WO2017198206A1 - 组合机器人及其组装方法 - Google Patents

组合机器人及其组装方法 Download PDF

Info

Publication number
WO2017198206A1
WO2017198206A1 PCT/CN2017/085015 CN2017085015W WO2017198206A1 WO 2017198206 A1 WO2017198206 A1 WO 2017198206A1 CN 2017085015 W CN2017085015 W CN 2017085015W WO 2017198206 A1 WO2017198206 A1 WO 2017198206A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
self
combination
module
combined
Prior art date
Application number
PCT/CN2017/085015
Other languages
English (en)
French (fr)
Inventor
孟繁明
Original Assignee
科沃斯机器人股份有限公司
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 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Publication of WO2017198206A1 publication Critical patent/WO2017198206A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the invention relates to a combined robot and an assembling method thereof, and belongs to the technical field of manufacturing smart household appliances.
  • Self-mobile robots are widely used for their ease of walking and high controllability.
  • the existing self-mobile robots often only have one functional module, and the use is relatively simple. If the user needs to solve different problems, it is necessary to use multiple self-mobile robots with different functions to complete the task. This obviously increases the cost of operations and the difficulty of control. Therefore, integrating multiple functions is an urgent problem to be solved in the field of mobile robot manufacturing.
  • the combination of the self-mobile robot and the functional module can be combined to achieve the convenience of disassembly and assembly and high interchangeability, and is also an important problem.
  • the technical problem to be solved by the present invention is to provide a combined robot and an assembly method thereof according to the deficiencies of the prior art.
  • a plurality of functional modules are integrated on a self-mobile robot, which is widely used and controlled.
  • the flexibility makes the operation function of the same self-moving robot increase, and the switching between the mobile robot and the function module and each function module is free, easy to assemble and disassemble, good interchangeability, simple structure and practicability.
  • a combined robot includes a self-moving robot and a functional module connected thereto, and the self-mobile robot is provided with a control center, and the functional module is connected to an upper portion of the self-mobile robot through a connector assembly, respectively
  • the detachable connection with the self-mobile robot and the function module controls the combined robot to operate according to the combined state.
  • the function module is a combination of a security module, a humidification module, and a purification module, or a plurality of submodules.
  • the sub-modules can also be connected by a connecting member.
  • the connecting member includes a body, and one side of the body is provided with a boss, and the other side is provided with a positioning post, and the upper functional module to be connected and the lower self-moving robot are combined by the connecting member.
  • a lower surface of the functional module is provided with a pit, the number of which is set and the position of the setting corresponding to the boss, the The upper surface of the mobile robot is provided with a groove whose number and arrangement position correspond to the positioning post.
  • the top of the groove is provided with an upper cover, and is retractably and floatingly connected to the groove bottom of the groove, including a closed position and an open position;
  • the upper cover When the robot is in the non-combined state, the upper cover is in a closed position, and protrudes from the bottom of the slot to be flat with the upper surface of the self-moving robot; when the combined robot is in the combined state, the upper cover is in an open position, shrinking
  • the groove is exposed to the bottom of the groove to facilitate the combined connection.
  • the boss is formed by extending the middle of the body upward, the edge of the body extending upward to form a cylinder wall, the inner surface of the cylinder wall and the functional module
  • the bottom outer wall matches.
  • a hook is further disposed on the outer peripheral surface of the end cylinder of the positioning post, and an opening is formed in the groove groove wall, and the hook is engaged and positioned in the opening.
  • the upper part of the positioning post is provided with an operating member that is interlocked with the hook, and the operating member acts to bring the hook to the opening to be fixed or released.
  • the number of the positioning posts is three as required, and the equidistant distance is uniformly disposed on the other side of the body.
  • the invention also provides a method for assembling the above combined robot, comprising the following steps:
  • Step 100 placing the connecting member above the self-moving robot, aligning the positioning post with a groove provided on an upper surface of the self-moving robot; and then pressing the connecting member to the self-moving robot and clamping Positioning
  • Step 200 Select a function module according to actual operation requirements
  • Step 300 placing the functional module above the connecting member, aligning a boss disposed on one side of the body with a position of a pit disposed on a lower surface of the functional module; then pressing the functional module to the connection The combination is connected on the piece.
  • the function module is composed of submodules
  • the step 200 further includes a step 210 of selecting sub-modules of different functions and integrating the plurality of sub-modules by the connector assembly.
  • the present invention provides a combined robot and an assembly method thereof.
  • a plurality of functional modules are integrated on a self-mobile robot, which has wide application and flexible control, so that the same self-mobile robot
  • the operation function is increased, and the self-moving robot and the function module and the respective function modules are switched between each other, and the disassembly and assembly is convenient, the interchangeability is good, and the structure is simple and practical.
  • FIG. 1 is a schematic view showing the overall structure of a combination robot of the present invention
  • FIG. 2 is a schematic structural view of a connecting member of the present invention
  • FIG. 3 is a schematic view showing the overall structure of the self-moving robot and the connecting member assembled according to the present invention.
  • FIG. 1 is a schematic view showing the overall structure of a combination robot according to the present invention
  • FIG. 2 is a schematic structural view of a connector according to the present invention
  • FIG. 3 is a schematic view showing the overall structure of the self-moving robot and the connector after assembly.
  • the present invention provides a combination robot including a self-mobile robot 100 and a function module 300 connected thereto, and the self-mobile robot 100 is provided with a control center (not shown).
  • the function module 300 is connected to the upper part of the self-mobile robot 100 through a connector 200, and the connector 200 is detachably connected to the self-mobile robot 100 and the function module 300, respectively, and the control center controls the combination according to the combined state.
  • the robot works.
  • the self-mobile robot described above is a robot that is fully functional and can work independently.
  • the self-mobile robot 100 is a sweeping robot, and the control center itself can be used to control the sweeping.
  • the walking and cleaning function of the robot, the control and working mode of the cleaning robot are basically the same as the prior art, and will not be described herein.
  • the connecting member 200 includes a body 201.
  • One side of the body 201 is provided with a boss 202, and the other side is provided with a positioning post 203 through which the connecting member 200 is provided.
  • the upper functional module 300 to be connected and the lower self-mobile robot 100 are combined and connected together.
  • the lower surface of the functional module 300 is provided with a dimple 301 whose number and arrangement position correspond to the boss 202.
  • the inner wall of the recess 301 is not a circumferential wall but is formed by a combination of a partial circumferential wall 302 and a straight wall 303 disposed on one side.
  • the boss 202 is also not cylindrical or conical, but also includes a section 204 that matches the straight wall 303.
  • the upper surface of the self-moving robot 100 is provided with a groove 101, and the number and arrangement position thereof correspond to the positioning post 203.
  • the top of the groove 101 is provided with an upper cover (not shown), and is retractably and floatingly connected to the groove bottom of the groove 101, including closing. Location and open position.
  • the upper cover When the combined robot is in a non-combined state, the upper cover is in a closed position, and protrudes from the bottom of the groove to be flat with the upper surface of the self-moving robot 100; when the combined robot is in a combined state, the upper cover In the open position, shrinking to the bottom of the groove exposes the grooves for a combined connection.
  • the expansion and contraction of the upper cover can be realized by the combined structure of the connecting rod and the spring.
  • the upper cover is flat with the upper surface of the self-moving robot under the elastic force of the spring;
  • the upper cover shrinks (drops) under the pressure of the positioning post, exposing the groove to accommodate the setting Position post 203.
  • those skilled in the art can also set other specific structures as needed, and details are not described herein again.
  • the boss 202 is formed by extending from the middle of the body 201, and the edge of the body 201 extends upward.
  • the barrel wall 205, the inner surface of the barrel wall 205 mates with the bottom outer wall 304 of the functional module 300.
  • the functional module 300 is tightly and firmly connected to the upper portion of the self-moving robot 100.
  • a hook 2031 is further disposed on an outer peripheral surface of the end cylinder of the positioning post 203, and an opening 1011 is defined in the groove wall of the groove 101.
  • the hook 2031 is engaged and positioned in the opening 1011.
  • the upper portion of the positioning post 203 is provided with an operating member 2032 that is interlocked with the hook 2031.
  • the operating member 2032 acts to bring the hook 2031 into engagement with the opening 1011 to be fixed or released.
  • the number of the positioning posts 203 may be more than one according to the connection strength. In the embodiment shown in FIG.
  • the number of the positioning posts 203 is three, and the equidistance is uniformly disposed on the body. On the other side, an equilateral triangle is formed, which makes the connection between the connector 200 and the self-moving robot 100 relatively stable.
  • those skilled in the art can also adjust the set number and set position of the positioning post 203 according to factors such as the volume and weight of the mobile robot 100.
  • the function module 300 may include a single function sub-module or a sub-module having different functions, and the sub-module may include one of a security module, a humidification module, and a purification module, according to different needs of the user. Or a combination thereof.
  • the specific structure setting and working mode of the foregoing sub-module are also substantially the same as the prior art, and details are not described herein again.
  • each sub-module can also be connected by a connecting member, but only needs to be correspondingly arranged between the adjacent two sub-modules that need to be connected.
  • the matching structure including the above-mentioned grooves and pits is set according to the volume and weight of the sub-module.
  • the assembling method of the combined robot includes the following steps: Step 100: placing the connecting member 200 above the self-moving robot 100, and positioning the positioning post 203 with The groove 101 disposed on the upper surface of the mobile robot is aligned; then the connector 200 is pressed onto the self-moving robot 100; the user uses the operating member 2032 to interlock the hook, and the snap is positioned in the opening 1011.
  • the connector 200 and the self-moving robot 100 are connected and fixed.
  • Step 200 Select a function module according to actual work needs
  • Step 300 Place the function module 300 above the connector 200, and place the boss 202 disposed on one side of the body 201 with the function module 300.
  • the pits 301 on the surface are aligned; the functional module 300 is then pressed onto the connector 200 for a combined connection.
  • the above position alignment is actually set in the functional mode.
  • the circumferential surface 302 and the straight wall 303 of the bottom recess 301 of the block 300 are aligned with each other between the outer circular surface 206 and the cut surface 204 of the central boss 202 correspondingly disposed above the connecting member 200.
  • the structure between the straight wall 303 and the cut surface 204 is correspondingly arranged, and the rotation of the functional module 300 relative to the connecting member 200 is effectively prevented.
  • the step 200 further includes a step 210: selecting sub-modules of different functions, and connecting the plurality of sub-modules into one body through the connector combination.
  • a combined robot in which a cleaning robot is used as a main body of the work is provided, and while a sweeping operation is performed, a signal fed back by a sensor corresponding to each working module is passed.
  • the control center controls and starts or stops the corresponding auxiliary functions. For example, during the cleaning operation of the cleaning robot, the air quality sensor senses that the smoke concentration in the working space is large, and the detection value has exceeded the preset threshold, then the control center starts the purification module to work.
  • the purification module may include, for example, a negative ion generating module, a photocatalyst catalytic module or/and a dust filtering device, which can effectively kill bacteria, remove odor and adsorb free particles in the air to purify the air.
  • the humidifying module can be activated to atomize the water and eject it, thereby humidifying the surrounding environment.
  • the security module may include a camera and a communication module, and the camera is connected to the remote terminal through a communication module (such as a WLAN wireless access point, a router, etc.), so that the user of the remote terminal can combine the screen by watching the screen. The surroundings of the robot are monitored.
  • a communication module such as a WLAN wireless access point, a router, etc.
  • the present invention provides a combined robot and an assembly method thereof.
  • a plurality of functional modules are integrated on a self-mobile robot, which has wide application and flexible control, so that the same self-mobile robot
  • the operation function is increased, and the self-moving robot and the function module and the respective function modules are switched between each other, and the disassembly and assembly is convenient, the interchangeability is good, and the structure is simple and practical.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种组合机器人及其组装方法，其中组合机器人包括自移动机器人(100)和与其相连的功能模块(300)，自移动机器人上设有控制中心，功能模块通过连接件(200)组合连接在自移动机器人的上部，连接件分别与自移动机器人和功能模块可拆卸连接，控制中心根据组合状态控制组合机器人工作。通过设置独立的连接件，将多种功能模块集成在一种自移动机器人上，用途广泛且控制灵活，使同一自移动机器人的作业功能增加，自移动机器人与功能模块之间、以及各个功能模块彼此之间切换自由，拆装方便、互换性好、结构简单、实用性强。

Description

组合机器人及其组装方法 技术领域
本发明涉及一种组合机器人及其组装方法，属于制造智能家电技术领域。
背景技术
自移动机器人以其行走方便自如和高度的可控性得到广泛的使用。但是，现有的自移动机器人往往只设有一种功能模块，用途比较单一。如果使用者需要解决不同的问题，则需要使用分别具有不同功能的多个自移动机器人来完成任务。这显然提高了作业成本和控制难度。因此，将多种功能集成在一起，是自移动机器人制造领域亟待解决的一个问题。同时，采用何种方式将自移动机器人与功能模块组合连接在一起，才能达到拆装方便，互换性高的效果，也是面临的一个重要的问题。
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，提供一种组合机器人及其组装方法，通过设置独立的连接件，将多种功能模块集成在一种自移动机器人上，用途广泛且控制灵活，使同一自移动机器人的作业功能增加，自移动机器人与功能模块之间、以及各个功能模块彼此之间切换自由，拆装方便、互换性好、结构简单实用性强。
本发明所要解决的技术问题是通过如下技术方案实现的：
一种组合机器人，包括自移动机器人和与其相连的功能模块，所述自移动机器人上设有控制中心，所述功能模块通过连接件组合连接在所述自移动机器人的上部，所述连接件分别与所述自移动机器人和功能模块可拆卸连接，所述控制中心根据组合状态控制组合机器人工作。
根据需要，所述功能模块为安防模块、加湿模块和净化模块其中一种子模块或多种子模块组合而成。
为了便于组装和拆卸，所述功能模块为多种子模块组合时，各个子模块之间也可以通过连接件相连。
具体来说，所述连接件包括本体，所述本体的一侧设有凸台，另一侧设有定位柱，通过所述连接件将待连接的上部的功能模块和下部的自移动机器人组合连接在一起；所述功能模块的下表面设有凹坑，其设置数量和设置位置与所述凸台相对应，所述自 移动机器人的上表面设置有凹槽，其设置数量和设置位置与所述定位柱相对应。
为了美观同时对自移动机器人进行防尘、防污染的保护，所述凹槽顶部设有上盖，可伸缩浮动连接在所述凹槽的槽底，包括封闭位置和打开位置；当所述组合机器人处于非组合状态时，所述上盖处于封闭位置，从槽底伸出与所述自移动机器人的上表面持平；当所述组合机器人处于组合状态时，所述上盖处于打开位置，收缩至槽底使凹槽露出以便于组合连接。
为了使连接件和功能模块之间连接紧密稳固，所述凸台由所述本体的中部向上延伸形成，所述本体的边缘向上延伸形成筒壁，所述筒壁的内表面与所述功能模块的底部外壁相匹配。
进一步地，为了便于定位，所述定位柱末端圆柱体外周面上进一步设置有卡勾，所述凹槽槽壁上开设有开口，所述卡勾嵌入开口内卡合定位。同时，为了便于使用者操作，所述定位柱上部设有与所述卡勾连动的操作件，所述操作件动作带动所述卡勾与开口卡合固定或释放。根据需要，所述定位柱的设置数量为三个，等距离均匀设置在所述本体的另一侧。
本发明还提供一种上述组合机器人的组装方法，包括如下步骤：
步骤100：将所述连接件置于所述自移动机器人上方，使所述定位柱与所述自移动机器人的上表面设置的凹槽对正；随后将连接件按压至自移动机器人上并卡合定位；
步骤200：根据实际作业需要选择功能模块；
步骤300：将所述功能模块置于所述连接件上方，将设置在所述本体一侧的凸台与设置所述功能模块下表面上的凹坑位置对正；随后将功能模块按压至连接件上组合连接。
另外，所述功能模块由子模块组成；
所述步骤200进一步包括步骤210：选择不同功能的子模块，并将多个子模块通过所述连接件组合连接为一体。
综上所述，本发明提供一种组合机器人及其组装方法，通过设置独立的连接件，将多种功能模块集成在一种自移动机器人上，用途广泛且控制灵活，使同一自移动机器人的作业功能增加，自移动机器人与功能模块之间、以及各个功能模块彼此之间切换自由，拆装方便、互换性好、结构简单实用性强。
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为本发明组合机器人的整体结构示意图；
图2为本发明连接件的结构示意图；
图3为本发明自移动机器人与连接件组装后的整体结构示意图。
具体实施方式
图1为本发明组合机器人的整体结构示意图；图2为本发明连接件的结构示意图；图3为本发明自移动机器人与连接件组装后的整体结构示意图。如图1至图3所示，本发明提供一种组合机器人，包括自移动机器人100和与其相连的功能模块300，所述自移动机器人100上设有控制中心(图中未示出)，所述功能模块300通过连接件200组合连接在所述自移动机器人100的上部，所述连接件200分别与所述自移动机器人100和功能模块300可拆卸连接，所述控制中心根据组合状态控制组合机器人工作。上述的自移动机器人是自身具备功能的、完全可以独立工作的机器人，比如，在图1所示的实施例中，所述的自移动机器人100为扫地机器人，则控制中心本身可以用于控制扫地机器人的行走和清洁功能，所述扫地机器人的控制和工作方式与现有技术基本相同，在此不再赘述。
结合图2和图3所示，具体来说，所述连接件200包括本体201，所述本体201的一侧设有凸台202，另一侧设有定位柱203，通过所述连接件200将待连接的上部的功能模块300和下部的自移动机器人100组合连接在一起。所述功能模块300的下表面设有凹坑301，其设置数量和设置位置与所述凸台202相对应。如图3所示，为了便于定位，凹坑301的内壁不是圆周壁，而是由部分圆周壁302和设置在一侧的直壁303组合而成。如图1所示，与其对应的，凸台202也不是圆柱形或圆锥形，而是也包括了一个切面204与直壁303相匹配。
如图1所示，所述自移动机器人100的上表面设置有凹槽101，其设置数量和设置位置与所述定位柱203相对应。为了美观同时对自移动机器人进行防尘、防污染的保护，所述凹槽101顶部设有上盖(图中未示出)，可伸缩浮动连接在所述凹槽101的槽底，包括封闭位置和打开位置。当所述组合机器人处于非组合状态时，所述上盖处于封闭位置，从槽底伸出与所述自移动机器人100的上表面持平；当所述组合机器人处于组合状态时，所述上盖处于打开位置，收缩至槽底使凹槽露出以便于组合连接。具体来说，上盖的伸缩可以通过连杆和弹簧的组合结构来实现，当定位柱203未插入凹槽101内时，上盖在弹簧的弹力作用下，与自移动机器人的上表面持平；当定位柱203插入凹槽101时，上盖在定位柱的压力作用下收缩(下降)，露出凹槽以便容纳定 位柱203。当然，本领域技术人员还可以根据需要来设置其它具体结构，在此不再一一赘述。
如图1并结合图2所示，为了使连接件200和功能模块300之间连接紧密稳固，所述凸台202由所述本体201的中部向上延伸形成，所述本体201的边缘向上延伸形成筒壁205，所述筒壁205的内表面与所述功能模块300的底部外壁304相匹配。在凸台202和筒壁205的限位作用下，功能模块300紧密稳固的连接到自移动机器人100上部。
如图1并结合图3所示，进一步地，为了便于定位，所述定位柱203末端圆柱体外周面上进一步设置有卡勾2031，所述凹槽101槽壁上开设有开口1011，所述卡勾2031嵌入开口1011内卡合定位。同时，为了便于使用者操作，所述定位柱203上部设有与所述卡勾2031连动的操作件2032，所述操作件2032动作带动所述卡勾2031与开口1011卡合固定或释放。根据连接强度的需要，所述定位柱203的设置数量可以为一个以上，在图1所示的实施例中，所述定位柱203的设置数量为三个，等距离均匀设置在所述本体的另一侧，形成等边三角形，这样可以使连接件200与自移动机器人100之间的连接比较稳固。当然，本领域技术人员也可以根据自移动机器人100的体积和重量等因素，对定位柱203的设置数量和设置位置进行调整。
根据使用者的不同需求，所述功能模块300可以包括功能单一的子模块或者由具有不同功能的子模块组合而成，所述的子模块可以包括：安防模块、加湿模块和净化模块其中之一或者其组合。当然，上述子模块的具体结构设置和工作方式也与现有技术基本相同，在此不再赘述。为了便于组装和拆卸，所述功能模块为多种子模块组合时，各个子模块之间也可以通过连接件相连，只是需要在相邻的两个需要连接的子模块之间对应设置与连接件相匹配的包括上述凹槽、凹坑在内的结构，根据子模块的体积、重量进行其他具体结构的设置。
如图1至图3所示，本发明所提供的组合机器人的组装方法，包括如下步骤：步骤100：将所述连接件200置于所述自移动机器人100上方，使所述定位柱203与所述自移动机器人的上表面设置的凹槽101对正；随后将连接件200按压至自移动机器人100上；用户通过使用操作件2032使卡勾产生连动，卡合定位在开口1011内，将连接件200和自移动机器人100连接固定。步骤200：根据实际作业需要选择功能模块；步骤300：将所述功能模块300置于所述连接件200上方，将设置在所述本体201一侧的凸台202与设置所述功能模块300下表面上的凹坑301位置对正；随后将功能模块300按压至连接件200上组合连接。上述的位置对正，实际上是指设置在功能模 块300底部凹坑301的圆周面302和直壁303与对应设置在连接件200上方中部凸台202的外圆面206和切面204之间的相互对正。尤其是直壁303和切面204之间的结构对应设置，有效防止了功能模块300相对于连接件200发生转动。
另外，所述功能模块由子模块组成时，所述步骤200进一步包括步骤210：选择不同功能的子模块，并将多个子模块通过所述连接件组合连接为一体。
在本发明如图1至图3所示的实施例中，提供的是以扫地机器人为作业主体的组合机器人，在进行扫地作业的同时，通过与各种工作模块对应的传感器反馈的信号，通过控制中心进行控制，启动或停止相应的辅助功能。例如：在扫地机器人的清扫作业过程中，空气质量传感器感测到作业空间中烟雾浓度较大，检测值已经超过了预设阈值，则控制中心启动净化模块工作。所述净化模块例如可以包括负离子发生模块、光触媒催化模块或/和粉尘过滤装置，可以高效杀除细菌、祛除异味并吸附空气中游离的颗粒物，达到净化空气的作用。
同样的，也可以在进行扫地作业的同时，如果作业环境的湿度过低，可以启动所述加湿模块，将水雾化后喷出，从而加湿其周边环境。
除此之外，还可以在进行扫地作业的同时启动安防模块。具体来说，比如：所述安防模块可以包括摄像头和通信模块，所述摄像头通过通信模块(如WLAN无线接入点、路由器等)与远程终端连接，这样远程终端的用户可以通过观看屏幕对组合机器人的周围环境进行监视。
综上所述，本发明提供一种组合机器人及其组装方法，通过设置独立的连接件，将多种功能模块集成在一种自移动机器人上，用途广泛且控制灵活，使同一自移动机器人的作业功能增加，自移动机器人与功能模块之间、以及各个功能模块彼此之间切换自由，拆装方便、互换性好、结构简单实用性强。

Claims (11)

  1. 一种组合机器人，包括自移动机器人(100)和与其相连的功能模块(300)，所述自移动机器人上设有控制中心，其特征在于，所述功能模块通过连接件(200)组合连接在所述自移动机器人的上部，所述连接件分别与所述自移动机器人和功能模块可拆卸连接，所述控制中心根据组合状态控制组合机器人工作。
  2. 如权利要求1所述的组合机器人，其特征在于，所述功能模块(300)为安防模块、加湿模块和净化模块其中一种子模块或多种子模块组合而成。
  3. 如权利要求2所述的组合机器人，其特征在于，所述功能模块(300)为多种子模块组合时，各个子模块之间也通过所述连接件相连。
  4. 如权利要求1所述的组合机器人，其特征在于，所述连接件(200)包括本体(201)，所述本体的一侧设有凸台(202)，另一侧设有定位柱(203)，通过所述连接件将待连接的上部的功能模块(300)和下部的自移动机器人(100)组合连接在一起；
    所述功能模块的下表面设有凹坑(301)，其设置数量和设置位置与所述凸台相对应，所述自移动机器人的上表面设置有凹槽(101)，其设置数量和设置位置与所述定位柱相对应。
  5. 如权利要求4所述的组合机器人，其特征在于，所述凹槽(101)顶部设有上盖，可伸缩浮动连接在所述凹槽的槽底，包括封闭位置和打开位置；当所述组合机器人处于非组合状态时，所述上盖处于封闭位置，从槽底伸出与所述自移动机器人的上表面持平；当所述组合机器人处于组合状态时，所述上盖处于打开位置，收缩至槽底使凹槽露出以便于组合连接。
  6. 如权利要求4所述的组合机器人，其特征在于，所述凸台(202)由所述本体(201)的中部向上延伸形成；
    所述本体的边缘向上延伸形成筒壁(205)，所述筒壁的内表面与所述功能模块(300)的底部外壁(304)相匹配。
  7. 如权利要求4所述的组合机器人，其特征在于，所述定位柱(203)末端圆柱体外周面上进一步设置有卡勾(2031)，所述凹槽(101)槽壁上开设有开口(1011)，所述卡勾嵌入开口内卡合定位。
  8. 如权利要求7所述的组合机器人，其特征在于，所述定位柱(203)上部设有与所述卡勾(2031)连动的操作件(2032)，所述操作件动作带动所述卡勾与开口卡合固定或释放。
  9. 如权利要求8所述的组合机器人，其特征在于，所述定位柱(203)的设置数量为三个，等距离均匀设置在所述本体(201)的另一侧。
  10. 一种如权利要求4-9任一项所述的组合机器人的组装方法，其特征在于，包括如下步骤：
    步骤100：将所述连接件(200)置于所述自移动机器人(100)上方，使所述定位柱(203)与所述自移动机器人的上表面设置的凹槽(101)对正；随后将连接件按压至自移动机器人上并卡合定位；
    步骤200：根据实际作业需要选择功能模块(300)；
    步骤300：将所述功能模块置于所述连接件上方，将设置在所述本体一侧的凸台(202)与设置所述功能模块下表面上的凹坑(301)位置对正；随后将功能模块按压至连接件上组合连接。
  11. 如权利要求10所述的组合机器人的组装方法，其特征在于，所述功能模块(300)由子模块组成；
    所述步骤200进一步包括步骤210：选择不同功能的子模块，并将多个子模块通过所述连接件组合连接为一体。
PCT/CN2017/085015 2016-05-19 2017-05-19 组合机器人及其组装方法 WO2017198206A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610334066.3 2016-05-19
CN201610334066.3A CN107398886B (zh) 2016-05-19 2016-05-19 组合机器人及其组装方法

Publications (1)

Publication Number Publication Date
WO2017198206A1 true WO2017198206A1 (zh) 2017-11-23

Family

ID=60324781

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/085015 WO2017198206A1 (zh) 2016-05-19 2017-05-19 组合机器人及其组装方法

Country Status (2)

Country Link
CN (1) CN107398886B (zh)
WO (1) WO2017198206A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11548171B2 (en) 2019-10-30 2023-01-10 Industrial Technology Research Institute Robot arm, mechanical assembly and assembly method thereof

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109469952A (zh) * 2018-10-22 2019-03-15 刘慧旋 一种基于扫地机器人的空气净化器智能家居系统
KR20200092481A (ko) * 2019-01-09 2020-08-04 삼성전자주식회사 장착된 외부 전자 장치의 기능과 관련된 동작을 수행하는 전자 장치 및 방법
CN112454372A (zh) * 2019-09-09 2021-03-09 上海产业技术研究院 服务机器人及医疗处理系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060186561A1 (en) * 2005-02-24 2006-08-24 Samsung Gwangju Electronics Co., Ltd. Mobile robot having a humidifier therein
WO2007028049A2 (en) * 2005-09-02 2007-03-08 Neato Robotics, Inc. Multi-function robotic device
US20070050937A1 (en) * 2005-09-05 2007-03-08 Samsung Gwangju Electronics Co., Ltd. Mobile robot system having a plurality of exchangeable work modules and method of controlling the same
CN103580293A (zh) * 2012-07-24 2014-02-12 科沃斯机器人科技(苏州)有限公司 自移动处理机器人工作系统及其无线充电方法
CN105522557A (zh) * 2016-01-19 2016-04-27 中国人民解放军国防科学技术大学 一种智能安保服务机器人平台
CN205923920U (zh) * 2016-05-19 2017-02-08 科沃斯机器人股份有限公司 组合机器人

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1841349A2 (en) * 2004-11-23 2007-10-10 S.C. Johnson & Son, Inc. Device and methods of providing air purification in combination with cleaning of surfaces
KR20120068165A (ko) * 2010-12-17 2012-06-27 재단법인 포항지능로봇연구소 청소 로봇
CN202005711U (zh) * 2011-03-31 2011-10-12 泰怡凯电器(苏州)有限公司 可自动分离的机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060186561A1 (en) * 2005-02-24 2006-08-24 Samsung Gwangju Electronics Co., Ltd. Mobile robot having a humidifier therein
WO2007028049A2 (en) * 2005-09-02 2007-03-08 Neato Robotics, Inc. Multi-function robotic device
US20070050937A1 (en) * 2005-09-05 2007-03-08 Samsung Gwangju Electronics Co., Ltd. Mobile robot system having a plurality of exchangeable work modules and method of controlling the same
CN103580293A (zh) * 2012-07-24 2014-02-12 科沃斯机器人科技(苏州)有限公司 自移动处理机器人工作系统及其无线充电方法
CN105522557A (zh) * 2016-01-19 2016-04-27 中国人民解放军国防科学技术大学 一种智能安保服务机器人平台
CN205923920U (zh) * 2016-05-19 2017-02-08 科沃斯机器人股份有限公司 组合机器人

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11548171B2 (en) 2019-10-30 2023-01-10 Industrial Technology Research Institute Robot arm, mechanical assembly and assembly method thereof

Also Published As

Publication number Publication date
CN107398886B (zh) 2021-08-27
CN107398886A (zh) 2017-11-28

Similar Documents

Publication Publication Date Title
WO2017198206A1 (zh) 组合机器人及其组装方法
US11524254B2 (en) Air filtering system
CN107166605B (zh) 一种空气处理系统
EP3165840B1 (en) Humidification device and air treatment system
CN104329733A (zh) 净化装置和空气处理系统
US9056269B2 (en) Hot detachable and replaceable water filter assembly
CA2560832A1 (en) Canopy cover having a meshed portion
US9673579B2 (en) Portable USB charging hand controller with twist-on cover
CN205923920U (zh) 组合机器人
CN106871304B (zh) 加湿结构及空气净化装置
CN203848467U (zh) 一种天井机面板以及天井机
CN105318172A (zh) 一种便携手机支架
JP2011247486A (ja) 換気口カバー構造体
CN103721483A (zh) 一种便携/家用的两用空气清洁器
CA2788833A1 (en) Breathing gas supply system
US11131469B2 (en) Humidifier
CN202581586U (zh) 一种新型超薄室内空气净化器
CN207187357U (zh) 一种空气净化器的初步除尘设备
JP6448572B2 (ja) ファンフィルタユニット
CN210962387U (zh) 义齿生产用锆块放置架
CN210892067U (zh) 空调器
KR102190430B1 (ko) 미스트 분사형 플리머 디퓨저
US11796220B2 (en) Air conditioner indoor unit with movable top cover
CN207729791U (zh) 一种新型空气净化加湿器
CN211017200U (zh) 电池盖拆装结构及电子产品

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

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

Ref document number: 17798769

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 17798769

Country of ref document: EP

Kind code of ref document: A1