CN201645498U - Self-moving device - Google Patents
Self-moving device Download PDFInfo
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- CN201645498U CN201645498U CN2010201802810U CN201020180281U CN201645498U CN 201645498 U CN201645498 U CN 201645498U CN 2010201802810 U CN2010201802810 U CN 2010201802810U CN 201020180281 U CN201020180281 U CN 201020180281U CN 201645498 U CN201645498 U CN 201645498U
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- board mount
- hit
- self
- movable block
- bracing frame
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Abstract
The utility model relates to a self-moving device comprising a main body (2), wherein a self-moving unit is arranged on the main body (2), a control unit and a striking plate mechanism are also arranged in the main body (2), the control unit controls the working of the self-moving unit, the striking plate mechanism comprises a bracket (112) of a striking plate, and a support bracket (113) is connected with the bracket (112) of the striking plate by a movable block component; a sensor component (120) of the striking plate is respectively arranged between both sides of the movable block component and the support bracket (113) and is electrically connected with the control unit; and after the bracket (112) of the striking plate is impacted, the bracket (112) of the striking plate generates a relative motion by the movable block component and the support bracket (113), the bracket (112) of the striking plate triggers the sensor components (120) of the striking plate, the sensor components (120) of the striking plate output signals to the control unit, and the control unit controls the self-moving unit to change the motion direction. The utility model has simple structure and convenient operation and can sense the orientation of a barrier accurately, and the problem of error signals can not occur.
Description
Technical field
The utility model relates to a kind of self-moving device, especially a kind ofly has a self-moving device that integral body is hit plate structure.
Background technology
Along with improving constantly of living standard and scientific and technological ability, the family expenses service robot of various difference in functionalitys has progressed into ordinary citizen house, for people's life brings in various degree facility.The development of Robotics and extensive use are had higher requirement to the intellectuality of robot.Because robot is a self-moving device, belongs to the device that need not human intervention, its security is even more important.Safety when working for self-moving device in the prior art, is provided with on intelligent mobile robot and hits plate mechanism.This hits plate mechanism and rotates with respect to the robot body by hitting plate.By being positioned at the barrier that the sensor that hits plate mechanism both sides comes sensing to hit plate is to be positioned at the place ahead, left side or the rear side that hits plate.And this plate mechanism that hits when barrier is positioned at trizonal critical potential, is easy to produce error signal, to the control of product end barrier implementation method of keeping away of product is brought mistake.
The utility model content
The purpose of this utility model is to solve above-mentioned technical problem, provide a kind of integral body simple in structure to hit plate structure, barrier is positioned at the detection method in the place ahead and the detection method that barrier is positioned at left side or right side, make a distinction fully, efficiently solve the error signal problem that trizonal critical potential may occur, and mechanism's induced signal is sensitiveer.
Technical problem to be solved in the utility model is achieved by the following technical solution:
A kind of self-moving device comprises: main body, main body are provided with from mobile unit, also be provided with control module in the described main body and hit plate mechanism, control module control is from mobile unit work, and the described plate mechanism that hits comprises and hit board mount, a bracing frame by the movable block assembly with hit board mount and link to each other; Be respectively equipped with between the both sides of described movable block assembly and the bracing frame and hit the plate sensor cluster, this hits the plate sensor cluster and control module is electrically connected; After hitting board mount and being clashed into, it produces relative motion by movable block assembly and bracing frame, hits board mount and triggers and hit the plate sensor cluster, hits the plate sensor cluster and outputs signal to control module, and control module control is from the mobile unit change direction of motion.
In order to guarantee induction accurately, describedly hit the front end that board mount is positioned at described main body direction of advance.
Described relative motion comprises described translation or the rotation that board mount produces with respect to described bracing frame by described movable block assembly of hitting.
