WO2024082900A9 - 壳体的安装结构及具有该安装结构的智能移动机器人 - Google Patents

壳体的安装结构及具有该安装结构的智能移动机器人 Download PDF

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Publication number
WO2024082900A9
WO2024082900A9 PCT/CN2023/119426 CN2023119426W WO2024082900A9 WO 2024082900 A9 WO2024082900 A9 WO 2024082900A9 CN 2023119426 W CN2023119426 W CN 2023119426W WO 2024082900 A9 WO2024082900 A9 WO 2024082900A9
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WIPO (PCT)
Prior art keywords
plug
installation
limiting
pair
arms
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PCT/CN2023/119426
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English (en)
French (fr)
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WO2024082900A1 (zh
Inventor
夏琦
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杭州海康机器人股份有限公司
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Publication of WO2024082900A1 publication Critical patent/WO2024082900A1/zh
Publication of WO2024082900A9 publication Critical patent/WO2024082900A9/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B17/00—Connecting constructional elements or machine parts by a part of or on one member entering a hole in the other and involving plastic deformation

Definitions

  • the present application relates to the field of logistics technology, and in particular to a housing installation structure and an intelligent mobile robot having the installation structure.
  • the internal parts and shells of some devices need to be docked and installed.
  • an intelligent mobile robot AAV, Automated Guided Vehicle
  • the body and upper cover of the intelligent mobile robot need to be docked and installed.
  • screws or the like are usually used to butt-join and install the body and upper cover of the intelligent mobile robot together.
  • an embodiment of the present application provides a shell installation structure and an intelligent mobile robot having the installation structure, wherein the installation structure docks and installs two shells through an installation plug-in and an installation groove; specifically, a pair of limiting flanges protrude from the inner wall of the installation groove, and the installation plug-in includes a pair of limiting arms, and the docking installation of the two shells is achieved by clamping the limiting flanges to the limiting arms; compared with the screw installation of the two shells, there is no need to use professional tools such as screwdrivers, and the assembly efficiency is high.
  • the embodiment of the present application provides a housing installation structure, the installation structure is used for docking installation of a first housing and a second housing, and the installation structure includes:
  • An installation plug-in is disposed on a first surface of the first housing, and the installation plug-in extends from the first surface along a first direction;
  • a mounting groove provided on the second surface of the second housing, the mounting groove extending from the second surface along the first direction, the mounting groove being used for inserting the mounting plug-in when the first surface and the second surface are butted against each other;
  • a pair of limiting flanges are protruded from the inner wall forming the installation groove, and the installation plug-in includes a pair of limiting arms;
  • the distance between the pair of limiting arms gradually increases from the top of the installation plug-in toward the root of the installation plug-in, so that when the installation plug-in is inserted into the installation groove, the pair of limiting flanges clamp the pair of limiting arms.
  • the installation plug-in comprises a plug-in column, the plug-in column extends from the first surface along the first direction, and a pair of the limit arms are symmetrically provided on both sides of the plug-in column relative to the first direction;
  • the limiting arm includes a first elastic arm and a second elastic arm connected as an integral whole, the first elastic arm extends from the top of the plug-in column toward the root of the plug-in column and gradually away from the plug-in column, and the second elastic arm extends from the end of the first elastic arm toward the root of the plug-in column and gradually approaches the plug-in column.
  • the installation plug-in also includes a limit buckle, and the limit buckle includes a fixing cap, and the fixing cap is used to be sleeved on the top of the plug-in column.
  • the fixing cap extends from both ends relative to the first direction and forms a pair of limit arms through a first bend.
  • a pair of fixing arms extend from both ends of the fixing cap relative to the first direction, respectively, and the pair of fixing arms are located on the opposite inner sides of the pair of limiting arms, and the fixing arms are provided with a second bend opposite to the first bend so that the pair of fixing arms are clamped on the plug-in column.
  • the limiting arm and the plug-in column are integrally formed.
  • the length of the mounting groove along the second direction is greater than the length of the mounting plug along the second direction, wherein the second direction is perpendicular to both the first direction and a third direction in which a pair of the limiting flanges clamp a pair of the limiting arms.
  • the limiting flange extends along the second direction, and a riveted metal ring is fixed to the end of the limiting flange.
  • the limiting flange is arranged at an opening of the mounting groove.
  • An embodiment of the present application further discloses an intelligent mobile robot, which includes a first shell and a second shell, wherein the first shell and the second shell are docked and installed via the installation structure as described above.
  • the first shell and the second shell are connected by a plurality of mounting structures. Then install.
  • the first shell includes an upper cover of the intelligent mobile robot
  • the second shell includes a body of the intelligent mobile robot
  • the embodiment of the present application provides a shell installation structure and an intelligent mobile robot having the installation structure, wherein the installation structure includes an installation plug-in provided on a first surface of a first shell and an installation groove provided on a second surface of a second shell, wherein the installation plug-in and the installation groove extend along a first direction; wherein, on both sides relative to the first direction, an inner wall of the installation groove protrudes with a pair of limiting flanges, and the installation plug-in includes a pair of limiting arms; and the spacing between the pair of limiting arms gradually increases from the top to the root direction of the installation plug-in; it can be understood that when the first surface of the first shell and the second surface of the second shell are docked and installed, that is, when the installation plug-in is inserted into the installation groove, the pair of limiting arms of the installation plug-in first undergo a deformation of gathering due to being limited by the pair of limiting flanges, and then, after the limiting arms are inserted into the installation groove, they are restored to their
  • FIG. 1 is a schematic cross-sectional view of the installation structure in an embodiment of the present application.
