CN207616622U - Mobile robot - Google Patents
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- CN207616622U CN207616622U CN201721067022.5U CN201721067022U CN207616622U CN 207616622 U CN207616622 U CN 207616622U CN 201721067022 U CN201721067022 U CN 201721067022U CN 207616622 U CN207616622 U CN 207616622U
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Abstract
The utility model discloses a kind of mobile robots, the mobile robot includes robot body and collision sensing device, robot body also includes control system, collision sensing device includes device case and at least one inductive switch, described device shell was at least about the robot body one week, also, when described device shell is collided, at least one inductive switch is triggered and provides signal, and the control system is according to mobile robot described in the signal manipulation；Wherein, the inductive switch is set on the robot body and/or described device shell, with sense collision sensing device by collision situation.The mobile robot can be in the collision suffered by multi-faceted upper sensing mobile robot.
Description
Technical field
The utility model is related to smart machine field more particularly to a kind of moveable mobile robots.
Background technology
Mobile robot is a kind of equipment for capableing of autonomous on a surface comprising various sensor devices so as to
Obstacle is avoided in the work environment.In order to sense the collision with environmental objects, it is equipped with a sensing in the front of mobile robot and touches
The buffer hit has activity space appropriate between buffer and robot body, when the buffer and barrier collision, delay
The impact generated to robot body when barrier is collided with robot can be buffered by rushing device, and can sense the barrier in front of robot
Hinder the collision of object and robot so that robot converts moving direction, avoids obstacle.However, the buffering of current mobile robot
Device at most covers only the front area of robot body, and there was only single height from the ground, can sense robot body
The orientation collided is very limited.
Utility model content
Technical problem to be solved by the utility model is to provide a kind of mobile robot, the mobile robot can
With the collision suffered by multi-faceted upper sensing mobile robot.
In order to solve the above-mentioned technical problem, the embodiments of the present invention use following technical scheme：
The embodiments of the present invention provide a kind of mobile robot, and the mobile robot includes robot body, packet
Contain control system；And
Collision sensing device, the collision sensing device include device case and at least one inductive switch, described device
Shell at least about the robot body one week, also, when described device shell is collided, open by least one induction
Pass is triggered and provides signal, and the control system is according to mobile robot described in the signal manipulation；
Wherein, the inductive switch is set on the robot body and/or described device shell, is passed with sensing collision
Induction device by collision situation.
Rolling member, institute are provided between the robot body and described device shell in one of the embodiments,
State rolling member reduce described device shell movement when the robot body between frictional force.
The rolling member is round ball in one of the embodiments, and the round ball can comprehensive rolling in the original location
It is dynamic.
Described device shell has extension, the extension and the robot body in one of the embodiments,
Far from the mobile robot tread surface it is least partially overlapped, the rolling member be set to the extension with
Between the robot body.
Described device shell is one continuous whole in one of the embodiments,.
The robot body includes the chassis being oppositely arranged and cover in one of the embodiments, the cover
At least part is connected with the collision sensing device.
The cover is integrally formed with described device shell in one of the embodiments, is provided with below the cover
Middle shell is provided with rolling member between the middle shell and cover.
The robot body includes the chassis being oppositely arranged and cover in one of the embodiments, and the cover is set
It is set to：When the device case of the collision sensing device and barrier collide, the cover can be together with described device shell
It is mobile.
The touching sensing device includes multiple inductive switches in one of the embodiments, the multiple described
Inductive switch is distributed evenly in at least first half of described device shell or the first half of the robot body.
The collision sensing device further includes one or more elastic mechanisms, the elasticity in one of the embodiments,
Mechanism for make the collision sensing device when being collided with cushioning effect and after being collided with reset response.
Compared with prior art, the technical solution of the utility model embodiment at least has the advantages that：
In the embodiments of the present invention, since the collision sensing device of mobile robot includes device case and extremely
A few inductive switch, described device shell was at least about the robot body one week, also, when described device shell is touched
When hitting, at least one inductive switch is triggered and provides signal, and the control system is moved according to described in the signal manipulation
Mobile robot, therefore, no matter the mobile robot is collided in which orientation, can trigger inductive switch, is made described
Mobile robot makes corresponding operation, such as retreats, turn to, keep the mobile robot more intelligent, can to collision bearing into
Row judges, largely reduces the sensing blind area when mobile robot is collided, and makes the mobile robot to barrier
Hinder the induction of object more acurrate and sensitive.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other variants.