Specifically, described movable block assembly comprises movable block, and the described board mount front end that hits is provided with groove, and described movable block is plugged in the groove, is equipped with axis between the two; Described movable block middle part is provided with extending column, and through hole is offered in described bracing frame end, is arranged with spring on the described extending column, and the through hole of bracing frame is passed in the lower end of extending column.
The both sides that described movable block is positioned at extending column are provided with guide pillar, and correspondence is provided with linear bearing on the described bracing frame, and described guide pillar is located in the described linear bearing and locatees.
Described translation comprises, when the place ahead of hitting board mount is stressed, hit the guiding of board mount by two guide pillars on the movable block assembly that is attached thereto and extending column, slide towards the bracing frame direction, hitting board mount triggers two simultaneously and hits the plate sensor cluster, hit the plate sensor cluster and output signal to control module, control module control changes the direction of motion from mobile unit; When hitting board mount the place ahead when no longer stressed, under the elastic-restoring force effect that is set in the spring on the extending column, hit board mount and be returned to the home position.
Described rotation comprises, when the side of hitting board mount is stressed, hitting board mount is rotating shaft with the axis that links to each other with the movable block assembly, work rotatablely moves with respect to bracing frame, hit board mount and trigger the described plate sensor cluster that hits, hit the plate sensor cluster and output signal to control module, control module control changes the direction of motion from mobile unit; When hitting the grillage side when no longer stressed, under the elastic-restoring force effect of spring, hit board mount and drive and hit plate and be returned to the home position.
In order to improve the sensitivity of bump, described bracing frame and hit and also be provided with shell fragment between the board mount.The optimum position of described shell fragment is arranged on described rearward end of hitting the both sides of board mount.
In order to prevent that axis comes off in long-term the use, the both side ends of described axis convexedly stretches in the upper and lower surface of bracing frame and movable block, and at the axle head fluting that protrudes, and groove is provided with baffle ring.Can also make the both side ends of described axis concordant, seal at the junction on axle head and upper and lower surface coating hot-melt adhesive with the upper and lower surface of bracing frame and movable block.
In addition, the described board mount periphery of hitting is provided with and hits plate, this hit plate with the described whole envelopes of plate mechanism that hit interior.
Describedly hit plate and described to hit locating hole and the reference column of board mount by corresponding setting fixed to one another.
The described plate sensor cluster that hits comprises sensor housing, and first moving lever and second moving lever are fixed on an end of sensor housing by column, makes the interlock of first moving lever and second moving lever; Sheathed torsion spring on the column makes first moving lever return when not being squeezed; Be provided with sensor stand in the described sensor housing, sensor and circuit thereof are fixed on the sensor stand, and described sensor and control module are electrically connected; The free end of described first moving lever protrudes out outside the sensor housing, replaces with the described board mount that hits; The free end of described second moving lever is arranged on the place ahead of sensor.
In order to prevent that bump from bringing damage for internal structure, the below of described bracing frame and hit between the plate inwall and be provided with cushion pad.
The beneficial effects of the utility model are: the utility model is simple in structure, and is easy to operate, the orientation of disturbance of perception thing exactly, and the problem of error signal can not appear.
Below in conjunction with the drawings and specific embodiments the technical solution of the utility model is described in detail.
Description of drawings
Fig. 1 is the overall structure schematic diagram of the utility model self-moving device;
Fig. 2 is the inner three-dimensional structure diagram of the utility model self-moving device;
Fig. 3 hits plate mechanism cutaway view for the utility model;
Fig. 4 is the structural representation that hits the plate sensor cluster.
The specific embodiment
Fig. 1 is the overall structure schematic diagram of the utility model self-moving device, and Fig. 2 is the inner three-dimensional structure diagram of the utility model self-moving device.In conjunction with shown in Figure 2, provide a kind of as Fig. 1 in the present embodiment, having comprised from mobile air purifier: main body 2, main body 2 is provided with from mobile unit, also is provided with control module in the described main body 2 and hits plate mechanism, and control module is controlled from mobile unit work.Fig. 3 hits plate mechanism cutaway view for the utility model.As Fig. 2 and in conjunction with shown in Figure 3, described hit plate mechanism comprise hit board mount 112, one bracing frames 113 by the movable block assembly with hit board mount 112 and link to each other; Be respectively equipped with between the both sides of described movable block assembly and the bracing frame 113 and hit plate sensor cluster 120, this hits plate sensor cluster 120 and is electrically connected with control module; After hitting board mount 112 and being clashed into, it produces relative motion by movable block assembly and bracing frame 113, hit board mount 112 triggerings and hit plate sensor cluster 120, hit plate sensor cluster 120 and output signal to control module, control module control changes the direction of motion from mobile unit.In order to guarantee induction accurately, describedly hit the front end that board mount 112 is positioned at described main body direction of advance.Described relative motion comprises described translation or the rotation that board mount 112 produces with respect to described bracing frame 113 by described movable block assembly of hitting.
In addition, in order to guarantee the effect of self-moving device, described board mount 112 peripheries of hitting are provided with and hit plate 111, this hit plate 111 with the described whole envelopes of plate mechanism that hit interior.Different self-moving devices, this hits plate can adopt different structures, also can use as hitting plate with the shell of self-moving device body.The length of hitting plate also can be provided with as required.Describedly hit plate 111 and described to hit board mount 112 fixed to one another by the locating hole and the reference column of corresponding setting.
Described movable component comprises movable block 114, described board mount 112 front ends that hit are provided with groove, described movable block 114 is plugged in the groove, the top of this movable block is provided with a through hole, also be respectively equipped with a through hole on the described upper and lower end face that hits board mount 112 grooves, and the pore size of the through hole on the upper and lower end face and the through hole at movable block top is identical and through hole is same center line, is equipped with axis 118 between the through hole.For preventing in permanent use, the upper-lower position play can appear in this metal shaft 118 in through hole, this axis 118 can be arranged to the end face that two ends axial length surpasses the upper and lower end of groove, and expose upper and lower end face place the axle on offer groove, be equiped with baffle ring on the groove, to prevent the play up and down of axis 118.Perhaps, the both side ends of described axis 118 is concordant with the upper and lower surface of bracing frame 113 and movable block 115, seals at the junction on axle head and upper and lower surface coating hot-melt adhesive.
The two ends of described movable block 114 are provided with guide pillar 115, and correspondence is provided with linear bearing 116 on the described bracing frame 113, and described guide pillar 115 is located in location in the described linear bearing 116; Described movable block 114 middle parts are provided with extending column 117, and through hole is offered in described bracing frame 113 ends, is arranged with spring 1171 on the described extending column 117, and the through hole of bracing frame 113 is passed in the lower end of extending column 117.For preventing that movable block 114 and bracing frame 113 break away from, be equiped with baffle ring at the end face of the guide pillar 115 of the two through hole that passes bracing frame 113.
Be respectively equipped with between the both sides of described movable block assembly and the bracing frame 113 and hit plate sensor cluster 120, as shown in Figure 4, for hitting the structural representation of plate sensor cluster.Hit plate sensor cluster 120 and comprise that sensor housing 121, the first moving levers 123 and second moving lever 124 are fixed on an end of sensor housing 121 by column 124, make first moving lever 123 and 124 interlocks of second moving lever.A sheathed torsion spring 125 on the described column 124, an end of torsion spring 125 are fixed in the groove that first moving lever 123 offers near column 124 1 ends, and the other end is replaced on the madial wall of sensor housing 121.The place ahead of described sensor housing is provided with sensor stand 126, sensor 127 and circuit thereof are fixed on the sensor stand 126, described sensor 127 is electrically connected with control module, and in the present embodiment, sensor is infrared emission/receiving sensor in the present embodiment.In addition, the free end of described first moving lever 123 protrudes out outside the sensor housing 121, replace with the described board mount 112 that hits, the free end of described second moving lever 124 is arranged on the place ahead of sensor 127, in the scope that the free end of described second moving lever 124 is swung, can block sensor 127.
In sum, the whole plate mechanism that hits can realize.Because hitting board mount 112 is movable part for bracing frame 113, is located in the outer race of hitting board mount 112 and hits on the plate, realization will be hit plate 111 and hit between the board mount 112 and do not moved horizontally, and hit plate 111 with hitting board mount 112 motions.When barrier collide hit plate 111 after, its power that is subjected to passes to hits board mount 112.Because hitting board mount 112 is movable parts with respect to bracing frame 113, therefore hits board mount 112 stressed backs and produce change in location with respect to bracing frame 1.The concrete mode of its realization is:
When barrier hits the place ahead of plate, hit board mount 112 and translation takes place with respect to bracing frame 113.Specifically comprise, hit plate 111 stressed with power pass to be positioned at its inside hit board mount 112, hit the guiding of board mount 112 by two guide pillars 115 on the movable block assembly that is attached thereto and extending column 117, extrusion spring 1171, slide towards bracing frame 113 directions, hit board mount 112 and push first moving lever 123 that hits in the plate sensor cluster 120, thereby sensor 127 is blocked in the free end swing that drives second moving lever 124, make the sensing receiving element not receive signal, thereby trigger sensor 127 and output signal to control module, control module control changes the direction of motion from mobile unit; When hitting plate 111 the place aheads when no longer stressed, under the elastic-restoring force effect that is set in the spring 1171 on the extending column 117, hit board mount 112 and drive and hit plate 111 and be returned to the home position.
When barrier hits plate 11 lefts, hit board mount 112 and rotate with respect to bracing frame 113.Specifically comprise, hit plate 111 stressed with power pass to be positioned at its inside hit board mount 112.Hitting board mount 112 is rotating shaft with the axis 118 that links to each other with the movable block assembly, does rotatablely moving with respect to bracing frame.Hit board mount 112 and push first moving lever 123 that hits in the plate sensor cluster 120, thereby sensor 127 is blocked in the free end swing that drives second moving lever 124, make the sensing receiving element not receive signal, thereby trigger sensor 127 and output signal to control module, control module control changes the direction of motion from mobile unit; When hitting plate 111 the place aheads when no longer stressed, under the elastic-restoring force effect that is set in the spring 1171 on the extending column 117, hit board mount 112 and drive and hit plate 111 and be returned to the home position.
When barrier hits plate 111 when right-hand, hit board mount 112 and rotate with respect to bracing frame 113 equally.The symmetry when direction of motion of each parts and left collide in rotation direction and the sensor cluster 120 with reference to foregoing, repeats no more.
In order to improve the sensitivity of bump, described bracing frame 113 and hit and also be provided with shell fragment 119 between the board mount 112.Specifically, support frame as described above 113 two sides and hit and respectively be provided with a shell fragment 119 between the board mount 112, one end of this shell fragment 119 is fixedly arranged on and hits board mount 112, and its another free end is replaced on the sidewall of bracing frame 113, and the shell fragment of and arranged on left and right sides is centrosymmetric with respect to hitting board mount 112.The optimum position of described shell fragment 119 is arranged on described rearward end of hitting the both sides of board mount 112.Owing to hit the answer home position of the fore-end of board mount 112 is by spring 1171, if but it is stressed in rear lateral portion to hit board mount 112, spring 1171 its stress and deformations that are positioned at the leading section that hits board mount 112 are considerably less, by shell fragment 119 is arranged on this, make the recovery certainly in home position rapidly sensitive.
In addition, bring damage for internal structure, the below of described bracing frame 113 and hit between plate 111 inwalls and also be provided with cushion pad 12 in order to prevent bump.
Only enumerated a preferred the most simple and practical embodiment in embodiment of the present utility model, the utility model still has many concrete embodiments.Among the embodiment, sensor is infrared emission/receiving sensor in the utility model, and also replaceable in force is mechanical type microswitch or electromagnetic sensor.Robot described in the utility model can be sweeping robot, air purifying robot, dust-collecting robot or the like, according to different needs of work, can install the different assemblies or the combination of multiple functional unit in intelligent robot inside.
Claims (15)
1. self-moving device, comprise: main body, main body is provided with from mobile unit, also be provided with control module in the described main body and hit plate mechanism, control module control is from mobile unit work, it is characterized in that the described plate mechanism that hits comprises and hit board mount (112), a bracing frame (113) by the movable block assembly with hit board mount (112) and link to each other; Be respectively equipped with between the both sides of described movable block assembly and the bracing frame (113) and hit plate sensor cluster (120), this sensor cluster (120) is electrically connected with control module; After hitting board mount (112) and being clashed into, it produces relative motion by movable block assembly and bracing frame (113), hit board mount (112) triggering and hit plate sensor cluster (120), hit the plate sensor cluster and output signal to control module, control module control changes the direction of motion from mobile unit.
2. self-moving device as claimed in claim 1 is characterized in that, describedly hits the front end that board mount (112) is positioned at described main body direction of advance.
3. self-moving device as claimed in claim 1 is characterized in that, described relative motion comprises described translation or the rotation that board mount (112) produces with respect to described bracing frame (113) by described movable block assembly of hitting.
4. self-moving device as claimed in claim 3, it is characterized in that described movable block assembly comprises movable block (114), described board mount (112) front end that hits is provided with groove, described movable block (114) is plugged in the groove, is equipped with axis (118) between the two; Described movable block (114) middle part is provided with extending column (117), and through hole is offered in described bracing frame (113) end, is arranged with spring (1171) on the described extending column (117), and the through hole of bracing frame (113) is passed in the lower end of extending column (117).
5. self-moving device as claimed in claim 4, it is characterized in that, the both sides that described movable block (114) is positioned at extending column (117) are provided with guide pillar (115), described bracing frame (112) is gone up correspondence and is provided with linear bearing (116), and described guide pillar (115) is located in location in the described linear bearing (116).
6. self-moving device as claimed in claim 5, it is characterized in that, described translation comprises, when the place ahead of hitting board mount (112) is stressed, hit the guiding of board mount (112) by two guide pillars (115) on the movable block assembly that is attached thereto and extending column (117), slide towards bracing frame (113) direction, hitting board mount (112) triggers two simultaneously and hits plate sensor cluster (120), hit plate sensor cluster (120) and output signal to control module, control module control changes the direction of motion from mobile unit; When hitting board mount the place ahead when no longer stressed, under the elastic-restoring force effect that is set in the spring (1171) on the extending column (117), hit board mount (112) and be returned to the home position.
7. self-moving device as claimed in claim 4, it is characterized in that, described rotation comprises, when the side of hitting board mount (112) is stressed, hitting board mount (112) is rotating shaft with the axis (118) that links to each other with the movable block assembly, and work rotatablely moves with respect to bracing frame (113), hits board mount (112) and triggers the described plate sensor cluster (120) that hits, hit plate sensor cluster (120) and output signal to control module, control module control changes the direction of motion from mobile unit; When hitting grillage (112) side when no longer stressed, under the elastic-restoring force effect of spring (1171), hit board mount (112) and drive and hit plate (111) and be returned to the home position.
8. as each described self-moving device of claim 1-7, it is characterized in that described bracing frame (113) and hit and also be provided with shell fragment (119) between the board mount (112).
9. self-moving device as claimed in claim 8 is characterized in that; Described shell fragment (119) is arranged on described rearward end of hitting the both sides of board mount.
10. self-moving device as claimed in claim 7 is characterized in that, the both side ends of described axis (118) convexedly stretches in the upper and lower surface of bracing frame (113) and movable block, and at the axle head fluting that protrudes, and groove is provided with baffle ring.
