WO2021244663A1 - Self-moving robot system - Google Patents
Self-moving robot system Download PDFInfo
- Publication number
- WO2021244663A1 WO2021244663A1 PCT/CN2021/098740 CN2021098740W WO2021244663A1 WO 2021244663 A1 WO2021244663 A1 WO 2021244663A1 CN 2021098740 W CN2021098740 W CN 2021098740W WO 2021244663 A1 WO2021244663 A1 WO 2021244663A1
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- WO
- WIPO (PCT)
- Prior art keywords
- dust
- self
- dust container
- moving robot
- robot system
- Prior art date
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- 239000000428 dust Substances 0.000 claims abstract description 377
- 239000010813 municipal solid waste Substances 0.000 claims description 66
- 210000000078 claw Anatomy 0.000 claims description 20
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- 238000007789 sealing Methods 0.000 claims description 6
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- 230000004044 response Effects 0.000 claims description 2
- 238000000926 separation method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 32
- 230000007246 mechanism Effects 0.000 description 14
- 238000009434 installation Methods 0.000 description 9
- 238000013459 approach Methods 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 4
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- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
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Images
Classifications
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- 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
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
- A47L9/149—Emptying means; Reusable bags
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- 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
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
- A47L9/1409—Rigid filtering receptacles
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- 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
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/19—Means for monitoring filtering 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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
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- 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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/024—Emptying dust or waste liquid containers
Definitions
- the present invention relates to the technical field of electric machinery, and in particular to a self-moving robot system.
- the main function of the base station of the traditional self-mobile robot is to charge the self-mobile robot.
- the user needs to dump and clean the dust box of the self-mobile robot by himself.
- An air pump is installed in the dust collection base station to suck away the garbage in the dust container of the mobile robot.
- the present disclosure is made in view of the state of the prior art described above.
- the purpose of the present disclosure is to provide a self-mobile robot system.
- the self-mobile robot system has a dust collection base station that does not use an air pump to suck garbage from the self-mobile robot, has low working noise and high user comfort.
- a self-mobile robot system which includes a dust collection base station and a self-mobile robot.
- the dust collection base station is used to collect garbage of the self-mobile robot.
- the self-mobile robot includes a host and a dust container.
- the dust box is detachably installed on the host,
- the dust collection base station includes a power device, a dust collection device, and a transfer device, and the transfer device can be combined with the dust container and assist the separation of the dust container from the host or the installation of the dust container in the main unit.
- the host; the dust collection device is used to collect garbage in the dust container; the power device drives the transfer device and enables the transfer device to move the dust container to the dust collection device.
- the dust port is used to transfer the garbage to the dust collecting device.
- the dust container of the self-mobile robot can be detached from the host, and the dust container can be moved to the dust collection port, so that the garbage in the dust container is collected by the dust collector, so that the garbage can be Unified cleaning avoids frequent dumping of garbage by users.
- the system load is small, and the drive capability of the drive device is small.
- the dust container is transferred through the transfer device without using the air pump to suck the garbage in the dust container, so the working noise is lower and the user comfort is higher.
- the dust collecting device In the process of conveying the transfer device of the timing belt assembly, the dust collecting device can be installed and unloaded, so that the dust container and the dust collecting device can be transferred at the same time, and the operation of loading and unloading the dust collecting device and the moving operation of the dust container can be performed at the same time.
- the clamping claws carry the entire weight of the dust container, and the engagement of the first tooth structure and the second tooth structure can provide a reliable locking force, thereby ensuring the stable and reliable transfer of the dust container .
- the shock absorber acts as a shock absorber to reduce the vibration force transmitted by the vibration motor to the transfer device and make the vibration force act on the dust container as much as possible.
- the auxiliary dust dumping device When the dust container is moved to the dust collection port, the auxiliary dust dumping device slaps the dust container to promote the dumping of garbage.
- the dust collection device In the process of transferring the dust container by the transfer device, the dust collection device is located above the operating position, and the arrangement in the dust collection base station is compact.
- the self-mobile robot In the process of collecting garbage, etc., the self-mobile robot can be charged synchronously.
- Figure 1-1 is a schematic diagram of a first embodiment of a self-moving robot system provided by the present disclosure.
- Figure 1-2 is a top view of the dust collection base station of the self-mobile robot system, which does not show the dust collection device.
- Figures 1-3a are schematic diagrams of the self-moving robot of the self-moving robot system when the upper flap of the dust container is opened.
- Figure 1-3b is a schematic diagram when the dust container is separated from the main body of the mobile robot.
- Figure 1-3c is a schematic diagram of the dust box installed in the host.
- Figure 1-3d is a top view of the dust box installed on the host.
- Figures 1-4 are schematic diagrams of the transfer device of the dust collection base station.
- FIGS 1-5 are schematic diagrams of the working steps of the self-moving robot system, showing preparations for installing the dust collector.
- Figure 1-6 is a schematic diagram of the working steps of the self-mobile robot system, showing that the self-mobile robot enters the dust collection base station.
- Figures 1-7 are schematic diagrams of the working steps of the self-moving robot system, showing that the transfer device is ready to be combined with the dust container.
- FIGS 1-8 are schematic diagrams of the working steps of the self-moving robot system, showing that the transfer device separates the dust container from the host.
- FIGS 1-9 are schematic diagrams of the working steps of the self-moving robot system, showing that the transfer device lifts the dust container.
- Figure 1-10 is a schematic diagram of the working steps of the self-moving robot system, showing that the transfer device horizontally transfers the dust container.
- Figure 1-11 is a schematic diagram of the working steps of the self-moving robot system, showing that the transfer device installs the dust box on the dust collection device.
- FIGs 1-12 are schematic diagrams of the working steps of the self-moving robot system, showing that the first lid opening device opens the dust container and the flapping structure taps the dust container.
- Figure 1-13 is a schematic diagram of the working steps of the self-moving robot system, showing that after the garbage in the dust container falls into the dust collection device, the cover opening mechanism closes the dust container.
- Figure 1-14 is a schematic diagram of the working steps of the self-mobile robot system, showing that the transfer device transfers the dust container back to the host of the self-mobile robot.
- Figure 2-1 is a schematic diagram of a second embodiment of the self-moving robot system provided by the present disclosure.
- Figure 2-2 is a top view of the self-moving robot system.
- Figure 2-3 is a schematic diagram of a self-moving robot of the self-moving robot system.
- Figures 2-4 are schematic diagrams of the transfer device of the dust collection base station.
- Figure 2-5a is a schematic diagram of the self-moving robot system when the cover opening mechanism and the bottom flip cover of the dust container are not combined.
- Figure 2-5b is a schematic diagram of the combination of the opening structure and the lower flip.
- Figure 2-5c is a schematic diagram of the opening mechanism when the dust container is opened.
- Figure 2-6 is a schematic diagram of the working steps of the self-mobile robot system, showing that the dust collector is ready to be installed and the self-mobile robot enters the station for charging.
- Figure 2-7 is a schematic diagram of the working steps of the self-moving robot system, showing that the dust collection device is installed.
- 2-8 are schematic diagrams of the working steps of the self-moving robot system, showing that the transfer device separates the dust container from the main body of the self-moving robot.
- Figure 2-9 is a schematic diagram of the working steps of the self-mobile robot system, showing that the host of the self-mobile robot moves in the outbound direction.
- Figure 2-10 is a schematic diagram of the working steps of the self-moving robot system, showing that the transfer device lifts the dust container.
- Figure 2-11 is a schematic diagram of the working steps of the self-moving robot system, showing that the transfer device horizontally transfers the dust container.
- Figure 2-12 is a schematic diagram of the working steps of the self-moving robot system, showing that the transfer device installs the dust container on the dust collection device.
- Figure 2-13 is a schematic diagram of the working steps of the self-moving robot system, showing that the lid opening mechanism opens the dust container and the flapping mechanism taps the dust container.
- Figure 3-1 is a schematic diagram of an embodiment when the rotating member is in the first position.
- Fig. 3-2 is a schematic diagram of an embodiment when the rotating member is in the second position.
- Figure 3-3 is a schematic diagram of the working steps of an embodiment of the self-moving robot system, showing that the loading and unloading part clamps and opens the dust container.
- 1 Dust collection base station 11 timing belt, 111 first timing belt, 112 second timing belt, 121, 122 track, 123 first track section, 124 second track section, 125 descending section, 13 transfer device, 130 carrying part, 131 transfer frame, 135 electromagnetic switch, 136 buckle, 137 drive spring, 138 clamping claw, 139 rack, 141 rolling bearing, 15 first opening device, 151 timing pulley, 152 tensioning wheel, 153 timing belt, 154 Pin, 155 pin slot, 16 dust collection device, 161 trash can, 162 adapter cover, 163 folding cover, 164 pressure ring, 165 trash bag, 166 dust full detection device, 17 auxiliary dust dump device, 18 charging device, 19 fan ;
- 2Self-mobile robot 21 host, 22 dust container, 220 filter components, 23 upper flip, 24 lower flip, 26 locking spring, 27 locking pin, 28 charging connector, 29 linkage part, 20A, 20B hook part, 211 button , 212 transfer agency;
- the present disclosure provides a self-moving robot system, which includes a self-moving robot 2 (such as a sweeping robot) and a dust collection base station 1
- the self-moving robot 2 includes a host 21 and a dust container 22.
- the dust container 22 is detachably mounted on the host 21.
- the dust container 22 is used to contain garbage 3, dust, etc., and the host 21 includes the circuit part of the self-moving robot 2.
- the dust collection base station 1 includes a charging device 18, a power device (not shown), a dust collection device 16 and a transfer device 13.
- the self-moving robot 2 has a charging connector 28, and the charging device 18 is electrically connected to the charging connector 28 to move The robot 2 charges.
- the charging device 18 may include metal contacts, and the charging connector 28 may include metal contacts that match the metal contacts of the charging device 18.
- the transfer device 13 can be combined with the dust container 22 and assist the dust container 22 to be separated from the host 21 or the auxiliary dust container 22 is installed in the host 21, for example, the lock pin 27 is driven to exit the lock slot to separate the dust container 22 from the host 21, And either loosen the dust container 22 and at the same time insert the lock pin 27 into the lock slot, so that the dust container 22 is installed on the host 21.
- auxiliary dust container 22 of the transfer device 13 is separated from the host 21, including the following two situations:
- the dust container 22 is disassembled and removed from the host 21 by the transfer device 13;
- the dust container 22 is actively unloaded by the host 21, such as ejecting/ejecting, and the transfer device 13 is used to receive and remove the dust container 22 detached from the host 21.
- the power device is connected to the transfer device 13 to move the transfer device 13 according to a predetermined path to transfer the dust container 22 to the dust collection port of the dust collection device 16.
- the self-moving robot system includes a first lid opening device 15.
- the first lid opening device 15 is installed at the dust collection base station 1 or the self-moving robot 2. When the dust container 22 reaches the dust collection port, the first lid opening device 15 will contain The dust box 22 is opened so that the garbage 3 and the like in the dust container 22 fall into the dust collecting device 16 from the dust collecting port.
- the charging device 18 may be electrically connected with the host 21 of the self-mobile robot 2 to charge the self-mobile robot 2.
- the dust container 22 of the self-mobile robot 2 can be detached from the host 21, and the dust container 22 can be moved to the dust collecting opening 16, so that the garbage 3 and the like in the dust container 22 are collected.
- the device 16 collects, so that the garbage 3, etc. are uniformly cleaned up and avoids frequent dumping of garbage by the user.
- the system load is small, and the drive capability of the drive device is small.
- the dust container 22 is transferred by the transfer device 13 without using an air pump to suck the garbage 3 in the dust container 22, and the working noise is lower, and the user comfort is higher.
- the self-mobile robot 2 can be charged synchronously in the process of collecting garbage 3 and the like.
- the direction from the mobile robot 2 entering the dust collection base station 1 is the inbound direction I
- the direction leaving the dust collection base station 1 is the outbound direction O.
- the power device includes a transmission assembly that includes a first transmission part arranged in a vertical direction and a second transmission part arranged in a horizontal direction.
- the transfer device is connected to the power The device moves with the conveyor assembly.
- the conveying assembly includes a timing belt assembly, the first conveying part includes a first timing belt, and the second conveying part includes a second timing belt.
- the power device may include a drive motor (not shown), the drive motor drives a timing belt assembly, the timing belt assembly includes a timing belt 11 and a roller, the timing belt 11 is installed on the roller, the roller is driven by the drive motor to drive the timing belt 11, the timing belt 11 It includes a first synchronous belt 111 arranged in the vertical direction and a second synchronous belt 112 arranged in the horizontal direction.
- the power device may also include other structures such as a rack and pinion mechanism, a linkage mechanism, a steel wire or a chain, a lead screw, and a screw.
- the power device includes a rack assembly and a gear assembly installed on the transfer device.
- the gear assembly and the rack assembly are meshed and rotated to drive the transfer device to move.
- the dust collecting device 16 may be located at the side of the first timing belt 111 and below the second timing belt 112.
- the transfer device 13 can be connected to the timing belt assembly, for example, riveted to the timing belt 11 or fastened to the timing belt 11 by bolts, so that the transfer device 13 can follow the timing belt assembly along the first timing belt 111 and the second timing belt 112 to move to the set. Dust mouth.
- the dust collection base station 1 includes an operating position for the mobile robot 2 to stop, the charging device 18 can be set in the above operating position, the dust collecting device 16 is set higher than the charging device 18 (operating position), and the self-mobile robot 2 is in the dust collecting device
- the dust collection base station 1 enters and exits below 16, and the transmission assembly is located above the side of the dust collection device 16.
- the dust collection device 16 is located above the operating position, so that the structure of the dust collection base station 1 is compact.
- the dust collection base station 1 may further include a sealing part for sealingly connecting the dust container 22 and the dust collecting port to prevent the leakage of dust and the like.
- the sealing portion may include an adapter cover 162, and the dust collecting device 16 may include a trash can 161 and the adapter cover 162.
- the trash can 161 has a dust collection port, and the trash can 161 can be used in conjunction with a garbage bag.
- the adapter cover 162 has a large mouth end and a small mouth end. The diameter of the big mouth end is larger than the small mouth end. The big mouth end of the adapter cover 162 is sleeved with the dust collecting mouth, and the small mouth end is used to align with the dust container 22.
- the garbage dumping port of the dust container 22 can be connected to the small mouth end of the adapter cover 162, so that the dust container 22 and the trash can 161 are dumped when the trash 3 is dumped. There is no ash leakage gap between them to prevent dust.
- one side of the trash can 161 can be provided with a wind hole and a fan can be installed on the outer wall side of the trash can 161, so that the space between the trash can 161 and the trash bag can be vacuumed by the rotation of the fan, so that the trash bag is It is arranged close to the inner wall of the trash can 161 under the action of atmospheric pressure.
- the dust collecting device 16 may have a trash can installation position instead of the trash can 61, and the user can directly place a household trash can in the installation position or put a trash bag in the trash can installation position.
- the self-moving robot system further includes a transmission mechanism for controlling the movement of the dust collecting device 16.
- the transmission mechanism includes a transmission belt and a drive motor.
- the transmission belt can drive the dust collection device to move to the installation position of the garbage bag outside the dust collection base station 1, the internal recovery mop position, and the initial position for dust collection.
- the initial position for dust collection may be located between the garbage bag installation position and the recycling mop position.
- the upper edge of the trash can 162 is also equipped with a full-dust detection device 166, such as an infrared sensor, an ultrasonic sensor, a distance sensor, etc., when the garbage is about to fill the trash can 162, the full-dust detection device 166 Will be detected and remind the user to empty.
- a full-dust detection device 166 such as an infrared sensor, an ultrasonic sensor, a distance sensor, etc.
- the dust collection base station 1 may further include a track 121 close to the timing belt 11 and a track 122 spaced apart from the timing belt 11, and the tracks 121 and 122 may be arranged substantially in parallel with the timing belt 11.
- the transfer device 13 can be restricted by the rails 121 and 122 to move along the rails 121 and 122 from the head end to the tail end thereof.
- the tracks 121, 122 may include a first track section 123 parallel to the conveying track of the first timing belt 111, a second track section 124 parallel to the conveying track of the second timing belt 112, and a descending track connected to the second track section 124.
- Section 125 the descending section 125 can be inclined with respect to the vertical direction and are arranged at the tail ends of the rails 121 and 122.
- the transfer device 13 moves in the vertical direction along the first track section 123, moves in the horizontal direction along the second track section 124, and descends along the descending section 125 so that the dust container 22 can cross the adapter cover 162 in height. After that, it descends to be close to the adapter cover 162.
- the transfer device 13 may include a plurality of rolling bearings 141, and the rolling bearings 141 are installed in the rails 121 and 122, so that the transfer device 13 is connected to the rails 121 and 122 in a rolling manner.
- the self-moving robot 2 may include the above-mentioned first lid opening device 15, and the first lid opening device 15 may be fixedly installed on the dust container 22 of the self-moving robot 2 so as to be compatible with the container.
- the dust box 22 is transferred together.
- the dust container 22 includes an upper flap 23 and a lower flap 24 (box cover).
- the upper flap 23 is for manual operation to open or close the dust container 22, and the lower flap 24 is for the opening mechanism to operate to open or close the dust container 22.
- the upper flip cover 23 may be located on the upper surface of the dust container 22, and the lower flip cover 24 may be located on the lower surface of the dust container 22, thereby facilitating manual and automatic opening of the cover.
- the filter element 220 may also be a filter element 220 in the dust container 22, and the filter element 220 filters the inhaled garbage when the self-mobile robot 2 is working.
- the filter element 220 may include a HEPA filter, a sponge pad, a non-woven fabric, and the like.
- the first cover opening device 15 includes a cover opening motor and a rotating part.
- the rotating part may include a timing belt wheel 151, a tensioning wheel 152, and a timing belt 153.
- the output end of the cover opening motor may be equipped with a timing belt wheel 151 and a timing belt wheel 151. It is connected with the tensioning wheel 152 through a timing belt 153, and the cover-opening motor drives the rotating part to rotate, that is, driving the timing belt wheel 151 and the tensioning wheel 152 to rotate and drive the timing belt 153 to roll.
- the lid opening motor can be installed in the dust container 22, and the rotating part can be installed in the lower flip 24 of the dust container 22.
- the first lid opening device 15 and the dust container 22 are fixedly installed, so that the first lid opening device 15 and the dust container 22 are reliably connected.
- the cover opening motor drives the rotating part to rotate to open the lower flip 24; when the dust container 22 finishes dumping garbage, the cover opening motor drives the rotating part to rotate to close the lower flap 24. Clamshell 24.
- the first lid opening device 15 may further include a linkage mechanism provided in the dust container 22, and the transfer device 13 clamps the dust container 22 to open and close the lower flip 24 by acting on the linkage mechanism.
- contact electrodes can be provided at the corresponding positions of the dust container 22 and the transfer device 13, and when the transfer device 13 is connected to the dust container 22, the contact electrodes are turned on so that the power supply of the cover opening motor is turned on. Whether the first lid opening device 15 is opened can be controlled as required.
- the transfer device 13 includes a power source, a transfer frame 131, and a loading and unloading part.
- the loading and unloading part is used to operate the dust box 22 to be separated from the host 21 or installed in the host 21.
- the loading and unloading part may specifically include a clamping claw 138, the transfer frame 131 is installed on the timing belt 11 (power device), and the power source and the clamping claw 138 are installed on the transfer frame 131.
- the power source includes a clamping motor and a gear (first tooth structure).
- the clamping pawl 138 includes a rack 139 (second tooth structure). The gear driven by the clamping motor meshes with the rack 139, so that the rack 139 drives the clamping The claw 138 clamps or loosens the dust container 22.
- the loading and unloading part is located in the transfer device 13. In other embodiments, the loading and unloading part may also be located in a self-moving robot.
- the dust box 22 is provided with a lock pin 27 and a linkage portion 29.
- the lock pin 27 can be linked with the linkage portion 29 to exit the lock slot.
- the linkage part 29 has a lock spring 26 connected with the lock pin 27, and the main body 21 of the self-moving robot 2 is provided with a lock groove.
- the linkage portion 29 may be located downstream of the lock pin 27 in the station entry direction I, and the linkage portion 29 and the lock pin 27 may move in two opposite directions simultaneously in the horizontal direction.
- the clamping claw 138 clamps the linkage portion 29 and can push the linkage portion 29 in the outbound direction O.
- the linkage portion 29 moves, the lock spring 26 is compressed, and the lock pin 27 and the linkage portion 29 linkage to move along the station direction I and exit the lock slot (as shown in Figure 1-3b).
- the clamping claw 138 releases the linkage 29, the elastic force of the locking spring 26 ejects the lock pin 27 in the exit direction O, and the lock pin 27 is inserted into the lock groove (as shown in Figure 1-3c) Show).
- the self-moving robot system includes a second lid opening device 4, and the second lid opening device 4 includes: a driving member 41, which is arranged at the loading and unloading part; and a rotating member 42.
- the rotating member 42 Located on one side of the dust container 22 and in contact with the cover of the dust container 22 (ie, the lower flap 24), the rotating member 42 is configured to be driven by the driving member 41 in a first position and a first position Rotate between the two positions; when the rotating member 42 is in the first position, the box cover is closed; when the rotating member 42 is rotated from the first position to the second position, the box cover is opened by the driving of the rotating member 42.
- One end of the rotating member 42 is rotatably connected to the dust container 22 through a connecting shaft, and the end away from the connecting shaft contacts the box cover under the action of gravity.
- the rotating member 42 When the rotating member 42 is in the first position, the box cover is closed; and when the rotating member 42 is driven by the driving member 41 to rotate around the connecting shaft to the second position, the end of the rotating member 42 away from the connecting shaft will push the box cover open , So that the dust in the dust container falls into the dust collecting device 16.
- the rotating member 42 has a limiting portion.
- the loading and unloading part may have a clamping claw 138, and the driving member 41 can be arranged on the side of the end of the clamping claw 138 independently of the clamping claw 138.
- the driving member 41 can approach the end of the connecting shaft toward the rotating member 42 under the action of external force.
- the self-moving robot 2 includes an operating part, which can assist the separation or installation of the dust container 22 from the host 21 in response to the user's pressing or releasing the pressing.
- the button 211 operating portion
- the linkage portion 29 moves and the lock pin 27 is driven by the transfer mechanism 212 to rotate
- the connecting mechanism 212 moves the linkage portion 29 and the lock pin 27 close, for example, the linkage portion 29 moves in the direction of arrow B2, and the lock pin 27 moves in the direction of arrow B1, so that the lock pin 27 retracts inward and unlocks from the host 21.
- the dust container 22 has a coupling groove which opens upwards, and the main body 21 has an upward opening opening, and the dust container 22 leaves the main machine 21 from the opening.
- the clamping claw 138 can enter the coupling groove and clamp the dust containing box 22, and the clamping claw 138 moves vertically along the first timing belt 111 after clamping the dust containing box 22.
- the clamping claw 138 carries the entire weight of the dust container 22, and the meshing structure of the gear and rack 139 can provide a reliable locking force, thereby ensuring that the dust container 22 is stabilized Reliable transfer.
- the clamping pawl 138 can apply force to the dust container 22 to pull the lock pin 27 out of the lock slot to assist the dust container 22 to separate from the host 21, and can also release the force applied to the lock pin 27 to insert the lock pin 27 into the lock slot to assist the container.
- the dust box 22 is installed in the host 21.
- the dust collection base station 1 may also include an auxiliary dust dumping device 17 (shown in Figure 2-2).
- the auxiliary dust dumping device 17 includes a vibration motor and an eccentric block (eccentric assembly).
- the vibration motor drives the eccentric block to vibrate.
- the vibration motor can be installed in the transfer The frame 131 (the auxiliary dust dumping device 17 is installed on the transfer device 13) and moves together with the transfer device 13.
- the eccentric block can be connected to the dust container 22 or contact with the dust container 22 to drive the dust container 22 to vibrate.
- the auxiliary dust dumping device 17 slaps the dust container 22 to promote the dumping of the garbage 3 and the like.
- the auxiliary dust dumping device 17 may further include, for example, four shock-absorbing balls (shock absorbers), and the shock-absorbing balls may be connected between the vibration motor and the transfer device 13, for example, between the vibration motor and the transfer frame 131.
- the shock absorbing ball plays a shock absorbing function to reduce the vibration force transmitted by the vibration motor to the transfer frame 131 and make the vibration force act on the dust container 22 as much as possible.
- the dust collection base station 1 includes a control system, which is used to control a driving motor, a clamping motor, a cover opening motor, a vibration motor, and the like.
- the dust collecting device 16 is installed, for example, the dust collecting device 16 (trash can 161) can be installed along the station direction I.
- the self-mobile robot 2 enters the station, the transfer device 13 descends and approaches the self-mobile robot 2, and the charging device 18 and the charging connector 28 are connected.
- the transfer device 13 continues to approach the self-moving robot 2.
- the transfer device 13 is combined with the dust container 22 and assists the dust container 22 to separate from the host 21.
- the dust box 22 is combined.
- the clamping motor drives the clamping claws 138 to clamp the dust container 22, the lock pin 27 withdraws from the lock slot, and the dust container 22 is separated from the host 21 of the self-mobile robot 2.
- the transfer device 13 transfers the dust container 22 to the dust collection port. As shown in FIGS. 1-9, the transfer device 13 moves along the first timing belt 111 and the first track section 123, thereby lifting the dust container 22, and the dust container 22 is separated from the host 21 in the vertical direction. As shown in FIGS. 1-10, the transfer device 13 moves along the second timing belt 112 and the second track section 124, thereby moving the dust container 22 in the horizontal direction so that the dust container 22 is located above the dust collection device 16. As shown in Figs.
- the transfer device 13 descends along the descending section 125, so that the dust container 22 is aligned with the dust collection port and is connected to the dust collection port in a sealed manner, that is, the dust container 22 and the adapter cover 162 are tightly butted .
- the first lid opening device 15 opens the lower flap 24 of the dust container 22.
- the lid opening motor is activated, the rotating part rotates, and the lower flap 24 of the dust container 22 rotates to open with the rotating part. .
- the auxiliary dust dumping device 17 is activated, for example, a vibration motor is activated, so that the dust container 22 is tapped. As shown in Figs. 1-13, when the garbage 3, etc. are dumped, the lid opening motor is reversed, the lower flap 24 of the dust container 2 rotates and closes with the rotating part, and the vibration motor is turned off.
- the transfer device 13 is lowered, the clamping motor drives the clamping claw 138 to loosen the dust container 22, the lock pin 27 is inserted into the lock slot, and the dust container 22 is installed on the host 21 of the self-moving robot 2.
- the order of the installation steps of the dust collector and the steps of the robot entering the station can be exchanged.
- the self-moving robot system of the second embodiment is similar in structure to the self-moving robot system of the first embodiment, and only the differences between the two are introduced in this section.
- the dust collection base station 1 does not include a track 121 arranged close to the timing belt 11, but only includes a track 122 arranged spaced apart from the timing belt 11.
- the transfer device 13 includes a power source, a transfer frame 131 and a buckle 136 (and does not have the clamping claws 138 in the first embodiment, the buckle 136 is used as the loading and unloading part of the transfer device 13), and the transfer frame 131 is connected to the power device and It includes a carrying part 130, and a power source and a buckle 136 are installed on the transfer frame 131.
- the power source includes an electromagnetic switch 135 and a drive spring 137 (and does not have the clamping motor and rack and pinion structure in the first embodiment).
- the buckle 136 is connected to the drive spring 137, and the buckle 136 can enter the combination of the dust container 22 Slot and push the lock pin 27.
- the drive spring 137 can be arranged in a vertical direction, the electromagnetic switch 135 can be energized to move the buckle 136 upwards to loosen the lock pin 27 so that the lock pin 27 is inserted into the lock slot, and the dust container 22 is installed with the host 21.
- the electromagnetic switch 135 is powered off, the elastic force of the driving spring 137 can move the buckle 136 downward to push the lock pin 27 out of the lock slot, and the dust container 22 is separated from the host 21.
- the dust container 22 may be unlocked and separated from the main body 21 by pressing the operating part.
- the transfer device 13 can transfer the dust container 22, and the host 21 can also leave the dust container 22 after ejecting the dust container 22, leaving the dust container 22 in place and transferring it by the transfer device 13.
- the lock pin 27 may include an upward-facing hook portion 20A for inserting into the lock groove of the main body 21 to hook with the main body 21.
- the lock pin 27 may also include a hook portion 20B provided on a side close to the dust collection base station 1 and opened upward and downstream in the station direction I, and the hook portion 20B is used for hooking with the buckle 136.
- it is convenient to push down the lock pin 27 to compress the lock spring 26 to release the hooking of the lock pin 27 and the main body 21, and on the other hand, it is used to prevent the dust container 22 from separating from the transfer device 13 in the approach direction I.
- the carrying portion 130 supports the dust container 22 from below, and the buckle 136 hooks the dust container 22 downstream in the inbound direction I, thereby stably holding the dust container 22.
- the main body 21 has an opening that opens in the horizontal direction.