  • FIG. 2 is a schematic diagram of the structure of the first elastic arm and the second elastic arm in an embodiment of the present application.
  • FIG. 3 is a schematic diagram of the structure of the position limiting buckle described in an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a top view of the mounting structure in an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of the end portion of the limiting flange in the embodiment of the present application being fixed with the riveted metal ring.
  • FIG. 6 is a schematic diagram of the structure in which the first shell is provided with a plurality of the installation plug-ins in an embodiment of the present application.
  • the reference numerals are: 100-first shell, 200-second shell, 101-first surface, 201-second surface, 10-installation plug-in, 11-plug-in column, 12-limiting buckle, 121-fixing cap, 122-limiting arm, 123-fixing arm, 1221-first elastic arm, 1222-second elastic arm, 20-installation groove, 21-limiting flange, 22-pressure riveting metal ring, X-first direction, Y-second direction, Z-third direction.
  • FIG1 is a cross-sectional schematic diagram of the installation structure disclosed in the present application.
  • a shell installation structure is provided.
  • the installation structure is used for docking installation of a first shell 100 and a second shell 200 .
  • the installation structure includes an installation plug-in 10 and an installation groove 20 .
  • the installation plug-in 10 is disposed on the first surface 101 of the first housing 100 , and the installation plug-in 10 extends from the first surface 101 along the first direction X;
  • the mounting groove 20 is provided on the second surface 201 of the second housing 200 .
  • the mounting groove 20 extends from the second surface 201 along the first direction X.
  • the mounting groove 20 is used for inserting the mounting plug-in 10 when the first surface 101 and the second surface 201 are connected.
  • a pair of limiting flanges 21 protrude from the inner wall of the installation groove 20, and the installation plug-in 10 includes a pair of limiting arms 122; and the spacing between the pair of limiting arms 122 gradually increases from the top of the installation plug-in 10 to the root direction of the installation plug-in 10, so that when the installation plug-in 10 is inserted into the installation groove 20, the pair of limiting flanges 21 clamp the pair of limiting arms 122.
  • the mounting structure of this embodiment is used for the docking installation of the first shell 100 and the second shell 200 , specifically, the docking installation of the first surface 101 of the first shell 100 and the second surface 201 of the second shell 200 .
  • the installation plug-in 10 extends from the first surface 101 along the first direction X, and the first direction X is determined based on the relative position of the second shell 200 and the first shell 100 , representing the direction from the first surface 101 to the second surface 201 .
  • the first direction X is, for example, a vertical direction
  • the first housing 100 is located at the upper end
  • the second housing 200 is located at the lower end
  • the mounting plug-in 10 extends vertically downward from the first surface 101 ;
  • the installation plug-in 10 On both sides relative to the first direction X, the installation plug-in 10 includes a pair of limit arms 122, and the distance between the pair of limit arms 122 gradually increases from the top of the installation plug-in 10 to the root of the installation plug-in 10; wherein, in combination with Figure 1, along the first direction X, the end of the installation plug-in 10 away from the first shell 100 is the top, and the end of the installation plug-in 10 close to the first shell 100 is the root, that is, the distance between the pair of limit arms 122 of the installation plug-in 10 in Figure 1 gradually increases from bottom to top.
  • a mounting groove 20 extends from the second surface 201 along the first direction X. That is, in FIG1 , a mounting groove 20 is formed vertically downward at the opening of the second surface 201, and the mounting groove 20 is used to accommodate the above-mentioned mounting plug-in 10; and, on both sides relative to the first direction X, a pair of limiting flanges 21 protrude from the inner wall forming the mounting groove 20; that is, as shown in FIG1 , a limiting flange 21 protrudes from each of the two opposite inner walls of the mounting groove 20, forming a pair of limiting flanges 21.
  • the third direction Z in FIG1 is a horizontal direction perpendicular to the first direction X, and along the third direction Z, the spacing between the two ends of the pair of limiting flanges 21 should be smaller than the maximum spacing between the pair of limiting arms 122, so that when the first surface 101 of the first shell 100 and the second surface 201 of the second shell 200 are butt-jointed and installed up and down, that is, when the installation plug-in 10 and the installation groove 20 are butt-jointed and installed, the pair of limiting arms 122 are inserted into the installation groove 20, and because the spacing between the two limiting arms 122 gradually increases from bottom to top, the two limiting arms 122 are gradually deformed and gathered by the limiting flanges 21 on both sides, until the two limiting arms 122 extend into the installation groove 20 at the maximum spacing, and then the two limiting arms 122 return to their original positions.
  • the limiting flanges 21 will limit the limiting arms 122 in the first direction X, that is, a pair of limiting flanges 21 clamp a pair of limiting arms 122, so that the first shell 100 and the second shell 200 are docked and installed in the first direction X.
  • each limiting flange 21 refers to the end of the limiting flange 21 close to the installation plug-in 10, and the distance between the two ends of the above-mentioned pair of limiting flanges 21 should be smaller than the maximum distance between a pair of limiting arms 122. It refers to the distance between the two ends of a pair of limiting flanges 21 close to the installation plug-in 10, which should be smaller than the maximum distance between a pair of limiting arms 122.
