CN205018960U - Automatic mobile robot - Google Patents
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- CN205018960U CN205018960U CN201520679331.2U CN201520679331U CN205018960U CN 205018960 U CN205018960 U CN 205018960U CN 201520679331 U CN201520679331 U CN 201520679331U CN 205018960 U CN205018960 U CN 205018960U
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Abstract
The utility model provides an automatic mobile robot, including organism (100) and the the control unit of setting on the organism, the bottom of organism is equipped with walking unit (200), adsorb unit and functional unit, be equipped with at least one dropproof detection pulley unit (500) on the edge of organism, dropproof detection pulley unit detects the operating position that automatic mobile robot located, detect automatic mobile robot when unsettled position, output detection signal gives the control unit, the control unit control walking unit makes automatic mobile robot safety turn to. The utility model discloses with among the prior art respectively independent setting border detecting element and supplementary angle pulley is integrative sets up, not only reduced the taking of bottom of the body space, and make automatic mobile robot can a detection time to the border and in time turn to, increased the sensitivity and the flexibility of moving of boundary detection.
Description
Technical field
The utility model relates to a kind of self-movement robot, belongs to small household appliances manufacturing technology field.
Background technology
Existing window wiping robot is provided with border detection element at body usually, arranges angle pulley at the end place, right angle of body.As document number be CN201110095580.3 patent discloses a kind of robot, shown in the Fig. 1 in the Figure of description of this patent, on front side of robot, two end places, right angle arrange pulley, when glass frame or corner are encountered by robot, the rolling friction minimizing of robot by this pulley and the frictional force of glass frame, facilitate robot to move or turn to.And for example document number be CN203885426U patent discloses a kind of robot, shown in Fig. 2 and Fig. 3 in this patent specification accompanying drawing, boundary detection unit is provided with on rear side of robot rag, when robot detects the depression on glass frame or glass, robot auto-steering.But the front side due to glass-cleaning robot is typically provided with wiping rag, boundary detection unit is placed on the rear of rag, easily causes robot glass frame can not be detected in time, thus produce the risk falling damage; In addition, because the bottom space of robot is inherently smaller, if arrange boundary detection unit and angle pulley respectively, special this segment space of waste, brings certain difficulty to the setting of other mechanisms such as rag or mobile unit bottom robot.
Utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, a kind of self-movement robot is provided, the boundary detection unit independently arranged in prior art and assisted diversion pulley are wholely set, not only reduce taking organism bottom space, and make the self-movement robot energy very first time border be detected and turn in time, add sensitivity and the kinematic dexterity of border detection.
Technical problem to be solved in the utility model is achieved by the following technical solution:
A kind of self-movement robot, comprise body and be arranged on the control unit on body, the bottom of body is provided with walking unit, absorbing unit and functional unit, the edge of body is provided with at least one dropproof detection pulley element, described dropproof detection pulley element detects the operating position residing for self-movement robot, when detecting that described self-movement robot is in overhead positions, output detections signal gives described control unit, and described control unit controls walking unit makes self-movement robot turn to safely.
As required, described absorbing unit can adopt various structures, can be vacuum cup or vacuum chamber in various embodiments.
Described functional unit comprises the rag of the periphery being around in vacuum cup or vacuum chamber; Described dropproof detection pulley element is positioned at the outside of rag at least partly.
Described functional unit also comprises the scraping article be arranged on inside rag further.
Similarly, according to the difformity of body, setting position and the quantity of described dropproof detection pulley element are also different, specifically, described body is quadrangle, and the magnitude setting of described dropproof detection pulley element is 4 and is fixedly connected on respectively on four corner positions of described body.Described body is circular, and the magnitude setting of described dropproof detection pulley element is multiple and is equidistantly evenly arranged on described body circumferentially.Described body is irregularly shaped, and the magnitude setting of described dropproof detection pulley element is multiple and is evenly arranged in the outer rim of described body.
More specifically, described dropproof detection pulley element mainly comprises pulley assembly, flexible bulb and detecting unit; Described pulley assembly comprises pulley bracket and pulley, and pulley bracket is made up of pulley mount and the connecting portion be arranged on above pulley mount, and described connecting portion is used for being connected with the drift angle of body; Flexible bulb elasticity is located in described pulley mount; The described top of flexible bulb and the correspondence position of pulley bracket are provided with detecting unit, and described detecting unit is connected with control unit; In described self-movement robot walking operation process, bottom and the glass surface of described flexible bulb push against.
Described flexible bulb comprises hemisphere and the connecting rod be connected above it, wherein, connecting rod passes from described pulley mount, connecting rod is arranged with bulb spring, and the two ends of bulb spring are supported respectively between the locating surface of the inner chamber of hemispheroidal upper surface and pulley bracket.
As required, described detecting unit can adopt the sensor of heterogeneity and structure equally, such as: can be optocoupler part or Hall part or mechanical linkage switch.
Specifically, state optocoupler part and comprise optocoupler baffle plate and the corresponding optocoupler circuit board module arranged, described optocoupler baffle plate is provided with protuberance, and described optocoupler circuit board module is provided with groove; Described connecting rod top is fixed by screw and pad and optocoupler baffle plate; Support body between the first link and the second link is also provided with locating slot, and described optocoupler circuit board module is plugged in described locating slot; When self-movement robot is in normal walking states, described protuberance and groove are in the position offset one from another; When detecting self-movement robot and being positioned at overhead positions, described protuberance falls in groove, makes optocoupler part produce induced signal and this signal is sent to control unit.
Described Hall part comprises correspondence and is arranged on the second Hall element on the first Hall element on connecting rod and the support body between described first link and the second link; When self-movement robot is in normal walking states, first, second Hall element described is in the position offset one from another; When detecting that self-movement robot is positioned at overhead positions, first, second Hall element described aligns, and makes Hall part produce induced signal and this signal is sent to control unit.
Described mechanical linkage switch comprises correspondence and is arranged on microswitch on the STATEMENT OF FEDERALLY SPONSORED on connecting rod and the support body between described first link and the second link; When self-movement robot is in normal walking states, described STATEMENT OF FEDERALLY SPONSORED and microswitch are in the position offset one from another; When detecting that self-movement robot is positioned at overhead positions, described STATEMENT OF FEDERALLY SPONSORED motion also closes with microswitch, makes mechanical linkage switch produce induced signal and this signal is sent to control unit.
In order to make pulley can either rotate relative to pulley bracket again with pulley bracket location, the outer edge surface of described pulley mount is provided with annular groove, and on the internal face of described pulley, correspondence is provided with bulge loop, and described bulge loop is embedded in annular groove.
In sum, the utility model provides a kind of self-movement robot, the boundary detection unit independently arranged in prior art and assisted diversion pulley are wholely set, not only reduce taking organism bottom space, and make the self-movement robot energy very first time border be detected and turn in time, add sensitivity and the kinematic dexterity of border detection.
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the utility model embodiment one self-movement robot;
Fig. 2 is the bottom view of Fig. 1;
Fig. 3 is the structural representation of the dropproof detection pulley element of the utility model embodiment one;
Fig. 4 is the sectional view of the dropproof detection pulley element of the utility model embodiment one;
Fig. 5 is the overall structure schematic diagram of the utility model embodiment four self-movement robot.
Detailed description of the invention
Embodiment one
Fig. 1 is the overall structure schematic diagram of the utility model embodiment one self-movement robot; Fig. 2 is the bottom view of Fig. 1.As Fig. 1 and shown in composition graphs 2, the utility model provides a kind of self-movement robot, a kind of glass-cleaning robot is specially in the present embodiment, the control unit comprising body 100 and be arranged in body, the bottom of body 100 is provided with walking unit 200, absorbing unit and functional unit (as: cleaning mechanism, spray body or waxing mechanism etc.).Absorbing unit in the present embodiment is vacuum cup 300, and described functional unit comprises the rag 400 being around in vacuum cup periphery.In order to prevent walking unit 200 and vacuum cup 300 by contamination by dust, described functional unit also comprises the scraping article 410 be arranged on inside rag further.Body 100 in the present embodiment is quadrangle, and four drift angles of body 100 are respectively equipped with dropproof detection pulley element 500.Self-movement robot under the control of the control unit, glass surface to be cleaned is adsorbed on by vacuum cup 300, under the drive of walking unit 200, body 100 freely can be walked at glass surface to be cleaned, while rag treat cleaning glass surface and carry out cleaning.Self-movement robot is in moving process, detected by the position residing for dropproof detection pulley element 500 pairs of self-movement robots, once find that this self-movement robot is in overhead positions, control unit controls walking unit 200 makes self-movement robot turn to safely, if steering position is just positioned at glass frame place, pulley can also play power-assisted effect." overhead positions " noted earlier, it can be in fact the border of frame-free glass, or also can be the blemish in the crack or depression and so on glass, can be detected by dropproof detection pulley element 500, in this case more to simplify in statement, be referred to as " overhead positions ", hereby illustrate.
Fig. 3 is the structural representation of the dropproof detection pulley element of the utility model embodiment one; Fig. 4 is the sectional view of the dropproof detection pulley element of the utility model embodiment one.As shown in Figure 1, Figure 2 also shown in composition graphs 3, Fig. 4, described dropproof detection pulley element 500 mainly comprises pulley bracket 510, this pulley bracket 510 is made up of pulley mount 511 and the connecting portion be arranged on above pulley mount 511, connecting portion comprises spaced first link 512 and the second link 513, for being connected with the drift angle of body 100.Flexible bulb 520 comprises hemisphere 521 and the connecting rod 522 be connected above it, wherein, connecting rod 522 passes from pulley mount 511, top is fixed with optocoupler baffle plate 550 by screw 530 and pad 540, connecting rod 522 is arranged with bulb spring 560, the two ends of bulb spring 560 are supported respectively between the upper surface of hemisphere 521 and the locating surface of pulley bracket 510 inner chamber.Support body between the first link 512 and the second link 513 is also provided with locating slot (not shown), and optocoupler circuit board module 570 is plugged in described locating slot.The outer edge surface of the pulley mount 511 of pulley bracket 510 is provided with annular groove 514, on the internal face of described pulley 580, correspondence is provided with bulge loop 581, and described bulge loop 581 is embedded in annular groove 514, makes pulley 580 not only can locate with pulley bracket 510 but also can rotate relative to pulley bracket 510.
When self-movement robot is in normal walking states, hemisphere 521 is just positioned at the inside of pulley 580, and now, bulb spring 560 is in compressive state, and optocoupler baffle plate 550 and optocoupler circuit board module 570 are in the position offset one from another.When detecting that the crack on glass, depression or self-movement robot are positioned at the edge of frame-free glass, flexible bulb 520 is at the elastic force moved downward of bulb spring 560, flexible bulb declines and drives optocoupler baffle plate 550 to decline, now, the protuberance 551 of optocoupler baffle plate 550 falls in the groove 571 of optocoupler circuit board module 570, makes optic coupling element produce induced signal and this signal is sent to control unit.Control unit judges that self-movement robot is in glass frame place or crack place, controls walking unit 200 and self-movement robot correspondence is turned to.In steering procedure, if encounter the Glazed fence with frame, pulley 580 by rotating, thus can reduce and the frictional force produced when contacting between jamb surface, plays power-assisted effect.
In the embodiment shown in Fig. 3 and Fig. 4, due to structural restriction, flexible bulb 520 can only move downward, for detecting the border of Rimless glass or the depression of glass surface.Obviously, those skilled in the art also can accomplish technique scheme to expand, the protuberance 551 of optocoupler baffle plate 550 state be in the groove 571 of optocoupler circuit board module 570 is made to be normality, the vibrational power flow of flexible bulb 520 is moved up or down for allowing it simultaneously, it rises or declines and will cause protuberance 551 and the dislocation of groove 571, then export induced signal and robot is turned to.Like this, no matter the defect of glass surface is protruding or depression, and can detect, detection range is wider and sensitivity is also higher.And as shown in Figure 2, because dropproof detection pulley element 500 is positioned at the outside of rag at least partly, namely fall and detect the pulley element energy very first time and the border of working surface or depression etc. detected, improve the functional reliability of self-movement robot further; And dropproof detection pulley element 500 is positioned at the edge of body, make to there is larger space distribute walking unit, functional unit (as rag), absorbing unit etc. bottom robot.
It should be noted that in addition, the power-assisted effect of the pulley 580 in Fig. 1 to Fig. 4 is mainly reflected in when self-movement robot moves to the Glazed fence with frame, and welt reduces friction, that is: reduce the frictional force between self-movement robot and glass frame.
Embodiment two
There is provided a kind of self-movement robot equally in the present embodiment, the difference of the present embodiment and embodiment one is, both have employed the different detection of detecting unit realization to self-movement robot shift position.Specifically, in the present embodiment, described detecting unit is Hall part, and that is, described Hall part comprises correspondence and is arranged on the second Hall element on the first Hall element on connecting rod 522 and the support body between described first link 512 and the second link 513.When self-movement robot is in normal walking states, hemisphere 521 is just positioned at the inside of pulley 580, and now, bulb spring 560 is in compressive state, and first, second Hall element described is in the position offset one from another.When the crack detected on working surface or self-movement robot are positioned at the edge of frame-free glass, flexible bulb 520 is at the elastic force moved downward of bulb spring 560, flexible bulb decline drive first Hall unit declines, now, first, second Hall element described aligns, and makes Hall part produce induced signal and this signal is sent to control unit.Control unit judges that self-movement robot is in working surface boundary or crack place, controls walking unit 200 and self-movement robot correspondence is turned to.
The other technologies feature of the present embodiment and embodiment one basic simlarity, please refer to illustrating in embodiment one, other uses for different detection units and structurally done amendment also belong to the routine techniques means that those skilled in the art use and replace, and do not repeat them here.
Embodiment three
From the different of embodiment one, two, the self-movement robot provided in the present embodiment is also that detecting unit is different, specifically, in the present embodiment, described detecting unit is mechanical linkage switch, and described mechanical linkage switch comprises correspondence and is arranged on microswitch on the STATEMENT OF FEDERALLY SPONSORED on connecting rod 522 and the support body between described first link 512 and the second link 513.When self-movement robot is in normal walking states, described STATEMENT OF FEDERALLY SPONSORED and microswitch are in the position offset one from another.When the crack detected on working surface or self-movement robot are positioned at the edge of working surface, flexible bulb 520 is at the elastic force moved downward of bulb spring 560, flexible bulb declines and drives the motion of described STATEMENT OF FEDERALLY SPONSORED and close with microswitch, makes mechanical linkage switch produce induced signal and this signal is sent to control unit.Control unit judges that self-movement robot is in working surface boundary or crack place, controls walking unit 200 and self-movement robot correspondence is turned to.
The other technologies feature of the present embodiment and embodiment one basic simlarity, please refer to illustrating in embodiment one, other uses for different detection units and structurally done amendment also belong to the routine techniques means that those skilled in the art use and replace, and do not repeat them here.
Embodiment four
Fig. 5 is the overall structure schematic diagram of the utility model embodiment four self-movement robot.As shown in Figure 5, the present embodiment is the replacing structure on embodiment one architecture basics, and both differences are that the structure of absorbing unit is different.Specifically, in embodiment one, absorbing unit is vacuum cup 300, and in the present embodiment, absorbing unit is then vacuum chamber 300 ', is provided with rag 400 in the outside of described vacuum chamber 300 ', and rag 400 plays the effect of cleaning action and sealed vacuum chamber 300 ' simultaneously.
Other technologies feature in the present embodiment is identical with embodiment one, does not repeat them here.
In sum, the utility model provides a kind of self-movement robot, according to work functions demand, can be glass-cleaning robot, robot for cleaning wall surfaces, solar panel clean robot, wall spraying or waxing robot etc.Regardless of the profile of robot body, comprise square, circle or other are irregularly shaped, all multiple detecting unit can be set on the edge of its body, described detecting unit detects the position residing for self-movement robot, when detecting that described self-movement robot is in overhead positions, output detections signal gives described control unit, and described control unit controls walking unit makes self-movement robot turn to safely.Detecting unit can be realized by multiple different form as required, such as: optocoupler part or Hall part or mechanical linkage switch etc.Meanwhile, also by the main component structure of detecting unit, pulley and detecting unit are wholely set and form multiple dropproof detection pulley element.That is, the boundary detection unit independently arranged in prior art and assisted diversion pulley are wholely set by the utility model, not only reduce taking organism bottom space, and make the self-movement robot energy very first time working surface border be detected and turn in time, add sensitivity and the kinematic dexterity of border detection.
Claims (12)
1. a self-movement robot, the control unit comprising body (100) and be arranged on body, the bottom of body is provided with walking unit (200), absorbing unit and functional unit, it is characterized in that, the edge of body is provided with at least one dropproof detection pulley element (500), described dropproof detection pulley element detects the operating position residing for self-movement robot, when detecting that described self-movement robot is in overhead positions, output detections signal gives described control unit, described control unit controls walking unit makes self-movement robot turn to safely.
2. self-movement robot as claimed in claim 1, it is characterized in that, described absorbing unit is vacuum cup (300) or vacuum chamber (300 ');
Described functional unit comprises the rag (400) of the periphery being around in vacuum cup or vacuum chamber;
Described dropproof detection pulley element (500) is positioned at the outside of rag at least partly.
3. self-movement robot as claimed in claim 2, it is characterized in that, described body (100) is quadrangle, and the magnitude setting of described dropproof detection pulley element (500) is 4 and is fixedly connected on respectively on four corner positions of described body.
4. self-movement robot as claimed in claim 2, it is characterized in that, described body (100) is circular, and the magnitude setting of described dropproof detection pulley element (500) is multiple and is equidistantly evenly arranged on described body circumferentially.
5. self-movement robot as claimed in claim 2, it is characterized in that, described body (100) is for irregularly shaped, and the magnitude setting of described dropproof detection pulley element (500) is multiple and is evenly arranged in the outer rim of described body.
6. the self-movement robot as described in any one of claim 3-5, is characterized in that, described dropproof detection pulley element (500) mainly comprises pulley assembly (510), flexible bulb and detecting unit,
Described pulley assembly (510) comprises pulley bracket and pulley (580), pulley bracket is made up of pulley mount (511) and the connecting portion be arranged on above pulley mount, and described connecting portion is used for being connected with the drift angle of body (100);
Flexible bulb (520) elasticity is located in described pulley mount;
The described top of flexible bulb and the correspondence position of pulley bracket are provided with detecting unit, and described detecting unit is connected with control unit; In described self-movement robot walking operation process, bottom and the glass surface of described flexible bulb push against.
7. self-movement robot as claimed in claim 6, it is characterized in that, described flexible bulb (520) comprises hemisphere (521) and the connecting rod be connected above it (522), wherein, connecting rod passes from described pulley mount (511), connecting rod is arranged with bulb spring (560), the two ends of bulb spring are supported respectively between the locating surface of the inner chamber of hemispheroidal upper surface and pulley bracket.
8. self-movement robot as claimed in claim 7, is characterized in that, described detecting unit is optocoupler part or Hall part or mechanical linkage switch.
9. self-movement robot as claimed in claim 8, it is characterized in that, described optocoupler part comprises optocoupler baffle plate (550) and the corresponding optocoupler circuit board module (570) arranged, described optocoupler baffle plate is provided with protuberance (551), and described optocoupler circuit board module is provided with groove (571);
Described connecting rod (522) top is fixed with optocoupler baffle plate by screw (530) and pad (540); Described connecting portion comprises the first link (512) and the second link (513), support body between the first link (512) and the second link (513) is also provided with locating slot, and described optocoupler circuit board module is plugged in described locating slot;
When self-movement robot is in normal walking states, described protuberance and groove are in the position offset one from another;
When detecting self-movement robot and being positioned at overhead positions, described protuberance falls in groove, makes optocoupler part produce induced signal and this signal is sent to control unit.
10. self-movement robot as claimed in claim 8, it is characterized in that, described connecting portion comprises the first link (512) and the second link (513); Described Hall part comprises correspondence and is arranged on the second Hall element on the first Hall element on connecting rod (522) and the support body between the first link (512) and the second link (513);
When self-movement robot is in normal walking states, first, second Hall element described is in the position offset one from another;
When detecting that self-movement robot is positioned at overhead positions, first, second Hall element described aligns, and makes Hall part produce induced signal and this signal is sent to control unit.
11. self-movement robots as claimed in claim 8, is characterized in that, described connecting portion comprises the first link (512) and the second link (513); Described mechanical linkage switch comprises correspondence and is arranged on microswitch on the STATEMENT OF FEDERALLY SPONSORED on connecting rod (522) and the support body between the first link (512) and the second link (513);
When self-movement robot is in normal walking states, described STATEMENT OF FEDERALLY SPONSORED and microswitch are in the position offset one from another;
When detecting that self-movement robot is positioned at overhead positions, described STATEMENT OF FEDERALLY SPONSORED motion also closes with microswitch, makes mechanical linkage switch produce induced signal and this signal is sent to control unit.
12. self-movement robots as claimed in claim 6, it is characterized in that, the outer edge surface of described pulley mount (511) is provided with annular groove (514), on the internal face of described pulley (580), correspondence is provided with bulge loop (581), described bulge loop is embedded in annular groove, and pulley can either be rotated relative to pulley bracket again with pulley bracket location.
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| CN201520679331.2U CN205018960U (en) | 2015-09-02 | 2015-09-02 | Automatic mobile robot |
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| CN201520679331.2U CN205018960U (en) | 2015-09-02 | 2015-09-02 | Automatic mobile robot |
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| CN109850031A (en) * | 2019-03-13 | 2019-06-07 | 浙江大华机器人技术有限公司 | Chassis and robot |
| CN110212856B (en) * | 2019-06-06 | 2020-11-24 | 深圳怪虫机器人有限公司 | Photovoltaic robot seam crossing operation method |
| CN110212856A (en) * | 2019-06-06 | 2019-09-06 | 深圳怪虫机器人有限公司 | A kind of method of the photovoltaic robot across seam operation |
| CN110250987A (en) * | 2019-07-24 | 2019-09-20 | 郑州邦浩电子科技有限公司 | With the window wiping robot for arriving frontier inspection brake |
| CN110250987B (en) * | 2019-07-24 | 2021-01-29 | 郑州邦浩电子科技有限公司 | Window cleaning robot with edge detection function |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: Ecovacs robot Limited by Share Ltd Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: Ecovacs Robot Co., Ltd. |