- the transfer device 13 transfers the dust box 22
- the main body 21 of the mobile robot 2 moves a small distance, for example, about 5 cm, in the outbound direction O to release the dust box 22 from being Blocking in the vertical direction.
- the carrying portion 130 is disk-shaped and has an opening for carrying the dust container 22 separated from the host 21. When the transfer device 13 lifts the dust container 22, the carrying portion 130 can reliably carry the dust container 22.
- the two sides of the opening in the thickness direction of the bearing portion 130 respectively have the aforementioned large mouth end and the aforementioned small mouth end.
- the bearing portion 130 can be used as a sealing portion for sealing the dust collecting port and the dust container 22, and the bearing portion 130 can cover the dust collecting port.
- the dust collecting device 16 may also include a fan 19, which can be installed on the side wall of the trash can 161.
- the fan 19 can be activated to make the fan 19 suck the trash can 161. Therefore, the trash bag 165 can be attached to the inner wall of the trash can 161.
- the power of the fan 19 is much lower than the power of the air pump of the traditional suction dust collection base station, and the noise is extremely low. The fan 19 is only activated when the garbage bag 165 is replaced.
- the dust collecting device 16 may also include a pressing ring 164.
- the dust collecting port of the trash can 161 may be provided with a pressing groove. fixed.
- the dust collecting device 16 may further include a folding cover 163 (and not having the adaptor cover 162 in the first embodiment), and the folding cover 163 can cover the dust collecting opening when it is unfolded.
- the transfer device 13 transfers the dust container 22 so that the dust container 22 can move in a horizontal direction
- the dust container 22 can push the folding cover 163 to fold at the same time, so that the dust collection port is exposed.
- the carrying portion 130 covers the dust collection port, the folding cover 163 is folded, and the dust container 22 is sealed to the dust collection port.
- the folding cover 163 covers the trash can 161 to prevent odor and dust from overflowing.
- the tensioning wheel 152 of the first lid opening device 15 may have a pin groove 155, and the lower flap 24 may be equipped with a "one"-shaped pin 154, which is inserted into the pin ⁇ 155.
- the tensioning wheel 152 rotates, the lower flap 24 rotates together to open or close the dust container 22.
- the first lid opening device 15 can be installed with the transfer device 13, specifically, the lid opening motor can be installed on the transfer frame 131, and the pin groove 155 of the tension wheel 152 can be detachably installed with the pin 154 of the lower flip 24.
- the first opening device 15 When the dust container 22 is combined with the transfer device 13, the first opening device 15 is connected with the lower flip 24 of the dust container 22, that is, the pin 154 is inserted into the pin groove 155 (as shown in Figures 2-5b and 2-5c) When the dust container 22 is separated from the transfer device 13, the first opening device 15 is separated from the lower flip 24, that is, the pin 154 leaves the pin groove 155 (as shown in Fig. 2-5a).
- the dust collecting device 16 can be installed along the approach direction I.
- the self-mobile robot 2 enters the station, the electromagnetic switch 135 is energized, the drive spring 137 is compressed, and the charging connector 28 of the self-mobile robot 2 is connected to the charging device 18.
- the transfer device 13 continues to approach the self-moving robot 2, the electromagnetic switch 135 can be powered off, the drive spring 137 drives the buckle 136 to reset and move down, the buckle 136 pushes the lock pin 27 downward, and the lock pin 27 moves from The lock slot is withdrawn, the dust container 22 is separated from the host 21 of the self-mobile robot 2, and the rotating part is connected with the dust container 22.
- the self-mobile robot 2 moves in the exit direction O to release the vertical blocking of the dust container 22, and the carrying part 130 carries the dust container 22.
- the transfer device 13 moves along the first timing belt 111 and the first track section 123, thereby lifting the dust container 22, and the dust container 22 is separated from the host 21 in the vertical direction.
- the transfer device 13 moves along the second timing belt 112 and the second track section 124, thereby moving the dust container 22 above the dust collecting device 16 in the horizontal direction.
- the transfer device 13 descends along the descending section 125, so that the dust container 22 is connected to the dust collection port in a sealed manner.
- the lid opening motor is activated, the lower flap 24 of the dust container 2 rotates and opens with the rotating part, and the vibration motor is activated to tap the dust container 22.
- the control system of the dust collection base station 1 is used to control the drive motor, the electromagnetic switch 135, the cover opening motor, the vibration motor, the fan 19, and the like.
- the transfer device 13 may be indirectly connected to the timing belt 11 (power device) through a bracket or the like, as long as the transfer device 13 can be moved by the timing belt 11.
- the dust collecting device 16 can also be installed into the dust collecting base station 1 from the side of the inbound direction I and the outbound direction O.
- the descending section 125 may be arranged along the vertical direction.
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Abstract
A self-moving robot system, comprising a dust collection base (1) and a self-moving robot (2). The self-moving robot (2) comprises a main machine (21) and a dust containing box (22), wherein the dust containing box (22) is detachably arranged on the main machine (21). The dust collection base (1) comprises a power device, a dust collection device (16) and a transfer device (13), wherein the transfer device (13) can be combined with the dust containing box (22) and can facilitate separation of the dust containing box (22) from the main machine (21) or facilitate mounting of the dust containing box (22) onto the main machine (21); the dust collection device (16) is used for collecting debris (3) from the dust containing box (22); and the power device drives the transfer device (13) and can cause the transfer device (13) to move the dust containing box (22) to a dust collecting opening of the dust collection device (16) so as to transfer the debris (3) to the dust collection device (16). The dust containing box (22) is transferred by the transfer device (13) without using an air pump to suck up the debris (3), etc. in the dust containing box (22), such that the working noise is low, the whole self-moving robot (2) does not need to be moved during dust collection, and the system load is low.
Description
交叉参考相关引用Cross reference related references
本申请要求2020年6月5日提交的申请号为202010507418.7的中国专利申请的优先权,以及2020年6月5日提交的申请号为202021016984.X的中国专利申请的优先权,上述申请参考并入本文。This application claims the priority of the Chinese patent application with the application number 202010507418.7 filed on June 5, 2020, and the priority of the Chinese patent application with the application number 202021016984.X filed on June 5, 2020. The above applications are incorporated by reference. Into this article.
本发明涉及电动机械技术领域,且特别涉及一种自移动机器人系统。The present invention relates to the technical field of electric machinery, and in particular to a self-moving robot system.
传统的自移动机器人的基站的主要作用是为自移动机器人充电,用户需要自行倾倒和清理自移动机器人的容尘盒,为了降低用户的干预频率,推出了“抽吸式”集尘基站,在集尘基站中安装风泵以将自移动机器人的容尘盒中的垃圾吸走。The main function of the base station of the traditional self-mobile robot is to charge the self-mobile robot. The user needs to dump and clean the dust box of the self-mobile robot by himself. An air pump is installed in the dust collection base station to suck away the garbage in the dust container of the mobile robot.
目前在“抽吸式”集尘基站的作业过程中,普遍存在噪音大的问题,噪音水平有的甚至达到75dB,远远超出正常人交谈的40dB至60dB的水平,影响用户的正常交谈,易使人感到心烦意乱,精神不集中。集尘基站在自移动机器人每次回基站时都会进行抽吸作业,频繁的大噪音抽吸会引起用户不适,损害听力神经。At present, in the operation process of the "suction type" dust collection base station, there is a general problem of large noise. The noise level can even reach 75dB, which is far beyond the level of 40dB to 60dB for normal human conversation, which affects the normal conversation of users. It makes people feel upset and lose concentration. The dust collection base station will perform suction operation every time the self-mobile robot returns to the base station. Frequent loud noise suction will cause discomfort to the user and damage the hearing nerve.
发明内容Summary of the invention
鉴于上述现有技术的状态而做出本公开。本公开的目的在于提供一种自移动机器人系统,自移动机器人系统具有集尘基站,集尘基站不使用风泵从自移动机器人抽吸垃圾,工作噪音较低,用户使用舒适度较高。The present disclosure is made in view of the state of the prior art described above. The purpose of the present disclosure is to provide a self-mobile robot system. The self-mobile robot system has a dust collection base station that does not use an air pump to suck garbage from the self-mobile robot, has low working noise and high user comfort.
提供了一种自移动机器人系统,其包括集尘基站和自移动机器人,所述集尘基站用于收集所述自移动机器人的垃圾,所述自移动机器人包括主机和容尘盒,所述容尘盒可拆卸地安装于所述主机,A self-mobile robot system is provided, which includes a dust collection base station and a self-mobile robot. The dust collection base station is used to collect garbage of the self-mobile robot. The self-mobile robot includes a host and a dust container. The dust box is detachably installed on the host,
所述集尘基站包括动力装置、集尘装置和转移装置,所述转移装置能够与所述容尘盒结合并辅助所述容尘盒从所述主机分离或者辅助所述容尘盒安装于所述主机;所述集尘装置用于收集所述容尘盒的垃圾;所述动力装置驱动所述转移装置并能够使所述转移 装置将所述容尘盒移动至所述集尘装置的集尘口处以将所述垃圾转移至集尘装置。The dust collection base station includes a power device, a dust collection device, and a transfer device, and the transfer device can be combined with the dust container and assist the separation of the dust container from the host or the installation of the dust container in the main unit. The host; the dust collection device is used to collect garbage in the dust container; the power device drives the transfer device and enables the transfer device to move the dust container to the dust collection device The dust port is used to transfer the garbage to the dust collecting device.
本公开提供的上述技术方案至少具有以下有益效果:The above technical solutions provided by the present disclosure have at least the following beneficial effects:
在该自移动机器人系统中,自移动机器人的容尘盒能够从主机卸下,并且容尘盒能够移动到集尘口,从而容尘盒内的垃圾等被集尘装置收集,使得垃圾等被统一清理而避免了用户频繁的倒垃圾。而且,集尘时,无需移动整个自移动机器人,系统负载较小,对驱动装置的驱动能力要求较小。通过转移装置转移容尘盒而不使用风泵抽吸容尘盒内的垃圾等,工作噪音较低,用户使用舒适度较高。In this self-mobile robot system, the dust container of the self-mobile robot can be detached from the host, and the dust container can be moved to the dust collection port, so that the garbage in the dust container is collected by the dust collector, so that the garbage can be Unified cleaning avoids frequent dumping of garbage by users. Moreover, when collecting dust, there is no need to move the entire self-moving robot, the system load is small, and the drive capability of the drive device is small. The dust container is transferred through the transfer device without using the air pump to suck the garbage in the dust container, so the working noise is lower and the user comfort is higher.
本公开提供的上述技术方案还可以具有以下有益效果:The above technical solutions provided by the present disclosure may also have the following beneficial effects:
在同步带组件传送转移装置的过程中,可以装卸集尘装置,从而能够同时转移容尘盒和装卸集尘装置,可以同时进行装卸集尘装置的操作和容尘盒的移动操作。In the process of conveying the transfer device of the timing belt assembly, the dust collecting device can be installed and unloaded, so that the dust container and the dust collecting device can be transferred at the same time, and the operation of loading and unloading the dust collecting device and the moving operation of the dust container can be performed at the same time.
在转移装置转移容尘盒的过程中,夹持爪承载容尘盒的全部重量,第一齿结构和第二齿结构啮合能够提供可靠的锁紧力,从而保证容尘盒被稳定可靠的移送。In the process of transferring the dust container by the transfer device, the clamping claws carry the entire weight of the dust container, and the engagement of the first tooth structure and the second tooth structure can provide a reliable locking force, thereby ensuring the stable and reliable transfer of the dust container .
减震器起到减震作用从而减少振动马达传递到转移装置的振动力并使振动力尽可能多地作用到容尘盒。The shock absorber acts as a shock absorber to reduce the vibration force transmitted by the vibration motor to the transfer device and make the vibration force act on the dust container as much as possible.
当容尘盒被移送到集尘口时,辅助倒尘装置拍打容尘盒从而促进垃圾等的倾倒。When the dust container is moved to the dust collection port, the auxiliary dust dumping device slaps the dust container to promote the dumping of garbage.
在转移装置转移容尘盒的过程中,集尘装置位于操作位的上方,集尘基站内的布置紧凑。In the process of transferring the dust container by the transfer device, the dust collection device is located above the operating position, and the arrangement in the dust collection base station is compact.
在收集垃圾等的过程中可以同步地对自移动机器人进行充电。In the process of collecting garbage, etc., the self-mobile robot can be charged synchronously.
在此描述的附图仅用于解释目的,而不意图以任何方式来限制本发明公开的范围。另外,图中的各部件的形状和比例尺寸等仅为示意性的,用于帮助对本发明的理解,并不是具体限定本发明各部件的形状和比例尺寸。本领域的技术人员在本发明的教导下,可以根据具体情况选择各种可能的形状和比例尺寸来实施本发明。The drawings described herein are for explanation purposes only, and are not intended to limit the scope of the disclosure of the present invention in any way. In addition, the shape and proportional size of each component in the figure are only schematic, which are used to help the understanding of the present invention, and do not specifically limit the shape and proportional size of each component of the present invention. Under the teaching of the present invention, those skilled in the art can choose various possible shapes and proportional sizes according to specific conditions to implement the present invention.
图1-1为本公开提供的自移动机器人系统的第一实施例的示意图。Figure 1-1 is a schematic diagram of a first embodiment of a self-moving robot system provided by the present disclosure.
图1-2为自移动机器人系统的集尘基站的俯视图,其未显示集尘装置。Figure 1-2 is a top view of the dust collection base station of the self-mobile robot system, which does not show the dust collection device.
图1-3a为自移动机器人系统的自移动机器人的容尘盒的上翻盖打开时的示意图。Figures 1-3a are schematic diagrams of the self-moving robot of the self-moving robot system when the upper flap of the dust container is opened.
图1-3b为容尘盒从自移动机器人的主机分离时的示意图。Figure 1-3b is a schematic diagram when the dust container is separated from the main body of the mobile robot.
图1-3c为容尘盒安装于主机时的示意图。Figure 1-3c is a schematic diagram of the dust box installed in the host.
图1-3d为容尘盒安装于主机时的俯视图。Figure 1-3d is a top view of the dust box installed on the host.
图1-4为集尘基站的转移装置的示意图。Figures 1-4 are schematic diagrams of the transfer device of the dust collection base station.
图1-5为自移动机器人系统的工作步骤示意图,示出准备安装集尘装置。Figures 1-5 are schematic diagrams of the working steps of the self-moving robot system, showing preparations for installing the dust collector.
图1-6为自移动机器人系统的工作步骤示意图,示出自移动机器人进入集尘基站。Figure 1-6 is a schematic diagram of the working steps of the self-mobile robot system, showing that the self-mobile robot enters the dust collection base station.
