Autonomous mobile robot

Abstract

The utility model relates to the field of intelligent robot especially, and it is a kind of autonomous mobile robot.The autonomous mobile robot includes first casing;Second casing, including mounting hole, and mounting hole includes inner wall surface;Connecting component, connect first casing and second casing, and connecting component includes: connecting shaft, including oppositely arranged first end and second end, and first end is integrally formed with first casing, and second end is inserted in the mounting hole of second casing;Protective piece, is set between connecting shaft and second casing, and the inner periphery of protective piece and the outer periphery of connecting shaft cooperate, and the outer periphery of protective piece and the inner wall surface of mounting hole cooperate;Fastener, in the axial direction and the protective piece abut.Upper mentioned structure makes autonomous mobile robot have better ground adhesion while also guarantee the stability of autonomous mobile robot overall structure.

Description

Technical Field

[0001] This application relates to the field of intelligent robots, and more particularly to an autonomous mobile robot. Background Technology

[0002] Autonomous mobile robots are gradually entering people's lives, such as lawnmower robots. People need these autonomous mobile robots to have better terrain adhesion and be able to drive more stably in various complex road conditions. To meet this need, autonomous mobile robots are designed with a first vehicle body, a second vehicle body, and a connecting component that connects the first and second vehicle bodies. The two vehicle bodies can rotate relative to each other, thus having better ground adhesion performance.

[0003] Existing intelligent autonomous mobile robot connection methods are mainly divided into independent suspension, combined suspension, and integrated suspension. Independent suspension and combined suspension are unstable, while integrated suspension mainly uses a metal axle + metal bushing, which occupies a large dimension in the length direction, affecting the overall layout and outline of the robot. Moreover, the above three connection methods are all costly.

[0004] Therefore, it is necessary to provide an improved connection structure for autonomous mobile robots. Summary of the Invention

[0005] In view of this, the present application provides an autonomous mobile robot with stable body connection and low overall cost.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An autonomous mobile robot includes a first shell;

[0008] The second housing includes a mounting hole, the mounting hole including an inner wall surface;

[0009] The drive assembly includes wheels for propelling the autonomous mobile robot to walk on the ground;

[0010] Energy device for providing an energy source; connection assembly for connecting the first housing and the second housing, the connection assembly comprising:

[0011] A connecting shaft includes a first end and a second end disposed opposite to each other, the first end being configured to be integrally formed with the first housing, and the second end being inserted into a mounting hole in the second housing;

[0012] A protective component is disposed between the connecting shaft and the second housing. The inner circumferential surface of the protective component mates with the outer circumferential surface of the connecting shaft, and the outer circumferential surface of the protective component mates with the inner wall surface of the mounting hole. A fastener abuts against the protective component in the axial direction. In one embodiment, the protective component includes a first protective component having a cylindrical body, the cylindrical body having a through hole in the axial direction for mounting the connecting shaft.

[0013] In one embodiment, the first protective member is at least partially interference-fitted with the connecting shaft.

[0014] In one embodiment, the outer peripheral surface of the connecting shaft is provided with at least one first protrusion or a first groove, and the first protective member is provided with at least one second groove corresponding to the first protrusion or at least one second protrusion corresponding to the first groove. The first protrusion and the second groove cooperate with each other or the first groove and the second protrusion cooperate with each other, so that the connecting shaft and the first rotating member remain relatively stationary in the circumferential direction.

[0015] In one embodiment, the first protrusion or the first groove is disposed at the first end of the connecting shaft.

[0016] In one embodiment, the protective member further includes a second protective member, which is coaxially disposed with the first protective member, and the inner peripheral surface of the second protective member is clearance-fitted with the outer peripheral surface of the first protective member.

[0017] In one embodiment, the second protective member is interference-fitted with the inner wall of the second housing.

[0018] In one embodiment, the second protective member includes a radial boss that abuts against the second housing. In another embodiment, the second protective member has at least one third protrusion or a third groove, and the second housing has at least one fourth groove or at least one fourth protrusion corresponding to the third protrusion. The third protrusion engages with the fourth groove, or the third groove engages with the fourth protrusion, such that the second rotating member and the second housing remain relatively stationary in the circumferential direction.

[0019] In one embodiment, at least a portion of the protective element has a coefficient of friction between 0.2 and 0.7. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is an exploded view of the overall structure of an autonomous mobile robot.

[0022] Figure 2 A structural diagram of an autonomous mobile robot from its bottom view.

[0023] Figure 3 This is a cross-sectional view of an autonomous mobile robot.

[0024] Figure 4 Cross-sectional view of the grooved structure of the connecting shaft for an autonomous mobile robot.