  • the maximum distance between the two limiting arms 122 extending into the installation groove 20 means that the maximum distance between the two limiting arms 122 is located in the installation groove 20, and the pair of limiting flanges 21 are clamped in the first direction X at the maximum distance between the two limiting arms 122.
  • the present application provides a housing installation structure and a smart mobile device having the installation structure.
  • the mounting structure includes a mounting plug-in provided on the first surface of the first shell and a mounting groove provided on the second surface of the second shell, the mounting plug-in and the mounting groove extend along the first direction; wherein, on both sides relative to the first direction, the inner wall of the mounting groove protrudes a pair of limiting flanges, and the mounting plug-in includes a pair of limiting arms; and the spacing between the pair of limiting arms gradually increases from the top of the mounting plug-in to the root direction; it can be understood that when the first surface of the first shell and the second surface of the second shell are docked and installed, that is, when the mounting plug-in is inserted into the mounting groove, the pair of limiting arms of the mounting plug-in first undergo a deformation of gathering due to being limited by the pair of limiting flanges, and then return to the original position after the limiting arms are inserted into the mounting groove, so that due to the obstruction of the
  • the limiting arm 122 is an elastic arm, for example, a limiting arm made of spring steel or other materials, in order to realize the above-mentioned process of gradual deformation, gathering, and restoration to the original state.
  • the mounting groove 20 is used for inserting the mounting plug-in 10, that is, in the first direction X, the depth of the mounting groove 20 should be at least greater than the straight-line distance from the maximum spacing between the two limit arms 122 to the top of the mounting plug-in 10, that is, in the first direction X, the depth of the mounting groove 20 should be at least greater than the straight-line distance from the two ends of the two limit arms 122 closest to the top of the mounting plug-in 10 to the top of the mounting plug-in 10.
  • the installation plug-in 10 includes a plug-in column 11, the plug-in column 11 extends from the first surface 101 along the first direction X, and the plug-in column 11 is symmetrically provided with a pair of limit arms 122 on both sides relative to the first direction X; wherein the limit arms 122 include a first elastic arm 1221 and a second elastic arm 1222 connected as a whole, the first elastic arm 1221 extends from the top of the plug-in column 11 toward the root direction of the plug-in column 11 in a manner of gradually away from the plug-in column 11, and the second elastic arm 1222 extends from the end of the first elastic arm 1221 toward the root direction of the plug-in column 11 in a manner of gradually approaching the plug-in column 11.
  • a pair of limiting arms are symmetrically arranged on two sides of the plug-in column relative to the first direction.
  • the plug-in column 11 extends vertically downward from the first surface 101 along the first direction X, and a pair of limit arms 122 are symmetrically provided on both sides of the plug-in column 11; wherein, from the top of the plug-in column 11 to the root of the plug-in column 11, that is, from the bottom to the top in FIG.
  • the limit arm 122 includes a first elastic arm 1221 and a second elastic arm 1222 connected as one body, and the first elastic arm 1221 extends gradually away from the plug-in column 11, and the second elastic arm 1222 extends gradually close to the plug-in column 11; Or it can be said that, along the bottom-up direction of the plug-in column 11 , the distance between the pair of limit arms 122 first gradually increases and then gradually decreases.
  • the plug-in column 11 provides a pair of limit arms 122 for fixing positions; on the other hand, when disassembling the installation plug-in 10 and the installation groove 20, it is only necessary to gather and clamp the pair of second elastic arms 1222 to conveniently remove the installation plug-in 10 from the installation groove 20, thereby realizing rapid disassembly of the first shell 100 and the second shell 200, and the disassembly efficiency is high.
  • the limiting arm 122 and the plug-in column 11 may be integrally formed.
  • the installation plug-in 10 also includes a limit buckle 12, the limit buckle 12 includes a fixing cap 121, the fixing cap 121 is used to be sleeved on the top of the plug-in column 11, and the fixing cap 121 extends from both ends relative to the first direction X and forms a pair of limit arms 122 through a first bend.
  • the limiting arm 122 is formed on the limiting buckle 12 of this embodiment, and then the limiting buckle 12 is detachably mounted on the top end of the plug-in column 11 .
  • the limiting buckle 12 includes a fixing cap 121, which is used to be sleeved on the top of the plug-in column 11, that is, the vertical lower end of the plug-in column 11 in Figure 3. Then, the fixing cap 121 extends from both ends relative to the first direction X and forms the above-mentioned pair of limiting arms 122 through a first bend; it can be seen from Figure 3 that the first bend is a bend with the bending angle toward the plug-in column 11.
  • the limiting arm 122 of this embodiment is formed on the limiting buckle 12, and the limiting buckle 12 is detachably connected to the top end of the plug-in column 11 of the first shell 100, so that the limiting buckle 12 can be standardized and mass-produced as a mass-produced component, saving costs and effectively improving the accuracy of the docking installation of the two shells.
  • a pair of fixing arms 123 are respectively extended from both ends of the fixing cap 121 relative to the first direction X, and the pair of fixing arms 123 are located on the opposite inner sides of the pair of limiting arms 122, and the fixing arms 123 are provided with a second bend opposite to the first bend, so that the pair of fixing arms 123 are clamped on the plug-in column 11.
  • a pair of fixing arms 123 are respectively extended from both ends of the fixing cap 121 relative to the first direction X, that is, a pair of fixing arms 123 are also formed on the limiting buckle 12 .
