WO2022143952A1 - 具有传感器快拆结构的移动机器人 - Google Patents

具有传感器快拆结构的移动机器人 Download PDF

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Publication number
WO2022143952A1
WO2022143952A1 PCT/CN2021/143385 CN2021143385W WO2022143952A1 WO 2022143952 A1 WO2022143952 A1 WO 2022143952A1 CN 2021143385 W CN2021143385 W CN 2021143385W WO 2022143952 A1 WO2022143952 A1 WO 2022143952A1
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WO
WIPO (PCT)
Prior art keywords
edge
positioning
mobile robot
cover part
release structure
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Application number
PCT/CN2021/143385
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English (en)
French (fr)
Inventor
何源
张涛
Original Assignee
深圳市普渡科技有限公司
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Publication of WO2022143952A1 publication Critical patent/WO2022143952A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/24—Housings ; Casings for instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments

Definitions

  • the present application relates to the technical field of mobile robots, in particular to a mobile robot with a sensor quick-release structure.
  • the sensor set on the mobile robot was fixed on the robot body.
  • it required a lot of effort to disassemble the robot body to disassemble the sensor.
  • Such a disassembly method is not convenient for the disassembly of the sensor on the one hand, and on the other hand, the disassembly and assembly efficiency is low. .
  • the present application aims to provide a mobile robot with a sensor quick-release structure, so as to solve the problems of inconvenient sensor removal and low removal and installation efficiency.
  • the present application provides a mobile robot with a sensor quick release structure, which includes:
  • the casing has a top part and a side part connected to one side of the top part, the casing is provided with an installation opening located between the top part and the side part, and the installation opening has a part located on the top part , the top side edge and the bottom side edge located at the bottom end of the side portion, the top side edge is provided with a first buckle position, the bottom side edge is provided with a second buckle position, the first There are multiple buckle positions, and there are multiple second buckle positions;
  • a cover body the cover body has a top cover part and a side cover part connected to one side of the top cover part, the side cover part is provided with a mounting position for fixing the sensor, and the top cover part is provided along its edge.
  • a plurality of the first buckling positions correspond to a plurality of the first buckling pieces one-to-one, and the first buckling pieces are connected with the first buckling positions; a plurality of the second buckling positions One-to-one correspondence with a plurality of the second buckling pieces, and the second buckling pieces are connected with the second buckling positions.
  • both the first buckle position and the second buckle position are in the form of a slot
  • the notch of the first buckle position faces the outer side of the top side edge
  • the second buckle position is in the form of a slot.
  • the notch of the bit faces the outside of the bottom side edge.
  • the included angle between the plane where the top cover portion is located and the plane tangent to the arc-shaped side cover portion is less than 90°.
  • the bottom surface of the top cover is also provided with slots along its edge, the slots are multiple, and the notch of the slots faces the outside of the edge of the top cover, and the top
  • the side edges are also provided with insert blocks, there are multiple insert blocks, the insert blocks are in one-to-one correspondence with the slots, and the insert blocks are inserted into the slots.
  • the bottom of the slot is provided with a demoulding rib.
  • the bottom surface of the top cover portion is further provided with first positioning grooves along its edge, the first positioning grooves are multiple, and the notch of the first positioning grooves faces the bottom of the top cover portion ;
  • the top edge is also provided with a first positioning block, the first positioning holes are multiple, and the first positioning grooves are in one-to-one correspondence with the first positioning blocks.
  • the positioning block is positioned in the first positioning groove.
  • a groove wall of the first positioning groove located at the edge of the top cover portion is provided with a first notch.
  • the bottom side edge is further provided with a second positioning groove, the number of second positioning grooves is multiple, and the notch of the second positioning groove is facing the upper side of the bottom side edge; the side cover
  • the bottom end of the part is also provided with a second positioning block along its edge, the positioning block is multiple, and the second positioning block is positioned in the second positioning groove.
  • a groove wall of the second positioning groove located on the bottom side along the inner direction is provided with a second notch.
  • the installation port further has two side edges connected obliquely between both ends of the top edge and the bottom edge, and the two side edges are also provided with The third positioning groove, the notch of the third positioning groove is facing the outer side of the side edge; the two ends of the side cover part and the top cover part are also arranged obliquely, and correspond to the two
  • the side edge of the side cover part is also provided with a third positioning block corresponding to the third positioning groove on the side edge of the side cover part, and the third positioning block is positioned in the third positioning groove middle.
  • the first clip includes: a first elastic arm and a first clamping block, the first elastic arm is arranged in a vertical direction, and one end of the first elastic arm is connected to the top cover The bottom surface of the part, the first clamping block is arranged on the other end of the first elastic arm; the first clamping block is clamped on the first buckle position;
  • the second clip includes: a second elastic arm and a second clamping block, the second elastic arm is arranged in a horizontal direction, and one end of the second elastic arm is connected to the inner side of the side cover, so The second clamping block is arranged on the other end of the second elastic arm; the second clamping block is clamped on the second clamping position.
  • the top side edge is further provided with fixing positions, there are multiple fixing positions, and the top cover portion is further provided with fixing portions along the edge thereof, the fixing portions are multiple, and the multiple fixing positions are also provided.
  • the fixing positions are in one-to-one correspondence with the plurality of fixing portions, and the fixing positions and the fixing portions are fixedly connected.
  • the fixing position is a threaded hole provided on the edge of the top side
  • the fixing portion is a via hole provided on the edge of the top cover portion
  • the fastener passes through the via hole and It is screwed into the threaded hole to fix the cover body and the casing.
