CN115091475A - Self-moving robot - Google Patents
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- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- 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
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Abstract
Translated fromChinese
Description
Translated fromChinese本申请是申请号为201810975165.9、申请日为2018年08月24日，专利名称为“自移动机器人”的专利申请的分案申请。This application is a divisional application of a patent application with an application number of 201810975165.9, an application date of August 24, 2018, and a patent name of "self-moving robot".
技术领域technical field
本发明涉及电器设备技术领域，特别涉及一种自移动机器人。The invention relates to the technical field of electrical equipment, in particular to a self-moving robot.
背景技术Background technique
自移动机器人(Robot)是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。自移动机器人可以代替人类在一些危险的环境或是制造程序中工作，或是在外貌、行为或认知上取代人类。A self-moving robot (Robot) is a mechanical device that performs work automatically. It can accept human command, run pre-programmed programs, or act according to principles and programs formulated with artificial intelligence technology. Self-moving robots can replace humans in dangerous environments or manufacturing processes, or replace humans in appearance, behavior or cognition.
随着工业时代的发展，机械技术提升后，自动化设备、遥控技术都日益成熟，许多自移动机器人具备了自主规划移动路径的能力，并且被应用在多种细分领域之中。例如，家庭中使用的扫地机器人，工业上使用的AVG小车等等。With the development of the industrial age, after the improvement of mechanical technology, automation equipment and remote control technology are becoming more and more mature. Many self-moving robots have the ability to plan their moving paths independently, and are used in a variety of subdivisions. For example, sweeping robots used in homes, AVG trolleys used in industry, and so on.
为了实现规划移动路径的功能，此类的自移动机器人往往设置有自移动机器人主体，在自移动机器人主体上安装有光学传感装置或其他种类的传感器，以作为自移动机器人的“眼睛”使用，实现避障功能。而为了防止自移动机器人在移动的过程中因撞击障碍物导致损坏主体，在此类自移动机器人上往往还设置有用于吸收撞击能量的撞板，且撞板同时用于碰撞检测周边的障碍物。In order to realize the function of planning the moving path, such self-moving robots are often provided with a self-moving robot body, and an optical sensing device or other types of sensors are installed on the self-moving robot body to be used as the "eyes" of the self-moving robot. , to realize the obstacle avoidance function. In order to prevent the self-moving robot from colliding with obstacles and causing damage to the main body during the movement, such self-moving robots are often provided with a collision plate for absorbing impact energy, and the collision plate is also used for collision detection of surrounding obstacles. .
然而，由于光学传感装置和撞板的位置往往高度重叠，彼此之间容易形成妨碍，降低了自移动机器人的避障功能。However, since the positions of the optical sensing device and the striker plate are often highly overlapped, they are likely to interfere with each other, which reduces the obstacle avoidance function of the self-moving robot.
发明内容SUMMARY OF THE INVENTION
本申请提出了本申请以解决上述问题或至少部分地解决上述问题的自移动机器人。The present application proposes the present application to solve the above-mentioned problems or a self-moving robot that at least partially solves the above-mentioned problems.
在本申请的一个实施方式中，提供了一种自移动机器人，包括：In one embodiment of the present application, a self-moving robot is provided, comprising:
主体，安装有光学传感装置；The main body is installed with an optical sensing device;
撞板，可移动的连接在主体上；A strike plate, which is movably connected to the main body;
柔性密封件，设置在主体和撞板之间，且柔性密封件限定有密封空间，密封空间配置为容纳光学传感装置的至少一部分；a flexible sealing member disposed between the main body and the striker plate, and the flexible sealing member defines a sealing space configured to accommodate at least a portion of the optical sensing device;
其中，柔性密封件可跟随撞板移动而伸缩。Wherein, the flexible sealing member can expand and contract with the movement of the striker plate.
相较于现有技术而言，本申请通过所设置的密封空间使得撞板能够完整设置在自移动机器人的前端，在外力作用下能够沿光学传感装置的中轴线方向运动，并压迫或拉伸柔性密封件，以实现避障、防撞的功能。撞板可以相对于主体产生轻微的位移，作为撞击的缓冲。另外，所形成的密封空间可以隔绝灰尘，防止灰尘损坏光学传感装置，提高了光学传感装置的使用寿命。Compared with the prior art, the sealed space provided by the present application enables the striker to be completely arranged at the front end of the self-moving robot, and can move along the central axis direction of the optical sensing device under the action of external force, and press or pull it. Extend flexible seals to achieve obstacle avoidance and anti-collision functions. The striker plate can be slightly displaced relative to the main body to act as a shock absorber. In addition, the formed sealed space can isolate dust, prevent the dust from damaging the optical sensing device, and improve the service life of the optical sensing device.
可选地，柔性密封件具有连接撞板的第一端面和连接主体的第二端面，第一端面的横截面积大于第二端面的横截面积。柔性密封件的第一端面的横截面积大于第二端面的横截面积，能够使得撞板在撞击障碍物时，对障碍物的反作用力较小，降低了撞板对障碍物的影响。Optionally, the flexible seal has a first end surface connected to the striker plate and a second end surface connected to the main body, and the cross-sectional area of the first end surface is larger than the cross-sectional area of the second end surface. The cross-sectional area of the first end face of the flexible seal is larger than the cross-sectional area of the second end face, so that when the striker hits the obstacle, the reaction force to the obstacle is small, reducing the impact of the striker on the obstacle.
可选地，柔性密封件包括：Optionally, the flexible seal includes:
第一环绕部，第一环绕部与撞板连接，第一环绕部的横截面积大体等于第一端面的横截面积；a first surrounding portion, the first surrounding portion is connected to the striker plate, and the cross-sectional area of the first surrounding portion is substantially equal to the cross-sectional area of the first end surface;
第二环绕部，第二环绕部与主体连接，第二环绕部的横截面积大体等于第二端面的横截面积；a second surrounding portion, the second surrounding portion is connected to the main body, and the cross-sectional area of the second surrounding portion is substantially equal to the cross-sectional area of the second end surface;
脖颈部，脖颈部连接第一环绕部和第二环绕部。The neck is connected with the first surrounding part and the second surrounding part.
第一环绕部与撞板连接、第二环绕部与主体连接，进一步保证了密封空间的防尘效果，提高了可靠性。由于第一环绕部的横截面积大体等于第一端面的横截面积，且第二环绕部的横截面积大体等于第二端面的横截面积，因此能够形成台阶状的柔性密封件，当撞板在撞击障碍物时，能够形成更好的缓冲。The first surrounding part is connected with the striker plate, and the second surrounding part is connected with the main body, which further ensures the dustproof effect of the sealed space and improves the reliability. Since the cross-sectional area of the first surrounding portion is substantially equal to the cross-sectional area of the first end surface, and the cross-sectional area of the second surrounding portion is substantially equal to the cross-sectional area of the second end surface, a stepped flexible seal can be formed, and when the collision When the board hits the obstacle, it can form a better buffer.
可选地，脖颈部的厚度自靠近第一环绕部的一侧向着靠近第二环绕部的一侧逐渐增大。由于脖颈部靠近第二环绕部的一侧在遭受冲击下最先产生剧烈的形变，通过增加该部分的厚度，可以延长其使用寿命。Optionally, the thickness of the neck portion increases gradually from a side close to the first surrounding portion to a side adjacent to the second surrounding portion. Since the side of the neck portion close to the second surrounding portion is the first to undergo severe deformation under impact, the service life of the portion can be prolonged by increasing the thickness of the portion.
可选地，第二环绕部的侧壁上沿着光学传感装置的中轴线的方向间隔设置有多道褶皱。第二环绕部的侧壁所形成的褶皱使得柔性密封件的形变距离更长，更能够适应剧烈和反复的撞击。Optionally, a plurality of folds are provided at intervals along the direction of the central axis of the optical sensing device on the side wall of the second surrounding portion. The wrinkles formed on the side wall of the second surrounding portion make the deformation distance of the flexible seal longer, and can better adapt to severe and repeated impacts.
可选地，自移动机器人还包括安装在主体上的后缓冲透视窗；后缓冲透视窗连接柔性密封件以构成密封空间的侧壁的另一部分。后缓冲透视窗能够为柔性密封件提供支撑，从而加强柔性密封件与主体、柔性密封件与撞板之间的连接关系，提高了连接的稳定性和可靠性，而且还便于维护。Optionally, the self-moving robot further includes a rear buffer see-through window installed on the main body; the rear buffer see-through window is connected with the flexible seal to form another part of the side wall of the sealed space. The rear buffer perspective window can provide support for the flexible seal, thereby strengthening the connection relationship between the flexible seal and the main body, the flexible seal and the striker, improving the stability and reliability of the connection, and facilitating maintenance.
可选地，光学传感装置包括摄像头，后缓冲透视窗上开有供摄像头插入的开孔。摄像头自开孔插入，从而能够安装在主体上。Optionally, the optical sensing device includes a camera, and the rear buffer see-through window is provided with an opening for inserting the camera. The camera is inserted through the opening so that it can be mounted on the main body.
可选地，自移动机器人还包括密封圈，摄像头通过密封圈密封插入开孔。所设置的密封圈能够进一步提高密封效果，防止灰尘进入主体。同时，密封圈还能够分散撞击力，进而保护光学传感装置。Optionally, the self-moving robot further includes a sealing ring, through which the camera is sealed and inserted into the opening. The provided sealing ring can further improve the sealing effect and prevent dust from entering the main body. At the same time, the sealing ring can also disperse the impact force, thereby protecting the optical sensing device.
可选地，光学传感装置包括红外传感组件；后缓冲透视窗至少部分可透光，红外传感组件朝向后缓冲透视窗的可透光的部分。红外传感组件通过后缓冲透视窗的可透光的部分能够探测到自移动机器人目标路径的障碍物，从而能够提前规划路线，降低碰撞的概率。Optionally, the optical sensing device includes an infrared sensing assembly; the rear buffer see-through window is at least partially transparent, and the infrared sensing assembly faces the transparent portion of the rear buffer see-through window. The infrared sensor component can detect obstacles in the target path of the self-moving robot through the light-transmitting part of the rear buffer perspective window, so as to plan the route in advance and reduce the probability of collision.
可选地，红外传感组件包含第一红外传感器和第二红外传感器，第一红外传感器的探测范围小大于第二红外传感器的探测范围。第一红外传感器的探测范围小于第二红外传感器的探测范围，因此探测范围较小的第一红外传感器能够用于探测周围附近的障碍物，而，探测范围较大的第二红外传感器能够用于探测充电座的位置，从而能够顺利地回归充电座。Optionally, the infrared sensing assembly includes a first infrared sensor and a second infrared sensor, and the detection range of the first infrared sensor is smaller than that of the second infrared sensor. The detection range of the first infrared sensor is smaller than the detection range of the second infrared sensor, so the first infrared sensor with a smaller detection range can be used to detect nearby obstacles, while the second infrared sensor with a larger detection range can be used for The position of the charging base is detected, so that the charging base can be returned smoothly.
可选地，第一红外传感器包含第一红外光发射器和第一红外光接收器，第二红外传感器具有第二红外光接收器。第一红外传感器通过所设置的第一红外光发射器和第一红外光接收器来感应自移动机器人前方的障碍物，自移动机器人从而规避与障碍物的碰撞；第二红外光接收器能够接收充电座发射的红外信号，使得自移动机器人能够顺利回归充电座，提高了可靠性。Optionally, the first infrared sensor includes a first infrared light transmitter and a first infrared light receiver, and the second infrared sensor has a second infrared light receiver. The first infrared sensor senses the obstacle in front of the self-moving robot through the first infrared light transmitter and the first infrared light receiver, so as to avoid the collision with the obstacle; the second infrared light receiver can receive The infrared signal emitted by the charging base enables the self-moving robot to return to the charging base smoothly, improving reliability.
可选地，密封空间自移动机器人设置有透气孔，透气孔上设置有防尘透气网；透气孔位于后缓冲透视窗上。后缓冲透视窗上的透气孔能够平衡内外气压，使得撞板能够顺畅地回复到被撞击前的初始状态，减小由于密封空间内部压力变化而对撞板造成的阻碍。防尘透气网可以将灰尘隔绝在主体的外部空间，提高了自移动机器人的可靠性。Optionally, the self-moving robot in the sealed space is provided with ventilation holes, and the ventilation holes are provided with dustproof ventilation nets; the ventilation holes are located on the rear buffer perspective window. The ventilation holes on the rear buffer see-through window can balance the internal and external air pressure, so that the collision plate can smoothly return to the initial state before being hit, and reduce the obstruction caused by the change of the internal pressure of the sealed space to the collision plate. The dust-proof ventilation net can isolate the dust in the outer space of the main body, which improves the reliability of the self-moving robot.
可选地，后缓冲透视窗上还设置有装饰盖，装饰盖盖住防尘透气网。装饰盖可以将内部结构遮挡住，视觉效果更佳，同时，装饰盖可以作为第二级过滤网使用，能够提高防尘效果，配合使用的防尘透气网能够进一步过滤灰尘，提高防尘效果。Optionally, a decorative cover is also provided on the rear buffer perspective window, and the decorative cover covers the dust-proof ventilation net. The decorative cover can block the internal structure, and the visual effect is better. At the same time, the decorative cover can be used as a second-stage filter, which can improve the dustproof effect.
可选地，后缓冲透视窗的边缘形成有固定槽，柔性密封件套设在后缓冲透视窗上，并嵌入固定槽，从而与后缓冲透视窗形成连接。柔性密封件套设在后缓冲透视窗上并嵌入固定槽能够形成稳定的连接，从而保证密封空间的防尘效果。Optionally, a fixing groove is formed on the edge of the rear buffer see-through window, and the flexible seal is sleeved on the rear buffer see-through window and embedded in the fixing groove to form a connection with the rear buffer see-through window. The flexible seal is sleeved on the rear buffer perspective window and embedded in the fixing groove to form a stable connection, thereby ensuring the dustproof effect of the sealed space.
