Storage device for autonomous mobile equipment

Abstract

The utility model provides a storage device for autonomous mobile equipment. The storage device comprises a box body, a driving mechanism and a first transmission mechanism which are assembled together. Power can be smoothly transmitted to the box door through the driving mechanism and the first transmission mechanism, and therefore the box door can rotate to the closing position and the opening position. When the box door is rotated to the open position, the storage space of the box main body is communicated with the outside through the opening, and the autonomous mobile device is allowed to smoothly move into the storage space, so that the autonomous mobile device can be prevented from occupying additional space, and unexpected obstruction and collision can also be avoided. Under the condition that the box door rotates to the closing position, the opening of the box body is closed by the box door, and the autonomous mobile equipment can be effectively protected. In addition, according to the storage device, the mechanism capable of automatically achieving rotation of the box door is simple in overall structure, easy to achieve and stable in operation.

Description

Technical Field

[0001] This disclosure relates to supporting mechanisms for autonomous mobile devices, and more specifically to storage devices for autonomous mobile devices. Background Technology

[0002] Autonomous mobile devices refer to intelligent mobile devices that autonomously perform preset tasks. These devices can move autonomously based on the results sensed by their sensing components. Currently, autonomous mobile devices typically include, but are not limited to, self-moving cleaning devices (such as intelligent sweeping robots and intelligent floor scrubbers), companion mobile robots (such as intelligent electronic pets and nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting venues), industrial inspection intelligent devices (such as power inspection robots and intelligent forklifts), and security robots (such as home or commercial intelligent security guard robots).

[0003] The aforementioned self-propelled cleaning devices primarily travel on the surface to be cleaned, performing dry and / or wet cleaning. When not in operation, the self-propelled cleaning device sometimes remains on the surface, occupying additional space. This may obstruct the movement of people and other mobile devices in the environment. Furthermore, if the self-propelled cleaning device is bumped by such people or other mobile devices, it may be damaged. Therefore, a mechanism is needed to house the self-propelled cleaning device when it is not in operation, thus avoiding these undesirable situations. Utility Model Content

[0004] In view of the problems of the prior art, the purpose of this disclosure is to provide a storage device for autonomous mobile devices, which can store autonomous mobile devices in a non-working state with a relatively simple structure.

[0005] To achieve the above objectives, the present disclosure adopts the following technical solution.

[0006] This disclosure provides a storage device for autonomous mobile devices, including:

[0007] The box includes a box body and a box door. The box body forms a storage space and an opening that connects the storage space to the outside. The box door is rotatably connected to the box body.

[0008] The drive mechanism, which is mounted on the main body of the housing; and

[0009] A first transmission mechanism is connected to the drive mechanism. The first transmission mechanism is a linkage mechanism, which includes a plurality of rotatably connected links, including a first link and a second link. The first link is connected to the drive mechanism and is rotatable about one end. The other end of the first link is rotatably connected to one end of the second link, and the other end of the second link is rotatably connected to the door. Thus, the drive mechanism can drive the door via the first transmission mechanism, causing the door to rotate relative to the body of the box to a closed position (closing the opening) and an open position (opening the opening).

[0010] In one alternative embodiment, the drive mechanism includes a motor and a second transmission mechanism that are driveably coupled to each other.

[0011] The motor drives the door to rotate relative to the main body of the box via the second transmission mechanism and the first transmission mechanism, and

[0012] The second transmission mechanism is one of the following: a gear transmission mechanism, a belt transmission mechanism, or a worm gear transmission mechanism.

[0013] In another alternative embodiment, the gear transmission mechanism is configured as a speed reduction transmission mechanism.

[0014] The gear transmission mechanism includes a first gear, a second gear, and at least one intermediate gear. The first gear is directly connected to the motor for driving, and the second gear is rotatably connected to the housing body. The first gear and the second gear transmit torque via the at least one intermediate gear.

[0015] At least one of the first gear, the second gear, and the intermediate gear is a stepped double gear.

[0016] In another alternative embodiment, the cabinet door is constructed as a folding door, comprising an inner door body and an outer door body, both formed as flat panels, wherein the inner door body is rotatably connected to both the cabinet body and the outer door body.

[0017] With the cabinet door in the closed position, the inner and outer doors are folded, stacked parallel to each other, with the inner door directly closing the opening, and the outer door positioned away from the storage space relative to the inner door.

[0018] With the door in the open position, the inner door and the outer door are in an unfolded state and abut against each other in a coplanar arrangement, thereby defining a travel surface extending from the autonomous mobile device to the opening and the travel surface for the autonomous mobile device.

[0019] In another alternative embodiment, both the inner and outer door bodies have shapes that match the shape of the opening.

[0020] The inner door includes a first end edge and a second end edge that are opposite to each other, and the first end edge is rotatably connected to the main body of the box.

[0021] The outer door body includes a third end edge and a fourth end edge that are opposite to each other. The third end edge is rotatably connected to the second end edge, and the fourth end edge is placed on the travel surface when the door is in the open position.

[0022] In another alternative embodiment, the first end edge is formed with a first abutting surface that matches the shape of a corresponding part of the main body of the housing, the second end edge is formed with a second abutting surface, and the third end edge is formed with a third abutting surface that matches the shape of the second abutting surface.

[0023] When the inner door and the outer door are in the unfolded state, the first abutting surface abuts against the main body of the box, and the second abutting surface and the third abutting surface abut against each other, so that the inner door and the outer door are constrained to be arranged in a coplanar manner.

[0024] In another alternative embodiment, the outer door body further includes a plurality of rollers disposed on the fourth end edge, the plurality of rollers being spaced apart from each other in the extending direction of the fourth end edge, the plurality of rollers being used to roll into contact with the traveling surface.

[0025] In another alternative embodiment, the storage device further includes a tension spring, one end of which is connected to the inner wall of the main body of the box, and the other end of which is connected to the inner door; and / or

[0026] The storage device also includes a pivot and a torsion spring. The inner door is rotatably connected to the main body of the box via the pivot. The torsion spring is fitted onto the pivot, with one end of the torsion spring abutting against the main body of the box and the other end abutting against the inner door.

[0027] In another alternative embodiment, the storage device includes a set of the drive mechanism and the first transmission mechanism arranged on the same side of the storage space; or

[0028] The storage device includes two sets of drive mechanisms and the first transmission mechanism symmetrically arranged on both sides of the storage space.

[0029] In another alternative, a support platform is also included, on which the housing is placed and supported, such that the opening of the housing is spaced apart from the travel surface for the autonomous mobile device to travel.

[0030] In another alternative embodiment, a cabinet is also included, which is placed on the support platform, and the box is housed within the cabinet.

[0031] The cabinet includes a cabinet body and a cabinet door. The cabinet body is fixed to the support platform, and the cabinet door is rotatably connected to the cabinet body. The cabinet door can rotate relative to the cabinet body to a closed position that closes the cabinet body and an open position that opens the cabinet body.

[0032] By adopting the above technical solution, this disclosure provides a storage device for autonomous mobile devices. The storage device includes a housing, a drive mechanism, and a first transmission mechanism assembled together. The housing includes a main body and a door. The main body forms a storage space and an opening that connects the storage space to the outside. The door is rotatably connected to the main body. The drive mechanism is mounted on the main body to provide power for rotating the door relative to the main body. The first transmission mechanism is drively connected to the drive mechanism. Thus, the drive mechanism can drive the door to rotate relative to the main body to a closed position (closing the opening) and an open position (opening the opening) via the first transmission mechanism.

[0033] In this way, the power of the drive mechanism can be smoothly transmitted to the door via the first transmission mechanism. The door can then be rotated to the closed or open position via the action of the drive mechanism (e.g., the bidirectional rotation of the drive mechanism's motor). When the door is in the open position, the storage space of the main body of the container is connected to the outside through the opening, allowing the autonomous mobile device to move smoothly into the storage space. This avoids the autonomous mobile device occupying extra space and prevents unintended obstruction or collisions to personnel or other equipment moving on the surface. When the door is in the closed position, the opening of the main body of the container is closed, effectively protecting the autonomous mobile device. Furthermore, when the autonomous mobile device is a self-cleaning device, the storage device can be equipped with the necessary mechanisms to enable the self-cleaning device to perform dust collection and self-cleaning processes within the container with low noise, thereby discharging the dry waste collected in the dust box of the self-cleaning device and self-cleaning the dry and wet cleaning components of the self-cleaning device. In addition, the overall structure of the mechanism for automatically rotating the door according to the storage device of this disclosure is simple, easy to implement, and operates smoothly. Attached Figure Description

[0034] Figure 1 This is a perspective view of a storage device for autonomous mobile devices according to a first embodiment of the present disclosure, wherein the door is in the closed position, which closes the opening of the main body of the device.

[0035] Figure 2 It shows Figure 1 A three-dimensional schematic diagram of the partial structure of the storage device for autonomous mobile devices.

[0036] Figure 3 and Figure 4 It shows Figure 1 A three-dimensional schematic diagram of a storage device for autonomous mobile devices, in which the door is in the open position when the main body of the device is opened.

[0037] Figure 5 It shows Figure 3 and Figure 4 A three-dimensional schematic diagram of the partial structure of the storage device for autonomous mobile devices.

[0038] Figure 6 This is a perspective view of a storage device for autonomous mobile devices according to a second embodiment of the present disclosure, wherein the case door is in a closed position with the opening of the case body closed and the cabinet door is in a closed position with the cabinet body closed.

[0039] Figure 7 It shows Figure 6 A three-dimensional schematic diagram of a storage device for autonomous mobile devices, wherein the cabinet door is in the closed position with the opening of the main body closed and the cabinet door is in the open position with the main body of the cabinet open.

[0040] Figure 8 It shows Figure 6 A three-dimensional schematic diagram of a storage device for autonomous mobile devices, wherein the box door is in the open position with the opening of the main body of the box and the cabinet door is in the open position with the cabinet door body open.

[0041] Explanation of reference numerals in the attached figures

[0042] 1—Box;

[0043] 11—Main body of the box; 11c—Storage space; 11o—Opening;

[0044] 12—Box door; 121—Inner door body; 1211—First end edge; 1211s—First abutting surface; 1212—Second end edge; 1212s—Second abutting surface; 122—Outer door body; 1221—Third end edge; 1221s—Third abutting surface; 1222—Fourth end edge; 1223—Roller; 1224—Side edge;

[0045] 13—Side cover;

[0046] 2—Motor;

[0047] 3—Gear transmission mechanism;

[0048] 31—First gear; 32—Second gear; 33—First intermediate gear; 34—Second intermediate gear; 35—Third intermediate gear;

[0049] 4—Linkage mechanism;

[0050] 41—First link; 411—Arc segment; 42—Second link;

[0051] 5—Tension spring;

[0052] 61—Shaft; 62—Torsion spring;

[0053] 7—Supporting structures;

[0054] 71—Supporting platform; 72—Cabinet body; 721—Cabinet main body; 722—Cabinet door; 723—Door opener; 73—Supporting base Detailed Implementation

[0055] Embodiments of this disclosure are described below with reference to the accompanying drawings. For ease of understanding, the elements shown in the drawings may include elements such as dimensions and scales that are expressed differently from actual dimensions and scales.

[0056] In this disclosure, "transmission connection" refers to a connection between two components that can transmit torque, including direct and indirect connections between the two components.

[0057] The following description, in conjunction with the accompanying drawings, describes a storage device for autonomous mobile devices according to a first embodiment of this disclosure.

[0058] like Figures 1 to 5 As shown, the storage device for autonomous mobile devices according to an embodiment of this disclosure includes a housing 1, a motor 2, a gear transmission mechanism 3 as a second transmission mechanism, a linkage mechanism 4 as a first transmission mechanism, a tension spring 5, a rotating shaft 61, a torsion spring 62, and a support mechanism 7, all assembled together. Furthermore, a self-moving cleaning device will be used as an example of an autonomous mobile device, capable of autonomously moving on a surface to be cleaned, such as a plane or a curved surface with a large radius of curvature.

[0059] In this embodiment, as Figures 1 to 5As shown, the box 1 is formed in a cuboid shape and is placed on the support mechanism 7. It is understood that, in alternative solutions, the box 1 can take other shapes and can be placed directly on the surface to be cleaned. Furthermore, the box 1 can be made of various materials, typical examples of which are plastic and metal. If plastic is used, the box 1 has advantages such as light weight, low cost, and corrosion resistance; if metal is used, the box 1 has the characteristics of high strength and durability. In practical applications, a suitable material can be selected based on a comprehensive consideration of the application environment and manufacturing cost of the storage device. Further, in this embodiment, the box 1 includes a box body 11, a box door 12, and a side cover 13 assembled together.

[0060] like Figures 3 to 5 As shown, the interior of the main body 11 forms a storage space 11c, which is used to store the self-propelled cleaning device. Therefore, the size and shape of the storage space 11c can be designed according to the size and shape of the corresponding self-propelled cleaning device to ensure that the storage device can be smoothly stored in the storage space 11c. In addition, the main body 11 also forms a rectangular opening 11o, which allows the storage space 11c to communicate with the outside, thereby allowing the self-propelled cleaning device to enter and exit the storage space 11c through the opening 11o.

[0061] like Figures 1 to 5 As shown, the door 12 is rotatably connected to the main body 11, and the door 12 achieves the closing and opening of the opening 11o through this rotation. Specifically, the door 12 is constructed as a folding door, which includes an inner door body 121 and an outer door body 122, both of which are formed as flat panels. This flat panel design facilitates manufacturing and reduces production costs; furthermore, it allows for smoother folding and unfolding of the door, reducing the likelihood of jamming. The inner door body 121 is rotatably connected to both the main body 11 and the outer door body 122. When the door 12 is in the closed position, as... Figure 1 and Figure 2 As shown, the inner door 121 and outer door 122 are in a folded state, stacked parallel to each other. Both the inner and outer door 121 have shapes that match the opening 11o, allowing the inner door 121 to directly close the opening 11o. The outer door 122 is positioned away from the storage space 11c relative to the inner door 121. The folded door in its folded state not only reliably closes the opening 11o of the storage space 11c in a compact manner, ensuring a tight fit against the edge of the opening 11o when closed, thus preventing dust and other impurities from entering the storage space 11c, but also effectively saves space occupied by the cabinet door 12, making the storage device more compact. This is in the open position of the cabinet door 12. Figures 3 to 5As shown, the inner door 121 and outer door 122 are in the unfolded state and abut against each other in a coplanar arrangement, thereby defining a travel surface extending from the upper surface of the support base 73 (which is the travel surface for the autonomous mobile device) to the opening 11o and for the autonomous cleaning device. Thus, even if there is a certain height difference between the opening 11o of the storage space 11c and the travel surface for the autonomous mobile device, the unfolded folding door can form a travel surface for the autonomous cleaning device to travel from the travel surface to the storage space 11c. Furthermore, by using the folding door to form a travel surface in the form of a so-called "ramp," the probability of malfunctions when the autonomous cleaning device enters or exits the storage space 11c due to different support materials (such as carpets) on which the storage device is placed can be significantly reduced or even completely eliminated, and the problem of the autonomous cleaning device contaminating the support material can be avoided. Specifically, on the one hand, if the storage device is located on a carpet surface, for example, without the aforementioned "sloping" travel surface, the self-propelled cleaning device will cross the carpet surface during its return to the storage device. Due to the fibrous nature of carpet surfaces, the wheels of the self-propelled cleaning device may spin freely, even though the device itself does not actually move relative to the storage device. This can lead to difficulties in returning to the storage device. On the other hand, after cleaning, the dry cleaning components, including roller brushes and side brushes, and the wet cleaning components, including cloths, inevitably carry dirt. Without the aforementioned "sloping" travel surface, the self-propelled cleaning device will cross the carpet surface during its return to the storage device, causing the carpet to become soiled. The aforementioned design effectively avoids these problems.

[0062] like Figures 3 to 5 As shown, the inner door 121 includes a first end edge 1211 and a second end edge 1212 opposite to each other. The first end edge 1211 is rotatably connected to the main body 11 of the housing. This rotatable connection can be achieved by connecting components such as a pivot 61 or a hinge, ensuring that the inner door 121 can rotate flexibly around the first end edge 1211. The outer door 122 includes a third end edge 1221 and a fourth end edge 1222 opposite to each other. The third end edge 1221 is rotatably connected to the second end edge 1212. This rotatable connection can also be achieved by connecting components such as a pivot or a hinge. Furthermore, the fourth end edge 1222 rests on the upper surface of the support base 73 when the door 12 is in the open position. Further, as... Figures 3 to 5As shown, the first end edge 1211 has a first abutting surface 1211s that matches the shape of the corresponding part of the box body 11, the second end edge 1212 has a second abutting surface 1212s, and the third end edge 1221 has a third abutting surface 1221s that matches the shape of the second abutting surface 1212s. Thus, when the inner door 121 and the outer door 122 are in the unfolded state (see...), Figure 4 The first abutting surface 1211s abuts against the lower edge of the opening 11o of the main body 11 of the housing, and the second abutting surface 1212s and the third abutting surface 1221s abut against each other, so that the inner door 121 and the outer door 122 are constrained to be arranged in a coplanar manner. This avoids excessive rotation of the inner door 121 and the outer door 122 during the process of changing from the folded state to the unfolded state, and also helps the inner door 121 and the outer door 122 to be truly coplanar in the unfolded state, providing a flat travel surface for the self-moving cleaning equipment.

[0063] like Figures 3 to 5 As shown, the outer door 122 also includes a plurality of rollers 1223 disposed on the fourth end edge 1222. The rollers 1223 are spaced apart from each other in the extending direction of the fourth end edge 1222. The rollers 1223 are used to roll into contact with the upper surface of the support base 73, so that the fourth end edge 1222 is supported by the upper surface of the support base 73 via the rollers 1223. Moreover, during the transition from the folded state to the unfolded state of the inner door 121 and the outer door 122, the rollers 1223 can roll into contact with the upper surface of the support base 73, which can significantly reduce the friction between the outer door 122 and the upper surface of the support base 73, making the unfolding process of the door 12 easier and smoother, thereby facilitating the smooth transition of the aforementioned states.

[0064] like Figure 1 and Figure 2 As shown, the side cover 13 and the main body 11 are assembled together in a detachable manner. The space between the side cover 13 and the side wall of the main body 11 is defined for accommodating at least a portion of the gear transmission mechanism 3 and the linkage mechanism 4. This arrangement makes the overall storage mechanism more compact.

[0065] In this embodiment, as Figures 1 to 3 as well as Figure 5As shown, motor 2 is installed on the main body 11 of the housing. It serves as the power source for opening and closing the door 12 of the storage device. The installation position of motor 2 can be rationally designed according to the overall structure of the storage device. In addition to placing motor 2 at the rear of the main body 11 as in this embodiment, motor 2 can also be installed inside the main body 11 in a more concealed position that is easy to connect to the transmission mechanism, thereby reducing the overall size of the storage device. Motor 2 can be a DC motor or an AC motor. DC motors have advantages such as good speed regulation performance and large starting torque, while AC motors have the characteristics of simple structure and reliable operation. In practical applications, the appropriate type of motor 2 can be selected according to the specific needs of the storage device and manufacturing costs. For example, if precise control of the opening and closing speed and force of the door 12 is required, a DC motor can be selected; if cost control is required and speed regulation requirements are not high, an AC motor can be selected.

[0066] In this embodiment, the gear transmission mechanism 3 is configured as a reduction transmission mechanism. For example... Figure 2 and Figure 5 As shown, the gear transmission mechanism 3 includes a first gear 31, a second gear 32, and three intermediate gears (first intermediate gear 33, second intermediate gear 34, and third intermediate gear 35) that are always meshed with each other. The first gear 31 is directly driven by the motor 2 and serves as the input gear of the gear transmission mechanism 3. The second gear 32 is rotatably connected to the housing body 11. Specifically, this rotatable connection can be achieved by installing a bearing seat in the housing body 11 and mounting the shaft of the second gear 32 within the bearing seat. The first gear 31 transmits torque to the second gear 32 sequentially via the first intermediate gear 33, the second intermediate gear 34, and the third intermediate gear 35. By rationally designing the number of teeth and the transmission ratio of each gear, the torque from the motor 2 can be increased before being transmitted to the door 12. This allows the use of a motor 2 with a smaller output power as the power source, thereby reducing the cost of the motor 2 and the entire storage device.

[0067] like Figure 2 and Figure 5 As shown, the first intermediate gear 33 and the third intermediate gear 35 are designed as stepped double gears. This double gear design can save space occupied by the gear transmission mechanism 3 while achieving the desired transmission ratio, making the internal structure of the storage device more compact and improving the utilization rate of the storage space 11c. It is understood that the number and type of intermediate gears can be adaptively adjusted as needed, and are not limited to the number and type described in the above embodiments. For example, in an alternative scheme, at least one of the first gear 31, the second gear 32, the first intermediate gear 33, the second intermediate gear 34, and the third intermediate gear 35 can be designed as stepped double gears.

[0068] In this embodiment, as Figures 1 to 5 As shown, the linkage mechanism 4 includes a first link 41 and a second link 42, which are rigid links. The first link 41 is connected to the gear transmission mechanism 3, allowing it to rotate around one end. Specifically, one end of the first link 41 can be fixed to the shaft of the second gear 32 via a key connection, pin connection, or other means. Thus, when the second gear 32 rotates, it drives the first link 41 to rotate around that end. The other end of the first link 41 can be rotatably connected to one end of the second link 42 via a pin or other connecting component, ensuring that the two can rotate relative to each other. The other end of the second link 42 can be rotatably connected to the door 12 via a pin or other connecting component. Thus, the motor 2 can drive the door 12 to rotate relative to the main body 11 to the closed position of the opening 11o and the open position of the opening 11o via the gear transmission mechanism 3 and the linkage mechanism 4.

[0069] like Figure 2 and Figure 5 As shown, the first connecting rod 41 includes an arc-shaped segment 411, which is designed to have a circular arc shape. This design allows the first connecting rod 41 to better adapt to the movement trajectory of the door 12 during rotation, further optimizing the motion performance of the linkage mechanism 4, reducing jamming and impact during movement, and improving the smoothness of opening and closing the door 12. Moreover, this design also allows the first connecting rod 41 to avoid the second gear 32, preventing structural interference with the second gear 32. Furthermore, as... Figures 3 to 5 As shown, the other end of the second link 42 is rotatably connected to the side edge 1224 of the outer door 122, and the part of the second link 42 connected to the outer door 122 is closer to the third edge 1221 than the fourth edge 1222 of the outer door 122. This connection method avoids the connection between the linkage mechanism 4 and the door 12 from obstructing the self-moving cleaning device from entering the storage space 11c via the travel surface; on the other hand, it allows the linkage mechanism 4 to more effectively apply force to the door 12 during movement, so that the door 12 can smoothly switch between the open and closed positions.

[0070] In this embodiment, as Figures 3 to 5 As shown, one end of the tension spring 5 is connected to the inner wall of the housing body 11, and the other end of the tension spring 5 is connected to the inner door body 121. Furthermore, in this embodiment, as... Figure 4As shown, the inner door 121 is rotatably connected to the main body 11 via a pivot 61. A torsion spring 62 is fitted onto the pivot 61, with one end of the torsion spring 62 abutting against the main body 11 and the other end abutting against the inner door 121. The tension spring 5 and the torsion spring 62 together constitute a damping mechanism for the inner door 121 and outer door 122 during the transition from a folded state to an unfolded state. The tension spring 5 and the torsion spring 62 can also provide a restoring force for the inner door 121 and outer door 122 during the transition from an unfolded state to a folded state.

[0071] It is understood that in other alternative solutions, the storage device may only include the tension spring 5 as a damping mechanism and a mechanism for generating the restoring force of the folding door, or the storage device may only include the pivot 61 and the torsion spring 62 as a damping mechanism and a mechanism for generating the restoring force of the folding door.

[0072] In this embodiment, as Figures 1 to 5 As shown, the support mechanism 7 provides a support frame for supporting the entire storage device, which facilitates the stable placement and smooth operation of the storage device. Specifically, the support mechanism 7 includes a support platform 71 and a support base 73 fixed to each other. The support platform 71 is located below the main body 11 of the housing, so that the main body 11 of the housing is directly placed on and supported by the support platform 71. Thus, the support platform 71 limits the entire housing 1 to a predetermined height above the travel surface for the autonomous mobile device. It is understood that the shape and size (especially the height) of the support platform 71 can be adjusted as needed. In addition, in an optional embodiment, the support platform 71 can be detachably fixed to the main body 11. The support base 73 has a flat plate shape and extends from the bottom of the support platform 71 toward the opening of the housing 1. The upper surface of the support base 73 is formed into a relatively smooth plane. When the door 12 of the housing 1 is in the open position, the upper surface of the support base 73 supports the door 12. Because of the support base 73, the rollers 1223 of the outer door 122 can roll smoothly on the upper surface of the support base 73, thereby enabling the door 12 to smoothly switch between the open and closed positions.

[0073] By adopting the above solution, the door 12 is in the closed position (see...) Figure 1 and Figure 2 Switch to the open position (see) Figure 3 and Figure 4During the process, motor 2 drives the first gear 31 to rotate in one direction. The torque from motor 2 is sequentially transmitted to the second gear 32 via the first intermediate gear 33, the second intermediate gear 34, and the third intermediate gear 35. The second gear 32 then rotates in one direction and drives the first connecting rod 41 to swing in one direction, causing the second connecting rod 42 to apply a pushing force to the outer door 122. Thus, while the outer door 122 unfolds around the third end edge 1221, the inner door 121 unfolds around the first end edge 1211. After the roller 1223 contacts the upper surface of the support base 73, the inner door 121 and the outer door 122 gradually unfold until they are in the unfolded state. At this time, the inner door 121 and the outer door 122 are arranged coplanarly, so that the inner door 121 and the outer door together define the travel surface. The tension spring 5 and the torsion spring 62 provide damping during the above process.

[0074] From the open position of door 12 (see Figure 3 and Figure 4 Switch to the closed position (see) Figure 1 and Figure 2 During the process, motor 2 drives the first gear 31 to rotate in the opposite direction. The torque from motor 2 is sequentially transmitted to the second gear 32 via the first intermediate gear 33, the second intermediate gear 34, and the third intermediate gear 35. The second gear 32 also rotates in the opposite direction and drives the first connecting rod 41 to swing back in the opposite direction, causing the second connecting rod 42 to apply a pulling force to the outer door body 122. Thus, while the outer door body 122 folds around the third end edge 1221, the inner door body 121 folds around the first end edge 1211, so that the inner door body 121 and the outer door body 122 are finally converted into a folded state. Tension spring 55 provides auxiliary restoring force. Tension spring 5 and torsion spring 62 provide restoring force in the above process.

[0075] By adopting the above scheme, the power of the motor 2 can be smoothly transmitted to the door 12 using the gear transmission mechanism 3 and the linkage mechanism 4. Thus, the bidirectional rotation of the motor 2 allows the door 12 to rotate to both the closed and open positions. When the door 12 is in the open position, the self-moving cleaning device can be smoothly moved into the storage space 11c, avoiding the self-moving cleaning device occupying extra space and thus preventing undesirable obstruction or collisions to personnel and other equipment moving on the floor. When the door 12 is in the closed position, the self-moving cleaning device can be effectively protected. Furthermore, the storage device can be equipped with the necessary mechanisms to allow the self-moving cleaning device to perform dust collection and self-cleaning processes within the housing with low noise, thereby discharging the dry waste collected in the dust box of the self-moving cleaning device and self-cleaning the dry and wet cleaning components of the self-moving cleaning device.

[0076] Furthermore, the storage device of this disclosure features a simple overall structure for the mechanism that automatically rotates the cabinet door 12, making it easy to implement and ensuring smooth operation. More specifically, the smooth opening and closing of the cabinet door 12 is achieved through the cooperation of the gear transmission mechanism 3 and the linkage mechanism 4. Throughout the entire collaborative operation, the motor 2 continuously and stably outputs power, the gear transmission mechanism 3 efficiently transmits and amplifies torque, and the close cooperation of the motor 2, gear transmission mechanism 3, and linkage mechanism 4 ensures that the cabinet door 12 can open and close smoothly and reliably. Moreover, this design makes full use of the power of the motor 2, and even with a motor 2 with a smaller output power, it can meet the power requirements for opening and closing the cabinet door 12, effectively reducing costs while improving the overall performance and stability of the storage device. In addition, the cabinet door 12, with its folding door design, saves space in the folded state while providing a stable travel surface in the unfolded state, allowing the self-moving cleaning equipment to enter the cabinet body 11 of different heights, thus adapting to more application scenarios. Specifically, by using folding doors to form a so-called "slope" travel surface, the probability of malfunctions of self-moving cleaning equipment entering and exiting the storage space 11c due to different supporting materials (such as carpets and wet tiles) on which the storage device is placed can be greatly reduced or even completely eliminated. This allows the storage device according to the present disclosure to be adapted to application scenarios with different materials or even different terrains. For example, the storage device according to the present disclosure can be set in locations with large slopes and steps.

[0077] The following description, in conjunction with the accompanying drawings, describes a storage device for autonomous mobile devices according to a second embodiment of the present disclosure.

[0078] like Figures 6 to 8 As shown, the structure of the autonomous mobile device according to the second embodiment of the present disclosure is basically the same as that of the autonomous mobile device according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0079] In this embodiment, as Figures 6 to 8 As shown, the support mechanism 7 includes a support platform 71 and a support base 73 fixed to each other, as well as a cabinet 72 mounted on the support platform 71. The cabinet 72 is placed on the support platform 71, and the box 1 is housed within the internal space of the cabinet 72, thereby providing protection for the box 1. Specifically, the cabinet 72 includes a cabinet body 721, a cabinet door 722, and a door opener 723 assembled together.

[0080] like Figures 6 to 8As shown, the cabinet body 721 is fixed to the support platform 71, and the bottom shape of the cabinet body 721 is adapted to the shape of the support platform 71. The cabinet door 722 is rotatably connected to the side edge of the cabinet body 721, and the cabinet door 722 can rotate relative to the cabinet body 721 to a closed position that closes the cabinet body 721 and an open position that opens the cabinet body 721. In the closed position, the internal space of the cabinet 72 is connected to the outside; in the open position, the internal space of the cabinet 72 is closed relative to the outside. Furthermore, a door opener 723 is disposed between the cabinet door body 721 and the cabinet door 722, and the door opener 723 can provide a damping effect during the operation of the operator opening and closing the cabinet door 722.

[0081] By adopting the above solution, the storage device for autonomous mobile devices according to this embodiment can achieve the same effect as the storage device for autonomous mobile devices according to the first embodiment, while also providing further protection for the storage device.

[0082] It should be understood that the above embodiments are merely exemplary and not intended to limit this disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teachings of this disclosure without departing from the scope of this disclosure. The following supplementary descriptions are provided regarding the technical solutions of this disclosure.

[0083] i. The above specific embodiments illustrate that the storage device according to this disclosure can be applied to a self-moving cleaning device, which includes a main body and a cleaning mechanism assembled together. The main body may include a host unit that is generally circular. The shape of the host unit is not limited to this; alternatively, the host unit may have other shapes, such as square, oval, D-shaped, etc. When the self-moving cleaning device is in normal operation, the bottom surface of the host unit is opposite to the surface to be cleaned, and the bottom surface of the host unit is parallel to the surface to be cleaned. Here, "parallel" includes not only the geometric parallel relationship between the bottom surface of the host unit and the travel surface, but also the case where the two are generally parallel. The above "generally" means that within a reasonable error range recognized by those skilled in the art, the parallel relationship between the two can be determined to be valid. In addition, other components of the self-moving cleaning device may be disposed in the host unit. In order to support and protect other components, most of the structure of the self-moving cleaning device is installed inside or on the surface of the host unit, or is connected to the host unit. The self-moving cleaning device may also include a processing unit and a sensing component in the host unit. In addition, the cleaning mechanism of the self-moving cleaning device may also include a dry cleaning component, such as a main brush, and a wet cleaning component, including a rag or roller brush. Therefore, the processing unit can obtain environmental parameters through sensing components. Based on the obtained environmental parameters, the processing unit can control the entire self-moving cleaning device to move autonomously on the surface to be cleaned, and then perform cleaning operations on the surface to be cleaned using dry cleaning components and / or wet cleaning components. In different working modes, the cleaning operations include, but are not limited to, one or more of the following: sweeping, mopping, and vacuuming.

[0084] Furthermore, the aforementioned self-moving cleaning device can move autonomously according to a preset control scheme in its processing unit. The surface to be cleaned where the self-moving cleaning device moves autonomously can be a plane or a curved surface with a large radius of curvature, typically such as the floor of each room in a building. The term "processing unit" in this disclosure is a general term and does not limit the type, number, or form of the processing units. Specifically, the processing unit can be one or more of MCU, DSP, FPGA, and GPU, or other hardware chips, processors, or software algorithms with data processing and computing capabilities. Further, the processing unit can be a unified, single processor for the autonomous mobile device, or it can be a collection of multiple processing units. The connection method, function, and computing power allocation of the multiple processing units can be adjusted as needed. For example, in one optional scheme, a first processing unit and a second processing unit can be included. In this case, the first and second processing units collectively implement the various functions of the aforementioned processing unit. In addition, the processing unit of the self-moving cleaning device can receive parameters from the sensing components and perform relevant control on the self-moving cleaning device through a preset program stored in the storage unit. In this disclosure, the data, information, and programs required by the processing unit during processing can be stored in the storage unit and retrieved from the storage unit as needed. The processing unit can also store the processed data and information back into the storage unit. The storage unit can be RAM, ROM, or other devices and / or equipment with storage functions, such as cloud / server / mobile terminal connected via wired / wireless network.

[0085] To enable autonomous movement of the self-moving cleaning device, the main body of the aforementioned self-moving cleaning device may further include a wheel assembly. The wheel assembly may be mounted on the main unit and protrude from the bottom surface of the main unit, used to drive the entire self-moving cleaning device to move on the travel surface under the control of the processing unit. By causing the two wheels (drive wheels) of the wheel assembly to rotate at the same speed and in the same direction (e.g., simultaneously clockwise or simultaneously counterclockwise), the self-moving cleaning device can be driven to move linearly in the forward direction; by causing the two wheels of the wheel assembly to rotate at different speeds and / or in different directions (e.g., one wheel rotates clockwise while the other rotates counterclockwise), the self-moving cleaning device can be driven to turn in a direction different from the forward direction. The self-moving cleaning device may also include casters (not shown) mounted on the main unit, so that regardless of how the wheels roll on the travel surface, the casters can support the entire self-moving cleaning device.

[0086] ii. It is understood that, in addition to the examples of self-moving cleaning devices described in the above specific embodiments, the technical concepts of this disclosure can also be applied to other autonomous mobile devices. The aforementioned autonomous mobile devices generally refer to intelligent mobile devices that autonomously perform preset tasks, including other self-moving cleaning devices that achieve similar functions to the self-moving cleaning devices described in the above embodiments (e.g., intelligent sweeping robots, intelligent floor scrubbing robots), companion mobile robots (e.g., intelligent electronic pets, nanny robots), service mobile robots (e.g., reception robots in hotels, inns, and meeting places), industrial inspection intelligent devices (e.g., power inspection robots, intelligent forklifts, etc.), security robots (e.g., household or commercial intelligent guard robots), etc., which are two-dimensional planar mobile robots with wheels or tracks as drive units. Of course, the solutions of this disclosure can also be applied to other fields, which will not be exhaustively described.

[0087] iii. In the specific embodiments described above, the motor 2 controls the door 12 to switch between the open and closed positions via the gear transmission mechanism 3, but this disclosure is not limited thereto. In other alternative solutions, the motor 2 can control the door 12 to switch between the open and closed positions via other transmission mechanisms, such as a belt drive mechanism or a worm gear transmission mechanism. That is, the transmission mechanism of this disclosure is not limited to the transmission mechanism described above; as long as the transmission mechanism can transmit the driving force of the motor 2 to the door 12, the transmission mechanism can have various configurations as needed. Furthermore, the motor 2 and different transmission mechanisms (second transmission mechanisms) constitute the drive mechanism of this disclosure.

[0088] Furthermore, in the above specific embodiments, it is described that the linkage mechanism 4 includes a first link 41 and a second link 42, but this disclosure is not limited thereto. In other optional solutions, the linkage mechanism 4 may include more links, and the connection method and relative relationship between these links can be adjusted as needed, as long as the motor 2 can drive the door 12 to switch between the open and closed positions via the linkage mechanism 4.

[0089] iv. In the specific embodiments described above, the storage device includes a set of motors 2, gear transmission mechanisms 3, and linkage mechanisms 4 arranged on the same side of the storage space 11c, but this disclosure is not limited thereto. For example, in other alternative embodiments, the storage device includes two sets of motors 2, gear transmission mechanisms 3, and linkage mechanisms 4 symmetrically arranged on both sides of the storage space 11c. In this way, the space occupied by the storage device is minimized without affecting the volume of the storage space 11c, and a flexible alternative solution is provided.

[0090] v. It is understood that the storage device for autonomous mobile devices according to this disclosure may be equipped with a charging system corresponding to the autonomous mobile device. When the autonomous mobile device is a self-cleaning device, the storage device may be equipped with other systems corresponding to the mobile cleaning device, such as a cleaning fluid (e.g., water) filling system, a self-cleaning system, and / or a dust collection system. Therefore, the storage device can integrate all the functions of an existing base station, thereby serving as a base station for autonomous mobile devices.

Claims

1. A storage device for autonomous mobile devices, characterized in that, include: The box includes a box body and a box door. The box body forms a storage space and an opening that connects the storage space to the outside. The box door is rotatably connected to the box body. A drive mechanism, which is mounted on the main body of the housing; as well as A first transmission mechanism is connected to the drive mechanism. The first transmission mechanism is a linkage mechanism, which includes a plurality of rotatably connected links, including a first link and a second link. The first link is connected to the drive mechanism and is rotatable about one end. The other end of the first link is rotatably connected to one end of the second link, and the other end of the second link is rotatably connected to the door. Thus, the drive mechanism can drive the door via the first transmission mechanism, causing the door to rotate relative to the body of the box to a closed position (closing the opening) and an open position (opening the opening).

2. The storage device for autonomous mobile devices according to claim 1, characterized in that, The drive mechanism includes a motor and a second transmission mechanism that are connected by a transmission. The motor drives the door to rotate relative to the main body of the box via the second transmission mechanism and the first transmission mechanism, and The second transmission mechanism is one of the following: a gear transmission mechanism, a belt transmission mechanism, or a worm gear transmission mechanism.

3. The storage device for autonomous mobile devices according to claim 2, characterized in that, The gear transmission mechanism is configured as a speed reduction transmission mechanism. The gear transmission mechanism includes a first gear, a second gear, and at least one intermediate gear. The first gear is directly connected to the motor for driving, and the second gear is rotatably connected to the housing body. The first gear and the second gear transmit torque via the at least one intermediate gear. At least one of the first gear, the second gear, and the intermediate gear is a stepped double gear.

4. The storage device for autonomous mobile devices according to any one of claims 1 to 3, characterized in that, The cabinet door is constructed as a folding door, comprising an inner door body and an outer door body, both formed as flat panels. The inner door body is rotatably connected to both the cabinet body and the outer door body. When the cabinet door is in the closed position, the inner door and the outer door are folded, stacked parallel to each other, with the inner door directly closing the opening and the outer door positioned away from the storage space relative to the inner door. and With the door in the open position, the inner door and the outer door are in an unfolded state and abut against each other in a coplanar arrangement, thereby defining a travel surface extending from the autonomous mobile device to the opening and the travel surface for the autonomous mobile device.

5. The storage device for autonomous mobile devices according to claim 4, characterized in that, Both the inner door and the outer door have shapes that match the shape of the opening. The inner door includes a first end edge and a second end edge that are opposite to each other, and the first end edge is rotatably connected to the main body of the box. The outer door body includes a third end edge and a fourth end edge that are opposite to each other. The third end edge is rotatably connected to the second end edge, and the fourth end edge is placed on the travel surface when the door is in the open position.

6. The storage device for autonomous mobile devices according to claim 5, characterized in that, The first end edge has a first abutting surface that matches the shape of a corresponding part of the main body of the box; the second end edge has a second abutting surface; and the third end edge has a third abutting surface that matches the shape of the second abutting surface. When the inner door and the outer door are in the unfolded state, the first abutting surface abuts against the main body of the box, and the second abutting surface and the third abutting surface abut against each other, so that the inner door and the outer door are constrained to be arranged in a coplanar manner.

7. The storage device for autonomous mobile devices according to claim 5, characterized in that, The outer door body also includes a plurality of rollers disposed on the fourth end edge. The plurality of rollers are spaced apart from each other in the extending direction of the fourth end edge, and the plurality of rollers are used to make rolling contact with the traveling surface.

8. The storage device for autonomous mobile devices according to claim 4, characterized in that, The storage device also includes a tension spring, one end of which is connected to the inner wall of the main body of the box, and the other end of which is connected to the inner door; and / or The storage device also includes a pivot and a torsion spring. The inner door is rotatably connected to the main body of the box via the pivot. The torsion spring is fitted onto the pivot, with one end of the torsion spring abutting against the main body of the box and the other end abutting against the inner door.

9. The storage device for autonomous mobile devices according to any one of claims 1 to 3, characterized in that, The storage device includes a set of the drive mechanism and the first transmission mechanism arranged on the same side of the storage space; or The storage device includes two sets of drive mechanisms and the first transmission mechanism symmetrically arranged on both sides of the storage space.

10. The storage device for autonomous mobile devices according to any one of claims 1 to 3, characterized in that, It also includes a support platform, on which the housing is placed and supported, such that the opening of the housing is spaced apart from the travel surface for the autonomous mobile device to travel.

11. The storage device for autonomous mobile devices according to claim 10, characterized in that, It also includes a cabinet, which is placed on the support platform, and the box is housed within the cabinet. The cabinet includes a cabinet body and a cabinet door. The cabinet body is fixed to the support platform, and the cabinet door is rotatably connected to the cabinet body. The cabinet door can rotate relative to the cabinet body to a closed position that closes the cabinet body and an open position that opens the cabinet body.

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