to guarantee that elastic element 312 has the condition that transverse deformation occurs.Meanwhile length L cannot be too long to avoid locating part 311
Deviate from from the first supporting member 32 and/or the second supporting member 33, namely guarantees the stability of 3 overall structure of connection component assembly.It is excellent
Choosing, the locating part 311 is made of plastic material.When mobile robot is static or does linear uniform motion, the locating part
311 are in force-free state in the horizontal direction；When mobile robot collides or accelerates, floating part 1 is opposite
It shifts in ontology 2, the locating part 311 due to generating in the horizontal direction between the first supporting member 32 and the second supporting member 33
It relatively moves and is in stress, due to its length L substantially constant, so limiting opposite between ontology 2 and floating part 1
Displacement.On the other hand, robot place in the horizontal plane, floating part 1 by upward power so that when robot is lifted,
Since the presence of locating part 311 limits floating part 1 and ontology 2 in the maximum distance of vertical direction, make connection component 3 will not
It is damaged because of excessive tensile in its axial direction.
In the present embodiment, the first supporting member 32 is configured to flat laminated structure, and middle part has one to penetrate through table up and down
First stomidium 323 in face and one extend to the first supporting member edge from the first stomidium 323 the first guide channel 324, first leads
Diameter of the width value of approaching channel 324 not less than linear portions 3112 and the diameter less than clamp 3111.Linear portions 3112 can be with big
It causes to enter the first stomidium 323 perpendicular to the state of the first supporting element 32, along the first guide channel 324.In the present embodiment,
The width of first guide channel 324 is slightly less than the diameter of linear portions 3112, and this interference fit can be easily by linear portions 3112
It is packed into the first stomidium 323, and the risk that linear portions 3112 are deviate from from the first guide channel 324 can be substantially reduced.
First stomidium 323 has the first bowl-shaped part 3231 for accommodating the clamp 3111.Preferably, the first stomidium 323 exists
Cricoid first flange 3232 is extended upward away from the side of elastic element 312, the first flange 3232, which has to stablize, accommodates card
First 3111 the first bowl-shaped part 3231.Due to the presence of the first guide channel 324, the first flange 3232 shows as side notch, from
As Fig. 4 a depression angle from the point of view of, the first flange 3232 is C-shaped.The shape design of first bowl-shaped part 3231 be and above-mentioned clamp
3111 adhered shape, the opening close to one end of elastic element 312 is smaller, makes the clamp for being housed in the first bowl-shaped part 3231
3111 cannot pass through the opening, skid off to avoid clamp 3111 from the first stomidium 323.
First supporting member, 32 two sides are symmetrically equipped with the first hook 321, and the first hook 321 includes the first base portion 3213 and the
One claw 3212.It is equipped between the base portion 3213 and the claw 3212 for engaging the first connecting portion 11 and/or institute
State the first arm 3211 of second connecting portion 21.Correspondingly, as shown in figure 5, being set on floating part 1 towards the one side of ontology 2
There is the first connecting portion 11 with the cooperation of the first supporting member 32, the specific structure of first connecting portion 11 will elaborate below.
First supporting member 32 is inserted into the first connecting portion 11, and first elastic clamping hook is connected to the first connecting portion 11.It is this
Structure design can efficiently and safely remove first supporting member 32 from the first connecting portion 11.It only needs to pinch
The claw 3212 positioned at 32 two sides of the first supporting member collapses it inwardly, can when described in the first supporting member 32 it is de-
The first connecting portion 11 out.
Support elastic element 312 the other end and second supporting member 33 opposite with the first supporting member 32 have substantially
In the second base 331 of disc-shaped, 331 1 side surface of second base is equipped with the second hook 332, the second hook 332 perpendicular to
The side of second base 331 upwardly extends.Similar with the first hook 321, the second hook 332 includes the second base portion 3323 and from the
The second arm 3321 that two base portions 3323 extend out, the other end of the second arm 3321 are the second claw 3322.Above-mentioned second
Hook 332 is equipped with multiple, and each other with one heart, and the second claw 3322 of the multiple second hook 332 faces away from stomidium
333 direction dissipates outward.