可选地，主体上安装有固定座，光学传感装置通过固定座安装在主体上；后缓冲透视窗通过固定座与主体连接。固定座可以使得光学传感装置固定安装在主体上，也可以使得后缓冲透视窗能够与主体连接，结构简单，便于装配。Optionally, a fixing seat is installed on the main body, and the optical sensing device is installed on the main body through the fixing seat; the rear buffer perspective window is connected with the main body through the fixing seat. The fixing seat can make the optical sensing device fixedly installed on the main body, and can also enable the rear buffer perspective window to be connected with the main body, and the structure is simple and easy to assemble.
可选地，密封空间设置有透气部，密封空间的空气从所述透气部进入或排出。具体的，所述透气部采用透气部，透气部上设置有防尘透气网。透气部能够平衡内外气压，使得柔性密封件能顺利的伸缩，减小由于密封空间内部压力变化而对撞板运动造成的阻碍。防尘透气网可以将灰尘隔绝在主体的外部空间，提高了自移动机器人的可靠性。或者，透气部直接采用防尘透气膜。Optionally, the sealed space is provided with a ventilation part, and the air in the sealed space enters or is discharged from the ventilation part. Specifically, the ventilation part is a ventilation part, and the ventilation part is provided with a dustproof ventilation net. The ventilation part can balance the internal and external air pressure, so that the flexible seal can be extended and retracted smoothly, and the obstruction to the movement of the collision plate caused by the change of the internal pressure of the sealed space is reduced. The dust-proof ventilation net can isolate the dust in the outer space of the main body, which improves the reliability of the self-moving robot. Alternatively, the air-permeable part directly adopts a dust-proof air-permeable film.
可选地，撞板上设置有透光部，光学传感装置对着透光部设置。自移动机器人还包括前缓冲透视窗，前缓冲透视窗连接在撞板上，前缓冲透视窗上开有与透光部对应的窗口，窗口设置有透镜镜片；Optionally, a light-transmitting portion is provided on the striker, and the optical sensing device is arranged opposite to the light-transmitting portion. The self-moving robot further includes a front buffer perspective window, the front buffer perspective window is connected to the striker plate, a window corresponding to the light transmission part is opened on the front buffer perspective window, and the window is provided with a lens lens;
柔性密封件与前缓冲透视窗密封连接，以形成密封空间。The flexible seal is sealedly connected with the front buffer see-through window to form a sealed space.
柔性密封件与前缓冲透视窗密封连接所形成的密封空间，能够防止灰尘通过前缓冲透视窗与撞板之间的缝隙进入主体内部，提高了防尘效果。The sealed space formed by the sealing connection between the flexible seal and the front buffering see-through window can prevent dust from entering the interior of the main body through the gap between the front buffering see-through window and the striker, thereby improving the dustproof effect.
可选地，前缓冲透视窗和柔性密封件之间通过过盈的硅胶密封。前缓冲透视窗和柔性密封件之间通过硅胶连接，从而实现了密封固定的效果，采用过盈的硅胶能够防止硅胶脱落，提高了连接的可靠性和稳定性。Optionally, the front buffer see-through window and the flexible seal are sealed with an interference-type silicone. The front buffer see-through window and the flexible seal are connected by silica gel, so as to achieve the effect of sealing and fixing. The use of excessive silica gel can prevent the silica gel from falling off and improve the reliability and stability of the connection.
可选地，自移动机器人还包括将柔性密封件固定在前缓冲透视窗上的固定扣件。柔性密封件通过固定扣件与前缓冲透视窗连接，能够加强柔性密封件与前缓冲透视窗之间的连接关系，提高了可靠性。Optionally, the self-moving robot further includes a fixing fastener for fixing the flexible seal on the front buffer see-through window. The flexible seal is connected with the front buffer see-through window through the fixed fastener, which can strengthen the connection relationship between the flexible seal and the front buffer see-through window and improve reliability.
可选地，固定扣件与前缓冲透视窗连接并在二者之间形成固定狭缝，柔性密封件嵌入固定狭缝，形成固定。柔性密封件嵌入固定狭缝并形成固定，能够形成稳定的连接，从而保证密封空间的防尘效果。Optionally, the fixing fastener is connected with the front buffering see-through window and forms a fixing slit therebetween, and the flexible sealing element is embedded in the fixing slit to form fixing. The flexible seal is embedded in the fixed slit and fixed, which can form a stable connection, thereby ensuring the dustproof effect of the sealed space.
可选地，撞板通过轨道槽连接在主体上，以实现避障、防撞的功能，结构简单，撞板通过轨道槽连接在主体上能够提高装配的便利性。Optionally, the striker plate is connected to the main body through the track groove to realize the functions of avoiding obstacles and collision, and the structure is simple, and the striker plate is connected to the main body through the track slot, which can improve the convenience of assembly.
可选地，撞板和主体之间连接有弹簧，弹簧用于复位所述撞板沿所述轨道槽的运动。弹簧能够承受部分撞击力，从而能够减小柔性密封件受到的撞击力，降低柔性密封件的强度要求，减小成本。Optionally, a spring is connected between the striker plate and the main body, and the spring is used to reset the movement of the striker plate along the track groove. The spring can bear part of the impact force, so that the impact force on the flexible seal can be reduced, the strength requirement of the flexible seal can be reduced, and the cost can be reduced.
可选地，柔性密封件上沿着光学传感装置的中轴线的方向形成有褶皱。柔性密封件上所形成的褶皱使得柔性密封件的行程更长，能够适应于不同程度的撞击。Optionally, wrinkles are formed on the flexible sealing member along the direction of the central axis of the optical sensing device. The wrinkles formed on the flexible seal make the stroke of the flexible seal longer and can adapt to different degrees of impact.
在本申请的一个实施方式中，还提供了一种移动机器人，包括：In an embodiment of the present application, a mobile robot is also provided, comprising:
主体，安装有光学传感装置；The main body is installed with an optical sensing device;
撞板，可移动的连接在主体上；A strike plate, which is movably connected to the main body;
柔性密封件，设置在主体和撞板之间，且柔性密封件限定有密封空间，所述密封空间配置为容纳所述光学传感装置的至少一部分。A flexible seal is disposed between the main body and the striker, and the flexible seal defines a sealed space configured to accommodate at least a portion of the optical sensing device.
相较于现有技术而言，本申请通过所设置的密封空间使得撞板能够完整设置在自移动机器人的前端，以实现避障、防撞的功能，可以相对于主体产生轻微的位移，作为撞击的缓冲。另外，所形成的密封空间可以隔绝灰尘，特别的，防止灰尘进入撞板和主体之间的缝隙而损坏光学传感装置，提高了光学传感装置的使用寿命。Compared with the prior art, the sealed space provided by the present application enables the striker to be completely arranged at the front end of the self-moving robot, so as to realize the functions of avoiding obstacles and collisions, and can generate a slight displacement relative to the main body, as a Impact buffer. In addition, the formed sealed space can isolate dust, in particular, prevent dust from entering the gap between the strike plate and the main body and damage the optical sensing device, thereby improving the service life of the optical sensing device.