  • the pair of fixed arms 123 are located at the inner sides of the pair of limiting arms 122, and the fixed arms 123 are provided with a second bend. As can be seen from FIG. 3, the second bend is opposite to the first bend. The bend is directed away from the plug-in column 11 ; it can be understood that, through the second bend, a pair of fixed arms 123 can elastically clamp the plug-in column 11 , so that the limit buckle 12 can be detachably clamped and fixed on the plug-in column 11 .
  • the length of the installation groove 20 along the second direction Y is greater than the length of the installation plug-in 10 along the second direction Y, wherein the second direction Y is perpendicular to the first direction X and the third direction Z in which a pair of limiting flanges 21 clamp a pair of limiting arms 122.
  • the second direction Y is perpendicular to both the first direction X and the third direction Z.
  • the length of the installation groove 20 along the second direction Y is set to be greater than the length of the installation plug-in 10 along the second direction Y. In this way, the installation tolerance in the second direction Y is absorbed. That is, when the first shell 100 and the second shell 200 are docked and installed, the installation tolerance in the second direction Y can be absorbed, thereby improving the docking installation accuracy of the two shells.
  • the pair of limiting arms 122 can also absorb the installation tolerance in the third direction Z through elastic deformation.
  • the limiting flange 21 extends along the second direction Y, and a riveted metal ring 22 is fixed to the end of the limiting flange 21 .
  • the second shell 200 is usually made of plastic with poor wear resistance
  • a riveted metal ring 22 is fixed to the end of the limiting flange 21.
  • the limiting arm 122 of the installation plug-in 10 directly contacts and rubs against the riveted metal ring 22, thereby avoiding the wear of the limiting arm 122 on the limiting flange 21 of the second shell 200 and improving the service life.
  • the limiting flange 21 is disposed at an opening of the mounting groove 20 ; that is, for example, referring to FIG. 3 or FIG. 5 , the second surface 201 has a limiting flange 21 protruding at the opening of the mounting groove 20 .
  • an embodiment of the present application further discloses an intelligent mobile robot, which includes a first shell and a second shell, and the first shell and the second shell are docked and installed through the above-mentioned installation structure.