  • the edge of the top cover part is connected with the top side edge of the top of the installation opening, and the bottom edge of the side cover part is connected with the bottom edge of the side part of the installation opening.
  • the bottom side of the end is connected along the snap connection, so that the cover body and the installation opening on the casing are connected by a snap connection, thereby realizing a snap connection between the sensor installed on the side cover and the mobile robot body.
  • the quick-release structure not only facilitates the disassembly and assembly of the sensor, but also improves the disassembly and assembly efficiency.
  • FIG. 1 is a schematic diagram of a casing and a cover after being connected from a perspective provided by the present application;
  • Fig. 2 is the exploded view of Fig. 1;
  • FIG. 3 is a schematic structural diagram of a cover body provided by the present application.
  • FIG. 4 is a schematic structural diagram of a housing provided by the application.
  • FIG. 5 is a partial cross-sectional view of the connection between the slot and the plug provided by the present application.
  • connection and “connection” mentioned in this application, unless otherwise specified, include both direct and indirect connections (connections).
  • the mobile robot with the sensor quick-release structure provided by the application, the mobile robot can be a delivery robot that provides delivery services for customers in restaurants, office buildings, and hotels, and the sensor mounting bracket is used to install the sensor in the mobile robot.
  • Obstacle detection sensors such as depth cameras, etc.
  • trajectory planning sensors such as lidars, etc.
  • the sensor is installed on the cover, the housing is a structure on the mobile robot body, the housing is provided with an installation opening, and the cover is installed in the installation opening by clamping, so that the sensor and the mobile robot body are connected.
  • the installation method can realize quick disassembly and assembly.
  • the mobile robot with the sensor quick release structure provided in this embodiment includes: a casing 10 and a cover 20 .
  • the casing 10 is a shell structure on the body of the mobile robot.
  • the casing 10 has a top 11 and a side 12 .
  • the side 12 is connected to one side of the top 11 , and an installation opening 13 is opened on the casing 10 .
  • the installation opening 13 Located between the top 11 and the side 12, the installation opening 13 has a top edge 111 located on the top 11, and a bottom edge 121 located at the bottom end of the side 12, and a plurality of first cards are arranged on the top edge 111
  • the buckle position 112 is provided with a plurality of second buckle positions 122 on the bottom side edge 121 .
  • the cover body 20 covers and is located at the installation opening 13, the cover body 20 has a top cover part 21 and a side cover part 22, the side cover part 22 is connected to one side of the top cover part 22, and the edge of the top cover part 21 is connected to the installation opening 13.
  • the top side edge 111 of the top part 11 of the device is connected correspondingly, and the edge of the side cover part 22 is correspondingly connected with the bottom side edge 121 of the side part 12 of the installation opening 13 .
  • a mounting position is provided on the side cover portion 22, and the mounting position is used to fix the sensor.
  • a plurality of first fasteners 211 are provided along the edge of the top cover portion 21
  • a plurality of second fasteners 221 are provided at the bottom edge of the side cover portion 22 .
  • first locking positions 112 and two first locking members 211 there are two first locking positions 112 and two first locking members 211 , and the two first locking positions 112 are along the length of the top side edge 111 of the top 11 of the installation opening 13 .
  • the two first snap members 211 are arranged along the length direction of the edge of the top cover portion 21 .
  • the positions of the two first buckles 112 correspond to the positions of the two first buckles 211 one-to-one, and the one-to-one corresponding first buckles 211 are connected to the first buckles 112 , so as to connect the top cover
  • the edge of the portion 21 is snap-connected to the top edge 111 of the top portion 11 of the mounting opening 13 .
  • the two second snap positions 122 are arranged along the length direction of the bottom end of the side portion 12 of the installation port 13 along the length direction of the 121 .
  • the second snap members 221 are arranged along the length direction of the bottom edge of the side cover portion 22 .
  • the positions of the two second buckles 122 correspond to the positions of the two second buckles 221 one-to-one, and the one-to-one corresponding second buckles 221 are connected to the second buckles 122 in a snap connection, so as to connect the side cover
  • the bottom edge of the portion 22 is snap-connected to the bottom edge 121 of the bottom end of the side portion 12 of the installation opening 13 .
  • the edge of the top cover part 21 is connected with the top edge 111 of the top part 11 of the installation opening 13 by snap connection
  • the bottom edge of the side cover part 22 is connected with the bottom edge 121 of the bottom end of the side part 12 of the installation opening 13 Therefore, the cover body 20 and the mounting port 13 on the casing 10 are connected by snap connection, and correspondingly, the snap connection between the sensor installed on the side cover 22 and the mobile robot body is realized.
  • the sensor can be installed on the mobile robot body.
  • the reverse process is to achieve the disassembly of the sensor. In this way, not only the disassembly and assembly of the sensor is facilitated, but also the disassembly and assembly efficiency can be improved.
  • the top 11 of the casing 10 is the top surface of the mobile robot body, and the top surface is a horizontal plane.
  • the plane where the top cover portion 21 of the cover body 20 is located is a horizontal plane.
  • the side portion 12 of the casing 10 is the side surface of the mobile robot body, the side surface is arc-shaped, and the arc surface of the arc-shaped shape is tangent to the vertical surface.
  • the side cover portion 22 of the cover body 20 is also arc-shaped, and the arc surface where the side cover portion 22 of the arc-shaped shape is located is tangent to the vertical plane.
  • the first latching member 211 includes: a first elastic arm 2111 and a first clamping block 2112 , and the first elastic arm 2111 is arranged in a vertical direction.