Fig. 1 is the structural schematic diagram of mobile robot in the embodiments of the present invention；
Fig. 2 a are the schematic top plan views of mobile robot in the embodiments of the present invention；
Fig. 2 b are the schematic cross-sections along cutting line A-A of mobile robot in Fig. 2 a；
Fig. 2 c are the partial enlarged views of the parts I in Fig. 2 b；
Fig. 2 d are the structural schematic diagrams that mobile robot removes after cover in the utility model embodiment；
Fig. 3 is the exploded perspective view of the structure of mobile robot in the utility model embodiment；And
Fig. 4 be the utility model one embodiment in the inductive switch installation part of mobile robot and the knot of inductive switch
Structure exploded perspective view.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It is explicitly described, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Mobile robot is that a kind of intelligent control moves equipment to execute various tasks or function.Mobile robot, especially
It is service robot, for example, clean robot, grass-removing robot, comprehensive household service robot or monitoring or patrol plane
Device people gradually becomes very common in daily life.Technical solution in the embodiments of the present invention for convenience of description, this
The embodiment of utility model is illustrated by taking clean robot as an example, is still known as mobile robot below.
Unless otherwise specified, orientation term "front", "rear", the "left", "right" of this paper is relative to mobile robot
For direction of advance when normal work, front refers to the direction that cleaning equipment is advanced.Term "upper" "lower" "bottom" or "top" are equal
Placement status when being worked normally with the cleaning equipment is reference.
Please refer to Fig.1 and Fig. 3, Fig. 1 be mobile robot in the utility model embodiment structural schematic diagram, Fig. 3 is this
The exploded perspective view of the structure of mobile robot in utility model embodiment.The embodiments of the present invention provide a kind of moving machine
Device people, the mobile robot include robot body 10 and collision sensing device 20.Wherein, robot body 10 is provided with control
System processed, for controlling collision sensing device 20 and other component.The mobile robot further includes being set to robot body
10 moving assembly 50, the moving assembly is for making the mobile robot move, for example, the moving assembly can be wheel
Sub-component, crawler belt or pedipulator etc..It is understood that the mobile robot can also include sensing system, for example, it is red
Outer sensor, laser range sensors and other distance measuring sensors, camera, light stream sensor, acoustic sensor, ultrasonic wave pass
Sensor.The mobile robot can also include other functional components, such as cleaning assemblies, cutting assembly, not chat in detail herein
It states.
The collision sensing device 20 includes device case 210 and inductive switch 220, and described device shell 210 at least encloses
Around the robot body 10 1 weeks (i.e. one circle), in other words, described device shell 210 surrounds the robot body 10 at least
One week (i.e. one circle), i.e., device case 210 encloses 360 ° at least about robot body 10.It is to be appreciated that described device shell 210
It can be designed as around 10 Liang Quan of robot body, three circles or more circle, the reality in addition in mobile robot being clean robot
Applying example can be arranged such outside, can also so be designed in other embodiment, for example, being anthropomorphic robot in mobile robot
In embodiment, the device case 210 of collision sensing device 20 from bottom to up or from top to bottom around robot body's multi-turn, for example,
Collision sensing device 20 can be set to robot body 10 with spiral shape.In one embodiment, multiple inductive switches are uniform
Ground and it is corresponding with the shape of described device shell 210 be distributed on the robot body 10 and/or device case 210,
I.e. multiple inductive switches can be enclosed around robot body 10 1 or multi-turn is evenly distributed.It is understood that multiple inductions are opened
The front or rear portion of mobile robot can also be only set to by closing.In this way, since described device shell 210 is at least about described
Robot body's 10 1 weeks (i.e. one circle), therefore, no matter the mobile robot is collided in which orientation, can be triggered
Inductive switch makes the mobile robot make corresponding operation, such as retreats, and turns to, keeps the mobile robot more intelligent,
Collision bearing can be judged, largely reduce the sensing blind area when mobile robot is collided, made described
Mobile robot is more acurrate to the induction of barrier and sensitive.
The inductive switch is at least one of light sensation inductive switch, microswitch, thin film switch and capacitor.
When described device shell 210 is collided, at least one inductive switch 220 is triggered and provides signal, institute
Control system is stated according to mobile robot described in the signal manipulation.The inductive switch 220 could be provided as one or more,
When multiple inductive switches 220 are arranged, multiple inductive switches 220 are evenly distributed along described device shell 210.
It is of course also possible to which multiple inductive switches 220 to be set to the different parts of device case 210 according to the needs of design.