  • Figure 6 shows that the sizes of the two shells may be large, the first shell 100 and the second shell 200 can be docked and installed through multiple mounting structures, and the multiple mounting structures are evenly distributed.
  • Figure 6 shows that the first shell 100 is provided with multiple mounting plug-ins 10; thereby preventing warping, shaking, etc. between the two shells, the assembly is simple and convenient, and the assembly time is saved.
  • the first shell includes an upper cover of the intelligent mobile robot
  • the second shell includes a body of the intelligent mobile robot
  • each component or each step can be decomposed and/or recombined.
  • Such decomposition and/or recombination should be regarded as equivalent solutions of the present application.

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Abstract

一种壳体的安装结构及具有该安装结构的智能移动机器人，该安装结构通过安装插件(10)和安装凹槽(20)将第一壳体(100)和第二壳体(200)的对接安装；具体而言，安装凹槽(20)的内壁凸出有一对限位凸缘(21)，安装插件(10)还包括插接柱(11)和限位卡扣(12)，所述限位卡扣(12)包括固定帽(121)、一对限位臂(122)和一对固定臂(123)，通过限位凸缘(21)对限位臂(122)的卡接实现第一壳体(100)和第二壳体(200)的对接安装；相较两个壳体的螺钉安装，不必使用螺丝刀等专业工具，并且装配效率高。

Description

壳体的安装结构及具有该安装结构的智能移动机器人
本申请要求于2022年10月20日提交中国专利局、申请号为202222764434.1实用新型名称为“壳体的安装结构及具有该安装结构的智能移动机器人”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
本申请涉及物流技术领域，尤其涉及一种壳体的安装结构及具有该安装结构的智能移动机器人。
背景技术
一些装置的内部零部件、壳体等需要对接安装。譬如对于智能移动机器人(AGV，Automated Guided Vehicle)来说，智能移动机器人的车身与上盖需要对接安装。
相关技术中，通常是采用螺钉等将智能移动机器人的车身和上盖对接安装在一起。
然而，采用螺钉等安装需要使用专业工具，并且装配效率较低。
发明内容
针对上述技术问题的至少一个方面，本申请实施例提供了一种壳体的安装结构及具有该安装结构的智能移动机器人，该安装结构通过安装插件和安装凹槽将两个壳体对接安装；具体而言，安装凹槽的内壁凸出有一对限位凸缘，安装插件包括一对限位臂，通过限位凸缘对限位臂的卡接实现两个壳体的对接安装；相较两个壳体的螺钉安装，不必使用螺丝刀等专业工具，并且装配效率高。
本申请实施例提供一种壳体的安装结构，所述安装结构用于第一壳体和第二壳体的对接安装，所述安装结构包括：
安装插件，设于所述第一壳体的第一表面，所述安装插件自所述第一表面沿第一方向延伸；
安装凹槽，设于所述第二壳体的第二表面，所述安装凹槽自所述第二表面沿所述第一方向延伸，所述安装凹槽用于在所述第一表面与所述第二表面对接时供所述安装插件插入；
其中，在相对所述第一方向的两侧，形成所述安装凹槽的内壁凸出有一对限位凸缘，所述安装插件包括一对限位臂；
并且，一对所述限位臂之间的间距自所述安装插件的顶部向所述安装插件的根部方向逐渐增大，以使在所述安装插件插入所述安装凹槽时，一对所述限位凸缘卡接一对所述限位臂。
在一实施例中，所述安装插件包括插接柱，所述插接柱自所述第一表面沿所述第一方向延伸，所述插接柱相对所述第一方向的两侧对称的设有一对所述限位臂；
其中，所述限位臂包括连接为一体的第一弹性臂和第二弹性臂，所述第一弹性臂自所述插接柱的顶部向所述插接柱的根部方向呈逐渐远离所述插接柱地延伸，所述第二弹性臂自所述第一弹性臂的端部向所述插接柱的根部方向呈逐渐接近所述插接柱地延伸。
在一实施例中，所述安装插件还包括限位卡扣，所述限位卡扣包括固定帽，所述固定帽用于外套于所述插接柱的顶端，所述固定帽相对所述第一方向的两端分别延伸并通过第一折弯形成一对所述限位臂。
在一实施例中，所述固定帽相对所述第一方向的两端还分别延伸有一对固定臂，一对所述固定臂位于一对所述限位臂的相对内侧，并且，所述固定臂设有与所述第一折弯反向的第二折弯，以使一对所述固定臂夹持于所述插接柱。
在一实施例中，所述限位臂与所述插接柱为一体成型设置。
在一实施例中，所述安装凹槽沿第二方向的长度大于所述安装插件沿所述第二方向的长度，其中，所述第二方向同时垂直于所述第一方向以及一对所述限位凸缘卡接一对所述限位臂的第三方向。
在一实施例中，所述限位凸缘沿所述第二方向延伸，并且，所述限位凸缘的端部固定有压铆金属环。
在一实施例中，所述限位凸缘设于所述安装凹槽的开孔处。
本申请实施例还公开一种智能移动机器人，所述智能移动机器人包括第一壳体和第二壳体，所述第一壳体和所述第二壳体通过如上所述的安装结构对接安装。
在一实施例中，所述第一壳体和所述第二壳体通过多个所述安装结构对 接安装。