  • a vertical direction refers to the direction along the vertical line of the mobile robot under the standard standing position, and one end (top end) of the first elastic arm 211 is connected to the bottom surface of the top cover part 21 , and the bottom surface of the top cover part 21 is equivalent to the cover the inner side of the body 20 .
  • the first locking block 2112 is disposed at the other end (bottom end) of the first elastic arm 2111 .
  • the first snap position 112 is in the form of a snap slot, the notch of the snap slot faces the outside of the top edge 111 , and the outside of the top edge 111 is equivalent to the outside of the top 11 of the housing 10 .
  • the surface of 21 exerts a downward force in the vertical direction (in the direction of the first buckle position 122 ), and the first block 2112 can be clamped in the direction of 111 downward and toward the top side in the first block in the form of the card slot.
  • a force is applied to the top cover 21 in a vertical direction (a direction away from the second buckle position 122), and the first locking block 2112 can pass upward and back Towards the top side along the direction of 111 , the first latching position 112 in the form of the slot is disengaged.
  • the first elastic arm 2111 provides elastic force for the first clamping block 2112 to be clamped on the first clamping position 112 to ensure the firmness of the clamping.
  • the second fastener 221 includes: a second elastic arm 2211 and a second clamping block 2212.
  • the second elastic arm 2211 is arranged in the horizontal direction, where the horizontal direction refers to the mobile robot in the standard standing position, along a line perpendicular to the vertical line
  • one end of the second elastic arm 2211 is connected to the inner side of the side cover portion 22
  • the inner side of the side cover portion 22 corresponds to the inner side surface of the cover body 20 .
  • the second blocking block 2212 is disposed on the other end of the second elastic arm 2211 .
  • the second snap position 122 is also in the form of a snap slot, and the notch of the snap slot faces the outside of the bottom edge 121 , and the outside of the bottom edge 121 is equivalent to the outside of the side portion 12 of the housing 10 .
  • the side cover portion 22 exerts a force in the horizontal direction and toward the second buckle position 122, and the second locking block 2212 can be snapped into the second buckle position 122 in the form of the card slot through the horizontal direction toward the bottom side along the direction 121.
  • a force is applied to the side cover 22 in a horizontal direction and away from the second buckle position 122, and the second blocking block 2212 can be separated from the bottom side 121 in a direction away from the bottom side in the horizontal direction.
  • the second buckle position 122 in the form of a card slot.
  • the second elastic arm 2211 also provides elastic force for the second latching block 2212 to be latched on the second latching position 122 to ensure the firmness of the latching.
  • the included angle between the plane where the top cover part 21 is located and the plane tangent to the arc-shaped side cover part 22 is less than 90°.
  • Edge disassembly As shown in FIG. 3 , a plurality of slots 212 are also provided on the bottom surface of the top cover portion 21 along its edge. The outer side corresponds to the direction in which the cover body 20 faces the casing 10 .
  • a plurality of inserting blocks 113 are also provided on the top edge 111 , and the positions of the inserting blocks 113 and the slots 212 correspond one-to-one, and the number of the inserting blocks 113 is two. One-to-one corresponding plug blocks 113 are plugged into the slots 212 .
  • the slot 212 and the insert block 113 form a snap connection.
  • the insert block 113 can be snapped at the notch of the slot 212 by means of elastic snaps.
  • a demolding rib 2211 is also provided at the bottom of the slot 221. The demolding rib 221 can reduce the difficulty of demolding and improve the demolding efficiency during demolding. .
  • a bottom surface of the top cover portion 21 is also provided along its edge along the length direction of the edge.
  • a plurality of first positioning grooves 213, the notch of the first positioning grooves 213 faces the bottom of the top cover part 21, and the groove walls of the first positioning grooves 213 located on the edge of the top cover part 21 are set as first gaps, that is, the The first notch faces the top side edge 111 .
  • a plurality of first positioning blocks 114 are further provided on the top side edge 111 along the length direction of the top side edge 111 , the first positioning grooves 213 correspond to the positions of the first positioning blocks 114 one-to-one, and the first positioning grooves 213 and the first positioning block 114 are provided with two.
  • the one-to-one corresponding first positioning blocks 114 are positioned in the first positioning grooves 213 through the first notches and the notch of the first positioning grooves 213 , so that the connection between the top cover part 21 of the cover body 20 and the casing 10 , which are snap-connected, is fixed.
  • the top side is positioned along 111 .
  • the bottom edge 121 is also provided with a bottom edge 121 .
  • a plurality of second positioning grooves 123, the notch of the second positioning grooves 123 is facing the upper side of the bottom edge 121, and the groove wall of the second positioning grooves 123 located in the direction of the inner side of the bottom edge 121 is provided with a second gap , that is, the second notch faces the inner side of the bottom edge 121 .
  • a plurality of second positioning blocks 222 are also provided on the bottom end of the side cover portion 22 along the edge thereof. Four of the positioning blocks 222 are provided. The one-to-one corresponding second positioning blocks 222 are positioned in the second positioning grooves 123 to position the side cover portion 22 of the cover body 20 and the bottom edge 121 of the bottom end of the side mold 12 of the casing 10 .
  • the installation port 13 also has two side edges 14 connected between the two ends of the top side edge 111 and the bottom side edge 121 and arranged obliquely.
  • a third positioning groove (not shown in the figure) is provided, and the notch of the third positioning groove faces the outside of the side edge, and the outside of the side edge is the outside of the housing 10 .