It is understood that inductive switch 220 can also at least be set to the first half or latter half of the mobile robot
Or any part of mobile robot.In one embodiment, described device shell 210 can be designed as working as described device
When shell 210 is collided, at least described part collided can be moved relative to the robot body 10.
The inductive switch 220 is set on the robot body 10 and/or described device shell 210, is touched with sensing
Hit sensing device 20 by collision situation.
In one embodiment, described device shell 210 is one continuous whole；In another embodiment, described
Device case 210 includes several sections, is connected with elastomeric element between section and section so that every section can be individually moved, to judge
State the stress attribute, such as stress position, angle, size etc. of the corresponding position of device case 210.
In one embodiment, inductive switch 220 includes first part and second part, and the first part is set to machine
Device human agent 10, the second part are set on device case 210, and the second part can be relative to the first part
It is mobile.For example, inductive switch 220 can be capacitive induction switch, the first part is the first of capacitive induction switch
Pole plate, the second part is the second pole plate of capacitive induction switch, described when the collision sensing device 20 is collided
Relative motion occurs between first pole plate and second pole plate, causes capacitance variations, to provide signal, the control system
According to mobile robot described in the signal operation.In another example inductive switch 220 can be hall sensing switch, hall sensing
The coil of switch is set on robot body 10, and magnetic core is set on device case 210, when the collision sensing device 20 by
When collision, relative motion occurs between the magnetic core and the coil, to provide signal.
In one embodiment, the inductive switch 220 can be microswitch, thin film switch or contact switch.It is described
Inductive switch 220 includes having first electrode and second electrode, wherein one of the first electrode and the second electrode
It is disposed on elastic material or contacts with elastic component, to make at least one movably and can reset.In this embodiment,
It is also provided with insulating layer between the first electrode and the second electrode, jagged or through-hole on the insulating layer, institute
Stating first electrode and the second electrode can be contacted under the extruding of device case 210 by the notch on insulating layer, from
And the first electrode and the second electrode is connected, a signal is provided, the control system is according to described in the signal operation
Mobile robot.
Fig. 3 and Fig. 4 are please referred to, Fig. 3 is the exploded perspective view of the structure of mobile robot in the utility model embodiment, figure
4 be the utility model one embodiment in mobile robot inductive switch installation part and inductive switch structural blast signal
Figure.In one embodiment, the inductive switch 220 is set on inductive switch installation part, the inductive switch installation part 240
Including the first mounting bracket 226 and the second mounting bracket 227 being oppositely arranged.The inductive switch installation part can be installed on robot
In main body 10.The inductive switch installation part 240 can correspond to the extension track of device case 210 and be extended, i.e. institute
It states inductive switch installation part 240 and at least spirals in the position of 10 perimeter edge of close robot body and extend a circle；It is appreciated that
Ground is, the inductive switch installation part 240 may correspond to the part setting of the extension track of device case 210, for example,
The inductive switch installation part 240 is set to the outer peripheral edge of the first half of robot body 10.One or more inductive switches
220 are distributed in inductive switch installation part.Preferably, multiple inductive switches 220 are distributed evenly in inductive switch installation part 240
On.Inductive switch installation part 240 and 1 one of robot body.
It is right by taking the outer peripheral edge for the first half that the inductive switch installation part 240 is set to robot body 10 as an example below
The present embodiment illustrates.The inductive switch 220 includes feeler lever 221, shaft 224, elastic component 228, induction pieces 222 and blocks
Portion 223.Induction pieces 222 and shaft 224 are fixed in the groove of the second mounting bracket 227, the structure of the groove and the feeler lever
221, the shape after shaft 224, elastic component 228, induction pieces 222 and the combination installation of occlusion part 223 is adapted.In feeler lever 221
Portion is provided with axle sleeve 225 close to the position at middle part, and axle sleeve 225 is placed on shaft 224, so that feeler lever 221 can be rotation with shaft 224
Shaft rotates.Occlusion part 223 is set to one end of feeler lever 221, and the other end of feeler lever 221 is free end, which extend out to
The outside of robot body 10, when device case 210 is collided, which is touched by device case 210 and is squeezed, to make
Feeler lever 221 is rotated with shaft 224 for rotary shaft, drives occlusion part 223 to move, to make occlusion part 223 be moved to induction pieces
222, to trigger induction pieces 222, to one signal of output.The induction pieces 222 can have transmitter and receiver, such as light
Transmitter and receiver, acoustic transmitter and receiver are learned, when occlusion part 223 is moved to induction pieces 222, occlusion part 223 hides
It is blocked between transmitter and receiver, the signal transmission between transmitter and receiver is blocked, to make signal receiver export
One different from signal when not collided to control system.In one embodiment, induction pieces 222 can also be microswitch,
When occlusion part 223 is moved to induction pieces 222, the electronic contact of microswitch is connected, to which output one is different from normal condition
Under signal (when not collided).Elastic component 228, and can be by collision process for making feeler lever 221 can be with elastic reset
In play certain cushioning effect.
Further, the collision sensing device 20 further includes one or more elastic mechanisms, and the elastic mechanism is used for
Make the collision sensing device 20 when being collided with cushioning effect and after being collided with reset response.In one embodiment
In, the elastic mechanism can be the buffer layer being adapted with the shape of described device shell 210, such as elastic rubber, elasticity
Foam, sponge, foam.In one embodiment, the elastic mechanism can also be it is equally distributed and with described device shell
The adaptable multiple shrapnels of 210 shape.
Fig. 2 d are please referred to, Fig. 2 d are the structural schematic diagrams that mobile robot removes after cover in the utility model embodiment.
In this embodiment, the collision sensing device 20 further includes one or more shrapnels 230, and multiple shrapnels are around robot body
10 settings a, for example, it may be shrapnel is respectively arranged in front, rear, left and right.Include a shrapnel with the collision sensing device 20
For illustrate, as shown in fig. 2d, the intermediate position of shrapnel 230 is fixed on robot body 10, the both ends of shrapnel 230
To the outside of robot body 10 extend and with the interior side contacts of device case 210.When device case 210 is collided, device
The both ends of 210 extrusion elastic 230 of shell, under the elastic force effect of shrapnel 230, collision is buffered, after colliding revocation, in bullet
Under the action of power, device case 210 returns back to original position.
Fig. 2 a to 2d and Fig. 3 are please referred to, Fig. 2 a are the schematic top plan views of mobile robot in the embodiments of the present invention,
Fig. 2 b are the schematic cross-sections along cutting line A-A of mobile robot in Fig. 2 a, and Fig. 2 c are the partial enlargements of the parts I in Fig. 2 b
Figure, Fig. 2 d are the structural schematic diagrams that mobile robot removes after cover in the utility model embodiment.One of the utility model
In embodiment, rolling member 30 is provided between robot body 10 and device case 210, rolling member 30 can be in arbitrary side
It rolls in the original location upwards, rolling member 30 is used to reduce when device case 210 is collided and moved and the robot body 1
Between frictional force, so that device case 210 is more swimmingly moved, reduce abrasion.The rolling member 30 can be set to machine
The bracket 31 of human agent 10, and rolling member 30 is at least partly exposed to outside bracket 31, and bracket 31 is used to support rolled portion
Part 30 allows rolling member 30 to be fixed on and rolls in situ.In one embodiment, the rolling member 30 is round ball,
The round ball can omnidirectional rolling in situ.Rolling member 30 may be configured as multiple, be uniformly distributed in 10 He of robot body
Between device case 210.
In a specific embodiment, described device shell 210 have extension 211, the extension 211 with it is described
The surface of the tread far from the mobile robot of robot body 10 is least partially overlapped, and rolling member 30 is set to institute
It states between extension 211 and the robot body 10.Specifically, robot body 10 may include the chassis being oppositely arranged
110 and cover 120, rolling member 30 is between extension 211 and cover 120.In one embodiment, robot body 10
Can also include middle cover 130, middle cover 130 is located at 120 lower section of cover, upside appearance of the cover 120 as the mobile robot
Face protective layer and appearance layer.It is exposed to except the edge of cover 120 at the edge of one embodiment kind, middle cover 130, extension
211 with exposed portion interval of middle cover 130 but overlapping, rolling member 30 is between extension 211 and middle cover 130.One
In a embodiment, cover 120 and middle cover 130 can be designed as the entirety that is integrally formed, as can not be split.
In one embodiment, bracket 31 can be provided with the small ball group for assisting the rolling member 30, the small rolling
Pearl group is arranged in bracket 31, and rolling member 30 is made to roll more smooth.In another embodiment, bracket 31 accommodates rolled portion
The volume of more than half of part 30 is provided at least one kick in the edge of the mouth of bracket 31, and the kick is used for
Rolling member 30 is limited, rolling member 30 is avoided to fall off out of bracket 31 accommodating chamber, can be not provided in bracket 31
Assist the small ball group of rolling.
