CN112440284A

CN112440284A - Automatic walking robot

Info

Publication number: CN112440284A
Application number: CN201910833117.0A
Authority: CN
Inventors: 聂恒安; 王聪; 陆胜富
Original assignee: Suzhou Cleva Precision Machinery and Technology Co Ltd
Current assignee: Suzhou Cleva Electric Appliance Co Ltd; Suzhou Cleva Precision Machinery and Technology Co Ltd
Priority date: 2019-09-04
Filing date: 2019-09-04
Publication date: 2021-03-05
Also published as: WO2021042576A1

Abstract

The invention provides an automatic walking robot, which comprises a robot body, a walking module connected with the robot body and a control module connected with the walking module, wherein the robot body comprises a middle cover and a chassis connected with the middle cover; the machine body also comprises a clapboard connected with the middle cover and the chassis, the clapboard divides the machine body into an external space positioned on one side of the clapboard and an internal space positioned on the other side of the clapboard, and the control module is at least partially positioned in the internal space; the partition board is provided with a matching part and a sealing element matched and connected with the matching part, and the sealing element is provided with a threading hole for communicating the internal space and the external space; and the sealing element is also provided with a glue pouring groove positioned on one side of the threading hole. The automatic walking robot disclosed by the invention can enable a cable to penetrate through the partition plate through the threading hole, and perform glue pouring operation through the glue pouring groove, so that the threading hole is sealed, the threading hole can be sealed, and the waterproof and dustproof requirements are met.

Description

Automatic walking robot

Technical Field

The invention relates to the field of automatic walking robots, in particular to an automatic walking robot.

Background

With the development of scientific technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can automatically execute preset related tasks by a preset program without manual operation and intervention, the intelligent automatic walking equipment is widely applied to industrial application and household products. Industrial applications such as robots performing various functions and home products such as lawn mowers, dust collectors, etc. have brought great convenience to industrial production and home life. Compared with the traditional products, the automatic walking robot has an automatic walking function, can prevent collision, prevents outgoing lines within a range, automatically returns to charge, has safety detection and battery power detection, has certain climbing capacity, and is particularly suitable for being used in places such as family courtyards and public greenbelts to carry out lawn trimming and maintenance. The automatic walking robot can autonomously finish the lawn trimming work without manual direct control and operation, and has the advantages of low power, low noise, no pollution, exquisite and attractive appearance and great reduction of manual operation.

At present, the automatic walking robot has waterproof and dustproof requirements, and generally, the automatic walking robot is usually connected to an associated external electronic device through various cables or has various interfaces, such as a power interface, a network cable interface, and the like. In some special occasions or situations, the cables need to pass through a certain partition plate of the automatic walking robot, and at the moment, through holes need to be reserved on the partition plate, so that the waterproof requirement cannot be met at the through holes.

Disclosure of Invention

The invention aims to provide an automatic walking robot.

In order to achieve the above object, an embodiment of the present invention provides an automatic walking robot, including a body and a control module disposed in the body, wherein the body includes a middle cover and a chassis connected to the middle cover, the robot further includes a partition board connecting the middle cover and the chassis, the partition board divides the body into an external space on one side of the partition board and an internal space on the other side of the partition board, and the control module is at least partially disposed in the internal space; the partition board is provided with a matching part and a sealing element which is matched and connected with the matching part, and the sealing element comprises a threading hole which is communicated with the inner space and the outer space and a glue pouring groove which is positioned on one side of the threading hole.

As a further improvement of the present invention, the fitting portion is an installation through groove, and the seal is fitted in the installation through groove.

As a further improvement of the invention, the sealing element is provided with an upper surface, and the upper surface is provided with a glue pouring opening communicated with the glue pouring groove.

As a further improvement of the invention, the threading hole comprises a first end and a second end which are oppositely arranged, the sealing element is further provided with a notch communicated with the first end of the threading hole, and the notch extends from the highest position of the sealing element to the first end of the threading hole.

As a further improvement of the invention, the sealing element is provided with an overflow outlet communicated with the glue filling groove, the glue filling groove and the overflow outlet are both positioned in the external space, and the overflow outlet is communicated with the glue filling opening.

As a further improvement of the present invention, the overflow outlet is configured as an overflow end at the lowest position in the vertical direction, and the height of the second end of the threading hole in the vertical direction is higher than the height of the overflow end of the overflow outlet in the vertical direction.

As a further improvement of the invention, the side surface and the bottom surface of the sealing element are both convex arc surfaces, and the surfaces of the installation through groove, which are contacted with the side surface and the bottom surface of the sealing element, are concave arc surfaces which are arranged in a matched manner.

As a further improvement of the present invention, a receiving groove is provided on the sealing member, and at least a part of an edge of the mounting through groove is clamped in the receiving groove.

As a further improvement of the present invention, the middle cover includes a first pressing edge connected to the chassis, a second pressing edge is disposed on the chassis at a position corresponding to the first pressing edge, and a sealing strip is pressed between the first pressing edge and the second pressing edge.

As a further improvement of the present invention, the sealing member includes a threading portion and a glue filling portion connected to each other, the threading hole is provided on the threading portion, the glue filling groove is provided on the glue filling portion, the threading portion is connected to the mating portion, and the glue filling portion is located in the external space.

Compared with the prior art, the automatic walking robot disclosed by the invention has the advantages that the matching part and the sealing piece are arranged on the partition plate for connecting the middle cover and the chassis, and the glue pouring groove and the threading hole are arranged on the sealing piece, so that a cable can penetrate through the partition plate through the threading hole, the glue pouring operation is carried out through the glue pouring groove, and the threading hole is sealed, thereby ensuring that the threading hole can be sealed, and meeting the waterproof and dustproof requirements of products.

Drawings

Fig. 1 is a schematic structural view of an automatic walking robot in one embodiment of the present invention;

FIG. 2 is an enlarged schematic view of portion A of FIG. 1 in accordance with the present invention;

FIG. 3 is an enlarged schematic view of portion B of FIG. 1 in accordance with the present invention;

FIG. 4 is an exploded view of the middle cover and the bottom plate according to an embodiment of the present invention;

FIG. 5 is a front view of a seal in accordance with an embodiment of the present invention;

FIG. 6 is a schematic view of the seal configuration in one embodiment of the present invention;

fig. 7 is a schematic view showing a structure in which a sealing member is mounted on a partition plate according to an embodiment of the present invention.

Detailed Description

The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.

It will be understood that terms used herein such as "upper," "above," "lower," "below," and the like, refer to relative positions in space and are used for convenience in description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

As shown in fig. 1 to 7, in the embodiment of the present invention, the automatic walking robot is preferably an automatic lawnmower, which is used to automatically walk and work on the ground, and the walking and working energy is provided by a battery. The automatic mower comprises a mower body 10, a walking module and a working module, wherein the walking module is installed on the mower body 10, the working module is used for mowing the lawn, the walking module is used for walking and steering, the working module comprises a cutting motor, a transmission shaft connected with the cutting motor and a cutting element matched and connected with the transmission shaft, and the cutting element can be a cutting blade, a cutting line and other elements capable of mowing the lawn. In addition, the automatic mower further comprises a control module which is used for coordinating the working module and the walking module, and the control module can enable the automatic mower to automatically walk on a lawn and mow the lawn under the unattended condition.

As shown in fig. 1 to 4, in the embodiment of the present invention, the machine body 10 includes a middle cover 11 and a chassis 12 connected to the middle cover 11. The body 10 further includes a housing 13, and the housing 13 covers the middle cover 11 from above. The machine body 10 further comprises a partition plate 101 connected with the middle cover 11 and the chassis 12, the partition plate 101 divides the machine body 10 into an external space O located on one side of the partition plate 101 and an internal space I located on the other side of the partition plate 101, and the control module is at least partially located in the internal space I. The partition plate 101 comprises a matching part and a sealing element 20 matched and connected with the matching part, wherein the sealing element 20 is provided with a threading hole 21 for communicating the internal space I and the external space O.

As shown in fig. 4 to 6, the fitting portion is a mounting through groove 102, and the sealing member 20 is fitted in the mounting through groove 102. The sealing element 20 is further provided with a glue pouring groove 22 located on one side of the threading hole 21.

According to the automatic walking robot disclosed by the invention, the matching part and the sealing element 20 are arranged on the partition plate 101 for connecting the middle cover 11 and the chassis 12, the glue pouring groove 22 and the threading hole 21 are arranged on the sealing element 20, a cable 30 can penetrate through the partition plate 101 through the threading hole 21, the glue pouring operation is carried out through the glue pouring groove 22, and the threading hole 21 is sealed, so that the threading hole can be sealed, and the waterproof and dustproof requirements of a product are met.

Specifically, in the embodiment of the present invention, the partition 101 is formed by connecting a portion of the middle cover 11 and a portion of the corresponding chassis 12. In another embodiment, the partition may be a separate member, and the middle cover and the chassis may be connected to each other. In addition, the partition plate 101 in the embodiment of the present invention extends in the vertical direction. That is, the partition 101 is disposed perpendicular to the horizontal plane. In other embodiments, the partition may also be inclined at an angle of less than 90 ° to the horizontal.

The space enclosed by the middle cover 11 and the chassis 12 after being fixedly connected in a sealing way is an internal space I, and the space on the machine body outside the enclosed space is an external space O. Specifically, the inner space I may be a sealed space, and at least a part of the control module may be disposed in the inner space I, such as: and part of electrical elements in the control module have higher requirement on waterproofness, and are arranged in the internal space I. And the requirement of the external space on the waterproofness is not high and is not closed. In the present embodiment, a sensor is disposed in the external space O, and the sensor needs to be connected to the circuit board 104 disposed in the internal space I through the cable 30. At this time, a structure through which the cable 30 can pass needs to be provided between the inner space I and the outer space O, and the waterproof sealing requirement needs to be satisfied at this structure.

In fact, as shown in fig. 3-4, the inside of the middle cover 11 is provided with a first enclosing plate 112, the inside of the chassis 12 is also provided with a second enclosing plate 123, a part of the first enclosing plate 112 and a part of the second enclosing plate 123 constitute a partition plate 101', and the internal space is further divided into a working space I1 and a sealed space I2 surrounding the working space I1, wherein a cutting motor, a cutting element and an elevation structure for adjusting the height of the cutting element are arranged in the working space I1, and the working space I1 is an unsealed space and has no high requirement on water resistance. For example, the cutting element extends through the lower portion of the housing and contacts grass on the ground to perform a mowing function. The sealed space I2 is sealed, and a plurality of electrical components, circuit boards and the like are arranged in the sealed space, which has higher waterproof requirements. Another installation through slot 102 ' and a corresponding sealing member are also provided on the partition 101 ' to allow the cable 30 ' of the electrical component disposed in the working space I1 to be connected to the circuit board disposed in the sealed space I2. The structures of the partition plate 101 ', the installation through groove 102' and the sealing member are the same as those of the partition plate 101, the installation through groove 102 and the sealing member 20, and are not described in detail in the embodiment of the present invention.

Further, as shown in fig. 5, the threading hole 21 includes a first end 211 and a second end 212 that are opposite to each other in the vertical direction, the sealing member 20 is further provided with a notch 23 that is communicated with the first end 211 of the threading hole 21, and the notch 23 extends from the highest position of the sealing member 20 to the first end 211 of the threading hole 21. When the cable 30 is installed at the threading hole 21, the cable 30 can be pressed towards the threading hole 21 from the notch 23 and then is installed in the threading hole 21, so that the cable 30 passes through the threading hole 21, and the operation of workers is facilitated.

Preferably, as shown in fig. 6, the sealing member 20 has an upper surface 25 perpendicular to the vertical direction, and the upper surface 25 is opened with a glue filling opening 251 communicated with the glue filling groove 22. The glue filling opening 251 is arranged on the upper surface 25 of the sealing element 20, so that glue can be directly filled into the glue filling groove 22 from the glue filling opening 251 during glue filling, the machine body does not need to be turned over, and the operation of a production line worker is facilitated.

Preferably, the potting groove 22 extends in a vertical direction on the sealing member 20. An overflow outlet 24 communicated with the glue filling groove 22 is formed in the sealing element 20, and the glue filling groove 22 and the overflow outlet 24 are located in the external space. The glue pouring groove 22 is arranged in the outer space O (or the working space I1), so that the glue pouring operation is convenient, and the glue cannot overflow to the inner space (the sealing space I2) if the glue overflows; and an overflow outlet communicated with the glue pouring groove 22 is arranged in the external space O (or the working space I1), so that if poor glue pouring occurs, water entering the glue pouring groove 22 can also flow out of the overflow outlet 24, and cannot stay in the glue pouring groove 22 or enter the threading hole 21.

In another embodiment, the glue pouring groove 22 may be provided in the inner space (herein, the sealed space I2), and the glue pouring operation may be performed.

Further, as shown in fig. 5, the overflow port 24 is configured as an overflow end 241 at the lowest position in the vertical direction, and the height of the second end 212 of the threading hole 21 in the vertical direction is higher than the height of the overflow end 241 of the overflow port 24 in the vertical direction. By the arrangement, water entering the glue pouring groove 22 cannot enter the threading hole 21.

In the embodiment of the present invention, the overflow port 24 is communicated with the glue filling opening 251. As shown in fig. 6, the glue opening 251 is open at the upper surface 25 of the seal and the overflow 24 is open at the side of the seal 20. Set up overflow mouth 24 to communicate with encapsulating opening 251, then when installing cable 30, directly press down from incision 23, can make cable 30 get into through wires hole 21 from incision 23, also get into encapsulating groove 22 from encapsulating opening 251 simultaneously to the one end of cable 30 extends out from through wires hole 21, and the other end extends out from overflow mouth 24, has more made things convenient for the installation of cable 30.

Preferably, the side surface and the bottom surface of the sealing element 20 are both convex arc surfaces, and the surface of the installation through groove 102, which is in contact with the side surface and the bottom surface of the sealing element 20, is a concave arc surface which is arranged in a matched manner. Specifically, the convex arc surface of the sealing element upper 20 is matched and connected with the concave circular ring surface of the mounting through groove 102, so that the connection part of the sealing element upper and the mounting through groove does not have an acute angle/a right angle, and the sealing performance is good. Moreover, the cross section of the glue pouring groove 22 in the vertical direction is semicircular, so that no sharp corner exists in the glue pouring groove 22, the glue pouring is uniform, and the glue pouring sealing effect is better.

Further, as shown in fig. 6-7, a receiving groove 27 is formed on the sealing member 20, and an edge of the mounting through groove 102 is clamped in the receiving groove 27. The side surface and the bottom surface of the sealing member 20 are provided with the holding grooves 27 which are communicated with each other, and the edge of the mounting through groove 102 can be clamped in the holding grooves 27 by mounting the sealing member 20 on the mounting through groove 102 from top to bottom. Specifically, the housing groove 27 is formed on the side surface and the bottom surface of the seal 20. The portions of the mounting groove 102 contacting the side surfaces and the bottom surface of the sealing member 20 can be engaged with the receiving grooves 27, so that the sealing member 20 can be mounted on the mounting groove 102.

As shown in fig. 4, the middle cover 11 includes a first pressing edge 111 connected to the chassis 12, a second pressing edge 121 is disposed on the chassis 12 at a position corresponding to the first pressing edge 111, and a sealing strip 103 is pressed between the first pressing edge 111 and the second pressing edge 121. The first pressing edge 111 and the second pressing edge 121 are provided with structures adapted to the sealing strip, such as grooves adapted to the size of the sealing strip 103. The sealing strip can further ensure the sealing effect.

Specifically, when the middle cover 11 is assembled with the chassis 12, the sealing member 20 is first clamped in the mounting through groove 102, so that the sealing member 20 is mounted on the chassis 12, and then the cable 30 is passed through the threading hole 11 from the incision, so that the potting operation can be started. When glue is filled, glue is injected into the glue filling groove 22 from the glue filling opening 251, the joint of the threading hole 21 and the cable 30 is sealed by the glue, and redundant glue can flow out from the overflow outlet 24. Next, the sealing tape 103 is pressed against the second pressing edge 121 (or the first pressing edge 111), then the first pressing edge 111 of the middle cover 11 is aligned with and pressed against the second pressing edge 121 of the bottom chassis 12, and finally, the middle cover 11 and the bottom chassis 12 can be firmly connected together by fasteners such as screws. At this time, the sealing strip 103 is tightly pressed between the first pressing edge 111 and the second pressing edge 122, and the threading hole 21 is also sealed by the glue, so that the sealing effect of the connection between the middle cover 11 and the bottom plate 12 is better.

Further, as shown in fig. 6 to 7, the sealing member 20 may be divided into a threading portion 201 and a glue filling portion 202 connected to each other, the threading hole 21 is disposed in the threading portion 201, the glue filling groove 22 is disposed in the glue filling portion 202, the threading portion 201 is connected to the mating portion, and the glue filling portion 202 is located in the external space.

According to the automatic walking robot disclosed by the invention, the installation through groove is formed in the partition plate formed by the middle cover and the chassis, the sealing element is arranged on the installation through groove, the glue pouring groove and the threading hole are formed in the sealing element, a cable can penetrate through the partition plate through the threading hole, the glue pouring operation is carried out through the glue pouring groove, and the threading hole is sealed, so that the threading hole can be sealed, and the waterproof and dustproof requirements of a product are met. Set up the incision on the sealing member, when installing the cable to threading hole department, can follow incision department and press the cable to the threading hole and pack into in the threading hole to make the cable pass through the threading hole, convenient operation. The outer space is all located to encapsulating groove and overflow mouth to make things convenient for the encapsulating and even the encapsulating is bad, the water that gets into the encapsulating groove also can follow overflow mouth outflow and can not stop or get into the through wires hole in the encapsulating groove, has further guaranteed sealed effect. The sealing member is semicircular, and the surface of the sealing member contacting with the installation through groove is arc-shaped, so that the joint of the sealing member and the installation through groove has no acute angle or right angle, and the sealing property is good. And, the cross-section of encapsulating groove on vertical direction is semi-circular, then does not have sharp-pointed corner in the encapsulating groove, can make the encapsulating even, and the sealed effect of encapsulating is better.

It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims

1. An automatic walking robot comprises a robot body and a control module arranged in the robot body, wherein the robot body comprises a middle cover and a chassis connected with the middle cover, and is characterized in that the robot body also comprises a partition plate connected with the middle cover and the chassis, the partition plate divides the robot body into an external space positioned on one side of the partition plate and an internal space positioned on the other side of the partition plate, and at least part of the control module is positioned in the internal space; the partition board is provided with a matching part and a sealing element which is matched and connected with the matching part, and the sealing element comprises a threading hole which is communicated with the inner space and the outer space and a glue pouring groove which is positioned on one side of the threading hole.

2. The automatic walking robot of claim 1, wherein the mating part is an installation through groove, and the sealing member is fitted in the installation through groove.

3. The automatic walking robot of claim 2, wherein the sealing member has an upper surface opened with a glue pouring opening communicating with the glue pouring groove.

4. The automatic walking robot as claimed in claim 2, wherein the threading hole includes a first end and a second end disposed opposite to each other, and the sealing member is further provided with a slit communicating with the first end of the threading hole, the slit extending from a highest point of the sealing member to the first end of the threading hole.

5. The automatic walking robot of claim 3, wherein the sealing member is provided with an overflow port communicating with the glue filling groove, the glue filling groove and the overflow port are both located in the external space, and the overflow port is communicated with the glue filling opening.

6. The automatic walking robot of claim 5, wherein the overflow port is configured as an overflow end at the lowermost position in the vertical direction, and the height of the second end of the threading hole in the vertical direction is higher than the height of the overflow end of the overflow port in the vertical direction.

7. The automatic walking robot as claimed in claim 2, wherein the side surfaces and the bottom surface of the sealing member are both convex arc surfaces, and the surfaces of the mounting through grooves contacting the side surfaces and the bottom surface of the sealing member are concave arc surfaces provided in cooperation.

8. The autonomous walking robot of claim 2, wherein the sealing member has a receiving groove, and an edge of the mounting through groove is engaged with the receiving groove.

9. The automatic walking robot of claim 1, wherein the middle cover comprises a first pressing edge connected to the chassis, a second pressing edge is provided on the chassis at a position corresponding to the first pressing edge, and a sealing strip is pressed between the first pressing edge and the second pressing edge.

10. The automatic walking robot of claim 1, wherein the sealing member comprises a threading part and a glue pouring part connected to each other, the threading hole is formed in the threading part, the glue pouring groove is formed in the glue pouring part, the threading part is connected to the mating part, and the glue pouring part is located in the outer space.