  • between the two ends of the side cover part 21 and the side cover part 22 are also connected two side cover part side edges 23 which are arranged obliquely and correspond to the two side part side edges 14 .
  • a third positioning block 231 corresponding to the third positioning groove is also provided on the side edge 23 of the side cover. The third positioning block 231 is positioned in the third positioning groove, so that the side edge 14 of the side cover and the Position along 23.
  • the cover body 20 is placed at the installation opening 13, so that the edge of the top cover portion 21 of the cover body 20 is placed on the casing correspondingly At the top edge 111 of the top portion 11 of the body 10 , the edge of the side cover portion 22 of the cover body 20 is correspondingly placed at the bottom edge 121 of the side portion 12 of the housing 10 .
  • a downward force in the vertical direction is applied to the top cover portion 21, so that the first snap member 211 is snapped on the first snap position 112, the first positioning block 114 is positioned in the first positioning groove 213, and the third The positioning block 231 is positioned in the third positioning groove.
  • the second buckle piece 212 and the second buckle position 122 cooperate along the horizontal direction. Therefore, through the force in two vertical directions, the stability of the cover body 20 in the casing 10 can be effectively ensured, and it is not easy to shake each other and to be separated from the shaking.
  • the top edge 111 is also provided along the length direction of its edge.
  • the fixing position 115 is a threaded hole provided on the top edge 111
  • the fixing portion 214 is a via hole provided on the edge of the top cover portion 21
  • the fastener fastening screw
  • the edge of the top cover is connected with the top side edge of the top of the installation opening, and the bottom edge of the side cover is connected to the installation opening.
  • the bottom side of the bottom end of the side part is connected by snap connection, so that the cover body and the installation opening on the casing are connected by a snap connection, so as to realize the snap connection between the sensor installed on the side cover part and the mobile robot body. connection method.
  • the quick-release structure not only facilitates the disassembly and assembly of the sensor, but also improves the disassembly and assembly efficiency.