在一实施例中，所述第一壳体包括智能移动机器人的上盖，所述第二壳体包括智能移动机器人的车身。
本申请实施例中提供的一个或多个技术方案，至少具有如下技术效果或优点：
本申请实施例提供了一种壳体的安装结构及具有该安装结构的智能移动机器人，安装结构包括设于第一壳体的第一表面的安装插件和设于第二壳体的第二表面的安装凹槽，安装插件和安装凹槽沿第一方向延伸；其中，在相对第一方向的两侧，该安装凹槽的内壁凸出有一对限位凸缘，该安装插件包括一对限位臂；并且，一对限位臂之间的间距从安装插件的顶部向根部方向逐渐增大；能够理解，这样在将第一壳体的第一表面与第二壳体的第二表面对接安装时，也即在将安装插件插入安装凹槽时，该安装插件的一对限位臂由于受限于一对限位凸缘首先发生聚拢的形变，然后，在限位臂插入安装凹槽内后再恢复至原始位置，从而由于限位凸缘的阻挡，可将安装插件在第一方向限位于安装凹槽内，进而实现两个壳体的对接安装；相较两个壳体的螺钉安装，本申请的安装结构不必使用螺丝刀等专业工具，只需沿第一方向的插接即可实现两个壳体的装配过程，装配效率高。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。
图1为本申请实施例中所述安装结构的剖面结构示意图。
图2为本申请实施例中所述第一弹性臂和所述第二弹性臂的结构示意图。
图3为本申请实施例中所述限位卡扣的结构示意图。
图4为本申请实施例中所述安装结构的俯视结构示意图。
图5为本申请实施例中所述限位凸缘的端部固定有所述压铆金属环的结构示意图。
图6为本申请实施例中所述第一壳体设有多个所述安装插件的结构示意图。
其中，附图标记：
100-第一壳体，200-第二壳体，101-第一表面，201-第二表面，
10-安装插件，11-插接柱，12-限位卡扣，
121-固定帽，122-限位臂，123-固定臂，
1221-第一弹性臂，1222-第二弹性臂，
20-安装凹槽，21-限位凸缘，22-压铆金属环，
X-第一方向，Y-第二方向，Z-第三方向。
具体实施方式
为使本申请的目的、技术方案、及优点更加清楚明白，以下参照附图并举实施例，对本申请进一步详细说明。显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
图1为本申请公开的安装结构的剖面示意图，请结合图1，一种壳体的安装结构，该安装结构用于第一壳体100和第二壳体200的对接安装，安装结构包括安装插件10和安装凹槽20。
安装插件10设于第一壳体100的第一表面101，该安装插件10自第一表面101沿第一方向X延伸；
安装凹槽20设于第二壳体200的第二表面201，该安装凹槽20自第二表面201沿第一方向X延伸，该安装凹槽20用于在第一表面101与第二表面201对接时供该安装插件10插入；
其中，在相对第一方向X的两侧，形成安装凹槽20的内壁凸出有一对限位凸缘21，安装插件10包括一对限位臂122；并且，一对限位臂122之间的间距自安装插件10的顶部向安装插件10的根部方向逐渐增大，以使在安装插件10插入安装凹槽20时，一对限位凸缘21卡接一对限位臂122。
本实施例的安装结构用于第一壳体100和第二壳体200的对接安装，具体为第一壳体100第一表面101和第二壳体200第二表面201的对接安装。
其中，自第一表面101沿第一方向X延伸有安装插件10，并且，该第一方向X是基于第二壳体200与第一壳体100的相对位置确定的，表征由第一表面101指向第二表面201的方向。
即，如图1中所示，该第一方向X例如为竖直方向，第一壳体100位于上端，第二壳体200位于下端，安装插件10自第一表面101竖直向下延伸；
在相对第一方向X的两侧，该安装插件10包括一对限位臂122，并且，一对限位臂122之间的间距自安装插件10的顶部向安装插件10的根部方向逐渐增大；其中，结合图1，沿第一方向X，安装插件10远离第一壳体100的一端为顶部，安装插件10靠近第一壳体100的一端为根部，也就是，图1中安装插件10的一对限位臂122之间的间距自下而上逐渐增大。
其中，自第二表面201沿第一方向X延伸有安装凹槽20。即图1中，第二表面201的开孔处竖直向下形成有安装凹槽20，该安装凹槽20用于容纳上述的安装插件10；并且，在相对第一方向X的两侧，形成该安装凹槽20的内壁凸出有一对限位凸缘21；也就是说，如图1中所示，安装凹槽20相对的两内壁上各自凸出有一个限位凸缘21，形成一对限位凸缘21。
其中，一对限位凸缘21卡接一对限位臂122。具体而言，图1中第三方向Z为垂直于第一方向X的一水平方向，沿第三方向Z，一对限位凸缘21的两端部之间的间距应小于一对限位臂122之间的最大间距，从而，在第一壳体100的第一表面101和第二壳体200的第二表面201上下对接安装时，也就是安装插件10和安装凹槽20对接安装时，一对限位臂122插入安装凹槽20，并且由于两限位臂122之间的间距自下而上逐渐增大，两限位臂122受限于两侧的限位凸缘21逐渐变形、聚拢，直至两限位臂122间距最大处伸入安装凹槽20后，两限位臂122恢复至原始位置。此时，如上所述，由于两限位凸缘21的两端部之间的间距小于两限位臂122之间的最大间距，限位凸缘21会在第一方向X上对限位臂122进行限位，也就是一对限位凸缘21卡接一对限位臂122，从而使第一壳体100和第二壳体200在第一方向X上对接安装。
其中，每个限位凸缘21的端部是指限位凸缘21靠近安装插件10的一端，上述一对限位凸缘21的两端部之间的间距应小于一对限位臂122之间的最大间距是指一对限位凸缘21靠近安装插件10的两端部之间的间距，应小于一对限位臂122之间的最大间距。
并且，上述两限位臂122间距最大处伸入安装凹槽20是指两限位臂122间距最大处位于安装凹槽20内，并且，一对限位凸缘21在第一方向X上卡接两限位臂122间距最大处。
