CN110384440A - Clean robot - Google Patents
Clean robot Download PDFInfo
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- CN110384440A CN110384440A CN201810351903.2A CN201810351903A CN110384440A CN 110384440 A CN110384440 A CN 110384440A CN 201810351903 A CN201810351903 A CN 201810351903A CN 110384440 A CN110384440 A CN 110384440A
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- state
- side brush
- brush assemblies
- liftoff
- clean robot
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- 230000000712 assembly Effects 0.000 claims abstract description 101
- 238000000429 assembly Methods 0.000 claims abstract description 101
- 230000033001 locomotion Effects 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000008859 change Effects 0.000 claims abstract description 18
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 239000000428 dust Substances 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 51
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000006872 improvement Effects 0.000 description 11
- 238000004140 cleaning Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
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- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000009408 flooring Methods 0.000 description 1
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- 230000036541 health Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The present invention provides a kind of clean robot, including body, dust removing units, monitoring unit and control unit, the dust removing units include installing at least one side brush assemblies of the body, it is characterized by: the monitoring unit has detection element, the side brush assemblies have elastic parts, when the side brush assemblies become liftoff state from the state of landing, the elastic parts drives the side brush assemblies to do change in location movement relative to the body, the change triggers of brush assemblies position generate liftoff signal when the detection element changes according to the motion state in brush assemblies or is described, and the liftoff signal is sent to control unit, described control unit controls the motion state of the clean robot according to the liftoff signal.Clean robot of the present invention can effectively realize liftoff monitoring and smooth running.
Description
Technical field
The present invention relates to cleaning equipment technology field more particularly to a kind of clean robots.
Background technique
Dust catcher is a kind of household electrical appliance of indoor cleaning health, for remove ground, carpet, wall, furniture, clothing and
Dust in various gaps.And flooring clean robot organically combines mobile robot technology and cleaner technology
Come, realize the autonomous cleaning of indoor environment, instead of hand labor, substantially reduce labor intensity, improve labor efficiency, is applicable in
It is a kind of convenient, environmentally friendly, healthy, intelligent service robot in the indoor cleaning of family and public venue.
Clean robot is usually made of four parts: mobile mechanism, sensory perceptual system, control system and cleaning systems.For
Clean robot is allowed to work normally, it is necessary to supervise to the position of clean robot, posture, speed and internal system state
Control, it is also necessary to which static state and multidate information to working environment locating for robot are effectively monitored, and enable clean robot
Adapt to the variation of working environment.But due to the otherness and complexity of indoor environment, clean robot usually require setting from
Ground sensor is avoided falling or is shut down in time, and then improves the security reliability used.And liftoff sensor is generally installed
On the walking structure to float up and down, when clean robot leaves ground, walking structure floats downwards, to trigger liftoff biography
Sensor, to realize liftoff monitoring；However such that clean robot running gear structure is complicated, and clean robot
A degree of swing up and down is had when walking.
In consideration of it, it is necessary to provide a kind of improved clean robots.
Summary of the invention
It is an object of that present invention to provide a kind of clean robots, can effectively realize liftoff monitoring and smooth running.
For achieving the above object, the present invention provides a kind of clean robot comprising body, dust removing units, monitoring
Unit and control unit, the dust removing units include installing at least one side brush assemblies of the body, the monitoring unit
With detection element, the side brush assemblies have elastic parts, when the side brush assemblies become liftoff state from the state of landing,
The elastic parts drives the side brush assemblies to do change in location movement relative to the body, and the detection element is according to
While brush assemblies motion state variation or it is described while brush assemblies position change triggers generate liftoff signal, and by the liftoff letter
Number it is sent to control unit, described control unit controls the motion state of the clean robot according to the liftoff signal.
As a further improvement of the present invention, when the side brush assemblies, which are in, lands state, the elastic parts is in change
Shape state；When the side brush assemblies become liftoff state from the state of landing, elastic recovery of the elastic parts at its own
Restore under the action of power to free state, and then the side brush assemblies is driven to do change in location movement relative to the body to touch
Send out detection element described.
As a further improvement of the present invention, described to be brushed when brush assemblies include and fix connection relatively with side brush
Transmission shaft, side brush include base portion and from the outwardly extending at least brush arm of the base portion.
As a further improvement of the present invention, the detection element includes trigger member and sensing device, the trigger member with
The side brush assemblies are connected, and when the side brush assemblies become liftoff state from the state of landing, the trigger member is brushed on the side
Displacement is generated under the drive of component or is deflected to trigger the sensing device and generate liftoff signal.
As a further improvement of the present invention, the trigger member is fixedly connected on the top of the transmission shaft, the transmission
Axis has one axially, when the side brush assemblies become liftoff state from the state of landing, the elastic parts elastic movement and band
The transmission shaft is moved along the axial displacement, and then the trigger member is driven to move synchronously.
As a further improvement of the present invention, the elastic parts is sheathed on outside the transmission shaft, when the side brush assemblies
In land state when, the base portion that the elastic parts is brushed by the side it is upward be in compressive state.
As a further improvement of the present invention, the trigger member is directly or indirectly fixedly connected on the base portion of the side brush,
When the side brush assemblies become liftoff state from the state of landing, the elastic parts elastic movement simultaneously drives the base portion to deflect
Movement, and then drive the trigger member synchronous deflection movement.
As a further improvement of the present invention, when the side brush assemblies, which are in, lands state, the elastic parts is in inclined
Set state；When the side brush assemblies are in liftoff state, the elastic parts returns back to free state, and then drives the base
Portion and the trigger member deflect and sensing device are made to generate liftoff signal.
As a further improvement of the present invention, the elastic parts includes the transmission shaft, and the transmission shaft is to be sheathed on
Elastic roller outside the trigger member, when the side brush assemblies, which are in, lands state, the elasticity roller is in biasing shape；Work as institute
When stating side brush assemblies and being in liftoff state, the elasticity roller returns back to free state, and then drives the base portion and the touching
Outbox deflects and sensing device is made to generate liftoff signal.
As a further improvement of the present invention, the elastic roller is the hollow type structure with accommodating chamber, the triggering
Part is contained in the accommodating chamber, and the elasticity roller is fixedly connected with the base portion of the side brush assemblies.
As a further improvement of the present invention, the elastic parts includes the transmission shaft and is located on the inside of the transmission shaft
Elastic component, the transmission shaft is the roller being sheathed on outside the trigger member, and the elastic component includes of different sizes interior of outer diameter
Spring and outer spring, and the inner spring is located on the inside of the outer spring.
As a further improvement of the present invention, the inside and outside spring has different rotation directions.
Beneficial effects of the present invention: clean robot of the present invention is when its side brush assemblies is in land state, elastic parts
In deformation state, its elastic parts generates displacement or deflection when side, brush assemblies become liftoff state by the state of landing, and then touches
It sends out detection element and generates liftoff signal, to effectively realize liftoff monitoring；And the elastic parts is set to side and paints, to guarantee
The smooth running of clean robot.
Detailed description of the invention
Fig. 1 is the complete machine schematic diagram of clean robot of the present invention；
Fig. 2 is the optical cable of the first preferred embodiment of clean robot of the present invention；
Fig. 3 is that the side brush assemblies of clean robot shown in Fig. 2 are in partial structure diagram when landing state；
Fig. 4 is the partial structure diagram when side brush assemblies of clean robot shown in Fig. 2 are in liftoff state；
Fig. 5 is the stereoscopic schematic diagram of side brush assemblies in clean robot shown in Fig. 3；
Fig. 6 is the schematic cross-sectional view on side brush assemblies shown in Fig. 5；
Fig. 7 is the optical cable of the second preferred embodiment of clean robot of the present invention；
Fig. 8 is that the side brush assemblies of clean robot shown in Fig. 7 are in partial structure diagram when landing state；
Fig. 9 is the partial structure diagram when side brush assemblies of clean robot shown in Fig. 7 are in liftoff state；
Figure 10 be clean robot in third preferred embodiment of the invention side brush assemblies be in land state when part knot
Structure schematic diagram；
Figure 11 is the schematic diagram when side brush assemblies of clean robot shown in Figure 10 are in liftoff state.
Specific embodiment
Below with reference to embodiment shown in the drawings, the present invention will be described in detail.But the embodiment is not intended to limit
The present invention, structure that those skilled in the art are made according to the embodiment, method or transformation functionally are wrapped
Containing within the scope of the present invention.
It is as shown in Figure 1 the complete machine structure schematic diagram of clean robot 100 of the present invention.It please join shown in Fig. 2 to Fig. 6, for this
First preferred embodiment of invention clean robot, in the present embodiment, the clean robot 100 include body 10, dedusting
Unit, monitoring unit and control unit, the dust removing units include installing at least one side brush assemblies 20 of the body 10
And the cleaning brush assemblies 30 of the central region of the body 10 are installed on, the side brush assemblies 20 are close to the front end of the body 10
Edge setting.
It please join shown in Fig. 1 to Fig. 6, the body 10 includes pedestal 11 and the shell 12 being covered on the pedestal 11, institute
Stating pedestal 11 has the mounting base 13 being correspondingly arranged with the side brush assemblies 20.In addition, the bottom of the pedestal 11 is equipped with edge
Two driving wheels 40 that transverse direction is intervally arranged, described two driving wheels 40 are symmetrical arranged and are respectively adjacent to 10 edge of body
Both sides of the edge setting in transverse direction.The driving wheel 40 can make the body 10 during cleaning front and back advance and/
Or rotation is advanced.
It please join shown in Fig. 3 to Fig. 6, in the present invention, the side brush assemblies 20 of the clean robot 100 have the state that lands
With liftoff state, wherein the liftoff state include lifted by external force so that its driving wheel 40 leave ground state and side brush
Component 20 marches to the hanging state in steep cliff area and part.
It is described that 21 and the transmission shaft 23 with the relatively fixed connection of side brush 21, the side brush are brushed when brush assemblies 20 include
21 include base portion 211 and from the outwardly extending at least brush arm 212 of the base portion 211.In the present embodiment, the brush arm 212
Quantity be three, and three brush arms 212 are uniformly distributed in the outside of the base portion 211, in other embodiments, the brush arm
212 quantity can also be one or two or three or more.
Wherein, each brush arm 212 include the arm 2121 being connected with the base portion 211 and be located at the arm 2121
Free terminal brush head 2122, the position that the arm 2121 is connected with the base portion 211 is its root, and the brush head
2122 when rotated emergence go out the front-end edge of the body 10.
In the first preferred embodiment of the invention, the bottom end of the transmission shaft 23 is fixedly connected with the base portion 211.In
In the present embodiment, the transmission shaft 23 is made of one piece with the base portion 211, in other embodiments, the transmission shaft 23
It seperated with the base portion 211 can also form and assemble fixed to form detachable connection.In the present embodiment, the transmission shaft
23 have the mounting portion 231 positioned at its top, and the outer surface of the mounting portion 231 is equipped with external screw thread.
Further, the side brush assemblies 20 also have the support ring 24 for being sheathed on 23 outside of transmission shaft, the branch
Pushing out ring 24 is in the mounting base 13 that short transverse is fixed on the body 10.
The side brush assemblies 20 further include elastic parts 25, and in the present embodiment, the elastic parts 25 is is sheathed on
The spring outside transmission shaft 23 is stated, when the side brush assemblies 20, which are in, lands state, the elastic parts 25 is by side brush 21
Base portion 211 it is upward be in compressive state.
The monitoring unit has detection element 50, when the side brush assemblies 20 of the clean robot 100 are by the state of landing
When travelling or moved under external force in liftoff state, 25 elastic movement of elastic parts simultaneously drives the side brush group
Part does change in location movement relative to the body 10, and the detection element 50 becomes according to the motion state of the side brush assemblies 20
Change or the change in location of the side brush assemblies 20 directly or indirectly triggers the liftoff signal of generation, and the liftoff signal is sent
To control unit, described control unit controls the motion state of clean robot 100 according to the liftoff signal, namely determines cleaning
Whether robot changes driving direction or stops traveling.Specifically, detection element 50 can be uses similar to accelerometer etc.
In the detecing element for the motion state variation for monitoring the side brush assemblies 20, can be produced by the motion state variation monitored
Raw liftoff signal；Optionally, which is also possible to be similar to microswitch, infrared switch etc. for monitoring side brush group
Whether part 20 reaches the detecing element of a certain trigger position, and liftoff signal can be generated by the change in location monitored.
Specifically, when the side brush assemblies 20 of the clean robot 100 by the state of landing march in liftoff state (namely
March to the hanging state in steep cliff area and part) when, 25 elastic movement of elastic parts drives 20 phase of side brush assemblies
Change in location movement done for the body 10, the detection element 50 changed according to the motion state of the side brush assemblies 20 or
The change in location triggering of the side brush assemblies 20 generates liftoff signal, and the liftoff signal is sent to control unit, described
Control unit changes driving direction according to the liftoff signal control clean robot 100.
When the side brush assemblies 20 of the clean robot 100 lifted when landing by external force so that its in liftoff state (
I.e. body is lifted by external force so that its driving wheel 40 and side brush assemblies 20 leave the state on ground) when, 25 bullet of elastic parts
Property movement drive the side brush assemblies 20 to do change in location movement relative to the body 10, the detection element 50 is according to described
While brush assemblies 20 movement or it is described while brush assemblies 20 change in location directly or indirectly trigger and generate liftoff signal, and will be described
Liftoff signal is sent to control unit, and described control unit stops traveling according to the liftoff signal control clean robot 100.
It please join shown in Fig. 3 and Fig. 4, in the first preferred embodiment, the detection element 50 includes trigger member 51 and sensing
Device 52, the trigger member 51 are connected with the side brush assemblies 20, when the side brush assemblies 20 become liftoff shape from the state of landing
When state, 25 elastic movement of elastic parts simultaneously makes the transmission shaft 23 generate displacement, and then drives the trigger member 51 synchronous
Movement is to generate displacement, and to trigger the sensing device 52 and generate liftoff signal, the trigger member 51 can be directly by the bullet
The restoring force of property component 25 is acted on, it is also possible by means other elements are indirectly by the reply masterpiece of the elastic parts 25
With.
Wherein, in the present embodiment, the trigger member 51 be fixedly connected on the top of the transmission shaft 23 with the biography
Moving axis 23 moves synchronously, and the transmission shaft has one axially, and the elastic parts 25 is spring, and the elastic parts 25 is sheathed on
23 outside of the transmission shaft, and it is sandwiched along short transverse and be connected between the base portion 211 and the support ring 24.In this reality
It applies in example, the trigger member 51 is equipped with mounting hole 511 open downwards, and is equipped with and the transmission shaft 23 in the mounting hole 511
The internal screw thread that matches of mounting portion 231, the mounting portion 231 is extended upwardly into and is anchored in the mounting hole 511, to realize
The trigger member 51 is moved synchronously with transmission shaft 23.In other embodiments, can also be used snap connection, the side such as interference engagement
Formula realizes being fixedly connected between trigger member 51 and support rod 24；Or the trigger member 51 can also be integrally connected to it is described
On support rod 24.
When the side brush assemblies 20 of clean robot 100, which are in, lands state, the brush heads 2122 of the side brush assemblies 20 to
Under press on stay clean object surface (such as ground), that is, the brush head 2122 and base portion 211 are pushed up against by ground, this
Shi Suoshu elastic parts 25 is upward to be in compressive state (as shown in Figure 3) by the base portion 211 of side brush 21.
In the first preferred embodiment, the sensing device 52 is installation to the touch switch on body 10, when side brush group
The movement of part 20 is lifted to when being in liftoff state, and the elastic parts 25 is under the action of the elastic-restoring force of its own by pressing
Contracting state is restored to free state, and drives the transmission shaft 23 along the axial displacement, namely drive the base portion 211 and with
The connected transmission shaft 23 of base portion 211 moves downward, so that along height between the root of the arm 2121 and the bottom plate 112 of pedestal 11
Spacing on degree direction becomes larger, meanwhile, the trigger member 51 being fixedly connected with the transmission shaft 23 also moves downward therewith, In
The trigger member 51 moves down and contacts (as shown in Figure 4) with the sensing device 52 being located on the downside of it after certain distance, to produce
Raw liftoff signal, this is liftoff after signal persistently has the predetermined time, and monitoring unit conveys liftoff signal to control unit.
In other embodiments of the invention, the sensing device 52 can also be microswitch, ultrasonic range finder, approach
Sensor, magnetic induction loop or infrared sensor etc..
Further, in the present embodiment, the transmission shaft 23 is externally connected with belt driver 90, the belt driver
90 include the belt wheel 91 being sheathed on outside the transmission shaft 23 and the flexible-belt 92 being stretched on the belt wheel 91.
It please join shown in Fig. 7 to Fig. 9, be the second preferred embodiment of clean robot 100' of the present invention, wherein the cleaning
The basic structure and assembled relation of robot 100' is similar with the first preferred embodiment, wherein identical structure is no longer superfluous herein
It states, is only illustrated below with the difference of two embodiments:
In the second preferred embodiment of the invention, the detection element 50' of the clean robot 100' include trigger member 51' and
Sensing device 52', when the side brush assemblies 20' becomes liftoff state from the state of landing, the trigger member 51' is in elastic parts
Lower generate of the restoring force effect of 25' deflects so that the sensing device 52' generates liftoff signal.
The trigger member 51' is directly or indirectly fixedly connected on the base portion 211' of the side brush assemblies 20', when the side
When brush assemblies 20' becomes liftoff state from the state of landing, the elastic parts 25' elastic movement simultaneously drives the base portion 211' inclined
Transhipment is dynamic, and then drives the trigger member 51' synchronous deflection movement.The base portion 211' has first of opposite ground biasing
It sets and the second position, when the side brush assemblies 20', which is in, lands state, the elastic parts 25' is in bias state, the base
Portion 211' is in the first position of opposite ground biasing；When the side brush assemblies 20' is in liftoff state, the elastic parts
25' returns back to free state, and then drives the base portion 211' and trigger member 51' deflection and generate sensing device 52'
Liftoff signal, the base portion 211' is in the second position of opposite ground biasing at this time.
In the present embodiment, the trigger member 51' is magnetic element, and directly or indirectly fixation connects with the base portion 211'
It connects, the elastic parts 25' is sheathed on the outside of the trigger member 51'.Specifically, in the present embodiment, the trigger member 51' is in
Rod-shaped setting, bottom end are fixedly connected with the base portion 211'；In other embodiments, the trigger member 51' may also set up in
On Baculovirus vectors, the bottom end of the carrier is fixedly connected with the base portion 211'.
In the present embodiment, in three brush arm 212' of the side brush assemblies 20', one of brush arm 212' and the bottom
Angle R1 between the bottom plate 112' of seat 11' is greater than the angle R2 between other two brush arm 212' and the bottom plate 112',
That is, the free terminal of one of brush arm 212' is lower than the free terminal of other two brush arm 212' under liftoff state,
And one of brush arm 212' is located at the front side of other two brush arm 212', such that the side brush assemblies 20', trigger member
51' and elastic parts 25' is in biased forward shape, and the top of the central axis of the trigger member 51' is compared with the forward setting in its bottom end, institute
The top of the central axis of elastic parts 25' is stated also compared with the forward setting in its bottom end.
It (is placed on ground or is in when the side brush assemblies 20' of the clean robot 100' is in the state that lands
Normally travel state) when, the lower one of brush arm 212' of free terminal is compressed upwardly by ground so that its in addition
Two brush arm 212' are in the same plane, at this point, the upper section of the elastic parts 25' deflects forward so that its entirety is in biasing
Shape, the trigger member 51' is in vertical at this time, and the top of central shaft moves backward relative to sensing device 52', the sensing
Device 52' detects lesser magnetic induction intensity.In this case, in the present embodiment, one of brush arm 212' with
Angle R0 between the bottom plate 112' is equal with the angle between other two brush arm 212' and the bottom plate 112', the folder
Angle R0 is greater than R2 and is less than R1；In other embodiments, the folder between one of brush arm 212' and the bottom plate 112'
Angle R0 can also be differed with the angle between other two brush arm 212' and the bottom plate 112', as long as making the freedom of brush arm 212'
End is located at sustained height.
When the side brush assemblies 20' of the clean robot 100' becomes liftoff state from the state of landing, the elasticity group
Part 25' under the action of the elastic-restoring force of its own to free state restore, and then drive trigger member 51' top relative to
The sensing device 52' is deflected forward, and sensing device 52' is made to sense the magnetic induction intensity of variation, to generate liftoff
Signal.
In the present embodiment, the elastic parts 25' includes the transmission shaft 23' of the side brush assemblies 20' and is located at described
Elastic component 252', the transmission shaft 23' on the inside of transmission shaft 23' are the elastic roller being sheathed on outside the trigger member 51', work as institute
State side brush assemblies 20' be in land state when, it is described elasticity roller in biasing shape；When the side brush assemblies 20' is in liftoff shape
When state, the elasticity roller returns back to free state, and then drives the base portion 211' and trigger member 51' deflection and make to pass
Induction device 52' generates liftoff signal.
The elasticity roller is the hollow type structure with accommodating chamber 230', and has enough wall degree good to make it have
Good torque transmitting effect, the trigger member 51' are contained in the accommodating chamber 230', and the transmission shaft 23' and the side are brushed
The base portion 211' of component 20' is fixedly connected.Annular stop portion 232' is equipped in the accommodating chamber 230' of the transmission shaft 23', it is described
Limiting section 232' from the inner wall of the transmission shaft 23' radially direction towards the projection of central shaft direction.
The elastic component 252' is located in the accommodating chamber 230' and is sheathed on outside the trigger member 51', the elastic component
252' is located on the downside of the limiting section 232', and limit, the elastic component 252' are kept out by the limiting section 232' in its top
It can be along the central axis direction elastic movement of the trigger member, to provide preferable elastic deformability to the side brush assemblies 20'.
It please join shown in Figure 10 and Figure 11, be the third preferred embodiment of clean robot of the present invention, wherein the cleaner
The basic structure and assembled relation of device people is identical with the second preferred embodiment, and details are not described herein, only implements below with two
The difference of example is illustrated:
In third preferred embodiment of the invention, the detection element 50'' of the clean robot and its detecting principle are with the
It is identical in two preferred embodiments, it also include trigger member 51'' and sensing device 52'', when the side brush assemblies 20'' is by normal row
When the state of sailing becomes liftoff state, the trigger member 51'' generates deflection so that institute under the restoring force effect of elastic parts 25''
It states sensing device 52'' and generates liftoff signal.
Unlike the second preferred embodiment, the elastic parts 25' include transmission shaft 23'' and be located at the transmission
Elastic component 252'' on the inside of axis 23'', the transmission shaft 23'' of the clean robot are the roller being sheathed on outside trigger member 51'',
The elastic component 252'' includes outer diameter inner spring and outer spring of different sizes, wherein the inner spring is located at the outer spring
Inside, and inside and outside spring has different rotation directions.The present embodiment provides torque biography using oppositely oriented the pair of spring
It passs, and then realizes the biased forward of side brush assemblies 20'', trigger member 51'' and transmission shaft 23''.
Specifically, in the present embodiment, the inside and outside spring is set as oppositely oriented left-handed spring and dextrorotation spring；
In other embodiments, the inside and outside spring also may respectively be dextrorotation spring and left-handed spring, so to guarantee the pair of bullet
Spring is not wound independently of one another, and is capable of providing biggish elastic-restoring force, successfully to drive trigger member 51'' to deflect.
In this embodiment, the transmission shaft 23'' is made of elastic material, and its shape and structure and second are preferably in fact
Shape and the structure for applying in example elastic roller are identical, and difference is, the wall thickness of transmission shaft 23'' is hit by a bullet compared with the second preferred embodiment
Property roller wall thickness it is small, in this embodiment, transmission shaft 23'' primarily as transmission shaft and dust protection effect, without recur
It is acted on to torque transmitting.
In the present invention, the side brush assemblies of the clean robot 100 its elastic parts 25,25', 25'' under the state of landing
In deformation state, when the side brush assemblies become liftoff state by the state of landing, elasticity of the elastic parts at its own
Restore under the action of restoring force to free state, and generate displacement or deflection, and then drives the side brush assemblies relative to described
Body does change in location movement, liftoff signal is generated to trigger detection element, to effectively realize liftoff monitoring；And the elasticity
Component is set on the brush assemblies of side, does not interfere with the normal traveling of driving wheel, and then guarantee the smooth running of clean robot.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (12)
1. a kind of clean robot, including body, dust removing units, monitoring unit and control unit, the dust removing units include peace
It is filled at least one side brush assemblies of the body, it is characterised in that: the monitoring unit has detection element, the side brush group
Part has elastic parts, and when the side brush assemblies become liftoff state from the state of landing, the elastic parts drives the side
Brush assemblies do change in location movement relative to the body, and the detection element changes according to the motion state of the side brush assemblies
Or the change triggers of side brush assemblies position generate liftoff signal, and the liftoff signal is sent to control unit, it is described
Control unit controls the motion state of the clean robot according to the liftoff signal.
2. clean robot as described in claim 1, it is characterised in that: when the side brush assemblies, which are in, lands state, institute
Elastic parts is stated in deformation state；When the side brush assemblies become liftoff state from the state of landing, the elastic parts is at it
Restore under the action of the elastic-restoring force of itself to free state, and then the side brush assemblies is driven to do position relative to the body
Varying motion is set to trigger the detection element.
3. clean robot as claimed in claim 1 or 2, it is characterised in that: it is described brushed when brush assemblies include and with it is described
The transmission shaft of the relatively fixed connection of side brush, the side brush include base portion and from the outwardly extending at least brush arm of the base portion.
4. clean robot as claimed in claim 3, it is characterised in that: the detection element includes trigger member and sensing dress
It sets, the trigger member is connected with the side brush assemblies, when the side brush assemblies become liftoff state from the state of landing, the touching
Outbox generates displacement under the drive of the side brush assemblies or deflects to trigger the sensing device and generate liftoff signal.
5. clean robot as claimed in claim 4, it is characterised in that: the trigger member is fixedly connected on the transmission shaft
Top, the transmission shaft has one axially, when the side brush assemblies become liftoff state from the state of landing, the elastic parts
Elastic movement simultaneously drives the transmission shaft along the axial displacement, and then the trigger member is driven to move synchronously.
6. clean robot as claimed in claim 5, it is characterised in that: the elastic parts is sheathed on outside the transmission shaft,
When the side brush assemblies, which are in, lands state, the base portion that the elastic parts is brushed by the side is upward in compression shape
State.
7. clean robot as claimed in claim 4, it is characterised in that: the trigger member is directly or indirectly fixedly connected on institute
The base portion for stating side brush, when the side brush assemblies become liftoff state from the state of landing, the elastic parts elastic movement and band
The base portion yaw motion is moved, and then drives the trigger member synchronous deflection movement.
8. clean robot as claimed in claim 7, it is characterised in that: when the side brush assemblies, which are in, lands state, institute
Elastic parts is stated in bias state；When the side brush assemblies are in liftoff state, the elastic parts returns back to free state,
And then the base portion and the trigger member is driven to deflect and sensing device is made to generate liftoff signal.
9. the clean robot as described in right wants 8, it is characterised in that: the elastic parts includes the transmission shaft, the biography
Moving axis is the elastic roller being sheathed on outside the trigger member, when the side brush assemblies, which are in, lands state, the elasticity roller
In biasing shape；When the side brush assemblies are in liftoff state, the elasticity roller returns back to free state, and then described in drive
Base portion and the trigger member deflect and sensing device are made to generate liftoff signal.
10. clean robot as claimed in claim 9, it is characterised in that: the elasticity roller is with the hollow of accommodating chamber
Formula structure, the trigger member are contained in the accommodating chamber, and the elasticity roller is fixedly connected with the base portion of the side brush assemblies.
11. clean robot as claimed in claim 8, it is characterised in that: the elastic parts includes the transmission shaft and position
Elastic component on the inside of the transmission shaft, the transmission shaft are the roller being sheathed on outside the trigger member, and the elastic component includes
Outer diameter inner spring and outer spring of different sizes, and the inner spring is located on the inside of the outer spring.
12. clean robot as claimed in claim 11, it is characterised in that: the inside and outside spring has different rotation directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810351903.2A CN110384440A (en) | 2018-04-19 | 2018-04-19 | Clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810351903.2A CN110384440A (en) | 2018-04-19 | 2018-04-19 | Clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110384440A true CN110384440A (en) | 2019-10-29 |
Family
ID=68283303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810351903.2A Pending CN110384440A (en) | 2018-04-19 | 2018-04-19 | Clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110384440A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022166020A1 (en) * | 2021-02-08 | 2022-08-11 | 美智纵横科技有限责任公司 | Lifting/lowering apparatus and cleaning robot |
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