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Abstract

一种具有传感器快拆结构的移动机器人，包括：壳体（10），其具有顶部（11）以及侧部（12），壳体（10）上开设有位于顶部（11）与侧部（12）之间的安装口（13），安装口（13）具有位于顶部（11）的顶侧沿（111）和位于侧部（12）的底端的底侧沿（121），顶侧沿（111）上设有多个第一卡扣位（112），底侧沿（121）上设有多个第二卡扣位（122）；盖体（20），其具有顶盖部（21）以及侧盖部（22），顶盖部（21）沿其边沿设有多个第一卡扣件（211），侧盖部（22）的底端边沿设有多个第二卡扣件（221）；第一卡扣件（211）与第一卡扣位（112）卡接连接；第二卡扣件（221）与第二卡扣位（122）卡接连接。通过本快拆结构使得盖体（20）与壳体（11）上的安装口（13）之间卡接连接，进而实现将安装在侧盖部（22）上的传感器与移动机器人本体之间的卡接连接方式。通过该快拆结构不仅便于传感器的拆装，还可提高拆装效率。

Description

具有传感器快拆结构的移动机器人
本申请要求于2020年12月31日在中国专利局提交的、申请号为2020232999994、实用新型名称为“一种具有传感器快拆结构的移动机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及移动机器人技术领域，具体涉及一种具有传感器快拆结构的移动机器人。
 背景技术
以往的移动机器人上所设置的传感器是固定在机器人本体上的，拆卸时需要大动干戈的拆卸机器人本体才能将传感器拆卸掉，如此拆卸方式，一方面不便于传感器的拆卸，另一方面拆装效率低。
 技术问题
本申请旨在提供一种具有传感器快拆结构的移动机器人，以解决传感器拆卸不便，拆装效率低的问题。
 技术解决方案
本申请提供了一种具有传感器快拆结构的移动机器人，其中包括：
壳体，所述壳体具有顶部以及连接在所述顶部一侧的侧部，所述壳体上开设有位于所述顶部与侧部之间的安装口，所述安装口具有位于所述顶部，的顶侧沿和位于所述侧部的底端的底侧沿，所述顶侧沿上设有第一卡扣位，所述底侧沿上设有第二卡扣位，所述第一卡扣位为多个，所述第二卡扣位为多个；
盖体，所述盖体具有顶盖部以及连接在所述顶盖部一侧的侧盖部，所述侧盖部设有用于固定安装传感器的安装位，所述顶盖部沿其边沿设有第一卡扣件，所述侧盖部的底端边沿设有第二卡扣件，所述第一卡扣件为多个，所述第二卡扣件为多个；
多个所述第一卡扣位与多个所述第一卡扣件一一对应，且所述第一卡扣件与第一卡扣位卡接连接；多个所述第二卡扣位与多个所述第二卡扣件一一对应，且所述第二卡扣件与第二卡扣位卡接连接。
可选地，所述第一卡扣位和所述第二卡扣位均为卡槽形式，所述第一卡扣位的槽口朝向所述顶侧沿的外侧，所述第二卡扣位的槽口朝向所述底侧沿的外侧。
可选地，所述顶盖部所在平面和与弧形形状的所述侧盖部相切的平面之间的夹角小于90°。
可选地，所述顶盖部的底面沿其边沿上还设置有插槽，所述插槽为多个，所述插槽的槽口朝向所述顶盖部的边沿的外侧，所述顶侧沿上还设置有插块，所述插块为多个，所述插块与所述插槽一一对应，所述插块插接在所述插槽中。
可选地，所述插槽的底部设置有脱模筋条。
可选地，所述顶盖部的底面沿其边沿上还设置有第一定位槽，所述第一定位槽为多个，所述第一定位槽的槽口朝向所述顶盖部的下方；所述顶侧沿上还设置有第一定位块，所述第一定位孔为多个，多个所述第一定位槽与多个所述第一定位块一一对应，所述第一定位块定位在所述第一定位槽中。
可选地，所述第一定位槽位于所述顶盖部的边沿的槽壁设置有第一缺口。
可选地，所述底侧沿上还设置有第二定位槽，所述第二定位槽为多个，所述第二定位槽的槽口朝向所述底侧沿的上方；所述侧盖部的底端沿其边沿上还设置有第二定位块，所述定位快为多个，所述第二定位块定位在所述第二定位槽中。
可选地，所述第二定位槽位于所述底侧沿内侧方向的槽壁设置有第二缺口。
可选地，所述安装口还具有连接在所述顶侧沿与所述底侧沿两端之间斜向设置的两个侧部侧沿，所述两个侧部侧沿上还设置有第三定位槽，所述第三定位槽的槽口朝向所述侧部侧沿的外侧；所述侧盖部与顶盖部的两端之间还斜向设置、且对应于所述两个侧部侧沿的侧盖部侧沿，所述侧盖部侧沿上还设置有对应于所述第三定位槽的第三定位块，所述第三定位块定位在所述第三定位槽中。
可选地，所述第一卡扣件包括：第一弹性臂和第一卡块，所述第一弹性臂沿竖直方向设置，且所述第一弹性臂的一端连接在所述顶盖部的底面，所述第一卡块设置在所述第一弹性臂的另一端；所述第一卡块卡接在所述第一卡扣位上；
所述第二卡扣件包括：第二弹性臂和第二卡块，所述第二弹性臂沿水平方向设置，且所述第二弹性臂的一端连接在所述侧盖部的内侧，所述第二卡块设置在所述第二弹性臂的另一端；所述第二卡块卡接在所述第二卡扣位上。
可选地，所述顶侧沿上还设置有固定位，所述固定位为多个，所述顶盖部沿其边沿还设有固定部，所述固定部为多个，所述多个固定位与所述多个固定部一一对应，且所述固定位与所述固定部之间固定连接。
可选地，所述固定位为设置在所述顶侧沿上的螺纹孔，所述固定部为设置在所述顶盖部的边沿上的过孔，紧固件穿过所述过孔并螺接在所述螺纹孔中，以固定所述盖体与壳体。
 有益效果
依据本申请所提供的具有传感器快拆结构的移动机器人，顶盖部的边沿与安装口的顶部的顶侧沿之间卡接连接，侧盖部的底端边沿与安装口的侧部的底端的底侧沿卡接连接，从而，使得盖体与壳体上的安装口之间卡接连接，进而实现将安装在侧盖部上的传感器与移动机器人本体之间的卡接连接方式。通过该快拆结构不仅便于传感器的拆装，还可提高拆装效率。
 附图说明
图1为本申请提供的一视角下壳体与盖体连接后的示意图；
图2为图1的爆炸图；
图3为本申请提供的盖体的结构示意图；
图4为本申请提供的壳体的结构示意图；
图5为本申请提供的插槽与插块连接的局部剖面图。
本实用新型的实施方式
下面通过具体实施方式结合附图对本申请作进一步详细说明。其中不同实施方式中类似元件采用了相关联的类似的元件标号。在以下的实施方式中，很多细节描述是为了使得本申请能被更好的理解。然而，本领域技术人员可以毫不费力的认识到，其中部分特征在不同情况下是可以省略的，或者可以由其他元件、材料、方法所替代。在某些情况下，本申请相关的一些操作并没有在说明书中显示或者描述，这是为了避免本申请的核心部分被过多的描述所淹没，而对于本领域技术人员而言，详细描述这些相关操作并不是必要的，他们根据说明书中的描述以及本领域的一般技术知识即可完整了解相关操作。
另外，说明书中所描述的特点、操作或者特征可以以任意适当的方式结合形成各种实施方式。同时，方法描述中的各步骤或者动作也可以按照本领域技术人员所能显而易见的方式进行顺序调换或调整。因此，说明书和附图中的各种顺序只是为了清楚描述某一个实施例，并不意味着是必须的顺序，除非另有说明其中某个顺序是必须遵循的。
本文中为部件所编序号本身，例如“第一”、“第二”等，仅用于区分所描述的对象，不具有任何顺序或技术含义。而本申请所说“连接”、“联接”，如无特别说明，均包括直接和间接连接（联接）。
本申请提供的具有传感器快拆结构的移动机器人，移动机器人可以是在餐厅、写字楼、酒店中为顾客提供配送服务的配送机器人，传感器安装支架用来安装移动机器人中的传感器，该传感器可以是用来对行进中的移动机器人检测障碍物的障碍物检测传感器（如，深度相机等），或者，是用来识别周围环境以规划行进轨迹的轨迹规划传感器（如，激光雷达等）。本申请中，传感器安装在盖体上，壳体为移动机器人本体上的结构，壳体上开设有安装口，盖体通过卡接的方式安装在该安装口中，从而使得传感器与移动机器人本体之间实现快速拆装的安装方式。
参见图1至图4所示，本实施例提供的具有传感器快拆结构的移动机器人包括：壳体10和盖体20。
壳体10为移动机器人本体上的外壳结构，该壳体10具有顶部11以及侧部12，侧部12连接在顶部11的一侧，在壳体10上开设有安装口13，该安装口13位于顶部11与侧部12之间，该安装口13具有位于顶部11的顶侧沿111，以及位于侧部12的底端的底侧沿121，在顶侧沿111上设有多个第一卡扣位112，在底侧沿121上设有多个第二卡扣位122。
盖体20盖和在安装口13处，该盖体20具有顶盖部21以及侧盖部22，侧盖部22连接在顶盖部22的一侧，顶盖部21的边沿与安装口13的顶部11的顶侧沿111相对应连接，侧盖部22的边沿与安装口13的侧部12的底侧沿121相对应连接。在侧盖部22上设有安装位，该安装位用于固定安装传感器。在顶盖部21沿其边沿设有多个第一卡扣件211，在侧盖部22的底端边沿设有多个第二卡扣件221。
如图3和图4所示，第一卡扣位112和第一卡扣件211都设置有两个，两个第一卡扣位112沿安装口13的顶部11的顶侧沿111的长度方向布置，两个第一卡扣件211沿顶盖部21的边沿的长度方向布置。两个第一卡扣位112与两个第一卡扣件211的位置一一对应，并且，一一对应的第一卡扣件211与第一卡扣位112卡接连接，从而将顶盖部21的边沿与安装口13的顶部11的顶侧沿111卡接连接。
第二卡扣位122与第二卡扣件221同样的都设置有两个，两个第二卡扣位122沿安装口13的侧部12的底端的底侧沿121的长度方向布置，两个第二卡扣件221沿侧盖部22的底端边沿的长度方向布置。两个第二卡扣位122与两个第二卡扣件221的位置一一对应，并且，一一对应的第二卡扣件221与第二卡扣位122卡接连接，从而将侧盖部22的底端边沿与安装口13的侧部12的底端的底侧沿121卡接连接。
如上，顶盖部21的边沿与安装口13的顶部11的顶侧沿111卡接连接，并且，侧盖部22的底端边沿与安装口13的侧部12的底端的底侧沿121卡接连接，从而，盖体20与壳体10上的安装口13之间卡接连接，相应的，实现安装在侧盖部22上的传感器与移动机器人本体之间的卡接连接方式。在安装时，只需通过将顶盖部21的边沿与安装口13的顶部11的顶侧沿111卡接连接，并将侧盖部22的底端边沿与安装口13的侧部12的底端的底侧沿121卡接连接，即可将传感器安装在移动机器人本体上。相反的过程，实现传感器的拆卸。如此，不仅便于传感器的拆装，还可提高拆装效率。
本实施例中，相对于移动机器人本体，壳体10的顶部11为移动机器人本体的顶面，该顶面为水平面。相应的，盖体20的顶盖部21所在平面为水平面。壳体10的侧部12为移动机器人本体的侧面，该侧面为弧形，且该弧形形状的弧面相切于竖直面。相应的，盖体20的侧盖部22同样为弧形，且该弧形形状的侧盖部22所在弧面相切于竖直面。因此，在顶盖部21的边沿与安装口13的顶部11的顶侧沿111卡接连接时需通过竖直向下的卡接方式进行安装，在将侧盖部22的底端边沿与安装口13的侧部12的底端的底侧沿121卡接连接时需通过水平方向的卡接方式进行连接。
