WO2021232953A1 - 清洁机器人 - Google Patents

清洁机器人 Download PDF

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Publication number
WO2021232953A1
WO2021232953A1 PCT/CN2021/084494 CN2021084494W WO2021232953A1 WO 2021232953 A1 WO2021232953 A1 WO 2021232953A1 CN 2021084494 W CN2021084494 W CN 2021084494W WO 2021232953 A1 WO2021232953 A1 WO 2021232953A1
Authority
WO
WIPO (PCT)
Prior art keywords
block
assembly
chassis
lock
unlocking
Prior art date
Application number
PCT/CN2021/084494
Other languages
English (en)
French (fr)
Inventor
杨志钦
赵来杰
苏文力
Original Assignee
炬星科技（深圳）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 炬星科技（深圳）有限公司 filed Critical 炬星科技（深圳）有限公司
Publication of WO2021232953A1 publication Critical patent/WO2021232953A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • 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
    • 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
    • A47L9/32—Handles
    • 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
    • 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
    • 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
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means

Definitions

  • the present invention relates to the technical field of robots, and more specifically, it relates to cleaning robots.
  • the purpose of the present invention is to provide a cleaning robot to solve the technical problems that the current cleaning robot is inconvenient for management and assembly in production and assembly, and is inconvenient for the user's daily maintenance.
  • a cleaning robot including a chassis and a cleaning system, power supply assembly and housing assembly assembled on the chassis, the cleaning system including a cleaning assembly and The sundries containment compartment communicated with the cleaning assembly, the sundries containment compartment is provided with an opening, the housing assembly is assembled with a sealed door assembly at a position corresponding to the opening, and the top control assembly is assembled on the top of the housing assembly.
  • Both the system and the power supply assembly are located in the internal space enclosed by the top control assembly, the housing assembly and the chassis.
  • the shell anti-collision system also includes a shell anti-collision system assembled at the lower front end of the shell assembly.
  • the shell anti-collision system includes two connecting parts respectively installed on both sides of the shell assembly and rotatably connected to the two sockets. The impact sensing part between the connecting parts.
  • a front impact detector and an intermediate piece are installed on the chassis, the intermediate piece is rotatably connected to the chassis, one end of the intermediate piece is linked with the impact sensing part, and the front impact detector Detector detects the other end of the middleware.
  • two side impact detectors are installed on the chassis, side impact sensors are installed on the two connecting parts, and the two side impact detectors respectively detect the two side impacts.
  • a front buffer torsion spring is provided between the impact sensing portion and the connecting portion;
  • an intermediate reset torsion spring is provided between the intermediate piece and the chassis;
  • a side buffer torsion spring is provided between the connecting portion and the housing assembly.
  • the hand-pushing armrest assembly includes an armrest rod, two unlocking members, and two connecting members respectively installed on both sides of the chassis.
  • the armrest bar includes two connecting ends respectively located at two ends, the two connecting ends are respectively rotatably connected to the two connecting pieces, and the two unlocking pieces correspond to the two connecting ends and the two connecting pieces, respectively ,
  • the unlocking member is inserted into the respective connecting member after passing through the respective corresponding connecting end, the unlocking member can move relative to the respective corresponding connecting member, and the two unlocking members are provided with a limit position Block, the two connecting ends are provided with limit slots;
  • the limit block is aligned with the limit slot, and the unlocking member moves so that the limit block is inserted into the limit slot, thereby realizing the limit on the armrest rod Locked.
  • each of the two unlocking pieces is provided with a card block, the two connecting ends are provided with a card, and two Each of the unlocking pieces is provided with a notch beside the respective card block;
  • the top control assembly is provided with a groove, and the handrail rod is located in the groove when it is in the returning state.
  • a hook groove is provided on the handrail rod, and a hook is provided in the groove, and the hook is inserted into the hook groove to restrict the rotation of the handrail rod.
  • a chassis suspension system is assembled under the chassis, a driving wheel is installed under the chassis, and the chassis suspension system includes a connecting block installed on the driving wheel and a detection device for detecting the connecting block.
  • a buffer spring is arranged between the connecting block and the chassis.
  • the sealed door assembly includes a door body, the door body is provided with a lock block and an unlocking block linked with the lock block, and a lock block reset spring is provided between the lock block and the door body,
  • the lock block includes a lock tongue, a lock hole is opened in a corresponding position of the housing assembly, and the lock tongue is locked when the lock tongue is in the lock hole.
  • the present invention has the following beneficial effects: the cleaning robot in the present invention is divided into various modules, which is convenient for management and modular assembly in production and assembly, and is convenient for users' daily maintenance.
  • Fig. 1 is a schematic diagram of the structure of the cleaning robot in the embodiment.
  • Fig. 2 is a partially exploded structural schematic diagram of the cleaning robot in the embodiment.
  • Fig. 3 is a schematic structural diagram of a hand-pushing armrest assembly of a cleaning robot in an embodiment.
  • Fig. 4 is a schematic structural diagram of an unlocking member of the hand-pushing armrest assembly of the cleaning robot in the embodiment.
  • Fig. 5 is a schematic structural diagram of an armrest rod of a hand-pushing armrest assembly of a cleaning robot in an embodiment.
  • Fig. 6 is a partial enlarged view of A in Fig. 5.
  • Fig. 7 is a schematic structural diagram of the top control assembly of the cleaning robot in the embodiment.
  • Fig. 8 is a schematic structural view of the sealing door assembly of the cleaning robot in the embodiment from an outside perspective.
  • Fig. 9 is a schematic structural view of the sealing door assembly of the cleaning robot in the embodiment from an inside perspective.
  • Fig. 10 is a schematic diagram of the structure of the inside of the door body of the sealed door assembly of the cleaning robot in the embodiment.