图1-7为自移动机器人系统的工作步骤示意图,示出转移装置准备结合容尘盒。Figures 1-7 are schematic diagrams of the working steps of the self-moving robot system, showing that the transfer device is ready to be combined with the dust container.
图1-8为自移动机器人系统的工作步骤示意图,示出转移装置将容尘盒从主机分离。Figures 1-8 are schematic diagrams of the working steps of the self-moving robot system, showing that the transfer device separates the dust container from the host.
图1-9为自移动机器人系统的工作步骤示意图,示出转移装置抬升容尘盒。Figures 1-9 are schematic diagrams of the working steps of the self-moving robot system, showing that the transfer device lifts the dust container.
图1-10为自移动机器人系统的工作步骤示意图,示出转移装置水平移送容尘盒。Figure 1-10 is a schematic diagram of the working steps of the self-moving robot system, showing that the transfer device horizontally transfers the dust container.
图1-11为自移动机器人系统的工作步骤示意图,示出转移装置将容尘盒安装于集尘装置。Figure 1-11 is a schematic diagram of the working steps of the self-moving robot system, showing that the transfer device installs the dust box on the dust collection device.
图1-12为自移动机器人系统的工作步骤示意图,示出第一开盖装置打开容尘盒且拍打结构拍打容尘盒。Figures 1-12 are schematic diagrams of the working steps of the self-moving robot system, showing that the first lid opening device opens the dust container and the flapping structure taps the dust container.
图1-13为自移动机器人系统的工作步骤示意图,示出容尘盒内的垃圾掉入集尘装置后,开盖机构关闭容尘盒。Figure 1-13 is a schematic diagram of the working steps of the self-moving robot system, showing that after the garbage in the dust container falls into the dust collection device, the cover opening mechanism closes the dust container.
图1-14为自移动机器人系统的工作步骤示意图,示出转移装置将容尘盒移送回自移动机器人的主机。Figure 1-14 is a schematic diagram of the working steps of the self-mobile robot system, showing that the transfer device transfers the dust container back to the host of the self-mobile robot.
图2-1为本公开提供的自移动机器人系统的第二实施例的示意图。Figure 2-1 is a schematic diagram of a second embodiment of the self-moving robot system provided by the present disclosure.
图2-2为自移动机器人系统的俯视图。Figure 2-2 is a top view of the self-moving robot system.
图2-3为自移动机器人系统的自移动机器人的示意图。Figure 2-3 is a schematic diagram of a self-moving robot of the self-moving robot system.
图2-4为集尘基站的转移装置的示意图。Figures 2-4 are schematic diagrams of the transfer device of the dust collection base station.
图2-5a为自移动机器人系统的开盖机构与容尘盒的下翻盖未结合时的示意图。Figure 2-5a is a schematic diagram of the self-moving robot system when the cover opening mechanism and the bottom flip cover of the dust container are not combined.
图2-5b为开盖结构与下翻盖结合时的示意图。Figure 2-5b is a schematic diagram of the combination of the opening structure and the lower flip.
图2-5c为开盖机构打开容尘盒时的示意图。Figure 2-5c is a schematic diagram of the opening mechanism when the dust container is opened.
图2-6为自移动机器人系统的工作步骤示意图,示出准备安装集尘装置且自移动机器人进站充电。Figure 2-6 is a schematic diagram of the working steps of the self-mobile robot system, showing that the dust collector is ready to be installed and the self-mobile robot enters the station for charging.
图2-7为自移动机器人系统的工作步骤示意图,示出集尘装置安装完毕。Figure 2-7 is a schematic diagram of the working steps of the self-moving robot system, showing that the dust collection device is installed.
图2-8为自移动机器人系统的工作步骤示意图,示出转移装置将容尘盒从自移动机器人的主机分离。2-8 are schematic diagrams of the working steps of the self-moving robot system, showing that the transfer device separates the dust container from the main body of the self-moving robot.
图2-9为自移动机器人系统的工作步骤示意图,示出自移动机器人的主机沿出站方向移动。Figure 2-9 is a schematic diagram of the working steps of the self-mobile robot system, showing that the host of the self-mobile robot moves in the outbound direction.
图2-10为自移动机器人系统的工作步骤示意图,示出转移装置抬升容尘盒。Figure 2-10 is a schematic diagram of the working steps of the self-moving robot system, showing that the transfer device lifts the dust container.
图2-11为自移动机器人系统的工作步骤示意图,示出转移装置水平移送容尘盒。Figure 2-11 is a schematic diagram of the working steps of the self-moving robot system, showing that the transfer device horizontally transfers the dust container.
图2-12为自移动机器人系统的工作步骤示意图,示出转移装置将容尘盒安装于集尘装置。Figure 2-12 is a schematic diagram of the working steps of the self-moving robot system, showing that the transfer device installs the dust container on the dust collection device.
图2-13为自移动机器人系统的工作步骤示意图,示出开盖机构打开容尘盒且拍打机构拍打容尘盒。Figure 2-13 is a schematic diagram of the working steps of the self-moving robot system, showing that the lid opening mechanism opens the dust container and the flapping mechanism taps the dust container.
图3-1为一实施例转动件位于第一位置时的示意图。Figure 3-1 is a schematic diagram of an embodiment when the rotating member is in the first position.
图3-2为一实施例转动件位于第二位置时的示意图。Fig. 3-2 is a schematic diagram of an embodiment when the rotating member is in the second position.
图3-3为自移动机器人系统一实施例的工作步骤示意图,示出装卸部夹持打开容尘盒。Figure 3-3 is a schematic diagram of the working steps of an embodiment of the self-moving robot system, showing that the loading and unloading part clamps and opens the dust container.
附图标记说明:Description of reference signs:
1集尘基站、11同步带、111第一同步带、112第二同步带、121、122轨道、123第一轨道段、124第二轨道段、125下降段、13转移装置、130承载部、131转移架、135电磁开关、136卡扣、137驱动弹簧、138夹持爪、139齿条、141滚动轴承、15第一开盖装置、151同步带轮、152张紧轮、153同步带、154销、155销槽、16集尘装置、161垃圾桶、162转接罩、163折叠盖、164压环、165垃圾袋、166尘满检测装置、17辅助倒尘装置、18充电装置、19风扇;1 Dust collection base station, 11 timing belt, 111 first timing belt, 112 second timing belt, 121, 122 track, 123 first track section, 124 second track section, 125 descending section, 13 transfer device, 130 carrying part, 131 transfer frame, 135 electromagnetic switch, 136 buckle, 137 drive spring, 138 clamping claw, 139 rack, 141 rolling bearing, 15 first opening device, 151 timing pulley, 152 tensioning wheel, 153 timing belt, 154 Pin, 155 pin slot, 16 dust collection device, 161 trash can, 162 adapter cover, 163 folding cover, 164 pressure ring, 165 trash bag, 166 dust full detection device, 17 auxiliary dust dump device, 18 charging device, 19 fan ;
2自移动机器人、21主机、22容尘盒、220过滤元器件、23上翻盖、24下翻盖、26锁定弹簧、27锁销、28充电接头、29联动部、20A、20B勾部、211按钮、212转接机构;2Self-mobile robot, 21 host, 22 dust container, 220 filter components, 23 upper flip, 24 lower flip, 26 locking spring, 27 locking pin, 28 charging connector, 29 linkage part, 20A, 20B hook part, 211 button , 212 transfer agency;
3垃圾;3 garbage;
4第二开盖装置、41驱动件、42转动件;4 The second lid opening device, 41 driving part, 42 rotating part;
I进站方向、O出站方向。I inbound direction, O outbound direction.
结合附图和本发明具体实施方式的描述,能够更加清楚地了解本发明的细节。但是,在此描述的本发明的具体实施方式,仅用于解释本发明的目的,而不能以任何方式理解成是对本发明的限制。在本发明的教导下,技术人员可以构想基于本发明的任意可能的变形,这些都应被视为属于本发明的范围。The details of the present invention can be understood more clearly in combination with the drawings and the description of the specific embodiments of the present invention. However, the specific embodiments of the present invention described herein are only used to explain the purpose of the present invention, and cannot be construed as limiting the present invention in any way. Under the teaching of the present invention, the skilled person can conceive any possible modifications based on the present invention, and these should be regarded as belonging to the scope of the present invention.
如图1-1至图1-4,以及图2-1至图2-3所示,本公开提供一种自移动机器人系统,其包括自移动机器人2(例如扫地机器人)和集尘基站1,自移动机器人2包括主机21 和容尘盒22,容尘盒22可拆卸地安装于主机21,容尘盒22用于容纳垃圾3、灰尘等,主机21包括自移动机器人2的电路部分。As shown in FIGS. 1-1 to 1-4, and FIGS. 2-1 to 2-3, the present disclosure provides a self-moving robot system, which includes a self-moving robot 2 (such as a sweeping robot) and a dust collection base station 1 The self-moving robot 2 includes a host 21 and a dust container 22. The dust container 22 is detachably mounted on the host 21. The dust container 22 is used to contain garbage 3, dust, etc., and the host 21 includes the circuit part of the self-moving robot 2.
集尘基站1包括充电装置18、动力装置(未示出)、集尘装置16和转移装置13,自移动机器人2具有充电接头28,充电装置18用于与充电接头28电连接从而对自移动机器人2进行充电。充电装置18可以包括金属触点,充电接头28可以包括与充电装置18的金属触点匹配的金属触点。The dust collection base station 1 includes a charging device 18, a power device (not shown), a dust collection device 16 and a transfer device 13. The self-moving robot 2 has a charging connector 28, and the charging device 18 is electrically connected to the charging connector 28 to move The robot 2 charges. The charging device 18 may include metal contacts, and the charging connector 28 may include metal contacts that match the metal contacts of the charging device 18.
转移装置13能够与容尘盒22结合并辅助容尘盒22从主机21分离或者辅助容尘盒22安装于主机21,例如驱动锁销27退出锁槽从而使容尘盒22从主机21分离,且或者松开容尘盒22且同时使锁销27插入锁槽从而使容尘盒22安装于主机21。The transfer device 13 can be combined with the dust container 22 and assist the dust container 22 to be separated from the host 21 or the auxiliary dust container 22 is installed in the host 21, for example, the lock pin 27 is driven to exit the lock slot to separate the dust container 22 from the host 21, And either loosen the dust container 22 and at the same time insert the lock pin 27 into the lock slot, so that the dust container 22 is installed on the host 21.
应当理解,转移装置13“辅助”容尘盒22从主机21分离,包括以下两种情况:It should be understood that the "auxiliary" dust container 22 of the transfer device 13 is separated from the host 21, including the following two situations:
第一、容尘盒22由转移装置13从主机21拆卸并移走;First, the dust container 22 is disassembled and removed from the host 21 by the transfer device 13;
第二、容尘盒22被主机21主动地卸载,例如弹出/推出等,而转移装置13用于接收并移走从主机21脱离的该容尘盒22。Second, the dust container 22 is actively unloaded by the host 21, such as ejecting/ejecting, and the transfer device 13 is used to receive and remove the dust container 22 detached from the host 21.
动力装置连接于转移装置13以使转移装置13按照预定的路径移动从而将容尘盒22转移到集尘装置16的集尘口。自移动机器人系统包括第一开盖装置15,第一开盖装置15安装于集尘基站1或者自移动机器人2,当容尘盒22到达集尘口处时,第一开盖装置15将容尘盒22打开从而使容尘盒22内的垃圾3等从集尘口掉入集尘装置16。在转移装置13转移容尘盒22的过程中,充电装置18可以与自移动机器人2的主机21电连接从而对自移动机器人2进行充电。The power device is connected to the transfer device 13 to move the transfer device 13 according to a predetermined path to transfer the dust container 22 to the dust collection port of the dust collection device 16. The self-moving robot system includes a first lid opening device 15. The first lid opening device 15 is installed at the dust collection base station 1 or the self-moving robot 2. When the dust container 22 reaches the dust collection port, the first lid opening device 15 will contain The dust box 22 is opened so that the garbage 3 and the like in the dust container 22 fall into the dust collecting device 16 from the dust collecting port. In the process of transferring the dust container 22 by the transfer device 13, the charging device 18 may be electrically connected with the host 21 of the self-mobile robot 2 to charge the self-mobile robot 2.
在该自移动机器人系统中,自移动机器人2的容尘盒22能够从主机21卸下,并且容尘盒22能够移动到集尘口16,从而容尘盒22内的垃圾3等被集尘装置16收集,使得垃圾3等被统一清理而避免了用户频繁的倒垃圾。而且,在该系统中,无需移动整个自移动机器人2,系统负载较小,对驱动装置的驱动能力要求较小。通过转移装置13转移容尘盒22而不使用风泵抽吸容尘盒22内的垃圾3等,工作噪音较低,用户使用舒适度较高。In this self-mobile robot system, the dust container 22 of the self-mobile robot 2 can be detached from the host 21, and the dust container 22 can be moved to the dust collecting opening 16, so that the garbage 3 and the like in the dust container 22 are collected. The device 16 collects, so that the garbage 3, etc. are uniformly cleaned up and avoids frequent dumping of garbage by the user. Moreover, in this system, there is no need to move the entire self-moving robot 2, the system load is small, and the drive capability of the drive device is small. The dust container 22 is transferred by the transfer device 13 without using an air pump to suck the garbage 3 in the dust container 22, and the working noise is lower, and the user comfort is higher.
此外,在收集垃圾3等的过程中可以同步地对自移动机器人2进行充电。In addition, the self-mobile robot 2 can be charged synchronously in the process of collecting garbage 3 and the like.
定义,自移动机器人2进入集尘基站1的方向为进站方向I,离开集尘基站1的方向为出站方向O。By definition, the direction from the mobile robot 2 entering the dust collection base station 1 is the inbound direction I, and the direction leaving the dust collection base station 1 is the outbound direction O.
下面分别介绍该自移动机器人系统的两个具体实施例。Two specific embodiments of the self-moving robot system are respectively introduced below.
第一实施例The first embodiment
如图1-1至图1-4所示,动力装置包括传送组件,所述传送组件包括沿竖直方向设置的第一传送部和沿水平方向设置的第二传送部,转移装置连接于动力装置以跟随传送组件移动。传送组件包括同步带组件,第一传送部包括第一同步带,第二传送部包括第二同步带。As shown in Figures 1-1 to 1-4, the power device includes a transmission assembly that includes a first transmission part arranged in a vertical direction and a second transmission part arranged in a horizontal direction. The transfer device is connected to the power The device moves with the conveyor assembly. The conveying assembly includes a timing belt assembly, the first conveying part includes a first timing belt, and the second conveying part includes a second timing belt.
动力装置可以包括驱动电机(未示出),驱动电机驱动同步带组件,同步带组件包括同步带11和辊子,同步带11安装于辊子,辊子受驱动电机驱动而带动同步带11,同步带11包括沿竖直方向设置的第一同步带111和沿水平方向设置的第二同步带112。The power device may include a drive motor (not shown), the drive motor drives a timing belt assembly, the timing belt assembly includes a timing belt 11 and a roller, the timing belt 11 is installed on the roller, the roller is driven by the drive motor to drive the timing belt 11, the timing belt 11 It includes a first synchronous belt 111 arranged in the vertical direction and a second synchronous belt 112 arranged in the horizontal direction.
在其他实施方式中,动力装置还可以包括齿轮齿条机构、连杆机构、钢丝或者链条、丝杠和螺杆等其他结构。In other embodiments, the power device may also include other structures such as a rack and pinion mechanism, a linkage mechanism, a steel wire or a chain, a lead screw, and a screw.
例如,动力装置包括齿条组件和安装在转移装置的齿轮组件,齿轮组件与齿条组件啮合转动从而带动转移装置移动。For example, the power device includes a rack assembly and a gear assembly installed on the transfer device. The gear assembly and the rack assembly are meshed and rotated to drive the transfer device to move.
集尘装置16可以位于第一同步带111的侧方和第二同步带112的下方。转移装置13可以连接于同步带组件,例如铆接于同步带11或者通过螺栓紧定于同步带11,从而转移装置13能够跟随同步带组件沿第一同步带111和第二同步带112移动至集尘口。集尘基站1包括用于供自移动机器人2停靠的操作位,充电装置18可以设于上述操作位,集尘装置16高于充电装置18(操作位)设置,自移动机器人2在集尘装置16的下方进出集尘基站1,传送组件位于集尘装置16的侧上方。在转移装置13转移容尘盒22的过程中,集尘装置16位于操作位的上方,使得集尘基站1的结构紧凑。The dust collecting device 16 may be located at the side of the first timing belt 111 and below the second timing belt 112. The transfer device 13 can be connected to the timing belt assembly, for example, riveted to the timing belt 11 or fastened to the timing belt 11 by bolts, so that the transfer device 13 can follow the timing belt assembly along the first timing belt 111 and the second timing belt 112 to move to the set. Dust mouth. The dust collection base station 1 includes an operating position for the mobile robot 2 to stop, the charging device 18 can be set in the above operating position, the dust collecting device 16 is set higher than the charging device 18 (operating position), and the self-mobile robot 2 is in the dust collecting device The dust collection base station 1 enters and exits below 16, and the transmission assembly is located above the side of the dust collection device 16. When the transfer device 13 transfers the dust container 22, the dust collection device 16 is located above the operating position, so that the structure of the dust collection base station 1 is compact.
集尘基站1还可以包括密封部,密封部用于密封连接容尘盒22和集尘口,以防止灰尘等外漏。The dust collection base station 1 may further include a sealing part for sealingly connecting the dust container 22 and the dust collecting port to prevent the leakage of dust and the like.
在该实施例中,密封部可以包括转接罩162,集尘装置16可以包括垃圾桶161和该转接罩162,垃圾桶161具有集尘口,垃圾桶161可以配合垃圾袋来使用。转接罩162具有大口端和小口端,大口端的口径大于小口端,转接罩162的大口端与集尘口套接,小口端用于与容尘盒22对准。当容尘盒22被移送到集尘装置16上方时,容尘盒22的垃圾倾倒口能够与转接罩162的小口端对接,从而在倾倒垃圾3等时,容尘盒22和垃圾桶161之间没有漏灰缝隙,防止扬尘。In this embodiment, the sealing portion may include an adapter cover 162, and the dust collecting device 16 may include a trash can 161 and the adapter cover 162. The trash can 161 has a dust collection port, and the trash can 161 can be used in conjunction with a garbage bag. The adapter cover 162 has a large mouth end and a small mouth end. The diameter of the big mouth end is larger than the small mouth end. The big mouth end of the adapter cover 162 is sleeved with the dust collecting mouth, and the small mouth end is used to align with the dust container 22. When the dust container 22 is moved to the top of the dust collecting device 16, the garbage dumping port of the dust container 22 can be connected to the small mouth end of the adapter cover 162, so that the dust container 22 and the trash can 161 are dumped when the trash 3 is dumped. There is no ash leakage gap between them to prevent dust.
在其他实施例中,垃圾桶161的一侧可开设风孔并在垃圾桶161的外壁侧安装风机,从而通过风机转动可对垃圾桶161和垃圾袋之间的空间抽真空,使得垃圾袋在大气压的作用下紧贴垃圾桶161的内壁设置。In other embodiments, one side of the trash can 161 can be provided with a wind hole and a fan can be installed on the outer wall side of the trash can 161, so that the space between the trash can 161 and the trash bag can be vacuumed by the rotation of the fan, so that the trash bag is It is arranged close to the inner wall of the trash can 161 under the action of atmospheric pressure.
在其他实施例中,集尘装置16可以具有垃圾桶安装位置而不包括垃圾桶61,用户 可以直接放置家用的垃圾桶于安装位置或者将垃圾袋套于垃圾桶安装位置。In other embodiments, the dust collecting device 16 may have a trash can installation position instead of the trash can 61, and the user can directly place a household trash can in the installation position or put a trash bag in the trash can installation position.
在其他实施例中,自移动机器人系统还包括用于控制集尘装置16移动的传动机构。可选的,传动机构包括传动带和驱动电机。可选的,传动带可带动集尘装置分别移动至集尘基站1外部的垃圾袋安装位置,内部的回收拖布位置以及用于集尘的初始位置。可选的,用于集尘的初始位置可位于垃圾袋安装位置和回收拖布位置之间。In other embodiments, the self-moving robot system further includes a transmission mechanism for controlling the movement of the dust collecting device 16. Optionally, the transmission mechanism includes a transmission belt and a drive motor. Optionally, the transmission belt can drive the dust collection device to move to the installation position of the garbage bag outside the dust collection base station 1, the internal recovery mop position, and the initial position for dust collection. Optionally, the initial position for dust collection may be located between the garbage bag installation position and the recycling mop position.
如图1-13所示,垃圾桶162的上沿还安装有尘满检测装置166,例如,红外传感器,超声波传感器,距离传感器等,当垃圾等即将充满垃圾桶162时,尘满检测装置166会检测到并提醒用户清空。As shown in Figure 1-13, the upper edge of the trash can 162 is also equipped with a full-dust detection device 166, such as an infrared sensor, an ultrasonic sensor, a distance sensor, etc., when the garbage is about to fill the trash can 162, the full-dust detection device 166 Will be detected and remind the user to empty.
集尘基站1还可以包括与同步带11紧贴的轨道121和与同步带11间隔开的轨道122,轨道121、122可以大致与同步带11平行设置。转移装置13可以受轨道121、122的限位而沿着轨道121、122从其首端移动至尾端。轨道121、122可以包括与第一同步带111的传送轨迹平行的第一轨道段123和与第二同步带112的传送轨迹平行的第二轨道段124,以及与第二轨道段124连接的下降段125,下降段125可以相对于竖直方向倾斜且设于轨道121、122的尾端。转移装置13沿着第一轨道段123在竖直方向上移动,沿着第二轨道段124在水平方向上移动,沿着下降段125下降从而容尘盒22能够在高度上越过转接罩162之后再下降而与转接罩162贴紧。The dust collection base station 1 may further include a track 121 close to the timing belt 11 and a track 122 spaced apart from the timing belt 11, and the tracks 121 and 122 may be arranged substantially in parallel with the timing belt 11. The transfer device 13 can be restricted by the rails 121 and 122 to move along the rails 121 and 122 from the head end to the tail end thereof. The tracks 121, 122 may include a first track section 123 parallel to the conveying track of the first timing belt 111, a second track section 124 parallel to the conveying track of the second timing belt 112, and a descending track connected to the second track section 124. Section 125, the descending section 125 can be inclined with respect to the vertical direction and are arranged at the tail ends of the rails 121 and 122. The transfer device 13 moves in the vertical direction along the first track section 123, moves in the horizontal direction along the second track section 124, and descends along the descending section 125 so that the dust container 22 can cross the adapter cover 162 in height. After that, it descends to be close to the adapter cover 162.
转移装置13可以包括多个滚动轴承141,滚动轴承141安装在轨道121、122内,从而转移装置13滚动连接于轨道121、122。The transfer device 13 may include a plurality of rolling bearings 141, and the rolling bearings 141 are installed in the rails 121 and 122, so that the transfer device 13 is connected to the rails 121 and 122 in a rolling manner.
如图1-3a至图1-3d所示,自移动机器人2可以包括上述第一开盖装置15,且第一开盖装置15可以固定安装于自移动机器人2的容尘盒22从而与容尘盒22一同被转移。容尘盒22包括上翻盖23和下翻盖24(盒盖),上翻盖23供人工操作而打开或关闭容尘盒22,下翻盖24供开盖机构操作而打开或关闭容尘盒22。上翻盖23可以位于容尘盒22的上表面,下翻盖24可以位于容尘盒22的下表面,从而方便人工开盖和自动开盖。As shown in FIGS. 1-3a to 1-3d, the self-moving robot 2 may include the above-mentioned first lid opening device 15, and the first lid opening device 15 may be fixedly installed on the dust container 22 of the self-moving robot 2 so as to be compatible with the container. The dust box 22 is transferred together. The dust container 22 includes an upper flap 23 and a lower flap 24 (box cover). The upper flap 23 is for manual operation to open or close the dust container 22, and the lower flap 24 is for the opening mechanism to operate to open or close the dust container 22. The upper flip cover 23 may be located on the upper surface of the dust container 22, and the lower flip cover 24 may be located on the lower surface of the dust container 22, thereby facilitating manual and automatic opening of the cover.
在容尘盒22内还可以具有过滤元器件220,当自移动机器人2工作时该过滤元器件220过滤吸入的垃圾。过滤元器件220可以包括HEPA过滤网、海绵垫、无纺布等。There may also be a filter element 220 in the dust container 22, and the filter element 220 filters the inhaled garbage when the self-mobile robot 2 is working. The filter element 220 may include a HEPA filter, a sponge pad, a non-woven fabric, and the like.
第一开盖装置15包括开盖电机和转动部,转动部可以包括同步带轮151、张紧轮152和同步带153,开盖电机的输出端可以安装有同步带轮151,同步带轮151和张紧轮152通过同步带153连接,开盖电机驱动转动部转动,即驱动同步带轮151和张紧轮152转动并带动同步带153滚动。开盖电机可以安装于容尘盒22,转动部可以安装于容尘盒22的下翻盖24。第一开盖装置15与容尘盒22固定安装,从而第一开盖装置15与容尘盒 22可靠地连接。当容尘盒22移动至集尘装置16的集尘口时,开盖电机驱动转动部转动以打开下翻盖24;当容尘盒22完成倾倒垃圾后,开盖电机驱动转动部转动以关闭下翻盖24。The first cover opening device 15 includes a cover opening motor and a rotating part. The rotating part may include a timing belt wheel 151, a tensioning wheel 152, and a timing belt 153. The output end of the cover opening motor may be equipped with a timing belt wheel 151 and a timing belt wheel 151. It is connected with the tensioning wheel 152 through a timing belt 153, and the cover-opening motor drives the rotating part to rotate, that is, driving the timing belt wheel 151 and the tensioning wheel 152 to rotate and drive the timing belt 153 to roll. The lid opening motor can be installed in the dust container 22, and the rotating part can be installed in the lower flip 24 of the dust container 22. The first lid opening device 15 and the dust container 22 are fixedly installed, so that the first lid opening device 15 and the dust container 22 are reliably connected. When the dust container 22 moves to the dust collection port of the dust collection device 16, the cover opening motor drives the rotating part to rotate to open the lower flip 24; when the dust container 22 finishes dumping garbage, the cover opening motor drives the rotating part to rotate to close the lower flap 24. Clamshell 24.
在其他实施例中,第一开盖装置15还可以包括设于容尘盒22内的联动机构,转移装置13夹持容尘盒22后通过作用联动机构来开闭下翻盖24。In other embodiments, the first lid opening device 15 may further include a linkage mechanism provided in the dust container 22, and the transfer device 13 clamps the dust container 22 to open and close the lower flip 24 by acting on the linkage mechanism.
如图1-2所示,在容尘盒22和转移装置13的对应位置可以设有接触电极,当转移装置13对接容尘盒22时接触电极导通从而使开盖电机的电源接通,可根据需要控制第一开盖装置15是否打开。As shown in Figure 1-2, contact electrodes can be provided at the corresponding positions of the dust container 22 and the transfer device 13, and when the transfer device 13 is connected to the dust container 22, the contact electrodes are turned on so that the power supply of the cover opening motor is turned on. Whether the first lid opening device 15 is opened can be controlled as required.
如图1-1和图1-2所示,转移装置13包括动力源、转移架131和装卸部,装卸部用于操作容尘盒22从主机21分离或者安装于主机21。装卸部具体地可以包括夹持爪138,转移架131安装于同步带11(动力装置),动力源和夹持爪138安装于转移架131。动力源包括夹持电机和齿轮(第一齿结构),夹持爪138包括齿条139(第二齿结构),夹持电机驱动的齿轮与齿条139啮合,从而由齿条139带动夹持爪138夹紧或者松开容尘盒22。As shown in FIGS. 1-1 and 1-2, the transfer device 13 includes a power source, a transfer frame 131, and a loading and unloading part. The loading and unloading part is used to operate the dust box 22 to be separated from the host 21 or installed in the host 21. The loading and unloading part may specifically include a clamping claw 138, the transfer frame 131 is installed on the timing belt 11 (power device), and the power source and the clamping claw 138 are installed on the transfer frame 131. The power source includes a clamping motor and a gear (first tooth structure). The clamping pawl 138 includes a rack 139 (second tooth structure). The gear driven by the clamping motor meshes with the rack 139, so that the rack 139 drives the clamping The claw 138 clamps or loosens the dust container 22.
在本实施例中,装卸部位于转移装置13,在其他实施例中,装卸部还可以位于自移动机器人。In this embodiment, the loading and unloading part is located in the transfer device 13. In other embodiments, the loading and unloading part may also be located in a self-moving robot.