如上，继续参见图3和图4所示，第一卡扣件211包括：第一弹性臂2111和第一卡块2112，第一弹性臂2111沿竖直方向设置，可选的，这里是竖直方向是指移动机器人在标准站位下，沿着铅垂线的方向，并且，第一弹性臂211的一端（顶端）连接在顶盖部21的底面，顶盖部21的底面相当于盖体20的内侧面。第一卡块2112设置在第一弹性臂2111的另一端（底端）。第一卡扣位112为卡槽形式，该卡槽的槽口朝向顶侧沿111的外侧，顶侧沿111的外侧相当于壳体10的顶部11的外侧，在组装时，向顶盖部21的表面施加沿竖直方向向下（朝向第一扣位122的方向）的力，第一卡块2112即可通过向下并朝向顶侧沿111的方向卡接在该卡槽形式的第一卡扣位112上，相应的，在拆卸时，向顶盖部21施加延竖直方向向上（背离于第二扣位122的方向）的力，第一卡块2112即可通过向上并背向于顶侧沿111的方向脱离该卡槽形式的第一卡扣位112。第一弹性臂2111为第一卡块2112卡接在第一卡扣位112上提供弹性力，保证其卡接的牢固性。
第二卡扣件221包括：第二弹性臂2211和第二卡块2212，第二弹性臂2211沿水平方向设置，这里水平方向是指移动机器人在标准站位下，沿着垂直于铅垂线的方向，并且，第二弹性臂2211的一端连接在侧盖部22的内侧，侧盖部22的内侧相当于盖体20的内侧面。第二卡块2212设置在第二弹性臂2211的另一端。第二卡扣位122同样为卡槽形式，该卡槽的槽口朝向底侧沿121的外侧，该底侧沿121的外侧相当于壳体10的侧部12的外侧，在组装时，向侧盖部22施加沿水平方向并朝向第二扣位122的力，第二卡块2212即可通过沿水平方向朝向底侧沿121的方向卡接在该卡槽形式的第二卡扣位122上，相应的，在拆卸时，向侧盖部22施加沿水平方向并背离于第二扣位122的力，第二卡块2212即可通过沿水平方向背离于底侧沿121的方向脱离该卡槽形式的第二卡扣位122。第二弹性臂2211同样为第二卡块2212卡接在第二卡扣位122上提供弹性力，保证其卡接的牢固性。
一种实施例中，顶盖部21所在平面和与弧形形状的侧盖部22相切的平面之间的夹角小于90°，为保证顶盖部21能够稳定的与顶侧沿111的边沿拆装。如图3所示，在顶盖部21的底面沿其边沿上还设置有多个插槽212，该插槽212的槽口朝向顶盖部21的边沿的外侧，该顶盖部21的边沿的外侧即相当于盖体20朝向壳体10的方向。如图4所示，在顶侧沿111上还设置有多个插块113，插块113与插槽212的位置一一对应，且数量都为两个。一一对应的插块113插接在插槽212中。
如图5所示，插槽212与插块113形成卡接连接的方式，具体的是，插块113可以是采用弹性卡扣的方式卡接在插槽212的槽口处。并且，为了便于在成形插槽113后进行脱模，在插槽221的底部还设置有脱模筋条2211，该脱模筋条221能够在脱模时，降低脱模难度，提高脱模效率。
本申请中，为对卡接连接的盖体20的顶盖部21与壳体10的顶侧沿111进行定位，在顶盖部21的底面沿其边沿上沿该边沿的长度方向还设置有多个第一定位槽213，该第一定位槽213的槽口朝向顶盖部21的下方，并且，第一定位槽213位于顶盖部21的边沿的槽壁设置为第一缺口，即该第一缺口朝向顶侧沿111。在顶侧沿111上沿该顶侧沿111的长度方向还设置有多个第一定位块114，第一定位槽213与第一定位块114的位置一一对应，并且，第一定位槽213和第一定位块114都设置有两个。一一对应的第一定位块114通过第一缺口和第一定位槽213的槽口定位在第一定位槽213中，从而对卡接连接的盖体20的顶盖部21与壳体10的顶侧沿111进行定位。
一种实施例中，同样的，为对卡接连接的盖体20的侧盖部22与壳体10的侧模12的底端的底侧沿121进行定位，在底侧沿121上还设置有多个第二定位槽123，该第二定位槽123的槽口朝向底侧沿121的上方，并且，该第二定位槽123位于底侧沿121内侧的方向的槽壁上设置有第二缺口，即该第二缺口朝向底侧沿121的内侧。在侧盖部22的底端沿其边沿上还设置有多个第二定位块222，第二定位槽123与第二定位块222的位置一一对应，并且，第二定位槽123与第二定位块222都设置有四个。一一对应的第二定位块222定位在第二定位槽123中，从而对卡接的盖体20的侧盖部22与壳体10的侧模12的底端的底侧沿121进行定位。
如图4所示，安装口13还具有连接在顶侧沿111与底侧沿121两端之间且斜向设置的两个侧部侧沿14，在该两个侧部侧沿14上还设置有第三定位槽（图中未示出），该第三定位槽的槽口朝向侧部侧沿的外侧，该侧部侧沿的外侧即为壳体10的外侧。同样的，如图3所示，在侧盖部21与侧盖部22的两端之间还连接有两个斜向设置、且对应于两个侧部侧沿14的侧盖部侧沿23，在侧盖部侧沿23上还设置有对应于第三定位槽的第三定位块231，第三定位块231定位在第三定位槽中，从而对侧部侧沿14与侧盖部侧沿23进行定位。
本实施例中，在将盖体20组装到壳体10的安装口13的过程中，将盖体20放在安装口13处，使得盖体20的顶盖部21的边沿对应的放置到壳体10的顶部11的顶侧沿111处，盖体20的侧盖部22的边沿对应的放置到壳体10的侧部12的底侧沿121处。向顶盖部21施加沿竖直方向向下的力，使得第一卡扣件211卡接在第一卡扣位112上，第一定位块114定位在第一定位槽213中，且第三定位块231定位在第三定位槽中。同时，向侧盖部22施加沿水平方向朝向壳体10的力，使得第二卡扣件212卡接在第二卡扣位122上，第二定位块222定位在第二定位槽123中，进而盖体20安装到安装口13处。
且可选的，由于第一卡扣件211和第二卡扣位112是沿着竖直方向相互配合的，第二卡扣件212和第二卡扣位122是沿着水平方向进行配合的，因此通过垂直两个方向的受力，可以有效的保证盖体20在壳体10的稳固性，不容易发生相互晃动，也不容易在晃动下脱离。
一种实施例中，为保证卡接连接的盖体20的顶盖部21与壳体10的顶侧沿111卡接后的牢固性，在顶侧沿111沿其边沿的长度方向上还设置有多个固定位115，在顶盖部21沿其边沿的长度方向上还设有多个固定部214，固定位115与固定部214的位置一一对应，并且，固定位115和固定部214都设置有两个。一一对应的固定位115与固定部214之间固定连接。
