CN210189863U - Mobile robot - Google Patents

Abstract

The utility model discloses a novel mobile robot, including machine main part, controller, drive arrangement, preceding shelves include: the front gear is installed on the surface of the machine main body, the sensing device is connected with the controller, and the controller is connected with the driving device. Because the front rail is fixed, the deformation degree of the upper cover of the front rail is small, so that the device is very sensitive; and the action point of the collision stress does not act on the shell, so the damage to the shell is small, and the noise of the shell collision is not easy to generate.

Description

Mobile robot

Technical Field

The utility model belongs to the mobile robot field especially relates to a preceding shelves are mobile robot of gasbag formula.

Background

Because of the continuous improvement of the requirements of people on life convenience, intelligent robots are more and more popular with users in the world, and various types and functional intelligent robots such as floor sweeping robots, mobile robots and water and medicine spraying robots are endless.

The intelligent mobile robot has been applied to the fields of agriculture, gardening and the like, but the current mobile robot has insufficient places. When the intelligent mobile robot works on the lawn, the intelligent mobile robot collides with the housing of the mobile robot because of the collision with the obstacle, so that the service life of the mobile robot is greatly influenced. The intelligent mobile robot part on the existing market has the function of preventing collision, and the shell of the intelligent mobile robot is movably arranged, so that most of force acts on the shell when the intelligent mobile robot collides, and the service life of the shell is influenced after the intelligent mobile robot is used for a long time.

The utility model has the following contents:

for solving the technical problem in the background art, the utility model provides a technical scheme as follows:

a mobile robot is characterized by comprising a machine main body, a front gear, a controller and a driving device, wherein the front gear is installed on the surface of the machine main body, and the controller is connected with the driving device;

the front gear comprises: the front bumper cover is installed on the surface of the machine body and is connected with the controller, the front bumper cover is installed on the surface of the machine body and covers the sensing device, the edge of the front bumper cover is fixedly connected with the machine body, the middle part of the front bumper cover is filled with gas to form a closed air bag, and the front bumper cover can elastically deform.

Further, since the front cover is made of an elastically deformable material, in order to prevent the front cover from being worn during operation, in a preferred embodiment, the front cover further includes a front bracket mounted below the front cover, and the front bracket is mounted on the machine body.

Further, in order to enable the mobile robot to perform backward movement in different directions according to different collision positions after being collided and to avoid an obstacle better, in an optimized scheme of the embodiment, the sensing device can be divided into more than two parts, and the response of the controller is different along with the difference of the triggering parts.

Further, in order to make the triggering device better contact with the sensing device, in an optimized solution of this embodiment, the triggering device includes: the electric door comprises a conductive part and a supporting part, wherein one side of the supporting part is fixed on a front stop cover, and the conductive part is fixed on the other side of the supporting part.

Further, in order to make the conductive part triggering sensing device more sensitive, in an optimized solution of the present embodiment, the conductive part is a flat structure.

Further, in the vertical direction, in order to enable the front rail to be recognized no matter where the front rail is collided, in an optimized scheme of the embodiment, the number of the triggering devices is more than two, and the triggering devices are distributed in the front rail cover at intervals.

Preferably, in view of manufacturing cost and easy availability of materials, in a preferred embodiment, the conductive part is a conductive metal strip.

Further, in order to prevent the mobile robot from increasing weight too much due to the addition of the front bumper, in an optimized solution of the embodiment, the conductive part is an aluminum strip.

Optionally, in an optimized solution of this embodiment, the sensing device is a circuit board, and the circuit board has two mutually insulated wires.

Further, in order to make the front rail of the mobile robot more sensitive to triggering after a collision, in an optimized solution of the present embodiment, both wires are distributed in a "bow" shape.

The utility model discloses compare with traditional mobile front end shield, have following advantage, because the utility model discloses a front end shield is for fixing the gasbag form object on machine main part surface, converts traditional hard collision into soft collision, has the noise abatement, protects the effect of machine main part, when being collided, through the trigger device contact induction system of installation in the front end shield, lets mobile robot make reasonable obstacle avoidance reaction.

Description of the drawings:

in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is an exploded view of the mobile robot of the present invention;

FIG. 2 is an overall view and a partially enlarged view of the mobile robot according to the present invention;

FIG. 3 is an enlarged view of the upper part of the front bumper of the mobile robot of the present invention being impacted;

FIG. 4 is an enlarged view of the middle part of the front bumper of the mobile robot of the present invention being impacted;

FIG. 5 is an enlarged view of the lower part of the front rail of the mobile robot according to the present invention;

fig. 6 is a schematic diagram of a circuit board according to a first embodiment of the present invention;

fig. 7 is a schematic circuit diagram of a first embodiment of the present invention;

fig. 8 is a schematic view of a mobile robot according to a second embodiment of the present invention;

fig. 9 is a schematic circuit diagram of a second embodiment of the present invention.

The specific implementation mode is as follows:

in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. For convenience of explanation, the present embodiment uses directional terms such as left, right, inner, and outer, but this does not limit the scope of the present invention.

In a first embodiment enumerated in the present application, a mobile robot as shown in fig. 1 to 7 is proposed.

As shown in fig. 1 and 2, the mobile robot includes a main body 100, a front rail 200, a controller 300, and a driving device 400, wherein the front rail 200 includes a front rail cover 1, a triggering device 2, a sensing device 3, and a front rail holder 4, and the triggering device 2 includes a conductive portion 22 and a supporting portion 21. In this embodiment, the conductive portion 22 is three conductive metal strips (only one is shown in fig. 1), the supporting portion 22 is made of rigid plastic, the sensing device 3 is a circuit board as shown in fig. 6, two mutually insulated wires, namely a first wire 31 and a second wire 32, are arranged in a "bow" shape in the circuit board, and a distance between the two wires is small, as shown in fig. 7, the first wire 31 and the second wire 32 are both connected to the controller 300 outside the circuit board, the controller 300 can control the driving device 400, and the driving device 400 can be used to control the operation of the mobile robot.

As shown in fig. 2, the sensing device 3 is fixed on the surface of the apparatus main body 100, the front cover 1 is fixed on the surface of the apparatus main body 100 to form a closed air bag and cover the sensing device 3, one end of the supporting portion 21 is fixed on the inner side of the front cover 1, the other end is fixed with the conductive portion 22, the conductive portion 22 is substantially parallel to the sensing device 3, and when the front cover 200 is not impacted, a gap is formed between the conductive portion 22 and the sensing device 3; as shown in fig. 3, when the upper portion of front bumper 200 is impacted, conductive portion 22 will contact sensing device 3, conductive portion 22 will contact two wires at the same time, conductive portion 22 is conductive, so conductive portion 22 connects two insulated wires on triggering device 3 to form a path, as shown in fig. 7, when conductive portion 22 contacts triggering device 3, which is equivalent to switch K being turned from open to closed, then the information that the front bumper is impacted is fed back to controller 300 of mobile robot, controller 300 controls driving device 400, and driving device 400 drives mobile robot to move back, so as to achieve the anti-collision effect.

Fig. 4 and 5 are respectively the change situation of the inside of the airbag when the middle part and the lower part of the front rail 200 are impacted, the principle is the same as that of the impact on the upper part, and details are not repeated here, and this embodiment only lists the corresponding situations of the mobile robot when the upper, middle and lower parts of the front rail are impacted, and it can be understood that, in actual situations, when any part of the front rail 200 is impacted and extruded, the triggering device 2 will touch the sensing device 3, so that the mobile robot retreats and gets out of the trouble. And because the front bumper of the mobile robot is an air bag which can generate elastic deformation, when the mobile robot is collided, on one hand, the mobile robot can retreat due to the elastic force applied to the air bag, on the other hand, the deformed front bumper cover 1 can quickly recover to the original position due to the action of air pressure in the air bag when not applied with external force, and the conductive part 22 is not pushed to the trigger device 3 by the front bumper cover 1 all the time after the external force disappears, so that machine failure is avoided.

In a second embodiment exemplified in the present application, a mobile robot as shown in fig. 8 and 9 is proposed.

As shown in fig. 8, the front rail 200 of the mobile robot is divided into A, B, C, D, E five blocks, and the internal structure of each front rail is the same as that of the first embodiment, and will not be described herein again. The internal circuit is shown in fig. 9, taking the right rear part, namely the E part of the airbag as an example, 5-6 is open circuit in normal state, the single chip senses that the signal of the MCU _ right tdown _ SWITCH is a high-frequency signal, the mobile robot is normally driven, when the metal strip touches the sensing device 3, 5-6 forms a short circuit, the signal of the MCU _ right tdown _ SWITCH sensed by the single chip is a low-frequency signal, and the mobile robot moves backwards at the moment. The other regions are the same.

It should be noted that the material of the conductive portion 22 is not limited to the conductive metal in the above embodiment, and may be other conductive materials.

The material of the support portion 21 is not limited to the hard plastic in the above embodiment, and may be other materials that are not easily deformed.

The material of the front cover 1 is not limited to the rubber in the above embodiment, but may be other materials that elastically deform.

The material of the front rail 4 is not limited to the plastic in the above embodiments, but may be other materials that are not easily elastically deformed, so long as the front rail cover is lifted up and does not contact the ground, thereby achieving the effect of preventing the front rail cover from being rubbed by the ground.

Compared with the prior art, the front-gear fixed airbag collision type mobile robot provided by the utility model has the advantages that the deformation degree of the upper cover of the front gear is small because the front gear is fixed, so that the device is very sensitive; and the action point of the device does not act on the shell, so that the damage to the shell is small; because the front rail of the novel mobile robot is made of elastic materials, the noise of hard material collision can not be generated during collision.

Those of ordinary skill in the art will understand that: the above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A mobile robot is characterized by comprising a robot main body (100), a front gear (200), a controller (300) and a driving device (400), wherein the front gear (200) is installed on the surface of the robot main body (100), and the controller (300) is connected with the driving device (400);

the front gear (200) comprises: preceding shelves lid (1), trigger device (2), induction system (3), trigger device (2) are installed preceding shelves lid (1) are inboard, induction system (3) are fixed on machine main part (100) surface and connection director (300), preceding shelves lid (1) are installed and are covered induction system (3) on machine main part (100) surface, and the edge and machine main part (100) fixed connection of preceding shelves lid (1), mid portion fill gas, form and seal the gasbag, preceding shelves lid (1) can take place elastic deformation.

2. A mobile robot as claimed in claim 1, characterized in that the front rail (200) further comprises a front rail bracket (4), the front rail bracket (4) being mounted below the front rail cover (1), the front rail bracket (4) being mounted on the machine body (100).

3. A mobile robot as claimed in claim 1, characterised in that the sensing means (3) is separable into two or more parts, the response of the controller (300) varying with the triggering part.

4. A mobile robot as claimed in claim 1, characterized in that said triggering means (2) comprise: the front bumper comprises a conductive part (22) and a supporting part (21), wherein one side of the supporting part (21) is fixed on the front bumper cover (1), and the conductive part (22) is fixed on the other side of the supporting part (21).

5. A mobile robot as claimed in claim 4, characterized in that said conductive part (22) is of flat construction.

6. A mobile robot as claimed in claim 1, characterized in that the number of triggering devices (2) is more than two, spaced apart in the front flap (1).

7. A mobile robot as claimed in claim 4, characterised in that the conductive part (22) is a conductive metal strip.

8. A mobile robot as claimed in claim 4, characterised in that the conductive part (22) is an aluminium strip.

9. A mobile robot as claimed in claim 4, characterized in that the sensing means (3) is a circuit board with two mutually insulated conductors.

10. A mobile robot as claimed in claim 9, wherein both wires are "bowed".

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