A self-moving robot

Abstract

The application relates to the technical field of electric appliance connecting structures, and discloses a self-moving robot, which comprises a shell, a bottom shell and a cover plate, a plurality of electric appliance elements, a control panel and a connecting frame. The plurality of electric appliance elements are arranged on the shell; the control panel is arranged on the bottom shell; the connecting frame is provided with a plurality of circuits; and the electric appliance elements and the control panel are electrically connected through the circuits on the connecting frame. The connecting frame is used to replace wires to connect the plurality of electric appliance elements and the control panel, so that the problem of wire disorder is solved. Moreover, one connecting frame is connected with the plurality of electric appliance elements, one-time connection of multiple positions is realized, the assembly operation is simplified, and the occupation of the internal space of the self-moving robot is greatly reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a self-moving robot. Background Technology

[0002] With the development of artificial intelligence and Internet of Things technologies, robots are becoming increasingly intelligent, which in turn leads to an increase in the number of electrical components inside robots. For example, self-propelled robots contain a large number of electrical components, all of which need to be connected to the control board via wires to achieve signal transmission and power supply.

[0003] Some robots are small with limited internal space, making wiring inconvenient and hindering overall integration. Furthermore, each wire needs to be individually connected during assembly, increasing the complexity of assembly, requiring more manpower, and potentially affecting product quality. Utility Model Content

[0004] In view of the shortcomings of the existing technology, this utility model innovatively provides a self-moving robot that can solve the technical problems of excessive wires affecting the internal component layout of the self-moving robot and excessive wire connections affecting product quality.

[0005] To achieve the above-mentioned technical objectives, this utility model discloses a self-moving robot, comprising:

[0006] A housing, the housing comprising a bottom shell and a cover plate;

[0007] Electrical components, wherein multiple electrical components are disposed on the housing;

[0008] The control panel is mounted on the bottom shell;

[0009] A connecting frame is provided, on which multiple circuits are formed, and the electrical components are electrically connected to the control board through the circuits on the connecting frame.

[0010] Furthermore, the self-moving robot includes a connector, and the electrical components and the control board are electrically connected to the circuitry on the connecting frame through the connector.

[0011] Furthermore, the connector includes a first terminal and a second terminal, the first terminal being electrically connected to the electrical component or the control board, and the second terminal being electrically connected to the connector frame, wherein the first terminal and the second terminal are detachably electrically connected.

[0012] Furthermore, the electrical component includes a fixed component and a movable component. The fixed component is fixedly connected to the first terminal, and the movable component is connected to the first terminal via a wire. The fixed component includes at least one of a cliff sensor, an edge sensor, an in-situ detection sensor, and a forward-looking sensor. The movable component is movably connected to the housing and includes at least one of a roller brush motor for driving the roller brush to rotate and a walking motor for driving the walking wheels to rotate.

[0013] Furthermore, it also includes a protective ring, which is fitted onto the connector, and at least the connection between the first terminal and the second terminal is wrapped by the protective ring.

[0014] Furthermore, the connecting frame is provided with a plurality of connecting holes, which are used to connect with the bottom shell or the cover plate through connecting members, and the connecting members are inserted through the connecting holes.

[0015] Furthermore, the self-moving robot also includes a waterproof box, which covers the control panel and is detachably connected to the bottom shell.

[0016] Furthermore, the connecting frame extends from the head of the self-moving robot to the tail of the self-moving robot.

[0017] Furthermore, multiple connecting brackets are provided, and each connecting bracket is connected to the control board and at least one of the electrical components.

[0018] Furthermore, the self-moving robot also includes a walking mechanism, a dry cleaning module, and a dust collection mechanism. The walking mechanism is connected to the bottom shell and is used to drive the self-moving robot to walk on the working surface. The dry cleaning module is connected to the bottom shell and is used to perform cleaning operations on the working surface. The dust collection mechanism is detachably mounted on the bottom shell and is used to collect the garbage cleaned by the dry cleaning module.

[0019] The beneficial effects of this utility model are as follows:

[0020] This invention solves the problem of messy wiring by replacing wires with a connecting bracket to connect multiple electrical components to the control board. Furthermore, one connecting bracket can connect multiple electrical components, allowing for simultaneous connection at multiple points, which not only simplifies assembly but also significantly reduces the space occupied inside the self-moving robot. Attached Figure Description

[0021] Figure 1 A schematic diagram of the internal structure of the electrical appliance according to an embodiment of the present invention (including the connecting frame) is shown;

[0022] Figure 2A schematic diagram of the internal structure of the electrical appliance according to an embodiment of the present invention is shown (excluding the connecting frame);

[0023] Figure 3 Show Figure 1 Enlarged view of a local structure (without a protective ring);

[0024] Figure 4 Show Figure 3 A schematic diagram showing the state of the connector with a protective ring installed;

[0025] Figure 5 This diagram shows a structural schematic of a connecting frame according to an embodiment of the present invention;

[0026] Figure 6 This diagram shows a structural schematic of a connecting frame according to an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of the protective ring of this utility model embodiment is shown.

[0028] In the picture,

[0029] 1. Base shell; 2. Electrical components; 3. Control board; 4. Connecting frame; 41. Circuit; 42. Connecting hole; 51. First terminal; 52. Second terminal; 6. Protective ring; 7. Dust collection mechanism. Detailed Implementation

[0030] The electrical appliance provided by this utility model will be explained and described in detail below with reference to the accompanying drawings.

[0031] As automation and intelligence continue to improve, electrical equipment becomes increasingly functional, leading to a greater variety and quantity of electrical components. This, in turn, results in a greater number of internal wiring connections. For example, some robots, especially self-propelled robots, have multiple electrical components, including both fixed and moving ones, making wiring connections even more complex. To address this wiring tangling issue, some devices employ decentralized designs, using multiple control units. Each electrical component connects to the nearest control unit via wiring, shortening the wiring length. However, this multi-control unit design increases the number of wires and connectors, failing to effectively solve the wiring tangling problem. Furthermore, it increases the difficulty of production and assembly, making unreliable wiring connections more likely and leading to product quality issues.

[0032] The self-moving robots provided in this application include, but are not limited to, small-sized electrical devices with high intelligence or multiple functions, such as cleaning robots and lawnmowers. Multiple electrical components are connected to the control board using a connecting frame instead of wires, solving the problem of messy wiring. Furthermore, one connecting frame connects to multiple components, allowing for simultaneous connection at multiple points, simplifying assembly. The connecting frame increases the reliability of electrical connections at the joints, preventing loosening that could lead to connection failures and reducing the product failure rate. The following detailed description of specific embodiments further illustrates this application:

[0033] In some embodiments, this application provides a self-moving robot, which is described in this application as a cleaning robot, such as... Figure 1 , Figure 2 As shown, the device includes a housing, which comprises a bottom shell 1 and a cover plate (not shown). The cover plate and the bottom shell 1 are detachably connected, for example, by screws, clips, or other structures. An electrical component 2 and a control board 3 are disposed on the housing. Exemplarily, the electrical component 2 and the control board 3 are mounted on the bottom shell 1, and are electrically connected via a connecting bracket 4. Exemplarily, a mounting cavity is formed within the housing, and at least a portion of the electrical component 2, the control board 3, and the connecting bracket 4 are disposed within the mounting cavity.

[0034] In some embodiments, the electrical components 2 are provided in multiple ways, including fixed components and movable components. The fixed components include at least one of cliff sensors, edge sensors, presence detection sensors, and forward-looking sensors. The cliff sensors are used to detect whether there are cliffs, deep pits, or other dangerous areas with sudden changes in height in front of or below the cleaning robot, and are usually installed at the bottom of the bottom shell 1. The edge sensors are used to detect whether the cleaning robot is close to an edge or boundary to assist the cleaning robot in walking along the edge. They include one or more types such as infrared reflective sensors, ultrasonic sensors, and line laser sensors. The edge sensors are usually installed on the right front side of the shell. The presence detection sensors are used to detect whether there are detachable parts of the cleaning robot in a specific position. They include one or more types such as photoelectric sensors, proximity sensors, ultrasonic sensors, mechanical limit switches, and Hall sensors. The detachable parts include at least one of dust collection mechanisms, clean water tanks, wastewater tanks, dry cleaning modules, and wet cleaning modules. The forward-looking sensors are used to detect the environment in front of the robot. They include one or more types such as optical cameras, millimeter-wave radar, lidar, TOF sensors, and infrared thermal imaging. The forward-looking sensors are usually installed on the head of the cleaning robot.

[0035] The movable element is movably connected to the housing, and the movable element includes at least one of a roller brush motor for driving the roller brush to rotate and a walking motor for driving the walking wheels to rotate.

[0036] To facilitate understanding, a cleaning robot will be used as an example for further explanation. The self-moving robot includes a walking mechanism, a dry cleaning module, a dust collection mechanism 7, and a wet cleaning module. The walking mechanism is connected to the bottom shell 1 and is used to drive the self-moving robot to walk on the working surface. The dry cleaning module is connected to the bottom shell 1 and is used to clean the working surface. The dust collection mechanism 7 is detachably mounted on the bottom shell 1 and is used to collect the debris cleaned by the dry cleaning module. The wet cleaning module is connected to the bottom shell 1 and is used to perform wet cleaning on the working surface.

[0037] More specifically, the traveling mechanism includes a traveling motor and traveling wheels that are driven by the traveling motor. The traveling motor drives the traveling wheels to rotate relative to the base shell 1. Furthermore, the traveling mechanism can be raised and lowered relative to the shell. This raising and lowering can be a floating raising and lowering, or a combination of both. The traveling motor is one of the moving elements mentioned above.

[0038] The dry cleaning module includes a roller brush motor and a roller brush that is driven by the roller brush motor. The roller brush motor drives the roller brush to rotate relative to the base shell 1. Furthermore, the dry cleaning module can be raised and lowered relative to the shell. This raising and lowering can be a floating raising and lowering, or a combination of both. The roller brush motor is one of the moving components mentioned above.

[0039] The wet cleaning module includes a mop motor and a mop that is driven by the mop motor. The mop motor is used to rotate the mop relative to the base shell 1. Furthermore, the wet cleaning module can be raised and lowered relative to the shell. This raising and lowering can be a floating raising and lowering, or a combination of floating raising and lowering and active raising and lowering. The mop motor is one of the moving elements mentioned above.

[0040] Of course, the fixed elements and moving elements are not limited to the several embodiments listed above, and will not be listed one by one here.

[0041] The control board 3 includes an MCU (Microcontroller Unit) board for controlling or powering the electrical components 2. In this embodiment, one control board 3 is provided, and multiple electrical components 2 are connected to and controlled by the same control board 3 to improve the integration of the electrical components. The connecting frame 4 electrically connects the electrical components 2 and the control board 3 for transmitting signals and power. Connectors are provided between the connecting frame 4, the control board 3, and the electrical components 2 to achieve electrical connection.

[0042] In some embodiments, the control board 3 is located in the middle of the base shell 1, or slightly forward or backward, so that the distance between each electrical component 2 and the control board 3 is not too large, facilitating connection. For example, multiple support columns are provided on the base shell 1, and the control board 3 is supported on the support columns and fixedly connected to the support columns by screws.

[0043] Furthermore, a waterproof box (not shown in the figure) is also provided on the bottom shell 1. The waterproof box covers the control board 3 and is detachably connected to the bottom shell 1. The waterproof box protects the control board 3. The waterproof box is provided with through holes, through which the connecting bracket 4 can be electrically connected to the control board 3 directly or indirectly.

[0044] In other embodiments, there may be multiple control boards 3, and the connecting bracket 4 may be electrically connected to the corresponding control board nearby. Similarly, the waterproof box may be set one-to-one with the control board.

[0045] In one embodiment, the connecting frame 4 extends from the head to the tail of the self-moving robot on both sides of the control panel 3, that is, the connecting frame 4 extends from the head to the tail of the bottom shell 1, so as to accommodate the connection of electrical components 2 distributed in various positions of the self-moving robot, thereby reducing the number of connecting frames 4.

[0046] In some embodiments, such as Figure 5 , Figure 6 As shown, the connecting frame 4 can be arbitrarily shaped according to the distribution of the control board 3 and electrical components 2, as long as it can cover the connection positions on the control board 3 and electrical components 2, and the coverage area of ​​the electrical components 2 and control board 3 should be minimized to avoid affecting heat dissipation. For example, the connecting frame 4 is made of conductive plastic, and multiple circuits 41 are formed on the first surface of the connecting frame 4, through which electrical conduction between the electrical components 2 and the control board 3 is achieved. The circuits 41 on the connecting frame 4 are formed by LAP (Laser Activating Plating) process, which uses laser technology to selectively activate the substrate surface, thereby achieving subsequent metal plating and forming the required circuits 41 on the first surface of the connecting frame 4; alternatively, they can also be formed by LDS (Laser Direct Structuring) process, which uses laser to activate additives in a special injection molding material, selectively generating conductive circuits on the first surface of the connecting frame 4, and then chemically plating metallizing to finally form the required circuits 41. For example, when using the LDS process, the connecting frame 4 is made of a material containing metal oxides or organometallic composite additives.

