WO2021043031A1 - 自动行走机器人 - Google Patents

自动行走机器人 Download PDF

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Publication number
WO2021043031A1
WO2021043031A1 PCT/CN2020/111176 CN2020111176W WO2021043031A1 WO 2021043031 A1 WO2021043031 A1 WO 2021043031A1 CN 2020111176 W CN2020111176 W CN 2020111176W WO 2021043031 A1 WO2021043031 A1 WO 2021043031A1
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WO
WIPO (PCT)
Prior art keywords
shaft
axle
wheel
chassis
walking robot
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PCT/CN2020/111176
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English (en)
French (fr)
Inventor
聂恒安
王聪
陆胜富
Original Assignee
苏州科瓴精密机械科技有限公司
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Application filed by 苏州科瓴精密机械科技有限公司 filed Critical 苏州科瓴精密机械科技有限公司
Publication of WO2021043031A1 publication Critical patent/WO2021043031A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors

Definitions

  • the utility model relates to the field of automatic walking mechanisms, in particular to an automatic walking robot.
  • automatic walking equipment can automatically perform pre-set related tasks in a pre-set program, without human operation and intervention, it is used in industrial applications and household products.
  • Industrial applications such as robots that perform various functions, and household products such as lawn mowers, vacuum cleaners, etc. These smart devices bring great convenience to industrial production and home life.
  • self-propelled robots have automatic walking function, which can prevent collisions, prevent outgoing lines within the range, automatically return to charging, have safety detection and battery power detection, and have a certain climbing ability, especially a suitable family courtyard, Pruning and maintenance of lawns in public green spaces and other places.
  • the self-propelled robot can complete the work of mowing the lawn autonomously, without direct human control and operation, and has low power, low noise, no pollution, vibrant and beautiful appearance, and greatly reduces manual operations.
  • the walking modules on the existing autonomous walking robots are generally fixedly connected to the body and cannot be disassembled from the body, or even if it can be disassembled, it is necessary to open the casing and use tools for disassembly.
  • the structure is complicated and the operation is cumbersome. When the module needs to be cleaned, or needs to be repaired or replaced due to damage, it will cause a lot of inconvenience to the user.
  • the purpose of the utility model is to provide an automatic walking robot.
  • the utility model discloses an autonomous walking robot for automatic walking and working on the ground, comprising: a body and a walking module installed on the body, the body including a chassis, and the walking
  • the module includes at least one traveling wheel assembly and a fixed seat matched with the at least one traveling wheel assembly.
  • the at least one traveling wheel assembly includes a wheel body and a wheel shaft for supporting the rotation of the wheel body, characterized in that the The fixed seat is sleeved on the axle, and the axle is movably connected with the fixed seat; the fixed seat is detachably connected with the chassis.
  • a clamping member is provided on the fixing seat, a matching portion is provided on the chassis corresponding to the position of the clamping member, and the clamping member is snap-connected with the matching portion.
  • the clip includes an elastic arm extending in the height direction of the machine body, the elastic arm is provided with a protrusion extending in a direction perpendicular to the height of the machine body, and the matching portion is provided with a groove; The protrusion is clamped into the groove to realize the snap connection between the clamping member and the mating portion, and the elastic arm is forced to drive the protrusion to separate from the groove to allow the fixing seat Remove from the chassis.
  • the axle includes a first axle body extending along the height direction of the machine body, a second axle body arranged coaxially with the wheel body, and a second axle body connected to the first axle body and the second axle body.
  • the second shaft is rotatably connected with the wheel body; the first shaft body has a first axis extending along the height direction of the body, and the wheel shaft can be relative to the The fixed seat moves along the first axis.
  • one end of the first shaft body away from the curved shaft body is provided with a first stopper portion extending outward in the radial direction of the first shaft body, and the first shaft One end of the body close to the curved shaft body is provided with a second stopper portion extending outward along the radial direction of the first shaft body;
  • a first through hole is provided on the fixing seat, and the first shaft body Passing through the first through hole, the first through hole is provided with a first restricting portion and a second restricting portion extending inward in a radial direction of the first through hole, the first restricting portion And the second limiting portion are arranged at intervals along the axial direction of the first through hole; when the wheel body is supported on the ground, the second limiting portion abuts against the second stopping portion; when the body Moving in a direction away from the ground, the axle moves along the first axis until the first limiting portion abuts against the first stopping portion.
  • a shaft sleeve fixedly connected to the fixing seat is provided between the first shaft body and the first through hole, and the first shaft body is in clearance fit with the shaft sleeve,
  • the two ends of the sleeve on the first axis are respectively configured as the first limiting portion and the second limiting portion.
  • a fixing cap is provided on the end of the first shaft away from the curved shaft, and the end of the fixing cap close to the shaft sleeve is configured as the first stopper, so
  • the fixing cap is fixedly provided with a sensing element, and the chassis is provided with a sensing device at a position corresponding to the sensing element;
  • a control module is provided on the body, and the sensing device is connected with the control module; when the body Moving in a direction away from the ground, the sensing element follows the wheel axle to move along the first axis, the sensing device is triggered to send a detection signal to the control module, and when the control module receives the detection signal, it determines the The body is raised.
  • the sensing element is a magnet
  • the sensing device is a Hall sensor
  • the walking module includes two walking wheel assemblies, the fixing cap of each walking wheel assembly is provided with a sensing element, and the chassis is provided with a position corresponding to each of the sensing elements.
  • Sensing device when the body moves away from the ground, each of the sensing elements follows the corresponding axle to move along the first axis, and the corresponding sensing devices are triggered to send to the control module respectively Detection signal; when the control module receives the detection signal sent by the two sensing devices, it is determined that the body is lifted.
  • a gasket extending outward along the radial direction of the first shaft is sleeved on the end of the first shaft close to the curved shaft, and the gasket is configured as the first shaft. Second stop.
  • the first shaft body is provided with a convex portion extending outward along the radial direction of the first shaft body, and the convex portion is provided under the gasket and restricts the gasket along the Move in the direction close to the wheel body.
  • the automatic walking robot disclosed by the utility model can detachably connect the walking wheel assembly to the chassis of the machine body through a fixed seat, so that the walking wheel assembly can be easily disassembled for maintenance or replacement of the walking wheel assembly.
  • Figure 1 is a schematic diagram of the structure of an autonomous walking robot in an embodiment of the present invention
  • Figure 2 is an exploded schematic diagram of one of the walking modules in an embodiment of the present invention.
  • Figure 3 is a schematic diagram of the structure of the walking wheel assembly in an embodiment of the present invention.
  • FIG. 4 is a schematic cross-sectional view of the autonomous walking robot in an embodiment of the present invention.
  • Fig. 5 is an enlarged schematic diagram of part A in Fig. 4;
  • Fig. 6 is an enlarged schematic diagram of part B in Fig. 4;
  • Fig. 7 is a schematic cross-sectional view of a fixing seat in an embodiment of the present invention.
  • the autonomous walking robot is preferably an automatic lawn mower, which is used to automatically walk and work on the ground, and provide walking and working energy through a battery.
  • the automatic lawn mower includes a body 10, a walking module 20 installed on the body 10, and a working module for mowing the lawn.
  • the walking module 20 is used for walking and steering.
  • the working module includes a cutting motor, a drive shaft connected to the cutting motor, and a drive A cutting device equipped with a shaft, the cutting device may be a cutting blade, a cutting wire, and other cutting elements capable of trimming the lawn.
  • the automatic lawn mower also includes a control module for coordinating the work module and the walking module. The control module enables the automatic lawn mower to automatically walk and mow the lawn without being guarded.
  • the body 10 includes a chassis 11, and the walking module 20 includes at least one walking wheel assembly 21 and a fixing seat 22 that is matched with the at least one walking wheel assembly 21.
  • the wheel assembly 21 includes a wheel body 211 and a wheel shaft 212 for supporting the rotation of the wheel body 211.
  • the fixed seat 22 is sleeved on the wheel shaft 212, and the wheel shaft 212 is movably connected with the fixed seat 22.
  • the fixing base 22 is detachably connected to the chassis 11.
  • the walking wheel assembly 21 is detachably connected to the chassis 11 of the machine body 10 through a fixed seat 22, so that the walking wheel assembly 21 can be easily disassembled for maintenance or replacement of the walking wheel assembly 21.
  • the fixing seat 22 is provided with a clamping member 221
  • the chassis 11 is provided with a matching portion corresponding to the position of the clamping member 221, and the clamping member 221 is
  • the piece 221 is snap-connected to the mating part.
  • the detachable connection between the walking wheel assembly 21 and the chassis 11 is realized by the snap connection between the clamping member 221 on the fixed seat 22 and the mating part on the chassis 11, which has a simple structure and a good detachability effect.
  • the clamping member 221 includes an elastic arm 2211 extending in the height direction of the body 10, and the elastic arm 2211 is provided with a protrusion 2212 extending in a direction perpendicular to the height of the body 10.
  • the matching portion is provided with a groove 111.
  • the protrusion 2212 on the fixing seat 22 is clamped into the groove 111 on the chassis 11 to realize the snap connection between the clamping member 221 and the mating part.
  • the elastic arm 2211 is forced to drive the protrusion 2212 and
  • the groove 111 is separated to allow the fixing base 22 to be detached from the chassis 11.
  • each elastic arm 2211 is provided with a protrusion 2211.
  • two elastic arms 2211 are provided on the chassis 11.
  • the fixed seat 22 can be moved from the lower part of the chassis 11 into the chassis 11 and the elastic arm 2211 can be pushed.
  • the protrusion 2212 will be caught in the groove 111 when it encounters the groove 111 during the movement, thereby Install the walking module 20 to the chassis 11.
  • the elastic arm 2211 protrudes from the lower part of the chassis 11.
  • the walking module 20 When the walking module 20 needs to be disassembled, you can hold the protruding parts of the two elastic arms 2211 respectively, and press them inward along the radial direction of the fixing seat 22 to drive the protrusion 2212 to separate from the groove 111, and continue to hold the elastic arm 2211
  • the protruding part and moving it away from the machine body 10 can remove the fixing base 22 and the walking wheel assembly 21 from the chassis 11 together.
  • the axle 212 includes a first axle body 2121 extending along the height direction of the body 10, a second axle body 2122 arranged coaxially with the wheel body 211, and A curved shaft body 2123 connected between the first shaft body 2121 and the second shaft body 2122.
  • the second shaft body 2122 is rotatably connected with the wheel body 211.
  • the first shaft body 2121 has a first axis X extending along the height direction of the body 10, and the wheel shaft 212 can move along the first axis X relative to the fixing base 22.
  • first shaft body 2121 and the second shaft body 2122 are perpendicular to each other.
  • the first shaft body 2121 is used for sliding connection with the fixing base 22
  • the second shaft body 2122 is used for rotating connection with the wheel body 211
  • the curved shaft body 2123 is used for connecting the first shaft body 2121 and the second shaft body 2122.
  • one end of the first shaft 2121 away from the curved shaft 2123 is provided with a first shaft extending outward in the radial direction of the first shaft 2121.
  • An end of the first shaft body 2121 close to the curved shaft body 2123 is provided with a second stop portion 214 extending outward in the radial direction of the first shaft body 2121.
  • the fixing seat 22 is provided with a first through hole 222, the first shaft body 2121 passes through the first through hole 222, and the first through hole 222 is provided with a hole along the first through hole 222.
  • a first limiting portion 2231 and a second limiting portion 2232 extending radially inward are arranged at intervals along the axial direction of the first through hole 222.
  • the second limiting portion 2232 abuts the second stopping portion 214.
  • Figure 5 When the body 10 moves in a direction away from the ground, the axle 212 moves along the first axis X until the first limiting portion 2231 abuts against the first stopping portion 2131.
  • the first shaft body 2121 can slide up and down in the fixed seat 22 to a certain extent. Therefore, the sliding connection between the axle 212 and the fixing base 22 is achieved.
  • a shaft sleeve 223 fixedly connected to the fixing seat 22 is provided between the first shaft body 2121 and the first through hole 222, and the first shaft
  • the shaft body 2121 is in clearance fit with the shaft sleeve 223, and two ends of the shaft sleeve 223 on the first axis X are configured as the first limiting portion 2231 and the second limiting portion 2232 respectively.
  • the first limiting portion 2231 and the second limiting portion 2232 can be constructed.
  • a fixing cap 213 is provided on the end of the first shaft body 2121 away from the curved shaft body 2123, and the fixing cap 213 is close to one end of the shaft sleeve 223 It is configured as the first stop portion 2131, the fixing cap 213 is fixedly provided with a sensing element 2132, and the chassis 11 is provided with a sensing device 112 at a position corresponding to the sensing element 2132.
  • the body 10 is provided with a control module, and the sensing device 112 is connected to the control module.
  • the sensing element 2132 follows the axle 212 to move along the first axis X, the sensing device 111 is triggered to send a detection signal to the control module, and the control module When the detection signal is received, it is determined that the body 10 is lifted.
  • the sensing element 2132 is a magnet
  • the sensing device 112 is a Hall sensor
  • the automatic lawn mower encounters an obstacle on the lawn ground (it may be an object such as a stone or a part of a human body/animal such as legs and feet), it will climb up the obstacle. It will be lifted and move away from the ground. If the autonomous robot continues to walk, the body may roll over, or the cutting element of the working module may cause accidents such as injury to humans or animals.
  • the axle 212 When the body 10 is lifted, the axle 212 will move downward relative to the body 10 for a certain distance by virtue of the gravity of the walking wheel assembly.
  • the sensing element 2132 will move downward with the axle 212, and the sensing device 112 will detect that the position of the sensing element 2132 has changed (that is, the magnetic field intensity sensed by the Hall sensor has changed due to the change in the position of the magnet. ), the sensing device 112 sends a detection signal to the control module, and the control module determines that the body 10 is lifted. Subsequently, the control module will control the autonomous walking robot to execute corresponding instructions, such as controlling the cutting element to stop rotating, and/or restricting the walking module 20 to continue moving in the direction of travel, etc., so as to avoid the above-mentioned accidents.
  • control module determines that the lifting action of the body 10 is over.
  • the control module can control the starting of the cutting element and/or control the walking module 20 to continue moving, and so on.
  • the walking module 20 includes two walking wheel assemblies 21, each of the walking wheel assemblies 21 is provided with a sensing element 2132 on the fixing cap 213, and the position on the chassis 11 corresponding to each sensing element 2132 is There is a sensing device 112.
  • each of the sensing elements 2132 follows the corresponding axle 212 to move along the first axis X, and the corresponding sensing devices 112 are all triggered to control the
  • the module sends a detection signal.
  • the control module receives the detection signals from the two sensing devices 112, it is determined that the body 10 is lifted.
  • the control module needs to control the autonomous robot to execute corresponding instructions, such as controlling the cutting element to stop rotating, and/or restricting the walking module 20 to continue moving in the direction of travel.
  • the control module can be set to determine that the body 10 is lifted only when it receives the detection signals from the two sensing devices 112.
  • the end of the first shaft body 2121 close to the curved shaft body 2123 is sleeved with a gasket 214 extending outward in the radial direction of the first shaft body 2121.
  • 214 is configured as the second stop portion 214.
  • grass clippings or other particles may enter the gap between the first shaft body 2121 and the shaft sleeve 223 when the automatic lawn mower is working; and the gasket 214 can be arranged at one end close to the curved shaft body 2123, and the diameter of the gasket can be set to be larger than the inner diameter of the shaft sleeve 223, so that the gap between the first shaft body 2121 and the shaft sleeve 223 can be completely blocked, thereby blocking grass clippings Or other particles enter the gap.
  • the first shaft body 2121 is provided with a convex portion 2121a extending outward in the radial direction of the first shaft body 2121, and the convex portion 2121a is provided under the gasket 214 and restricts the gasket 214.
  • the convex portion 2121a and the spacer 211 on the axle 212 and the second limit portion 2232 on the shaft sleeve 223 cooperate and limit (that is, when the autonomous robot is placed on the ground) ,
  • the convex portion 2121a supports the body 10).
  • the material of the shaft sleeve 223 may be copper
  • the material of the fixing base 22 may be plastic
  • the material of the axle 212 and the gasket 214 may be steel.
  • the gasket 214 can also be used to prevent the boss 2121a from wearing the sleeve 223.
  • the walking wheel assembly is detachably connected to the chassis of the machine body through a fixed seat, so that the walking wheel assembly can be easily disassembled for maintenance or replacement of the walking wheel assembly.
  • the protrusion on the fixed seat can be locked into the groove of the chassis, so as to realize the snap connection between the walking wheel assembly and the chassis.
  • the elastic arm on the fixed seat can be forced to drive the protrusion and the groove to buckle or separate.
  • the sensing element When the body moves away from the ground, the sensing element follows the wheel axle to move along the first axis, and the sensing device is triggered to send a detection signal to the control module.
  • the control module receives the detection signal, it judges that the body is lifted. Subsequently, the control module will control the autonomous walking robot to execute corresponding instructions, such as controlling the cutting element to stop rotating, and/or restricting the walking module to continue moving in the direction of travel, etc., so as to avoid some accidents.
  • the convex part and the gasket on the wheel shaft cooperate with the second limit part on the shaft sleeve to limit the position.
  • the spacer can be arranged at the end close to the curved shaft body, and the diameter of the spacer can be set larger than the inner diameter of the shaft sleeve, which can completely block the gap between the first shaft body and the shaft sleeve, thereby blocking grass clippings or other particles Enter the gap.
  • the gasket can also be used to prevent the boss from wearing the sleeve.

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

Abstract

一种自动行走机器人，用于在地面上自动行走和工作，包括：机体（10）及安装于机体（10）的行走模块（20），机体（10）包括底盘（11），行走模块（20）包括至少一个行走轮组件（21）及与至少一个行走轮组件（21）配套设置的固定座（22），至少一个行走轮组件（21）包括轮体（211）及用于支撑轮体（211）转动的轮轴（212），固定座（22）套设于轮轴（212），轮轴（212）与固定座（22）活动连接；固定座（22）与底盘（11）可拆卸连接。

Description

自动行走机器人 技术领域
本实用新型涉及自动行走机构领域，尤其涉及一种自动行走机器人。
背景技术
随着科学技术的发展，智能的自动行走设备为人们所熟知，由于自动行走设备可以自动预先设置的程序执行预先设置的相关任务，无须人为的操作与干预，因此在工业应用及家居产品上的应用非常广泛。工业上的应用如执行各种功能的机器人，家居产品上的应用如割草机、吸尘器等，这些智能设备给工业生产及家居生活都带来了极大的便利。与传统产品相比，自动行走机器人具备自动行走功能，可以防止碰撞，范围之内防止出线，自动返回充电，具备安全检测和电池电量检测，具备一定爬坡能力，尤其是一种适合家庭庭院、公共绿地等场所进行草坪修剪维护。自动行走机器人能够自主的完成修剪草坪的工作,无须人为直接控制和操作，且功率低、噪音小、无污染、外形精巧美观，大幅度降低人工操作。
现有的自动行走机器人上的行走模块一般都是固定连接在机体上的，不能从机体上拆卸，或者即使能够拆卸，也需要打开机壳，利用工具进行拆卸，结构复杂，操作繁琐，在行走模块需要清洁，或因损坏而需要维修或更换的情况 下，会给用户带来很多不便。
实用新型内容
本实用新型的目的在于提供一种自动行走机器人。
为实现上述实用新型目的，本实用新型公开了一种自动行走机器人，用于在地面上自动行走和工作，包括：机体及安装于所述机体的行走模块，所述机体包括底盘，所述行走模块包括至少一个行走轮组件及与所述至少一个行走轮组件配套设置的固定座，所述至少一个行走轮组件包括轮体及用于支撑所述轮体转动的轮轴，其特征在于，所述固定座套设于所述轮轴，所述轮轴与所述固定座活动连接；所述固定座与所述底盘可拆卸连接。
作为本实用新型的进一步改进，所述固定座上设有卡接件，所述底盘上对应所述卡接件的位置设有配合部，所述卡接件与所述配合部卡扣连接。
作为本实用新型的进一步改进，所述卡接件包括沿机体高度方向延伸的弹性臂，所述弹性臂上设有沿垂直于机体高度方向延伸的凸起，所述配合部设有凹槽；所述凸起卡入所述凹槽内实现所述卡接件与所述配合部的卡扣连接，所述弹性臂受力带动所述凸起与所述凹槽分离以允许所述固定座从所述底盘拆卸。
作为本实用新型的进一步改进，所述轮轴包括沿所述机体高度方向延伸的第一轴体、与所述轮体同轴设置的第二轴体以及连接在所述第一轴体和第二轴体之间的弯曲轴体；所述第二轴体与所述轮体转动连接；所述第一轴体具有沿所述机体高度方向延伸的第一轴线，所述轮轴能够相对于所述固定座沿第一轴 线运动。
作为本实用新型的进一步改进，所述第一轴体上远离所述弯曲轴体的一端设有沿所述第一轴体的径向向外延伸的第一止挡部，所述第一轴体上靠近所述弯曲轴体的一端设有沿所述第一轴体的径向向外延伸的第二止挡部；所述固定座上设有第一通孔，所述第一轴体穿过所述第一通孔，所述第一通孔内设有沿所述第一通孔的径向向内延伸的第一限位部及第二限位部，所述第一限位部及第二限位部沿所述第一通孔的轴向间隔设置；当所述轮体支撑在地面，所述第二限位部抵接所述第二止挡部；当所述机体向远离地面的方向运动，所述轮轴沿所述第一轴线运动直至所述第一限位部抵接所述第一止挡部。
作为本实用新型的进一步改进，所述第一轴体与所述第一通孔之间设有固定连接于所述固定座的轴套，所述第一轴体与所述轴套间隙配合，所述轴套在第一轴线上的两端分别构造为所述第一限位部及第二限位部。
作为本实用新型的进一步改进，所述第一轴体上远离所述弯曲轴体的一端设有固定帽，所述固定帽靠近所述轴套的一端构造为所述第一止挡部，所述固定帽上固设有感应元件，所述底盘上对应所述感应元件的位置设有感应装置；所述机体上设有控制模块，所述感应装置与所述控制模块连接；当所述机体向远离地面的方向运动，所述感应元件跟随所述轮轴沿第一轴线运动，所述感应装置被触发而向所述控制模块发送检测信号，所述控制模块接收到检测信号时，判断所述机体被抬升。
作为本实用新型的进一步改进，所述感应元件为磁体，所述感应装置为霍尔传感器。
作为本实用新型的进一步改进，所述行走模块包括两个行走轮组件，每个行走轮组件的固定帽上均设有感应元件，所述底盘上对应每个所述感应元件的位置均设有感应装置；当所述机体向远离地面的方向运动，每个所述感应元件均跟随对应的所述轮轴沿第一轴线运动，对应的所述感应装置均被触发而分别向所述控制模块发送检测信号；当所述控制模块接收到两个感应装置发出的检测信号时，判断所述机体被抬升。
作为本实用新型的进一步改进，所述第一轴体上靠近所述弯曲轴体的一端套设有沿第一轴体的径向向外延伸的垫片，所述垫片构造为所述第二止挡部。
作为本实用新型的进一步改进，所述第一轴体上设有沿第一轴体的径向向外延伸的凸部，所述凸部设于所述垫片下方并限制所述垫片沿靠近所述轮体的方向运动。
与现有技术相比，本实用新型公开的自动行走机器人，将行走轮组件通过固定座可拆卸连接于机体的底盘上，从而可方便地拆卸行走轮组件，以便维修或更换行走轮组件。
附图说明
图1是本实用新型一实施方式中自动行走机器人的结构示意图；
图2是本实用新型一实施方式中其中一个行走模块的分解示意图；
图3是本实用新型一实施方式中行走轮组件的结构示意图；
图4是本实用新型一实施方式中自动行走机器人的剖面示意图；
图5是图4中A部分的放大示意图；
图6是图4中B部分的放大示意图；
图7是本实用新型一实施方式中固定座的剖面示意图。
具体实施方式
以下将结合附图所示的具体实施方式对本实用新型进行详细描述。但这些实施方式并不限制本实用新型，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本实用新型的保护范围内。
应该理解，本文使用的例如“上”、“上方”、“下”、“下方”等表示空间相对位置的术语是出于便于说明的目的来描述如附图中所示的一个单元或特征相对于另一个单元或特征的关系。空间相对位置的术语可以旨在包括设备在使用或工作中除了图中所示方位以外的不同方位。
如图1-7所示，在本实用新型的实施方式中，自动行走机器人优选为自动割草机，其用于在地面上自动行走和工作，通过电池提供行走以及工作能量。自动割草机包括机体10、安装于机体10的行走模块20及用于修剪草坪的工作模块，行走模块20用于行走和转向，工作模块包括切割马达、与切割马达连接 的传动轴以及与传动轴配接的切割装置，切割装置可以是切割刀片、切割线等能够实现对草坪进行修剪的切割元件。另外，自动割草机还包括控制模块，用于协调工作模块和行走模块，控制模块能够使自动割草机在无人看守的情况下自动在草坪上行走并割草。
在本实用新型实施方式中，所述机体10包括底盘11，所述行走模块20包括至少一个行走轮组件21及与所述至少一个行走轮组件21配套设置的固定座22，所述至少一个行走轮组件21包括轮体211及用于支撑所述轮体211转动的轮轴212，所述固定座22套设于所述轮轴212，所述轮轴212与所述固定座22活动连接。所述固定座22与所述底盘11可拆卸连接。
本实用新型公开的自动行走机器人，将行走轮组件21通过固定座22可拆卸连接于机体10的底盘11上，从而可方便地拆卸行走轮组件21，以便维修或更换行走轮组件21。
进一步地，如图2及图5-7所示，所述固定座22上设有卡接件221，所述底盘11上对应所述卡接件221的位置设有配合部，所述卡接件221与所述配合部卡扣连接。通过固定座22上的卡接件221与底盘11上的配合部进行卡扣连接的方式来实现行走轮组件21与底盘11的可拆卸连接，结构简单且可拆卸效果好。
优选地，如图图5-7所示，所述卡接件221包括沿机体10高度方向延伸的弹性臂2211，所述弹性臂2211上设有沿垂直于机体10高度方向延伸的凸起 2212，所述配合部设有凹槽111。固定座22上的凸起2212卡入底盘11上的凹槽111内以实现所述卡接件221与所述配合部的卡扣连接，所述弹性臂2211受力带动所述凸起2212与所述凹槽111分离以允许所述固定座22从所述底盘11拆卸。
如图1-2及图5-7所示，固定座22上设有相对的两个弹性臂2211，每个弹性臂2211上分别设有凸起2211，相应地，底盘11上也设有两个凹槽111。在安装行走模块10时，可从底盘11下部将固定座22向底盘11内移动并推动弹性臂2211，凸起2212在移动的过程中遇到凹槽111即会卡入凹槽111内，从而将行走模块20安装至底盘11。安装完成后，弹性臂2211突出于底盘11的下部。当需要拆卸行走模块20时，可分别手持两个弹性臂2211的突出部分，将其沿固定座22的径向向内按压即可带动凸起2212与凹槽111分离，继续手持弹性臂2211的突出部分并将其向远离机体10的方向移动，即可将固定座22及行走轮组件21一起从底盘11上拆卸下来。
在本实用新型实施方式中，如图3所示，所述轮轴212包括沿所述机体10高度方向延伸的第一轴体2121、与所述轮体211同轴设置的第二轴体2122以及连接在所述第一轴体2121和第二轴体2122之间的弯曲轴体2123。所述第二轴体2122与所述轮体211转动连接。所述第一轴体2121具有沿所述机体10高度方向延伸的第一轴线X，所述轮轴212能够相对于所述固定座22沿第一轴线X运动。
具体来说，第一轴体2121与第二轴体2122相互垂直。第一轴体2121用于与固定座22滑动连接，而第二轴体2122用于与轮体211转动连接，弯曲轴体2123用于将第一轴体2121与第二轴体2122连接起来。
进一步地，如图2及图5-7所示，所述第一轴体2121上远离所述弯曲轴体2123的一端设有沿所述第一轴体2121的径向向外延伸的第一止挡部2131，所述第一轴体2121上靠近所述弯曲轴体2123的一端设有沿所述第一轴体2121的径向向外延伸的第二止挡部214。所述固定座22上设有第一通孔222，所述第一轴体2121穿过所述第一通孔222，所述第一通孔222内设有沿所述第一通孔222的径向向内延伸的第一限位部2231及第二限位部2232，所述第一限位部2231及第二限位部2232沿所述第一通孔222的轴向间隔设置。如图6所示，当所述轮体211支撑在地面，所述第二限位部2232抵接所述第二止挡部214。如图5所示。当所述机体10向远离地面的方向运动，所述轮轴212沿所述第一轴线X运动直至所述第一限位部2231抵接所述第一止挡部2131。通过第一限位部2231与第一止挡部2131的配合，以及第二限位部2141与第二止挡部214的配合，可以使第一轴体2121在固定座22内的上下滑动一定的距离，从而轮轴212与固定座22的滑动连接。
优选地，如图2及图5-6所示，所述第一轴体2121与所述第一通孔222之间设有固定连接于所述固定座22的轴套223，所述第一轴体2121与所述轴套223间隙配合，所述轴套223在第一轴线X上的两端分别构造为所述第一限位 部2231及第二限位部2232。通过设置轴套223，可以构造出第一限位部2231及第二限位部2232。
进一步地，如图2及图5-6所示，所述第一轴体2121上远离所述弯曲轴体2123的一端设有固定帽213，所述固定帽213靠近所述轴套223的一端构造为所述第一止挡部2131，所述固定帽213上固设有感应元件2132，所述底盘11上对应所述感应元件2132的位置设有感应装置112。所述机体10上设有控制模块，所述感应装置112与所述控制模块连接。当所述机体10向远离地面的方向运动，所述感应元件2132跟随所述轮轴212沿第一轴线X运动，所述感应装置111被触发而向所述控制模块发送检测信号，所述控制模块接收到检测信号时，判断所述机体10被抬升。
在本实用新型实施方式中，所述感应元件2132为磁体，所述感应装置112为霍尔传感器。
具体来说，当自动割草机在草坪地面上遇到障碍物(有可能是石头等物体也可能是腿脚等人体/动物的一部分)时，会攀爬上障碍物，此时机体10的可能会被抬起而向远离地面的方向运动，若自动行走机器人继续行走可能会发生机体侧翻，或者工作模块的切割元件对人体或动物造成伤害等意外情况。在机体10被抬起时，依靠行走轮组件的重力，轮轴212会相对机体10向下运动一段距离。同时，感应元件2132会随轮轴212向下运动，而感应装置112会检测到感应元件2132的位置发生变化(也即因磁体的位置发生变化而使霍尔传感器 所感应到的磁场强度发生了变化)，感应装置112会向控制模块发送检测信号，则控制模块判断机体10被抬升。随后，控制模块会控制自动行走机器人执行相应的指令，如控制切割元件停止转动，和/或限制行走模块20沿行进方向继续运动等，从而可以避免出现上述意外情况。当机体10不处于抬升状态时，依靠整机重力,轮轴212上的磁体恢复到常规位置,则控制模块判断机体10的抬升动作结束。控制模块可控制切割元件启动和/或控制行走模块20继续运动等。
进一步地，所述行走模块20包括两个行走轮组件21，每个行走轮组件21的固定帽213上均设有感应元件2132，所述底盘11上对应每个所述感应元件2132的位置均设有感应装置112。当所述机体10向远离地面的方向运动，每个所述感应元件2132均跟随对应的所述轮轴212沿第一轴线X运动，对应的所述感应装置112均被触发而分别向所述控制模块发送检测信号。当所述控制模块接收到两个感应装置112发出的检测信号时，判断所述机体10被抬升。
在一些情况下，可能会发生仅有一个行走轮组件21遇到障碍物而向远离地面的方向运动的情况。若障碍物较小，则此行走轮组件21是有可能越过障碍物而自动行走机器人可以继续正常行进并工作；而若障碍物较大以致该行走轮组件21无法越过障碍物，则会连带另一个行走轮组件21也向远离地面的方向运动，此时需要控制模块控制自动行走机器人执行相应的指令，如控制切割元件停止转动，和/或限制行走模块20沿行进方向继续运动等。而为了进一步确定是属于上述哪种情况，可设定控制模块在接收到两个感应装置112发出的检测 信号时，才判断所述机体10被抬升。
如图2及图6所示，所述第一轴体2121上靠近所述弯曲轴体2123的一端套设有沿第一轴体2121的径向向外延伸的垫片214，所述垫片214构造为所述第二止挡部214。通过在轮轴上设置垫片214，在轮体21支撑在底面时，垫片214抵接轴套223上的第二限位部2232，则此时第一轴体2121不会在轴套223中运动，保证行走模块的稳定。进一步地，因第一轴体2121与所述轴套223间隙配合，在自动割草机工作时，草屑或其他颗粒物有可能进入第一轴体2121与轴套223的间隙内；而垫片214可设置在靠近弯曲轴体2123的一端，并且可将垫片的直径设置为大于轴套223的内径，则可以完全遮挡住第一轴体2121与轴套223的间隙，从而可阻挡草屑或其他颗粒物进入间隙。
进一步地，所述第一轴体2121上设有沿第一轴体2121的径向向外延伸的凸部2121a，所述凸部2121a设于所述垫片214下方并限制所述垫片214沿靠近所述轮体211的方向运动。也就是说，当轮体211支撑在地面,轮轴212上的凸部2121a及垫片211与轴套223上的第二限位部2232进行配合限位(即在自动行走机器人放置在地面上时,凸部2121a对机体10起到支撑作用)。
具体地，轴套223的材质可以为铜,固定座22的材质可以为塑料，而轮轴212和垫片214的材质可以为钢。垫片214还可用于防止凸部2121a对轴套223的磨损。
本实用新型公开的自动行走机器人，将行走轮组件通过固定座可拆卸连接 于机体的底盘上，从而可方便地拆卸行走轮组件，以便维修或更换行走轮组件。固定座上的凸起可卡入底盘的凹槽，从而实现行走轮组件与底盘的卡扣连接。固定座上的弹性臂可受力带动凸起与凹槽卡扣或分离。通过第一限位部与第一止挡部的配合，以及第二限位部与第二止挡部的配合，可以使第一轴体在固定座内的上下滑动一定的距离，从而轮轴与固定座的滑动连接。当机体向远离地面的方向运动，感应元件跟随轮轴沿第一轴线运动，感应装置被触发而向控制模块发送检测信号，控制模块接收到检测信号时，判断机体被抬升。随后，控制模块会控制自动行走机器人执行相应的指令，如控制切割元件停止转动，和/或限制行走模块沿行进方向继续运动等，从而可以避免出现一些意外情况。当轮体支撑在地面,轮轴上的凸部及垫片与轴套上的第二限位部进行配合限位。垫片可设置在靠近弯曲轴体的一端，并且可将垫片的直径设置为大于轴套的内径，则可以完全遮挡住第一轴体与轴套的间隙，从而可阻挡草屑或其他颗粒物进入间隙。垫片还可用于防止凸部对轴套的磨损。
应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本实用新型的可行性实施方式的具体说明，它们并非用以限制本实用新型的保护范围，凡未脱离本实用新型 技艺精神所作的等效实施方式或变更均应包含在本实用新型的保护范围之内。

Claims (10)

  1. 一种自动行走机器人，用于在地面上自动行走和工作，包括：机体(10)及安装于所述机体(10)的行走模块(20)，所述机体(10)包括底盘(11)，所述行走模块(20)包括至少一个行走轮组件(21)及与所述至少一个行走轮组件(21)配套的固定座(22)，所述至少一个行走轮组件(21)包括轮体(211)及用于支撑所述轮体(211)转动的轮轴(212)，其特征在于，所述固定座(22)套设于所述轮轴(212)，所述轮轴(212)与所述固定座(22)活动连接；所述固定座(22)与所述底盘(11)可拆卸连接。
  2. 根据权利要求1所述的自动行走机器人，其特征在于，所述固定座(22)上设有卡接件(221)，所述底盘(11)上对应所述卡接件(221)的位置设有配合部，所述卡接件(221)与所述配合部卡扣连接。
  3. 根据权利要求2所述的自动行走机器人，其特征在于，
    所述卡接件(221)包括沿垂直于机体(10)高度方向延伸的凸起(2212)，所述配合部设有凹槽(111)；所述凸起(2212)卡入所述凹槽(111)内实现所述卡接件(221)与所述配合部的卡扣连接。
  4. 根据权利要求1所述的自动行走机器人，其特征在于，
    所述轮轴(212)包括沿所述机体(10)高度方向延伸的第一轴体(2121)及与所述轮体(211)同轴设置的第二轴体(2122)；所述第二轴体(2122)与所述轮体(211)转动连接；
    所述第一轴体(2121)具有沿所述机体(10)高度方向延伸的第一轴线(X)，所述轮轴(212)能够相对于所述固定座(22)沿第一轴线(X)运动。
  5. 根据权利要求4所述的自动行走机器人，其特征在于，
    所述第一轴体(2121)上设有第一止挡部(2131)；所述固定座(22)上设有第一通孔(222)，所述第一轴体(2121)穿过所述第一通孔(222)，所述第一通孔(222)内设有第一限位部(2231)；
    当所述机体(10)向远离地面的方向运动，所述轮轴(212)沿所述第一轴线(X)运动直至所述第一限位部(2231)抵接所述第一止挡部(2131)。
  6. 根据权利要求5所述的自动行走机器人，其特征在于，
    所述第一轴体(2121)上设有第二止挡部(214)，所述第一通孔(222)内还设有第二限位部(2232)，所述第二限位部(2232)沿所述第一通孔(222)的轴向与所述第一限位部(2231)间隔设置，当所述轮体(211)支撑在地面，所述第二限位部(2232)抵接所述第二止挡部(214)；
    所述第一轴体(2121)与所述第一通孔(222)之间设有固定连接于所述固定座(22)的轴套(223)，所述第一轴体(2121)与所述轴套(223)间隙配合，所述轴套(223)在第一轴线(X)上的两端分别构造为所述第一限位部(2231)及第二限位部(2232)。
  7. 根据权利要求6所述的自动行走机器人，其特征在于，
    所述轮轴(212)还包含弯曲轴体(2123)，所述弯曲轴体连接所述第一轴体及所述第二轴体，所述第一轴体(2121)上远离所述弯曲轴体(2123)的一端设有固定帽(213)，所述固定帽(213)靠近所述轴套(223)的一端构造为所述第一止挡部(2131)，所述固定帽(213)上固设有感应元件(2132)，所述底盘(11)上对应所述感应元件(2132)的位置设有感应装置(112)；
    所述机体上设有控制模块，所述感应装置(112)与所述控制模块连接；
    当所述机体(10)向远离地面的方向运动，所述感应元件(112)跟随所述轮轴(212)沿第一轴线(X)运动，所述感应装置(112)被触发而向所述控制模块发送检测信号，所述控制模块接收到检测信号时，判断所述机体(10)被抬升。
  8. 根据权利要求7所述的自动行走机器人，其特征在于，所述感应元件(112)为磁体，所述感应装置(2132)为霍尔传感器。
  9. 根据权利要求7所述的自动行走机器人，其特征在于，
    所述行走模块(20)包括两个行走轮组件(21)，每个行走轮组件(21)的固定帽(213)上均设有感应元件(112)，所述底盘(11)上对应每个所述感应元件(112)的位置均设有感应装置(2132)；
    当所述机体(10)向远离地面的方向运动，每个所述感应元件(112)均跟 随对应的所述轮轴(212)沿第一轴线(X)运动，对应的所述感应装置(2132)均被触发而分别向所述控制模块发送检测信号；
    当所述控制模块接收到两个感应装置(2132)发出的检测信号时，判断所述机体(10)被抬升。
  10. 根据权利要求7所述的自动行走机器人，其特征在于，
    所述第一轴体(2121)上靠近所述弯曲轴体(2123)的一端套设有垫片(214)，所述垫片(214)构造为所述第二止挡部(214)；
    所述第一轴体(2121)上设有凸部(2121a)，所述凸部(2121a)设于所述垫片(214)下方并限制所述垫片(214)沿靠近所述轮体(211)的方向运动。
PCT/CN2020/111176 2019-09-04 2020-08-26 自动行走机器人 WO2021043031A1 (zh)

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