本申请实施例提供了一种壳体的安装结构及具有该安装结构的智能移动 机器人，安装结构包括设于第一壳体的第一表面的安装插件和设于第二壳体的第二表面的安装凹槽，安装插件和安装凹槽沿第一方向延伸；其中，在相对第一方向的两侧，该安装凹槽的内壁凸出有一对限位凸缘，该安装插件包括一对限位臂；并且，一对限位臂之间的间距从安装插件的顶部向根部方向逐渐增大；能够理解，这样在将第一壳体的第一表面与第二壳体的第二表面对接安装时，也即安装插件插入安装凹槽时，该安装插件的一对限位臂由于受限于一对限位凸缘首先发生聚拢的形变，然后，在限位臂插入安装凹槽内后再恢复至原始位置，从而由于限位凸缘的阻挡，可将安装插件在第一方向限位于安装凹槽内，进而实现两个壳体的对接安装；相较两个壳体的螺钉安装，本申请的安装结构不必使用螺丝刀等专业工具，只需沿第一方向的插接即可实现两个壳体的装配过程，装配效率高。
应理解的，限位臂122为实现上述的逐渐变形、聚拢、以及恢复至原始状态的过程，该限位臂122应为一种弹性臂，例如采用弹簧钢等材质制成的限位臂。
此外，该安装凹槽20用于供安装插件10插入，即在第一方向X上，安装凹槽20的深度至少应大于两限位臂122之间的间距最大处到安装插件10顶端的直线距离，即在第一方向X上，安装凹槽20的深度至少应大于两限位臂122最接近安装插件10顶端的两端到安装插件10顶端的直线距离。
一种可能实施方式中，请结合图2，安装插件10包括插接柱11，插接柱11自第一表面101沿第一方向X延伸，插接柱11相对第一方向X的两侧对称的设有一对限位臂122；其中，限位臂122包括连接为一体的第一弹性臂1221和第二弹性臂1222，第一弹性臂1221自插接柱11的顶部向插接柱11的根部方向呈逐渐远离插接柱11地延伸，第二弹性臂1222自第一弹性臂1221的端部向插接柱11的根部方向呈逐渐接近插接柱11地延伸。
本实施例的一对限位臂对称的设于插接柱相对第一方向的两侧。
具体而言，请参看图2，插接柱11自第一表面101沿第一方向X竖直向下延伸，插接柱11的两侧对称的设有一对限位臂122；其中，自插接柱11的顶部向插接柱11的根部方向，即图2中自下而上的方向，限位臂122包括连接为一体的第一弹性臂1221和第二弹性臂1222，并且，第一弹性臂1221呈逐渐远离插接柱11地延伸，第二弹性臂1222呈逐渐靠近插接柱11地延伸； 或者可以说，沿插接柱11的自下而上方向，一对限位臂122之间的间距先是逐渐增大，然后再逐渐减小。
这样，能够理解，一方面，该插接柱11提供了一对限位臂122的固定位置；另一方面，在将安装插件10与安装凹槽20拆卸时，只需将一对第二弹性臂1222聚拢的夹紧，即可方便的将安装插件10从安装凹槽20内取出，从而实现第一壳体100与第二壳体200的快速拆卸，拆卸效率较高。
至于上述插接柱11与限位臂122的连接关系，在一实施例中，该限位臂122与插接柱11可为一体成型设置。
或者，在另一实施例中，请结合图3，安装插件10还包括限位卡扣12，限位卡扣12包括固定帽121，固定帽121用于外套于插接柱11的顶端，固定帽121相对第一方向X的两端分别延伸并通过第一折弯形成一对限位臂122。
也就是说，本实施例的限位卡扣12上形成有上述的限位臂122，然后该限位卡扣12可拆卸的安装于插接柱11的顶端。
具体请结合图3，限位卡扣12包括固定帽121，固定帽121用于外套在插接柱11的顶端，也就是图3中插接柱11的竖直下端，然后，该固定帽121相对第一方向X的两端分别延伸并通过第一折弯形成上述的一对限位臂122；其中，从图3中可知，该第一折弯为折弯角朝向插接柱11的折弯。
本实施例的限位臂122形成于限位卡扣12上，并且该限位卡扣12可拆卸的连接于第一壳体100的插接柱11的顶端，从而限位卡扣12可作为一种批量生产的零部件标准化、大量生产，节约成本，并且能够有效提高两个壳体对接安装的精度。
此外，为了加强上述限位卡扣12与插接柱11的安装，在一实施例中，固定帽121相对第一方向X的两端还分别延伸有一对固定臂123，一对固定臂123位于一对限位臂122的相对内侧，并且，固定臂123设有与第一折弯反向的第二折弯，以使一对固定臂123夹持于插接柱11。
继续参看图3，与一对限位臂122类似的，该固定帽121相对第一方向X的两端还分别延伸有一对固定臂123，即，该限位卡扣12上还形成有一对固定臂123。
一对固定臂123位于一对限位臂122的相对内侧，并且，固定臂123上设有第二折弯，从图3中可知，第二折弯与第一折弯反向，该第二折弯为折 弯角背向插接柱11的折弯；能够理解，通过上述第二折弯，一对固定臂123即可弹性的夹持插接柱11，从而使限位卡扣12可拆卸的夹持固定在插接柱11上。
一种可能实施方式中，请结合图4，安装凹槽20沿第二方向Y的长度大于安装插件10沿第二方向Y的长度，其中，第二方向Y同时垂直于第一方向X以及一对限位凸缘21卡接一对限位臂122的第三方向Z。
其中，请参看图4，该第二方向Y同时垂直于上述第一方向X和第三方向Z。
本实施例通过设置安装凹槽20沿第二方向Y的长度大于安装插件10沿第二方向Y的长度，这样即在第二方向Y吸收安装公差，也就是在第一壳体100与第二壳体200对接安装时，可吸收第二方向Y的安装公差，提高了两个壳体的对接安装精度。
此外，应理解的，上述一对限位臂122还可通过弹性形变吸收第三方向Z的安装公差。
在一实施例中，请结合图5，限位凸缘21沿第二方向Y延伸，并且，限位凸缘21的端部固定有压铆金属环22。
请结合图5，考虑到第二壳体200通常可为塑料材质，耐磨性差，本实施例在限位凸缘21的端部固定压铆金属环22，这样，在安装和拆卸安装插件10时，安装插件10的限位臂122直接与压铆金属环22接触并摩擦，避免了限位臂122对第二壳体200上限位凸缘21的磨损，提高了使用寿命。
一种可能实施方式中，该限位凸缘21设于安装凹槽20的开孔处；也就是说，例如请参看图3或图5，第二表面201在安装凹槽20的开孔处凸出有限位凸缘21。
基于上述的安装结构，本申请实施例还公开一种智能移动机器人，该智能移动机器人包括第一壳体和第二壳体，第一壳体和第二壳体通过如上所述的安装结构对接安装。
在一实施例中，请结合图6，考虑到两个壳体的尺寸可能较大，第一壳体100和第二壳体200可通过多个安装结构对接安装，并且，多个安装结构均匀分布，例如请参看图6，图6示出了第一壳体100设有多个安装插件10；从而防止两个壳体之间出现翘曲、晃动等，装配简单、方便，节省了装配时间。