  • Fig. 11 is a schematic structural diagram of a housing collision avoidance system of a cleaning robot in an embodiment.
  • Fig. 12 is a structural schematic diagram of the chassis and the chassis suspension system of the cleaning robot in the embodiment.
  • Chassis 2. Cleaning system; 21. Cleaning components; 22. Sundries holding compartment; 221. Opening; 3. Power supply components; 4. Shell components; 41. Handle; 42, keyhole; 5. Sealed door assembly; 51, door body; 52, card angle; 53, lock block; 531, lock tongue; 5311, auxiliary slope; 54, unlock block; 55, lock block return spring; 56, soft rubber seal ring; 6. Top control component; 61, groove; 611, hook; 7, hand-push armrest assembly; 71, armrest rod; 711, connecting end; 7111, limit slot; 7112, card; 712, hook slot; 713, armrest handle 72. Unlocking part; 721. Button part; 722. Limit lever; 7221. Limit block; 7222.
  • the cleaning robot includes a chassis 1 and a cleaning system 2 assembled on the chassis 1, a power supply assembly 3 and a housing assembly 4.
  • the cleaning system 2 includes a cleaning component 21 and a debris storage compartment 22 connected with the cleaning component 21 through a pipe.
  • the cleaning component 21 is installed at the front end of the chassis 1 to perform adaptive cleaning at different heights according to different ground conditions.
  • the cleaning assembly 21 is a common structure of an existing cleaning robot, and will not be described in detail here.
  • the sundries containment compartment 22 is provided with an opening 221.
  • the housing assembly 4 is assembled with a sealed door assembly 5 at the position corresponding to the opening 221.
  • the sealed door assembly 5 can be opened and closed, which is convenient for the user to quickly take out the dust and other sundries from the inside. , And quickly replace the new storage bag.
  • the housing assembly 4 is the appearance part of the entire cleaning robot, which protects and supports the internal structure of the cleaning robot, and makes the cleaning robot more fashionable and beautiful.
  • a top control component 6 is assembled on the top of the housing component 4, and the top control component 6 is the human-machine interactive operation part of the entire cleaning robot, and is the core part of the operation control of the entire cleaning robot.
  • the cleaning system 2 and the power supply assembly 3 and various related control components are located in the internal space enclosed by the top control assembly 6, the housing assembly 4 and the chassis 1.
  • the cleaning robot in this embodiment is split into various modules, which facilitates management and modular assembly in production and assembly, and facilitates daily maintenance by users.
  • the cleaning robot also includes a hand-pushing armrest assembly 7 assembled on the chassis 1.
  • the hand-pushing armrest assembly 7 fully considers the design of human-computer interaction, and when the robot is not started
  • the handrail assembly 7 can be used to move the position of the robot.
  • the hand-pushing armrest assembly 7 includes an armrest rod 71, two unlocking members 72 and two connecting members 73 respectively installed on both sides of the chassis 1.
  • the armrest 71 is generally U-shaped or C-shaped, of course, other shapes are also possible.
  • the armrest 71 includes two connecting ends 711 respectively located at two ends. The two connecting ends 711 are respectively rotatably connected to the two connecting pieces 73.
  • the two unlocking pieces 72 correspond to the two connecting ends 711 and the two connecting pieces 73, respectively. 72 passes through the corresponding connecting end 711 and then is inserted into the corresponding connecting member 73, and the two unlocking members 72 can move relative to the corresponding connecting member 73. As shown in combination with FIG. 4, the two unlocking members 72 are provided with a limiting block 7221. As shown in combination with FIG. 5 and FIG. 6, the two connecting ends 711 are provided with a limiting slot 7111. When the armrest needs to be used, turn the armrest lever 71 upward to open.
  • the limit block 7221 is aligned with the limit slot 7111, and the unlocking member 72 moves away from the connecting member 73 so that the limit block 7221 is inserted into the limiter.
  • the position slot 7111 can realize the limitation and locking of the armrest rod 71.
  • the armrest rod 71 cannot be rotated up and down because the armrest rod 71 is locked and restricted.
  • the hand-pushing armrest assembly 7 further includes two lock reset springs 74, and the two lock reset springs 74 are respectively arranged corresponding to the two unlocking members 72.
  • the lock reset spring 74 When the armrest rod 71 rotates upward to open, the lock reset spring 74 is in an elastic deformation state; when the armrest rod 71 rotates upward to fully open, the limit block 7221 is aligned with the limit slot 7111, and the lock reset spring 74 drives The unlocking member 72 automatically moves away from the connecting member 73, the limit block 7221 is inserted into the limit slot 7111 to realize the limit locking, and the setting of the lock reset spring 74 realizes the automatic locking; when the armrest needs to be retracted after use, press to unlock Part 72, the unlocking part 72 moves close to the connecting part 73, the limit block 7221 is out of the limit slot 7111, the lock reset spring 74 is elastically deformed, after the armrest rod 71 rotates downward, the limit block 7221 is staggered from the limit slot 7111, The connecting end 711 abuts the limiting block 7221 so that the unlocking member 72 cannot move away from the connecting member 73.
  • the unlocking member 72 includes a button part 721 and a limit rod 722.
  • the limit rod 722 is installed on the button part 721, the limit block 7221 is arranged on the limit rod 722, and the button part 721 Removably plugged into the outer side of the armrest rod 71, and the limit rod 722 is inserted into the connecting member 73 through the connecting end 711 of the armrest rod 71.
  • the outer side here refers to the side relatively far away from the connecting member 73
  • the inner side refers to the side relatively close to the connecting member 73.
  • the limit rods 722 of the two unlocking members 72 are each provided with a blocking block 7222. As shown in FIG. 5 and FIG.
  • the two connecting ends 711 of the armrest rod 71 are each provided with a card 7112.
  • the limit rods 722 of each unlocking member 72 are each provided with a notch 7223 and an escape space 7224 connected to the notch 7223 beside the respective blocking block 7222.
  • the block 7222 and the card 7112 are aligned along the axial direction of the limit rod 722; when the armrest rod 71 needs to be retracted from the open state, press the button portion 721, and the unlocking member 72 is close to the connecting member 73 Move, the limit block 7221 is out of the limit slot 7111, the card block 7222 and the card 7112 move close to the connecting piece 73, the card 7112 crosses the card block 7222, and the card block 7222 moves from the outside of the card 7112 to the inside of the card 7112. The mutual limiting effect between the 7222 and the card 7112, the card 7112 jams the unlocking member 72.
  • the elastic force of the lock reset spring 74 cannot drive the unlocking member 72 away from the connection
  • the member 73 moves, and the human hands can leave the button part 721.
  • the block 7222 and the card 7112 are staggered.
  • the elastic force of the lock reset spring 74 drives the unlocking member 72 to move away from the connecting member 73 for a short period of time. The distance makes the card 7112 pass through the gap 7223 from the outside of the block 7222 to the inside of the block 7222; during the upward rotation from the home position to the open state, the card 7112 relatively rotates in the avoidance space 7224.
  • the downward rotation of the armrest 71 by pressing the button portion 721 must be performed synchronously, otherwise the unlocking member 72 will be reset under the drive of the lock reset spring 74; when the card block 7222 and the card 7112 are set Then, pressing the button part 721 and rotating the armrest rod 71 downward are split into two completely independent actions. After pressing the button part 721 once, the unlocking member 72 is jammed by the card 7112, and the armrest rod 71 is not rotated downward to reset. In this case, the unlocking member 72 cannot be moved and reset. After pressing it once, a person's hands can leave the unlocking member 72.
  • the block 7222 is provided with an auxiliary inclined surface 72221.
  • the auxiliary inclined surface 72221 is arranged to facilitate the card 7112 to pass over the block 7222 so that the card 7112 is located from the inner side of the block 7222 to the outer side of the block 7222.
  • the top control assembly 6 is provided with a groove 61, and the armrest rod 71 is located in the groove 61 when it is in the returning state.
  • a hook 611 is provided in the groove 61.
  • a hook groove 712 is provided on the armrest rod 71. After the hook 611 is inserted into the hook groove 712, the armrest rod 71 is restricted to prevent the armrest rod 71 from rotating upward at will.
  • the armrest 71 is provided with two armrests 713 arranged at intervals, and the armrest 71 is pushed to drive the robot to move by holding the armrests 713.
  • the shape of the armrest handle 713 is preferably not cylindrical or prismatic, and the prismatic shape generally needs to be rounded to facilitate better grip.
  • two handles 41 hollowed out at the upper end of the housing assembly 4 can lift the cleaning robot for transportation and movement.
  • a lock hole 42 is opened at a corresponding position on the housing assembly 4.
  • the sealed door assembly 5 includes a door body 51, and two locking angles 52 are symmetrically provided on the door body 51, and the two locking angles 52 realize a rotational connection.
  • the door body 51 is provided with a lock block 53 and an unlock block 54.
  • the lock block 53 is driven to move relative to the door body 51, and the lock block 53 is inserted into the lock hole 42 to realize closing and locking.
  • a lock block return spring 55 is provided between the lock block 53 and the door body 51.
  • the lock block 53 When the lock block 53 moves into the door body 51, the lock block return spring 55 is elastically deformed.
  • the lock block 53 includes a lock tongue 531 which is locked when the lock tongue 531 is located in the lock hole 42.
  • the inner side of the lock tongue 531 is provided with an auxiliary inclined surface 5311 for assisting the movement of the lock tongue 531 into the door body 51.
  • the lock block 53 is driven to move into the door body 51 by moving the unlocking block 54.
  • the lock tongue 531 is unlocked after being separated from the lock hole 42, and the door body 51 can be rotated and opened; when the door body 51 is closed, the door body 51 is pushed Turning close to the opening 221, when the auxiliary inclined surface 5311 of the lock tongue 531 touches the housing assembly 4, the thrust of the door body 51 causes a pressing force between the auxiliary inclined surface 5311 and the housing assembly 4, and the pressing force makes the lock tongue 531 Moving into the door body 51, the lock block return spring 55 is elastically deformed. When the door body 51 moves until the lock tongue 531 is aligned with the lock hole 42, the elastic force generated by the lock block return spring 55 drives the lock tongue 531 to move into the lock hole 42 Realize locking.
  • a soft rubber sealing ring 56 is provided on the inner side of the door body 51, and the soft rubber sealing ring 56 is pressed against the edge of the opening 221 to increase the sealing performance after the door body 51 is closed.
  • the cleaning robot further includes a housing collision avoidance system 8 assembled at the lower front end of the housing assembly 4.
  • the housing collision avoidance system 8 provides more reliable protection for the cleaning robot , Even if all the sensors of the cleaning robot have lost their function, the cleaning robot can still trigger the shell anti-collision system 8 when the cleaning robot touches an obstacle, so that the robot can stop or move back to ensure the safety of the cleaning robot and the safety of external objects.
  • the shell anti-collision system 8 includes two connecting parts 81 respectively installed on both sides of the shell assembly 4 and an impact sensing part 82 rotatably connected between the two connecting parts 81. As shown in FIG. 12, a front impact detector 83 and a middle piece 84 are installed on the chassis 1.
  • the middle piece 84 is rotatably connected to the chassis 1.
  • One end of the middle piece 84 is linked with the impact sensor 82, and the front impact detector 83 detects the middle The other end of piece 84.
  • the impact sensor 82 touches an obstacle, the impact sensor 82 moves, the impact sensor 82 rotates the middle piece 84, and the middle piece 84 rotates to change the position of the other end.
  • the front impact detector 83 detects and judges that an impact has occurred.
  • a front buffer torsion spring 85 is provided between the impact-sensing part 82 and the connecting part 81 to properly buffer the impact and drive the impact-sensing part 82 to reset.
  • an intermediate return torsion spring 86 is provided between the intermediate piece 84 and the chassis 1, and the intermediate return spring is used to reset the intermediate piece 84.
  • two side impact detectors 87 are also installed on the chassis 1, and side impact sensors 88 are installed on the two connecting parts 81. The two side impact detectors 87 respectively detect two side impact sensors.
  • the sheet 88 is used to detect the impact caused by the inductive connecting portion 81 and the obstacle.
  • a side buffer torsion spring 89 is provided between the two connection parts 81 and the housing assembly 4, and the side buffer torsion spring 89 buffers the impact and can drive the connection part 81 to reset.
  • a chassis suspension system is assembled under the chassis 1, and a driving wheel 100 and a driven wheel 200 are installed under the chassis 1.
  • the chassis suspension system includes a connecting block 91 installed on the driving wheel 100 and a detection device for detecting the connecting block 91.
  • the connecting block 91 is connected to the chassis 1, and a buffer spring 93 is provided between the connecting block 91 and the chassis 1.
  • the detection device detects the connection block 91 in real time. In this way, the state of the chassis suspension system is fed back, so that the robot can better adapt to road conditions.
  • the anti-collision driving wheel 100 can not provide driving force when suspended to prevent dangerous situations.
  • the connecting block 91 and the chassis 1 are rotatably connected with the rotating shaft 94.
  • the connecting block 91 rotates up and down around the rotating shaft 94.
  • the connecting block 91 is provided with an induction block 95, the induction block 95 and the buffer spring 93 are respectively located on both sides of the rotating shaft 94, and the detection device detects the relative position of the induction block 95.
  • the detection device includes a detection sensor 92, and preferably, the detection sensor 92 is a photoelectric sensor.
  • the photoelectric sensor is installed on the upper end surface of the chassis 1, the connecting block 91 is installed on the lower end surface of the chassis 1, and the detection sensor 92 corresponds to the position of the sensing block 95.
  • the robot is divided into a chassis and a cleaning system, a power supply assembly, and a housing assembly assembled on the chassis.
  • the cleaning system includes a cleaning assembly and a debris storage compartment connected to the cleaning assembly ,
  • the sundries containment compartment is provided with an opening
  • the housing assembly is assembled with a sealed door assembly at a position corresponding to the opening
  • a top control assembly is assembled on the top of the housing assembly
  • the cleaning system and the power supply assembly are both located
  • the internal space enclosed by the top control assembly, the housing assembly and the chassis is convenient for management and modular assembly in production and assembly, and is convenient for users' daily maintenance. Therefore, it has industrial applicability.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

本发明公开了清洁机器人，属于机器人技术领域。该清洁机器人包括底盘(1)以及组装在所述底盘(1)上的清洁系统(2)、电源组件(3)和外壳组件(4)，所述清洁系统(2)包括清洁组件(21)以及与所述清洁组件(21)连通的杂物容纳舱(22)，所述杂物容纳舱(22)设有开口(221)，所述外壳组件(4)对应所述开口的位置组装有密封门组件(5)，所述外壳组件(4)的顶部组装有顶部控制组件(6)，所述清洁系统(2)和所述电源组件(3)均位于所述顶部控制组件(6)、所述外壳组件(4)和所述底盘(1)围成的内部空间内。本发明中的清洁机器人拆分为各个模块，在生产组装上便于管理和模块化组装，且便于用户的日常维护。

Description

清洁机器人 技术领域
本发明涉及机器人技术领域，更具体地说，它涉及清洁机器人。
 背景技术
近年来，随着社会经济的发展以及家庭生活水平的提高，家居等各种场所清洁逐步进入智能化、机器化的时代，应运而生的清洁机器人能够将人们从家居等各种场所清洁工作中解放出来，有效减轻人们在家居等各种场所清洁方面的工作负担，缓解人们在进行家居等各种场所清洁过程中的劳累程度。但是，目前的清洁机器人在生产组装上不便于管理与组装，并且不便于用户的日常维护。
 技术问题
本发明的目的是提供清洁机器人，解决目前的清洁机器人在生产组装上不便于管理与组装，并且不便于用户的日常维护的技术问题。
 技术解决方案
本发明的上述技术目的是通过以下技术方案得以实现的：一种清洁机器人，包括底盘以及组装在所述底盘上的清洁系统、电源组件和外壳组件，所述清洁系统包括清洁组件以及与所述清洁组件连通的杂物容纳舱，所述杂物容纳舱设有开口，所述外壳组件对应所述开口的位置组装有密封门组件，所述外壳组件的顶部组装有顶部控制组件，所述清洁系统和所述电源组件均位于所述顶部控制组件、所述外壳组件和所述底盘围成的内部空间内。
作为进一步优化的，还包括组装在所述外壳组件下前端的外壳防撞系统，所述外壳防撞系统包括两个分别安装在所述外壳组件的两侧的连接部和转动连接于两个所述连接部之间的撞击感应部。
作为进一步优化的，所述底盘上安装有前撞击检测器和中间件，所述中间件转动连接于所述底盘上，所述中间件的一端与所述撞击感应部联动，所述前撞击检测器检测所述中间件的另一端。
作为进一步优化的，所述底盘上安装有两个侧撞击检测器，两个所述连接部上均安装有侧撞击感应片，两个所述侧撞击检测器分别对应检测两个所述侧撞击感应片；
和/或，所述撞击感应部与所述连接部之间设有前缓冲扭簧；
和/或，所述中间件与所述底盘之间设有中间复位扭簧；
和/或，所述连接部与所述外壳组件之间设有侧缓冲扭簧。
作为进一步优化的，还包括组装在所述底盘上的手推扶手组件，所述手推扶手组件包括扶手杆、两个解锁件和两个分别安装在所述底盘两侧的连接件，所述扶手杆包括两个分别位于两端的连接端，两个所述连接端分别与两个所述连接件转动连接，两个所述解锁件分别对应两个所述连接端和两个所述连接件，所述解锁件穿过各自对应的所述连接端后插入各自对应的所述连接件，所述解锁件可相对各自对应的所述连接件移动，两个所述解锁件上均设有限位块，两个所述连接端上均设有限位槽；
当所述扶手杆向上转动打开后，所述限位块与所述限位槽对齐，所述解锁件移动使得所述限位块插入所述限位槽，实现对所述扶手杆的限位上锁。
作为进一步优化的，还包括两个分别对应两个所述解锁件设置的锁件复位弹簧，两个所述解锁件上均设有卡块，两个所述连接端上均设有卡片，两个所述解锁件均在各自的所述卡块旁设有缺口；
当需要将所述扶手杆从打开状态收起时，按压所述解锁件，所述解锁件靠近所述连接件移动，所述锁件复位弹簧产生弹性形变，所述限位块脱离所述限位槽实现解锁，所述卡块靠近所述连接件移动，所述卡片越过所述卡块，所述卡块从位于所述卡片的外侧移动至位于所述卡片的内侧，所述卡块与所述卡片相互限位使得所述解锁件无法远离所述连接件移动，当向下转动所述扶手杆后，所述卡块与所述卡片错开，所述锁件复位弹簧驱动所述解锁件远离所述连接件移动，所述卡片经由所述缺口从位于所述卡块的外侧至位于所述卡块的内侧。
作为进一步优化的，所述顶部控制组件设有凹槽，所述扶手杆处于归位状态时位于所述凹槽内。
作为进一步优化的，所述扶手杆上设有勾槽，所述凹槽内设有卡勾，所述卡勾插入所述勾槽后限制所述扶手杆的转动。
作为进一步优化的，所述底盘下组装有底盘悬挂系统，所述底盘下安装有驱动轮，所述底盘悬挂系统包括安装在所述驱动轮上的连接块和用于检测所述连接块的检测装置，所述连接块与所述底盘之间设有缓冲弹簧。
作为进一步优化的，所述密封门组件包括门本体，所述门本体上设有锁块和与锁块联动的解锁块，所述锁块与所述门本体之间设有锁块复位弹簧，所述锁块包括锁舌，所述外壳组件对应位置开设有锁孔，所述锁舌位于所述锁孔内时实现上锁，所述锁舌的内侧面设有用于辅助以使得所述锁舌向所述门本体内移动的辅助斜面。
 有益效果
本发明具有以下有益效果：本发明中的清洁机器人拆分为各个模块，在生产组装上便于管理和模块化组装，且便于用户的日常维护。
 附图说明
图1是实施例中的清洁机器人的结构示意图。
图2是实施例中的清洁机器人的部分分解后的结构示意图。
图3是实施例中的清洁机器人的手推扶手组件的结构示意图。
图4是实施例中的清洁机器人的手推扶手组件的解锁件的结构示意图。
图5是实施例中的清洁机器人的手推扶手组件的扶手杆的结构示意图。
图6是图5中A处的局部放大图。
图7是实施例中的清洁机器人的顶部控制组件的结构示意图。
图8是实施例中的清洁机器人的密封门组件的外侧视角的结构示意图。
图9是实施例中的清洁机器人的密封门组件的内侧视角的结构示意图。
图10是实施例中的清洁机器人的密封门组件的门本体内部的结构示意图。
图11是实施例中的清洁机器人的外壳防撞系统的结构示意图。图12是实施例中的清洁机器人的底盘与底盘悬挂系统的结构示意图。
图中：1、底盘；2、清洁系统；21、清洁组件；22、杂物容纳舱；221、开口；3、电源组件；4、外壳组件；41、提手；42、锁孔；5、密封门组件；51、门本体；52、卡角；53、锁块；531、锁舌；5311、辅助斜面；54、解锁块；55、锁块复位弹簧；56、软胶密封圈；6、顶部控制组件；61、凹槽；611、卡勾；7、手推扶手组件；71、扶手杆；711、连接端；7111、限位槽；7112、卡片；712、勾槽；713、扶手把；72、解锁件；721、按钮部；722、限位杆；7221、限位块；7222、卡块；72221、辅助斜面；7223、缺口；7224、避让空间；73、连接件；74、锁件复位弹簧；8、外壳防撞系统；81、连接部；82、撞击感应部；83、前撞击检测器；84、中间件；85、前缓冲扭簧；86、中间复位扭簧；87、侧撞击检测器；88、侧撞击感应片；89、侧缓冲扭簧；91、连接块；92、检测感应器；93、缓冲弹簧；94、转轴；95、感应块；100、驱动轮；200、从动轮。
 本发明的实施方式
为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚、明白，以下结合附图和实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本实施例公开了一种清洁机器人，如图1和图2所示，该清洁机器人包括底盘1以及组装在底盘1上的清洁系统2、电源组件3和外壳组件4。清洁系统2包括清洁组件21以及与清洁组件21通过管道连通的杂物容纳舱22，清洁组件21安装在底盘1的前端，根据不同的地面情况进行不同高度的自适应清扫。清洁组件21为现有的清洁机器人的常见结构，在此不做赘述。杂物容纳舱22设有开口221，外壳组件4对应开口221的位置组装有密封门组件5，密封门组件5可打开和关闭，方便使用者从内部把清扫地面的灰尘等杂物快速地取出，并快速地更换新的储物袋。外壳组件4时整个清洁机器人的外观部分，对清洁机器人内部的结构起到保护支撑作用，又让清洁机器人变得更加时尚美观。外壳组件4的顶部组装有顶部控制组件6，顶部控制组件6是整个清洁机器人的人机交互操作部分，是整个清洁机器人的操作控制的核心部分。清洁系统2和电源组件3以及各种相关的控制零部件位于顶部控制组件6、外壳组件4和底盘1围成的内部空间中。本实施例中的清洁机器人拆分为各个模块，在生产组装上便于管理和模块化组装，且便于用户的日常维护。
在本实施例中，如图2和图3所示，该清洁机器人还包括组装在底盘1上的手推扶手组件7，手推扶手组件7充分地考虑人机交互设计，在机器人未启动时可以利用手推扶手组件7对机器人进行位置的移动。手推扶手组件7包括扶手杆71、两个解锁件72和两个分别安装在底盘1两侧的连接件73。扶手杆71一般为U型或C型，当然也可以时其他形状。扶手杆71包括两个分别位于两端的连接端711，两个连接端711分别与两个连接件73转动连接，两个解锁件72分别对应两个连接端711和两个连接件73，解锁件72穿过各自对应的连接端711后插入各自对应的连接件73内，且两个解锁件72均可相对各自对应的连接件73移动。结合图4所示，两个解锁件72上均设有限位块7221，结合图5和图6所示，两个连接端711上均设有限位槽7111。当需要使用该扶手时，将扶手杆71向上转动打开，当扶手杆71转动至打开后，限位块7221与限位槽7111对齐，解锁件72远离连接件73移动使得限位块7221插入限位槽7111，即可实现对扶手杆71的限位上锁，在后续的通过推动扶手杆71带动清洁机器人移动的过程中，由于扶手杆71被限位上锁，扶手杆71无法再上下转动，进而有效地避免了使用过程中的晃动，使得使用更加的方便；使用后需要将该扶手收起时，按压解锁件72，解锁件72靠近连接件73移动使得限位块7221脱离限位槽7111实现解锁，即可向下转动扶手杆71归位。在本实施例中，手推扶手组件7还包括两个锁件复位弹簧74，两个锁件复位弹簧74分别与两个解锁件72对应设置。在该扶手杆71向上转动打开的过程中，锁件复位弹簧74处于弹性形变状态；当扶手杆71向上转动至完全打开后，限位块7221与限位槽7111对齐，锁件复位弹簧74驱动解锁件72自动远离连接件73移动，限位块7221插入限位槽7111内实现限位上锁，锁件复位弹簧74的设置实现了自动上锁；当使用后需要收起扶手时，按压解锁件72，解锁件72靠近连接件73移动，限位块7221脱离限位槽7111，锁件复位弹簧74产生弹性形变，扶手杆71向下转动后，限位块7221与限位槽7111错开，连接端711抵住限位块7221使得解锁件72无法远离连接件73移动。
在本实施例中，结合图4所示，解锁件72包括按钮部721和限位杆722，限位杆722安装在按钮部721，限位块7221设置在限位杆722上，按钮部721活动式插接在扶手杆71的外侧，限位杆722穿过扶手杆71的连接端711插入在连接件73上。值得说明的是，此处的外侧指的是相对远离连接件73的一侧，内侧指的是相对靠近连接件73的一侧。在本实施例中，两个解锁件72的限位杆722上均设有卡块7222，结合图5和图6所示，扶手杆71的两个连接端711上均设有卡片7112，两个解锁件72的限位杆722均在各自的卡块7222旁设有缺口7223和与缺口7223连通的避让空间7224。当扶手杆71处于打开状态时，卡块7222和卡片7112沿限位杆722的轴向对齐；当需要将扶手杆71从打开状态收起时，按压按钮部721，解锁件72靠近连接件73移动，限位块7221脱离限位槽7111，卡块7222卡片7112靠近连接件73移动，卡片7112越过卡块7222，卡块7222从位于卡片7112的外侧移动至位于卡片7112的内侧，由于卡块7222与卡片7112之间的相互限位作用，卡片7112卡住解锁件72，此时即使限位块7221与限位槽7111依然对齐，但是锁件复位弹簧74的弹力无法驱动解锁件72远离连接件73移动，人的双手可以离开按钮部721，后续向下转动扶手杆71归位后，卡块7222与卡片7112错开，锁件复位弹簧74的弹力驱动解锁件72远离连接件73移动一小段距离，使得卡片7112经由缺口7223从位于卡块7222的外侧至位于卡块7222的内侧；从归位状态向上转动至打开状态的过程中，卡片7112相对在避让空间7224内转动。在未设置卡块7222和卡片7112时，按压按钮部721的向下转动扶手杆71必须同步进行，否则解锁件72会在锁件复位弹簧74的驱动下复位；在设置卡块7222和卡片7112后，按压按钮部721和向下转动扶手杆71拆分为两个完全相互独立的动作，按压一次按钮部721后，由于卡片7112卡住了解锁件72，扶手杆71未向下转动复位的情况下解锁件72无法移动复位，按压一次后人的双手可离开解锁件72，即使隔一段时间，依然能够自由地转动扶手杆71，而无需一直按着按钮部721或再次按压按钮部721。在本实施例中，卡块7222设有辅助斜面72221，辅助斜面72221的设置，便于卡片7112越过卡块7222使得卡片7112从位于卡块7222的内侧至位于卡块7222的外侧。
在本实施例中，结合图7所示，顶部控制组件6设有凹槽61，扶手杆71处于归位状态时位于凹槽61内。凹槽61内设有卡勾611，结合图3所示，扶手杆71上设有勾槽712，卡勾611插入勾槽712后限制扶手杆71，以避免扶手杆71随意向上转动。扶手杆71上设有两个间隔设置的扶手把713，通过握持扶手把713推动扶手杆71带动机器人移动。扶手把713的形状优选未圆柱状或棱柱状，棱柱状时一般需进行倒圆角处理，以便于更好地握持。在本实施例中，结合图2所示，外壳组件4在上端两个镂空形成的提手41，可以提起该清洁机器人进行搬运和移动。
在本实施例中，如图1和图2所示，外壳组件4上对应位置开设有锁孔42。结合图8和图9所示，密封门组件5包括门本体51、门本体51上对称设有两个卡角52，通过两个卡角52实现转动连接。门本体51上设有锁块53和解锁块54，移动解锁块54时带动锁块53相对门本体51移动，锁块53插入锁孔42后实现闭合上锁。结合图10所示，锁块53与门本体51之间设有锁块复位弹簧55，当锁块53向门本体51内移动时，锁块复位弹簧55产生弹性形变。锁块53包括锁舌531，锁舌531位于锁孔42内时实现上锁，锁舌531的内侧面设有用于辅助以使得锁舌531向门本体51内移动的辅助斜面5311。在实际应用时，通过移动解锁块54带动锁块53向门本体51内移动，锁舌531脱离锁孔42后实现解锁，可将门本体51转动打开；在将门本体51闭合时，推动门本体51靠近开口221转动，当锁舌531的辅助斜面5311与外壳组件4触碰后，推动门本体51的推力使得辅助斜面5311与外壳组件4之间产生挤压力，该挤压力使得锁舌531向门本体51内移动，锁块复位弹簧55产生弹性形变，当门本体51移动至锁舌531与锁孔42对齐时，锁块复位弹簧55产生的弹力驱动锁舌531向锁孔42内移动实现上锁。在本实施例中，门本体51的内侧设有软胶密封圈56，软胶密封圈56压合在开口221的边缘，增加门本体51关闭后的密封性。
在本实施例中，结合图2和图11所示，该清洁机器人还包括组装在外壳组件4的下前端的外壳防撞系统8，外壳防撞系统8为该清洁机器人提供了更加可靠的防护，即使清洁机器人所有的传感器都失去了作用，清洁机器人碰到障碍物时依然能够触发该外壳防撞系统8让机器人做出正确的动作停止或后退保证清洁机器人的安全，同时保证外界物体的安全。外壳防撞系统8包括两个分别安装在外壳组件4的两侧的连接部81和转动连接于两个连接部81之间的撞击感应部82。结合图12所示，底盘1上安装有前撞击检测器83和中间件84，中间件84转动连接于底盘1上，中间件84的一端与撞击感应部82联动，前撞击检测器83检测中间件84的另一端。当撞击感应部82触碰障碍物后使得撞击感应部82移动，撞击感应部82使得中间件84转动，中间件84转动使得其另一端位置变化，前撞击检测器83由此检测判断产生了撞击。在本实施例中，撞击感应部82与连接部81之间设有前缓冲扭簧85，对撞击进行适当的缓冲且可以驱动撞击感应部82复位。在本实施例中，中间件84与底盘1之间设有中间复位扭簧86，中间复位弹簧用于使中间件84复位。在本实施例中，底盘1上还安装有两个侧撞击检测器87，两个连接部81上均安装有侧撞击感应片88，两个侧撞击检测器87分别对应检测两个侧撞击感应片88，以此检测感应连接部81与障碍物触碰产生的撞击。两个连接部81与外壳组件4之间均设有侧缓冲扭簧89，侧缓冲扭簧89对撞击起缓冲作用且可驱动连接部81复位。
在本实施例中，结合图12所示，底盘1下组装有底盘悬挂系统，底盘1下安装有驱动轮100和从动轮200。底盘悬挂系统包括安装在驱动轮100上的连接块91和用于检测连接块91的检测装置，连接块91与底盘1连接，且连接块91与底盘1之间设有缓冲弹簧93。该清洁机器人在行走过程中，驱动轮100碰到凹凸不平的地面时，通过缓冲弹簧93提高了驱动轮100的地面附着力以及清洁机器人整体的稳定性和安全性，检测装置实时检测连接块91的姿态，以此反馈该底盘悬挂系统所处的状态，使机器人能够更好地适应路面情况，防撞驱动轮100悬空不能提供驱动力，防止危险情况的发生。在本实施例中，连接块91与底盘1通过转轴94转动连接，驱动轮100碰到凹凸不平的地面时，连接块91绕转轴94上下转动。连接块91上设有感应块95，感应块95与缓冲弹簧93分别位于转轴94的两侧，检测装置检测感应块95的相对位置。检测装置包括检测感应器92，优选的，检测感应器92为光电感应器。光电感应器安装在底盘1的上端面，连接块91安装在底盘1的下端面，检测感应器92与感应块95位置对应。在本实施例中，驱动轮100、连接块91、缓冲弹簧93和检测装置共有两组，且分别安装在底盘1的两侧。
以上具体实施例仅仅是对本发明的解释，其并不是对本发明的限制，本领域技术人员在阅读完本说明书后可以根据需要对以上实施例做出没有创造性贡献的修改，但只要在本发明的权利要求范围内都受到专利法的保护。
 工业实用性
本发明中的清洁机器人，通过将机器人拆分为底盘以及组装在所述底盘上的清洁系统、电源组件和外壳组件，所述清洁系统包括清洁组件以及与所述清洁组件连通的杂物容纳舱，所述杂物容纳舱设有开口，所述外壳组件对应所述开口的位置组装有密封门组件，所述外壳组件的顶部组装有顶部控制组件，所述清洁系统和所述电源组件均位于所述顶部控制组件、所述外壳组件和所述底盘围成的内部空间内，在生产组装上便于管理和模块化组装，且便于用户的日常维护。因此，具有工业实用性。

Claims (10)

  1. 一种清洁机器人，包括底盘(1)以及组装在所述底盘(1)上的清洁系统(2)、电源组件(3)和外壳组件(4)，所述清洁系统(2)包括清洁组件(21)以及与所述清洁组件(21)连通的杂物容纳舱(22)，所述杂物容纳舱(22)设有开口(221)，所述外壳组件(4)对应所述开口(221)的位置组装有密封门组件(5)，所述外壳组件(4)的顶部组装有顶部控制组件(6)，所述清洁系统(2)和所述电源组件(3)均位于所述顶部控制组件(6)、所述外壳组件(4)和所述底盘(1)围成的内部空间内。
  2. 根据权利要求1所述的清洁机器人，其中，还包括组装在所述外壳组件(4)下前端的外壳防撞系统(8)，所述外壳防撞系统(8)包括两个分别安装在所述外壳组件(4)的两侧的连接部(81)和转动连接于两个所述连接部(81)之间的撞击感应部(82)。
  3. 根据权利要求2所述的清洁机器人，其中，所述底盘(1)上安装有前撞击检测器(83)和中间件(84)，所述中间件(84)转动连接于所述底盘(1)上，所述中间件(84)的一端与所述撞击感应部(82)联动，所述前撞击检测器(83)检测所述中间件(84)的另一端。
  4. 根据权利要求3所述的清洁机器人，其中，所述底盘(1)上安装有两个侧撞击检测器(87)，两个所述连接部(81)上均安装有侧撞击感应片(88)，两个所述侧撞击检测器(87)分别对应检测两个所述侧撞击感应片(88)；
    和/或，所述撞击感应部(82)与所述连接部(81)之间设有前缓冲扭簧(85)；
    和/或，所述中间件(84)与所述底盘(1)之间设有中间复位扭簧(86)；
    和/或，所述连接部(81)与所述外壳组件(4)之间设有侧缓冲扭簧(89)。
  5. 根据权利要求1所述的清洁机器人，其中，还包括组装在所述底盘(1)上的手推扶手组件(7)，所述手推扶手组件(7)包括扶手杆(71)、两个解锁件(72)和两个分别安装在所述底盘(1)两侧的连接件(73)，所述扶手杆(71)包括两个分别位于两端的连接端(711)，两个所述连接端(711)分别与两个所述连接件(73)转动连接，两个所述解锁件(72)分别对应两个所述连接端(711)和两个所述连接件(73)，所述解锁件(72)穿过各自对应的所述连接端(711)后插入各自对应的所述连接件(73)，所述解锁件(72)可相对各自对应的所述连接件(73)移动，两个所述解锁件(72)上均设有限位块(7221)，两个所述连接端(711)上均设有限位槽(7111)；
    当所述扶手杆(71)向上转动打开后，所述限位块(7221)与所述限位槽(7111)对齐，所述解锁件(72)移动使得所述限位块(7221)插入所述限位槽(7111)，实现对所述扶手杆(71)的限位上锁。
  6. 根据权利要求5所述的清洁机器人，其中，还包括两个分别对应两个所述解锁件(72)设置的锁件复位弹簧(74)，两个所述解锁件(72)上均设有卡块(7222)，两个所述连接端(711)上均设有卡片(7112)，两个所述解锁件(72)均在各自的所述卡块(7222)旁设有缺口(7223)；
    当需要将所述扶手杆(71)从打开状态收起时，按压所述解锁件(72)，所述解锁件(72)靠近所述连接件(73)移动，所述锁件复位弹簧(74)产生弹性形变，所述限位块(7221)脱离所述限位槽(7111)实现解锁，所述卡块(7222)靠近所述连接件(73)移动，所述卡片(7112)越过所述卡块(7222)，所述卡块(7222)从位于所述卡片(7112)的外侧移动至位于所述卡片(7112)的内侧，所述卡块(7222)与所述卡片(7112)相互限位使得所述解锁件(72)无法远离所述连接件(73)移动，当向下转动所述扶手杆(71)后，所述卡块(7222)与所述卡片(7112)错开，所述锁件复位弹簧(74)驱动所述解锁件(72)远离所述连接件(73)移动，所述卡片(7112)经由所述缺口(7223)从位于所述卡块(7222)的外侧至位于所述卡块(7222)的内侧。
  7. 根据权利要求5所述的清洁机器人，其中，所述顶部控制组件(6)设有凹槽(61)，所述扶手杆(71)处于归位状态时位于所述凹槽(61)内。
  8. 根据权利要求7所述的清洁机器人，其中，所述扶手杆(71)上设有勾槽(712)，所述凹槽(61)内设有卡勾(611)，所述卡勾(611)插入所述勾槽(712)后限制所述扶手杆(71)的转动。
  9. 根据权利要求1所述的清洁机器人，其中，所述底盘(1)下组装有底盘悬挂系统，所述底盘(1)下安装有驱动轮(100)，所述底盘悬挂系统包括安装在所述驱动轮(100)上的连接块(91)和用于检测所述连接块(91)的检测装置，所述连接块(91)与所述底盘(1)之间设有缓冲弹簧(93)。
  10. 根据权利要求1所述的清洁机器人，其中，所述密封门组件(5)包括门本体(51)，所述门本体(51)上设有锁块(53)和与锁块(53)联动的解锁块(54)(53)，所述锁块(53)与所述门本体(51)之间设有锁块复位弹簧(55)，所述锁块(53)包括锁舌(531)，所述外壳组件(4)对应位置开设有锁孔(42)，所述锁舌(531)位于所述锁孔(42)内时实现上锁，所述锁舌(531)的内侧面设有用于辅助以使得所述锁舌(531)向所述门本体(51)内移动的辅助斜面(5311)。
PCT/CN2021/084494 2020-05-21 2021-03-31 清洁机器人 WO2021232953A1 (zh)

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