WO2015074558A1 - 浮动分体式机器人 - Google Patents

浮动分体式机器人 Download PDF

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Publication number
WO2015074558A1
WO2015074558A1 PCT/CN2014/091613 CN2014091613W WO2015074558A1 WO 2015074558 A1 WO2015074558 A1 WO 2015074558A1 CN 2014091613 W CN2014091613 W CN 2014091613W WO 2015074558 A1 WO2015074558 A1 WO 2015074558A1
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WIPO (PCT)
Prior art keywords
link mechanism
rear body
floating split
floating
robot
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PCT/CN2014/091613
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English (en)
French (fr)
Inventor
杨敏敏
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苏州科沃斯商用机器人有限公司
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Publication of WO2015074558A1 publication Critical patent/WO2015074558A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the invention relates to a robot, in particular to a floating split robot with strong spanning capability, belonging to the technical field of small household appliance manufacturing.
  • the existing split robot can also be provided with vacuum suction cups on the front and rear bodies for adsorption on the working surface.
  • the linear transmission mechanism generally fixes the two bodies in a direction perpendicular to the adsorption surface. When a step or a slope is encountered, the step pushes the front body up and drives the rear body away from the adsorption surface, resulting in the suction of the two bodies simultaneously. Loss of adsorption due to air leakage, affecting the normal operation of the robot, and even causing a fall and damage.
  • the technical problem to be solved by the present invention is to provide a floating split robot which can make the front and rear bodies in a direction perpendicular to the adsorption surface through a link mechanism disposed between the driving unit and the body. Floating up and down, preferably, in order to ensure that the two bodies are relatively flat and not rotated in a direction perpendicular to the surface of the adsorbent, the link mechanism can be arranged in parallel by using two or more links of the same length, and the structure of the invention is simple and compact. Effectively improve the robot's ability to leap.
  • the utility model relates to a floating split robot, which comprises a front body and a rear body.
  • the front body is provided with a driving unit.
  • the driving unit comprises a fixed component and a moving component, and the moving component is linearly reciprocated relative to the fixed component to drive the front body and the rear body apart or Closing, the peristaltic walking of the split robot is realized, and the moving member is connected to the rear body through a link mechanism, and two ends of the link mechanism are respectively hingedly disposed.
  • the link mechanism includes two or more links, each of which is disposed in parallel with each other.
  • the link mechanism includes two links that are not collinear with the line connecting the rotation axes of the same member.
  • Each of the links is of the same length.
  • the driving unit can adopt different structures according to requirements, and specifically includes: the fixing member is a screw rod, the moving member is a nut, and the lead screw is fixed on the front body, and is connected to the power source, and the screw is connected.
  • the sleeve is provided with a nut, and the nut is connected to the rear body through a link mechanism, one end of the link mechanism is hinged on the nut, and the other end is hinged on the rear body.
  • the fixing member may also be a rack
  • the moving member is correspondingly a gear
  • the rack is fixed on the front body
  • the gear meshes with the rack through the gear fixing bracket.
  • the gear is connected to a power source
  • the gear fixing bracket is connected to the rear body through a link mechanism.
  • One end of the link mechanism is hinged on the gear fixing bracket, and the other end is hinged on the rear body.
  • the drive unit can also use a telescopic sleeve or a telescopic rod or the like.
  • a tension spring is further disposed between the two members connected by the link mechanism.
  • the floating split robot may be a cleaning robot, and the bottom of the front body or the rear body is respectively provided with a cleaning unit.
  • the bottom of the front body and the rear body are respectively provided with adsorption units, and the front body or the rear body are respectively adsorbed to the working surface by the adsorption unit.
  • the present invention allows the front and rear bodies to float up and down in a direction perpendicular to the adsorption surface by a link mechanism disposed between the driving unit and the body.
  • the two bodies are perpendicular to the surface of the adsorbent.
  • the direction of the link is relatively flat instead of rotating, and the link mechanism can be arranged in parallel by using two or more links of the same length.
  • the structure of the invention is simple and compact, and effectively improves the spanning capability of the robot.
  • FIG. 1 is a schematic structural view of a floating split robot of the present invention
  • Figure 2 is a plan view of Figure 1;
  • Embodiment 1 of the present invention is a schematic structural view of Embodiment 1 of the present invention.
  • 4-1 and 4-2 are schematic views of the walking process of the present invention.
  • FIG. 5 is a schematic structural diagram of Embodiment 2 of the present invention.
  • the present invention provides a floating split robot, which includes a two-part splitter that can float up and down. When the robot encounters a step or a ramp during walking, it can float up the step or ramp.
  • the structure is simple and compact, and the spanning ability is strong.
  • FIG. 1 is a schematic structural view of a floating split robot of the present invention
  • FIG. 2 is a plan view of FIG. 1.
  • the present invention provides a floating split robot including a front body 100 and a rear body 200.
  • the bottom of the front body 100 and the rear body 200 are respectively provided with vacuum suction cups, and the front body 100 is provided.
  • the driving unit comprises a fixing member and a moving member, and the moving member linearly reciprocates with respect to the fixed member, and drives the front body 100 and the rear body 200 to be separated or closed to realize the peristaltic walking of the split robot, and the moving member passes through the connection.
  • the rod mechanism 300 is connected to the rear body 200, and two ends of the link mechanism 300 are respectively hingedly disposed.
  • the link mechanism includes two or more links, each of which is disposed in parallel with each other. More specifically, the link mechanism 300 includes two connecting rods 301. In order to prevent the body itself from turning over during the movement, the two connecting rods 301 are not collinear with the line of the rotating shaft of the same component, and Each of the links 301 in the link mechanism 300 has the same length.
  • FIG. 3 is a schematic structural diagram of Embodiment 1 of the present invention.
  • the fixing member is a screw rod 400
  • the moving member is a nut 500.
  • the screw rod 400 is fixed on the front body 100 and connected to a power source.
  • the nut 400 is sleeved on the bar 400, and the nut 500 is connected to the rear body 200 through a link mechanism 300.
  • One end of the link mechanism 300 is hinged on the nut 500, and the other end is hinged on the rear body 200. So that the two bodies can be relatively floating in a direction perpendicular to the adsorption surface.
  • the hinge between the link mechanism 300 and the nut 500 can also be realized by a transition piece as needed, for example, a link connecting seat 501 can be provided below the nut 500.
  • the link mechanism 300 includes two links 301 of the same length and arranged in parallel.
  • the bottoms of the front body 100 and the rear body 200 may be respectively provided with adsorption units, and the front or rear bodies are respectively adsorbed to the walking surface by the adsorption unit.
  • a tension spring 800 is further disposed between the nut 500 and the rear body 200, and the current body 100 is provided. And after When the body 200 is on the same horizontal working surface, the vertical distance between the connecting points of the tension springs 800 to the working surface is different.
  • the other end of the link mechanism is hinged to the rear body 200 via a link fixing bracket 302.
  • the floating split robot is a cleaning robot, and the bottom of the front body 100 or the rear body 200 is respectively provided with a cleaning unit.
  • the cleaning unit disposed at the bottom of the front and rear bodies can clean the walking surface.
  • FIG. 4-1 and 4-2 are schematic views of the walking process of the present invention, respectively.
  • the floating split robot provided by the present invention has a movement process across a step or a slope: the floating split robot is in a normal walking state.
  • the screw 400 rotates, and simultaneously drives the nut 500 disposed thereon to move the front body 100 away from the rear body 200.
  • the screw 400 is passed.
  • the contraction draws the distance between the rear body 200 and the front body 100 to achieve creeping advancement.
  • the floating split robot encounters the slope 1000 during the movement, the front body 100 moves forward and rises along the slope.
  • the two ends of the link mechanism 300 are respectively rotated with respect to the front body 100 and the rear body 200.
  • the front body 100 can be raised to a certain height with respect to the rear body 200 without It will cause warping of the rear body, resulting in the suction of the suction cup set at the bottom of the rear body.
  • the lead screw 400 is further elongated, so that the front body 100 is adsorbed on the moving surface at a position farther than the slope, the suction cup at the bottom of the rear body 200 is released, the screw 400 is shortened, and the rear body 200 is pulled up above the slope 1000.
  • the robot continues the regular plane walk.
  • the present invention divides the robot whose original base is a rigid plane into two front and rear split bodies, and the two split machines use a tension spring in a direction perpendicular to the moving surface. Keep the two split machines close together.
  • the front and rear splitters float up and down.
  • the upper and lower relative movements of the front and rear machines can only be flat rather than rotated.
  • Figure 4-1 and Figure 4-2 when the robot needs to jump up the steps or slopes, the robot can jump up and down by a height of its splitter, even if the front is crossing the front body 100 of the step.
  • the suction cup is deflated, and the suction cup on the rear body 200 is still well adsorbed, which does not affect the adsorption effect of the whole machine.
  • the suction cup After the front split machine jumps up the step, the suction cup re-adsorbs, and the suction machine is deflated when the machine behind the step is crossed. It will not affect the adsorption effect of the whole machine.
  • FIG. 5 is a schematic structural diagram of Embodiment 2 of the present invention.
  • the fixing member in the embodiment is a rack 600
  • the moving member is correspondingly
  • the ground is a gear 700
  • the rack is fixed on the front body 100
  • the gear passes through the gear
  • the fixed bracket 900 is meshed with the rack 600, and the gear is connected to a power source.
  • the gear fixing bracket is connected to the rear body 200 through a link mechanism 300. One end of the link mechanism 300 is hinged to the gear fixing bracket 900. The other end is hinged to the rear body 200.
  • the link connecting seat and the rear body are further disposed.
  • the other end of the link mechanism 300 is hinged to the rear body via the link fixing bracket 302.
  • the present invention allows the front and rear bodies to float up and down in a direction perpendicular to the adsorption surface by a link mechanism disposed between the front body and the rear body.
  • the two bodies are perpendicular to the adsorbate.
  • the two sides of the surface are relatively flat and not rotated, and two or more links of the same length are disposed in parallel with each other.
  • the invention has simple and compact structure and effectively improves the spanning capability of the robot.

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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

一种浮动分体式机器人，包含前机体（100）和后机体（200），前机体中设有驱动单元，驱动单元包含定件和动件，动件相对于定件做直线往复运动，带动前机体和后机体分开或合拢，实现分体式机器人的蠕动式行走，所述动件通过连杆机构（300）与所述后机体（200）相连，所述连杆机构的两端分别铰接设置。该浮动分体式机器人结构简单紧凑，能提高机器人的跨越能力。

Description

浮动分体式机器人 技术领域
本发明涉及一种机器人，尤其是一种具有较强跨越能力的浮动分体式机器人，属于小家电制造技术领域。
背景技术
现有利用吸盘吸附为机器提供前进摩擦力的清洁机器人，大部分为一体式机器人，机器人的机体底面设置为完整的硬性平面，这种机器人的缺陷在于它只能在平整的工作面上工作。如果机器人需要越过工作面上台阶或斜坡，由于机器人机体底面设置的硬性平面，台阶会把机器人的机体顶起来，导致为机器人提供吸附力的吸盘泄气而失去吸附力，失去吸附力的机器人将无法行走并进行作业。
为了解决上述问题，出现了一种分体式机器人，该分体式机器人通常包括可相对运动的前机体和后机体，两机体之间通过直线传动机构相连。根据需要，现有的分体式机器人还可以分别在前、后两个机体上设有真空吸盘，用于吸附在工作表面。然而，直线传动机构通常使两机体在垂直于吸附表面的方向上相对固定，当遇到台阶或坡度时，台阶把前机体顶起的同时会带动后机体脱离吸附表面，导致两机体的吸盘同时因漏气而失去吸附力，影响机器人的正常工作，甚至导致跌落，造成损坏。
发明内容
本发明所要解决的技术问题在于针对现有技术的不足，提供一种浮动分体式机器人，通过设置在驱动单元和机体之间的连杆机构，使前后两机体在垂直于吸附表面的方向上可上下浮动，优选的，为保证两机体在垂直于吸附物表面的方向上相对平动而非转动，所述连杆机构可以采用两根以上长度相同的连杆平行设置，本发明结构简单紧凑，有效提高机器人的跨越能力。
本发明的所要解决的技术问题是通过如下技术方案实现的：
一种浮动分体式机器人，包含前机体和后机体，前机体中设有驱动单元，驱动单元包含定件和动件，动件相对于定件做直线往复运动，带动前机体和后机体分开或合拢，实现分体式机器人的蠕动式行走，所述动件通过连杆机构与所述后机体相连，所述连杆机构的两端分别铰接设置。
为了保证前机体和后机体在运动过程中相对浮动时仅相对平动，不发生相对转动，所述连杆机构包括两根以上连杆，每根连杆彼此平行设置。
更具体地，为了防止机体的翻转，所述连杆机构包括两根连杆，所述两根连杆连接在同一部件的旋转轴所在直线不共线。所述连杆机构中的每根连杆长度相同。
根据需要，所述的驱动单元可以采用不同的结构，具体包括：所述定件为丝杆，所述动件为螺母，所述丝杠固定在前机体上，与动力源相连，丝杠上套设有螺母，所述螺母通过连杆机构与后机体相连，所述连杆机构的一端铰接在所述螺母上，另一端铰接在所述后机体上。
除此之外，所述定件还可以为齿条，所述动件相应地为齿轮，所述齿条固设在所述前机体上，所述齿轮通过齿轮固定支架与齿条相啮合，所述齿轮与动力源相连，所述齿轮固定支架通过连杆机构与后机体相连，所述连杆机构的一端铰接在所述齿轮固定支架上，另一端铰接在所述后机体上。当然，驱动单元还可以采用伸缩套筒或伸缩杆等。
为了保证前、后机体可以在垂直于工作表面的方向上相对靠拢，所述连杆机构连接的两个构件之间还设有拉簧。
当前机体和后机体处于同一水平工作表面时，所述拉簧两端的连接点到工作表面的垂直距离不相同。
另外，所述浮动分体式机器人可以为清洁机器人，所述前机体或后机体的底部分别设有清洁单元。
所述前机体和后机体的底部分别设有吸附单元，所述前机体或后机体分别通过吸附单元吸附于作业面。
综上所述，本发明通过设置在驱动单元和机体之间的连杆机构，使前后两机体在垂直于吸附表面的方向上可上下浮动，优选的，为保证两机体在垂直于吸附物表面的方向上相对平动而非转动，所述连杆机构可以采用两根以上长度相同的连杆平行设置，本发明结构简单紧凑，有效提高机器人的跨越能力。
下面结合附图和具体实施例，对本发明的技术方案进行详细地说明。
附图说明
图1为本发明浮动分体式机器人的结构示意图；
图2为图1的俯视图；
图3为本发明实施例一的结构示意图；
图4-1和图4-2分别为本发明行走过程示意图；
图5为本发明实施例二的结构示意图。
具体实施方式
针对现有技术的不足，本发明提供一种浮动分体式机器人，包括可上下浮动的两分体机，当机器人在行走过程中遇到台阶或坡道时，可向上浮动跃上台阶或坡道，结构简单紧凑，跨越能力强。以下结合具体的实施例，对本发明的技术方案进行详细地说明。
实施例一
图1为本发明浮动分体式机器人的结构示意图；图2为图1的俯视图。如图1并结合图2所示，本方提供一种浮动分体式机器人，包括前机体100和后机体200，前机体100和后机体200的底部分别设有真空吸盘，前机体100中设有驱动单元，驱动单元包含定件和动件，动件相对于定件做直线往复运动，带动前机体100和后机体200分开或合拢，实现分体式机器人的蠕动式行走，所述动件通过连杆机构300与所述后机体200相连，所述连杆机构300的两端分别铰接设置。为了保证前机体和后机体在运动过程中相对浮动时仅相对平动，不发生相对转动，所述连杆机构包括两根以上连杆，每根连杆彼此平行设置。更具体地，所述连杆机构300包括两根连杆301，为了防止机体自身在运动过程中发生翻转，所述两根连杆连301接在同一部件的旋转轴所在直线不共线，且所述连杆机构300中的每根连杆301的长度相同。
根据需要，所述的驱动单元可以采用不同的结构。图3为本发明实施例一的结构示意图。如图3所示，在本发明的实施例一中，所述定件为丝杆400，所述动件为螺母500，所述丝杠400固定在前机体100上，与动力源相连，丝杠400上套设有螺母500，所述螺母500通过连杆机构300与后机体200相连，所述连杆机构300的一端铰接在所述螺母500上，另一端铰接在所述后机体200上，使得两机体在垂直于吸附表面的方向上可相对浮动。根据需要，连杆机构300与螺母500之间的铰接还可以通过一个过渡件来实现，比如：可以在螺母500的下方设置连杆连接座501。为了保证两机体在垂直于吸附物表面的方向上相对平动而非转动，所述连杆机构300包括两根长度相同且平行设置的连杆301。另外，所述前机体100和后机体200的底部可以分别设有吸附单元，所述前机体或后机体分别通过吸附单元吸附于行走表面。为了确保浮动分体式机器人在运动过程中，前机体100和后机体200在垂直于吸附表面的方向上相对靠拢，所述螺母500和后机体200之间还设有拉簧800，且当前机体100和后机 体200处于同一水平工作表面时，所述拉簧800两端的连接点到工作表面的垂直距离不同。另外，为了便于连接，所述连杆机构的另一端通过连杆固定支架302铰接在所述后机体200上。
另外，在本实施例中，所述浮动分体式机器人为清洁机器人，所述前机体100或后机体200的底部分别设有清洁单元。当浮动分体式机器人蠕动式行走时，设置在前、后机体底部的清洁单元可以对行走表面进行清洁。
图4-1和图4-2分别为本发明行走过程示意图。如图1至图3并结合图4-1和图4-2所示，本发明所提供的浮动分体式机器人，其跨越台阶或坡度的运动过程是这样的：浮动分体式机器人在正常行走状态下，在动力源的驱动下，丝杠400转动，同时带动套设在其上的螺母500运动，使前机体100朝远离后机体200的方向运动，当运动面为平面时，通过丝杆400的收缩，将后机体200与前机体100之间的距离拉近，实现蠕动式前进。如图4-1并结合图4-2所示，当浮动分体式机器人在运动过程中遇到坡面1000时，前机体100向前运动并沿着坡面抬高。此时，在连杆机构300的两端分别相对于前机体100和后机体200发生转动，在连杆机构300的作用下，前机体100可以相对于后机体200升高一定的高度，而不会造成后机体的翘曲，导致设置在后机体底部的吸盘失去吸附能力。随后，丝杠400进一步伸长，使前机体100在坡度上方更远的位置吸附在运动面上，后机体200底部的吸盘释放，丝杠400缩短，将后机体200拉上坡面1000上方，机器人继续进行常规的平面行走。
进一步结合图1和图2所示，本发明将原本底座是一整块硬性平面的机器人分为前、后两个分体式机体，两分体机中间在垂直于运动表面的方向上使用拉簧使两分体机保持靠近。前后两分体机的上下浮动，通过采用两根平行设置的连杆，使得前后两机的上下相对运动只能是平动而不是转动。结合图4-1和图4-2所示，在机器人需要跃上台阶或斜坡的时候，机器人可以通过其分体机的上下浮动跃上某一高度，即使前边正在跨越台阶的前机体100上的吸盘被泄气了，后机体200上的吸盘仍然完好吸附，不至于影响整机的吸附效果，待前面的分体机跃上台阶后吸盘重新吸附，后面的机器在跨越台阶时吸盘被泄气了，也不会影响整机吸附效果。
实施例二
图5为本发明实施例二的结构示意图。如图5所示，实施例二与实施例一的区别在于，两者的驱动单元结构有所不同，具体来说，本实施例中的所述定件为齿条600，所述动件相应地为齿轮700，所述齿条固设在所述前机体100上，所述齿轮通过齿轮 固定支架900与齿条600相啮合，所述齿轮与动力源相连，所述齿轮固定支架通过连杆机构300与后机体200相连，所述连杆机构300的一端铰接在所述齿轮固定支架900上，另一端铰接在所述后机体200上。同样地，在本实施例中，为了确保浮动分体式机器人在运动过程中，前机体100和后机体200在垂直于运动平面方向上相对靠拢，所述连杆连接座和后机体之间还设有拉簧800。另外，为了便于连接，所述连杆机构300的另一端通过连杆固定支架302铰接在所述后机体上。
综上所述，本发明通过设置在前机体和后机体之间的连杆机构，使前后两机体在垂直于吸附表面的方向上可上下浮动，优选的，为保证两机体在垂直于吸附物表面的方向上相对平动而非转动，两机体间相互平行地设置的两根以上长度相同的连杆。本发明结构简单紧凑，有效提高机器人的跨越能力。

Claims (10)

  1. 一种浮动分体式机器人，包含前机体(100)和后机体(200)，前机体中设有驱动单元，驱动单元包含定件和动件，动件相对于定件做直线往复运动，带动前机体和后机体分开或合拢，实现分体式机器人的蠕动式行走，其特征在于，所述动件通过连杆机构(300)与所述后机体(200)相连，所述连杆机构的两端分别铰接设置。
  2. 如权利要求1所述的浮动分体式机器人，其特征在于，所述连杆机构(300)包括两根以上连杆(301)，每根连杆彼此平行设置。
  3. 如权利要求2所述的浮动分体式机器人，其特征在于，所述连杆机构(300)包括两根连杆(301)，所述两根连杆连接在同一部件的旋转轴所在直线不共线。
  4. 如权利要求2所述的浮动分体式机器人，其特征在于，所述连杆机构(300)中的每根连杆(301)长度相同。
  5. 如权利要求1所述的浮动分体式机器人，其特征在于，所述定件为丝杆(400)，所述动件为螺母(500)，所述丝杠固定在前机体(100)上，与动力源相连，丝杠上套设有螺母，所述螺母通过连杆机构(300)与后机体(200)相连，所述连杆机构(300)的一端铰接在所述螺母上，另一端铰接在所述后机体上。
  6. 如权利要求1所述的浮动分体式机器人，其特征在于，所述定件为齿条(600)，所述动件为齿轮(700)，所述齿条固设在所述前机体(100)上，所述齿轮通过齿轮固定支架(900)与齿条相啮合，所述齿轮与动力源相连，所述齿轮固定支架通过连杆机构(300)与后机体(200)相连，所述连杆机构的一端铰接在所述齿轮固定支架上，另一端铰接在所述后机体上。
  7. 如权利要求5或6所述的浮动分体式机器人，其特征在于，所述连杆机构(300)连接的两个构件之间还设有拉簧(800)。
  8. 如权利要求7所述的浮动分体式机器人，其特征在于，当前机体(100)和后机体(200)处于同一水平工作表面时，所述拉簧(800)两端的连接点到工作表面的 垂直距离不相同。
  9. 如权利要求1所述的浮动分体式机器人，其特征在于，所述浮动分体式机器人为清洁机器人，所述前机体(100)或后机体(200)的底部分别设有清洁单元。
  10. 如权利要求1所述的浮动分体式机器人，其特征在于，所述前机体(100)和后机体(200)的底部分别设有吸附单元，所述前机体或后机体分别通过吸附单元吸附于作业面。
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