In one embodiment, at least part of the cover 120 is connected with the collision sensing device 20, makes cover
120 can be integrally formed with the collision sensing device 20, reduce molding number, simplify moulding process, and can make user
It is stronger to the associative perception of mobile robot visually.Specifically, 120 one of the extension 211 of device case 210 and cover at
Type, 120 lower section of cover are provided with middle shell 130, rolling member 30 are provided between the middle shell 130 and cover 120, when collision passes
When induction device 20 is collided and moved, cover 120 moves together with the device case 210 of collision sensing device 20.
Various other inductors, such as infrared sensor, laser range can also be set on the touching sensing device 200
Sensor and other distance measuring sensors, camera, light stream sensor, acoustic sensor, ultrasonic sensor.
Although above example using clean robot as mobile robot for be described, the implementation of the utility model
Technical solution applies also for other various mobile robots disclosed in example.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means particular features, structures, materials, or characteristics described in conjunction with this embodiment or example
It is contained at least one embodiment or example of the utility model.In the present specification, schematic expression of the above terms
It may not refer to the same embodiment or example.Moreover, the particular features, structures, materials, or characteristics of description can be any
One or more embodiments or example in can be combined in any suitable manner.
Embodiments described above does not constitute the restriction to the technical solution protection domain.It is any in above-mentioned implementation
Modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution made by within the spirit and principle of mode
Within enclosing.
Claims (10)
1. a kind of mobile robot, which is characterized in that including：
Robot body includes control system；And
Collision sensing device, the collision sensing device include device case and at least one inductive switch, described device shell
At least about the robot body one week, also, when described device shell is collided, at least one inductive switch quilt
It triggers and provides signal, the control system is according to mobile robot described in the signal manipulation；
Wherein, the inductive switch is set on the robot body and/or described device shell, to sense collision sensing dress
Set by collision situation, be additionally provided with rolling member between the robot body and described device shell.
2. mobile robot according to claim 1, which is characterized in that the rolling member is installed on the robot master
Any one of body or described device shell between the two, if described device shell is collided, the rolling member rolls, to subtract
Frictional force when small described device shell movement between the robot body.
3. mobile robot according to claim 2, which is characterized in that the rolling member is round ball, the circle rolling
Pearl can omnidirectional rolling in the original location.
4. mobile robot according to claim 2, which is characterized in that described device shell has extension, described to prolong
Extending portion and the surface of the tread far from the mobile robot of the robot body are least partially overlapped, the rolled portion
Part is set between the extension and the robot body.
5. mobile robot according to claim 1, which is characterized in that described device shell is one continuous whole.
6. mobile robot according to claim 1, which is characterized in that the robot body includes the bottom being oppositely arranged
Disk and cover, at least part of the cover are connected with the collision sensing device.
7. mobile robot according to claim 6, which is characterized in that the cover and described device shell one at
Type, the cover lower section are provided with middle shell, rolling member are provided between the middle shell and cover.
8. mobile robot according to claim 1, which is characterized in that the robot body includes the bottom being oppositely arranged
Disk and cover, the cover are set as：When the device case of the collision sensing device and barrier collide, the cover can
It is moved with together with described device shell.
9. mobile robot according to any one of claims 1 to 7, which is characterized in that the collision sensing device includes
Multiple inductive switches, the multiple inductive switch be distributed evenly in described device shell at least first half or
The first half of robot body described in person.
10. mobile robot according to claim 8, which is characterized in that the collision sensing device further include one or
Multiple elastic mechanisms, the elastic mechanism is for making the collision sensing device have cushioning effect when being collided and be collided
There is reset response afterwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721067022.5U CN207616622U (en) | 2017-08-24 | 2017-08-24 | Mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721067022.5U CN207616622U (en) | 2017-08-24 | 2017-08-24 | Mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN207616622U true CN207616622U (en) | 2018-07-17 |
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ID=62818891
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721067022.5U Active CN207616622U (en) | 2017-08-24 | 2017-08-24 | Mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333588A (en) * | 2018-12-14 | 2019-02-15 | 埃华路（芜湖）机器人工程有限公司 | A kind of robot gripper collision protection mechanism |
-
2017
- 2017-08-24 CN CN201721067022.5U patent/CN207616622U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333588A (en) * | 2018-12-14 | 2019-02-15 | 埃华路（芜湖）机器人工程有限公司 | A kind of robot gripper collision protection mechanism |
| CN109333588B (en) * | 2018-12-14 | 2024-02-27 | 埃华路（芜湖）机器人工程有限公司 | Robot tongs collision protection mechanism |
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Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |