WO2017198214A1 - 组合机器人 - Google Patents

组合机器人 Download PDF

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Publication number
WO2017198214A1
WO2017198214A1 PCT/CN2017/085054 CN2017085054W WO2017198214A1 WO 2017198214 A1 WO2017198214 A1 WO 2017198214A1 CN 2017085054 W CN2017085054 W CN 2017085054W WO 2017198214 A1 WO2017198214 A1 WO 2017198214A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
support
mobile robot
floating support
combination
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/085054
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English (en)
French (fr)
Inventor
孟繁明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
Original Assignee
Ecovacs Robotics Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Priority to EP17798777.3A priority Critical patent/EP3459684B1/en
Priority to US16/303,083 priority patent/US11109734B2/en
Publication of WO2017198214A1 publication Critical patent/WO2017198214A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • 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
    • 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
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
    • 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
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F13/00—Details common to, or for air-conditioning, air-humidification, ventilation or use of air currents for screening
    • F24F13/32—Supports for air-conditioning, air-humidification or ventilation units
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the invention relates to a combined robot, belonging to the technical field of smart home appliance manufacturing.
  • the bottom of the traditional sweeping robot is provided with a front follower wheel and two driving wheels on both sides of the middle of the body. Since the weight of the machine is located on the front side of the body, even if an uneven surface such as a slope or a small step is encountered, the robot will not generate substantially when walking. Bumpy.
  • a multi-functional robot As the demand of users has increased, a multi-functional robot has been developed.
  • a patent of CN201248671Y discloses a multifunctional robot having various functions such as monitoring, air purification, cleaning, and the like.
  • the height and weight of the multi-function robot become larger.
  • the center of gravity of the whole machine is located in the middle of the machine.
  • the robot When encountering uneven surfaces such as slopes and small steps, the robot is prone to bumps and affects the stability of the robot. .
  • the center of gravity of the robot may move backward, causing the rear end of the robot to land, causing the robot to easily get stuck in the pit or step.
  • the multi-function robot has a water tank for humidification
  • the robot when encountering an uneven surface such as a slope or a small step, the robot is prone to bumps, which may cause the water tank to overflow, causing a mechanical short circuit or pollution of the robot.
  • the technical problem to be solved by the present invention is to provide a combined robot by providing a floating support mechanism, so that the floating support mechanism can be telescopically supported when the combined robot is walking on uneven ground, and the walking stability of the combined robot is enhanced. Sexuality, reducing hidden dangers such as stuck during walking.
  • a combined robot comprising a self-moving robot and a functional module, the functional module being detachably coupled to the self-moving robot by a connecting body, the bottom of the self-moving robot body being provided with a driving wheel and a follower wheel for working from the mobile robot
  • the direction of the forward direction is the front
  • the driving wheel is located on the left and right sides of the bottom of the body
  • the follower wheel is located at the front end or the rear end of the bottom of the body
  • the combined robot is provided with a control center to control the combined robot work.
  • One end of the bottom of the mobile robot body remote from the follower wheel is a support end, and the support end is provided with a floating support mechanism, so that the body of the mobile robot keeps parallel with the walking plane while walking.
  • the distance between the floating support mechanism and the apex of the support end is ⁇ 1/3 of the length of the mobile robot body.
  • the distance between the floating support mechanism and the apex of the support end is ⁇ 1/2 of the distance between the drive wheel and the apex of the support end.
  • the maximum distance of the floating support mechanism from the bottom of the robot body is the same as the minimum distance of the driving wheel from the bottom of the robot body, and the minimum distance and distance of the floating support mechanism from the bottom of the robot body
  • the distance difference between the maximum distance of the floating support mechanism from the bottom of the robot body is less than or equal to 10 mm.
  • the number of the floating support mechanisms is two, and the floating support mechanisms are respectively disposed on the left and right sides of the support end.
  • the support end is detachably mounted with a rag assembly located between the two floating support mechanisms.
  • the body of the self-moving robot includes a base, and the base is provided with an accommodating space, and the floating support mechanism is slidably disposed in the accommodating space.
  • the floating support mechanism comprises a spring, a support wheel and a bracket, the support wheel is composed of a wheel and a rotating shaft, the rotating shaft is disposed on the bracket, and the bracket is elastically connected to the base by a spring.
  • the floating support mechanism includes a spring and a support frame
  • the support frame includes a support end and a connection end
  • the support end portion is exposed to the base
  • the connection end is elastically coupled to the base by a spring
  • the material of the support frame is an antistatic wear resistant material.
  • the connecting member comprises a body, one side of the body is provided with a boss, and the other side is provided with a positioning post; the lower surface of the functional module is provided with a dimple, the number and the position of the setting Corresponding to the boss, the upper surface of the self-moving robot is provided with a groove, and the number and arrangement position thereof correspond to the positioning post.
  • the present invention provides a combined robot.
  • the floating support mechanism By providing a floating support mechanism, when the combined robot walks on uneven ground, the floating support mechanism can telescopically support, enhance the walking stability of the combined robot, and reduce jamming during walking. Hidden dangers.
  • Figure 2 is a bottom view of the self-moving robot of the present invention.
  • FIG. 3 is a schematic view showing the walking of a self-moving robot on a plane according to the present invention
  • FIG. 4 is a schematic view showing walking of a mobile robot when it encounters a step according to the present invention
  • FIG. 5 is a schematic structural view of a floating support mechanism according to Embodiment 1 of the present invention.
  • FIG. 6 is a schematic structural view of a floating support mechanism according to Embodiment 2 of the present invention.
  • FIG. 1 is an exploded perspective view of a combination robot of the present invention.
  • the present invention provides a combination robot including a self-mobile robot 100 and a function module 200 that is detachably coupled to the self-mobile robot 100 by a connector 300.
  • a control center (not shown) is provided in the mobile robot 100 for controlling the operation of the combined robot.
  • the connecting member 300 includes a body, one side of the body is provided with a boss, and the other side is provided with a positioning post; the lower surface of the functional module 200 is provided with a dimple, the number of the setting and the setting position and the convex Corresponding to the table, the upper surface of the self-moving robot 100 is provided with a groove whose number and setting position correspond to the positioning post, thereby combining the function module 200 in the upper portion of the mobile robot 100. That is, the combination robot connects the functional modules 200 to be connected and the self-mobile robot 100 together through the connecting body 300.
  • the power supply module is further provided on the connecting component 300, and the power supply module can supply the power from the mobile robot 100 to the function module 200 through the electronic contacts.
  • the function module 200 may be one of a module of a security module, a humidification module, and a purification module, or a combination thereof.
  • the security module includes, for example, a camera and a communication module, and the camera is connected to the remote terminal through a communication module (such as a WLAN wireless access point, a router, etc.), so that the user of the remote terminal can monitor the surrounding environment of the combined robot by watching the screen.
  • the humidification module can spray water after being atomized to humidify the surrounding environment.
  • the purification module includes, for example, a negative ion generating module, a photocatalyst catalytic module or/and a dust filtering device, thereby efficiently killing bacteria, removing odor and adsorbing free particulate matter in the air to purify the air.
  • the above functional modules are also well-known technologies in the art, and are not described herein again.
  • FIG. 2 is a bottom plan view of the self-mobile robot of the present invention.
  • the body of the mobile robot 100 is provided with a walking unit and a cleaning unit.
  • the walking unit includes a motor (not shown), a driving wheel 110 and a follower wheel 111, and the control center controls the combined robot to work.
  • the driving wheel 110 is driven to rotate.
  • the driving wheel 110 is located at the front left or right sides of the bottom of the body, and the driving wheel 111 is located at the front end or the rear end of the bottom of the body, and the bottom of the self-moving robot body is away from the following.
  • One end of the moving wheel is a supporting end, and the supporting end is provided with a floating supporting mechanism 120, so that the body of the self-moving robot keeps parallel with the walking plane while walking.
  • the floating support mechanism 120 can telescopically support, enhance the walking stability of the robot, and reduce hidden dangers such as stuck during walking.
  • the distance between the floating support mechanism 120 and the vertex B of the support end is not more than 1/3 of the length of the body of the mobile robot 100. In order to achieve a better support effect, the distance between the floating support mechanism 120 and the vertex B of the support end is between the drive wheel 110 and the vertex B of the support end. 1/2 of the distance.
  • the rear end of the mobile robot sometimes contacts or abuts when encountering a walking surface such as a step or a slope. On the walking surface, the robot is unable to walk.
  • FIG. 3 is a schematic diagram of walking of a self-moving robot on a plane according to the present invention
  • FIG. 4 is a schematic diagram of walking when a mobile robot encounters a step according to the present invention.
  • the floating support mechanism 120 contacts the plane, and the driving wheel 110 supports the self-moving robot 100 so that the self-moving robot 100 maintains the level;
  • the floating support mechanism 120 receives the contraction of the squeeze, and the mobile robot 100 remains substantially horizontal under the support of the floating support mechanism 120 and the drive wheel 110;
  • the mobile robot 100 encounters a pit
  • the floating support mechanism 120 is elongated, and the bottom of the floating support mechanism 120 contacts the dimple, and the mobile robot 100 remains substantially horizontal under the support of the floating support mechanism 120 and the drive wheel 110.
  • the number of the floating support mechanisms 120 is two, and two floating support mechanisms 120 are respectively disposed on the left and right sides of the support end, thereby preserving the use space of the support end.
  • the self-moving robot is a cleaning robot, and the support end is detachably mounted with a rag assembly, and the rag assembly is located between the two floating support mechanisms 120.
  • FIG. 5 is a schematic structural view of a floating support mechanism according to Embodiment 1 of the present invention.
  • the body of the mobile robot 100 includes a base 130.
  • the base 130 is provided with an accommodating space, and the floating support mechanism can slide in the accommodating space.
  • the floating support mechanism includes a spring 121, a support wheel 122 and a bracket 123.
  • the support wheel 122 is composed of a wheel 124 and a rotating shaft 125.
  • the rotating shaft 125 is disposed on the bracket 123, and the bracket 123 is coupled with the spring 121.
  • the base 130 is elastically coupled to elastically connect the support wheel 122 to the self-propelled robot 100.
  • the spring 121 When the mobile robot 100 is traveling on a plane, the spring 121 is in a compressed state, and the support wheel 122 and the drive wheel 110 together support the self-moving robot 100 so that the self-moving robot 100 is kept horizontal.
  • the support wheel 122 When the self-moving robot 100 encounters a step, the support wheel 122 is pressed by the step, and the spring 121 contracts, and the self-moving robot 100 remains substantially horizontal under the support of the support wheel 122 and the driving wheel 110.
  • the spring 121 When the mobile robot 100 encounters a dimple, the spring 121 is elongated, and the support wheel 122 abuts the dimple, and the mobile robot 100 remains substantially horizontal under the support of the support wheel 122 and the drive wheel 110.
  • FIG. 6 is a schematic structural view of a floating support mechanism according to Embodiment 2 of the present invention.
  • the base 130 of the mobile robot 100 is provided with an accommodating space, and the floating support mechanism is slidable in the accommodating space.
  • the floating support mechanism includes a spring 121 and a support frame 126.
  • the support frame 126 includes a support end 127 and a connection end 128.
  • the support end 127 is in contact with the working surface, and a portion thereof is exposed to the base 130.
  • the connecting end 128 is elastically coupled to the base 130 by a spring 121 to elastically connect the support frame 126 to the self-moving robot 100.
  • the support frame 126 is made of an antistatic and wear resistant material.
  • the spring 121 When the mobile robot 100 is traveling on a plane, the spring 121 is in a compressed state, and the support frame 126 and the drive wheel 110 are supported together from the mobile robot 100 such that the self-moving robot 100 is kept horizontal.
  • the support frame 126 When the mobile robot 100 encounters a step, the support frame 126 is pressed by the step, and the spring 121 shrinks, and the self-moving robot 100 remains substantially horizontal under the support of the support frame 126 and the drive wheel 110.
  • the spring 121 When the mobile robot 100 encounters a dimple, the spring 121 is elongated, and the support frame 126 abuts the dimple, and the mobile robot 100 remains substantially horizontal under the support of the support frame 126 and the drive wheel 110.
  • the supporting mechanism preferably does not affect or slightly affect the friction between the driving wheel and the ground. Specifically, when the maximum distance of the floating support mechanism 120 from the bottom of the robot body is the same as the minimum distance of the driving wheel from the bottom of the robot body, as shown in FIG.
  • the floating support The mechanism 120 contacts the plane and supports the self-moving robot 100 together with the drive wheel 110 such that the self-moving robot 100 remains horizontal, at which time the floating support mechanism 120 has a very small supporting force. Meanwhile, in order to reduce the bump when the robot is walking, the distance difference between the minimum distance of the floating support mechanism 120 from the bottom of the robot body and the maximum distance of the floating support mechanism 120 from the bottom of the robot body is less than or equal to 10 mm (ie, the floating support mechanism) The floating distance is less than or equal to 10mm).
  • the driving wheel is generally connected to the base of the self-moving robot through the compression spring. When the robot is placed on the ground, the distance from the bottom of the robot is the smallest (the driving wheel is subjected to the pressure of the body, and the spring is contracted).
  • the present invention provides a combined robot with a floating support mechanism.
  • the floating support mechanism can telescopically support, enhance the walking stability of the combined robot, and reduce bumps and cards during walking. Death and other hidden dangers.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

一种组合机器人，包括自移动机器人(100)和功能模块(200)，功能模块（200）通过连接件(300)可拆卸的组合到自移动机器人上，自移动机器人机体底部设有驱动轮(110)和随动轮(111)，以自移动机器人工作时前行的方向(A)为前方，驱动轮位于机体底部的左、右两侧，所述随动轮位于机体底部的前端或后端，组合机器人中设有控制中心控制组合机器人工作，自移动机器人机体底部远离随动轮的一端为支撑端，支撑端设有浮动支撑机构(120)，浮动支撑机构能伸缩支撑，使自移动机器人在行走时其机身与行走平面保持平行，增强组合机器人的行走稳定性。

Description

组合机器人 技术领域
本发明涉及一种组合机器人，属于智能家电制造技术领域。
背景技术
传统的扫地机器人底部设有前随动轮和位于机体中部两侧的两驱动轮，由于机体重心位于机体前侧，即使遇到不平的表面如斜坡、小台阶等，机器人行走时也基本不会产生颠簸。
随着用户的需求的增加，多功能机器人被开发出来，如专利号为CN201248671Y的专利中公开了一种多功能机器人，该机器人具有监控、空气净化、保洁等各种功能。随着功能模块的增加，多功能机器人的高度和重量随之变大，其整机的重心位于机体中部，当遇到不平表面如斜坡、小台阶等，机器人容易产生颠簸，影响机器人的稳定性。特别的，机器人遇到凹坑或台阶时，机器人重心可能后移，使得机器人后端着地，导致机器人易卡死在凹坑或台阶。又或者，若多功能机器人具有水箱来进行加湿，当遇到不平表面如斜坡、小台阶等，机器人容易产生颠簸，易导致水箱容溢水，造成机器人电性短路或污染等恶劣情况。
发明内容
本发明所要解决的技术问题在于针对现有技术的不足，提供一种组合机器人，通过设置浮动支撑机构，使得组合机器人在不平整地面行走时，浮动支撑机构能伸缩支撑，增强组合机器人的行走稳定性，减少行走时卡死等隐患。
本发明所要解决的技术问题是通过如下技术方案实现的：
一种组合机器人，包括自移动机器人和功能模块，所述功能模块通过连接件可拆卸的组合到自移动机器人上，所述自移动机器人机体底部设有驱动轮和随动轮，以自移动机器人工作时前行的方向为前方，所述驱动轮位于机体底部的左、右两侧，所述随动轮位于机体底部的前端或后端，所述组合机器人中设有控制中心控制组合机器人工作，所述自移动机器人机体底部远离所述随动轮的一端为支撑端，所述支撑端设有浮动支撑机构，使自移动机器人在行走时其机身与行走平面保持平行。
为了保持组合机器人的平衡，所述浮动支撑机构与所述支撑端的顶点之间的距离≤自移动机器人机身长度的1/3。
为了使得更好的支撑效果，所述浮动支撑机构与所述支撑端的顶点之间的距离≤ 所述驱动轮与所述支撑端的顶点之间的距离的1/2。
为了使得组合机器人更好的行走，所述浮动支撑机构相距机器人机体底部的最大距离与所述驱动轮相距机器人机体底部的最小距离相同，且所述浮动支撑机构相距机器人机体底部的最小距离与所述浮动支撑机构相距机器人机体底部的最大距离之间的距离差小于等于10mm。
优选的，所述浮动支撑机构的设置数量为2个，所述浮动支撑机构分别设置在所述支撑端的左、右两侧。
为了使自移动机器人具有擦拭功能，所述支撑端可拆卸的安装有抹布组件，所述抹布组件位于两个浮动支撑机构之间。
优选的，所述自移动机器人的机身包括有底座，所述底座设有容置空间，所述浮动支撑机构滑动设置在所述容置空间中。
进一步，所述浮动支撑机构包括弹簧、支撑轮和支架，所述支撑轮由轮子和转轴组成，所述转轴设置在支架上，所述支架通过弹簧与底座弹性连接。
或者，所述浮动支撑机构包括弹簧和支撑架，所述支撑架包括支撑端和连接端，所述支撑端部分外露于所述底座，所述连接端通过弹簧与底座弹性连接。
优选的，所述支撑架的材质为防静电耐磨材料。
为了方便组合机器人组合，所述连接件包括本体，所述本体的一侧设有凸台，另一侧设有定位柱；所述功能模块的下表面设有凹坑，其设置数量和设置位置与所述凸台相对应，所述自移动机器人的上表面设置有凹槽，其设置数量和设置位置与所述定位柱相对应。
综上所述，本发明提供一种组合机器人，通过设置浮动支撑机构，使得组合机器人在不平整地面行走时，浮动支撑机构能伸缩支撑，增强组合机器人的行走稳定性，减少行走时卡死等隐患。
下面结合附图和具体实施例，对本发明的技术方案进行详细地说明。
附图说明
图1为本发明组合机器人的分解示意图；
图2为本发明自移动机器人的仰视图；
图3为本发明自移动机器人在平面上的行走示意图；
图4为本发明自移动机器人遇到台阶时的行走示意图；
图5为本发明实施例一中浮动支撑机构的结构示意图；
图6为本发明实施例二中浮动支撑机构的结构示意图。
具体实施方式
图1为本发明组合机器人的分解示意图。如图1所示，本发明提供一种组合机器人，包括自移动机器人100和功能模块200，所述功能模块200通过连接件300可拆卸的组合到自移动机器人100上。其中自移动机器人100中设有控制中心(图中未示出)，用于控制组合机器人工作。
所述连接件300包括本体，所述本体的一侧设有凸台，另一侧设有定位柱；所述功能模块200的下表面设有凹坑，其设置数量和设置位置与所述凸台相对应，所述自移动机器人100的上表面设置有凹槽，其设置数量和设置位置与所述定位柱相对应，从而将功能模块200组合在自移动机器人100的上部。即组合机器人通过所述连接体300将待连接的功能模块200和自移动机器人100组合连接在一起。所述连接件300上还设有供电模块，所述供电模块能够将自移动机器人100上的电能通过电子触点提供给功能模块200使用。
所述功能模块200可以为安防模块、加湿模块和净化模块等模块中的其中之一或其组合。所述安防模块例如包括摄像头和通信模块，所述摄像头通过通信模块(如WLAN无线接入点、路由器等)与远程终端连接，这样远程终端的用户可以通过观看屏幕对组合机器人的周围环境进行监视。所述加湿模块可以将水雾化后喷出，从而加湿其周边环境。所述净化模块例如包括负离子发生模块、光触媒催化模块或/和粉尘过滤装置，从而高效杀除细菌、祛除异味并吸附空气中游离的颗粒物，达到净化空气的作用。上述功能模块也已经是本领域成熟的技术，在此不再赘述。
图2本发明自移动机器人的仰视图。如图2所示，自移动机器人100的机身上设有行走单元和清洁单元，行走单元包括电机(图中未示出)、驱动轮110和随动轮111，控制中心控制组合机器人工作，从而带动驱动轮110转动。以自移动机器人工作时前行的方向A为前方，驱动轮110位于机体底部的左、右两侧，随动轮111位于机体底部的前端或后端，所述自移动机器人机体底部远离所述随动轮的一端为支撑端，所述支撑端设有浮动支撑机构120，使自移动机器人在行走时其机身与行走平面保持平行。当自移动机器人碰到不平整地面时，浮动支撑机构120能伸缩支撑，增强机器人的行走稳定性，减少行走时卡死等隐患。优选的，浮动支撑机构120与所述支撑端的顶点B之间的距离不大于自移动机器人100机身长度的1/3。为了达到更好的支撑效果，浮动支撑机构120与支撑端的顶点B之间的距离≤驱动轮110与支撑端的顶点B之间的 距离的1/2。若浮动支撑机构太靠近驱动轮(小于驱动轮110与支撑端的顶点B之间的距离的1/2)，遇到台阶或斜坡等行走表面，自移动机器人的后端有时仍会接触或抵顶在行走表面，导致机器人无法行走。
图3为本发明自移动机器人在平面上的行走示意图；图4为本发明自移动机器人遇到台阶时的行走示意图。如图3和图4所示，当自移动机器人100行走在平面上时，浮动支撑机构120接触平面，和所述驱动轮110一起支撑自移动机器人100，使得自移动机器人100保持水平；当自移动机器人100遇到台阶时，浮动支撑机构120收到挤压发生收缩，自移动机器人100在浮动支撑机构120和驱动轮110的支撑下仍基本保持水平；当自移动机器人100遇到凹坑时，浮动支撑机构120伸长，浮动支撑机构120的底部接触凹坑，自移动机器人100在浮动支撑机构120和驱动轮110的支撑下仍基本保持水平。优选的，所述浮动支撑机构120的设置数量为2个，2个浮动支撑机构120分别设置在所述支撑端的左、右两侧，从而预留支撑端的使用空间。举例来说，本发明中自移动机器人为清洁机器人，支撑端可拆卸的安装有抹布组件，抹布组件位于两个浮动支撑机构120之间。
实施例一
图5为本发明实施例一中浮动支撑机构的结构示意图。如图5所示，本实施例中自移动机器人100的机身包括有底座130，底座130设有容置空间，所述浮动支撑机构能够在所述容置空间中滑动。具体的，所述浮动支撑机构包括弹簧121、支撑轮122和支架123，所述支撑轮122由轮子124和转轴125组成，所述转轴125设置在支架123上，所述支架123通过弹簧121与底座130弹性连接，从而使支撑轮122弹性连接于自移动机器人100。
自移动机器人100在平面上行走时，所述弹簧121处于压缩状态，所述支撑轮122与驱动轮110共同支撑自移动机器人100，使得自移动机器人100保持水平。当自移动机器人100遇到台阶时，所述支撑轮122受到台阶的挤压，所述弹簧121发生收缩，自移动机器人100在支撑轮122与驱动轮110的支撑下仍基本保持水平，当自移动机器人100遇到凹坑时，所述弹簧121伸长，所述支撑轮122抵顶凹坑，自移动机器人100在支撑轮122与驱动轮110的支撑下仍基本保持水平。
实施例二
图6为本发明实施例二中浮动支撑机构的结构示意图。如图6所示，本实施例中 自移动机器人100的底座130设有容置空间，所述浮动支撑机构能够在所述容置空间中滑动。具体的，所述浮动支撑机构包括弹簧121和支撑架126，所述支撑架126包括支撑端127和连接端128，所述支撑端127与工作表面接触，其部分外露于所述底座130，所述连接端128通过弹簧121与底座130弹性连接，从而使支撑架126弹性连接于自移动机器人100。优选的，所述支撑架126的材质为防静电耐磨材料。
自移动机器人100在平面上行走时，所述弹簧121处于压缩状态，所述支撑架126与驱动轮110共同支撑自移动机器人100，使得自移动机器人100保持水平。当自移动机器人100遇到台阶时，所述支撑架126受到台阶的挤压，所述弹簧121发生收缩，自移动机器人100在支撑架126与驱动轮110的支撑下仍基本保持水平，当自移动机器人100遇到凹坑时，所述弹簧121伸长，所述支撑架126抵顶凹坑，自移动机器人100在支撑架126与驱动轮110的支撑下仍基本保持水平。
需要说明的是，上述实施例一和实施例二中，当自移动机器人100遇到凹坑时，所述弹簧121伸长，所述支撑轮122或支撑架126抵顶凹坑。然而，支撑轮122或支撑架126的支撑力过大，将会影响驱动轮与地面之间的摩擦力，使得自移动机器人行走不方便。为了提高机器人的行走效率，支撑机构最好不影响或很小影响驱动轮与地面之间的摩擦力。具体的，当浮动支撑机构120相距机器人机体底部的最大距离与所述驱动轮相距机器人机体底部的最小距离相同时，具体如图3所示，当自移动机器人100行走在平面上时，浮动支撑机构120接触平面，和所述驱动轮110一起支撑自移动机器人100，使得自移动机器人100保持水平，此时，浮动支撑机构120具有非常小的支撑力。同时，为了减小机器人行走时的颠簸，浮动支撑机构120相距机器人机体底部的最小距离与浮动支撑机构120相距机器人机体底部的最大距离之间的距离差小于等于10mm(也即，浮动支撑机构的浮动距离小于等于10mm)。需要说明的是，驱动轮一般通过压簧与自移动机器人底座相连，当机器人放置在地面上时，其与机器人底部的距离最小(驱动轮受到机体的压力，弹簧收缩)，详见美国公开专利US8474090，在此不再赘述。
综上所述，本发明提供一种具有浮动支撑机构的组合机器人，当组合机器人在不平整地面行走时，浮动支撑机构能伸缩支撑，增强组合机器人的行走稳定性，减少行走时颠簸现象以及卡死等隐患。

Claims (11)

  1. 一种组合机器人，包括自移动机器人(100)和功能模块(200)，所述功能模块通过连接件(300)可拆卸的组合到自移动机器人上，所述自移动机器人机体底部设有驱动轮(110)和随动轮(111)，以自移动机器人工作时前行的方向(A)为前方，所述驱动轮位于机体底部的左、右两侧，所述随动轮位于机体底部的前端或后端，所述组合机器人中设有控制中心控制组合机器人工作，其特征在于，所述自移动机器人机体底部远离所述随动轮的一端为支撑端，所述支撑端设有浮动支撑机构(120)，使自移动机器人在行走时其机身与行走平面保持平行。
  2. 如权利要求1所述的组合机器人，其特征在于，所述浮动支撑机构(120)与所述支撑端的顶点(B)之间的距离≤自移动机器人机身长度的1/3。
  3. 如权利要求1所述的组合机器人，其特征在于，所述浮动支撑机构(120)的设置数量为2个，所述浮动支撑机构分别设置在所述支撑端的左、右两侧。
  4. 如权利要求3所述的组合机器人，其特征在于，所述支撑端可拆卸的安装有抹布组件，所述抹布组件位于两个浮动支撑机构(120)之间。
  5. 如权利要求1所述的组合机器人，其特征在于，所述自移动机器人(100)的机身包括有底座(130)，所述底座设有容置空间，所述浮动支撑机构(120)滑动设置在所述容置空间中。
  6. 如权利要求5所述的组合机器人，其特征在于，所述浮动支撑机构包括弹簧(121)、支撑轮(122)和支架(123)，所述支撑轮由轮子(124)和转轴(125)组成，所述转轴(125)设置在支架上，所述支架通过弹簧与底座(130)弹性连接。
  7. 如权利要求5所述的组合机器人，其特征在于，所述浮动支撑机构包括弹簧(121)和支撑架(126)，所述支撑架包括支撑端(127)和连接端(128)，所述支撑端(127)部分外露于所述底座(130)，所述连接端通过弹簧与底座弹性连接。
  8. 如权利要求7所述的组合机器人，其特征在于，所述支撑架(126)的材质为防静电耐磨材料。
  9. 如权利要求1所述的组合机器人，其特征在于，所述连接件(300)包括本体，所述本体的一侧设有凸台，另一侧设有定位柱；所述功能模块(200)的下表面设有凹坑，其设置数量和设置位置与所述凸台相对应，所述自移动机器人(100)的上表面设置有凹槽，其设置数量和设置位置与所述定位柱相对应。
  10. 如权利要求1所述的组合机器人，其特征在于，所述浮动支撑机构(120)与所述支撑端的顶点(B)之间的距离≤所述驱动轮(110)与所述支撑端的顶点(B)之间的距离的1/2。
  11. 如权利要求1所述的组合机器人，其特征在于，所述浮动支撑机构(120)相距自移动机器人(100)机体底部的最大距离与所述驱动轮相距自移动机器人机体底部的最小距离相同，且所述浮动支撑机构相距自移动机器人机体底部的最小距离与所述浮动支撑机构相距自移动机器人机体底部的最大距离之间的距离差小于等于10mm。
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