本申请通过柔性密封件连接主体和撞板，并在主体和撞板之间形成密封空间，能够防止灰尘进入，防尘效果好。相对于现有技术而言，本申请保留了完整的撞板结构，在遭受撞击时，撞板的防震能力更强，撞板自身的抗震能力也更优，而且，完整的撞板结构简单，因此还提高了装配的便利性。In the present application, the main body and the striker plate are connected by a flexible seal, and a sealed space is formed between the main body and the striker plate, so that dust can be prevented from entering, and the dustproof effect is good. Compared with the prior art, the present application retains the complete striker plate structure. When subjected to an impact, the striker plate has stronger shock resistance, and the striker plate itself has better shock resistance. Moreover, the complete striker plate has a simple structure. The ease of assembly is thus also improved.
附图说明Description of drawings
为了更清楚地说明本申请实施方式或现有技术中的技术方案，下面将对实施方式或现有技术描述中所需要使用的附图作简单介绍。显而易见地，下面描述中的附图仅用于示意本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图中未提及的技术特征、连接关系乃至方法步骤。In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that are required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only used to illustrate some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort. Unmentioned technical features, connection relationships and even method steps.
图1是本申请的自移动机器人的爆炸示意图；Fig. 1 is the exploded schematic diagram of the self-moving robot of the present application;
图2是本申请的自移动机器人的局部放大示意图；Fig. 2 is the partial enlarged schematic diagram of the self-moving robot of the present application;
图3是本申请的自移动机器人的柔性密封件的侧视示意图；3 is a schematic side view of the flexible seal of the self-moving robot of the present application;
图4是本申请的自移动机器人的密封空间的所在部分的组装示意图；Fig. 4 is the assembly schematic diagram of the part where the sealed space of the self-moving robot of the present application is located;
图5是本申请的自移动机器人的密封空间的所在部分的分解示意图；Fig. 5 is the exploded schematic diagram of the part where the sealed space of the self-moving robot of the present application is located;
图6是本申请的自移动机器人的主视示意图；6 is a schematic front view of a self-moving robot of the present application;
图7是本申请的自移动机器人在图6的A区域的局部放大示意图；Fig. 7 is the partial enlarged schematic diagram of the self-moving robot of the present application in the area A of Fig. 6;
图8是本申请的自移动机器人的剖视示意图；8 is a schematic cross-sectional view of a self-moving robot of the present application;
图9是本申请的自移动机器人的在柔性密封件形成有褶皱时的结构示意图。FIG. 9 is a schematic structural diagram of the self-moving robot of the present application when the flexible sealing member is formed with wrinkles.
附图标记说明Description of reference numerals
1-主体；11-轨道槽；1-main body; 11-track groove;
21-光学传感装置；21a-摄像头；21b-红外传感组件；21b1-第一红外传感器；21b2-第二红外传感器；22-固定座；21-optical sensing device; 21a-camera; 21b-infrared sensor assembly; 21b1-first infrared sensor; 21b2-second infrared sensor; 22-fixing seat;
3-撞板；31-透光部；32-卡合件；33-卡合结构；3-strike plate; 31-transparent part; 32-attachment; 33-attachment structure;
4-密封结构；41-柔性密封件；41a-第一环绕部；41b-第二环绕部；41c-脖颈部；42-后缓冲透视窗；42a-开孔；42b-透气孔；42c-防尘透气网；42d-装饰盖；42e-固定槽；42f-螺栓安装孔；43-密封圈；44-前缓冲透视窗；44a-窗口；44b-透镜镜片；45-固定扣件；45a-凸起；45b-卡合组件；41-flexible seal; 41a-first surrounding part; 41b-second surrounding part; 41c-neck; 42-back buffer perspective window; 42a-opening; 42b-vent; 42d-decorative cover; 42e-fixing groove; 42f-bolt mounting hole; 43-seal ring; 44-front buffer perspective window; 44a-window; 44b-lens lens; 45-fixing fastener; 45a-convex From; 45b-Clamping component;
5-底座组件；5- base assembly;
6-螺栓。6- Bolts.
具体实施方式Detailed ways
实施方式一
本申请的发明人发现，在现有技术中，用于智能清洁的自移动机器人，通常包括：主体、安装在主体上的光学传感装置和连接在主体上的撞板，通过设置的光学传感装置来获取周围的障碍物的信息，来建图和避障。The inventors of the present application have found that, in the prior art, a self-moving robot used for intelligent cleaning generally includes: a main body, an optical sensing device installed on the main body, and a striker connected to the main body. The sensor device is used to obtain the information of the surrounding obstacles to build maps and avoid obstacles.
为了使得光学传感装置视野清晰，可以观测到自移动机器人目标路线的景象，通常，撞板上设置有透光部，透光部上设置有镜片。然而这种设置使得撞板与主体之间产生间隙，导致灰尘进入，从而污染光学传感装置，降低了光学传感装置的使用寿命。In order to make the vision of the optical sensing device clear and to observe the sight of the target route of the self-moving robot, usually, a light-transmitting part is provided on the striker plate, and a lens is provided on the light-transmitting part. However, this arrangement creates a gap between the striker plate and the main body, causing dust to enter, thereby contaminating the optical sensing device and reducing the service life of the optical sensing device.
而，为了防止光学传感装置暴露在灰尘环境中，通常，主体的前端设有光学传感装置，且光学传感装置设置有防尘罩。然而，光学传感装置安装在主体上，而防尘罩固定在壳体上，使得自移动机器人前端无法设置撞板或者只能设置部分撞板。However, in order to prevent the optical sensing device from being exposed to dust environment, usually, the front end of the main body is provided with an optical sensing device, and the optical sensing device is provided with a dust cover. However, the optical sensing device is installed on the main body, and the dust cover is fixed on the housing, so that the front end of the self-moving robot cannot be provided with a striker plate or only a part of the striker plate can be arranged.
权衡之下，现有技术通常采用分离式设计的部分撞板，既能够具有一定的避障功能，也能够防止灰尘的进入从而保护光学传感装置。然而，分离式设计的撞板相较于整体式撞板防护能力显然更差，导致自移动机器人的避障功能下降。Under the trade-off, the prior art usually adopts a part of the striker plate with a separate design, which can not only have a certain obstacle avoidance function, but also can prevent the entry of dust to protect the optical sensing device. However, compared with the integral one, the collision plate of the separate design is obviously worse in protection, which leads to the decline of the obstacle avoidance function of the self-moving robot.
有鉴于此，在本申请的第一实施方式中，提供了一种自移动机器人，参见图1和图2所示，包括主体1，安装有光学传感装置21；In view of this, in the first embodiment of the present application, a self-moving robot is provided, as shown in FIG. 1 and FIG. 2 , comprising a
撞板3，可移动的连接在主体1上；The
柔性密封件41，设置在主体1和撞板3之间，且柔性密封件41限定有密封空间，密封空间配置为容纳光学传感装置的至少一部分；The
其中，柔性密封件41可跟随撞板3移动而伸缩。Wherein, the
其中，撞板3上可以设置有透光部31，光学传感装置21对着透光部31设置，参见图1、图8所示，光学传感装置21可以设置在底座组件5上。The
柔性密封件41连接主体1和撞板3，并在主体1和撞板3之间形成密封空间，光学传感装置21和透光部31分别位于密封空间的相对的两侧。所形成的密封空间可以隔绝灰尘，防止灰尘损坏光学传感装置21，提高了光学传感装置21的使用寿命。其中，光学传感装置21可以包括摄像头、激光传感器、红外线传感器等，可以根据实际情况选择。The
撞板3通常用于避障、防撞，可以相对于主体1产生轻微的位移，作为撞击的缓冲。因此，柔性密封件41构成密封空间的侧壁的至少一部分。相较于刚性密封件而言，柔性密封件41可以提供更好的缓冲效果，同时柔性密封件41可以保护光学传感装置21，减缓光学传感装置21受到的撞板3所传递的撞击力。The
柔性密封件41能够构成密封空间的侧壁，通过柔性密封件41连接主体1和撞板3。柔性密封件41可以通过多种形式连接二者。例如，可以通过胶水将侧壁分别与主体1与撞板3连接构成封闭的密封空间。The
撞板3在外力作用下能够沿光学传感装置21的中轴线方向运动，并压迫或拉伸柔性密封件41。The
可选地，参见图3所示，柔性密封件41可以具有连接撞板3的第一端面和连接主体1的第二端面，第一端面的横截面积大于第二端面的横截面积。柔性密封件41的第一端面的横截面积大于第二端面的横截面积时，能够更容易发生形变，提高变形效果，尽量减小柔性密封件本身的变形对撞板感测障碍物的影响。Optionally, as shown in FIG. 3 , the
在本申请的一些实施例中，参见图3所示，柔性密封件41可以包括：第一环绕部41a，第一环绕部41a与撞板3连接，第一环绕部41a的横截面积大体等于第一端面的横截面积；第二环绕部41b，第二环绕部41b与主体1连接，第二环绕部41b的横截面积大体等于第二端面的横截面积；脖颈部41c，脖颈部41c连接第一环绕部41a和第二环绕部41b。其中，由第一环绕部41a、第二环绕部41b以及脖颈部41c组成的柔性密封件41可以一体成型设置。举例来说，当自移动机器人移动过程中撞板碰到沙发或桌椅的立柱时，撞板3相对主体1向后移动，柔性密封件41对应被压缩，即第二环绕部41b部分进入脖颈部41c或第一环绕部41a，柔性密封件41伸缩基本不影响撞板3的移动。In some embodiments of the present application, as shown in FIG. 3 , the
值得一提的是，“大体等于”的意思是，二者之间在尺寸数值上十分接近。然而本领域技术人员清楚，由于误差、公差等客观因素的存在而使得横截面积的大小难以正好相等；又由于柔性密封件41为柔性结构，因此即使环绕部的横截面积与端面的横截面积即使稍微存在点误差，也并不会对本申请的技术效果的实现产生较大影响。It is worth mentioning that "substantially equal" means that the two are very close in size value. However, it is clear to those skilled in the art that the size of the cross-sectional area is difficult to be exactly equal due to the existence of objective factors such as errors and tolerances; and since the
其中，第一环绕部41a与撞板3连接，第二环绕部41b与主体1连接，进一步保证了密封空间的防尘效果，提高了可靠性。由于第一环绕部41a的横截面积大体等于第一端面的横截面积，且第二环绕部41b的横截面积大体等于第二端面的横截面积，因此能够形成台阶状的柔性密封件41，当撞板3在撞击障碍物时，台阶状的柔性密封件41能够更进一步地加快柔性密封件的伸缩，基本不吸收冲击力，变形效果好。The first surrounding
由于脖颈部41c靠近第二环绕部41b的一侧在遭受冲击下最先产生剧烈的形变，通过增加该部分的厚度，可以延长其使用寿命。Since the side of the
具体地，参见图6所示，脖颈部41c的厚度自靠近第一环绕部41a的一侧向着靠近第二环绕部41b的一侧逐渐增大。Specifically, as shown in FIG. 6 , the thickness of the
另外，第二环绕部41b的侧壁上沿着光学传感装置的中轴线的方向间隔设置有多道褶皱。第二环绕部41b的侧壁所形成的褶皱使得密封空间的行程更长，能够适应于不同程度的撞击。In addition, a plurality of folds are provided at intervals along the direction of the central axis of the optical sensing device on the side wall of the second surrounding
进一步来说，可选地，参见图1、图4、图5所示，自移动机器人还可以包括后缓冲透视窗42，柔性密封件41以构成密封空间的侧壁的另一部分。后缓冲透视窗42能够为柔性密封件41提供支撑，从而加强柔性密封件41与主体、柔性密封件41与撞板3之间的连接关系，提高了连接的稳定性和可靠性，同时便于维护。Further, optionally, as shown in FIG. 1 , FIG. 4 , and FIG. 5 , the self-moving robot may further include a rear
后缓冲透视窗42能够为柔性密封件41提供支撑，相比于仅通过胶水连接而言，能够加强柔性密封件41与主体1、柔性密封件41与撞板3之间的连接关系，提高连接的稳定性和可靠性，同时便于维修维护。后缓冲透视窗42连接在主体1上，后缓冲透视窗42上开有供光学传感装置21插入或穿过的开孔42a；柔性密封件41与后缓冲透视窗42密封连接，以形成密封空间。其中，后缓冲透视窗42可以通过螺栓、铆钉等与主体1连接，其具体的连接方式并不会对本申请造成限定。The rear buffer see-through
在本实施方式中，参见图2、图5所示，光学传感装置21可以包括摄像头21a，此时，开孔42a供摄像头21a插入。摄像头21a自开孔42a插入时，从而能够安装在主体1上。自移动机器人还可以包括密封圈43，摄像头21a通过密封圈43密封插入开孔42a。所设置的密封圈43能够进一步提高密封效果，防止灰尘进入主体1。同时，密封圈43还能够分散撞击力，进而保护光学传感装置21。In this embodiment, as shown in FIG. 2 and FIG. 5 , the
在本申请中，柔性密封件41、后缓冲透视窗42、密封圈43等共同构成了用于产生密封空间的密封结构4。本申请通过密封结构4连接主体1和撞板3，并在主体1和撞板3之间形成密封空间，能够防止灰尘进入，防尘效果好。相对于现有技术而言，本申请保留了完整的撞板3结构，在遭受撞击时，撞板3的防震能力更强，撞板3自身的抗震能力也更优，组装也更简单。In the present application, the
实施方式二Embodiment 2
本申请的发明人发现，为了保证避障效果，自移动机器人还会进一步设置一些其他的光学传感器件。The inventor of the present application has found that, in order to ensure the obstacle avoidance effect, the self-moving robot will further be provided with some other optical sensing devices.
有鉴于此，本申请的第二实施方式提供了一种自移动机器人，第二实施方式是基于第一实施方式的进一步改进，其主要改进之处在于，参见图2所示，在本申请的第二实施方式中，光学传感装置21包括红外传感组件21b；后缓冲透视窗42至少部分可透光，红外传感组件21b朝向后缓冲透视窗42的可透光的部分。红外传感组件21b通过后缓冲透视窗42的可透光的部分能够探测到自移动机器人前进路径的障碍物，从而能够提前规划路线，降低碰撞的概率。In view of this, the second embodiment of the present application provides a self-moving robot. The second embodiment is a further improvement based on the first embodiment. The main improvement is that, referring to FIG. 2, in the present application In the second embodiment, the
其中，红外传感组件21b可以包含第一红外传感器21b1和第二红外传感器21b2，第一红外传感器21b1的探测范围小大于第二红外传感器21b2的探测范围。The
当第一红外传感器21b1的探测范围小于第二红外传感器21b2的探测范围时，在同样的输出功率下，其探测精度往往强于第二红外传感器21b2，因此，探测范围较小的第一红外传感器21b1能够精确地感知障碍物，从而更精确地预先计算移动路径。而，探测范围较大的第二红外传感器21b2能够用于探测充电座的位置，从而使得自移动机器人能够顺利地回归充电座。When the detection range of the first infrared sensor 21b1 is smaller than the detection range of the second infrared sensor 21b2, under the same output power, its detection accuracy is often stronger than that of the second infrared sensor 21b2. Therefore, the first infrared sensor with a smaller detection range The 21b1 is able to sense obstacles precisely, and thus more precisely pre-calculate the movement path. However, the second infrared sensor 21b2 with a larger detection range can be used to detect the position of the charging base, so that the self-moving robot can smoothly return to the charging base.
具体来说，第一红外传感器21b1还可以包含第一红外光发射器和第一红外光接收器，第二红外传感器21b2可以具有第二红外光接收器。第一红外传感器21b1通过所设置的第一红外光发射器和第一红外光接收器来感应自移动机器人前方的障碍物，自移动机器人从而得以规避与障碍物的碰撞；第二红外光接收器能够接收充电座发射的红外信号，使得自移动机器人能够顺利回归充电座，提高了便利性和可靠性。Specifically, the first infrared sensor 21b1 may further include a first infrared light transmitter and a first infrared light receiver, and the second infrared sensor 21b2 may have a second infrared light receiver. The first infrared sensor 21b1 senses the obstacle in front of the self-moving robot through the first infrared light transmitter and the first infrared light receiver, so that the self-moving robot can avoid collision with the obstacle; the second infrared light receiver It can receive the infrared signal emitted by the charging base, so that the self-moving robot can return to the charging base smoothly, which improves the convenience and reliability.
本实施例中，光学传感装置21通过撞板3上的透光部31，如摄像头21a，第一红外传感器组件21b均朝向透光部31设置，使得机体前端小部分空间即可容纳多个传感器，例如撞板3或主体前端1的中部，而完成多个传感器的功能。例如，摄像头21a获取前方的图片，第一红外传感器21b1感测前方附近的障碍物，第二红外传感器21b2接收充电座的红外信号来引导回归充电座。本实施例中，光学传感装置21，第二红外传感器21b2与第二红外传感器21b2呈三角形排布，光学传感装置21位于上部的顶点。可选的，光学传感装置21，第二红外传感器21b2与第二红外传感器21b2也可以设置在同一水平面上。In this embodiment, the
特别值得一提的是，现有技术中，所设置的红外传感组件21b往往同样容易遇到防尘问题。而在本申请中，创造性地将红外传感组件21b也设置在密封结构4的后方，使得红外传感组件21b的探测精度不受或少受尘埃影响，显著地提高了探测精度。It is particularly worth mentioning that, in the prior art, the
实施方式三
为了保证防尘效果，密封结构4形成的密封空间是完全密封的，因此当自移动机器人遭受撞击时，密封空间内外的气压将会变得不同。In order to ensure the dustproof effect, the sealed space formed by the sealing
受到撞击的瞬间，柔性密封件41受到挤压，密封空间中的气体压强增大，当撞击消失，撞板3带动柔性密封件41回复时，将会连带着拉伸密封空间，使得密封空间内的气压变得稀薄，压强减小，这些压强的变化会对撞板3的运动幅度形成轻微的阻碍，不利于撞板3的缓冲效果，而且提高了对柔性密封件41的强度要求。At the moment of the impact, the
有鉴于此，本申请的第三实施方式提供了一种自移动机器人，第三实施方式是基于第一实施方式或第二实施方式的进一步改进，其主要改进之处在于，参见图1、图2所示、在本申请的第三实施方式中，密封空间设置上可以设置有透气孔42b，透气孔42b位于所述后缓冲透视窗42上。通过透气孔42b平衡内外气压，柔性密封件41伸缩时大气进入或退出密封空间，柔性密封件41变形容易且不影响撞板3碰撞到障碍物时的移动。In view of this, the third embodiment of the present application provides a self-moving robot. The third embodiment is a further improvement based on the first embodiment or the second embodiment. The main improvement is that, see FIG. 1 and FIG. As shown in 2, in the third embodiment of the present application, a
由于后缓冲透视窗42正对着主体1设置，因此透气孔42b也正对着主体1设置，而主体1内部环境相对封闭，相当于无尘环境，因此所设置的透气孔42b依然还能够保证柔性密封件41的防尘效果。Since the rear buffer see-through
当透气孔42b释放压力时，密封空间的气体可以进入主体1内部；当密封空间被拉伸时，主体1内部的空气可以进入密封空间，从而使得密封空间的气体压强与外界大气压一致，因此撞板3能够顺畅地运动。When the
在本实施方式中，透气孔42b上还可以设置有防尘透气网42c，透气孔42b位于后缓冲透视窗42上。防尘透气网42c可以进一步地起到滤绝灰尘的作用。即便主体1的内部有灰尘进入，防尘透气网42c依然可以起到隔绝作用，提高了可靠性。其中，防尘透气网42c可以与透气孔42b一一对应设置有多个，优选地，透气孔42b可以在光传感器的两侧各对称设置一个。In this embodiment, the
后缓冲透视窗42上还可以设置有装饰盖42d，装饰盖42d盖住防尘透气网42c。装饰盖42d可以将内部结构遮挡住，视觉效果更佳，同时，装饰盖42d可以作为过滤网使用，能够提高防尘效果，配合使用的防尘透气网42c能够进一步过滤灰尘，提高防尘效果。The rear buffer see-through
实施方式四
本申请的第四实施方式提供了一种自移动机器人，第四实施方式是基于第一至第三实施方式中任意一实施方式的进一步的改进，其主要改进之处在于，参见图2、图8所示，在本申请的第三实施方式中，光学传感装置21与后缓冲透视窗42可以通过固定座22分别与主体1连接。The fourth embodiment of the present application provides a self-moving robot. The fourth embodiment is a further improvement based on any one of the first to third embodiments. The main improvement is that, see FIG. 2 and FIG. As shown in FIG. 8 , in the third embodiment of the present application, the
具体来说，主体1上可以安装有固定座22，光学传感装置21通过固定座22安装在主体1上；后缓冲透视窗42通过固定座22与主体1连接。固定座22可以使得光学传感装置21固定安装在主体1上，也可以使得后缓冲透视窗42能够与主体1连接，结构简单，便于装配。Specifically, a fixing
其中，后缓冲透视窗42的边缘可以形成有固定槽42e，柔性密封件41套设在后缓冲透视窗42上，并嵌入固定槽42e，从而与后缓冲透视窗42形成连接。柔性密封件41套设在后缓冲透视窗42上并嵌入固定槽42e，因此柔性密封件41可以与后缓冲透视窗42紧密配合，从而形成稳定的连接，能够有效保证密封空间的防尘效果。A fixing
可选地，后缓冲透视窗42可以设置有螺栓安装孔42f，通过螺栓6将后缓冲透视窗42与固定座22固定连接，螺栓6连接能够提供稳定、可靠的连接，适应于对连接强度要求较高的环境。Optionally, the rear buffer see-through
在实际装配时，光学传感装置21通过固定座22安装在主体1上，后缓冲透视窗42通过固定座22与主体1连接，后缓冲透视窗42通过密封圈43抵持在光学传感装置21上，柔性密封件41套设在后缓冲透视窗42上，并嵌入固定槽42e，使得密封结构4与撞板3连接。During actual assembly, the
密封空间设置有透气部，透气部上设置有防尘透气网42c。透气部能够平衡内外气压，使得撞板3能够顺畅地回复到被撞击前的初始状态，减小由于密封空间内部压力变化而对撞板3造成的阻碍。防尘透气网42c可以将灰尘隔绝在主体1的外部空间，提高了自移动机器人的可靠性。其中，透气部可以设置在前缓冲透视窗44上，也可以设置在后缓冲透视窗42上，甚至还可以开设在柔性密封件41上。The airtight space is provided with a ventilation part, and the ventilation part is provided with a dust-proof ventilation net 42c. The ventilation part can balance the air pressure inside and outside, so that the
当透气部释放压力时，密封空间的气体可以进入主体1内部；当密封空间被拉伸时，主体1内部的空气可以进入密封空间，从而使得密封空间的气体压强与外界大气压一致，因此撞板3能够顺畅地运动。When the ventilation part releases the pressure, the gas in the sealed space can enter the inside of the
在本实施方式中，结合图6、图7所示，后缓冲透视窗42上还可以设置有装饰盖42d，装饰盖42d可以对内部结构形成遮挡，例如螺栓6等，视觉效果更佳。作为本实施方式的优选，装饰盖42d还可以作为二级滤网使用，进一步过滤过滤灰尘，提高可靠性和防尘效果。In this embodiment, as shown in FIG. 6 and FIG. 7 , a
优选地，密封结构4可以在无尘车间组装。防尘透气网42c可以一级滤网使用，与作为二级滤网的装饰盖42d配合使用能够进一步提高防尘效果。Preferably, the sealing
实施方式五
本申请的第五实施方式提供了一种自移动机器人，第五实施方式是基于第一至第四实施方式中任意一实施方式的进一步的改进，其主要改进之处在于，在本申请的第五实施方式中，参见图1、图2、图8所示，撞板3上设置有透光部31，光学传感装置21对着透光部31设置。自移动机器人还可以包括前缓冲透视窗44。The fifth embodiment of the present application provides a self-moving robot. The fifth embodiment is a further improvement based on any one of the first to fourth embodiments. The main improvement lies in that in the first embodiment of the present application In the fifth embodiment, as shown in FIG. 1 , FIG. 2 and FIG. 8 , the
其中，前缓冲透视窗44连接在撞板3上，前缓冲透视窗44上开有与透光部31对应的窗口44a，窗口44a设置有透镜镜片44b；柔性密封件41与前缓冲透视窗44密封连接，以形成密封空间。前缓冲透视窗44连接在撞板3上，还可以保护撞板3，缓解撞击力。柔性密封件41与前缓冲透视窗44密封连接所形成的密封空间，能够防止灰尘通过前缓冲透视窗44与撞板3之间的缝隙进入主体1内部，提高了防尘效果。其中，透镜镜片44b可以是钢化玻璃镜片，透镜镜片44b可以通过3MVHB背胶或其他方式黏贴在窗口44a上。The front buffer see-through
其中，参见图2所示，前缓冲透视窗44可以与撞板3卡接，前缓冲透视窗44与撞板3上分别设置有配合连接的卡合结构33，卡接的连接方式结构简单，便于装配。卡合结构33可以沿前缓冲透视窗44与撞板3周向等距设置有多个，以加强连接关系，提高可靠性。Among them, as shown in FIG. 2 , the front
可选地，前缓冲透视窗44和柔性密封件41之间通过过盈的硅胶密封。前缓冲透视窗44和柔性密封件41之间通过硅胶连接，从而实现了密封固定的效果，采用过盈的硅胶能够防止硅胶脱落，提高了连接的可靠性和稳定性。Optionally, the space between the front buffer see-through
优选地，硅胶内部沿着撞板3运动方向可以设置有多个弹簧，以帮助撞板3恢复到初始位置，延长柔性密封件41的使用寿命。Preferably, a plurality of springs may be provided inside the silica gel along the movement direction of the
实施方式六
本申请的第六实施方式提供了一种自移动机器人，第六实施方式是基于第一至第五实施方式中任意一实施方式的进一步的改进，其主要改进之处在于，在本申请的第六实施方式中，参见图1、图2、图8所示，自移动机器人还可以包括将柔性密封件41固定在前缓冲透视窗44上的固定扣件45。The sixth embodiment of the present application provides a self-moving robot. The sixth embodiment is a further improvement based on any one of the first to fifth embodiments. The main improvement is that in the sixth embodiment of the present application In the sixth embodiment, as shown in FIG. 1 , FIG. 2 , and FIG. 8 , the self-moving robot may further include a fixing
柔性密封件41通过固定扣件45与前缓冲透视窗44连接，能够加强柔性密封件41与前缓冲透视窗44之间的连接关系，提高了可靠性。柔性密封件41的厚度可以沿着其轴向具有一定的变化，使得固定扣件45套接在柔性密封件41横截面周长较小的位置上，从而限制固定扣件45的位移。The
其中，参见图2所示，固定扣件45可以通过卡合组件45b与前缓冲透视窗44卡接，从而将固定扣件45固定在前缓冲透视窗44的窗口44a外沿，提高了可靠性。Wherein, as shown in FIG. 2 , the fixing
进一步地，在本实施方式中，固定扣件45与前缓冲透视窗44连接并在二者之间形成固定狭缝(图中未示出)，柔性密封件41嵌入固定狭缝，形成固定。柔性密封件41嵌入固定狭缝并形成固定，能够形成稳定的连接，从而保证密封空间的防尘效果。Further, in this embodiment, the fixing
柔性密封件41至少部分能够稳定设置在前缓冲透视窗44与固定扣件45之间，当密封空间被拉伸时，前缓冲透视窗44带动与其卡接的固定扣件45运动，使得前缓冲透视窗44与固定扣件45之间柔性密封件41被拉伸，进而拉伸整个柔性密封件41。At least part of the
其中，参见图2所示，固定扣件45的两侧、平行于撞板3运动方向可以对称设置有固定耳45a，螺钉或者螺栓穿过固定耳45a将固定扣件45固定在前缓冲透视窗44上，从而实现密封固定。值得一提的是，所设置的固定耳45a能够进一步地提高装配导向性，在装配时，提高容错率，降低装配难度，延长使用寿命。其中，固定耳45a设置在固定扣件45与柔性密封件41接触的一面。Wherein, as shown in FIG. 2 , two sides of the fixing
本领域普通技术人员可以根据实际情况，对各个固定耳45a的位置、方向、形状、大小等等元素进行设计和排布。例如，固定耳45a的数量也可以等于4或者6，在固定扣件45的两侧、平行于撞板3运动方向对称设置。为了配合固定耳45a的设置，在柔性密封件41对应位置可以设置有过渡或开口，以保证螺钉或者螺栓能够顺畅地固定在前缓冲透视窗44上。Those skilled in the art can design and arrange elements such as the position, direction, shape, size, etc. of each fixing
实施方式七Embodiment 7
