CN111714032A - Side sweeping assembly and cleaning robot - Google Patents

Abstract

The invention provides a side-sweeping assembly and a cleaning robot, belonging to the technical field of cleaning robots, wherein the side-sweeping assembly comprises: a side-sweeping main shaft and an anti-falling sensor; the side sweeping main shaft is connected with the side brush; the anti-falling sensor comprises an emitting end and a receiving end, wherein the emitting end is used for emitting detection light, and the receiving end is used for receiving incident light; the transmitting end and the receiving end of the anti-falling sensor are positioned in the inner space formed by the side brush, and the detection light and the incident light of the anti-falling sensor are not shielded by the side brush. The side-sweeping assembly and the cleaning robot provided by the invention improve the accuracy of the anti-falling sensor for collecting the ground information and avoid the falling phenomenon of the cleaning robot.

Description

Side sweeping assembly and cleaning robot

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a side-sweeping assembly and a cleaning robot.

Background

Cleaning robots can autonomously perform cleaning tasks without direct and continuous manual intervention and operation, and are generally provided with a fall-prevention sensor for preventing the cleaning robot from falling off during operation to cause damage or jamming.

At present, most of cleaning robots are provided with a falling-prevention sensor and a side brush which are arranged in the front of a shell, the side brush is arranged on one side of a chassis close to the ground, and the falling-prevention sensor is positioned in the rotation range of a brush arm of the side brush.

However, when the cleaning robot performs cleaning operation, the brush arm of the side brush can shield the receiving light path of the anti-drop sensor, and then shield the anti-drop sensor from receiving reflected light, so that the accuracy of the anti-drop sensor for collecting ground and ground information is affected, and the risk of dropping the cleaning robot is increased.

Disclosure of Invention

The embodiment of the invention provides a side sweeping assembly and a cleaning robot, wherein a drop-proof sensor is arranged in an inner space formed by side brushes, so that the side brushes are prevented from shielding the drop-proof sensor from receiving incident light, the accuracy of the drop-proof sensor for collecting ground information is improved, and the phenomenon of dropping when the ground in front of the cleaning robot runs and fluctuates is avoided.

In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:

an embodiment of the present invention provides a side-scanning assembly, including: the side-sweeping main shaft, the side brush and the anti-falling sensor; the side sweeping main shaft is connected with the side brush; the anti-falling sensor comprises an emitting end and a receiving end, wherein the emitting end is used for emitting detection light, and the receiving end is used for receiving incident light; the transmitting end and the receiving end of the anti-falling sensor are positioned in the inner space formed by the side brush, and the detection light and the incident light of the anti-falling sensor are not shielded by the side brush.

Furthermore, the inner space formed by the side brush is a hollow structure inside the side-sweeping main shaft, and the transmitting end and the receiving end of the anti-falling sensor are arranged in the hollow structure inside the side-sweeping main shaft.

Further, the side-scan shell comprises a side-scan upper shell and a side-scan lower shell; the side-sweeping upper shell is provided with a positioning hole, the side-sweeping lower shell is provided with a positioning column matched with the positioning hole, the positioning column of the side-sweeping lower shell is inserted into the positioning hole of the side-sweeping upper shell, and the side-sweeping lower shell and the side-sweeping upper shell are connected through a buckle;

and/or the side-sweeping shell is provided with a positioning shaft, the positioning shaft is provided with a third mounting hole, and the anti-falling sensor is inserted in the third mounting hole; the positioning shaft is arranged in a hollow structure inside the side sweeping main shaft.

Furthermore, the device also comprises a connecting shaft which is arranged in the side-sweeping main shaft in a penetrating way, and the side-sweeping main shaft rotates relative to the connecting shaft; the inner space that the limit brush formed is the space between limit brush below and the ground, the transmitting terminal and the receiving terminal of dropproof sensor set up in limit brush below just the dropproof sensor with the connecting axle is connected.

Furthermore, the side-sweeping main shaft is provided with a plurality of limiting grooves and a plurality of elastic clamping parts, wherein the limiting grooves are used for connecting the side brushes; the elastic clamping parts and the limiting grooves are circumferentially and uniformly distributed on the outer wall of the side-sweeping main shaft; the side sweeping main shaft is clamped in the inner ring of the side brush through the elastic clamping part; the inner wall of inner ring is provided with spacing, spacing with the spacing groove cooperation, spacing inserts the spacing inslot.

Further, the anti-falling sensor comprises a sleeve, the transmitting end and the receiving end are arranged in the sleeve, and a protective lens is arranged below the sleeve.

In another aspect, an embodiment of the present invention provides a cleaning robot, including a housing, a moving mechanism, a control system, a motor, a transmission mechanism, and the side-sweeping assembly; the movement mechanism is used for moving the cleaning robot on the ground; the motor is used for driving the transmission mechanism, the transmission mechanism drives the side sweeping main shaft to rotate, and one side of the shell, which is close to the ground, is provided with at least one group of side sweeping assemblies; the falling-prevention sensor of the side sweeping assembly is in signal connection with the control system, and the control system is in signal connection with the movement mechanism and controls the movement state of the cleaning robot.

Further, the transmission mechanism comprises a speed reducer; the power input end of the speed reducer is connected with the driving end of the motor, and the speed reducer drives the side sweeping main shaft to rotate.

Furthermore, a plurality of side brushes are arranged on one side of the shell, which is close to the ground; and one side of the shell, which is close to the ground, at the cleaning gap of the adjacent two side brushes is provided with a falling-prevention sensor.

Furthermore, the movement mechanism comprises an auxiliary wheel, two driving wheels and driving motors for respectively driving the driving wheels; the driving motor is in signal connection with the control system, and the control system controls the driving motor to change the motion state of the cleaning robot.

Compared with the prior art, the side-sweeping assembly and the cleaning robot provided by the invention have the following advantages;

the invention provides a side-sweeping assembly and a cleaning robot, wherein a drop-proof sensor is arranged in an inner space formed by side brushes, and detection light and incident light of the drop-proof sensor are both positioned in the inner space formed by the side brushes and are not shielded by the side brushes; compared with the prior art, the anti-falling sensor is arranged on the rotating path of the brush arm, the detection light and the incident light of the anti-falling sensor are arranged in the inner space formed by the side brush and are not shielded, the side brush is prevented from shielding the incident light and the detection light of the anti-falling sensor, the accuracy of the anti-falling sensor for collecting ground information is improved, and the phenomenon that the cleaning robot falls is avoided.

In addition to the technical problems, technical features constituting technical solutions, and advantages brought by the technical features of the technical solutions described above, other technical problems, technical features included in technical solutions, and advantages brought by the technical features that can be solved by the edge-scan assembly and the cleaning robot provided by the present invention will be described in further detail in embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly described below, it is obvious that the drawings in the following description are only a part of the embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an edge-scan assembly according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the fall arrest sensor of FIG. 1;

FIG. 3 is a schematic view of the structure of the side-scan top case of FIG. 1;

FIG. 4 is a structural view of the side-scan lower case of FIG. 1;

FIG. 5 is a schematic view of the connection between the transmission mechanism and the main shaft of the edge-scan apparatus according to the embodiment of the present invention;

FIG. 6 is a schematic structural diagram of an edge brush according to an embodiment of the present invention;

FIG. 7a is a schematic bottom view of a cleaning robot according to an embodiment of the present invention;

FIG. 7b is a schematic bottom view of an edge brush according to an embodiment of the present invention;

FIG. 8 is a schematic front view of a cleaning robot according to an embodiment of the present invention;

FIG. 9 is a sectional view taken along line A-A of FIG. 8;

fig. 10 is a first schematic view (enlarged schematic view at I) of the installation of the fall arrest sensor according to the embodiment of the invention;

fig. 11 is a second schematic view of the installation of the fall protection sensor according to the embodiment of the present invention;

fig. 12a is a schematic view of the inner space for installing the fall arrest sensor according to the embodiment of the present invention.

Fig. 12b is a schematic view of an inner space for installing the fall protection sensor according to the embodiment of the present invention.

Description of reference numerals:

10-motor, 20-anti-fall sensor,

21-a fixed seat, 22-a sleeve,

23-a transmitting end, 24-a receiving end,

25-the first lead, 26-the second lead,

30-side sweeping upper shell, 31-first mounting hole,

32-second mounting hole, 33-latch,

34-a mounting boss 35-a positioning shaft,

40-sweeping lower shell, 41-lock catch,

42-positioning column, 43-first through hole

50-side brush, 51-brush arm,

52-inner ring, 53-limit strip,

60-side sweeping main shaft, 61-elastic clamping part,

62-limiting groove, 63-center hole

70-a transmission mechanism, 71-a speed reducer,

72-gear, 80-protective lens,

90-an upper shell, 100-a lower shell,

110-a driving wheel, 120-an auxiliary wheel,

130-connecting shaft, 140-ground.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings, and, unless otherwise expressly specified, are used merely to facilitate the description and simplify the description and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

As shown in fig. 1 to 6, an embodiment of the present invention provides a side-scan assembly, including: a side-sweeping main shaft 60, a side brush 50 and a drop-proof sensor 20; the fall protection sensor 20, as shown in fig. 7b, includes an emitting end 23 and a receiving end 24, where the emitting end 23 is used for emitting detection light and the receiving end 24 is used for receiving incident light.

In some embodiments, the edge-scan assembly further includes an edge-scan housing within which the edge-scan spindle 60 is disposed; the motor 10 drives the transmission mechanism 70, and the transmission mechanism 70 drives the side-sweeping main shaft 60 to rotate, so that the side-sweeping main shaft 60 drives the side brush 50 to rotate; edge-scan shaft 60 is coupled to edge-brush 50 (e.g., edge-scan shaft 60 is coupled to edge-brush 50 through the edge-scan housing), and edge-brush 50 may be coupled to an outer wall of edge-scan shaft 60. The emitting end 23 and the receiving end 24 of the fall arrest sensor 20 are located in the inner space formed by the side brush 50, and the detection light and the incident light of the fall arrest sensor 20 are not shielded by the side brush 50 (e.g., not shielded by the brush arm 51), as shown in fig. 7b and 11.

The inner space formed by the side brush 50 is shown in fig. 12a and 12b, which are the cross-sectional lines arranged in the figure, that is, the inner space of the side-sweep main shaft 60 and the space between the lower side of the side brush 50 and the ground 140 are included. In the present invention, the transmitting end 23 and the receiving end 24 of the fall arrest sensor 20 are located in the inner space formed by the side brush, which means that the transmitting end 23 and the receiving end 24 of the fall arrest sensor 20 are located in the side scan main shaft 60 and/or in the space between the lower part of the side brush 50 and the ground 140, as shown in fig. 7b, 10 and 11.

In the embodiment of FIG. 12a, the edge brush 50 includes only the brush arms 51, i.e., each brush arm 51 is individually attached to the edge-brush spindle 60, and the edge brush 50 is now all of the brush arms 51; however, other configurations of the side brush 51 are possible, as shown in fig. 6 and 12b, in which the brush arms 51 are connected to the side-sweep main shaft 60 by fasteners, such as the inner ring 52 shown in fig. 6 and 12, and the side brush 50 now includes all of the brush arms 51 and the fasteners that secure all of the brush arms 51 (in the embodiment of fig. 6, the fasteners include the inner ring 52 and the retaining bars 53). It should be understood by those skilled in the art that the edge brush 50 of the present invention is only used for explaining the technical solution of the present invention, and is not limited to the scope of the present invention, and other structures of the edge brush are also within the scope of the present invention.

In some embodiments of the present invention, specifically, the side-sweeping casing may be made of a hard material integrally, or may be made of a separate structure, so as to facilitate installation of the transmission mechanism 70, the side-sweeping main shaft 60, and the anti-drop sensor 20 in the side-sweeping casing. The side-scan casing of the present embodiment is preferably configured as a split structure, for example: as shown in fig. 3 and 4, the side-scan casing includes a side-scan upper casing 30 and a side-scan lower casing 40, and both the side-scan upper casing 30 and the side-scan lower casing 40 are made of hard plastics, so that the side-scan upper casing and the side-scan lower casing have good supporting strength. Wherein, the side sweep upper shell 30 includes an upper base plate and a side, the side sweep lower shell 40 includes a lower base plate and a side, the side of the side sweep upper shell 30 is installed at the inner side of the side sweep lower shell 40, or the side of the side sweep upper shell 30 is installed at the outer side of the side sweep lower shell 40, that is, the side sweep upper shell 30 and the side sweep lower shell 40 are buckled together, and a cavity is formed. As for the connection manner of the side-scan upper case 30 and the side-scan lower case 40, the present embodiment is not limited, and the side-scan upper case 30 and the side-scan lower case 40 may preferably be detachably connected, for example, the side-scan upper case 30 and the side-scan lower case 40 may be connected by screws.

In order to facilitate quick installation and accurate positioning of the upper sweeping shell 30 and the lower sweeping shell 40, in the embodiment, the upper sweeping shell 30 is provided with positioning holes, and the lower sweeping shell 40 is provided with positioning columns 42; the positioning column 42 of the lower side-scan shell 40 is inserted into the positioning hole of the upper side-scan shell 30, and the lower side-scan shell 40 and the upper side-scan shell 30 are connected together by a snap.

Specifically, the lower bottom plate of the side-scan lower casing 40 is provided with a plurality of positioning columns 42, the positioning columns 42 can be integrally manufactured with the side-scan lower casing 40, the axial cross sections of the positioning columns 42 can be circular, square and the like, and the positioning columns 42 are preferably designed into cylindrical positioning columns in the present embodiment. The side-sweeping upper shell 30 is provided with a positioning hole matched with the positioning column 42, and the positioning hole is a blind hole. When the upper sweeping shell 30 and the lower sweeping shell 40 need to be buckled, the positioning column 42 of the lower sweeping shell 40 is inserted into the positioning hole of the upper sweeping shell 30, so that the positioning of the lower sweeping shell 40 and the upper sweeping shell 30 is realized.

After the upper sweeping shell 30 and the lower sweeping shell 40 are positioned, the upper sweeping shell 30 and the lower sweeping shell 40 are detachably connected by buckling together. Specifically, the side of the side broom upper shell 30 is provided with a latch 33, the side of the side broom lower shell 40 is provided with a lock catch 41 matched with the latch 33, and the latch 33 can be locked by the lock catch 41.

The upper base plate of the side-scan upper case 30 is provided with a first mounting hole 31 and a second mounting hole 32, the first mounting hole 31 is opposite to the second mounting hole 32, and screw mounting holes are provided around the first mounting hole 31 and the second mounting hole 32. The motor 10 is arranged at the first mounting hole 31, and the motor 10 can be fixed on the side-sweep upper shell 30 by inserting screws into the screw mounting holes around the first mounting hole 31, and the output end of the motor 10 passes through the upper base plate and extends into the cavity and is connected with one end of the transmission mechanism 70 positioned in the cavity; the other end of the transmission mechanism 70 is connected to the side-scan spindle 60 for transmitting the driving force generated by the motor 10 to the side-scan spindle 60 through the transmission mechanism 70.

It is understood that the transmission mechanism 70 provided in the present embodiment, as shown in fig. 5, may further include a speed reducer 71, a gear 72; the gear 72 is sleeved on the side-sweeping main shaft 60 and fixed with the side-sweeping main shaft 60, the power input end of the speed reducer 71 is connected with the driving end of the motor 10, the power output end of the speed reducer 71 is connected with the gear 72, the speed reducer 71 adjusts the power transmitted by the motor 10 and then transmits the adjusted power to the side-sweeping main shaft 60, and therefore the rotating speed of the side-sweeping main shaft 60 is adjustable. It should be understood that the composition of the transmission mechanism 70 is not limited in this embodiment, and it is preferable to adopt a scheme of matching the speed reducer 71 and the gear 72, and other schemes of connecting the edge-scan main shaft 60 and the motor 10 can be adopted. Such as a pulley and belt arrangement.

The lower end of the side-sweeping main shaft 60 passes through the lower side of the side-sweeping casing 40 and the lower side of the casing of the cleaning robot (i.e., the side of the casing close to the floor when the cleaning robot is in a working state or is normally placed), and is connected to the side brush 50 for driving the side brush 50 to rotate so as to clean the floor. It is understood that, as shown in fig. 4, the side-scan lower case 40 is provided with a first through-hole 43 through which the side-scan main shaft 60 passes, and the first through-hole 43 is clearance-fitted to the side-scan main shaft 60 so that the side-scan main shaft 60 passes through and is coupled to the side brush 50. The side-sweeping main shaft 60 is detachably connected with the side brush 50, so that the side brush 50 can be conveniently replaced and installed. The connection manner of the side brush 50 and the side-broom spindle 60 is not limited, and for example, a threaded connection, an elastic snap connection, or the like may be used.

The falling prevention sensor 20 is used for detecting ground information on a movement path of the cleaning robot and comprises a transmitting end and a receiving end; the transmitting end is used for transmitting detection light, and the receiving end is used for receiving incident light. Common fall-prevention sensors include infrared pair tubes or time of flight (TOF) distance measurement sensors, and the basic mode is that a transmitting end emits detection light (such as infrared rays or laser light), and a receiving end receives incident light which is incident to the receiving end after the detection light passes through a surface to be measured; the incident light rays may be reflected rays (such as infrared pair tubes or TOF) or scattered rays (such as TOF), but may of course also be refracted rays. The difference between the infrared pair tube and the TOF is that the infrared pair tube judges whether ground information of rising or falling occurs on the ground or not according to the intensity of received incident light, and if the intensity of the incident light is not received or is less than a certain threshold value, the distance between the anti-falling sensor and the ground exceeds a set range; whereas TOF measures the distance of the fall arrest sensor from the ground indirectly by measuring the time of return of the incident light, thereby judging whether the ground rises or falls or not, for example, when the distance between the falling-prevention sensor and the ground is in a preset range, the incident light received by the receiving end is reflected light, the distance value measured by the flight time of the laser is in a preset range, when the ground surface rises or falls, the incident light received by the receiving end may be scattered light (usually the detection light emitted by TOF is a cone beam with a certain angle, such as 25 °, so that the detection light passes through the surface to be measured and then has both reflected light and scattered light), and calculating the distance between the anti-falling sensor and the ground by the scattered light received by the receiving end, and if the distance is out of the set threshold value, indicating that the distance exceeds the set range, indicating that the ground is lifted or descended. Because the anti-falling sensor judges the ground information through incident light, the light path of the side brush cleaning surface of the cleaning robot in the prior art and the light path of the anti-falling sensor usually have an intersection area, so that the side brush can block the light path of the anti-falling sensor when rotating, the detection effect of the anti-falling sensor is influenced, and sometimes the cleaning robot falls to break down or be damaged because abrupt changes (such as stairs, steps, inclined planes and the like) of the ground are not detected or are detected in a delayed manner.

In one embodiment, as shown in fig. 11, the fall arrest sensor 20 may comprise a sleeve 22 and a transmitting end 23 and a receiving end 24 disposed within the sleeve 22, wherein the transmitting end 23 is in signal connection with the control system through a first lead 25, and the receiving end 24 is in signal connection with the control system through a second lead 26. The control system controls the transmitting end to transmit detection light, the receiving end is used for receiving incident light reflected, scattered or refracted by the ground and transmitting acquired information to the control system, and the control system judges whether the ground fluctuates according to signals acquired by the anti-falling sensor and controls the robot to turn or stop moving.

For the accuracy that promotes dropproof sensor and gathers ground information, this embodiment sets up dropproof sensor in the inner space that limit brush 50 formed, and dropproof sensor 20's detection light and incident light all are located the inner space that above-mentioned limit brush 50 formed, make limit brush not shelter from detection light and incident light. In this embodiment, the brush arm 51 may be directly connected to the outer wall of the side brush main shaft 60, or connected to the side sweeping main shaft 60 through a fixing member, and the anti-drop sensor 20 may be installed in the side brush main shaft 60, that is, the inner space formed by the side brush is a hollow structure inside the side sweeping main shaft 60, and the transmitting end 23 and the receiving end 24 of the anti-drop sensor 20 are disposed in the hollow structure inside the side sweeping main shaft; specifically, the side brush main shaft 60 is a hollow shaft, and the anti-drop sensor 20 is inserted into the hollow shaft of the side brush main shaft 60. Or, the anti-falling sensor 20 is disposed apart from the side brush main shaft 60, and the transmitting end and the receiving end thereof are disposed in a space formed between the lower side of the side brush and the ground, and at this time, the inner space formed by the side brush is a space between the lower side of the side brush and the ground. Since the side brush main shaft 60 is connected to the side brush 50, the emitting end and the receiving end of the drop prevention sensor 20 are disposed under the side brush, and the detection light and the incident light thereof are not blocked by the side brush.

The following description is specifically made according to the installation position of the anti-falling sensor;

referring to fig. 2 and 3, in the present embodiment, the fall-prevention sensor 20 (i.e., the transmitting end and the receiving end thereof) is disposed in the side brush main shaft 60; specifically, dropproof sensor 20 sets up in second mounting hole 32 department, the dropproof sensor 20 that this implementation provided includes fixing base 21 and sleeve pipe 22, fixing base 21 is connected and forms T shape structure with sleeve pipe 22, sleeve pipe 22 can adopt integrative preparation with fixing base 21, fixing base 21 pegs graft have with the screw mounting hole complex screw around the second mounting hole 32, dropproof sensor 20 passes through fixing base 21 and installs in second mounting hole 32 department, and its sleeve pipe 22 inserts in the centre bore 63 of main shaft 60 is swept to the limit, and sleeve pipe 22 keeps certain clearance with the pore wall of centre bore 63, make dropproof sensor 20 and main shaft 60 mutual independence is swept to the limit, main shaft 60 is swept to the unaffected limit is rotatory. When the lower end of the side-scan main shaft 60 is coupled to the side brush 50, the detection light of the fall prevention sensor 20 can be irradiated on the ground without being affected by the side brush 50.

According to the side-sweeping assembly and the cleaning robot provided by the embodiment of the invention, the transmitting end and the receiving end of the anti-falling sensor 20 are arranged in the central hole 63 of the sweeping main shaft, and the photosensitive element in the receiving end positioned in the sleeve 22 can receive incident light reflected by the ground and is not shielded by the side brush, so that the accuracy of the anti-falling sensor 20 in collecting ground information can be improved, and the danger of falling of the cleaning robot is avoided.

In order to protect and limit the anti-falling sensor 20, in the embodiment, as shown in fig. 5, 10, and 11, a positioning shaft 35 is disposed on the lower surface of the side-scan upper shell 30, and the positioning shaft is disposed in a hollow structure inside the side-scan main shaft 60; the positioning shaft 35 is provided with a third mounting hole, and the sleeve 22 is inserted into the third mounting hole; the positioning shaft 35 is inserted into the central hole 63, and the positioning shaft 35 is in clearance fit with the central hole 63.

Specifically, the lower surface of the side-scanning upper shell 30 is provided with a positioning shaft 35, the positioning shaft 35 is located at the second mounting hole 32, and the positioning shaft 35 is provided with a third mounting hole communicated with the second mounting hole 32. The sleeve 22 of the fall arrest sensor 20 is inserted through the second mounting hole 32 and into the third mounting hole. In this embodiment, the sleeve 22 may be connected to the positioning shaft 35 through a screw thread, an internal thread may be disposed in the third mounting hole, and an external thread matched with the internal thread is disposed on the outer wall of the sleeve 22, so that the sleeve 22 is screwed into the positioning shaft 35 and connected together through the internal thread and the external thread. Alternatively, the sleeve 22 may be clearance fitted into a third mounting hole of the positioning shaft 35, and the sleeve 22 may be inserted into the third mounting hole.

After the anti-falling sensor 20 is inserted and installed in the positioning shaft 35, the positioning shaft 35 is inserted into the side-sweeping main shaft 60, and the center hole 63 of the side-sweeping main shaft 60 is installed in a gap with the positioning shaft 35, so that the side-sweeping main shaft 60 and the positioning shaft 35 can be isolated from each other, and the positioning shaft 35 is prevented from influencing the rotation of the side-sweeping main shaft 60.

Referring to fig. 11, in another embodiment, the fall arrest sensor 20 may be disposed below the side scan shaft 60 and within the interior space formed by the side brush 50. The implementation is as follows: the side-sweeping assembly further comprises a connecting shaft 130 penetrating through the side-sweeping main shaft, and the side-sweeping main shaft 60 rotates relative to the connecting shaft 130; the upper end of the connecting shaft 130 is fixed to the side-scan upper casing 30, the connecting shaft 130 passes through the side-scan lower casing 40, and the lower end thereof is provided with the anti-drop sensor 20, and as can be seen from the figure, the anti-drop sensor 20 (i.e., the transmitting end 23 and the receiving end 24 thereof) is located below the side-scan main shaft 60. Specifically, the side-sweeping assembly further comprises a connecting shaft, one end of the connecting shaft 130 can be fixed on the side-sweeping upper shell 30 or on the shell of the cleaning robot, and the connecting shaft 130 passes through the third mounting hole of the positioning shaft 35 and extends to the lower side of the shell of the robot; the connecting shaft 130 is sleeved with the edge-sweeping main shaft 60, and a bearing is disposed between the edge-sweeping main shaft 60 and the connecting shaft 130, when the edge-sweeping main shaft 60 receives the driving force transmitted by the motor 10 through the transmission mechanism 70, the edge-sweeping main shaft 60 can rotate relative to the connecting shaft 130 and can drive the edge brush 50 to rotate, and the connecting shaft 130 can be stationary relative to the cleaning robot or rotate at a lower rotation speed without being controlled by the edge-sweeping main shaft 60.

The sleeve 22 of the anti-falling sensor is fixed on the connecting shaft 130, so that the transmitting end 23 and the receiving end 24 which are installed in the sleeve 22 are located below the side-sweeping main shaft 60, and further located in the inner space formed by the side brush 50 (at the moment), the inner space formed by the side brush is the space between the lower side of the side brush and the ground, the detection light and the incident light are not shielded by the side brush, the accuracy of collecting ground information of the anti-falling sensor is improved, and the phenomenon that a robot falls or is stuck is prevented.

Referring to fig. 10, in order to prevent dust from entering the sleeve 22 of the fall-prevention sensor 20 and affecting the accuracy of the fall-prevention sensor for collecting ground information, a protective lens 80 is disposed below the sleeve 22, and the protective lens 80 is used for protecting the sleeve 22. Specifically, the sheathed tube lower extreme can be provided with annular step installation face, can press protective glass piece 80 on annular step installation face, and protective glass piece 80 seals sleeve pipe 22 to protecting sleeve pipe 22, effectively preventing that sleeve pipe 22 from receiving the damage and preventing dust, steam from getting into sleeve pipe 22 in, simultaneously, protective glass piece still can play the effect of filtered light. It is understood that the connection mode of the protection lens 80 and the sleeve 22 is not limited, and an inner thread may be provided on an inner wall of the lower end of the sleeve 22, an outer thread matching with the inner thread of the sleeve 22 may be provided on a side of the protection lens 80, and the protection lens 80 and the sleeve 22 may be connected together through the inner thread and the outer thread. The preferred scheme of the embodiment is as follows: the protective lens 80 is crimped onto the annular stepped mounting surface.

Referring to fig. 5 and 6, in the present embodiment, the side-sweeping spindle 60 is detachably connected to the side brush 50, and a limit groove 62 and an elastic clamping portion 61 are disposed at one end of the side-sweeping spindle 60 close to the side brush 50; the elastic clamping part 61 is positioned on the outer wall of the side sweeping main shaft 60, and the side sweeping main shaft 60 is clamped into the inner ring 52 of the side brush 50 through the elastic clamping part 61; the inner wall of inner ring 52 is provided with spacing strip 53, and spacing strip 53 and spacing groove 62 cooperate, and spacing strip 53 inserts in the spacing groove 62. Specifically, a plurality of limiting grooves 62 and a plurality of elastic clamping portions 61 are arranged on the side wall of the lower end of the side-sweeping main shaft 60, and the plurality of limiting grooves 62 and the plurality of elastic clamping portions 61 are circumferentially distributed along the side-sweeping main shaft 60; one end of the limit groove 62 is flush with the lower end of the side-sweeping main shaft 60, the other end of the limit groove 62 extends toward the lower end face away from the side-sweeping main shaft 60, and the plurality of elastic clamping portions 61 can be respectively arranged between the two limit grooves 62 or the plurality of elastic clamping portions 61 are arranged at one end of the limit groove 62 away from the lower end of the side-sweeping main shaft 60.

The side brush 50 comprises an inner ring 52 connected with a side sweeping spindle 60, a limiting strip 53 is arranged on the wall surface of the inner ring 52, the limiting strip 53 is matched with a limiting groove 62, the side sweeping spindle 60 can be inserted on the limiting strip 53 of the inner ring 52 through the limiting groove 62, the power of the side sweeping spindle 60 can be transmitted to the side brush 50, the side brush 50 is driven to rotate, and then floor cleaning work is completed. The elastic clamping part 61 is abutted against the inner ring 52 of the side brush 50, so that the side brush 50 is clamped on the side sweeping main shaft 60, and the side brush 50 is prevented from falling off from the side sweeping main shaft 60; in addition, the elastic clamping part 61 is arranged on the side-sweeping main shaft 60, so that the side-sweeping main shaft 60 can be conveniently connected to the side brush 50.

It is understood that the elastic catching portion 61 is an elastic piece or an elastic protrusion, and the elastic piece or the elastic protrusion is integrally provided with the edge-scan spindle 60. Specifically, the side wall of the lower end of the side sweeping main shaft 60 may be provided with an elastic protrusion or an elastic piece, the elastic protrusion or the elastic piece may be made of elastic plastic, the side sweeping main shaft 60 may be made of hard plastic, and the elastic protrusion or the elastic piece may be integrally made with the side sweeping main shaft 60, so as to enhance the connection strength between the elastic clamping portion 61 and the side sweeping main shaft 60 and prevent the elastic clamping portion 61 from falling off from the side sweeping main shaft 60.

Referring to fig. 7a to 10, another embodiment of the present invention provides a cleaning robot including a housing, a moving mechanism, a motor, a transmission mechanism, a control system and a side-sweep assembly. The movement mechanism is used for moving the cleaning robot on the ground. The motor is used for driving the transmission mechanism, and the transmission mechanism drives the side-sweeping main shaft to rotate. The housing may be of unitary construction or may be formed of two or more parts. In the present embodiment, the housing is composed of an upper housing 90 and a lower housing 100. The side-sweep assembly is disposed between the upper housing 90 and the lower housing 100; at least one group of side sweeping assemblies are arranged on the lower side of the lower shell 100 (namely, the side of the shell close to the ground); the falling prevention sensor 20 of the side sweeping assembly is in signal connection with a control system, and the control system is in signal connection with a movement mechanism and controls the movement state of the cleaning robot.

Specifically, both the upper casing 90 and the lower casing 100 can be made of plastic, and the shape thereof can be circular or square, and in this embodiment, the shape of the upper casing 90 and the lower casing 100 is not limited, and it is preferable that the upper casing 90 and the lower casing 100 are designed as circular casings.

Go up casing 90 and lower casing 100 and can dismantle the connection and form installation space together, go up casing 90 and be provided with the internal thread, be provided with at lower casing 100 with last casing 90 complex external screw thread, go up casing 90 and lower casing 100 accessible internal thread, external screw thread connection together. Wherein, the control system and the side-sweep assembly are disposed in the installation space formed by the upper casing 90 and the lower casing 100. The side-sweeping assembly comprises a side-sweeping main shaft 60 and a side brush 50, wherein the side-sweeping main shaft 60 is connected with the side brush 50 and is used for driving the side brush 50 to rotate.

It can be understood that the lower housing 100 is provided with a second through hole for the main shaft 60 of the side broom to pass through, and the upper housing 90 is provided with a plurality of threaded connection columns around the second through hole, and the plurality of threaded connection columns are distributed along the circumference of the second through hole, and the threaded connection columns are used for fixing the side broom assembly on the lower housing 100. In order to fixedly connect the side-sweeping assembly to the lower housing 100, a mounting boss 34 is provided at the edge of the upper housing 90 of the side-sweeping assembly, and the mounting boss 34 is provided with a threaded hole matched with the threaded connection post. When the side-scan assembly is required to be mounted on the lower casing 100, the mounting boss 34 of the side-scan upper casing 30 can be aligned with the threaded connection post and inserted into the threaded connection post.

In this embodiment, each side brush assembly is correspondingly connected with one side brush 50, each side brush assembly comprises one anti-drop sensor 20, and the transmitting end and the receiving end of the anti-drop sensor 20 are disposed in the internal space formed by the side brush 50, as shown in fig. 12a and 12b, the internal space formed by the side brush 50 comprises the internal space of the side brush main shaft 60 and the space between the lower part of the side brush 50 and the ground 140. The present embodiment preferably arranges the transmitting end 23 and the receiving end 24 of the fall arrest sensor 20 inside the edge scan spindle 60, and the fall arrest sensor 20 and the edge scan spindle 60 are independent of each other and do not affect the operation of each other.

The fall-prevention sensor 20 is electrically connected with the control system, and can transmit the ground information acquired by the fall-prevention sensor to the control system, and the control system controls the state of the movement mechanism according to the ground information acquired by the fall-prevention sensor 20, for example, when it is judged that the ground has a steep rise or fall, the movement mechanism is controlled to decelerate or steer; in addition, the control system is electrically connected to the motor 10 of the side brush assembly, and can control the rotation speed and the rotation direction of the driving end of the motor 10, thereby controlling the working state of the side brush 50.

It can be understood that the movement mechanism provided in the present embodiment includes two driving wheels 110, one auxiliary wheel 120 and a driving motor connected to the driving wheels 110, the two driving wheels 110 are symmetrically disposed, and the one auxiliary wheel 120 is disposed between the two driving wheels 110, which are distributed in a triangle. Each driving wheel 110 is correspondingly connected with a driving motor, the driving motors are electrically connected with the control system, and the control system can respectively control the rotating speed of the driving motors according to the ground information acquired by the anti-falling sensor 20, so that the two driving wheels 110 realize turning or synchronous rotation, linear motion and the like through differential speed.

The cleaning robot that this embodiment provided sets up the transmitting terminal and the receiving terminal of dropproof sensor 20 in the inner space that limit brush 50 formed, makes the incident light that the receiving terminal of dropproof sensor 20 received not sheltered from by limit brush 50, can promote the accuracy that dropproof sensor 20 gathered ground information, avoids the cleaning robot to fall and leads to the fact the damage.

Further, in order to improve the safety and the cleaning efficiency of the cleaning robot, the cleaning robot may be provided with a plurality of anti-drop sensors 20 and a plurality of side brushes 50; each side brush 50 is correspondingly provided with a side brush 50 assembly, and the side brush 50 assembly drives the side brush 50 to rotate and controls the working state of the side brush 50. The main shaft of the side brush 50 of each side brush 50 assembly is provided with one anti-falling sensor 20, that is, part of the anti-falling sensors 20 are respectively arranged in the side sweeping main shaft 60, and the rest of the anti-falling sensors 20 can be arranged at the gaps of the sweeping ranges of the adjacent side brushes 50, as shown in fig. 7a, so as to collect the ground information of a plurality of positions of the cleaning robot, improve the accuracy of collecting the ground information of the cleaning robot, and prevent the cleaning robot from falling.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. An edge broom assembly, comprising: the side-sweeping main shaft, the side brush and the anti-falling sensor;

the side sweeping main shaft is connected with the side brush;

the anti-falling sensor comprises an emitting end and a receiving end, wherein the emitting end is used for emitting detection light, and the receiving end is used for receiving incident light;

the transmitting end and the receiving end of the anti-falling sensor are positioned in the inner space formed by the side brush, and the detection light and the incident light of the anti-falling sensor are not shielded by the side brush.

2. The edge scan assembly of claim 1, wherein the interior space defined by the edge brush is a hollow structure within the edge scan spindle, and the transmitting end and the receiving end of the drop prevention sensor are disposed within the hollow structure within the edge scan spindle.

3. The edge scan assembly of claim 2, further comprising an edge scan housing comprising an edge scan top shell and an edge scan bottom shell;

the side-sweeping upper shell is provided with a positioning hole, the side-sweeping lower shell is provided with a positioning column matched with the positioning hole, the positioning column of the side-sweeping lower shell is inserted into the positioning hole of the side-sweeping upper shell, and the side-sweeping lower shell and the side-sweeping upper shell are connected through a buckle;

and/or the presence of a gas in the gas,

the side-sweeping shell is provided with a positioning shaft, the positioning shaft is provided with a third mounting hole, and the anti-falling sensor is inserted in the third mounting hole;

the positioning shaft is arranged in a hollow structure inside the side sweeping main shaft.

4. The edge-scan assembly of claim 1, further comprising a connecting shaft disposed through the edge-scan spindle, wherein the edge-scan spindle rotates relative to the connecting shaft;

the inner space that the limit brush formed is the space between limit brush below and the ground, the transmitting terminal and the receiving terminal of dropproof sensor set up in limit brush below just the dropproof sensor with the connecting axle is connected.

5. The edge-sweeping assembly according to claim 1, wherein the edge-sweeping spindle is provided with a plurality of retaining grooves for connecting the edge brushes and a plurality of elastic catching portions;

the elastic clamping parts and the limiting grooves are circumferentially and uniformly distributed on the outer wall of the side-sweeping main shaft;

the side sweeping main shaft is clamped in the inner ring of the side brush through the elastic clamping part;

the inner wall of inner ring is provided with spacing, spacing with the spacing groove cooperation, spacing inserts the spacing inslot.

6. The sweeper assembly of claim 1, wherein the fall arrest sensor comprises a bushing;

the transmitting end and the receiving end are arranged in the sleeve, and a protective lens is arranged below the sleeve.

7. A cleaning robot comprising a housing, a motion mechanism, a control system, a motor, a transmission mechanism, and the edge-scan assembly of any of claims 1-6;

the movement mechanism is used for moving the cleaning robot on the ground;

the motor is used for driving the transmission mechanism, and the transmission mechanism drives the edge-sweeping main shaft to rotate;

at least one group of side sweeping assemblies is arranged on one side of the shell, which is close to the ground;

the falling-prevention sensor of the side sweeping assembly is in signal connection with the control system, and the control system is in signal connection with the movement mechanism and controls the movement state of the cleaning robot.

8. The cleaning robot of claim 7, wherein the transmission mechanism includes a speed reducer;

the power input end of the speed reducer is connected with the driving end of the motor, and the speed reducer drives the side sweeping main shaft to rotate.

9. The cleaning robot as claimed in claim 7, wherein a side of the housing adjacent to the floor surface is provided with a plurality of side brushes;

and one side of the shell, which is close to the ground, at the cleaning gap of the adjacent two side brushes is provided with a falling-prevention sensor.

10. The cleaning robot as claimed in claim 7, wherein the moving mechanism includes an auxiliary wheel, two driving wheels, and driving motors for driving the driving wheels, respectively;

the driving motor is in signal connection with the control system, and the control system controls the driving motor to change the motion state of the cleaning robot.

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