CN202005711U - Robot capable of being automatically separated - Google Patents

Abstract

The utility model belongs to the manufacturing field of robots and particularly relates to a robot capable of being automatically separated, which comprises a module part (10) and a robot body (20), wherein the robot body (20) comprises a driving unit (26), a walking mechanism (28), a control unit (21) and an energy supply unit; the module part (10) is provided with a first working module, a control mechanism (132) and an automatic combination actuating mechanism (29); the control mechanism (132) control the automatic combination actuating mechanism (29) to combine the module part (10) on the robot body (20) according to the instructions of the control unit (21); and the first working module is supplied with power to work by the energy supply unit. According to the actual working requirements, the module part (10) is separated or combined with the robot body (20), therefore, the energy waste is avoided, and the purpose of saving energy and electricity is achieved.

Description

The robot that can separate automatically

Technical field

The utility model belongs to robot and makes the field, specifically, relates to a kind of robot that can separate automatically.

Background technology

In order to clean indoor environment, people wait cleaning floor with dust catcher, sweeper, mop usually, and purify the air of a room with air purifier, but floor cleaner and air purifier only have single floor cleaning and air-cleaning function respectively.Occur a kind of multifunctional intellectual clean robot with floor cleaning and air-cleaning function at present, as shown in Figure 1, this robot has floor cleaning module 12, air-purifying module 13, travel mechanism's module 14 and control module 11.Wherein floor cleaning module 12 is used for cleaning floor, air-purifying module 13 is used to purify air, travel mechanism's module 14 is used for the driven machine people indoor mobile, and control module 11 is used for controlling the work of floor cleaning module 12, air-purifying module 13 and travel mechanism's module 14.

Above-mentioned multifunctional intellectual clean robot uses rechargeable battery powered work usually, owing to have floor cleaning module 12 and air-purifying module 13 simultaneously, intelligent cleaning robot weight is bigger.When generally carrying out indoor cleaning, the general work that can not carry out floor cleaning and air cleaning simultaneously if only carry out floor cleaning, is with air-purifying module relatively to waste, cause the effective time of intelligent cleaning robot to shorten, can not well finish indoor cleaning work.If only carry out air cleaning work, the also relatively waste of band upper ground surface cleaning module, the effective time of shortening intelligent cleaning robot.This shows that there is the effective time less defects in above-mentioned multifunctional intellectual clean robot.By above-mentioned example as can be known, because the integrated function of multi-function robot gets more and more, its volume and weight is just increasing, and is corresponding, also higher to the CD-ROM drive motor ability and the battery request of robot, and is unfavorable for energy saving.

The utility model content

Technical problem to be solved in the utility model is, at the deficiencies in the prior art, provides a kind of robot that can separate automatically, robot needs by real work, loading module portion arrives robot body, thereby stops meaningless energy waste, reaches the purpose of energy saving.

Specifically, the utility model provides a kind of robot that can separate automatically, comprises module portion and robot body, and robot body comprises driver element, walking mechanism, control module and energy feed unit; Module portion is provided with first operational module, controlling organization and Automatic Combined executing agency, controlling organization is according to the instruction of control module, control Automatic Combined executing agency is combined to module portion on the robot body, and first operational module is by energy feed unit powered operation.

Robot body is provided with female plug or male plug; Module portion correspondence is provided with male plug or female plug; When module portion and robot body were combined integrated, by being connected of male plug and female plug, the energy feed unit on the robot body provided power for module portion.

Robot body is provided with guide pillar groove or guide pillar; Module portion correspondence is provided with guide pillar or guide pillar groove.

Further, guide pillar groove and guide pillar are evenly distributed on the apparent surface of robot body and module portion respectively, and guide pillar groove and guide pillar are at least 3 respectively.

Automatic Combined executing agency comprises air pump and telescoping mechanism; When controlling organization received the combined command of control module, the telescoping mechanism in the controlling organization control Automatic Combined executing agency shrank, and portion moves down with module, and module portion is combined on the robot body.

When module portion and robot body assembled state, controlling organization receives the separation command of control module, and the telescoping mechanism in the controlling organization control Automatic Combined executing agency stretches out, and portion upwards lifts with module, thereby module portion is separated from robot body.