容尘盒22设有锁销27和联动部29,当夹持爪138结合联动部29且沿水平方向推动联动部29时,锁销27能够与联动部29联动从而退出锁槽。联动部29具有与锁销27连接的锁定弹簧26,自移动机器人2的主机21设有锁槽。例如,联动部29可以在进站方向I上位于锁销27的下游,联动部29可以与锁销27在水平方向上同时沿相反的两个方向移动。The dust box 22 is provided with a lock pin 27 and a linkage portion 29. When the clamping pawl 138 combines with the linkage portion 29 and pushes the linkage portion 29 in a horizontal direction, the lock pin 27 can be linked with the linkage portion 29 to exit the lock slot. The linkage part 29 has a lock spring 26 connected with the lock pin 27, and the main body 21 of the self-moving robot 2 is provided with a lock groove. For example, the linkage portion 29 may be located downstream of the lock pin 27 in the station entry direction I, and the linkage portion 29 and the lock pin 27 may move in two opposite directions simultaneously in the horizontal direction.
当转移装置13与容尘盒22结合时,夹持爪138夹紧联动部29且可以沿出站方向O推动联动部29,联动部29移动时锁定弹簧26被压缩,锁销27与联动部29联动从而沿进站方向I移动而退出锁槽(如图1-3b所示)。当转移装置13松开容尘盒22时,夹持爪138松开联动部29,锁定弹簧26的弹力沿出站方向O弹射锁销27,锁销27插入锁槽(如图1-3c所示)。When the transfer device 13 is combined with the dust container 22, the clamping claw 138 clamps the linkage portion 29 and can push the linkage portion 29 in the outbound direction O. When the linkage portion 29 moves, the lock spring 26 is compressed, and the lock pin 27 and the linkage portion 29 linkage to move along the station direction I and exit the lock slot (as shown in Figure 1-3b). When the transfer device 13 releases the dust container 22, the clamping claw 138 releases the linkage 29, the elastic force of the locking spring 26 ejects the lock pin 27 in the exit direction O, and the lock pin 27 is inserted into the lock groove (as shown in Figure 1-3c) Show).
在一实施例中,如图3-1和图3-2所示,自移动机器人系统包括第二开盖装置4,第二开盖装置4包括:驱动件41,设于装卸部;转动件42,设于容尘盒22的一侧且与容尘盒22的盒盖(即下翻板24)接触,转动件42被配置为在驱动件41的驱动下在一第一位置和一第二位置间转动;当转动件42位于第一位置时,盒盖关闭;当转动件42 由第一位置转动至第二位置时,盒盖在转动件42的驱动下打开。In an embodiment, as shown in FIGS. 3-1 and 3-2, the self-moving robot system includes a second lid opening device 4, and the second lid opening device 4 includes: a driving member 41, which is arranged at the loading and unloading part; and a rotating member 42. Located on one side of the dust container 22 and in contact with the cover of the dust container 22 (ie, the lower flap 24), the rotating member 42 is configured to be driven by the driving member 41 in a first position and a first position Rotate between the two positions; when the rotating member 42 is in the first position, the box cover is closed; when the rotating member 42 is rotated from the first position to the second position, the box cover is opened by the driving of the rotating member 42.
可选的,请继续参考图3-1和图3-2,转动件42的一端通过一连接轴与容尘盒22转动连接,远离连接轴的一端在重力的作用下与盒盖接触。当转动件42位于第一位置时,盒盖关闭;而当转动件42在驱动件41的驱动下绕连接轴转动至第二位置时,转动件42远离连接轴的一端便会推动盒盖打开,从而使容尘盒内的灰尘落入集尘装置16内。可选的,转动件42具有限位部,当转动件42位于第一位置时,盒盖远离转动件42的一端与限位部之间具有间隔,而当转动件42在驱动件41的驱动下绕连接轴转动至第二位置时,盒盖远离转动件42的一端与限位部抵接,转动件42远离连接轴的一端与盒盖抵接,从而转动件42和盒盖形成相互限位。Optionally, please continue to refer to Figures 3-1 and 3-2. One end of the rotating member 42 is rotatably connected to the dust container 22 through a connecting shaft, and the end away from the connecting shaft contacts the box cover under the action of gravity. When the rotating member 42 is in the first position, the box cover is closed; and when the rotating member 42 is driven by the driving member 41 to rotate around the connecting shaft to the second position, the end of the rotating member 42 away from the connecting shaft will push the box cover open , So that the dust in the dust container falls into the dust collecting device 16. Optionally, the rotating member 42 has a limiting portion. When the rotating member 42 is in the first position, there is a gap between the end of the box cover away from the rotating member 42 and the limiting portion, and when the rotating member 42 is driven by the driving member 41 When rotating downward around the connecting shaft to the second position, the end of the box cover away from the rotating member 42 abuts against the limiting portion, and the end of the rotating member 42 away from the connecting shaft abuts against the box cover, so that the rotating member 42 and the box cover form a mutual limit. Bit.
可选的,如图3-3所示,示出了装卸部夹持打开容尘盒的时序过程。其中,装卸部可具有夹持爪138,驱动件41可独立于夹持爪138设置在夹持爪138的端部一侧。首先,夹持爪138向内收紧夹持到容尘盒22并将其转移至集尘口处后(时序2),驱动件41便可在外力作用下朝转动件42靠近连接轴的一端移动(时序3),从而推动转动件42转动,而当容尘盒22内的灰尘倾倒完毕后,驱动件41上的外力便会撤去,从而驱动件41复位(时序4),进而使转动件42复位,即使转动件42由第二位置向第一位置转动,当转动件42转回第一位置时,盒盖便重新关闭。Optionally, as shown in Fig. 3-3, the sequence of opening the dust container by the loading and unloading part is shown. Wherein, the loading and unloading part may have a clamping claw 138, and the driving member 41 can be arranged on the side of the end of the clamping claw 138 independently of the clamping claw 138. First, after the clamping claw 138 is tightened and clamped to the dust container 22 and transferred to the dust collecting port (sequence 2), the driving member 41 can approach the end of the connecting shaft toward the rotating member 42 under the action of external force. Move (sequence 3), thereby pushing the rotating member 42 to rotate, and when the dust in the dust container 22 is dumped, the external force on the driving member 41 will be removed, so that the driving member 41 is reset (sequence 4), and then the rotating member 42 is reset, even if the rotating member 42 rotates from the second position to the first position, when the rotating member 42 returns to the first position, the box cover will be closed again.
如图1-3d所示,自移动机器人2包括操作部,操作部能够响应于用户按压或释放按压以辅助容尘盒22从主机21分离或安装于主机21。具体地,人工打开容尘盒22时,例如沿箭头A的方向按下设于按钮211(操作部)从而锁定弹簧26被压缩,联动部29移动并通过转接机构212带动锁销27,转接机构212使联动部29和锁销27靠近,例如,联动部29沿箭头B2的指向移动,锁销27沿箭头B1的指向移动,从而锁销27内缩从主机21上解锁。As shown in FIGS. 1-3d, the self-moving robot 2 includes an operating part, which can assist the separation or installation of the dust container 22 from the host 21 in response to the user's pressing or releasing the pressing. Specifically, when the dust container 22 is manually opened, for example, the button 211 (operating portion) is pressed in the direction of arrow A to compress the lock spring 26, the linkage portion 29 moves and the lock pin 27 is driven by the transfer mechanism 212 to rotate The connecting mechanism 212 moves the linkage portion 29 and the lock pin 27 close, for example, the linkage portion 29 moves in the direction of arrow B2, and the lock pin 27 moves in the direction of arrow B1, so that the lock pin 27 retracts inward and unlocks from the host 21.
容尘盒22具有结合槽,结合槽向上敞开,主机21具有向上敞开的脱口,容尘盒22从该脱口离开主机21。夹持爪138能够进入结合槽并夹紧容尘盒22,夹持爪138在夹紧容尘盒22之后沿第一同步带111竖直移动。The dust container 22 has a coupling groove which opens upwards, and the main body 21 has an upward opening opening, and the dust container 22 leaves the main machine 21 from the opening. The clamping claw 138 can enter the coupling groove and clamp the dust containing box 22, and the clamping claw 138 moves vertically along the first timing belt 111 after clamping the dust containing box 22.
在转移装置13转移容尘盒22的过程中,夹持爪138承载容尘盒22的全部重量,齿轮和齿条139啮合的结构能够提供可靠的锁紧力,从而保证容尘盒22被稳定可靠的移送。When the transfer device 13 transfers the dust container 22, the clamping claw 138 carries the entire weight of the dust container 22, and the meshing structure of the gear and rack 139 can provide a reliable locking force, thereby ensuring that the dust container 22 is stabilized Reliable transfer.
夹持爪138能够向容尘盒22施力使锁销27退出锁槽以辅助容尘盒22与主机21分离,还能够释放对锁销27施加的力使锁销27插入锁槽以辅助容尘盒22安装于主机21。The clamping pawl 138 can apply force to the dust container 22 to pull the lock pin 27 out of the lock slot to assist the dust container 22 to separate from the host 21, and can also release the force applied to the lock pin 27 to insert the lock pin 27 into the lock slot to assist the container. The dust box 22 is installed in the host 21.
集尘基站1还可以包括辅助倒尘装置17(示于图2-2),辅助倒尘装置17包括振动 马达和偏心块(偏心组件),振动马达驱动偏心块振动,振动马达可以安装于转移架131(辅助倒尘装置17安装于转移装置13)并随转移装置13一同移动,偏心块能够连接于容尘盒22或者与容尘盒22接触以带动容尘盒22振动。当容尘盒22被移送到集尘口时,辅助倒尘装置17拍打容尘盒22从而促进垃圾3等的倾倒。The dust collection base station 1 may also include an auxiliary dust dumping device 17 (shown in Figure 2-2). The auxiliary dust dumping device 17 includes a vibration motor and an eccentric block (eccentric assembly). The vibration motor drives the eccentric block to vibrate. The vibration motor can be installed in the transfer The frame 131 (the auxiliary dust dumping device 17 is installed on the transfer device 13) and moves together with the transfer device 13. The eccentric block can be connected to the dust container 22 or contact with the dust container 22 to drive the dust container 22 to vibrate. When the dust container 22 is moved to the dust collection port, the auxiliary dust dumping device 17 slaps the dust container 22 to promote the dumping of the garbage 3 and the like.
辅助倒尘装置17还可以包括例如四个减震球(减震器),减震球可以连接于振动马达和转移装置13之间,比如连接于振动马达和转移架131之间。减震球起到减震作用从而减少振动马达传递到转移架131的振动力并使振动力尽可能多地作用到容尘盒22。The auxiliary dust dumping device 17 may further include, for example, four shock-absorbing balls (shock absorbers), and the shock-absorbing balls may be connected between the vibration motor and the transfer device 13, for example, between the vibration motor and the transfer frame 131. The shock absorbing ball plays a shock absorbing function to reduce the vibration force transmitted by the vibration motor to the transfer frame 131 and make the vibration force act on the dust container 22 as much as possible.
集尘基站1包括控制系统,控制系统用于控制驱动电机、夹持电机、开盖电机和振动马达等。The dust collection base station 1 includes a control system, which is used to control a driving motor, a clamping motor, a cover opening motor, a vibration motor, and the like.
下面结合图1-5至图1-14,介绍该自移动机器人系统的工作流程,即该自移动机器人系统的控制方法。The following describes the work flow of the self-mobile robot system, that is, the control method of the self-mobile robot system, with reference to Figs. 1-5 to Fig. 1-14.
集尘装置安装步骤Dust collection device installation steps
如图1-5所示,安装集尘装置16,例如可以沿着进站方向I安装集尘装置16(垃圾桶161)。As shown in FIGS. 1-5, the dust collecting device 16 is installed, for example, the dust collecting device 16 (trash can 161) can be installed along the station direction I.
机器人进站步骤Robot pit stop steps
如图1-6所示,自移动机器人2进站,转移装置13下降并靠近自移动机器人2,充电装置18和充电接头28连接。As shown in Figs. 1-6, the self-mobile robot 2 enters the station, the transfer device 13 descends and approaches the self-mobile robot 2, and the charging device 18 and the charging connector 28 are connected.
容尘盒分离步骤Dust box separation steps
如图1-7所示,转移装置13继续靠近自移动机器人2,转移装置13与容尘盒22结合并辅助容尘盒22从主机21分离,例如夹持爪138进入结合槽并准备与容尘盒22结合。如图1-8所示,夹持电机驱动夹持爪138夹紧容尘盒22,锁销27从锁槽退出,容尘盒22从自移动机器人2的主机21分离。As shown in Figures 1-7, the transfer device 13 continues to approach the self-moving robot 2. The transfer device 13 is combined with the dust container 22 and assists the dust container 22 to separate from the host 21. The dust box 22 is combined. As shown in FIGS. 1-8, the clamping motor drives the clamping claws 138 to clamp the dust container 22, the lock pin 27 withdraws from the lock slot, and the dust container 22 is separated from the host 21 of the self-mobile robot 2.
转移步骤Transfer steps
转移装置13将容尘盒22转移到集尘口。如图1-9所示,转移装置13沿着第一同步带111和第一轨道段123移动,从而抬升容尘盒22,容尘盒22沿竖直方向脱离主机21。如图1-10所示,转移装置13沿着第二同步带112和第二轨道段124移动,从而沿水平方向移动容尘盒22使容尘盒22位于集尘装置16的上方。如图1-11所示,转移装置13沿着下降段125下降,从而使容尘盒22与集尘口对准并密封连接集尘口,即容尘盒22与转接罩162严密地对接。The transfer device 13 transfers the dust container 22 to the dust collection port. As shown in FIGS. 1-9, the transfer device 13 moves along the first timing belt 111 and the first track section 123, thereby lifting the dust container 22, and the dust container 22 is separated from the host 21 in the vertical direction. As shown in FIGS. 1-10, the transfer device 13 moves along the second timing belt 112 and the second track section 124, thereby moving the dust container 22 in the horizontal direction so that the dust container 22 is located above the dust collection device 16. As shown in Figs. 1-11, the transfer device 13 descends along the descending section 125, so that the dust container 22 is aligned with the dust collection port and is connected to the dust collection port in a sealed manner, that is, the dust container 22 and the adapter cover 162 are tightly butted .
开盖步骤Opening steps
如图1-12所示,第一开盖装置15打开容尘盒22的下翻盖24,例如开盖电机启动,转动部转动,容尘盒22的下翻盖24随着转动部而转动地打开。As shown in Figs. 1-12, the first lid opening device 15 opens the lower flap 24 of the dust container 22. For example, the lid opening motor is activated, the rotating part rotates, and the lower flap 24 of the dust container 22 rotates to open with the rotating part. .
拍打步骤Slap step
启动辅助倒尘装置17,例如启动振动马达,从而拍打容尘盒22。如图1-13所示,垃圾3等被倾倒完毕,开盖电机反转,容尘盒2的下翻盖24随着转动部而转动地关闭,关闭振动马达。The auxiliary dust dumping device 17 is activated, for example, a vibration motor is activated, so that the dust container 22 is tapped. As shown in Figs. 1-13, when the garbage 3, etc. are dumped, the lid opening motor is reversed, the lower flap 24 of the dust container 2 rotates and closes with the rotating part, and the vibration motor is turned off.
返回步骤Back to step
如图1-14所示,转移装置13下降,夹持电机驱动夹持爪138松开容尘盒22,锁销27插入锁槽,容尘盒22安装于自移动机器人2的主机21。As shown in Figs. 1-14, the transfer device 13 is lowered, the clamping motor drives the clamping claw 138 to loosen the dust container 22, the lock pin 27 is inserted into the lock slot, and the dust container 22 is installed on the host 21 of the self-moving robot 2.
集尘装置安装步骤和机器人进站步骤可以调换顺序。The order of the installation steps of the dust collector and the steps of the robot entering the station can be exchanged.
第二实施例Second embodiment
第二实施例的自移动机器人系统与第一实施例的自移动机器人系统结构类似,在此部分仅介绍二者的区别之处。The self-moving robot system of the second embodiment is similar in structure to the self-moving robot system of the first embodiment, and only the differences between the two are introduced in this section.
如图2-1至图2-4所示,集尘基站1不包括与同步带11紧贴设置的轨道121,而仅包括与同步带11间隔设置的轨道122。As shown in FIGS. 2-1 to 2-4, the dust collection base station 1 does not include a track 121 arranged close to the timing belt 11, but only includes a track 122 arranged spaced apart from the timing belt 11.
转移装置13包括动力源、转移架131和卡扣136(且不具有第一实施例中的夹持爪138,卡扣136用作转移装置13的装卸部),转移架131连接于动力装置且包括承载部130,动力源和卡扣136安装于转移架131。动力源包括电磁开关135和驱动弹簧137(且不具有第一实施例中的夹持电机和齿轮齿条结构),卡扣136连接于驱动弹簧137,卡扣136能够进入容尘盒22的结合槽并推动锁销27。The transfer device 13 includes a power source, a transfer frame 131 and a buckle 136 (and does not have the clamping claws 138 in the first embodiment, the buckle 136 is used as the loading and unloading part of the transfer device 13), and the transfer frame 131 is connected to the power device and It includes a carrying part 130, and a power source and a buckle 136 are installed on the transfer frame 131. The power source includes an electromagnetic switch 135 and a drive spring 137 (and does not have the clamping motor and rack and pinion structure in the first embodiment). The buckle 136 is connected to the drive spring 137, and the buckle 136 can enter the combination of the dust container 22 Slot and push the lock pin 27.
具体地,驱动弹簧137可以沿着竖直方向设置,电磁开关135可以通电而使卡扣136上移从而松开锁销27使锁销27插入锁槽,容尘盒22与主机21安装。在电磁开关135断电时,驱动弹簧137的弹力能够使卡扣136下移而推动锁销27退出锁槽,容尘盒22从主机21分离。Specifically, the drive spring 137 can be arranged in a vertical direction, the electromagnetic switch 135 can be energized to move the buckle 136 upwards to loosen the lock pin 27 so that the lock pin 27 is inserted into the lock slot, and the dust container 22 is installed with the host 21. When the electromagnetic switch 135 is powered off, the elastic force of the driving spring 137 can move the buckle 136 downward to push the lock pin 27 out of the lock slot, and the dust container 22 is separated from the host 21.
或者,可以通过按压操作部的方式而使容尘盒22解锁,从主机21分离。容尘盒22从主机21分离后,转移装置13可以将容尘盒22转移,主机21将容尘盒22弹出后也可以先行离开,将容尘盒22留在原地由转移装置13转移。Alternatively, the dust container 22 may be unlocked and separated from the main body 21 by pressing the operating part. After the dust container 22 is separated from the host 21, the transfer device 13 can transfer the dust container 22, and the host 21 can also leave the dust container 22 after ejecting the dust container 22, leaving the dust container 22 in place and transferring it by the transfer device 13.
如图2-3所示,锁销27可以包括朝向上的勾部20A,其用于插入主体21的锁槽以与主体21钩接。锁销27还可以包括在靠近集尘基站1的一侧设置的向上方和向进站方向I上的下游开放的勾部20B,该勾部20B用于与卡扣136钩接。这一方面便于向下推 压锁销27而压缩锁定弹簧26,解除锁销27与主体21的钩接,另一方面用于在进站方向I上防止容尘盒22与转移装置13分开。承载部130从下方托住容尘盒22,卡扣136向进站方向I上的下游钩住容尘盒22,从而稳定地保持容尘盒22。As shown in FIGS. 2-3, the lock pin 27 may include an upward-facing hook portion 20A for inserting into the lock groove of the main body 21 to hook with the main body 21. The lock pin 27 may also include a hook portion 20B provided on a side close to the dust collection base station 1 and opened upward and downstream in the station direction I, and the hook portion 20B is used for hooking with the buckle 136. On the one hand, it is convenient to push down the lock pin 27 to compress the lock spring 26 to release the hooking of the lock pin 27 and the main body 21, and on the other hand, it is used to prevent the dust container 22 from separating from the transfer device 13 in the approach direction I. The carrying portion 130 supports the dust container 22 from below, and the buckle 136 hooks the dust container 22 downstream in the inbound direction I, thereby stably holding the dust container 22.
主机21具有沿水平方向敞开的脱口,当转移装置13转移容尘盒22时,自移动机器人2的主机21沿出站方向O移动少量距离,例如5厘米左右,以解除对容尘盒22在竖直方向上的阻挡。The main body 21 has an opening that opens in the horizontal direction. When the transfer device 13 transfers the dust box 22, the main body 21 of the mobile robot 2 moves a small distance, for example, about 5 cm, in the outbound direction O to release the dust box 22 from being Blocking in the vertical direction.
承载部130成盘状并具有开口,其用于承载从主机21分离的容尘盒22,在转移装置13抬升容尘盒22的过程中,承载部130能够可靠的承载容尘盒22。The carrying portion 130 is disk-shaped and has an opening for carrying the dust container 22 separated from the host 21. When the transfer device 13 lifts the dust container 22, the carrying portion 130 can reliably carry the dust container 22.
开口的在承载部130的厚度方向的两侧分别具有上述大口端和上述小口端,承载部130可以用作密封集尘口和容尘盒22的密封部,承载部130能够覆盖集尘口。The two sides of the opening in the thickness direction of the bearing portion 130 respectively have the aforementioned large mouth end and the aforementioned small mouth end. The bearing portion 130 can be used as a sealing portion for sealing the dust collecting port and the dust container 22, and the bearing portion 130 can cover the dust collecting port.
如图2-1所示,集尘装置16还可以包括风扇19,该风扇19可以安装于垃圾桶161的侧壁,当更换垃圾袋165时,可以启动风扇19使风扇19抽吸垃圾桶161的内部从而使垃圾袋165能够贴在垃圾桶161的内壁。该风扇19的功率远小于传统的抽吸式集尘基站的风泵的功率,噪音极小,仅仅在更换垃圾袋165时启动风扇19。As shown in Figure 2-1, the dust collecting device 16 may also include a fan 19, which can be installed on the side wall of the trash can 161. When the trash bag 165 is replaced, the fan 19 can be activated to make the fan 19 suck the trash can 161. Therefore, the trash bag 165 can be attached to the inner wall of the trash can 161. The power of the fan 19 is much lower than the power of the air pump of the traditional suction dust collection base station, and the noise is extremely low. The fan 19 is only activated when the garbage bag 165 is replaced.
集尘装置16还可以包括压环164,垃圾桶161的集尘口处可以设有压槽,垃圾袋165的口部能够进入压槽并由压环164压紧,从而垃圾袋165被稳定地固定。The dust collecting device 16 may also include a pressing ring 164. The dust collecting port of the trash can 161 may be provided with a pressing groove. fixed.
集尘装置16还可以包括折叠盖163(且不具有第一实施例中的转接罩162),折叠盖163展开时能够遮盖集尘口。当转移装置13转移容尘盒22使容尘盒22具有水平方向上的移动时,容尘盒22能够同时推动折叠盖163折叠从而使集尘口裸露。当承载部130覆盖集尘口时,折叠盖163折叠,容尘盒22密封连接到集尘口。The dust collecting device 16 may further include a folding cover 163 (and not having the adaptor cover 162 in the first embodiment), and the folding cover 163 can cover the dust collecting opening when it is unfolded. When the transfer device 13 transfers the dust container 22 so that the dust container 22 can move in a horizontal direction, the dust container 22 can push the folding cover 163 to fold at the same time, so that the dust collection port is exposed. When the carrying portion 130 covers the dust collection port, the folding cover 163 is folded, and the dust container 22 is sealed to the dust collection port.
在不倾倒垃圾3等时,折叠盖163盖住垃圾桶161,防止异味和灰尘溢出。When not dumping the trash 3, etc., the folding cover 163 covers the trash can 161 to prevent odor and dust from overflowing.
如图2-5a至图2-5c所示,第一开盖装置15的张紧轮152可以具有销槽155,下翻盖24可以安装有“一”字形的销154,销154插装于销槽155。在张紧轮152转动时,下翻盖24一同转动而打开或者关闭容尘盒22。第一开盖装置15可以与转移装置13安装,具体地,开盖电机可以安装于转移架131,张紧轮152的销槽155可以与下翻盖24的销154可拆卸的安装。当容尘盒22与转移装置13结合时,第一开盖装置15与容尘盒22的下翻盖24连接在一起,即销154插入销槽155(如图2-5b和图2-5c所示),当容尘盒22从转移装置13脱离时,第一开盖装置15与下翻盖24分离,即销154离开销槽155(如图2-5a所示)。As shown in FIGS. 2-5a to 2-5c, the tensioning wheel 152 of the first lid opening device 15 may have a pin groove 155, and the lower flap 24 may be equipped with a "one"-shaped pin 154, which is inserted into the pin槽155. When the tensioning wheel 152 rotates, the lower flap 24 rotates together to open or close the dust container 22. The first lid opening device 15 can be installed with the transfer device 13, specifically, the lid opening motor can be installed on the transfer frame 131, and the pin groove 155 of the tension wheel 152 can be detachably installed with the pin 154 of the lower flip 24. When the dust container 22 is combined with the transfer device 13, the first opening device 15 is connected with the lower flip 24 of the dust container 22, that is, the pin 154 is inserted into the pin groove 155 (as shown in Figures 2-5b and 2-5c) When the dust container 22 is separated from the transfer device 13, the first opening device 15 is separated from the lower flip 24, that is, the pin 154 leaves the pin groove 155 (as shown in Fig. 2-5a).
下面结合图2-6至图2-13,介绍该自移动机器人系统的工作流程。The following describes the workflow of the self-moving robot system with reference to Figures 2-6 to 2-13.
如图2-6和图2-7所示,可以沿着进站方向I安装集尘装置16。As shown in Figures 2-6 and 2-7, the dust collecting device 16 can be installed along the approach direction I.
如图2-8所示,自移动机器人2进站,电磁开关135通电,驱动弹簧137压缩,自移动机器人2的充电接头28与充电装置18连接。As shown in FIGS. 2-8, the self-mobile robot 2 enters the station, the electromagnetic switch 135 is energized, the drive spring 137 is compressed, and the charging connector 28 of the self-mobile robot 2 is connected to the charging device 18.
如图2-9所示,转移装置13继续靠近自移动机器人2,电磁开关135可以断电,驱动弹簧137驱动卡扣136复位下移,卡扣136向下推动锁销27,锁销27从锁槽退出,容尘盒22从自移动机器人2的主机21分离,转动部与容尘盒22连接。As shown in Figure 2-9, the transfer device 13 continues to approach the self-moving robot 2, the electromagnetic switch 135 can be powered off, the drive spring 137 drives the buckle 136 to reset and move down, the buckle 136 pushes the lock pin 27 downward, and the lock pin 27 moves from The lock slot is withdrawn, the dust container 22 is separated from the host 21 of the self-mobile robot 2, and the rotating part is connected with the dust container 22.
自移动机器人2沿出站方向O移动,解除对容尘盒22在竖直方向上的阻挡,承载部130承载容尘盒22。The self-mobile robot 2 moves in the exit direction O to release the vertical blocking of the dust container 22, and the carrying part 130 carries the dust container 22.
如图2-10所示,转移装置13沿着第一同步带111和第一轨道段123移动,从而抬升容尘盒22,容尘盒22沿竖直方向脱离主机21。As shown in FIGS. 2-10, the transfer device 13 moves along the first timing belt 111 and the first track section 123, thereby lifting the dust container 22, and the dust container 22 is separated from the host 21 in the vertical direction.
如图2-11所示,转移装置13沿着第二同步带112和第二轨道段124移动,从而沿水平方向将容尘盒22移动到集尘装置16的上方。As shown in FIGS. 2-11, the transfer device 13 moves along the second timing belt 112 and the second track section 124, thereby moving the dust container 22 above the dust collecting device 16 in the horizontal direction.
如图2-12所示,转移装置13沿着下降段125下降,从而使容尘盒22密封连接集尘口。As shown in Figs. 2-12, the transfer device 13 descends along the descending section 125, so that the dust container 22 is connected to the dust collection port in a sealed manner.
如图2-13所示,开盖电机启动,容尘盒2的下翻盖24随着转动部而转动地打开,启动振动马达以拍打容尘盒22。As shown in Figs. 2-13, the lid opening motor is activated, the lower flap 24 of the dust container 2 rotates and opens with the rotating part, and the vibration motor is activated to tap the dust container 22.
集尘基站1的控制系统用于控制驱动电机、电磁开关135、开盖电机、振动马达和风扇19等。The control system of the dust collection base station 1 is used to control the drive motor, the electromagnetic switch 135, the cover opening motor, the vibration motor, the fan 19, and the like.
在其他实施例中,转移装置13可以通过支架等间接地连接于同步带11(动力装置),只要能够使转移装置13受同步带11的带动而移动即可。In other embodiments, the transfer device 13 may be indirectly connected to the timing belt 11 (power device) through a bracket or the like, as long as the transfer device 13 can be moved by the timing belt 11.
在其他实施例中,集尘装置16还可以从进站方向I和出站方向O的侧方装入集尘基站1。In other embodiments, the dust collecting device 16 can also be installed into the dust collecting base station 1 from the side of the inbound direction I and the outbound direction O.
在其他实施例中,下降段125可以沿着竖直方向设置。In other embodiments, the descending section 125 may be arranged along the vertical direction.
本说明书中的各个实施例均采用递进的方式描述,每个实施例重点说明的都是与其他实施例的不同之处,各个实施例之间相同相似的部分互相参见即可。The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.
上述实施例只为说明本发明的技术构思及特点,其目的在于让熟悉此项技术的人士能够了解本发明的内容并据以实施,并不能以此限制本发明的保护范围。凡根据本发明精神实质所作的等效变化或修饰,都应涵盖在本发明的保护范围之内。The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and their purpose is to enable those familiar with the technology to understand the content of the present invention and implement them accordingly, and cannot limit the protection scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be covered by the protection scope of the present invention.
Claims (17)
- 一种自移动机器人系统,其包括集尘基站(1)和自移动机器人(2),所述集尘基站(1)用于收集所述自移动机器人(2)的垃圾,所述自移动机器人(2)包括主机(21)和容尘盒(22),所述容尘盒(22)可拆卸地安装于所述主机(21),其中:A self-mobile robot system, comprising a dust collection base station (1) and a self-mobile robot (2), the dust collection base station (1) is used for collecting garbage of the self-mobile robot (2), the self-mobile robot (2) It includes a host (21) and a dust container (22), the dust container (22) is detachably installed on the host (21), wherein:所述集尘基站(1)包括动力装置、集尘装置(16)和转移装置(13),所述转移装置(13)能够与所述容尘盒(22)结合并辅助所述容尘盒(22)从所述主机(21)分离或者辅助所述容尘盒(22)安装于所述主机(21);所述集尘装置(16)用于收集所述容尘盒(22)的垃圾;所述动力装置驱动所述转移装置(13)并能够使所述转移装置(13)将所述容尘盒(22)移动至所述集尘装置(16)的集尘口处以将所述垃圾转移至集尘装置。The dust collection base station (1) includes a power device, a dust collection device (16) and a transfer device (13), and the transfer device (13) can be combined with the dust container (22) and assist the dust container (22) Separate from the host (21) or assist the dust container (22) to be installed in the host (21); the dust collection device (16) is used to collect the dust container (22) Garbage; the power device drives the transfer device (13) and enables the transfer device (13) to move the dust container (22) to the dust collection port of the dust collection device (16) to remove The garbage is transferred to the dust collector.
- 根据权利要求1所述的自移动机器人系统,其中,所述自移动机器人系统还包括第一开盖装置(15),所述第一开盖装置(15)能够打开或者关闭所述容尘盒(22)的盒盖,当所述容尘盒(22)的所述盒盖被打开时,所述容尘盒(22)内的垃圾(3)能够转移至所述集尘装置。The self-moving robot system according to claim 1, wherein the self-moving robot system further comprises a first lid opening device (15), and the first lid opening device (15) can open or close the dust container The box cover of (22), when the box cover of the dust container (22) is opened, the garbage (3) in the dust container (22) can be transferred to the dust collecting device.
- 根据权利要求1所述的自移动机器人系统,其中,所述集尘基站(1)包括用于供所述自移动机器人(2)停靠的操作位,所述集尘装置(16)位于所述操作位的上方。The self-mobile robot system according to claim 1, wherein the dust collection base station (1) includes an operating position for the self-mobile robot (2) to stop, and the dust collection device (16) is located in the Above the operating position.
- 根据权利要求1所述的自移动机器人系统,其中,所述动力装置包括传送组件,所述传送组件包括沿竖直方向设置的第一传送部和沿水平方向设置的第二传送部,所述转移装置连接于所述动力装置以跟随所述传送组件移动。The self-moving robot system according to claim 1, wherein the power device includes a transmission assembly including a first transmission part arranged in a vertical direction and a second transmission part arranged in a horizontal direction, the The transfer device is connected to the power device to follow the movement of the transmission assembly.
- 根据权利要求4所述的自移动机器人系统,其中,所述传送组件包括同步带组件,所述第一传送部包括第一同步带,所述第二传送部包括第二同步带。4. The self-moving robot system according to claim 4, wherein the transfer component includes a timing belt assembly, the first transfer portion includes a first timing belt, and the second transfer portion includes a second timing belt.
- 根据权利要求1所述的自移动机器人系统,其中,所述自移动机器人系统包括装卸部,所述装卸部用于操作所述容尘盒(22)从所述主机(21)分离或者安装于所述主机(21)。The self-moving robot system according to claim 1, wherein the self-moving robot system includes a loading and unloading part for operating the dust box (22) to be separated from the host (21) or installed in The host (21).
- 根据权利要求6所述的自移动机器人系统,其中:The self-moving robot system according to claim 6, wherein:所述容尘盒(22)与所述主机(21)其中之一包括锁销(27),其中另一包括锁槽,所述锁销(27)能够插入或者退出所述锁槽;所述装卸部能够向所述容尘盒(22)与所述主机(21)其中之一施力使所述锁销(27)退出所述锁槽,以辅助所述容尘盒(22)与所述主机(21)分离;和/或所述装卸部能够释放对所述锁销(27)施加的力使所述锁销(27)插入所述锁槽,以辅助所述容尘盒(22)安装于所述容尘盒(22)与所述主 机(21)其中之一。One of the dust container (22) and the host (21) includes a lock pin (27), and the other includes a lock slot, and the lock pin (27) can be inserted into or withdrawn from the lock slot; The assembling and disassembling part can apply force to one of the dust container (22) and the host (21) to make the lock pin (27) exit the lock groove, so as to assist the dust container (22) and the The host (21) is separated; and/or the loading and unloading part can release the force applied to the lock pin (27) so that the lock pin (27) is inserted into the lock groove to assist the dust container (22) ) Installed in one of the dust container (22) and the host (21).
- 根据权利要求7所述的自移动机器人系统,其中,所述装卸部包括卡扣(136),所述转移装置(13)包括电磁开关(135)、驱动弹簧(137)和承载部(130),所述卡扣(136)连接于所述驱动弹簧(137),所述电磁开关(135)驱动所述卡扣(136)推动或者松开所述锁销(27),所述承载部(130)用于承载从所述主机(21)分离的所述容尘盒(22);或者,The self-moving robot system according to claim 7, wherein the loading and unloading part includes a buckle (136), and the transfer device (13) includes an electromagnetic switch (135), a driving spring (137) and a bearing part (130) , The buckle (136) is connected to the drive spring (137), the electromagnetic switch (135) drives the buckle (136) to push or release the lock pin (27), and the bearing portion ( 130) for carrying the dust container (22) separated from the host (21); or,所述装卸部包括夹持爪(138),所述转移装置(13)包括夹持电机和第一齿结构,所述夹持爪(138)包括第二齿结构,所述夹持电机驱动的所述第一齿结构与所述第二齿结构啮合从而带动所述夹持爪(138)夹紧或者松开所述容尘盒(22)。The loading and unloading portion includes a clamping claw (138), the transfer device (13) includes a clamping motor and a first tooth structure, the clamping claw (138) includes a second tooth structure, and the clamping motor drives The first tooth structure meshes with the second tooth structure to drive the clamping claw (138) to clamp or loosen the dust container (22).
- 根据权利要求1所述的自移动机器人系统,其中,所述自移动机器人(2)包括操作部,所述操作部能够响应于用户按压或释放按压以辅助所述容尘盒(22)从所述主机(21)分离或安装于所述主机(21)。The self-moving robot system according to claim 1, wherein the self-moving robot (2) includes an operating part capable of assisting the dust box (22) to move from the dust box (22) in response to the user pressing or releasing the pressing The host (21) is separated or installed in the host (21).
- 根据权利要求1所述的自移动机器人系统,其中,所述集尘基站(1)包括密封部,所述密封部能够密封地连接所述容尘盒(22)和所述集尘口。The self-moving robot system according to claim 1, wherein the dust collection base station (1) includes a sealing part capable of sealingly connecting the dust container (22) and the dust collection port.
- 根据权利要求10所述的自移动机器人系统,其中:The self-moving robot system according to claim 10, wherein:所述密封部具有大口端和小口端,所述大口端的口径大于所述小口端,所述大口端用于与所述集尘口套接,所述小口端用于与所述容尘盒(22)连接。The sealing portion has a large mouth end and a small mouth end, the diameter of the large mouth end is larger than the small mouth end, the large mouth end is used for socketing with the dust collecting port, and the small mouth end is used for connecting with the dust container ( 22) Connect.
- 根据权利要求1所述的自移动机器人系统,其中,所述集尘基站(1)还包括辅助倒尘装置(17),所述辅助倒尘装置(17)包括振动马达和偏心组件,所述振动马达驱动所述偏心组件振动,所述辅助倒尘装置(17)设置于所述转移装置(13)并随所述转移装置(13)一同移动,所述偏心组件能够连接或者接触所述容尘盒(22)从而当所述偏心组件振动时能够带动所述容尘盒(22)振动。The self-moving robot system according to claim 1, wherein the dust collection base station (1) further comprises an auxiliary dust dumping device (17), the auxiliary dust dumping device (17) includes a vibration motor and an eccentric component, the The vibration motor drives the eccentric assembly to vibrate, the auxiliary dust dumping device (17) is arranged on the transfer device (13) and moves together with the transfer device (13), and the eccentric assembly can be connected to or contact the container. The dust box (22) can drive the dust box (22) to vibrate when the eccentric component vibrates.
- 根据权利要求12所述的自移动机器人系统,其中,所述辅助倒尘装置(17)包括减震器,所述减震器连接于所述振动马达和所述转移装置(13)之间。The self-moving robot system according to claim 12, wherein the auxiliary dust dumping device (17) includes a shock absorber connected between the vibration motor and the transfer device (13).
- 根据权利要求1所述的自移动机器人系统,其中,所述集尘基站(1)包括充电装置(18),当所述自移动机器人(2)停靠在所述集尘基站(1)时,所述充电装置(18)与所述自移动机器人(2)电连接以对所述自移动机器人(2)进行充电。The self-mobile robot system according to claim 1, wherein the dust collection base station (1) includes a charging device (18), and when the self-mobile robot (2) stops at the dust collection base station (1), The charging device (18) is electrically connected with the self-moving robot (2) to charge the self-moving robot (2).
- 根据权利要求1所述的自移动机器人系统,其中,所述集尘装置(16)包括垃圾桶(161)和折叠盖(163),所述垃圾桶(161)具有所述集尘口,所述折叠盖(163)展开时能够遮盖所述集尘口,在所述转移装置(13)转移所述容尘盒(22)的过程中, 所述容尘盒(22)能够推动所述折叠盖(163)折叠从而使所述集尘口裸露。The self-moving robot system according to claim 1, wherein the dust collecting device (16) comprises a trash can (161) and a folding cover (163), and the trash can (161) has the dust collecting port, so The foldable cover (163) can cover the dust collection opening when it is unfolded. During the process of transferring the dust container (22) by the transfer device (13), the dust container (22) can push the fold The cover (163) is folded to expose the dust collection port.
- 根据权利要求2所述的自移动机器人系统,其中,所述第一开盖装置(15)包括开盖电机及转动部,所述转动部连接于所述容尘盒(22)的所述盒盖,当所述容尘盒(22)移动至所述集尘装置(16)的集尘口处时,所述开盖电机驱动所述转动部转动以打开所述容尘盒(22)的所述盒盖;当所述容尘盒(22)完成倾倒垃圾后,所述开盖电机驱动所述转动部转动以关闭所述容尘盒(22)的所述盒盖。The self-moving robot system according to claim 2, wherein the first lid opening device (15) comprises a lid opening motor and a rotating part, and the rotating part is connected to the box of the dust container (22). Cover, when the dust container (22) moves to the dust collection port of the dust collection device (16), the cover opening motor drives the rotating part to rotate to open the dust container (22) The box cover; when the dust container (22) is finished dumping garbage, the cover opening motor drives the rotating part to rotate to close the box cover of the dust container (22).
- 根据权利要求6所述的自移动机器人系统,其中,所述自移动机器人系统包括第二开盖装置(4),所述第二开盖装置(4)包括:The self-moving robot system according to claim 6, wherein the self-moving robot system comprises a second lid opening device (4), and the second lid opening device (4) comprises:驱动件(41),设于所述装卸部;The driving member (41) is arranged in the loading and unloading part;转动件(42),设于所述容尘盒(22)的一侧且与所述容尘盒(22)的所述盒盖接触,所述转动件(42)被配置为在所述驱动件(41)的驱动下在一第一位置和一第二位置间转动;The rotating member (42) is arranged on one side of the dust container (22) and is in contact with the cover of the dust container (22), and the rotating member (42) is configured to drive The piece (41) is driven to rotate between a first position and a second position;当所述转动件(42)位于第一位置时,所述盒盖关闭;When the rotating member (42) is in the first position, the box cover is closed;当所述转动件(42)由所述第一位置转动至所述第二位置时,所述盒盖在所述转动件(42)的驱动下打开。When the rotating member (42) is rotated from the first position to the second position, the box cover is opened by the driving of the rotating member (42).
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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EP21817314.4A EP4162853A4 (en) | 2020-06-05 | 2021-06-07 | Self-moving robot system |
US18/008,144 US20230329496A1 (en) | 2020-06-05 | 2021-06-07 | Self-moving robot system |
CN202180040426.8A CN115835806A (en) | 2020-06-05 | 2021-06-07 | Self-moving robot system |
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CN202021016984 | 2020-06-05 | ||
CN202010507418 | 2020-06-05 | ||
CN202010507418.7 | 2020-06-05 | ||
CN202021016984.X | 2020-06-05 |
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WO2021244663A1 true WO2021244663A1 (en) | 2021-12-09 |
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PCT/CN2021/098740 WO2021244663A1 (en) | 2020-06-05 | 2021-06-07 | Self-moving robot system |
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US (1) | US20230329496A1 (en) |
EP (1) | EP4162853A4 (en) |
CN (2) | CN217137905U (en) |
WO (1) | WO2021244663A1 (en) |
Cited By (3)
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CN114699028A (en) * | 2022-04-07 | 2022-07-05 | 深圳瑞科时尚电子有限公司 | Clean base station |
CN115837731A (en) * | 2022-10-31 | 2023-03-24 | 安徽飞科交通设备制造有限公司 | PVC board extrusion conveying system for rail transit train |
WO2024176488A1 (en) * | 2023-02-22 | 2024-08-29 | 日立グローバルライフソリューションズ株式会社 | Discharge station |
Families Citing this family (1)
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CN114711692B (en) * | 2022-04-18 | 2023-12-29 | 安徽梵凯思数码科技有限公司 | Full-automatic robot multifunctional base station based on AI interaction accurate positioning |
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Also Published As
Publication number | Publication date |
---|---|
CN115835806A (en) | 2023-03-21 |
US20230329496A1 (en) | 2023-10-19 |
EP4162853A1 (en) | 2023-04-12 |
CN217137905U (en) | 2022-08-09 |
EP4162853A4 (en) | 2024-04-10 |
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