[0025] Figure 5 for Figure 4 Cross-sectional view along direction A

[0026] Figure 6 for Figure 4 Cross-sectional view along direction B

[0027] Figure 7 Cross-sectional view of the connecting shaft with protruding structure of an autonomous mobile robot.

[0028] Figure 8 for Figure 7 Cross-sectional view along direction A'

[0029] Figure 9 for Figure 7 Cross-sectional view along direction B'

[0030] The reference numerals in the attached figures are explained as follows: 500, Autonomous mobile robot; 10, First housing; 20, Second housing; 21, Mounting hole; 100, Connecting component; 30, Connecting shaft; 40, Protective component; 41, First protective component; 42, Second protective component; 50, Through hole; 60, Fastener; 301, First protrusion; 302, First groove; 411, Second protrusion; 412, Second groove; 420, Radial protrusion; 421, Third protrusion; 422, Third groove; 201, Fourth protrusion; 202, Fourth groove; 200, Washer. Detailed Implementation

[0031] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0033] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0034] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The preferred embodiment of the autonomous mobile robot structure of the present invention will be described below with reference to the accompanying drawings.

[0035] Please refer to Figure 1 The illustration shows an autonomous mobile robot 500 provided in an embodiment of the present invention, which includes a first housing 10, a second housing 20, a drive assembly (not shown), an energy device (not shown), and a connection assembly 100. The drive assembly includes walking wheels (not shown) for driving the autonomous mobile robot to walk on the ground and a drive motor (not shown) for driving the walking wheels to walk. The energy device can supply power to the drive motor, and the device can be a battery pack or AC mains power, which is not limited here.

[0036] The second housing 20 has a mounting hole 21 on its wall facing the first housing 10. The connecting assembly 100 connects the first housing 10 and the second housing 20, allowing the first housing 10 and the second housing 20 to rotate relative to each other. The connecting assembly 100 includes a connecting shaft 30, a protective member 40, and a fastener 60. The connecting shaft 30 has a first end and a second end that are disposed opposite to each other. The first end is configured to be integrally formed with the first housing 10, and the second end is inserted into the mounting hole 21. The protective member 40 is disposed between the connecting shaft 30 and the second housing 20. Specifically, the protective member 40 can be an integrally formed structure, fitted onto the connecting shaft 30 from the second end of the connecting shaft 30. Alternatively, the connecting member 40 can be a split structure, installed radially to cover the connecting shaft 30. The inner circumferential surface of the protective member 40 is interference-fitted with the outer circumferential surface of the connecting shaft 30 (H7 / s6), and the outer circumferential surface of the protective member 40 is clearance-fitted with the inner wall surface of the mounting hole 21 (H7 / g6). The fastener 60 is configured to abut against the protective member 40 axially.

[0037] The connecting assembly 100 may consist only of the connecting shaft 30 and the fastener 60. The assembly method is the same as described above. When the first housing 10 and the second housing 20 rotate relative to each other, frictional rotation occurs between the outer peripheral surface of the connecting shaft 30 and the inner surface of the mounting hole 21.

[0038] In some embodiments, such as Figure 1-3 The protective element 40 covers the connecting shaft 30 360 degrees in the circumferential direction, thereby reducing the wear that occurs when the connecting shaft 30 rotates relative to the second housing 20.

[0039] In some embodiments, the protective element 40 may be an integrally formed bushing or bearing, which is directly fitted onto the connecting shaft 30 during assembly. Alternatively, it may be a separate cover that achieves 360-degree circumferential coverage of the connecting shaft 30 through connection. The connection method may include interference fit, welding fit, mechanical fastening, etc.

[0040] In some embodiments, such as Figure 3 The second end of the connecting shaft 30 has a groove, and the fastener 60 is embedded in the groove. At this time, the fastener 60 is divided into two parts, such as... Figure 1 So that it can be embedded in the groove during assembly, the fastener 60 abuts against the surfaces of the protective member 40 and the connecting shaft 30 in the axial direction respectively. When the connecting shaft 30 moves in the axial direction and there is a risk of falling off, the fastener 60 exerts a force on the surface of the protective member 40 and then exerts a mutual force with the inner wall of the second vehicle body 20 in the axial direction, preventing the connecting shaft 30 from falling off.

[0041] In some embodiments, such as Figure 1The second end of the connecting shaft 30 has no groove. The fastener 60 is locked to the second end of the connecting shaft 30 by friction and abuts against the surface of the protective part 40 in the axial direction. The fastener 60 can be an integrally formed ring-shaped object that is inserted and locked from the end of the connecting shaft 30, or it can be several parts connected together and locked to the end of the connecting shaft 30.

[0042] In some embodiments, the fastener 60 may be a clamp, nut, etc.

[0043] In some embodiments, in order to extend the service life of the structure, the protective element 40 is a high-hardness, wear-resistant, self-lubricating element, and at least part of the protective element has a Brinell hardness of HB200-400.

[0044] In some embodiments, such as Figure 1 The protective component 40 includes a first protective component 41. In order to protect the connecting shaft 30, the first protective component 41 rotates relative to the second housing 20 together with the connecting shaft 30 through some assembly methods. This allows the first protective component 41 to rub against the outside environment instead of the connecting shaft 30 when the first housing 10 and the second housing 20 rotate relative to each other. The possible assembly methods of the first protective component 41 and the connecting shaft 30 are as follows:

[0045] In one assembly method, the first protective member 41 has a cylindrical body and an axial through hole for mounting the connecting shaft 30. The connecting shaft 30 is disposed in the through hole, and at least a portion of the first protective member 41 and the connecting shaft 30 are interference-fitted so that the two can rotate together.

[0046] In another assembly method, such as Figure 7 and Figure 8 The outer peripheral surface of the connecting shaft 30 is provided with at least one first protrusion 301, and the first protective member 41 is provided with at least one second groove 412 corresponding to the first protrusion 301. The first protrusion 301 and the second groove 412 cooperate to keep the connecting shaft 30 and the first protective member 41 relatively stationary in the circumferential direction.

[0047] like Figure 7 To save costs and facilitate assembly, a first protrusion 301 is provided at the first end of the connecting shaft 30, and a second groove 412 is provided at the end of the first protective member 41 to cooperate with the first protrusion 301.

[0048] The first protrusion 301 may not be located at the end of the connecting shaft 30, but rather on the side of the connecting shaft 30 near the first housing 10. The opening length of the second groove 412 is extended along the axial direction to match the first protrusion 301.

[0049] The first protrusion 301 may be located on the connecting shaft 30 at a position other than the end or on the side of the connecting shaft 30 near the first housing 10. In this case, for smooth assembly, the first protective component 41 is not integrally formed, but adopts a split structure to cover the connecting shaft 30. A corresponding second groove 412 is provided on the split structure corresponding to the first protrusion 301 for corresponding coverage and assembly.

[0050] In another assembly method, such as Figure 4 and Figure 5 The outer circumferential surface of the connecting shaft 30 is provided with at least one first groove 302, and the first protective member 41 is provided with at least one second protrusion 411 corresponding to the first groove 302. The first groove 302 and the second protrusion 411 cooperate to keep the connecting shaft 30 and the first protective member 41 relatively stationary in the circumferential direction.

[0051] like Figure 4 To facilitate assembly, the first groove 302 is provided at the second end of the connecting shaft 30, and the first protective member 41 is provided with a second protrusion 411 at the end to correspond with the first groove 302.

[0052] The first groove 302 is not located at the end of the connecting shaft 30, but is located on the side of the connecting shaft 30 near the second housing 20. The second protrusion 411 extends axially to match the first groove 302.

[0053] The first groove 302 is located on the connecting shaft 30, but not at the end of the connecting shaft 30 or on the side of the connecting shaft 30 close to the second housing 20. In this case, in order to facilitate assembly, the first protective part 41 is not integrally formed, but adopts a split structure to cover the connecting shaft 30. A corresponding second protrusion 411 is added on the cover corresponding to the first groove 302 for corresponding assembly.

[0054] In some embodiments, such as Figure 1 and Figure 3 The protective component 40 also includes a second protective component 42, which is coaxially arranged with the first protective component 41. In order to protect the second housing 20, the second protective component 42 rotates with the second housing 20 relative to the connecting shaft 30 through some assembly methods, so that the second protective component 42 replaces the second housing 20 to rub against the first protective component 41. The inner circumferential surface of the second protective component 42 is clearance-fitted with the outer circumferential surface of the first protective component 41. The possible assembly methods of the second protective component 42 and the second housing 2 are as follows:

[0055] In one assembly method, the second protective element 42 is interference-fitted with the inner wall of the second housing 20.

[0056] In another assembly method, such as Figure 7 and Figure 9The second protective member 42 is provided with at least one third protrusion 421, and the second housing 20 is provided with at least one fourth groove 202 corresponding to the third protrusion 421. The third protrusion 421 and the fourth groove 202 cooperate to keep the second protective member 42 and the second housing 20 relatively stationary in the circumferential direction.

[0057] In another assembly method, such as Figure 4 and Figure 6 The second protective member 42 is provided with at least one third groove 422, and the second housing 20 is provided with at least one fourth protrusion 201 corresponding to the third groove 422. The third groove 422 and the fourth protrusion 201 cooperate to keep the second protective member 42 and the second housing 20 relatively stationary in the circumferential direction.

[0058] In some embodiments, the third protrusion 421 and the fourth groove 202 are an interference fit or a clearance fit, and the third groove 422 and the fourth protrusion 201 are an interference fit or a clearance fit.

[0059] In some embodiments, such as Figure 1 and Figure 3 In order to reduce the wear on the second housing 20 caused by the axial contact between the second housing 20 and the fastener 60, the second protective member 42 includes a radial boss 420, which abuts against the second housing 20 in the axial direction. The radial boss refers to an integrally formed disc structure extending radially at the end of the second protective member. The disc structure has a certain width in the axial direction. Specifically, the second protective member 42 can be a stepped bushing.

[0060] In some embodiments, to extend the service life of the protective components and the housing and reduce wear, at least a portion of the protective components 40 has a coefficient of friction between 0.2 and 0.7, and the protective components 40 are made of materials such as POM, brass, or metallurgical powder. Generally, the housing of the autonomous mobile robot 500 is made of plastic. By setting protective components with hardness and coefficient of friction that meet preset conditions, wear on the housing can be reduced, and the service life of the autonomous mobile robot 500 can be extended.

[0061] In some embodiments, such as Figure 1 In actual operation, since the locking parts in the rear vehicle body are clearance-fitted with the rear vehicle body, the rear vehicle body may experience slight axial movement, which will lead to surface contact with the front vehicle body. Surface contact includes collision between the front and rear vehicle bodies, or friction including vertical components after contact. Therefore, in order to reduce the wear and tear on the vehicle body caused by collision and friction, the two-stage autonomous mobile robot 500 in this application also includes a washer 200. The washer 200 has an annular body, is sleeved on the connecting shaft 30, and is disposed between the first housing 10 and the second housing 20.

[0062] In some embodiments, the washer 200 is made of materials such as POM, brass, or metallurgical powder.

[0063] The protective component 40 is detachable. Because it is a vulnerable component, users can replace it to improve the performance of the autonomous mobile robot 500. The app can also remind users to replace the protective component 40 after a preset usage period.

[0064] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0065] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description.

[0066] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. An autonomous mobile robot, characterized in that, include First shell; The second housing includes a mounting hole, the mounting hole including an inner wall surface; A connecting assembly, connecting the first housing and the second housing, the connecting assembly comprising: A connecting shaft includes a first end and a second end disposed opposite to each other, the first end being configured to be integrally formed with the first housing, and the second end being inserted into a mounting hole in the second housing; A protective component is disposed between the connecting shaft and the second housing. The inner circumferential surface of the protective component mates with the outer circumferential surface of the connecting shaft, and the outer circumferential surface of the protective component mates with the inner wall surface of the mounting hole. Fasteners abut against the protective element in the axial direction.

2. The autonomous mobile robot according to claim 1, characterized in that, The protective component includes a first protective component, which has a cylindrical body and an axially provided through hole for mounting the connecting shaft.

3. The autonomous mobile robot according to claim 2, characterized in that, The first protective component is at least partially interference-fitted with the connecting shaft.

4. The autonomous mobile robot according to claim 2, characterized in that, The outer circumferential surface of the connecting shaft is provided with at least one first protrusion or a first groove, and the first protective member is provided with at least one second groove corresponding to the first protrusion or at least one second protrusion corresponding to the first groove. The first protrusion and the second groove cooperate or the first groove and the second protrusion cooperate, so that the connecting shaft and the first protective member remain relatively stationary in the circumferential direction.

5. The autonomous mobile robot according to claim 4, characterized in that, The first protrusion is disposed at the first end of the connecting shaft, and the second groove is disposed at the second end of the connecting shaft.

6. The autonomous mobile robot according to any one of claims 2-5, characterized in that, The protective component further includes a second protective component, which is coaxially arranged with the first protective component, and the inner circumferential surface of the second protective component is clearance-fitted with the outer circumferential surface of the first protective component.

7. The autonomous mobile robot according to claim 6, characterized in that, The second protective element is interference-fitted with the inner wall of the second housing.

8. The autonomous mobile robot according to claim 6, characterized in that, The second protective member includes a radial boss that abuts against the second housing.

9. The autonomous mobile robot according to claim 7, characterized in that, The second protective member is provided with at least one third protrusion or a third groove, and the second housing is provided with at least one fourth groove or at least one fourth protrusion corresponding to the third protrusion. The third protrusion and the fourth groove cooperate with each other or the third groove and the fourth protrusion cooperate with each other, so that the second protective member and the second housing remain relatively stationary in the circumferential direction.

10. The autonomous mobile robot according to claim 1, characterized in that, At least some of the protective components have a coefficient of friction between 0.2 and 0.7.

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