Automatic Combined executing agency be evenly distributed on module portion around, its quantity is 2 at least, preferably, Automatic Combined executing agency is 3.

Robot body is provided with second operational module, and second operational module is floor cleaning module or floor wax module or japanning module.

First operational module is air-purifying module or humidification module or fragrant module.

The energy feed unit is a power brick, and power brick is arranged on the inside of robot body.

Compared with prior art, the beneficial effects of the utility model are:

The utility model is simple and compact for structure, can realize combination or detached job according to the operation needs of reality, and operating efficiency improves, and can realize the split power supply, energy saving.

Description of drawings

Fig. 1 is the functional framework figure of prior art robot;

Fig. 2 is the utility model functional framework figure;

Fig. 3 is the utility model structural representation (Automatic Combined executing agency is not shown);

Fig. 4 is module portion and the robot body combination schematic diagram (power brick is not shown) among the utility model embodiment one;

Fig. 5 is module portion and the robot body combination schematic diagram (Automatic Combined executing agency is not shown) among the utility model embodiment one;

Fig. 6 is the functional block diagram of the controlling organization in the utility model module portion;

Fig. 7 is the flexible voluntarily supporting foot structure schematic diagram in the utility model.

Reference numeral:

10. module portion 11. control modules 12. floor cleaning modules

13. air-purifying module 14. travel mechanism'smodules 20. robot bodies

21.control module 22.floor treatment unit 24. air conditioner units

26.driver element 28.walking mechanisms 29. Automatic Combined executing agencies

220.dirt tube 221. guide pillargrooves 222. female plugs

223. ash inlet 224.air intake passages 225. round brush

226.dust screen pack 227. air-out passages 228. air outlets

229. dust suctingmotor 241.guide pillars 242. male plugs

243.air channel 244. centrifugal type wind wheels, 245. control motors

246.air inlet 247.gas outlets 248. air mass sensors

249.airstrainer 281. drivingwheels 282. supporting rollers

191.piston 192.air chambers 193. pores

194.feet 195.telescopic shafts 30. power brick

132. controllingorganization 1320. air pumps 1321. air valves

1322.signal receiving unit 1323.air valve controllers 19. telescoping mechanisms

The specific embodiment

Explain the technical solution of the utility model below in conjunction with accompanying drawing and embodiment.

The robot that the utility model can separate automatically can realize combination or detached job according to the operation needs of reality.Shown in Fig. 2-4, a kind of robot that can separate automatically of the utility model comprisesmodule portion 10 androbot body 20, androbot body 20 comprisesdriver element 26,walking mechanism 28,control module 21 and energy feedunit.Module portion 10 is provided with first operational module, controllingorganization 132 and Automatic Combined executing agency 29.Controlling organization 132 is according to the instruction ofcontrol module 21, and control AutomaticCombined executing agency 29 is combined tomodule portion 10 on therobot body 20, and first operational module is by energy feed unit powered operation.Wherein,control module 21 is controlled the work of AutomaticCombined executing agency 29 by wired or wireless mode.

The first set operational module can be air-purifying module or humidification module or fragrant module in the module portion 10.Robot body 20 can not established operational module; Also can be provided with second operational module, second operational module can be floor cleaning module or floor wax module or japanning module.

As shown in Figure 3, thewalking mechanism 28 in the utility model robot that can separate automatically comprises drivingwheel 281 and supportingroller 282; Second operational module is set in therobot body 20, and this second operational module is floor treatment unit 22.The inside offloor treatment unit 22 is provided withdirt tube 220, the bottom offloor treatment unit 22 is provided withash inlet 223, thisash inlet 223 is connected withdirt tube 220 byair intake passage 224, the corresponding position ofash inlet 223 is provided withround brush 225, anddirt tube 220 is connected with air-out passage 227 bydust screen pack 226; When work infloor treatment unit 22, control module 21 (not shown among Fig. 3) controldust sucting motor 229 rotates,round brush 225 rotates ground foul beating is kicked up simultaneously, the air-flow that mixes foul enters and enters in thedirt tube 220 alongair intake passage 224 fromash inlet 223, in service infloor treatment unit 22, when foul ran intodust screen pack 226, quilt is intercepted to be slipped in thedirt tube 220, the air current A of no foul blows out fromair outlet 228 by air-out passage 227.

First operational module that is provided with in themodule portion 10 is an air conditioner unit 24.Air conditioner unit 24 comprisesair inlet 246,gas outlet 247,control motor 245, centrifugaltype wind wheel 244,airstrainer 249 and air mass sensor 248.Air mass sensor 248 is arranged on the outer surface of module portion, is used for its ambient air quality of sensing, and this air mass sensor can be one, also can be a plurality of.In addition,air conditioner unit 24 also is provided withair channel 243, and thisair channel 243 is tightly connected withairstrainer 249, and 243 inside, air channel are provided with centrifugaltype wind wheel 244, centrifugaltype wind wheel 244 andcontrol 245 coaxial connections of motor.Whenair conditioner unit 24 work,air mass sensor 248 detects air quality, when air pollutants exceed standard,air mass sensor 248 sends signal to control module 21 (not showing among Fig. 3), aftercontrol module 21 receives signal,control motor 245 drives centrifugaltype wind wheel 244 and rotates, contaminated gas is drawn in theair conditioner unit 24 fromair inlet 246, and be adsorbed onto on theairstrainer 249 and filter, pollutant is trapped in theairstrainer 249, and the gas after the filtration is along 247 discharges from the gas outlet of B direction.

Embodiment 1

Fig. 5 is module portion and the robot body combination schematic diagram among the utility model embodiment one.As shown in Figure 5,module portion 10 and corresponding respectivelymale plug 242 and thefemale plug 222 of being provided with ofrobot body 20 can connect the signal of telecommunication betweenmale plug 242 and the female plug 222.Whenmodule portion 10 along the C direction vertically downward the time,male plug 242 andfemale plug 222 can accurately link together.

More effectively guarantee accurately location for making, onmodule portion 10 and therobot body 20 respectively correspondence be provided withguide pillar 241 and guidepillar groove 221, guidepillar groove 221 and guidepillar 241 are evenly distributed on the apparent surface ofrobot body 20 andmodule portion 10 respectively, and the quantity ofguide pillar groove 221 and guidepillar 241 is at least 3.In the present embodiment, the quantity ofguide pillar groove 221 and guidepillar 241 is 3.

Whenmodule portion 10 along the C direction vertically downward, guidepillar 241 is put into guide pillar groove 221 inside,module portion 10 androbot body 20 connect together, at this moment,male plug 242 andfemale plug 222 also accurately link together.Adopt male plug 242 to realize being connected the signal of telecommunication betweenmodule portion 10 and therobot body 20, makerobot body 20 provide electric energy to arrivemodule portion 10 withfemale plug 222.

The energy feed unit is arranged in therobot body 20,, can power to robot body if any power brick 30.Second operational module thatmodule portion 10 is provided with, inmale plug 242 with afterfemale plug 222 is connected, by 10 power supplies of the 30 pairs of module portions of power brick in therobot body 20.

Module portion 10 inside are provided with a small amount of electric weight feed unit, can reduce the weight ofmodule portion 10 effectively, make the intelligent robot center of gravity on the lower side, thereby intelligent robot is more steady when walking.

When the robot that can separate automatically starts working, judge at first whether room air needs to purify.Whether robot can simply run a circle around indoor wall, exceed standard by harmful substances in air concentration in the air mass sensor sensing chamber of loading in the module portion 10.If concentration of narmful substance exceeds standard, then the integrated mode combined withmodule portion 10 androbot body 20 of robot is carried out work, as shown in Figure 3, robot moves freely on the ground by walkingmechanism 28,control module 21 is controlled cleaning module work in thefloor treatment unit 22 on one side, cleans ground, Yi Bian control the air-purifying module work in theair conditioner unit 24, purify the air of a room, harmful substances in air is filtered.If concentration of narmful substance does not exceed standard, then the intelligent cleaning robot starts clastotype, controllingorganization 132 in themodule portion 10 receives the separation command ofcontrol module 21,telescoping mechanism 19 in the control AutomaticCombined executing agency 29 stretches out,module portion 10 is upwards lifted, therebymodule portion 10 is separated fromrobot body 20.

The robot of module section after coming out only carried out the flooring cleaning, thus the heavy burden that alleviates robot, the effective time of prolongation robot.At this moment, robot is divided into two parts: the work of cleaning floor is carried out in thefloor treatment unit 22 on therobot body 20, andmodule portion 10 is in the state of staying where one is, pending further orders.When needs purified air,robot body 20 foundmodule portion 10 automatically, and Automatic Combined is together, can either cleaning floor, also can purify air.

Shown in Fig. 4-7, when robot only need carry out cleaning works, robot startedclastotype.Controlling organization 132 in themodule portion 10 receives the separation command of control module, and thetelescoping mechanism 19 in the control AutomaticCombined executing agency 29 stretches out.AutomaticCombined executing agency 29 comprisesair pump 1320 andtelescoping mechanism 19, and specifically,telescoping mechanism 19 can be for being loaded in the two or more simple flexible voluntarilyfeet 194 on the air-purifying module.When needing to separate, thetelescopic shaft 195 in theShen Suo feet 194 constantly extends voluntarily,module portion 10 is lifted fromrobot body 20, therebymodule portion 10 is separated from robot body 20.Otherwise when need were carried out integrated mode work, thetelescopic shaft 195 in theShen Suo feet 194 will shorten voluntarily, makesmodule portion 10 constantly reduce, and inserted the guide pillar groove that is provided with on therobot body 20 fully until theguide pillar 241 that is provided with in themodule portion 10.

Flexible voluntarilyfeet 194 mainly utilizes the cylinder principle to carry out work, and in conjunction with Fig. 6 and shown in Figure 7, specifically,feet 194 comprisesair chamber 192,piston 191 and telescopic shaft 195.Piston 191 is located at describedair chamber 192 inside, andair chamber 192 is divided into two chambers up and down; One end oftelescopic shaft 195 is connected withpiston 191, and the other end stretches outair chamber 192; Onair chamber 192, corresponding on the described air chamber on 192 corresponding chamber be provided with into/gas outlet 193; Source of the gas advances with this/andgas outlet 193 communicates.

When air-flow entersair chamber 192 along the D direction bypore 193, the air pressure in theair chamber 192 increase, promotepiston 191 drivetelescopic shafts 195 along the E direction towards ground motion,module portion 10 is lifted fromrobot body 20, play centrifugation.At this moment, the controllingorganization 132control air valves 1321 in themodule portion 10 stop to inject air andclosed pore 193 to pore 193.On the contrary, when passing throughpore 193 along the opposite direction of D, air-flow flows outair chambers 192,pore 193 is opened in controllingorganization 132 controls, because the gravity ofmodule portion 10 itself makes that the gases in theair chamber 192 are discharged automatically, the air pressure in theair chamber 192 reduce, becausemodule portion 10 gravity own maketelescopic shaft 195 be subjected to support force F, thereby drivenplunger 191 andtelescopic shaft 195 move along the opposite direction of E, makemodule portion 10 highly descend, therebymodule portion 10 is combined with robot body 20.Operation for convenience, the separable setting of pore is provided with air admission hole as the top atfeet 194, and the bottom offeet 194 sets out pore.

Except that this kind mode, air chamber two chambers up and down can be respectively equipped with air inlet and gas outlet, and described source of the gas communicates with air inlet, gas outlet respectively, does not repeat them here.

Controlling organization 132 comprises and is arranged betweenair pump 1320 and thepore 193 or theair valve 1321 on the pipeline between source of thegas 1320 and theair inlet 193,air valve controller 1323 and signal receiving unit 1322.Signal receiving unit 1322 is received the instruction that controlmodule 21 sends, and this instruction sent toair valve controller 1323,air valve controller 1323 air-supply valve 1321 that transmits control signal,air valve 1321 is according to this instruction unpack or close the flexible state of thetelescopic shaft 195 thereby control is stretched voluntarily in thefeet 194.

Embodiment 2

The present embodiment difference from Example 1 is: guidepillar 241 is located on therobot body 20, guidepillar groove 221 is arranged in themodule portion 10, as long as the two position is corresponding with quantity, and be uniformly distributed in the apparent surface ofrobot body 20 ormodule portion 10, can satisfy guide function, makemodule portion 10 androbot body 20 precisely make up.In like manner, the also commutative setting ofmale plug 242 andfemale plug 222, be thatmale plug 242 is located atrobot body 20,female plug 222 is located atmodule portion 10, as long as the two position is relative, in the time of just can guaranteeingmodule portion 10 androbot body 20 combinations,male plug 242 can be connected withfemale plug 222, then transmission of electric signals and control signal.

Except that the described air mass sensor of present embodiment was arranged at mode on the module portion, air mass sensor also can be arranged on the robot body.When air mass sensor senses its ambient air quality when exceeding standard, the control module control robot body that is positioned at robot body is carried out the work order of making up with module portion (air conditioner unit), after module portion successfully is combined on the robot body, by realize being electrically connected being connected of male plug and female plug, thereby provide electric weight for the rotation of the control motor in the module portion by the power brick in the robot body.This mode, the scheme that is positioned at module portion with air mass sensor is compared, when robot judges whether room air needs to purify, need not to bear air conditioner unit detects, have only and detect to judge when robot body and to draw when needing air cleaning, robot body just makes up with module portion, drives module portion by robot body and carries out purifying air portablely, thereby realize used as required.

In the utility model, Automatic Combined executing agency also can be the mechanism of various band Telescopics, as the gear telescoping mechanism.The robot architecture that can separate automatically that the utility model provides is simply compact, can realize combination or detached job according to the operation needs of reality, and operating efficiency improves, and can realize the split power supply, energy saving.

Claims (12)

1. the robot that can separate automatically comprises module portion (10) and robot body (20), and robot body (20) comprises driver element (26), walking mechanism (28), control module (21) and energy feed unit; Module portion (10) is provided with first operational module; It is characterized in that: module portion (10) is provided with controlling organization (132) and Automatic Combined executing agency (29), controlling organization (132) is according to the instruction of control module (21), control Automatic Combined executing agency (29) is combined to module portion (10) on the robot body (20), and first operational module is by energy feed unit powered operation.

2. the robot that can separate automatically according to claim 1 is characterized in that: robot body (20) is provided with female plug (222) or male plug (242); Module portion (10) correspondence is provided with male plug (242) or female plug (222); When module portion (10) and robot body (20) were combined integrated, by being connected of male plug (242) and female plug (222), the energy feed unit on the robot body (20) was that module portion (10) provides power.

3. the robot that can separate automatically according to claim 1 and 2 is characterized in that: robot body (20) is provided with guide pillar groove (221) or guide pillar (241); Module portion (10) correspondence is provided with guide pillar (241) or guide pillar groove (221).

4. the robot that can separate automatically according to claim 3 is characterized in that: guide pillar groove (221) and guide pillar (241) are evenly distributed on the apparent surface of robot body (20) and module portion (10) respectively.

5. the robot that can separate automatically according to claim 4 is characterized in that: guide pillar groove (221) and guide pillar (241) are at least 3 respectively.

6. the robot that can separate automatically according to claim 1, it is characterized in that: Automatic Combined executing agency (29) comprises air pump (1320) and telescoping mechanism (19), when controlling organization (132) receives the combined command of control module (21), telescoping mechanism (19) in controlling organization (132) the control Automatic Combined executing agency (29) shrinks, module portion (10) is moved down, and module portion (10) is combined on the robot body (20).

7. the robot that can separate automatically according to claim 6, it is characterized in that: module portion (20) and robot body (10) are in assembled state need separate the time, controlling organization (132) receives the separation command of control module (21), telescoping mechanism (19) in controlling organization (132) the control Automatic Combined executing agency (29) stretches out, module portion (10) is upwards lifted, thereby module portion (10) is separated from robot body (20).

8. according to claim 6 or the 7 described robots that can separate automatically, it is characterized in that: Automatic Combined executing agency (29) be evenly distributed on module portion (10) around, its quantity is 2 at least.

9. the robot that can separate automatically according to claim 8 is characterized in that: Automatic Combined executing agency (29) is 3.

10. the robot that can separate automatically according to claim 1 is characterized in that: robot body (20) is provided with second operational module, and second operational module is floor cleaning module or floor wax module or japanning module.

11. the robot that can separate automatically according to claim 1 is characterized in that: first operational module is air-purifying module or humidification module or fragrant module.

12. the robot that can separate automatically according to claim 1 is characterized in that: the energy feed unit is power brick (30), and power brick (30) is arranged on the inside of robot body (20).

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