在一实施例中，该第一壳体包括智能移动机器人的上盖，该第二壳体包括智能移动机器人的车身。
以上结合具体实施例描述了本申请的基本原理，但是，需要指出的是，在本申请中提及的优点、优势、效果等仅是示例而非限制，不能认为这些优点、优势、效果等是本申请的各个实施例必须具备的。另外，上述公开的具体细节仅是为了示例的作用和便于理解的作用，而非限制，上述细节并不限制本申请为必须采用上述具体的细节来实现。
本申请中涉及的器件、装置、设备、系统的方框图仅作为例示性的例子并且不意图要求或暗示必须按照方框图示出的方式进行连接、布置、配置。如本领域技术人员将认识到的，可以按任意方式连接、布置、配置这些器件、装置、设备、系统。诸如“包括”、“包含”、“具有”等等的词语是开放性词汇，指“包括但不限于”，且可与其互换使用。这里所使用的词汇“或”和“和”指词汇“和/或”，且可与其互换使用，除非上下文明确指示不是如此。这里所使用的词汇“诸如”指词组“诸如但不限于”，且可与其互换使用。
还需要指出的是，在本申请的装置、设备和方法中，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本申请的等效方案。
提供所公开的方面的以上描述以使本领域的任何技术人员能够做出或者使用本申请。对这些方面的各种修改对于本领域技术人员而言是非常显而易见的，并且在此定义的一般原理可以应用于其他方面而不脱离本申请的范围。因此，本申请不意图被限制到在此示出的方面，而是按照与在此公开的原理和新颖的特征一致的最宽范围。
为了例示和描述的目的已经给出了以上描述。此外，此描述不意图将本申请的实施例限制在此公开的形式。尽管以上已经讨论了多个示例方面和实施例，但是本领域技术人员将认识到其某些变型、修改、改变、添加和子组合均应包含在本申请保护的范围之内。
以上所述仅为本申请的较佳实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (11)

  1. 一种壳体的安装结构，其特征在于，所述安装结构用于第一壳体(100)和第二壳体(200)的对接安装，所述安装结构包括：
    安装插件(10)，设于所述第一壳体(100)的第一表面(101)，所述安装插件(10)自所述第一表面(101)沿第一方向(X)延伸；
    安装凹槽(20)，设于所述第二壳体(200)的第二表面(201)，所述安装凹槽(20)自所述第二表面(201)沿所述第一方向(X)延伸，所述安装凹槽(20)用于在所述第一表面(101)与所述第二表面(201)对接时供所述安装插件(10)插入；
    其中，在相对所述第一方向(X)的两侧，形成所述安装凹槽(20)的内壁凸出有一对限位凸缘(21)，所述安装插件(10)包括一对限位臂(122)；
    并且，一对所述限位臂(122)之间的间距自所述安装插件(10)的顶部向所述安装插件(10)的根部方向逐渐增大，以使在所述安装插件(10)插入所述安装凹槽(20)时，一对所述限位凸缘(21)卡接一对所述限位臂(122)。
  2. 根据权利要求1所述的安装结构，其特征在于，所述安装插件(10)包括插接柱(11)，所述插接柱(11)自所述第一表面(101)沿所述第一方向(X)延伸，所述插接柱(11)相对所述第一方向(X)的两侧对称的设有一对所述限位臂(122)；
    其中，所述限位臂(122)包括连接为一体的第一弹性臂(1221)和第二弹性臂(1222)，所述第一弹性臂(1221)自所述插接柱(11)的顶部向所述插接柱(11)的根部方向呈逐渐远离所述插接柱(11)地延伸，所述第二弹性臂(1222)自所述第一弹性臂(1221)的端部向所述插接柱(11)的根部方向呈逐渐接近所述插接柱(11)地延伸。
  3. 根据权利要求2所述的安装结构，其特征在于，所述安装插件(10)还包括限位卡扣(12)，所述限位卡扣(12)包括固定帽(121)，所述固定帽(121)用于外套于所述插接柱(11)的顶端，所述固定帽(121)相对所述第一方向(X)的两端分别延伸并通过第一折弯形成一对所述限位臂(122)。
  4. 根据权利要求3所述的安装结构，其特征在于，所述固定帽(121)相对所述第一方向(X)的两端还分别延伸有一对固定臂(123)，一对所述固定臂(123)位于一对所述限位臂(122)的相对内侧，并且，所述固定臂(123) 设有与所述第一折弯反向的第二折弯，以使一对所述固定臂(123)夹持于所述插接柱(11)。
  5. 根据权利要求2所述的安装结构，其特征在于，所述限位臂(122)与所述插接柱(11)为一体成型设置。
  6. 根据权利要求1所述的安装结构，其特征在于，所述安装凹槽(20)沿第二方向(Y)的长度大于所述安装插件(10)沿所述第二方向(Y)的长度，其中，所述第二方向(Y)同时垂直于所述第一方向(X)以及一对所述限位凸缘(21)卡接一对所述限位臂(122)的第三方向(Z)。
  7. 根据权利要求6所述的安装结构，其特征在于，所述限位凸缘(21)沿所述第二方向(Y)延伸，并且，所述限位凸缘(21)的端部固定有压铆金属环(22)。
  8. 根据权利要求1所述的安装结构，其特征在于，所述限位凸缘(21)设于所述安装凹槽(20)的开孔处。
  9. 一种智能移动机器人，其特征在于，所述智能移动机器人包括第一壳体(100)和第二壳体(200)，所述第一壳体(100)和所述第二壳体(200)通过如权利要求1～8中任一项所述的安装结构对接安装。
  10. 根据权利要求9所述的智能移动机器人，其特征在于，所述第一壳体(100)和所述第二壳体(200)通过多个所述安装结构对接安装。
  11. 根据权利要求10所述的智能移动机器人，其特征在于，所述第一壳体(100)包括智能移动机器人的上盖，所述第二壳体(200)包括智能移动机器人的车身。
PCT/CN2023/119426 2022-10-20 2023-09-18 壳体的安装结构及具有该安装结构的智能移动机器人 WO2024082900A1 (zh)

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