优选的实施方式中，固定位115为设置在顶侧沿111上的螺纹孔，固定部214为设置在顶盖部21的边沿上的过孔，紧固件（紧固螺钉）穿过过孔并螺接在螺纹孔中，从而将卡接连接的盖体20的顶盖部21与壳体10的顶侧沿111固定连接。
综上所述，本实施例所提供的具有传感器快拆结构的移动机器人，顶盖部的边沿与安装口的顶部的顶侧沿之间卡接连接，侧盖部的底端边沿与安装口的侧部的底端的底侧沿卡接连接，从而，使得盖体与壳体上的安装口之间卡接连接，进而实现将安装在侧盖部上的传感器与移动机器人本体之间的卡接连接方式。通过该快拆结构不仅便于传感器的拆装，还可提高拆装效率。
以上内容是结合具体的实施方式对本申请所作的进一步详细说明，不能认定本申请的具体实施只局限于这些说明。对于本申请所属技术领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干简单推演或替换。

Claims (13)

  1. 一种具有传感器快拆结构的移动机器人，其中包括：
    壳体，所述壳体具有顶部以及连接在所述顶部一侧的侧部，所述壳体上开设有位于所述顶部与侧部之间的安装口，所述安装口具有位于所述顶部，的顶侧沿和位于所述侧部的底端的底侧沿，所述顶侧沿上设有第一卡扣位，所述底侧沿上设有第二卡扣位，所述第一卡扣位为多个，所述第二卡扣位为多个；
    盖体，所述盖体具有顶盖部以及连接在所述顶盖部一侧的侧盖部，所述侧盖部设有用于固定安装传感器的安装位，所述顶盖部沿其边沿设有第一卡扣件，所述侧盖部的底端边沿设有第二卡扣件，所述第一卡扣件为多个，所述第二卡扣件为多个；
    多个所述第一卡扣位与多个所述第一卡扣件一一对应，且所述第一卡扣件与第一卡扣位卡接连接；多个所述第二卡扣位与多个所述第二卡扣件一一对应，且所述第二卡扣件与第二卡扣位卡接连接。
  2. 如权利要求1所述的具有传感器快拆结构的移动机器人，其中，所述第一卡扣位和所述第二卡扣位均为卡槽形式，所述第一卡扣位的槽口朝向所述顶侧沿的外侧，所述第二卡扣位的槽口朝向所述底侧沿的外侧。
  3. 如权利要求1所述的具有传感器快拆结构的移动机器人，其中，所述顶盖部所在平面和与弧形形状的所述侧盖部相切的平面之间的夹角小于90°。
  4. 如权利要求1所述的具有传感器快拆结构的移动机器人，其中，所述顶盖部的底面沿其边沿上还设置有插槽，所述插槽为多个，所述插槽的槽口朝向所述顶盖部的边沿的外侧，所述顶侧沿上还设置有插块，所述插块为多个，所述插块与所述插槽一一对应，所述插块插接在所述插槽中。
  5. 如权利要求4所述的具有传感器快拆结构的移动机器人，其中，所述插槽的底部设置有脱模筋条。
  6. 如权利要求1所述的具有传感器快拆结构的移动机器人，其中，所述顶盖部的底面沿其边沿上还设置有第一定位槽，所述第一定位槽为多个，所述第一定位槽的槽口朝向所述顶盖部的下方；所述顶侧沿上还设置有第一定位块，所述第一定位孔为多个，多个所述第一定位槽与多个所述第一定位块一一对应，所述第一定位块定位在所述第一定位槽中。
  7. 如权利要求6所述的具有传感器快拆结构的移动机器人，其中，所述第一定位槽位于所述顶盖部的边沿的槽壁设置有第一缺口。
  8. 如权利要求1所述的具有传感器快拆结构的移动机器人，其中，所述底侧沿上还设置有第二定位槽，所述第二定位槽为多个，所述第二定位槽的槽口朝向所述底侧沿的上方；所述侧盖部的底端沿其边沿上还设置有第二定位块，所述定位快为多个，所述第二定位块定位在所述第二定位槽中。
  9. 如权利要求8所述的具有传感器快拆结构的移动机器人，其中，所述第二定位槽位于所述底侧沿内侧方向的槽壁设置有第二缺口。
  10. 如权利要求1所述的具有传感器快拆结构的移动机器人，其中，所述安装口还具有连接在所述顶侧沿与所述底侧沿两端之间斜向设置的两个侧部侧沿，所述两个侧部侧沿上还设置有第三定位槽，所述第三定位槽的槽口朝向所述侧部侧沿的外侧；所述侧盖部与顶盖部的两端之间还斜向设置、且对应于所述两个侧部侧沿的侧盖部侧沿，所述侧盖部侧沿上还设置有对应于所述第三定位槽的第三定位块，所述第三定位块定位在所述第三定位槽中。
  11. 如权利要求1所述的具有传感器快拆结构的移动机器人，其中，所述第一卡扣件包括：第一弹性臂和第一卡块，所述第一弹性臂沿竖直方向设置，且所述第一弹性臂的一端连接在所述顶盖部的底面，所述第一卡块设置在所述第一弹性臂的另一端；所述第一卡块卡接在所述第一卡扣位上；
    所述第二卡扣件包括：第二弹性臂和第二卡块，所述第二弹性臂沿水平方向设置，且所述第二弹性臂的一端连接在所述侧盖部的内侧，所述第二卡块设置在所述第二弹性臂的另一端；所述第二卡块卡接在所述第二卡扣位上。
  12. 如权利要求1所述的具有传感器快拆结构的移动机器人，其中，所述顶侧沿上还设置有固定位，所述固定位为多个，所述顶盖部沿其边沿还设有固定部，所述固定部为多个，所述多个固定位与所述多个固定部一一对应，且所述固定位与所述固定部之间固定连接。
  13. 如权利要求12所述的具有传感器快拆结构的移动机器人，其中，所述固定位为设置在所述顶侧沿上的螺纹孔，所述固定部为设置在所述顶盖部的边沿上的过孔，紧固件穿过所述过孔并螺接在所述螺纹孔中，以固定所述盖体与壳体。
PCT/CN2021/143385 2020-12-31 2021-12-30 具有传感器快拆结构的移动机器人 WO2022143952A1 (zh)

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