WO2019041754A1 - 移动机构及具有该移动机构的移动机器人及移动方法 - Google Patents

移动机构及具有该移动机构的移动机器人及移动方法 Download PDF

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Publication number
WO2019041754A1
WO2019041754A1 PCT/CN2018/075230 CN2018075230W WO2019041754A1 WO 2019041754 A1 WO2019041754 A1 WO 2019041754A1 CN 2018075230 W CN2018075230 W CN 2018075230W WO 2019041754 A1 WO2019041754 A1 WO 2019041754A1
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WO
WIPO (PCT)
Prior art keywords
moving
housing
sliding seat
deformation
mechanism according
Prior art date
Application number
PCT/CN2018/075230
Other languages
English (en)
French (fr)
Inventor
吴伟讯
李孟钦
丁利国
杨锴
丁璜
郑卓斌
Original Assignee
广东宝乐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 广东宝乐机器人股份有限公司 filed Critical 广东宝乐机器人股份有限公司
Priority to EP18850520.0A priority Critical patent/EP3677161A4/en
Publication of WO2019041754A1 publication Critical patent/WO2019041754A1/zh
Priority to US16/598,008 priority patent/US11376908B2/en

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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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/01—Resilient suspensions for a single wheel the wheel being mounted for sliding movement, e.g. in or on a vertical guide
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • 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
    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/423—Rails, tubes, or the like, for guiding the movement of suspension elements
    • B60G2204/4232—Sliding mounts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles

Definitions

  • the present invention relates to the field of mobile device technologies, and in particular, to a mobile mechanism applicable to home cleaning or lawn moving, and a mobile robot and a moving method having the same.
  • Robots serving the human body in the market, and most of these robots move on their own working surfaces, such as sweeping robots, security robots, business services used at home.
  • Robots such as Cobos launched a public service robot, and the intelligent machine service to guide guides in daily life, restaurant ordering and other life details.
  • These robots are all able to move on the work surface, and the intelligent program can perform the specified function program on the target at the target location, so that the user can enjoy the smart life.
  • a moving mechanism includes: a housing, a guide portion is disposed in the housing; a sliding seat is installed at the The guide portion is movable along the guiding portion; the moving wheel is fixed on the sliding seat and partially exposes the surface of the casing; the pressing portion is pressed against the sliding seat to make the sliding a seat is moved toward the surface of the housing; a deformation portion is mounted on the housing and connected to the pressing portion, and the deformation ⁇ is used to move the sliding seat to the surface of the housing through the pressing portion Force.
  • the moving mechanism includes: a housing, a slider, a moving wheel, a pressing portion, and a deformation portion, wherein: the housing includes a lower housing and an upper housing, and the upper housing and the lower housing a guiding portion is disposed between the housings; the sliding seat is mounted on the guiding portion, and is movable up and down between the lower housing and the upper housing along the guiding portion; the moving wheel is fixed on the sliding seat Upper and partially exposing the surface of the housing to be in contact with the working surface; the pressing portion is pressed against the sliding seat, and the sliding seat is moved toward the surface of the housing; the deformation portion is mounted on The housing is connected to the pressing portion, and the deformation ⁇ exerts a force for moving the sliding seat to the surface of the housing through the pressing portion.
  • the guiding portion is a guide rail.
  • the guide rail is at least one, and the slide has a sliding block that slides along the guide rail in the guide rail.
  • the guiding portion is a guide post.
  • the axis of the guide post is perpendicular to the moving surface.
  • the guide post is disposed between the upper casing and the lower casing.
  • the guide post includes two guides symmetrically disposed on both sides of the slide.
  • the guide post includes three, and is triangularly distributed on both sides of the sliding seat.
  • the pressing portion includes a rotating portion, a first end portion, and a second end portion, wherein the rotating portion is fixed to the housing by a rotating shaft, and the first end portion is from the rotating portion Extending from a direction away from the sliding seat and connected to the casing through a deformation portion; the second end portion extends from the rotating portion toward the sliding seat and is pressed against the sliding seat .
  • the sliding seat includes a body, and a transmission portion housed in the body, and the transmission portion is drivingly connected to the moving wheel.
  • the transmission portion is a transmission gear and/or a transmission shaft.
  • the transmission portion further includes a rotation shaft, and the rotation shaft is drivingly connected to the moving wheel.
  • a motor is further disposed on the sliding seat, and the motor is driven by the rotating shaft and the moving wheel
  • the sliding block further includes a sliding sleeve that is slidably disposed with the guiding column
  • the deformation portion is a spring.
  • a mobile robot comprising any of the described moving mechanisms.
  • the mobile robot is a sweeping robot or a mowing robot.
  • a mobile robot moving method includes the following steps:
  • the moving wheel is in contact with the working surface, and the sliding seat is movably connected with the main body constituting the robot, wherein the main body includes an upper object and a lower casing;
  • the guiding portion is a guide rail.
  • the guiding portion is a guide post.
  • the main body includes an upper casing and a lower casing, and the guide pillar is disposed between the upper casing and the lower casing.
  • the guide post includes two guides symmetrically disposed on both sides of the slide.
  • the pressing portion includes a rotating portion, a first end portion, and a second end portion, wherein the rotating portion is fixed on the housing by a rotating shaft, and the first end portion is from the rotating portion Extending from a direction away from the sliding seat and connected to the casing through a deformation portion; the second end portion extends from the rotating portion toward the sliding seat and is pressed against the sliding seat .
  • the slider rises and pushes the second end of the pressing portion to rise, thereby causing the first end portion to stretch the deformation portion, and the deformation portion is stretched to generate a Pulling force, the tensioning force brings the first end portion toward the end of the second end portion, and the second end portion gives the sliding seat a downward force to lower the sliding seat, and pushes the moving wheel out of the lower casing surface to move The wheel keeps in contact with the work surface.
  • the present invention has the following advantages: It can be applied to a mobile robot that moves on different types of working surfaces.
  • the pressing portion gives a downward force to the sliding seat.
  • the moving wheel is brought close to the working surface to the maximum extent, and is in contact with the working surface to generate friction, so that the mobile robot can move and move away from the obstacle.
  • FIG. 1 is a schematic structural view of a cleaning robot according to a preferred embodiment of the present invention.
  • FIG. 2 is a bottom view of the cleaning robot of FIG. 1;
  • FIG. 3 is a schematic structural view of a moving mechanism of the cleaning robot of FIG. 1;
  • FIG. 4 is a schematic view of the exploded structure of FIG. 3;
  • FIG. 5 is a schematic structural view of a moving mechanism of FIG. 3;
  • FIG. 6 is a schematic structural view of a pressing portion
  • FIG. 7 is a schematic structural view of a slider.
  • the guide portion described in the present application may be a guide post or guide rail for guiding the object to move in a predetermined direction, and the slide of the present application is reciprocated along the guide portion on the guide portion; for example, in the present application
  • the deformation portion may be a spring, or a rubber band, or a deformable body having a deformable or elastic function.
  • the present invention provides a mobile robot that moves on its own working surface.
  • the structure of the cleaning robot 100 is as shown in FIG. 1 and FIG. 2, and the cleaning robot 100 includes a main body that constitutes a shape, and a bearing.
  • the moving mechanism 1 of the main body moving on the working surface moves on the working surface of the cleaning robot 100.
  • the moving mechanism 1 carries the main body and other functional components (such as a dust box, a fan, a cleaning component, a control board, and the like) disposed on the main body.
  • the weight of the motor, etc. The main body includes a lower casing 10 and an upper casing 20, and the moving mechanism 1 is as shown in FIGS. 3 to 7.
  • the moving mechanism 1 includes a housing, a carriage 80, a pressing portion 40, a moving wheel 70, and a spring 30.
  • the housing is composed of a lower housing 10 and an upper housing 20, and two guide columns 60 are symmetrically disposed in the housing.
  • the axis of each guide post 60 is perpendicular to the moving surface (the working surface through which the sweeping robot moves);
  • the seat 80 is disposed on the guide post 60 and moves between the lower casing 10 and the upper casing 20 along the axial direction of the guide post 60;
  • the pressing portion 40 is connected to the upper casing 20 by the spring 30, and is subjected to the elastic force of the spring 30. Pressing on the carriage 80 causes the carriage 80 to move downward and approach the work surface; the moving wheel 70 is fixed to the carriage 80, and partially exposes the surface of the lower casing 10 to contact with the work surface.
  • the housing constituting the moving mechanism 1 includes an upper housing 20 and a lower housing 10, wherein the upper housing 20 is integrally formed with the main body, and a guide post 60 is disposed between the upper housing 20 and the lower housing 10,
  • the seat 80 is slidably disposed on the guide post 60, and the slide 80 is slid by the external force on the guide post 60 for lifting movement.
  • the guide pillars 60 are at least two and are respectively disposed at diagonal positions of the carriage 80 (as shown in FIGS. 3 to 5), and are symmetrically arranged; the guide pillars 60 may also be three. , it has a triangular shape, which makes the sliding force of the sliding seat 80 more uniform and the movement is more stable.
  • the pressing portion 40 further includes a rotating portion 400 fixed to the upper casing 20 via a rotating shaft 50, and the pressing portion 40 has an angle apart from each other and extends outward at an angle.
  • the first end portion 401 and the second end portion 402 are disposed, and the first end portion 401 extends from the rotating portion 400 in a direction away from the sliding seat 80, and is connected to the upper casing 20 through the spring 30; the second end portion 402 rotates automatically
  • the portion 400 extends in the direction of the carriage 80 and is pressed against the carriage 80.
  • the first end portion 401 is pulled by the spring 30 and the second end portion 402 can follow.
  • the carriage 80 includes a body 800, and a transmission portion (internal member, not shown) housed in the body 800, and the transmission portion is drivingly coupled to the moving wheel 70.
  • the body 800 constitutes a cavity in which a transmission gear and/or a transmission shaft as a transmission portion are disposed.
  • the moving wheel 70 When the cleaning robot 100 moves on the working surface, the moving wheel 70 is in contact with the working surface, and since the moving wheel 70 needs to carry the weight of the whole machine, and the sliding seat 80 is movably connected with the main body, the weight of the main body forces the main body to leave.
  • the height of the ground is lowered, causing the carriage 80 to assume an upward posture on the guide post 60, and the carriage 80 is raised by the second end portion 402 of the pressing portion 40 as it rises, thereby causing the first end portion 401 to stretch the spring 30.
  • the spring 30 is stretched to create a pulling force that causes the first end 401 to approach one end of the second end 402, and the second end 422 gives the slider 80 a downward force to slide
  • the seat 80 is lowered, and the moving wheel 70 is pushed out of the surface of the lower casing 10 to maximize the safe distance between the main body and the working surface.
  • the moving wheel 70 is kept in contact with the working surface to prevent the moving wheel 70 from being suspended.
  • the sliding seat 80 further includes a sliding sleeve 801 which is slidably disposed with the guide post 60.
  • the guide portion in the present application is a guide rail
  • the number of the guide rails is at least one
  • the slide has a sliding block that slides along the guide rail in the guide rail, and the slide seat is subjected to an external force by the weight of the slide seat or the slide seat. Move inside the rail.
  • the transmission portion includes a rotation shaft that is drivingly coupled to the moving wheel 70.
  • the carriage 80 is further provided with a motor 802.
  • the motor 802 is connected to the moving wheel 70 through a rotating shaft, so that the mobile robot can move on the working surface during working.
  • the present invention also provides a mobile robot moving method, comprising the following steps:
  • the moving wheel is in contact with the working surface, and the sliding seat is movably connected with the main body constituting the robot, wherein the main body includes an upper object and a lower casing;
  • the main body includes an upper casing 20 and a lower casing 10, and the guiding portion may be a guide rail or a guide pillar.
  • the guiding portion is a guide rail
  • the number of the guide rails is at least one
  • the sliding block has a sliding block sliding along the guide rail in the guide rail, and the sliding seat is moved in the guide rail by the external weight of the sliding seat or the sliding seat is subjected to an external force;
  • the guiding portion is a guide post
  • the guiding post is disposed between the upper casing and the lower casing.
  • the guiding portion is preferably the guiding post 60, and further preferably the guiding post comprises two guiding members symmetrically disposed on both sides of the sliding seat 80.
  • the guide post 60 can also be three, which has a triangular shape, so that the force of the slide 80 is more uniform and the movement is more stable.
  • the pressing portion 40 includes a rotating portion 400, a first end portion 401, and a second end portion 402.
  • the rotating portion 400 is fixed to the upper casing 20 by a rotating shaft 50.
  • the first end portion 401 extends from the rotating portion 400 in a direction away from the sliding seat 80, and is connected to the upper casing 20 through a deformation portion, wherein the deformation portion is a spring 30;
  • the second end portion 402 is from the rotating portion 400 to the sliding seat The direction extends and is pressed against the carriage 80.
  • the first end 401 is pulled by the spring 30 and the second end 402 can follow.
  • the slider 80 rises and pushes the second end portion 402 of the pressing portion 40 to rise, thereby causing the first end portion 410 to stretch the deformation portion, and the deformation portion spring 30 generates a pulling force due to being stretched.
  • the pulling force brings the first end portion 401 closer to one end of the second end portion 402, and the second end portion gives 402 a downward force to the sliding seat 80, causing the sliding seat 80 to descend and ejecting the moving wheel 70.
  • the lower casing surface keeps the moving wheel 70 in contact with the working surface

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

一种移动机构及具有该移动机构的移动机器人(100)及移动方法，其移动机构(1)包括壳体、滑座(80)、移动轮(70)、抵压部(40)以及形变部，壳体内设置有导向部；滑座(80)安装在导向部上并可沿导向部移动；移动轮(70)固定在滑座(80)上，并部分露出壳体表面；抵压部(40)抵压于滑座(80)上且使滑座(80)向壳体表面运动；形变部安装在壳体上并与抵压部(40)相连，在形变时通过抵压部(40)给予滑座(80)向壳体表面运动的作用力。该移动机构(1)可以使机器人(100)适用于在不同类型的工作面运动，特别是遇障时，抵压部(40)能给予滑座(80)向下的作用力，使移动轮(70)最大限度的靠近工作面，与工作面接触，以产生摩擦，使移动机器人(100)能够移动并离开障碍。

Description

移动机构及具有该移动机构的移动机器人及移动方法
技术领域
[0001] 本发明涉及移动设备技术领域， 尤其涉及一种可应用于家庭清洁或草坪移动的 移动机构及具有该移动机构的移动机器人及移动方法。
背景技术
[0002] 随着人们对生活要求的提高， 市场上也出现了越来越多为人类服务的机器人， 而这些机器人大多是在工作面自行移动， 如居家使用的扫地机器人、 安防机器 人， 商业服务机器人如科沃斯推出的公共服务机器人， 并将智能机器服务到日 常生活中的导游讲解、 饭店点餐等生活细节。 这类机器人都是可以在工作面自 行移动， 通过智能程序以在目标地点对目标执行指定的功能程序， 使使用者得 以享受智能生活。
[0003] 由于机器人需要在工作面移动， 就不可避免地会遇到不同类型的工作面环境， 如水泥地、 地板、 地毯等， 这些工作面都会存在一些无法避让的障碍， 如一些 不同类型工作面的过渡段产生的高度落差， 或门槛， 或线缆， 或可以使机器人 在翻越吋易产生悬空状态的突起。 这种落差或突起不仅会导致机器人悬空， 还 会导致机器人在翻越吋产生振动， 并对机器人内部的电子元件造成影响。
技术问题
问题的解决方案
技术解决方案
[0004] 为解决背景技术中的技术问题， 本发明提供的移动机器人技术方案如下： [0005] 一种移动机构， 包括： 壳体， 所述壳体内设置有导向部； 滑座， 安装在所述导 向部上并可沿所述导向部移动； 移动轮， 固定在所述滑座上， 并部分露出所述 壳体表面； 抵压部， 抵压于所述滑座上且使所述滑座向所述壳体表面运动； 形 变部， 安装在所述壳体上并与所述抵压部相连， 在形变吋通过所述抵压部给予 所述滑座向所述壳体表面运动的作用力。 [0006] 进一步地， 所述移动机构， 包括： 壳体、 滑座、 移动轮、 抵压部和形变部， 其 中： 所述壳体包括下壳体和上壳体， 在上壳体和下壳体之间设置有导向部； 所 述滑座安装在所述导向部上， 并可沿所述导向部在下壳体和上壳体之间上下移 动； 所述移动轮固定在所述滑座上,并部分露出所述壳体表面， 与工作面接触； 所述抵压部抵压于所述滑座上， 且使所述滑座向所述壳体表面运动； 所述形变 部安装在所述壳体上， 并与所述抵压部相连， 在形变吋通过所述抵压部给予所 述滑座向所述壳体表面运动的作用力。
[0007] 进一步地， 所述导向部为导轨。
[0008] 进一步地， 所述导轨至少为一条， 且所述滑座上具有在导轨内沿导轨滑动的滑 动块。
[0009] 进一步地， 所述导向部为导柱。
[0010] 进一步地， 所述导柱的轴线垂直于移动面。
[0011] 进一步地， 所述导柱设置在所述上壳体与所述下壳体之间。
[0012] 进一步地， 所述导柱包括两根， 对称设置在所述滑座的两侧。
[0013] 进一步地， 所述导柱包括三根， 成三角型分布于所述滑座的两侧。
[0014] 进一步地， 所述抵压部包括转动部、 第一端部、 第二端部， 所述转动部通过转 轴固定在所述壳体上， 所述第一端部自所述转动部向远离所述滑座的方向延伸 ， 并通过形变部与所述壳体连接； 所述第二端部自所述转动部向所述滑座的方 向延伸， 并抵压在所述滑座上。
[0015] 进一步地， 所述滑座包括本体， 以及收容在所述本体内的传动部， 所述传动部 与所述移动轮传动连接。
[0016] 进一步地， 所述传动部为传动齿轮和 /或传动轴。
[0017] 进一步地， 所述传动部还包括转动轴， 所述转动轴与所述移动轮传动连接。
[0018] 进一步地， 所述滑座上还设置有电机， 所述电机通过转动轴与所述移动轮传动
[0019] 进一步地， 所述滑座还包括与所述导柱滑动设置的滑套
[0020] 进一步地， 所述形变部为弹簧。
[0021] 一种移动机器人， 包括任一所述的移动机构。 [0022] 所述移动机器人为扫地机器人或割草机器人。
[0023] 一种移动机器人的移动方法， 包括如下步骤：
[0024] (1) 移动轮与工作面接触， 滑座与构成机器人的主体活动连接， 其中所述主 体包括上客体和下壳体；
[0025] (2) 移动吋， 主体离地高度下降， 滑座在导向部上呈上升姿态；
[0026] (3) 滑座上升吋推动抵压部上升， 抵压部上升带动形变部形变；
[0027] (4) 形变部形变吋通过抵压部产生作用力， 迫使滑座下降， 将移动轮顶出下 壳体表面， 让移动轮与工作面保持接触。
[0028] 进一步地， 所述导向部为导轨。
[0029] 进一步地， 所述导向部为导柱。
[0030] 进一步地， 所述主体包括上壳体和下壳体， 所述导柱设置在所述上壳体与所述 下壳体之间。
[0031] 进一步地， 所述导柱包括两根， 对称设置在所述滑座的两侧。
[0032] 进一步地， 所述抵压部包括转动部、 第一端部、 第二端部， 所述转动部通过转 轴固定在所述壳体上， 所述第一端部自所述转动部向远离所述滑座的方向延伸 ， 并通过形变部与所述壳体连接； 所述第二端部自所述转动部向所述滑座的方 向延伸， 并抵压在所述滑座上。
[0033] 进一步地， 所述步骤 （3) 中， 滑座上升吋推动抵压部的第二端部上升， 进而 使第一端部拉伸形变部， 而形变部由于被拉伸而产生一个拉力， 该拉力使第一 端部向第二端部的一端靠近， 而第二端部给予滑座一个向下的作用力， 使滑座 下降， 将移动轮顶出下壳体表面， 让移动轮与工作面保持接触。
发明的有益效果
有益效果
[0034] 与现有技术相比， 本发明的有益效果在于： 可以适用于在不同类型的工作面移 动的移动机器人， 在移动机器人遇到障碍吋， 抵压部给予滑座向下的作用力， 使移动轮最大限度的靠近工作面， 与工作面接触， 以产生摩擦， 使移动机器人 能够移动并离幵障碍。
对附图的简要说明 附图说明
[0035] 为了更清楚地说明本发明实施例的技术方案， 下面将对实施例中所需要使用的 附图作简单的介绍， 显而易见地， 下面描述中的附图是本发明的一些实施例， 对于本领域普通技术人员来讲， 在不付出创造性劳动的前提下， 还可以根据这 些附图获得其他的附图。
[0036] 图 1为本发明较佳实施例的扫地机器人结构示意图；
[0037] 图 2为图 1中扫地机器人的仰视图；
[0038] 图 3为图 1中扫地机器人的移动机构结构示意图；
[0039] 图 4为图 3的爆炸结构示意图；
[0040] 图 5为图 3的移动机构一使用状态结构示意图；
[0041] 图 6为抵压部结构示意图；
[0042] 图 7为滑座结构示意图。
本发明的实施方式
[0043] 下面将结合附图和具体实施例对本发明技术方案进行清楚、 完整地描述， 显然 ， 这里所描述的实施例仅仅是发明的一部分实施例， 而不是全部的实施例。 基 于本发明描述的具体实施例， 本领域普通技术人员在没有做出创造性劳动前提 下所获得的所有其他实施例， 都应当属于本发明权利要求所限定的保护范围内 。 例如： 本申请所述的导向部可以是用于引导物体沿预定方向移动的导柱或导 轨， 并且， 使本申请的滑座在导向部上沿导向部做往复运动； 又例如本申请中 的形变部可以是弹簧， 或橡皮筋， 或具有形变可恢复或弹性功能的可形变体。
[0044] 实施例一
[0045] 本发明提供一种在工作面自行移动的移动机器人， 以扫地机器人 100为例， 该 扫地机器人 100的结构如图 1和图 2所示， 扫地机器人 100包括构成外形的主体， 以及承载所述主体在工作面移动的移动机构 1， 在扫地机器人 100在工作面移动 吋， 移动机构 1承载着主体以及设置在主体上的其他功能部件 （如尘盒、 风机、 清洁组件、 控制主板、 马达等） 的重量。 其中， 主体包括下壳体 10和上壳体 20 ， 移动机构 1如图 3至图 7所示。 [0046] 在本实施例中， 如图 3、 图 4所示， 移动机构 1包括： 壳体、 滑座 80、 抵压部 40 、 移动轮 70以及弹簧 30。 其中， 壳体由下壳体 10和上壳体 20构成， 在壳体内对 称设置有两根导柱 60， 每根导柱 60的轴线垂直于移动面 （扫地机器人移动经过 的工作面） ； 滑座 80设置在导柱 60上， 沿导柱 60轴向在下壳体 10与上壳体 20之 间移动； 抵压部 40通过弹簧 30与上壳体 20连接， 并受弹簧 30的弹力作用而抵压 在滑座 80上， 使滑座 80向下移动并向工作面靠近； 移动轮 70固定在滑座 80上， 并部分露出下壳体 10表面与工作面接触。
[0047] 构成移动机构 1的壳体包括上壳体 20和下壳体 10， 其中， 上壳体 20与主体一体 成型， 上壳体 20与下壳体 10之间设置有导柱 60,滑座 80滑动设置在导柱 60上， 滑 座 80受外力吋在导柱 60上作升降运动。 为减少滑座 80的运动吋晃动， 导柱 60至 少为两根且分别设置在滑座 80的对角位置 （如图 3至图 5所示） ， 呈对称设置； 导柱 60还可以是三根， 呈三角型分布， 使滑座 80的受力吋更均匀， 运动更稳定
[0048] 见图 5及图 6所示， 抵压部 40还包括转动部 400， 转动部 400通过转轴 50固定在上 壳体 20上， 抵压部 40具有彼此分离并向外延伸呈一定角度设置的第一端部 401和 第二端部 402， 第一端部 401自转动部 400向远离滑座 80的方向延伸， 并通过弹簧 30与上壳体 20连接； 第二端部 402自转动部 400向滑座 80的方向延伸， 并抵压在 滑座 80上。 第一端部 401被弹簧 30牵拉吋， 第二端部 402可以随动。
[0049] 见图 7所示， 滑座 80包括本体 800， 以及收容在本体 800内的传动部 （内部元件 ， 未示出） ， 传动部与移动轮 70传动连接。 其中， 本体 800构成一个腔体， 腔体 内设置有作为传动部的传动齿轮和 /或传动轴。
[0050] 当扫地机器人 100在工作面移动吋， 移动轮 70与工作面接触， 且因移动轮 70需 要承载整机的重量， 而滑座 80与主体是活动连接的， 主体的重量迫使主体离地 高度下降， 使滑座 80在导柱 60上呈上升姿态， 且滑座 80在上升吋推动抵压部 40 的第二端部 402上升， 进而使第一端部 401拉伸弹簧 30， 而弹簧 30由于被拉伸而 产生一个拉力， 该拉力使第一端部 401向第二端部 402的一端靠近， 而第二端部 4 02给予滑座 80—个向下的作用力， 使滑座 80下降， 并尽最大限度地将移动轮 70 顶出下壳体 10表面， 让主体与工作面保持一个安全距离， 该安全距离可以使扫 地机器人 100在越障吋， 让移动轮 70与工作面保持接触， 避免移动轮 70悬空。
[0051] 进一步地， 如图 7所示， 滑座 80还包括与导柱 60滑动设置的滑套 801。
[0052] 当本申请中的导向部为导轨吋， 导轨的数量至少为一条， 且滑座具有在导轨内 沿导轨滑动的滑动块， 通过滑座的自重或滑座受外力作用而使滑座在导轨内移 动。
[0053] 进一步地， 传动部包括转动轴， 转动轴与移动轮 70传动连接。
[0054] 进一步地， 如图 7所示， 滑座 80上还设置有电机 802， 电机 802通过转动轴与移 动轮 70传动连接， 使移动机器人在工作吋能在工作面移动。
[0055] 实施例二
[0056] 本发明还提供了一种移动机器人的移动方法， 包括如下步骤：
[0057] (1) 移动轮与工作面接触， 滑座与构成机器人的主体活动连接， 其中所述主 体包括上客体和下壳体；
[0058] (2) 移动吋， 主体离地高度下降， 滑座在导向部上呈上升姿态；
[0059] (3) 滑座上升吋推动抵压部上升， 抵压部上升带动形变部形变；
[0060] (4) 形变部形变吋通过抵压部产生作用力， 迫使滑座下降， 将移动轮顶出下 壳体表面， 让移动轮与工作面保持接触。
[0061] 本实施例中， 如图 3〜图 7所示， 所述主体包括上壳体 20和下壳体 10， 所述导向 部可以为导轨或导柱。 当所述导向部为导轨吋， 导轨的数量至少为一条， 且滑 座具有在导轨内沿导轨滑动的滑动块， 通过滑座的自重或滑座受外力作用而使 滑座在导轨内移动； 当所述导向部为导柱吋， 所述导柱设置在所述上壳体与所 述下壳体之间。
[0062] 进一步地， 本实施例优选导向部为导柱 60， 且进一步优选所述导柱包括两根， 对称设置在所述滑座 80的两侧。 当然导柱 60还可以是三根， 呈三角型分布， 使 滑座 80的受力吋更均匀， 运动更稳定。
[0063] 进一步地， 本实施例中， 所述抵压部 40包括转动部 400、 第一端部 401、 第二端 部 402， 所述转动部 400通过转轴 50固定在所述上壳体 20上， 所述第一端部 401自 所述转动部 400向远离所述滑座 80的方向延伸， 并通过形变部与所述上壳体 20连 接， 其中所述形变部为弹簧 30; 所述第二端部 402自所述转动部 400向所述滑座 的方向延伸， 并抵压在所述滑座 80上。 第一端部 401被弹簧 30牵拉吋， 第二端部 402可以随动。
[0064] 进一步地， 滑座 80上升吋推动抵压部 40的第二端部 402上升， 进而使第一端部 4 01拉伸形变部， 而形变部弹簧 30由于被拉伸而产生一个拉力， 该拉力使第一端 部 401向第二端部 402的一端靠近， 而第二端部给 402予滑座 80—个向下的作用力 ， 使滑座 80下降， 将移动轮 70顶出下壳体表面， 让移动轮 70与工作面保持接触
[0065] 以上所揭露的仅为本发明技术方案的实施例而已， 不能以此来限定本发明之权 利范围， 因此依本发明权利要求所作的等同变化， 仍属本发明所涵盖的范围。

Claims

权利要求书
[权利要求 1] 一种移动机构， 其特征在于， 包括：
壳体， 所述壳体内设置有导向部；
滑座， 安装在所述导向部上并可沿所述导向部移动；
移动轮， 固定在所述滑座上,并部分露出所述壳体表面；
抵压部， 抵压于所述滑座上且使所述滑座向所述壳体表面运动； 形变部， 安装在所述壳体上并与所述抵压部相连， 在形变吋通过所述 抵压部给予所述滑座向所述壳体表面运动的作用力。
[权利要求 2] 根据权利要求 1所述移动机构， 其特征在于， 包括： 壳体、 滑座、 移 动轮、 抵压部和形变部， 其中：
所述壳体包括下壳体和上壳体， 在上壳体和下壳体之间设置有导向部 所述滑座安装在所述导向部上， 并可沿所述导向部在下壳体和上壳体 之间上下移动；
所述移动轮固定在所述滑座上,并部分露出所述壳体表面， 与工作面 接触；
所述抵压部抵压于所述滑座上， 且使所述滑座向所述壳体表面运动； 所述形变部安装在所述壳体上， 并与所述抵压部相连， 在形变吋通过 所述抵压部给予所述滑座向所述壳体表面运动的作用力。
根据权利要求 1或 2所述的移动机构， 其特征在于： 所述导向部为导轨 根据权利要求 3所述的移动机构， 其特征在于： 所述导轨至少为一条
， 且所述滑座上具有在导轨内沿导轨滑动的滑动块。
根据权利要求 1或 2所述的移动机构， 其特征在于： 所述导向部为导柱 根据权利要求 5所述的移动机构， 其特征在于： 所述导柱的轴线垂直 于移动面。
根据权利要求 5或 6所述的移动机构， 其特征在于： 所述壳体包括上壳 体和下壳体， 所述导柱设置在所述上壳体与所述下壳体之间。
[权利要求 8] 根据权利要求 5或 6或 7所述的移动机构， 其特征在于： 所述导柱包括 两根， 对称设置在所述滑座的两侧。
[权利要求 9] 根据权利要求 4~8任一所述的移动机构， 其特征在于： 所述导柱包括 三根， 成三角型分布于所述滑座的两侧。
[权利要求 10] 根据权利要求 1所述的移动机构， 其特征在于： 所述抵压部包括转动 部、 第一端部、 第二端部， 所述转动部通过转轴固定在所述壳体上， 所述第一端部自所述转动部向远离所述滑座的方向延伸， 并通过形变 部与所述壳体连接； 所述第二端部自所述转动部向所述滑座的方向延 伸， 并抵压在所述滑座上。
[权利要求 11] 根据权利要求 1所述的移动机构， 其特征在于： 所述滑座包括本体， 以及收容在所述本体内的传动部， 所述传动部与所述移动轮传动连接
[权利要求 12] 根据权利要求 11所述的移动机构， 其特征在于： 所述传动部为传动齿 轮和 /或传动轴。
[权利要求 13] 根据权利要求 11或 12所述的移动机构， 其特征在于： 所述传动部还包 括转动轴， 所述转动轴与所述移动轮传动连接。
[权利要求 14] 根据权利要求 13所述的移动机构， 其特征在于： 所述滑座上还设置有 电机， 所述电机通过转动轴与所述移动轮传动连接。
[权利要求 15] 根据权利要求 5所述的移动机构， 其特征在于： 所述滑座还包括与所 述导柱滑动设置的滑套。
[权利要求 16] 根据权利要求 1所述的移动机构， 其特征在于： 所述形变部为弹簧。
[权利要求 17] 一种移动机器人， 其特征在于： 包括权利要求 1-16任一项所述的移动 机构。
[权利要求 18] 根据权利要求 17所述的移动机器人， 其特征在于： 所述移动机器人为 扫地机器人或割草机器人。
[权利要求 19] 一种移动机器人的移动方法， 其特征在于， 包括如下步骤：
(1) 移动轮与工作面接触， 滑座与构成机器人的主体活动连接， 其 中所述主体包括上客体和下壳体；
(2) 移动吋， 主体离地高度下降， 滑座在导向部上呈上升姿态；
(3) 滑座上升吋推动抵压部上升， 抵压部上升带动形变部形变；
(4) 形变部形变吋通过抵压部产生作用力， 迫使滑座下降， 将移动 轮顶出下壳体表面， 让移动轮与工作面保持接触。
[权利要求 20] 根据权利要求 19所述的移动方法， 其特征在于， 所述导向部为导轨。
[权利要求 21] 根据权利要求 19所述的移动方法， 其特征在于： 所述导向部为导柱。
[权利要求 22] 根据权利要求 21所述的移动方法， 其特征在于： 所述主体包括上壳体 和下壳体， 所述导柱设置在所述上壳体与所述下壳体之间。
[权利要求 23] 根据权利要求 21所述的移动方法， 其特征在于： 所述导柱包括两根， 对称设置在所述滑座的两侧。
[权利要求 24] 根据权利要求 19所述的移动方法， 其特征在于： 所述抵压部包括转动 部、 第一端部、 第二端部， 所述转动部通过转轴固定在所述壳体上， 所述第一端部自所述转动部向远离所述滑座的方向延伸， 并通过形变 部与所述壳体连接； 所述第二端部自所述转动部向所述滑座的方向延 伸， 并抵压在所述滑座上。
[权利要求 25] 根据权利要求 24所述的移动方法， 其特征在于： 所述步骤 （3) 中， 滑座上升吋推动抵压部的第二端部上升， 进而使第一端部拉伸形变部 ， 而形变部由于被拉伸而产生一个拉力， 该拉力使第一端部向第二端 部的一端靠近， 而第二端部给予滑座一个向下的作用力， 使滑座下降 ， 将移动轮顶出下壳体表面， 让移动轮与工作面保持接触。
PCT/CN2018/075230 2017-09-01 2018-02-05 移动机构及具有该移动机构的移动机器人及移动方法 WO2019041754A1 (zh)

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