[0047] In one embodiment, one or more connecting brackets 4 can be provided, for example, two. Each connecting bracket 4 is connected to the control board 3 and at least one electrical component 2. This keeps the structure of the connecting bracket 4 from becoming too complex, facilitates processing and installation, and simplifies the circuit 41 on the connecting bracket 4. In some embodiments, two connecting brackets 4 are provided. The two connecting brackets 4 can be configured with different shapes according to the distribution of the electrical components 2. Preferably, they form a narrow strip structure along the distribution path of the electrical components 2, and their width is sufficient to accommodate the circuit 41, minimizing the coverage area of ​​the connecting bracket 4. Exemplarily, the connecting bracket 4 can be configured as a flat plate or form multiple stepped surfaces according to the size or distribution of the electrical components 2 connected to it, thereby reducing the distance between it and the electrical components 2 and the control board 3, and also reducing the space occupied.

[0048] In one embodiment, the connecting frame 4 is provided with multiple connecting holes 42. The connecting holes 42 are arranged along the edge of the connecting frame 4, which can reduce the impact on the circuit 41 on the connecting frame 4. The connecting holes 42 are used to connect the connecting parts to the housing. For example, the connecting frame 4 can be connected to the cover plate or bottom shell 1 of the housing by screws passing through the connecting holes 42, so as to fix the position of the connecting frame 4 and thus ensure the reliability of the electrical connection. It is easy to understand that in other embodiments, the connecting frame 4 can also be connected to the housing by a snap-fit ​​method. For example, multiple claws are provided on the bottom shell 1 or the cover plate. The multiple claws are distributed along the contour of the connecting frame 4, and the connecting frame 4 is snap-fitted and fixed to the bottom shell 1 or the cover plate by the claws. Exemplarily, the connecting frame 4 is set to fit against the cover plate, that is, the second side of the connecting frame 4 fits against the cover plate and is fixedly connected to the cover plate by screws, so that the connecting frame 4 and the cover plate can be disassembled and assembled simultaneously, simplifying the assembly process of the whole machine, and also reducing the thickness of the housing, making the overall structure more compact. For example, the connecting frame 4 can also be connected to the bottom shell 1 or the cover plate by any means that can be effectively fixed, such as magnetic attraction or adhesive bonding.

[0049] In one embodiment, the connecting frame 4 is also provided with heat dissipation holes, which include multiple through holes. For example, heat dissipation holes are provided at positions corresponding to electrical components 2, which can be used for heat dissipation of electrical components 2, and can also reduce the weight of the connecting frame 4.

[0050] In some embodiments, such as Figure 1 , Figure 2 As shown, a dust collection mechanism 7 is also provided on the bottom shell 1. The dust collection mechanism 7 is detachably mounted on the bottom shell 1 and is used to collect the debris cleaned by the dry cleaning module. The connecting frame 4 is distributed from the head to the tail of the bottom shell 1 and is located near the edge of the bottom shell 1. The control plate 3 is located in the front middle part of the bottom shell 1. The connecting frame 4 is arranged according to the distribution position of the electrical components 2 and the control plate 3, which saves the internal space of the bottom shell 1 and allows sufficient space in the middle of the bottom shell 1 to install the dust collection mechanism 7.

[0051] In some embodiments, such as Figure 2 , Figure 3 , Figure 5 , Figure 6 As shown, the circuit 41 on the connector 4 is connected to the electrical component 2 and the control board 3 via a connector. The connector includes a first terminal 51 and a second terminal 52. The first terminal 51 is electrically connected to the electrical component 2 or the control board 3, and the second terminal 52 is electrically connected to the connector 4. The first terminal 51 and the second terminal 52 are detachably electrically connected. Exemplarily, the first terminal 51 is fixedly connected to the electrical component 2 or the control board 3 and electrically connected to the electrical component 2 or the circuit 41 board. Alternatively, the first terminal 51 can also be electrically connected to the electrical component 2, for example, a movable component, via a shorter wire. The second terminal 52 is fixedly connected to the connector 4 and electrically connected to the circuit 41.

[0052] In one embodiment, such as Figure 3 As shown, the first terminal 51 and the second terminal 52 are both arranged perpendicular to the connecting frame 4. The first terminal 51 and the second terminal 52 can be plugged in with the installation of the connecting frame 4, and the second terminal 52 can be pressed against the first terminal 51 by the connecting frame 4 to keep the two reliably plugged in and prevent them from easily falling off.

[0053] In some embodiments, the connector is a highly integrated connector with a large number of pins. For example, the connector can be a pogo pin connector, a board-to-board connector, or a spring connector. For instance, a pogo pin connector is a spring-type probe formed by pre-pressing three basic components—a pin shaft, a spring, and a pin tube—using precision instruments, and it contains an internal spring structure. For example, the connector can be a single-row board-to-board connector, meaning it has one row of spring-type probes on each side, or a multi-row board-to-board connector, meaning it has multiple rows of spring-type probes on each side. The connector type can be determined based on the structure of the electrical component 2 or the control board 3.

[0054] In some embodiments, such as Figure 3 , Figure 4 , Figure 7 As shown, it also includes a protective ring 6, which is used to sleeve the connector. At least the connection between the first terminal 51 and the second terminal 52 of the connector is wrapped by the protective ring 6, which serves to prevent dust and water. For example, the protective ring 6 is pressed between the connector frame 4 and the electrical component 2 or the connector frame 4 and the control board 3. The protective ring 6 is made of silicone, and when pressed, it can adhere tightly to the connector frame 4, the electrical component 2, or the control board 3, forming a sealed contact to provide waterproofing and protect the connector.

[0055] This application uses a connecting bracket 4 to replace traditional wires for connecting electrical components 2 and control board 3, which solves problems such as messy wiring and complex assembly operations, simplifies the assembly process, and allows multiple electrical components 2 to be connected to control board 3 simultaneously. Furthermore, because the connecting bracket 4 is made of plastic, it has high rigidity and can be fixedly connected to the housing, thereby improving the reliability of the electrical connection and reducing or avoiding electrical connection failures.

[0056] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0057] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0058] In the description of this specification, the references to terms such as "this embodiment," "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any at least one embodiment or example. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and simple improvements made on the substantive content of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A self-moving robot, characterized in that, include: A housing, the housing comprising a bottom shell and a cover plate; Electrical components, wherein multiple electrical components are disposed on the housing; The control panel is mounted on the bottom shell; A connecting frame is provided, on which multiple circuits are formed, and the electrical components are electrically connected to the control board through the circuits on the connecting frame.

2. The self-moving robot according to claim 1, characterized in that, The self-moving robot includes a connector, and the electrical components and the control board are electrically connected to the circuitry on the connecting frame through the connector.

3. The self-moving robot according to claim 2, characterized in that, The connector includes a first terminal and a second terminal. The first terminal is electrically connected to the electrical component or the control board, and the second terminal is electrically connected to the connector frame. The first terminal and the second terminal are detachably electrically connected.

4. The self-moving robot according to claim 3, characterized in that, The electrical component includes a fixed component and a movable component. The fixed component is fixedly connected to the first terminal, and the movable component is connected to the first terminal via a wire. The fixed component includes at least one of a cliff sensor, an edge sensor, an in-situ detection sensor, and a forward-looking sensor. The movable component is movably connected to the housing. The movable component includes at least one of a roller brush motor for driving the roller brush to rotate and a walking motor for driving the walking wheels to rotate.

5. The self-moving robot according to claim 3, characterized in that, It also includes a protective ring, which is fitted onto the connector and at least the connection between the first terminal and the second terminal is wrapped by the protective ring.

6. The self-moving robot according to claim 1, characterized in that, The connecting frame is provided with multiple connecting holes, which are used to connect to the bottom shell or cover plate through connecting members, and the connecting members are inserted through the connecting holes.

7. The self-moving robot according to claim 1, characterized in that, The self-moving robot also includes a waterproof box, which covers the control panel and is detachably connected to the bottom shell.

8. The self-moving robot according to claim 1, characterized in that, The connecting frame extends from the head of the self-moving robot to the tail of the self-moving robot.

9. The self-moving robot according to claim 1 or 8, characterized in that, Multiple connecting brackets are provided, and each connecting bracket is connected to the control board and at least one of the electrical components.

10. The self-moving robot according to claim 1, characterized in that, The self-moving robot also includes a walking mechanism, a dry cleaning module, and a dust collection mechanism. The walking mechanism is connected to the bottom shell and is used to drive the self-moving robot to walk on the working surface. The dry cleaning module is connected to the bottom shell and is used to perform cleaning operations on the working surface. The dust collection mechanism is detachably mounted on the bottom shell and is used to collect the garbage cleaned by the dry cleaning module.

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