本申请的第七实施方式提供了一种自移动机器人，第七实施方式是基于第一实施方式的进一步的改进，其主要改进之处在于，在本申请的第七实施方式中，参见图1、图2、图8所示，撞板3通过轨道槽11连接在主体1上，以实现避障、防撞的功能，结构简单。通过轨道槽11连接在主体1上能够提高撞板3装配的便利性。The seventh embodiment of the present application provides a self-moving robot. The seventh embodiment is a further improvement based on the first embodiment. The main improvement is that, in the seventh embodiment of the present application, see FIG. 1 2 and 8, the
在实际装配时，参见图2、图8所示，光学传感装置21通过固定座22安装在主体1上，后缓冲透视窗42通过螺栓6与固定座22连接，又通过固定座22与主体1连接。在后缓冲透视窗42和固定座22之间设置有密封圈43；In actual assembly, as shown in FIGS. 2 and 8 , the
前缓冲透视窗44与撞板3之间通过卡合结构33卡接，柔性密封件41嵌入固定扣件45与前缓冲透视窗44之间所形成的固定狭缝中(图中未示出)，通过螺栓将固定扣件45和柔性密封件41连接在前缓冲透视窗44上；The front buffering see-through
柔性密封件41套设在后缓冲透视窗42上，并嵌入固定槽42e，撞板3通过配合连接的卡合件32和轨道槽11连接在主体1上。The
撞板3上可以设置有与轨道槽11配合连接的卡合件32，当卡合件32与轨道槽11配合时，能够连接撞板3与主体1，卡合件32的长度略小于轨道槽11的长度，受到撞击的时候，可以相对轨道槽11运动，提高了连接的可靠性The
可选地，撞板3和主体1之间连接有弹簧，弹簧用于复位所述撞板沿所述轨道槽的运动。弹簧能够承受部分撞击力，从而能够减小柔性密封件41受到的冲击，降低柔性密封件41的强度要求，减小成本。同时，与密封空间配合使用的弹簧能够保证柔性密封件41的回复能力。Optionally, a spring is connected between the
可选地，参见图9所示，柔性密封件41上沿着光学传感装置21的中轴线的方向形成有褶皱。柔性密封件41上所形成的褶皱紧贴固定扣件45和硅胶设置，使得行程更长，适应于不同程度的撞击。同时，所设置的褶皱可以增大摩擦，提高了柔性密封件41与其他结构连接的可靠性，从而保证密封空间的密封效果。Optionally, as shown in FIG. 9 , wrinkles are formed on the
实施方式八Embodiment 8
在本申请的第八实施方式中，提供了一种自移动机器人，参见图1和图2所示，包括主体1，安装有光学传感装置21；撞板3，可移动的连接在主体1上；柔性密封件41，设置在主体1和撞板3之间，且柔性密封件41限定有密封空间，密封空间配置为容纳光学传感装置的至少一部分；其中，柔性密封件41可跟随撞板3移动而伸缩。In the eighth embodiment of the present application, a self-moving robot is provided, as shown in FIG. 1 and FIG. 2 , comprising a
其中，撞板3上可以设置有透光部31，光学传感装置21对着透光部31设置，参见图1、图8所示，光学传感装置21可以设置在底座组件5上。The
柔性密封件41连接主体1和撞板3，并在主体1和撞板3之间形成密封空间，光学传感装置21和透光部31分别位于密封空间的相对的两侧。所形成的密封空间可以隔绝灰尘，防止灰尘损坏光学传感装置21，提高了光学传感装置21的使用寿命。其中，光学传感装置21可以包括摄像头、激光传感器、红外线传感器等，可以根据实际情况选择。The
撞板3通常用于避障、防撞，可以相对于主体1产生轻微的位移，作为撞击的缓冲。因此，柔性密封件41至少构成密封空间的侧壁的一部分。相较于刚性密封件而言，柔性密封件41可以提供更好的缓冲效果，同时柔性密封件41可以保护光学传感装置21，减缓光学传感装置21受到的撞板3所传递的撞击力。The
柔性密封件41能够构成密封空间的侧壁，通过柔性密封件41连接主体1和撞板3。柔性密封件41可以通过多种形式连接二者。例如，可以通过胶水将侧壁分别与主体1与撞板3连接构成封闭的密封空间。The
撞板3在外力作用下能够沿光学传感装置21的中轴线方向运动，并压迫或拉伸柔性密封件41。The
当撞板3撞击障碍物时，障碍物对撞板3产生的反作用力有可能对自移动机器人的部件造成伤害。而借助柔性密封件41所提供的缓冲，大幅度地削弱了这一反作用力，加强了自移动机器人的避震效果。When the
相较于现有技术而言，本申请通过所设置的密封空间使得撞板能够完整设置在自移动机器人的前端，以实现避障、防撞的功能，可以相对于主体产生轻微的位移，作为撞击的缓冲。另外，所形成的密封空间可以隔绝灰尘，防止灰尘损坏光学传感装置，提高了光学传感装置的使用寿命。Compared with the prior art, the sealed space provided by the present application enables the strike plate to be completely arranged at the front end of the self-moving robot, so as to realize the functions of avoiding obstacles and collisions, and can generate a slight displacement relative to the main body, as a Impact buffer. In addition, the formed sealed space can isolate dust, prevent the dust from damaging the optical sensing device, and improve the service life of the optical sensing device.
最后应说明的是：本申请文件中的“第一”、“第二”等描述，是用于区分不同的部件、设备、模块等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。Finally, it should be noted that the descriptions such as "first" and "second" in this application document are used to distinguish different components, devices, modules, etc. Second" is a different type.
本领域的普通技术人员可以理解，在上述的各实施方式中，为了使读者更好地理解本申请而提出了许多技术细节。但是，即使没有这些技术细节和基于上述各实施方式的种种变化和修改，也可以基本实现本申请各权利要求所要求保护的技术方案。因此，在实际应用中，可以在形式上和细节上对上述实施方式作各种改变，而不偏离本申请的精神和范围。It can be understood by those skilled in the art that, in the above-mentioned embodiments, many technical details are provided for the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the above-mentioned embodiments, the technical solutions claimed in the claims of the present application can be basically realized. Therefore, in practical application, various changes in form and details of the above-described embodiments may be made without departing from the spirit and scope of the present application.
Claims (10)
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| CN112515544B (en) | 2020-09-11 | 2025-07-11 | 深圳银星智能集团股份有限公司 | Intelligent Robots |
| CN112137514A (en)* | 2020-10-22 | 2020-12-29 | 追创科技(苏州)有限公司 | Optical sensing device and self-moving robot with same |
| CN116671807A (en)* | 2022-02-22 | 2023-09-01 | 北京赫特智慧科技有限公司 | A surface cleaning device |
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| Publication number | Publication date |
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| CN115122348B (en) | 2025-06-06 |
| CN110856936A (en) | 2020-03-03 |
| CN110856936B (en) | 2025-06-06 |
| CN115122348A (en) | 2022-09-30 |
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