CN207206437U - Mobile robot - Google Patents

Abstract

Embodiment of the present utility model discloses a kind of mobile robot, the mobile robot includes robot housing, two moving assemblies, case and cleaning assemblies, the moving assembly is installed on the robot housing, for moving the mobile robot, cleaning assemblies includes the main brush laterally set relative to the normal direction of advance of the mobile robot, main brush is installed on robot housing, and it is located on or near the position of the transverse width maximum of the robot housing, main brush is not interfered in the extension on the direction of the normal direction of advance of the mobile robot by moving assembly.The mobile robot has longer cleaning brush width relative to prior art, so as to increase the working width of mobile robot.

Description

Mobile robot

Technical field

It is of the present utility model to be related to cleaning equipment field, more particularly to a kind of mobile robot.

Background technology

Mobile robot is a kind of intelligent control movement to carry out the equipment of various tasks.Mobile robot, especially take Be engaged in robot, for example, clean robot, grass-removing robot, gradually becomes very common in daily life.It is artificial with cleaning machine Example, clean robot are the service robots for being used to handle surface to be cleaned (such as floor, glass etc.).Clean robot is more next It is applied to more in daily life staying idle at home, especially applies more extensive in western countries.Clean robot is all set Have for example, the case such as dustbin, carrier fluid case or sewerage recovering box.Dustbin is used to collect rubbish in floor cleaning.Carry Liquid case is used to contain water or thimerosal, and when clean robot travels, the water or liquid of carrier fluid case flow to face to be cleaned so that treats clear The stain of face cleaning is easier to be cleaned or is easy to treat clean surface and carries out disinfection, and sewerage recovering box is used to reclaim face to be cleaned Sewage.

Clean robot also includes chassis, cleaning brush and wheel, and cleaning brush is used to clean dirt to case, because This cleaning brush is adjacent with case and puts.In the prior art, two wheels are arranged at the middle part of clean robot, case Afterbody positioned at chassis, therefore, cleaning brush is between two wheels so that and the development length of cleaning brush is restricted, from And cause the working width of clean robot too small.

Utility model content

Technical problem to be solved in the utility model is, there is provided a kind of mobile robot, the mobile robot are relative There is longer cleaning brush width in prior art, so as to increase the working width of mobile robot.

In order to solve the above-mentioned technical problem, embodiment of the present utility model uses following technical scheme：

Embodiment of the present utility model provides a kind of mobile robot, and the mobile robot includes：

Robot housing；

Two moving assemblies, the moving assembly are installed on the robot housing, for moving the mobile robot It is dynamic；

Case, it is installed on the robot housing；And

Cleaning assemblies, including the main brush laterally set relative to the normal direction of advance of the mobile robot；

Wherein, the main brush is arranged to：The robot housing is installed on, and is located on or near the robot housing The maximum position of transverse width, the transverse width refer to by the direction of the normal direction of advance perpendicular to the mobile robot Come the width limited；

The main brush is in the extension on the direction of the normal direction of advance of the mobile robot not by the shifting Dynamic component interference.

In one embodiment, the case is arranged between two moving assemblies.

In one embodiment, the robot housing includes relative the first side wall and second sidewall, the main brush One end be located on or near the first side wall, the other end is located on or near the second sidewall, and the main brush is located at two institutes State the front or behind of moving assembly.

In one embodiment, the robot housing also includes relative the first shell wall and the second shell wall, and described One side wall connects first shell wall and second shell wall, first shell wall and second shell wall with the second sidewall It is revealed in external environment, first shell wall and second shell wall of the case through the robot housing.

In one embodiment, the case includes relative top shell and drain pan, the top shell and described first Shell wall is concordant or the top shell is protruded from outside first shell wall, and the top shell is arranged to the transparent body, so that user is described The situation in the case can be observed during mobile work robot by the top shell.

In one embodiment, the case is the transparent body.

In one embodiment, the position of the close case of first shell wall is provided with illuminating lamp or coloured silk Bar lamp.

In one embodiment, each moving assembly includes wheel, transmission case and motor, and the wheel is located at institute One end of transmission case is stated, the motor is located at the other end of the transmission case, and the wheel and the motor are located at the biography The same side of dynamic case, the wheel is close to the normal direction of advance perpendicular to the mobile robot of the mobile robot Center line.

In one embodiment, the case is dustbin, and the case has the first opening, described the One opening is by the cleaning assemblies and is directed at the cleaning assemblies, the rubbish cleaned for collecting the cleaning assemblies；Institute Stating mobile robot also includes pressure relief assembly, and the pressure relief assembly is adjacent with the case, and the case passes through one Second opening is ventable with the pressure relief assembly, and the pressure relief assembly is used to produce suction to guide the rubbish to enter the appearance Device device, second opening are provided with rotatable door component.

In one embodiment, locking mechanism, the locking are provided with first shell wall or the case Mechanism includes button, the first transmission arm, the second transmission arm, the first latch part and the second latch part, and the one of first transmission arm End coordinates or is connected with the button, and the other end coordinates or is connected with first latch part, one end of second transmission arm Coordinate or be connected with the button, the other end coordinates or is connected with second latch part, first latch part and described the Two latch parts are close or are embedded in the case, press or the locking mechanism can be made to be on or off when touching the button State, the first latch part and second latch part described in when the locking mechanism is in the state closed lock the container Device, when the locking mechanism is in the state opened, the case is in non-locking state.

Compared with prior art, the technical solution of the utility model at least has the advantages that：

In embodiment of the present utility model, because the main brush of the cleaning assemblies is arranged to：It is installed on the robot shell Body, and the position of the transverse width maximum of the robot housing is located on or near, and the main brush is perpendicular to the movement Extension on the direction of the normal direction of advance of robot is not interfered by the moving assembly, therefore, increases the length of main brush, So as to increase the working width of the mobile robot, the operating efficiency of mobile robot is improved.

Brief description of the drawings

, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work Under, other variants can also be obtained according to these accompanying drawings.

Fig. 1 a are the structural representations that robot housing and case separate in embodiment of the present utility model；

Fig. 1 b are schematic top plan views when mobile robot is normally placed in embodiment of the present utility model；

Fig. 1 c are elevational schematic views when mobile robot is normally placed in embodiment of the present utility model；

Fig. 1 d are that the section along the cutting line A-A in Fig. 1 a of mobile robot in embodiment of the present utility model is illustrated Figure；

Fig. 1 e are that the structure of mobile robot in embodiment of the present utility model splits schematic diagram；

Fig. 2 a are the dimensional structure diagrams of case in embodiment of the present utility model；

Fig. 2 b are the schematic side views of case in embodiment of the present utility model；

Fig. 3 a and 3b are that the structure of case in embodiment of the present utility model splits schematic diagram；

Fig. 4 a are the inside structures of the first shell wall of mobile robot in embodiment of the present utility model and for locking State the structural representation of the locking mechanism of case；

Fig. 4 b are the partial enlarged drawings of I parts in Fig. 4 a；

Fig. 4 c are the structural representations of locking mechanism in embodiment of the present utility model；

Fig. 4 d are that the section along the cutting line B-B in Fig. 1 a of mobile robot in embodiment of the present utility model is illustrated Figure；And

Fig. 5 is the structural representation of the moving assembly of mobile robot in embodiment of the present utility model.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out It is explicitly described, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole implementation Example.Based on the embodiment in the utility model, those of ordinary skill in the art are obtained under the premise of creative work is not made The every other embodiment obtained, belong to the scope of the utility model protection.

Unless otherwise specified, this paper orientation term "front", "rear", "left", "right" is relative to mobile robot For direction of advance during normal work, front refers to the direction that cleaning equipment is advanced.Term " on " " under " " bottom " or " top " is equal It is using the laying state during cleaning equipment normal work as reference.

Also referring to Fig. 1 a, 1b, 1c and 1d, Fig. 1 a are that robot housing fills with container in embodiment of the present utility model Put separated structural representation；Fig. 1 b are vertical view signals when mobile robot is normally placed in embodiment of the present utility model Figure；Fig. 1 c are elevational schematic views when mobile robot is normally placed in embodiment of the present utility model；Fig. 1 d are that this practicality is new The diagrammatic cross-section along the cutting line A-A in Fig. 1 a of mobile robot in the embodiment of type；Fig. 1 e are realities of the present utility model The structure for applying mobile robot in example splits schematic diagram.The mobile robot that embodiment of the present utility model is provided includes machine People's housing 10 and it is installed on the case 20 of housing, at least two moving assemblies 40 and cleaning assemblies 50.Moving assembly 40 is pacified Loaded on robot housing 10, for moving the mobile robot.Cleaning assemblies, including relative to the mobile robot Normal direction of advance and the main brush 520 laterally set.The main brush 520 is arranged to：The robot housing 20 is installed on, and The maximum position of the transverse width of the robot housing 10 is located on or near, the transverse width refers to by perpendicular to the shifting The direction of the normal direction of advance of mobile robot is come the width that limits.Refer to Fig. 1 c, the arrow f in figure is illustrated as the movement Direction of advance under the normal condition of robot, the axle in the mobile robot corresponding to f is direction of advance axle.The transverse direction Width is the width to limit by the direction of the direction of advance axle f perpendicular to the mobile robot, for example, transverse width Can be along the length on center line m bearing of trend.

Wherein, it is described it is main brush 520 in the extension on the direction of the normal direction of advance of the mobile robot not Interfered by the moving assembly, that is, 520 width on center line m bearing of trend of main brush is not interfered by moving assembly 50.

In one embodiment, the case 20 is arranged between two moving assemblies 40.

The robot housing 10 can include relative the first side wall and second sidewall, the first side wall and second sidewall point Not Wei Yu direction of advance axle f both sides, it is described it is main brush 520 one end close to the first side wall, the other end is close to described second Side wall, that is, the both ends of main brush 520 can be each passed through the first side wall and the first side wall, or the both ends of main brush 520 can be divided Not Wei Yu the first side wall and second sidewall, or the both ends of main brush 520 can be respectively inside the mobile robot.It is appreciated that , the main brush 520 can be positioned at the front or behind of two moving assemblies 40.In one embodiment, described One side wall and the second sidewall can be integrally formed.

The robot housing 10 has relative the first shell wall 110 and the second shell wall 120, first shell wall 110 and Second shell wall 120 is revealed in external environment, that is, robot housing 10 has generally defined the mobile robot Appearance profile.The first side wall connects the first shell wall 110 and the second shell wall 120 with the second sidewall.Work as mobile robot During in normal operating conditions, first shell wall 110 is away from face to be cleaned or is traveling face, and the second shell wall 120 is close to described Face to be cleaned is traveling face.Receiving space is formed between first shell wall 110 and second shell wall 120, for accommodating Each mechanical part and electronic unit.Mobile robot in the present embodiment is generally circular, but this is only example, in other realities Apply in example, can also be square, triangle, hexagon, humanoid either other shapes or variously-shaped combination.At some In embodiment, robot housing 10 can also include buffer 80, and buffer 80 is located at the front portion of the mobile robot, is used for Sense the barrier encountered.The mobile robot also includes control system, for controlling each portion of the mobile robot Part, mobile robot is set independently to complete task.The mobile robot can also include other barrier detectors, position and lead Model plane block, charging device, remote control and miscellaneous part of the prior art, are not repeated herein.

First shell wall 110 and second shell wall 120 of the case 20 through robot housing 10, also That is, from external environment it can be seen that case 20.Case 20 has top shell 210 and drain pan 220 (referring to Fig. 2 a).Tool Body, from Fig. 1 e, the first shell wall 110 has first window 111, and the second shell wall 120 has the second window 121, container dress The top shell 210 for putting 20 is exposed from the first shell wall 110, and the drain pan of case 20 exposes from the second shell wall 120.The top shell 210 Close to the first shell wall 110, the drain pan is close to second shell wall 120.In one embodiment, the top of the case 20 Shell 210 is concordant with first shell wall 110.In another embodiment, top shell 210 protrude from first shell wall 110 and to Outer extension.It should be understood that container in one embodiment, the top shell 210 of device 20 can be relative to first shell wall 110 are retracted a small distance into mobile robot.In one embodiment, the drain pan 220 of the case 20 with it is described Second shell wall 120 is concordant.In another embodiment, drain pan 220 protrudes from second shell wall 120 and stretched out.Due to First shell wall 110 and second shell wall 120 of the case 20 through robot housing 10, therefore, case 20 Height can not be limited by the thickness of the first shell wall 110 and the second shell wall 120, so as to increase the volume of case 20, When case 20 is used for load garbage and sewage, user is without because case 20 is easily filled and frequently handles rubbish Rubbish；When case 20 is used to load wax liquor, thimerosal, water or other cleaning solutions, without often frequently addition wax liquor, sterilization Liquid, water or other cleaning solutions.In this way, greatly reduce the workload of user.In addition, when the top shell 210 of case 20 is set The transparent body or translucent body are set to, user can observe the situation in case 20 at any time, without setting rubbish sensor etc., Both cost is saved, reduces technology difficulty, it is accurate to the observation visual result in case 20 to cause again.

It should be understood that in one embodiment, as needed or hobby, the drain pan 220 of case 20 can be with A small distance is retracted into mobile robot relative to second shell wall 120.

Specifically, the top shell 210 of the case 20 is arranged to the transparent body, so that user is in the mobile robot work The situation in the case 20 can be observed when making by the top shell 210.In further embodiments, the container dress It is of entirely transparent to put 20, the situation that can be also clearly observed in case 20 without opening case 20.The appearance Device device 20 can be one kind or a variety of combination therein among dustbin, carrier fluid case, dirty water collecting tank, such as can be The combination of dustbin or dustbin and carrier fluid case.Certainly, the case 20 can be also used for containing or collect visitor Other desired materials of family.In one embodiment, case 20 is the dustbin for containing rubbish.The rubbish includes Other waste products that dust, chip, dirt and user throw away.In addition, when mentioning particle herein, particle includes but is not limited to ash Dirt, chip, dirt and other waste products.

Further, the position of the close case 20 of first shell wall 110 is provided with lamp assembly 30, lamp Tool component 30 can be packaged in illuminating lamp or colour bar lamp on circuit board.In one embodiment, lamp assembly 30 is along The edge of the first window 111 of one shell wall 110 is set, and is enclosed around first window 111 1.In one embodiment, lamp assembly 30 It can also be arranged on case 20.Lamp assembly 30 can also be arranged at the first shell wall 110 other can illuminate container The position of device 20.Lamp assembly 30 can be that case 20 illuminates at night so that user can see appearance in the dark Situation in device device 20, for example, it can be seen that whether the rubbish in case is full, so that user is in the appropriate time Rubbish is handled, so, it is possible to the related sensor of rubbish detection need not be set in the mobile robot, reduced into This, the sensor for being used to detect rubbish in the prior art there may come a time when to malfunction, and testing result may be inaccurate, but uses this reality Such mistake can be avoided with the case in new embodiment.It is understood that in the present embodiment, the light fixture group Part 30 can be used to decorate, and mobile robot is shown the position of mobile robot in night operation, and increase aesthetic feeling.

In one embodiment, the mobile robot also includes cleaning assemblies 50 and two moving assemblies 40, described clear Clean component 50 is located at the front of the case 20 positioned at the front of two moving assemblies 40.Cleaning assemblies 50 It is more than the distance between two moving assemblies 50 across the width of robot housing 10, that is, cleaning assemblies 50 is across robot The width of housing 10 is more than the width of two moving assemblies 50 across robot housing 10, described across referring to perpendicular to movement The bearing of trend of direction of advance during robot normal work.The cleaning assemblies 50 includes the first cleaning sub-component 510 and master Brush 520.The first cleaning sub-component 510 is arranged at least one, it is preferable that the first cleaning sub-component 510 is arranged to Two, respectively positioned at the both sides of the robot housing 10 (on the basis of direction of advance).It is described first cleaning sub-component 510 around Be not parallel to face to be cleaned axle rotation (for example, around perpendicular to face to be cleaned axle rotation), with stir face to be cleaned (such as Face) on dirt (rubbish).

The main brush 520, around the axle rotation parallel to face to be cleaned, subgroup is cleaned by first across robot housing 10 The rubbish that part 510 stirs is swept in the case 20.The main brush 520 may further include two rotated against can Round brush.

The mobile robot also includes pressure relief assembly 90, and pressure relief assembly 90 is adjacent with case 20, and is filled with container Can mutual vent flow between putting 20.In one embodiment, pressure relief assembly 90 is arranged at the rear of case 20.Pressure relief assembly 90 are used to make space that is inside the mobile robot and connecting with the pressure relief assembly produce the pressure smaller than external environment Power, for example, pressure relief assembly 90 is blower fan or other vacuum subassemblies.When pressure relief assembly 90 starts, become the air pressure of case 20 Small or be changed into vacuum, the air pressure in the space where cleaning assemblies 50 also diminishes therewith, so that extraneous (for example, face to be cleaned) Air-flow pours into cleaning assemblies 50, makes rubbish on face to be cleaned by the suction towards case 20, so as to by face to be cleaned On rubbish and cleaning assemblies 50 on rubbish suction case 20.

Specifically, it is the vertical of case in embodiment of the present utility model to refer to Fig. 2 a, Fig. 2 b, 3a and 3b, Fig. 2 a Body structural representation；Fig. 2 b are the schematic side views of case in embodiment of the present utility model；Fig. 3 a and 3b are this practicalities The structure of case splits schematic diagram in new embodiment.

Case 20 includes top shell 210, drain pan 220 and side wall 260.The top shell 210 and drain pan 220 are oppositely arranged, The side wall 260 connects top shell 210 and drain pan 220.In one embodiment, the first opening 230 and are provided with side wall 260 Two openings 240.First opening 230 is adjacent with cleaning assemblies 50, and is directed at main brush 520.In one embodiment, 520 institutes of main brush Space air-flow by a guide channel 521 be oriented to it is described first opening 230.First cleaning sub-component 510 and main brush 520 are swept Rubbish to mobile robot or the grass cut off pass through the first opening 230 and enter cases 20.The case 20 are ventilated by the second opening 240 with the pressure relief assembly 90, and the pressure relief assembly 90 is used to produce suction to guide the rubbish Rubbish or grass enter the case 20.Rotatable door component 250 is provided with second opening 240.

The door component can rotate around axle 251.The axle 251 is arranged at a part of edge of second opening 240, In one embodiment, axle 251 is arranged in side wall 260.The door component 250 is rotated and is opened or closed around the axle 251, With the intermeshing of the described second opening 240 when the door component 250 is closed, the screen to be taken blocking effect to particle (rubbish) is formed Barrier, door component 250 can discharge the content of the case 20, such as rubbish from the case 20 when opening, especially It is dust.Because door component 250 is disposed on side wall, when clearing up case, as long as opening door component 250, and container is filled Put 20 to be slightly tilted to the side of door component 250, the content can such as rubbish in case 20 is poured out, and user Easily content is cleared up outward from the second opening 240, without turning over a bottom as prior art towards day.

In one embodiment, the door component 250 is arranged between the case 20 and the pressure relief assembly 90, Door component 250 includes filter mechanism 252, and the filter mechanism 252 is used to filter particle and other solids (for example, solid rubbish Rubbish), i.e., filter mechanism 252 allows air-flow or liquid by but not allowing particle or other solids to pass through.

The door component 250 also includes nested frame 254, and the filter mechanism 252 is embedded in nested frame 254, the filter Structure 252 includes inline boxes 2521 and filtration members 2523, and the filtration members 2523 are arranged at the inline boxes 2521, the inline boxes The 2521 insertion nested framves 254, the nested frame 254 are rotatably connected at the axle 251.Filtration members 2523 can be filter Net, filtering foam or other can be with the existing filtering object of filtration.Filter mechanism 252 can also include aided filter part 2524, aided filter part can be identical with filtration members 2523, can also be different.Specifically, the side of nested frame 254 is provided with recessed Hole, the wall of pit are provided with multiple through holes, and the filter mechanism 252 is placed in the pit.

Door component 250 can also include the first sealing frame 255, and the first sealing frame 255 is arranged at nested frame 254 and container dress Put between 20 container side wall 260；The filter mechanism 252 can also include the second sealing frame (not shown), and described Two sealing frames are arranged between the edge of nested frame 254 and the edge of filter mechanism 252；Filter mechanism 252 can also include the Three sealing frame (not shown)s, the 3rd sealing frame are arranged at the edge of the filtration members 2523 and the inline boxes 2521 Between.

In one embodiment, door component 250 can also include door lock 253, to lock or release door component 250.

In one embodiment, the side wall 260 includes relative the first container side wall 261 and second container side wall 262, First opening 230 is arranged at first container side wall 261, and the first opening 230 can be less than first container Side wall 261, second opening 240 are arranged at the second container side wall 262.First opening 230 is perpendicular to the first shell wall Width on 110 direction is less than the first container side wall 261.In one embodiment, the first opening 230 is perpendicular to first shell Width on the direction of wall 110 be the first container side wall 261 the width on the direction of the first shell wall 110 four/ One in the range of half.

It is mobile robot in embodiment of the present utility model to please refer to Fig. 4 a, Fig. 4 b, Fig. 4 c and Fig. 4 d, Fig. 4 a The structural representation of the inside structure of first shell wall and the locking mechanism for locking the case, Fig. 4 b are I in Fig. 4 a Partial partial enlarged drawing, Fig. 4 c are the structural representations of locking mechanism in embodiment of the present utility model, and Fig. 4 d are this practicalities The diagrammatic cross-section along the cutting line B-B in Fig. 1 a of mobile robot in new embodiment.A reality of the present utility model Apply in example, be provided with locking mechanism 60 on the first shell wall 110, the locking mechanism 60 is used for case 20 from mobile machine Lock or eject on human agent.The locking mechanism 60 can be arranged on robot housing 10, can also be arranged at container dress Put on 20.

In one embodiment, the locking mechanism 60 include button 610, the first transmission arm 620, the second transmission arm 630, First latch part 640 and the second latch part 650, one end of first transmission arm 620 coordinate or are connected with the button 610, The other end coordinates or is connected with first latch part 640, and one end of second transmission arm 630 coordinates with the button 610 Or connection, the other end coordinate or are connected with second latch part.First latch part 640 and the second latch part 650 are close to described Case 20.Preferably, the first latch part 640 and the second latch part 650 are located at the relative both sides of case 20 respectively. First latch part 640 and the clamping of the second latch part 650 case 20.The button is stirred in pressing or movement The locking mechanism 60 can be made to be in the state of on or off when 610, the first lock described in when locking mechanism 60 is in the state closed Buckle 620 and second latch part 630 locking case 20, when the locking mechanism 60 is in the state opened, container dress Put 20 and be in non-locking state.

In one embodiment, button 610 can include key main body 613, the first extension 611 and the second extension 612, the first extension 611 and the second extension 612 are respectively positioned at the both sides of key main body 613.First extension 611 and first Transmission arm 620 contacts, and the second extension 612 contacts with the second transmission arm 630, and the first transmission arm 620 and the first latch part 640 can To be to be integrally formed, the second transmission arm 630 can be integrally formed with the second latch part 650.It is understood that at another In embodiment, the first transmission arm 620 can be contacted in the form of transmission with the first latch part 640, the second transmission arm 630 and Two latch parts 650 can be contacted in the form of transmission.When pressing or touching button 610, the first extension of button 610 611 drive the first transmission arm 620, and the second extension 612 drives the second transmission arm 630, and the first transmission arm 620 drives the first lock Portion 640 makes it away from case 20, and the second transmission arm 630 drives the second latch part 650 away from case 20, so as to hold Device device 20 discharges, and case 20 is in non-locking state.

In one embodiment, the end of the remote key main body 613 of the first extension 611 does sloping 6111, second Do sloping 6121 in the end of the remote key main body 613 of extension 612.The transmission arm 620 of slope 6111 and first away from the One end docking of one latch part 640, slope 6121 are docked with one end away from the second latch part 650 of the second transmission arm 630.Hold In the side wall 260 of device device 20 the first groove is respectively arranged with corresponding to the latch part 650 of the first latch part 640 and second 263, when locking mechanism 60 is in the lock state, the first latch part 640 and the second latch part 650 are stuck in each self-corresponding At first groove 263.The side wall 260 of case 20 or bottom are also provided with least two second grooves 264, corresponding Elastic component is installed on the second shell wall 120 respectively at least two second groove 264, for being released in case 20 Case 20 is ejected after putting, for example, elastic component 680 and 690 (Fig. 4 d).

The inclined-plane on slope 6111 and 6121 can face away from the side of the first shell wall 110, when pushing button 610, tiltedly The motion (to robot interior) downwards of slope 6111 and 6121, slope 6111 contradicts the first transmission arm 620, makes the first transmission arm 620 Mobile (toward the direction away from button 610) outward, so as to promote the first latch part 640 outwards, slope 6121 contradicts the second transmission Arm 630, make the second transmission arm 630 mobile (toward the direction away from button 610) outward, so as to promote the second latch part 650 outwards, So as to which the first latch part 640 and the second latch part 650 are moved away from into respective first groove 263 respectively, so as to discharge case 20.Then, elastic component 680 and 690 is respectively upspring case 20 by respective second groove 264, makes case 20 The outer surface certain distance of the first shell wall 110 is protruded from, facilitates user to take out case 20 and is cleared up.

Further, one end of the remote case 20 of the first latch part 640 is provided with elastic component 660, elastic component 660 are installed on the first shell wall 110 (it is understood that can also be installed on what other can be fixed by elastic component seat 661 On part), one end of the remote case 20 of the second latch part 650 is provided with elastic component 670, and elastic component 670 passes through elasticity Part seat 671 is installed on the first shell wall 110 (it is understood that can also be installed on the part of other fixations).Work as user Case 20 has been cleared up, when case 20 is attached in mobile robot main body, has directly been put into case 20 The receiving space for being at least partially based on the window 121 of first window 111 and second and being formed, and downwards (to mobile robot inside) By case, when the first latch part 640 and the second latch part 650 are respectively aligned to the first groove 263, elastic component 660 and bullet Property part 670 reset respectively, so that the first latch part 640 and the second latch part 650 are pushed into two the first grooves 263 respectively, from And lock case 20.The locking mechanism 60 greatly simplify user installation and the difficulty of removable container device, make user more Easily.

In one embodiment, the spacing shell for playing position-limiting action to case 20 is installed on first shell wall 110 70, spacing shell 70 forms an empty window 730 being engaged with the shape of case 20, and case 20 can be placed in sky window 730. The position for corresponding to the first latch part 640 and the second latch part 650 on spacing shell 70 is respectively arranged with through hole 711, the first lock When the latch part 650 of portion 640 and second pins case, the first latch part 640 and the second latch part 650 are each passed through through hole 711 contact with case 20.

In one embodiment, locking mechanism 60 can limit the work of locking mechanism by the cooperation of through hole and gag lever post Dynamic scope.For example, refer to Fig. 4 a and 4c, by being arranged at the through hole 6013 of the first transmission arm 620 and through through hole 6013 Gag lever post 6023 limits the scope of activities of the first transmission arm 620；By being arranged at the through hole 6014 of the second transmission arm 630 and wearing The gag lever post 6024 of through hole 6014 is crossed to limit the scope of activities of the second transmission arm 630；By being arranged at the first latch part 640 Through hole 6011 and limit the scope of activities of the first latch part 640 through the gag lever post 6021 of through hole 6011；By being arranged at The through hole 6012 of two latch parts 650 and limit the scope of activities of the second latch part 650 through the gag lever post 6022 of through hole 6012.

It is looking up when mobile robot is normally placed in embodiment of the present utility model to refer to Fig. 1 c and Fig. 5, Fig. 1 c Schematic diagram, Fig. 5 are the structural representations of the moving assembly of mobile robot in embodiment of the present utility model.The mobile machine People also includes at least two moving assemblies 40, and moving assembly 40 can be installed on housing 10, it is preferred that can be installed on described Two shell walls 120, case 20 can be located between two moving assemblies 40.Main brush 520 is positioned at moving assembly 40 and holds The front of device device 20, and main brush 520 is located on or near the center line m perpendicular to direction of advance of the mobile robot.

In one embodiment, moving assembly 20 includes wheel 410, transmission case 420 and motor 430.Wheel 410 is arranged at One end of transmission case 420, motor 430 are located at the other end of transmission case 420, and motor 430 is that wheel 410 carries by transmission case 420 For power, rotate wheel 410.Wheel 410 and motor 430 are located at the same side of transmission case 420, for example, the He of wheel 410 Motor 430 is located at the side towards case 20 of transmission case 420.The wheel 410 is disposed proximate to the moving machine The center line m perpendicular to direction of advance of device people, the transmission case 420 and motor 430 are arranged to away from described perpendicular to advance The center line m in direction.In the embodiment that the mobile robot is circular, center line m be located at the mobile robot perpendicular to On the straight line where diameter in direction of advance.In this way, wheel 410 as moving parts while can be used as load-supporting part and Close proximity to the centre position of the mobile robot, movement and the stability of the mobile robot are more beneficial for；In addition, such as This sets described moving assembly 40 to make main brush 520 closer to center line m, make main brush 520 along the length on center line m directions more It is long, so as to increase the working width of the mobile robot, cleaning efficiency when improving mobile robot as clean robot.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or the feature for combining the embodiment or example description It is contained at least one embodiment or example of the present utility model.In this manual, to the schematic representation of above-mentioned term It is not necessarily referring to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any One or more embodiments or example in combine in an appropriate manner.

Embodiments described above, the restriction to the technical scheme protection domain is not formed.It is any in above-mentioned implementation Modifications, equivalent substitutions and improvements made within the spirit and principle of mode etc., should be included in the protection model of the technical scheme Within enclosing.

Claims (10)

1. a kind of mobile robot, it is characterised in that the mobile robot includes：

Robot housing；

Two moving assemblies, the moving assembly are installed on the robot housing, for moving the mobile robot；

Case, it is installed on the robot housing；And

Cleaning assemblies, including the main brush laterally set relative to the normal direction of advance of the mobile robot；

Wherein, the main brush is arranged to：The robot housing is installed on, and is located on or near the transverse direction of the robot housing The maximum position of width, the transverse width refer to be limited by the direction of the normal direction of advance perpendicular to the mobile robot Fixed width；

The main brush is in the extension on the direction of the normal direction of advance of the mobile robot not by described mobile group Part is interfered.

2. mobile robot as claimed in claim 1, it is characterised in that the case is arranged at two described mobile group Between part.

3. mobile robot as claimed in claim 1, it is characterised in that the robot housing includes relative the first side wall And second sidewall, one end of the main brush are located on or near the first side wall, the other end is located on or near the second sidewall, Front or behind of the main brush positioned at two moving assemblies.

4. mobile robot as claimed in claim 3, it is characterised in that the robot housing also includes relative first shell Wall and the second shell wall, the first side wall and the second sidewall connect first shell wall and second shell wall, and described One shell wall and second shell wall are revealed in external environment, and the case runs through the first shell of the robot housing Wall and second shell wall.

5. mobile robot as claimed in claim 4, it is characterised in that the case includes relative top shell and bottom Shell, the top shell is concordant with first shell wall or the top shell is protruded from outside first shell wall, and the top shell is arranged to The transparent body, so that user can observe the feelings in the case in the mobile work robot by the top shell Condition.

6. mobile robot as claimed in claim 4, it is characterised in that the case is the transparent body.

7. the mobile robot as described in any one of claim 4 to 6, it is characterised in that first shell wall close to described The position of case is provided with illuminating lamp or colour bar lamp.

8. mobile robot as claimed in claim 1, it is characterised in that each moving assembly includes wheel, transmission case And motor, the wheel are located at one end of the transmission case, the motor is located at the other end of the transmission case, and the wheel It is located at the same side of the transmission case with the motor, the wheel is close to the mobile robot perpendicular to the moving machine The center line of the normal direction of advance of device people.

9. mobile robot as claimed in claim 1, it is characterised in that the case is dustbin, the container dress Put with the first opening, first opening is by the cleaning assemblies and is directed at the cleaning assemblies, described for collecting The rubbish that cleaning assemblies cleans；The mobile robot also includes pressure relief assembly, the pressure relief assembly and the case phase Neighbour, the case by one second opening it is ventable with the pressure relief assembly, the pressure relief assembly for produce suction with The rubbish is guided to enter the case, second opening is provided with rotatable door component.

10. the mobile robot as described in any one of claim 4 to 6, it is characterised in that first shell wall or the container Be provided with locking mechanism on device, the locking mechanism include button, the first transmission arm, the second transmission arm, the first latch part and Second latch part, one end of first transmission arm coordinate or are connected with the button, and the other end is matched somebody with somebody with first latch part Close or connection, one end of second transmission arm coordinate or are connected with the button, the other end coordinates with second latch part Or connection, first latch part and second latch part is close or the embedded case, pressing or press described in touching The locking mechanism can be made to be in the state of on or off during key, the first lock described in when the locking mechanism is in the state closed Portion and second latch part lock the case, when the locking mechanism is in the state opened at the case In non-locking state.