Second connecting portion 21 is set to ontology 2, with first connecting portion 11 in the vertical direction to corresponding, and second connecting portion
21 and second mating between supporting member 33.Second connecting portion 21 includes being configured to the second clamping portion 211 of hollow pillar,
For being clamped with aforementioned second hook 332.Preferably, second clamping portion 211 is prominent to the direction of floating part 1 is deviated from, with
Guarantee that the second supporting member 33 can consolidate the surface for being supported on ontology 2.The second clamping portion 211 is just inserted into the second supporting member 33
When, the second claw 3322 inwardly collapses, just at itself when the second claw 3322 stretches out the outer end of the second clamping portion 211
Elastic reaction under restore to the original state, the second arm 3321 is just bonded with the inner surface of the second clamping portion 211 at this time, thus real
The connection of existing second supporting member 33 and second connecting portion 21.Preferably, second hook 332 can be four, and be symmetrical
Construction to guarantee that the second supporting member 33 is connect with second connecting portion 21 when stability.
In the present embodiment, the second clamping portion 211 is further configured to directly be touched from the lower section of ontology 2
And.In the present embodiment, other components are not provided with immediately below the second clamping portion 211, enabling there are enough spaces by hand
Refer to or other tools touch the second clamping portion 211 and the second hook 332 bottom-up, and then completes the connection component 3
The operation taken apart from the ontology 2.When mobile robot because maintenance or other reasons are needed floating part 1 and this
Body 2 disassembles when coming, and maintenance personal need to only use tubular tool identical with 211 internal diameter of the second clamping portion to cover from institute
It states on the second claw 3322 that the second clamping portion 211 is stretched and pushes up upwards, second supporting member 33 can be made to be detached from described
Second clamping portion 211.Even in the case of no tool, maintenance personal also can be manually by pinching second claw
3322 drive it inwardly to collapse to be detached from second clamping portion 211, and then by floating part 1 and connection component 3 simultaneously from this
It is disassembled on body 2.This structure design greatly reduces cumbersome degree when structure disassembly, effectively increases mobile robot
Overhaul efficiency.In other embodiments, the part that the underface settable one of the second clamping portion 211 can be quickly disassembled, example
Such as lid, above-mentioned purpose equally can be realized.
Similar with the first supporting member 32, the middle position on 331 surface of second base has the second stomidium 333 and from second
Stomidium 333 extends to second guide channel 334 at the second supporting member edge.Second stomidium 333, which has to stablize, accommodates clamp 3111
The second bowl-shaped part 3331.Second bowl-shaped part 3331 is similar with the construction of above-mentioned first bowl-shaped part 3231.Further,
In the present embodiment, the linear portions 3112 are inserted into the direction of first guiding groove 324 and the linear portions 3112 are inserted into institute
The direction for stating the second guiding groove 334 is different.
In other embodiments, since clamp 3111 is configured to other shapes, correspondingly, the first stomidium 323 or second
Stomidium 333 is equipped with the receiving portion matched with the shape of the clamp 3111, so that clamp 3111 will not be in the first stomidium 323
Or second shake in stomidium 333.In other embodiments, the first stomidium 323 or the second stomidium 333 can be not provided with
The first bowl-shaped part 3231 or the second bowl-shaped part 3233 are stated, as long as making the clamp 3111 of locating part 311 will not be in elastic element
Deviate from from the first stomidium 323 or the second stomidium 333 in 312 axial direction.
With reference to Fig. 5, the floating part 1 of mobile robot is equipped with the first connecting portion being coupled with above-mentioned first supporting member 32
11.Preferably, there are four first connecting portion 11 is set, it is symmetrically arranged at four orientation of floating part two-by-two.Certainly, first connects
The quantity of socket part 11 and position are not only restricted to foregoing description, as long as floating part 1 can be made to be firmly attached to ontology 2.It is floating
Moving part 1 is additionally provided with the first limited post 12, it is preferred that above-mentioned first limited post 12 is located at floating part front and back there are two setting
To middle position, and keep in the lateral direction symmetrical.
It can see in conjunction with Fig. 5 a, Fig. 6, Fig. 7 a and Fig. 7 b, first connecting portion 11 includes the first clamping portion being oppositely arranged
111.First clamping portion 111 is configured to the wall-like body perpendicular to floating part 1, between two pairs of the first clamping portions 111 between
Away from the first supporting member 32 can be accommodated just.In order to better describe dependency structure, first clearly the first clamping portion 111 with it is floating
The connected part of moving part 1 is root 1111, along the wall of the first clamping portion 111 it is opposite with root be the first clamping portion 111
Head 1113, the opposite face in two the first clamping portions 111 are inner wall 1115, and the opposite face in two the first clamping portions 111 is outer wall
1117.First clamping portion, 111 outer wall 1117 is equipped with the reinforcing rib of triangle, so that the root 1111 of the first clamping portion 111 and floating
The area that moving part 1 contacts is larger, to achieve the effect that the first clamping portion 111 of firm support.Certainly, the setting method of reinforcing rib
And quantity can be varied, which is not described herein again.
Mating is plugged together between first supporting member 32 and first connecting portion 11.Specifically, the first supporting member 32 institute along Fig. 7 a
When showing between the first pairs of clamping portion 111 of the direction A insertion, the claw 3212 of the first hook 321 first with the first clamping portion
The inclined-plane of 111 side contacts, claw 3212 is limited by the first clamping portion 111, and the first hook 321 is forced to lean on inwardly
Hold together to can smoothly enter into the space between the first pairs of clamping portion 111.When the claw 3212 is along the first clamping portion 111
Direction when sliding into the other side of the first clamping portion 111, the claw 3212 just off the first clamping portion 111 limitation,
First hook 321 releases deformation and restores to the original state, and the first arm 3211 is bonded with the inner wall of the first clamping portion 111, claw 3212 and
Base portion 3213 is stuck in the two sides of the first clamping portion 111, realizes being stably connected with for the first hook 321 and the first clamping portion 111.
So far, the first clamping portion 111 realizes limit to the first supporting member 32 in the both direction of front and rear, left and right.
Further, first connecting portion 11 further include the first limiting section 113 and matched with the first limiting section 113
Two limiting sections 114.First limiting section 113 is the inner wall and the flange that extends along the longitudinal direction perpendicular to the first clamping portion 111.
Preferably, above-mentioned first limiting section 113 and the first clamping portion 111 are integrally formed.It is contemplated that first limiting section
113 can not also connect with the first clamping portion 111 with floating part 1 or the second limiting section 114, as long as perpendicular to first
The inner wall of clamping portion 111 simultaneously extends along the direction of insertion perpendicular to the first supporting member 32.Above-mentioned first limiting section 113 has
There is reinforcing rib.Second limiting section 114 is located at the position between the first pairs of clamping portion 111, be connected with floating part 1 or with
Floating part 1 is integrally formed.Second limiting section 114 is upstanding post-like, has certain altitude on the direction perpendicular to floating part 1,
But it is no more than the height of the first clamping portion 111, and has between the second limiting section 114 and the first limiting section 113 and just allow
The space of first supporting member 32 insertion.
Second limiting section 114 is equipped with the stopper section 1141 that can accommodate the first flange 3232.The side of the stopper section 1141 has
There is the reversed recess towards A, when aforementioned first supporting member 32 is inserted into first connecting portion 11, since the first flange 3232 is prominent
In 32 surface of the first supporting member, the second limiting section 114 can only be slided into along above-mentioned recess, and in the first hook 321 and the first clamping
When portion 111 engages, the first flange 3232 is resisted against the stopper section 1141.The clamp 3111 of 311 one end of locating part is mounted on institute
It states in the first flange 3232, the recess of stopper section 1141 is opposite with the opening of the first guide channel 324, stopper section 1141 and first
Stomidium 323 can limit clamp 3111.This cleverly design can prevent elastic element 312 to be compressed to centainly
When degree, the case where locating part 311 is skidded off from the first guide channel 324 since one end is too long, the connection is greatly improved
The structural stability of component 3.
In the present embodiment, the direction A and the second supporting member 33 of the first supporting member 32 insertion first connecting portion 11 are inserted into the
The direction B of two interconnecting pieces 21 is not parallel.Further, direction A and direction B is mutually perpendicular to.Preferably, direction A and direction B its
One of in the horizontal direction, direction A and direction B wherein it is another along the vertical direction.Particularly, direction A is configured to along level side
To can reduce the size of first connecting portion 11 in the vertical direction in this way, be conducive to the design of floating part 1；Direction B construction
Along the vertical direction, to can be convenient in this way floating part 1 and connection component 3 are connect by way of straight cutting with ontology 2, letter
Mounting process is changed, has reduced costs.
In order to sense the collision between the floating part 1 and external object to extract information, floating part 1 and ontology 2 it
Between be equipped at least one crash sensor 41.Referring to Fig. 9~Figure 10, the upper surface of ontology 2 is installed equipped at least one sensor
Seat 42.The sensor installation seat 42 is equipped with the cavity that can accommodate sensor 41, and has a notch towards outer body,
The notch can transmit the displacement of 1 opposing body 2 of floating part for installing touch part 43 to reach activating sensor 41
Purpose.The sensor installation seat 42 can be integrally formed with ontology 2 or be realized by fastener and be connected.
It is below with reference to the setting and its trigger mechanism that sensor 41 is described in detail in connection structure with Figure 11.Sensor
41 are fixedly mounted in sensor installation seat 42, and the contact of sensor 41 and passes through towards the notch of sensor installation seat 42
Touch part 43 set on the notch is corresponding with the collision abutting portion 13 of floating part 1 is located at.When mobile robot is by from the external world
After the shock of barrier, relative to ontology 2 relative displacement occurs for floating part 1, therefore touch part 43 is extruded, and collision contradicts
Pressure is generated between portion 13 and the contact of sensor 41, so that trigger sensor 41 exports corresponding signal.When collision is released from
Afterwards, due to the effect of floating attachment 31, floating part 1 is restored to initial position, collides between abutting portion 13 and sensor 41
Pressure disappears, and sensor 41 is not triggered.
Preferably, the periphery of 2 upper surface of ontology is equipped with eight sensors, as shown in Figure 10, is arranged before ontology 2 respectively
The second front sensor on the right side of 2 front of ontology is arranged in the first front sensor on the left of portion, is arranged before 2 left side edge of ontology
The left sensor of the first of portion and the second left sensor that 2 left side edge rear portion of ontology is set, before 2 right side edge of ontology is set
The right sensor of the first of portion and the second right sensor that 2 right side edge rear portion of ontology is arranged in are arranged in 2 rear left of ontology
First after sensor, and sensor after the second of 2 right rear side of ontology is set.Above-mentioned first left sensor and first
Right sensor is to be disposed substantially symmetrically, and above-mentioned second left sensor and the second right sensor are also to be disposed substantially symmetrically, on
It is to be disposed substantially symmetrically that the first front sensor, which is stated, with the second front sensor, and sensor is after sensor and second after above-mentioned first
It is disposed substantially symmetrically.Correspondingly, each sensor 41 is corresponding with a sensor installation seat 42.
As shown in figure 8, the first front sensor is arranged in the first front sensor mounting base 421, the installation of the first front sensor
The notch of seat 421 is towards the front of ontology 2.Similar, the second front sensor is arranged in the second front sensor mounting base 422, the
The notch of two front sensor mounting bases 422 is also towards 2 front of ontology；First left sensor setting is in the first left sensor installation
In seat 423, the notch of the first left sensor installation seat 423 is towards 2 left side of ontology；First right sensor is arranged in the first right biography
In sensor mounting base 424, the notch of the first right sensor installation seat 424 is towards 2 right side of ontology；Second left sensor setting exists
In second left sensor installation seat 425, the notch of the second left sensor installation seat 425 is towards 2 left side of ontology；Second right sensing
Device is arranged in the second right sensor installation seat 426, and the notch of the second right sensor installation seat 426 is towards the right side of ontology 2；
Sensor setting is after first in sensor installation seat 427 after first, and the notch of sensor installation seat 427 is towards ontology after first
2 rear；Sensor setting is after second in sensor installation seat 428 after second, and sensor installation seat 428 lacks after second
Mouthful towards the rear of ontology 2.Substantially, the quantity of sensor 41 and position can there are many settings of multiplicity.Correspondingly, passing
The quantity of sensor mounting base 42 and position also change therewith, as long as can guarantee that sensor 41 can sense when from least four
The collision of a horizontal direction.In the present embodiment, as shown in figure 11, the first front sensor mounting base 421 and first is left
Sensor installation seat 423 is wholely set.
With reference to figures 13 to Figure 15, in order to limit the opposite position of the maximum of floating part 1 and ontology 2 in all directions of horizontal plane
It moves, at least one limiting structure is equipped between floating part 1 and ontology 2.In the present embodiment, in floating part 1 and ontology 2 two
One of person is equipped with the first limited post 12 along the vertical direction, correspondingly, the another of the two in floating part 1 and ontology 2 is equipped with edge
Second limited post 22 of vertical direction.Second limited post 22, which is equipped with, can accommodate the hollow cavity of the first limited post 12, by by the
One limited post 12 at least partly may make the second limited post 22 to along its hollow cavity for being axially inserted into the second limited post 22
One limited post 12 has position-limiting action.Further, the internal diameter of the hollow cavity is greater than the outer diameter of the first limited post 12, so as to the
One limited post 12 can have certain radially movable range in the second limited post 22, and allowing for floating part 1 can be relative to
The horizontal-shift in a certain range of ontology 2, and maximum offset is 22 internal diameter of 12 outer diameter of the first limited post and the second limited post
The half of difference.Preferably, the first limited post 12 and the second limited post 12 are all set as cylindric, to utilize circle itself
Characteristic makes floating part 1 can be relative to ontology 2 either in the horizontal plane to movement.The robot in the horizontal direction
Acceleration be substantially 0, when the floating part 1 is located at initial position, the longitudinal center line of the first limited post 12 and second limit
The longitudinal center line of position column 22 is overlapped, and 12 outer diameter of the first limited post is less than 22 internal diameter of the second limited post.In addition, the first limited post
12 and second limited post 22 be respectively equipped with reinforcing rib 121 and reinforcer 221.In the present embodiment, above-mentioned first limited post 12
It is provided with one group at the ontology in the front-back direction axis of symmetry with the second limited post 22, however this implementation may not necessarily be sticked to
Example, the first limited post 12 quantity and position combined with the second limited post 22 can multiplicity.
The connection method of robot casing 1 and ontology 2 of the present invention is described more fully below.
S100: assembly and connection component 3.
Wherein, S101: by linear portions 3112 to be approximately perpendicular to the state of the first supporting member 32, along the first guiding groove 324
It is inserted into the first stomidium 323, cooperates a clamp 3111 and the first bowl-shaped part 3231.
Wherein, elastic element 312: being set in the periphery of linear portions 3112 by S102, and make one end of elastic element 312 with
The cooperation of first supporter 325.
Wherein, S103: by linear portion 3112 to be approximately perpendicular to the state of the second supporting member 33, along the second guiding groove 334
Be inserted into the second stomidium 333, cooperate another clamp 3111 and the second bowl-shaped part 3331, the other end of elastic element 312 with
The cooperation of second supporter 335, elastic element 312 is between the first supporting member 32 and the second supporting member 33.
S200: one end of connection component 3 is connect with floating part 1.In the present embodiment, by the first supporting member 32 insertion the
One interconnecting piece 11 realizes being fixedly connected between floating part 1 and connection component 3.Specifically, with reference to Fig. 7 a and 7b, by first
Bearing member 32 is inserted into first connecting portion 11 along the direction A, its two-side elastic hook 321 is made to complete to block respectively at the first limiting section 111
It closes.
S300: casing 1 and ontology 2 are mutually fastened, i.e., connect the other end of connection component 3 with ontology 2.In this implementation
In example, the second supporting member 33 is inserted into second connecting portion 21, realization ontology 2 is fixedly connected with the connection component 3.Specifically
Second hook 332 of the second supporting member 32 is inserted into the second card set on second connecting portion 21 with reference to Fig. 3 by ground along the vertical direction
In socket part 211, until 211 clamping of the second hook 332 and the second clamping portion.
So far, that is, the connection of casing 1 Yu ontology 2 is completed.
In other embodiment, the connection method of robot casing 1 and ontology 2 successively includes step S1, S3 and S2.
Aforementioned mobile robot includes but is not limited to sweeping robot, grass-removing robot, shipping robot, flying robot
Deng.
By above three step, the installation of connection structure of the present invention is smoothly completed.Whole installation process is simply square
Just, and screw or other fasteners are not needed, cost of labor and Material Cost can be substantially reduced.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (15)
1. a kind of floating connection system, including ontology, floating part and at least one be set to the floating part and the ontology it
Between connection component；Wherein, the connection component has elasticity, and the floating part is floating by the connection component and the ontology
Dynamic connection；It is characterized in that
The connection component includes floating attachment and the first supporting member and second for being set to the floating attachment both ends
Supporting member, first supporting member removably with the first connecting portion be coupled, second supporting member removably with institute
State second connecting portion mating；
The floating attachment includes limiting between the floating part and the ontology on perpendicular to first in-plane
The locating part of maximum distance and, and support the elastic element between first supporting member and second supporting member；It is described
The both ends of locating part are connected with first supporting member and second supporting member respectively.
2. floating connection system as described in claim 1, characterized in that the first connecting portion and/or second connection
Portion includes hook and one of the clamping portion with hook cooperation, first supporting member and/or the second supporting member packet
It includes another in hook and the clamping portion cooperated with the hook.
3. floating connection system as described in claim 1, characterized in that the locating part include elongated linear portions and
The clamp expanded at the linear portions both ends is set.
4. floating connection system as claimed in claim 3, characterized in that the clamp is configured to spherical shape.
5. floating connection system as described in claim 1, characterized in that the both ends of the locating part respectively removably with institute
The first supporting member is stated to be connected with second supporting member.
6. floating connection system as claimed in claim 5, characterized in that first supporting member, which has, penetrates through its upper and lower surface
The first stomidium and first guiding groove at first supporting member edge is extended to from first stomidium；The linear portions structure
Make for can with perpendicular to first supporting member state, along first guiding groove enter first stomidium；It is described
First stomidium is equipped with the first bowl-shaped part for accommodating the clamp in one end away from the elastic element.
7. floating connection system as claimed in claim 5, characterized in that second supporting member, which has, penetrates through its upper and lower surface
The second stomidium and second guiding groove at second supporting member edge is extended to from second stomidium；The linear portions structure
Make for can with perpendicular to second supporting member state, along second guiding groove enter second stomidium；It is described
Second stomidium is equipped with the second bowl-shaped part for accommodating the clamp in one end away from the elastic element.
8. floating connection system as claimed in claim 5, characterized in that first supporting member, which has, penetrates through its upper and lower surface
The first stomidium and first guiding groove at first supporting member edge is extended to from first stomidium；The linear portions structure
Make for can with perpendicular to first supporting member state, along first guiding groove enter first stomidium；It is described
Second supporting member has the second stomidium for penetrating through its upper and lower surface and extends to second supporting member from second stomidium
Second guiding groove at edge；The linear portions be configured to perpendicular to second supporting member state, along described second
Guiding groove enters second stomidium；The linear portions are inserted into the direction of first guiding groove and the linear portions are inserted into institute
The direction for stating the second guiding groove is different.
9. the floating connection system as described in claim 1~8 any one, characterized in that the first connecting portion with it is described
Mating is plugged together between first supporting member and/or between the second connecting portion and second supporting member.
10. floating connection system as claimed in claim 9, characterized in that the first supporting member insertion first connection
The direction that the second connecting portion is inserted into second supporting member in the direction in portion is not parallel to each other.
11. floating connection system as claimed in claim 10, characterized in that the first supporting member insertion first connection
The direction that the second connecting portion is inserted into second supporting member in the direction in portion is mutually perpendicular to.
12. floating connection system as claimed in claim 10, characterized in that the second supporting member insertion second connection
The direction in portion is perpendicular to first plane.
13. the floating connection system as described in claim 1~8 any one, characterized in that the floating part and the ontology
Between be equipped at least one crash sensor.
14. a kind of robot, characterized in that the robot includes that the floating as described in claim 1~13 any one connects
Welding system.
15. a kind of connection component, characterized in that including
Floating attachment and the first supporting member and the second supporting member for being set to the floating attachment both ends；
The floating attachment includes the locating part for limiting maximum distance between first supporting member and second supporting member,
And support the elastic element between first supporting member and second supporting member；The both ends of the locating part respectively with institute
The first supporting member is stated to be connected with second supporting member.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018100554104 | 2018-01-19 | ||
| CN201810055410 | 2018-01-19 |
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|---|---|
| CN110053074A true CN110053074A (en) | 2019-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811083661.XA Pending CN110053074A (en) | 2018-01-19 | 2018-09-17 | Floating connection system, robot and connection component with the floating connection system |
| CN201821517759.7U Active CN209408478U (en) | 2018-01-19 | 2018-09-17 | Robot |
| CN201821517948.4U Active CN209524038U (en) | 2018-01-19 | 2018-09-17 | Floating connection system and robot with the floating connection system |
| CN201821517760.XU Active CN209408534U (en) | 2018-01-19 | 2018-09-17 | Floating connection system, robot and connection component with the floating connection system |
| CN201811080515.1A Pending CN110053018A (en) | 2018-01-19 | 2018-09-17 | Robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821517759.7U Active CN209408478U (en) | 2018-01-19 | 2018-09-17 | Robot |
| CN201821517948.4U Active CN209524038U (en) | 2018-01-19 | 2018-09-17 | Floating connection system and robot with the floating connection system |
| CN201821517760.XU Active CN209408534U (en) | 2018-01-19 | 2018-09-17 | Floating connection system, robot and connection component with the floating connection system |
| CN201811080515.1A Pending CN110053018A (en) | 2018-01-19 | 2018-09-17 | Robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114110082A (en) * | 2021-11-26 | 2022-03-01 | 深圳市杉川机器人有限公司 | Coupling assembling and lawn mower |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7309559B2 (en) * | 2019-09-27 | 2023-07-18 | 株式会社やまびこ | Self-propelled robot working machine |
| US20220274655A1 (en) * | 2019-11-22 | 2022-09-01 | Shanghai Sunseeker Robotic Technology Co., Ltd. | Autonomous operation apparatus |
| CN114188705B (en) * | 2021-12-09 | 2022-06-21 | 中土集团福州勘察设计研究院有限公司 | 5G adherence antenna used in railway tunnel |
| SE2250268A1 (en) * | 2022-02-28 | 2023-08-29 | Husqvarna Ab | Self-propelled Robotic Work Tool |
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- 2018-09-17 CN CN201811080515.1A patent/CN110053018A/en active Pending
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| CN114110082B (en) * | 2021-11-26 | 2023-12-08 | 深圳市杉川机器人有限公司 | Coupling assembling and lawn mower |
Also Published As
| Publication number | Publication date |
|---|---|
| CN209524038U (en) | 2019-10-22 |
| CN209408478U (en) | 2019-09-20 |
| CN209408534U (en) | 2019-09-20 |
| CN110053018A (en) | 2019-07-26 |
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