11. self-moving device as claimed in claim 7 is characterized in that, the both side ends of described axis (118) is concordant with the upper and lower surface of movable block (114) with bracing frame (113), seals at the junction on axle head and upper and lower surface coating hot-melt adhesive.
12. self-moving device as claimed in claim 1 is characterized in that, described board mount (112) periphery of hitting is provided with and hits plate (111), this hit plate (111) with the described whole envelopes of plate mechanism that hit interior.
13. self-moving device as claimed in claim 11 is characterized in that, describedly hits plate (111) and described to hit locating hole and the reference column of board mount (112) by corresponding setting fixed to one another.
14. as claim 1 or 6 or 7 each described self-moving devices, it is characterized in that, described sensor cluster (120) comprises sensor housing (121), first moving lever (122) and second moving lever (123) are fixed on an end of sensor housing (121) by column (124), make the interlock of first moving lever (122) and second moving lever (123); Column (124) is gone up sheathed torsion spring (125), makes first moving lever (122) return when not being squeezed; Described sensor housing is provided with sensor stand in (121), and sensor (127) and circuit thereof are fixed on the sensor stand, and described sensor and control module are electrically connected; The free end of described first moving lever protrudes out outside the sensor housing, replaces with the described board mount (112) that hits; The free end of described second moving lever (124) is arranged on the place ahead of sensor (127).
15. self-moving device as claimed in claim 13 is characterized in that, the below of described bracing frame (112) and hit between plate (111) inwall and be provided with cushion pad (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201802810U CN201645498U (en) | 2010-04-14 | 2010-04-14 | Self-moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201802810U CN201645498U (en) | 2010-04-14 | 2010-04-14 | Self-moving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201645498U true CN201645498U (en) | 2010-11-24 |
Family
ID=43110714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201802810U Expired - Lifetime CN201645498U (en) | 2010-04-14 | 2010-04-14 | Self-moving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201645498U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102218740A (en) * | 2010-04-14 | 2011-10-19 | 泰怡凯电器(苏州)有限公司 | Self-moving device |
| CN106200632A (en) * | 2015-04-09 | 2016-12-07 | 美国iRobot公司 | Robot followed the trail of by wall |
| CN106324587A (en) * | 2016-08-19 | 2017-01-11 | 深圳迈睿智能科技有限公司 | Tender moving detection realization method |
| CN109199236A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Indoor hard ground cleaning robot |
-
2010
- 2010-04-14 CN CN2010201802810U patent/CN201645498U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102218740A (en) * | 2010-04-14 | 2011-10-19 | 泰怡凯电器(苏州)有限公司 | Self-moving device |
| CN102218740B (en) * | 2010-04-14 | 2014-03-26 | 泰怡凯电器(苏州)有限公司 | Self-moving device |
| CN106200632A (en) * | 2015-04-09 | 2016-12-07 | 美国iRobot公司 | Robot followed the trail of by wall |
| CN106200632B (en) * | 2015-04-09 | 2020-10-30 | 美国iRobot公司 | Wall tracking robot |
| US11278175B2 (en) | 2015-04-09 | 2022-03-22 | Irobot Corporation | Wall following robot |
| CN106324587A (en) * | 2016-08-19 | 2017-01-11 | 深圳迈睿智能科技有限公司 | Tender moving detection realization method |
| CN109199236A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Indoor hard ground cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Ecovacs Electric Co. Ltd. Assignor: Taiyikai Electric Appliance (Suzhou) Co., Ltd. Contract record no.: 2011320010115 Denomination of utility model: Self-charging and tail self-moving device of digging tunnel rubber belt conveyor Granted publication date: 20101124 License type: Common License Record date: 20110819 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20101124 Effective date of abandoning: 20140326 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20101124 Effective date of abandoning: 20140326 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |