WO2015139616A1 - 带有卡合机构的自移动装置 - Google Patents

带有卡合机构的自移动装置 Download PDF

Info

Publication number
WO2015139616A1
WO2015139616A1 PCT/CN2015/074392 CN2015074392W WO2015139616A1 WO 2015139616 A1 WO2015139616 A1 WO 2015139616A1 CN 2015074392 W CN2015074392 W CN 2015074392W WO 2015139616 A1 WO2015139616 A1 WO 2015139616A1
Authority
WO
WIPO (PCT)
Prior art keywords
outer frame
self
moving device
base body
base
Prior art date
Application number
PCT/CN2015/074392
Other languages
English (en)
French (fr)
Inventor
冯林强
吕小明
周飞
Original Assignee
科沃斯机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 科沃斯机器人有限公司 filed Critical 科沃斯机器人有限公司
Publication of WO2015139616A1 publication Critical patent/WO2015139616A1/zh

Links

Images

Classifications

    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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

Definitions

  • the invention relates to a self-moving device with a clamping mechanism, belonging to the technical field of household small electrical appliances manufacturing.
  • Self-moving devices such as window cleaning robots are more and more widely used because of their simple operation and flexible movement, and the work of cleaning windows has become more and more convenient. How to make it more efficient to implement the window cleaning action has become the development direction of the mobile device. Under normal circumstances, if the self-moving device is running to the corner of the window, if it can be directly rotated, it is obviously able to greatly improve the robot. Window cleaning efficiency.
  • the body of the self-moving device usually comprises two parts of a base body and an outer frame, and the rotation of the robot is realized by rotating the base body on the outer frame. In order to facilitate the in-situ rotation of the mobile device, and after the rotation, the base and the outer frame of the robot can be positioned according to the set position, and the above function is required by a locking mechanism.
  • the technical problem to be solved by the present invention is to provide a self-moving device with a locking mechanism according to the deficiencies of the prior art.
  • the structure of the present invention is simple and diverse, but can effectively ensure the relative rotation of the base body and the outer frame, and simultaneously rotate The positioning can be accurately positioned to ensure that the forward direction of the mobile device is always perpendicular to the corresponding side of the outer frame of the mobile device.
  • a self-moving device with a snap mechanism comprising a base body and an outer frame, the base body is rotatably disposed on the outer frame, and a snap mechanism is arranged between the base body and the outer frame for clamping the two Fix together or separate the two.
  • the engaging mechanism can be realized by a plurality of structures.
  • the engaging mechanism is a mechanical engaging mechanism, and includes a fixing pin movably fixed to the base, and one end of the fixing pin is fixed at The other end of the base body is a pin head, and the outer frame is correspondingly provided with a pin groove, so that the pin head can be engaged and fixed in the pin groove, and the fixing pin is sleeved with a spring, and the spring is Positioning between the base and the pin head.
  • one end of the fixing pin is limited to the base body by screws.
  • the engaging mechanism is a motor-controlled engaging mechanism, including a latch movably fixed to the base body, and a pin slot correspondingly disposed on the outer frame, and the motor is coupled to the cam and driven Rotating, the bolt is sleeved with a spring, and the bolt is provided with a blocking portion, and the spring is positioned between the base body and the blocking portion.
  • the latch is fixed to the base body by a pin fixing seat.
  • the engaging mechanism is an electromagnet-controlled engaging mechanism, and includes an electromagnet fixed on the base body, and the electromagnet is movably provided with a latch, and the outer frame is correspondingly disposed. Pin slot.
  • the engaging mechanism When the engaging mechanism is in the engaging position where the base body and the outer frame are engaged and fixed, the advancing direction of the self-moving device is perpendicular to the corresponding side of the outer frame.
  • the base body is provided with a running mechanism, and the traveling mechanism is a driving wheel or a crawler running mechanism disposed on the base body.
  • the substrate is provided with an adsorption device, and the adsorption device comprises a suction cup, an air guiding tube and a vacuum pump.
  • the vacuum pump communicates with the suction cup through the air guiding tube, and the suction cup is evacuated A negative pressure is formed to cause the self-moving robot to be adsorbed on the surface to be worked.
  • the outer circumference of the outer frame is square.
  • the structure of the invention is simple and diverse, but can effectively ensure the relative rotation of the base body and the outer frame, and can be accurately positioned and locked after the rotation, so that the forward direction of the robot is always perpendicular to the corresponding side of the machine outer frame.
  • FIGS. 1 and 2 are schematic diagrams showing a connection state of a mechanical engagement mechanism in a walking state and a rotating state of a robot according to an embodiment of the present invention
  • FIG. 4 and FIG. 5 are respectively schematic diagrams showing the connection state of the motor-controlled engagement mechanism in the walking state and the rotating state of the robot according to the second embodiment of the present invention
  • FIG. 6 , FIG. 7 and FIG. 8 are respectively schematic diagrams showing the connection state of the electromagnet controlled engagement mechanism in the walking state and the rotating state of the robot according to the embodiment of the present invention
  • FIG. 9 and FIG. 10 are respectively schematic diagrams showing the overall structure of a self-moving device according to the present invention.
  • Figure 11 is a schematic view showing the walking state of the self-moving device of the present invention.
  • FIG. 1 and FIG. 2 are respectively schematic diagrams showing a connection state of a locking mechanism in a walking state and a rotating state of a robot according to an embodiment of the present invention.
  • the present embodiment provides a mechanical snap mechanism for a rotatable walking self-moving device for relatively engaging and disengaging the base 100 and the outer frame 200.
  • the mechanical engaging mechanism specifically includes a fixing pin 300 disposed on the base 100 , and a fixing pin 300 The end is fixed on the base 100, and the other end is a free end, forming a pin head 310, and a pin hole 210 is formed at a corresponding position of the outer frame 200.
  • a spring 400 is sleeved on the outside of the fixing pin 300, and both ends of the spring 400 are respectively abutted on the base 100 and the pin head 310.
  • the fixing pin 300 can also be restrained on the base body 100 by the fastening screw 500.
  • the pin head 310 When the robot is in the normal running state, the pin head 310 is pressed into the pin hole 210 by the elastic force of the spring 400, and the outer frame is caught to prevent it from shaking, while ensuring that the side of the outer frame is perpendicular to the advancing direction of the machine.
  • the side of the outer frame 200 is unable to rotate against the window frame, and the base 100 of the robot rotates relative to the outer frame 200 under the driving force of the driving wheel disposed at the bottom thereof. .
  • the pin head 310 When the rotating force is greater than the spring force of the spring, the pin head 310 is lifted from the pin hole 210; when the base body 100 is rotated to the set position, the driving wheel no longer applies a rotating force, and the pin head 310 is under the action of the spring restoring force. Re-pressing into the pin hole 210 corresponding to the outer frame 200, the outer frame 200 is caught, thereby ensuring that the walking direction of the robot and the side corresponding to the outer frame are perpendicular to each other.
  • the base body is rotatably disposed on the outer frame, and the advancing direction of the self-moving device is perpendicular to the corresponding side of the outer frame when the engaging mechanism is in the engaging position where the base body and the outer frame are engaged and fixed.
  • the base body is provided with a running mechanism, and the traveling mechanism is a driving wheel or a crawler running mechanism disposed on the base body.
  • the substrate may further be provided with an adsorption device, the adsorption device comprising a suction cup, an air guiding tube and a vacuum pump, and under the control of the control device, the vacuum pump communicates with the suction cup through the air guiding tube, and the The suction cup is evacuated to form a negative pressure, so that the self-moving robot is attracted to the surface to be worked.
  • the outer circumference of the outer frame is square.
  • the mechanical snap mechanism provided in this embodiment can effectively ensure the relative rotation of the base body and the outer frame, and can accurately catch the positioning after the rotation.
  • FIG. 4 and FIG. 5 are respectively schematic diagrams showing the connection state of the motor-controlled engagement mechanism in the walking state and the rotating state of the robot according to the second embodiment of the present invention.
  • a motor control type engagement mechanism is provided in this embodiment.
  • the motor-controlled snap mechanism can also be mainly used for a self-moving device that can be rotatably driven. As shown in FIG.
  • the motor in this embodiment relies on the cam 600 and the spring 400 to realize the insertion and lifting of the latch 700 on the base 100 in the pin hole 210 of the outer frame 200, which facilitates the relative rotation and fixation of the base 100 and the outer frame 200.
  • the latch 700 is fixed on the base 100 by the latch fixing base 720.
  • the plug 700 is sleeved with a spring 400, and the latch is provided with a blocking portion 710.
  • the spring is between the base 100 and the blocking portion 710. Positioning.
  • a cam 600 is mounted above the latch 700.
  • the cam 600 is controlled by the motor 800, and a pin hole 210 is provided in the outer frame 200 at a corresponding position.
  • the cam 600 is rotated downward to press the pin 700 into the pin hole 210, and the outer frame 200 is caught to prevent it from shaking, while ensuring that the side of the outer frame is perpendicular to the machine advancement direction.
  • FIG. 4 and in conjunction with FIG. 5 when the robot advances to the corner of the window, the side edges of the outer frame 200 are not rotatable against the window frame.
  • the cam 600 is lifted up, and the latch 700 is lifted from the pin hole 210 by the restoring force of the spring 400, and the base 100 of the robot is relatively rotated with the outer frame 200 by the driving force of the driving wheel.
  • the driving wheel no longer applies the rotating force, and the cam 600 rotates downward to press the latch 700 into the corresponding pin hole 210 of the outer frame 200 to catch the outer frame 200, thereby ensuring that the outer frame 200 is secured.
  • the walking direction of the robot is perpendicular to the side corresponding to the outer frame.
  • the motor control type engaging mechanism provided in the embodiment can effectively ensure the relative rotation of the base body and the outer frame, and can be accurately positioned and locked after the rotation, so that the forward direction of the robot is always perpendicular to the corresponding side of the machine outer frame.
  • FIG. 6, FIG. 7, and FIG. 8 are respectively schematic diagrams showing the connection state of the electromagnet controlled engagement mechanism in the walking state and the rotating state of the robot according to the embodiment of the present invention.
  • the embodiment provides an electromagnet controlled engagement mechanism, which can also be mainly used for a self-moving device capable of rotating and walking, and realizes a relative relationship between the base 100 and the outer frame 200. Rotation, depending on the characteristics of the electromagnet, enables the insertion and lifting of the plug 700 on the electromagnet in the pin hole 210 of the outer frame 200 to facilitate relative rotation and fixation between the base 100 and the outer frame 200.
  • the electromagnet 900 has a plug 700 therein to control the extension and retraction of the plug 700 through the circuit.
  • the electromagnet 900 is mounted on the base 100, and a pin hole 210 is formed in the outer frame 200 at a corresponding position.
  • the electromagnet 900 works to extend the pin 700 into the pin hole 210, jamming the outer frame 200 and preventing it from shaking, while ensuring the side of the outer frame 200 and The robot moves in the vertical direction.
  • the embodiment provides an electromagnet-controlled clamping mechanism, which can effectively ensure the relative rotation of the base body and the outer frame, and can accurately locate and clamp after rotating, ensuring that the forward direction of the robot is always perpendicular to the corresponding side of the machine frame. .
  • FIG. 9 and 10 are schematic diagrams showing the overall structure of a self-moving device according to the present invention.
  • the engaging mechanism A provided by the present invention in the above three embodiments is mainly applied to the self-moving device B which is rotatable.
  • the self-moving device B mainly comprises an outer frame 200 and a base body 100, wherein the base body 100 can be rotated relative to the outer frame 200.
  • the engaging mechanism A can be positioned with each other, or the base body 100 is outside. Rotate within frame 200.
  • FIG. 11 is a schematic view showing the walking state of the self-moving device of the present invention.
  • the self-moving device B works on the surface of the glass with the frames M and N, and the starting position is at X.
  • the self-moving device B moves linearly along the frame M, and the base 100 and the outer frame The two are engaged with each other by the engaging mechanism A, and the two are linearly moved together.
  • the self-moving device B moves to the window corner Y formed by the frames M and N
  • the base 100 needs to be turned under the driving force of the driving wheel 1000, and the engaging mechanism A is opened, between the base 100 and the outer frame 200.
  • the engaging mechanism A re-locks the base 100 and the outer frame 200, and the two continue to move linearly along the frame N, that is, at the Z position in the figure.
  • the structure of the present invention is simple and diverse, but can effectively ensure the relative rotation of the base body and the outer frame, and can be accurately positioned and clamped after being rotated.
  • the engaging mechanism When the engaging mechanism is in the engaging position where the base body and the outer frame are locked and fixed.
  • the advancing direction of the self-moving device is perpendicular to a corresponding side of the outer frame.
  • the self-moving device of the present invention is not limited to the window cleaning robot, and may be a wall cleaning robot, a ground cleaning robot, etc., specifically, the self-moving device may also be adsorbed to various to be cleaned by the adsorption device. Surfaces, such as walls, slopes, etc., for cleaning work.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

一种带有卡合机构（A）的自移动装置（B），包括基体（100）和外框（200），所述基体（100）可旋转设置在外框（200）上，所述的基体（100）和外框（200）之间设有卡合机构（A），用于将两者卡合固定在一起或使两者相互分离。该自移动装置（B）结构简单多样，能够有效的保证基体（100）与外框（200）的相对旋转，同时转动后能够准确定位卡住，确保机器人前进方向始终与机器外框（200）对应边垂直。

Description

带有卡合机构的自移动装置 技术领域
本发明涉及一种带有卡合机构的自移动装置，属于家用小电器制造技术领域。
背景技术
自移动装置如擦窗机器人以其操作简单、运动灵活，越来越受到广泛的使用，同时也使擦窗这项工作变得越来越简便。怎样使其更加高效地实施擦窗动作，成为了自移动装置的发展方向，通常情况下，如果自移动装置在运行到窗户边角处时，如果可以直接原地转动，显然能够大大提高机器人的擦窗效率。自移动装置的机体通常包括基体和外框两个部分，机器人的旋转是通过基体在外框上旋转实现的。为了方便自移动装置的原地旋转，同时在转动之后，机器人的基体和外框之间还能够按照设定位置定位，就需要通过一种卡合机构来实现上述功能。
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，提供一种带有卡合机构的自移动装置，本发明结构简单多样，却能够有效的保证基体与外框的相对旋转，同时转动后能够准确定位卡住，确保自移动装置的前进方向始终与自移动装置的外框对应边垂直。
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：
一种带有卡合机构的自移动装置，包括基体和外框，所述基体可旋转的设置在外框上，所述的基体和外框之间设有卡合机构，用于将两者卡合固定在一起或使两者相互分离。
所述卡合机构可以通过多种结构来实现，在实施例一中，卡合机构为机械式卡合机构，包括可移动固定在所述基体上的固定销，所述固定销的一端固定在所述基体上，另一端为销头，所述外框上对应开设有销槽，使销头能够卡合固定在所述销槽内，所述固定销上套设有弹簧，所述弹簧在基体和销头之间定位。
为了方便连接，所述固定销的一端通过螺钉限位在所述基体上。
在实施例二中，所述卡合机构为电机控制式卡合机构，包括可移动固定在所述基体上的插销，和对应设置在所述外框上的销槽，电机与凸轮相连并驱动其旋转，所述插销上套设有弹簧，所述插销上设有阻挡部，所述弹簧在基体和阻挡部之间定位。
为了方便连接，所述插销通过插销固定座固定在所述基体上。
在实施例三中，所述卡合机构为电磁铁控制式卡合机构，包括固定在所述基体上的电磁铁，所述电磁铁上可移动设有插销，所述外框上对应设有销槽。
当卡合机构处于将基体和外框卡合固定的卡合位置时，所述自移动装置的前进方向与外框的对应边垂直。
为了方便自移动装置行走，所述基体上设有行走机构，所述的行走机构为设置在基体上的驱动轮或履带行走机构。
所述的基体上设有吸附装置，所述的吸附装置包括吸盘、导气管和真空泵，在所述控制装置的控制下，所述的真空泵通过导气管与吸盘相连通，并将所述吸盘抽空形成负压，使自移动机器人吸附在待作业表面上。
为了方便旋转，所述外框的外周呈方形。
综上所述，本发明结构简单多样，却能够有效的保证基体与外框的相对旋转，同时转动后能够准确定位卡住，确保机器人前进方向始终与机器外框对应边垂直。
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和图2分别为本发明实施例一机械式卡合机构在机器人行走状态和转动状态下的连接状态示意图；
图3、图4和图5分别为本发明实施例二电机控制式卡合机构在机器人行走状态和转动状态下的连接状态示意图；
图6、图7和图8分别为本发明实施例三电磁铁控制式卡合机构在机器人行走状态和转动状态下的连接状态示意图；
图9和图10分别为本发明自移动装置的整体结构示意图；
图11为本发明自移动装置行走状态示意图。
具体实施方式
实施例一
机械式卡合机构
图1和图2分别为本发明实施例一卡合机构在机器人行走状态和转动状态下的连接状态示意图。如图1并结合图2所示，本实施例提供一种机械式卡合机构，主要用于可旋转行走的自移动装置，用于使基体100与外框200之间相对卡合和分离。如图1所示，该机械式卡合机构具体包括设置在基体100上的固定销300，固定销300的一 端固定在基体100上，另一端为自由端，形成销头310，在外框200的对应位置开设有销孔210。在固定销300的外部套设有弹簧400，该弹簧400的两端分别抵顶在基体100和销头310上。固定销300还可以通过紧固螺钉500限位在基体100上。当自移动装置处于直线运动状态，基体100和外框200之间需要彼此固定时，在弹簧400的弹力作用下，销头310置入销孔210中。如图2所示，当自移动装置需要转动时，外界施加一个大于弹簧400弹力的外力，使弹簧400自动收缩，基体100上的销头310在外框200的销孔210中抬起，基体100与外框200之间相互脱离并可以发生相对转动。换句话说，如图1并结合图2所示，销头310固定安装在基体100上，销头310与基体100之间安装有弹簧400，外框200上在对应的位置开有销孔210，当机器人在正常行驶状态时，销头310在弹簧400弹力的作用下压入销孔210内，卡住外框防止其晃动，同时保证外框的边与机器前进方向垂直。当机器人前进到窗户边角时，外框200的侧边则抵在窗户边框上不能转动，机器人的基体100在设置在其底部的驱动轮驱动力的作用下与外框200之间发生相对转动。当转动的力大于弹簧的弹力时，销头310从销孔210中抬起；当基体100转动到设定位置时，驱动轮不再施加旋转的力，销头310在弹簧复位力的作用下重新压入到外框200对应的销孔210内，卡住外框200，从而保证机器人的行走方向与外框对应的边相互垂直。
所述基体可旋转的设置在外框上，当卡合机构处于将基体和外框卡合固定的卡合位置时，所述自移动装置的前进方向与外框的对应边垂直。为了方便自移动装置行走，所述基体上设有行走机构，所述的行走机构为设置在基体上的驱动轮或履带行走机构。所述的基体上还可以设有吸附装置，所述的吸附装置包括吸盘、导气管和真空泵，在所述控制装置的控制下，所述的真空泵通过导气管与吸盘相连通，并将所述吸盘抽空形成负压，使自移动机器人吸附在待作业表面上。所述外框的外周呈方形。
综上，本实施例所提供的机械式卡合机构，能够有效的保证基体与外框的相对旋转，同时转动后能够准确卡住定位。
实施例二
电机控制式卡合机构
图3、图4和图5分别为本发明实施例二电机控制式卡合机构在机器人行走状态和转动状态下的连接状态示意图。如图3、图4并结合图5所示，本实施例中提供一种电机控制式卡合机构。该电机控制式卡合机构也可主要用于可旋转行走的自移动装置，如图3所示，为了方便基体100与外框200之间的相对转动，本实施例中的电机 控制式卡合机构依靠凸轮600，及弹簧400实现基体100上的插销700在外框200的销孔210内的插下与抬起，方便基体100与外框200的相对转动与固定。具体来说，为了方便固定，插销700通过插销固定座720固定在基体100上，插销700基体上套设有弹簧400，且插销上设有阻挡部710，弹簧在基体100和阻挡部710之间定位。插销700上方安装凸轮600，凸轮600由电机800控制，外框200上在对应的位置设有销孔210。当机器人在正常行驶状态时，凸轮600转动到下方将插销700压入销孔210内，卡住外框200防止其晃动，同时保证外框的边与机器前进方向垂直。如图4并结合图5所示，当机器人前进到窗户边角时，外框200的侧边则抵在窗户边框上不能转动。这时凸轮600抬起，插销700在弹簧400回复力的作用下从销孔210中抬起，机器人的基体100在驱动轮的驱动力作用下与外框200发生相对转动。当基体100转动到设定位置时，驱动轮不再施加旋转的力，凸轮600再向下旋转将插销700压入到外框200上对应的销孔210内，卡住外框200，从而保证机器人的行走方向与外框对应的边垂直。
综上，本实施例所提供的电机控制式卡合机构能够有效的保证基体与外框的相对旋转，同时转动后能够准确定位卡住，确保机器人前进方向始终与机器外框对应边垂直。
实施例三
电磁铁控制式卡合机构
图6、图7和图8分别为本发明实施例三电磁铁控制式卡合机构在机器人行走状态和转动状态下的连接状态示意图。如图6、图7和图8所示，本实施例提供一种电磁铁控制式卡合机构，同样可以主要用于可旋转行走的自移动装置，实现基体100与外框200之间的相对转动，依靠电磁铁的特性，实现电磁铁上的插销700在外框200的销孔210内的插下与抬起，方便基体100与外框200之间的相对转动与固定。具体来说，电磁铁900内部有一插销700，通过电路来控制插销700的伸出与收回。电磁铁900安装在基体100上，外框200上在对应的位置开设有销孔210。如图6所示，当机器人在正常行驶状态时，电磁铁900工作将插销700伸出压入销孔210内，卡住外框200并防止其发生晃动，同时保证外框200的侧边与机器人前进方向垂直。如图7并结合图8所示，当机器人前进到窗户边角时，外框200的侧边则抵在窗户边框上不能转动，这时电磁铁900再次接收到信号，将插销700从销孔210中抬起，机器人的基体100在驱动轮的驱动力作用下与外框200发生相对转动，当基体100转动到设 定位置时，驱动轮不再施加旋转的力，电磁铁900再接收信号将插销700伸出压入到外框200上对应的销孔210内，卡住外框200，保证机器人的行走方向与外框对应的边垂直。
综上，本实施例提供一种电磁铁控制式卡合机构，能够有效的保证基体与外框的相对旋转，同时转动后能够准确定位卡住，确保机器人前进方向始终与机器外框对应边垂直。
图9和图10分别为本发明自移动装置的整体结构示意图。如图9和图10所示，本发明在上述的三个实施例中所提供的卡合机构A，主要应用于可旋转行走的自移动装置B。该自移动装置B主要包括外框200和基体100，其中基体100可以与外框200相对转动，如图10所示，通过卡合机构A两者之间可以彼此卡住定位，或者基体100在外框200内转动。
图11为本发明自移动装置行走状态示意图。如图11所示，自移动装置B在带有边框M、N的玻璃表面工作，起始位置位于X处，此时，该自移动装置B沿着边框M做直线运动，基体100和外框200之间通过卡合机构A相互卡合，两者一起做直线运动。当该自移动装置B运动到由边框M和N形成的窗户边角Y时，基体100在驱动轮1000的驱动力下需要转向，此时卡合机构A打开，基体100与外框200之间发生相对转动，转动到设定位置时，卡合机构A重新将基体100和外框200卡合锁定，两者继续一起沿边框N做直线运动，即图示中的Z位置处。
综上所述，本发明结构简单多样，却能够有效的保证基体与外框的相对旋转，同时转动后能够准确定位卡住，当卡合机构处于将基体和外框卡合固定的卡合位置时，所述自移动装置的前进方向与外框的对应边垂直。即，当自移动装置正常行走时，基体与外框卡合，防止外框倾斜或晃动；且卡合时，通过自移动装置的前进方向与外框的对应边垂直，使得自移动装置碰到边角时，外框能第一时间抵住玻璃边框，方便基体相对外框旋转。另外，需要说明的是，本发明的自移动装置并不仅限于擦窗机器人，还可以是壁面清洁机器人、地面清洁机器人等，具体的，自移动装置还可通过其吸附装置吸附于各种待清洁表面，如墙面，倾斜面等，从而进行清洁工作。

Claims (10)

  1. 一种带有卡合机构的自移动装置，包括基体(100)和外框(200)，所述基体可旋转设置在外框上，其特征在于，所述的基体和外框之间设有卡合机构(A)，用于将两者卡合固定在一起或使两者相互分离。
  2. 如权利要求1所述的带有卡合机构的自移动装置，其特征在于，所述卡合机构为机械式卡合机构，包括可移动固定在所述基体(100)上的固定销(300)，所述固定销的一端固定在所述基体上，另一端为销头(310)，所述外框(200)上对应开设有销槽(210)，使销头能够卡合固定在所述销槽内，所述固定销上套设有弹簧(400)，所述弹簧在基体和销头之间定位。
  3. 如权利要求2所述的带有卡合机构的自移动装置，其特征在于，所述固定销(300)的一端通过螺钉(500)限位在所述基体(100)上。
  4. 如权利要求1所述的带有卡合机构的自移动装置，其特征在于，所述卡合机构为电机控制式卡合机构，包括可移动固定在所述基体(100)上的插销(700)和对应设置在所述外框(200)上的销槽(210)，电机(800)与凸轮(600)相连并驱动其旋转，所述插销上套设有弹簧(400)，所述插销上设有阻挡部(710)，所述弹簧在基体和阻挡部之间定位。
  5. 如权利要求4所述的带有卡合机构的自移动装置，其特征在于，所述插销(700)通过插销固定座(720)固定在所述基体(100)上。
  6. 如权利要求1所述的带有卡合机构的自移动装置，其特征在于，所述卡合机构为电磁铁控制式卡合机构，包括固定在所述基体(100)上的电磁铁(900)，所述电磁铁上可移动设有插销(700)，所述外框(200)上对应设有销槽(210)。
  7. 如权利要求1所述的带有卡合机构的自移动装置，其特征在于，当卡合机构处于将基体和外框卡合固定的卡合位置时，所述自移动装置的前进方向与外框(200)的对应边垂直。
  8. 如权利要求1所述的带有卡合机构的自移动装置，其特征在于，所述基体(100)上设有行走机构，所述的行走机构为设置在基体上的驱动轮或履带行走机构。
  9. 如权利要求8所述的带有卡合机构的自移动装置，其特征在于，所述的基体(100)上设有吸附装置，所述的吸附装置包括吸盘、导气管和真空泵，在所述控制装置的控制下，所述的真空泵通过导气管与吸盘相连通，并将所述吸盘抽空形成负压，使自移动机器人吸附在待作业表面上。
  10. 如权利要求1所述的带有卡合机构的自移动装置，其特征在于，所述外框(200)的外周呈方形。
PCT/CN2015/074392 2014-03-17 2015-03-17 带有卡合机构的自移动装置 WO2015139616A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201410098433.5A CN104921652A (zh) 2014-03-17 2014-03-17 带有卡合机构的自移动装置
CN201410098433.5 2014-03-17

Publications (1)

Publication Number Publication Date
WO2015139616A1 true WO2015139616A1 (zh) 2015-09-24

Family

ID=54109348

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/074392 WO2015139616A1 (zh) 2014-03-17 2015-03-17 带有卡合机构的自移动装置

Country Status (2)

Country Link
CN (1) CN104921652A (zh)
WO (1) WO2015139616A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112774330A (zh) * 2020-12-30 2021-05-11 寿县玉兰春酒业有限公司 一种酒厂酒糟废气处理装置及处理方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107725913A (zh) * 2017-11-14 2018-02-23 张家港市华鸿金属制品有限公司 一种胶管钢丝捆扎装置
CN110403532A (zh) * 2019-08-06 2019-11-05 内蒙古工业大学 子母式家用智能清扫机器人

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN200958307Y (zh) * 2006-08-21 2007-10-10 罗显号 一种电子锁电机控制插销式开锁装置
CN201050015Y (zh) * 2007-05-23 2008-04-23 王大安 晾衣架的旋转装置
CN101626873A (zh) * 2007-02-09 2010-01-13 金容旭 用于清洁外墙的机器人
CN103271702A (zh) * 2013-06-20 2013-09-04 苏州新区枫桥净化设备厂 爬墙洒扫机
KR101314626B1 (ko) * 2011-12-09 2013-10-07 엘지전자 주식회사 창문 청소용 로봇 청소기
CN103556877A (zh) * 2013-10-16 2014-02-05 湖北三江航天红林探控有限公司 一种具有状态反馈功能的螺线管锁定机构
CN103565344A (zh) * 2012-08-08 2014-02-12 科沃斯机器人科技(苏州)有限公司 自移动机器人及其行走方法
CN203802382U (zh) * 2014-03-17 2014-09-03 科沃斯机器人科技(苏州)有限公司 自移动装置
CN203885425U (zh) * 2014-03-17 2014-10-22 科沃斯机器人科技(苏州)有限公司 带有卡合机构的自移动装置
CN203987838U (zh) * 2014-06-13 2014-12-10 科沃斯机器人有限公司 自移动装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201865442U (zh) * 2010-11-18 2011-06-15 广州智嘉通讯科技有限公司 电控插销锁
CN102973200B (zh) * 2011-09-02 2015-11-25 科沃斯机器人有限公司 擦玻璃装置及避让障碍物方法
CN102383585B (zh) * 2011-11-14 2013-08-14 蒋京德 建筑墙面施工机器人
CN203214524U (zh) * 2013-03-30 2013-09-25 北京三兴汽车有限公司 插销
CN203266637U (zh) * 2013-04-26 2013-11-06 毛桂女 防盗式工业机器人

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN200958307Y (zh) * 2006-08-21 2007-10-10 罗显号 一种电子锁电机控制插销式开锁装置
CN101626873A (zh) * 2007-02-09 2010-01-13 金容旭 用于清洁外墙的机器人
CN201050015Y (zh) * 2007-05-23 2008-04-23 王大安 晾衣架的旋转装置
KR101314626B1 (ko) * 2011-12-09 2013-10-07 엘지전자 주식회사 창문 청소용 로봇 청소기
CN103565344A (zh) * 2012-08-08 2014-02-12 科沃斯机器人科技(苏州)有限公司 自移动机器人及其行走方法
CN103271702A (zh) * 2013-06-20 2013-09-04 苏州新区枫桥净化设备厂 爬墙洒扫机
CN103556877A (zh) * 2013-10-16 2014-02-05 湖北三江航天红林探控有限公司 一种具有状态反馈功能的螺线管锁定机构
CN203802382U (zh) * 2014-03-17 2014-09-03 科沃斯机器人科技(苏州)有限公司 自移动装置
CN203885425U (zh) * 2014-03-17 2014-10-22 科沃斯机器人科技(苏州)有限公司 带有卡合机构的自移动装置
CN203987838U (zh) * 2014-06-13 2014-12-10 科沃斯机器人有限公司 自移动装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112774330A (zh) * 2020-12-30 2021-05-11 寿县玉兰春酒业有限公司 一种酒厂酒糟废气处理装置及处理方法

Also Published As

Publication number Publication date
CN104921652A (zh) 2015-09-23

Similar Documents

Publication Publication Date Title
KR101876851B1 (ko) 연결 구조 및 이를 구비한 led 표시장치
WO2015139616A1 (zh) 带有卡合机构的自移动装置
US9758314B2 (en) Rotary device capable of adjusting position of a box
KR101471760B1 (ko) 오버 핸드 이송 장치
TW201138002A (en) A wafer container with oval latch
TW201136812A (en) A wafer container with oval latch
WO2024021836A1 (zh) 清洁系统
US20130008820A1 (en) Cassette for accommodating substrates
WO2020091691A1 (en) Methods and devices for cleaning vertical glass panels
CN106691296B (zh) 自动擦窗机
US10196103B2 (en) Self-moving device and walking control method thereof
CN203885425U (zh) 带有卡合机构的自移动装置
CN215097924U (zh) 真空吸盘爬行机器人
CN104653737A (zh) 丝杠螺母副保护装置
CN213378287U (zh) 一种极片清洁装置
CN113415349A (zh) 一种新型吸盘式行走爬壁机器人
WO2015074523A1 (zh) 防翻吸盘以及使用防翻吸盘的吸附式自移动装置
JPS6359559B2 (zh)
JP2007008698A (ja) 基板吸着方法、基板ホルダ及び基板吸着装置
KR20160137328A (ko) 유리창 청소도구
CN216037282U (zh) 吸盘装置
CN216174930U (zh) 清洗设备
CN218800351U (zh) 一种通过电机带动料件翻转的定位组装机构
CN215583986U (zh) 一种玻璃清洗机器人
CN108274494B (zh) 一种用于pcb板搬运的机器人的驱动机构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15765030

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15765030

Country of ref document: EP

Kind code of ref document: A1