CN111749167A

CN111749167A - Pedal limiting mechanism and cleaning robot

Info

Publication number: CN111749167A
Application number: CN202010623658.3A
Authority: CN
Inventors: 李振; 周亮; 陈博; 陆晓斌; 王生贵; 杨玉杯; 程昊天
Original assignee: Suzhou Gaozhixian Automation Technology Co Ltd
Current assignee: Suzhou Gaozhixian Automation Technology Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2020-10-09
Anticipated expiration: 2040-06-30
Also published as: CN111749167B

Abstract

The application provides a footboard stop gear and cleaning machines people belongs to intelligent cleaning machines people technical field. The pedal limiting mechanism comprises a pedal, a hinge, a first limiting piece and a second limiting piece. The hinge is connected to the pedal and is used for being connected to the frame. The first limiting piece is used for being fixed on the rack. The second limiting piece is fixed on the pedal and used for abutting against the first limiting piece when the pedal is turned to the unfolding position relative to the rack so as to offset the turning moment applied to the pedal and enabling the pedal to turn downwards. When the pedal is located at the unfolding position, the first limiting part limits the second limiting part, bearing capacity borne by the pedal is transmitted to the rack through the first limiting part by the second limiting part, and the hinge only provides a rotating function and hardly bears the force, so that the hinge can be effectively protected, and the hinge is prevented from being damaged due to the fact that the hinge bears large bearing capacity.

Description

Pedal limiting mechanism and cleaning robot

Technical Field

The application relates to the technical field of intelligent cleaning robots, in particular to a pedal limiting mechanism and a cleaning robot.

Background

With the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive. The coming of the robot era will revolutionize the existing production and manufacturing modes and the human life style. The intelligent sweeping robot is suitable for various outdoor environments, such as: scenic spots, industrial parks, factory roads, etc.

The pedal of the traditional sweeping robot bears weight mainly by virtue of the strength of the hinge after being turned to the unfolded position, but the hinge is deformed and damaged for a long time.

Disclosure of Invention

The embodiment of the application provides a footboard stop gear and cleaning machines people to improve and rely on the intensity of hinge itself to bear the weight and cause the problem of hinge deformation damage because of the footboard upset to the open position.

In a first aspect, an embodiment of the present application provides a pedal limiting mechanism, which includes a pedal, a hinge, a first limiting member, and a second limiting member;

the hinge is connected with the pedal and is used for being connected with the rack;

the first limiting piece is used for being fixed on the rack;

the second limiting piece is fixed to the pedal and used for abutting against the first limiting piece when the pedal is turned to the unfolding position relative to the rack, so that the turning moment applied to the pedal and used for turning the pedal downwards is offset.

In the above technical scheme, the first limiting part can limit the second limiting part. When the pedal is turned downwards to the unfolding position, the second limiting piece is abutted against the first limiting piece, so that the turning moment applied to the pedal and used for turning the pedal downwards is offset. When a person stands on the pedal positioned at the unfolding position, the bearing capacity borne by the pedal is transmitted to the rack through the first limiting part by the second limiting part, and the hinge only provides a rotating function and hardly bears the force, so that the hinge can be effectively protected, and the hinge is prevented from being damaged due to the fact that the hinge bears larger bearing capacity.

In some embodiments of the present application, the second limiting member includes a first limiting portion and a second limiting portion arranged at intervals on the pedal;

when the pedal is turned to the unfolding position relative to the frame, the first limiting part is abutted downwards against the first limiting part, and the second limiting part is abutted upwards against the first limiting part.

Among the above-mentioned technical scheme, when the footboard overturned to the expansion position, first spacing portion supported in first locating part downwards, and the spacing portion of second upwards supports in first locating part, and first spacing portion receives the effort from first locating part upwards promptly, and the spacing portion of second receives the effort from first locating part downwards to effectively offset the upset moment that makes its upset downwards that the footboard received. The first limiting part and the second limiting part which are arranged at intervals are adopted to abut against the first limiting part, and the structure can effectively improve the bearing capacity of the pedal.

In some embodiments of the present application, the first and second position limiting portions are both shaft-like members.

Among the above-mentioned technical scheme, first spacing portion and the spacing portion of second are axle form piece, simple structure, the shaping manufacturing of being convenient for.

In some embodiments of the present application, the first position-limiting member has a first hooking portion and a second hooking portion;

when the pedal is turned to the unfolding position relative to the frame, the first hanging and buckling part is hung and buckled on the first limiting part, and the second hanging and buckling part is hung and buckled on the second limiting part.

Among the above-mentioned technical scheme, when the footboard was located the expansion position, first string knot portion hung and detained in first spacing portion, the second was hung and detained the portion and hang and detain in the spacing portion of second, and first string knot portion plays fine limiting displacement to first spacing portion, and the second is hung and detains the portion and play fine limiting displacement to the spacing portion of second.

In some embodiments of the present application, the hinge has a rotation axis between the first and second position-limiting portions.

Among the above-mentioned technical scheme, the axis of rotation of hinge is located between first spacing portion and the spacing portion of second, can effectively reduce the swing range of first spacing portion and the spacing portion of second in footboard upset in-process, and the first spacing portion of being convenient for and the spacing portion of second support and first locating part and lean on.

In some embodiments of the present application, the pedal position limiting mechanism further comprises a position sensor;

the position sensor is fixedly arranged on the pedal;

the position sensor is triggered when the step is flipped to a deployed position relative to the frame.

Among the above-mentioned technical scheme, be equipped with position sensor on the footboard, when the footboard overturns to the expansion position relative the frame, position sensor will be triggered to send outage signal.

In some embodiments of the present application, the first stopper and the second stopper are disposed on both sides of the pedal in the direction of the rotation axis of the hinge.

According to the technical scheme, the first limiting part and the second limiting part are uniformly arranged on the two sides of the pedal in the direction of the rotation axis of the hinge, the bearing capacity of the pedal can be transmitted to the rack through the first limiting part by the second limiting parts on the two sides of the pedal, and the stability and the bearing capacity of the pedal in the unfolding position are improved.

In some embodiments of the present application, two first stoppers are disposed on both sides of the pedal in the direction of the rotation axis of the hinge.

Among the above-mentioned technical scheme, the both sides of footboard all are equipped with two first locating parts, and two first locating parts have better bearing capacity to the second locating part.

In some embodiments of the present application, the pedal is fixedly provided with a mounting seat on both sides in the direction of the rotation axis of the hinge;

the second limiting piece is fixed on the mounting seat.

Among the above-mentioned technical scheme, the setting of footboard both sides mount pad is convenient for arrange the second locating part. Meanwhile, the first limiting part and the side part of the pedal can keep a certain distance by the arrangement of the mounting seat, and the first limiting part is prevented from interfering the pedal in the vertical overturning process.

In a second aspect, an embodiment of the present application provides a cleaning robot, including a frame, a cleaning mechanism, and the pedal position limiting mechanism;

the hinge is connected to the rack, and the first limiting piece is fixed to the rack;

the cleaning mechanism is mounted to the frame.

In the technical scheme, the bearing capacity of the pedal in the cleaning robot can be transmitted to the rack through the first limiting part by the second limiting part, and the hinge only provides a rotating function and does not bear the force, so that the hinge can be effectively protected, and the hinge is prevented from being damaged due to the fact that the hinge bears larger bearing capacity.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a pedal position limiting mechanism (a pedal is in a deployed position) provided in an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a step limiting mechanism (step in a retracted position) provided in an embodiment of the present application;

FIG. 4 is a partial view of a pedal limiting mechanism provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a first limiting member of the pedal limiting mechanism shown in FIG. 4;

FIG. 6 is a partial view of a pedal limiting mechanism provided in accordance with certain embodiments of the present application;

FIG. 7 is a partial view of a step limiting mechanism according to further embodiments of the present application.

Icon: 100-a cleaning robot; 10-a frame; 20-a cleaning mechanism; 30-a pedal limit mechanism; 31-a pedal; 311-a panel; 312-reinforcing strips; 313-a mount; 3131-a connecting block; 3132-a connecting plate; 32-hinge; 33-a first limiting member; 331-plate portion; 332-a first hook; 3321-first arc surface; 333-a second hook; 3331-a second arc surface; 334-a first side; 335-a second side; 34-a second stop; 341-first limiting part; 342-a second limiting part; 343-strip-shaped through holes; 35-a position sensor; a-axis of rotation.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first" and "second" are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Examples

Please refer to fig. 1, which is a schematic structural diagram of a cleaning robot 100 according to an embodiment of the present disclosure. The cleaning robot 100 includes a frame 10, a cleaning mechanism 20, and a pedal position-limiting mechanism 30, and both the cleaning mechanism 20 and the pedal position-limiting mechanism 30 are mounted on the frame 10. The cleaning mechanism 20 is used for performing a cleaning task, and the specific structure of the cleaning mechanism 20 can be found in the related art and will not be described herein.

Please refer to fig. 2, which is a schematic structural diagram of the pedal position limiting mechanism 30 (the pedal 31 is located at the unfolding position) according to the embodiment of the present disclosure. The pedal position limiting mechanism 30 includes a pedal 31, a hinge 32, a first limiting member 33, and a second limiting member 34. Hinge 32 is connected to both pedal 31 and frame 10 (not shown in fig. 2). The first limiting member 33 is fixed to the frame 10. The second limiting member 34 is fixed to the pedal 31, and the second limiting member 34 is used for abutting against the first limiting member 33 when the pedal 31 is turned to the unfolding position relative to the frame 10, so as to counteract the turning moment applied to the pedal 31 to turn downward.

The first limiting member 33 fixed on the frame 10 can limit the second limiting member 34. When the pedal 31 is flipped down to the deployed position, the second limiting member 34 abuts against the first limiting member 33, so as to counteract the flipping moment applied to the pedal 31 to flip it down. When a person stands on the pedal 31 in the unfolded position, the bearing force applied to the pedal 31 is transmitted to the frame 10 through the first limiting member 33 by the second limiting member 34, and the hinge 32 only provides a rotation function and hardly bears the force, so that the hinge 32 can be effectively protected and the hinge 32 is prevented from being damaged due to the large bearing force.

Wherein, the hinge 32 can be connected and fixed with the pedal 31 and the frame 10 through screws. The step 31 and the frame 10 are connected by a hinge 32 to achieve a rotational connection of the step 31 and the frame 10 such that the step 31 can be flipped between a stowed position and a deployed position.

When the step 31 is located at the deployed position, the step 31 may be located at a horizontal position, may be inclined upward by a certain angle from the horizontal position, or may be inclined downward by a certain angle from the horizontal position, as long as the step 31 can support a person.

Please refer to fig. 3, which is a schematic structural diagram of the pedal position limiting mechanism 30 (the pedal 31 is located at the retracted position) according to the embodiment of the present application. When the step 31 is rotated from the extended position to the retracted position, the step 31 is located on one side of the frame 10 (not shown in fig. 3), and the step 31 is substantially in the standing state, at this time, the first limiting member 33 and the second limiting member 34 are separated.

The pedal position limiting mechanism 30 further comprises a position sensor 35, the position sensor 35 is fixedly arranged on the pedal 31, when the pedal 31 is turned to the unfolding position relative to the frame 10, the position sensor 35 is triggered to send out a power-off signal, and at the moment, the driving part in the cleaning mechanism 20 is powered off. That is, when a person stands on the pedal 31, the driving part is automatically powered off to ensure the safety of the person.

When the pedal 31 reaches the deployed position, the position sensor 35 may be triggered by the frame 10. The position sensor 35 may be a pressure sensor, a distance sensor, or the like. If the position sensor 35 is a pressure sensor, when the pedal 31 reaches the unfolding position, the pressure applied by the frame 10 by the pressure sensor reaches a preset value, and the pressure sensor sends a power-off signal; if the position sensor 35 is a distance sensor, when the pedal 31 reaches the unfolding position, the distance between the distance sensor and the pedal 31 reaches a preset value, and the distance sensor sends a power-off signal.

The pedal 31 includes a face plate 311, and two reinforcing strips 312, and the reinforcing strips 312 are fixed to a bottom surface of the face plate 311 in the thickness direction. The hinge 32 is fixed to the rear side of the panel 311 by screws, the two reinforcing strips 312 are distributed on the panel 311 at intervals along the axial direction of the hinge 32, the two reinforcing strips 312 are respectively located at two sides of the panel 311, and the hinge 32 is located between the two reinforcing strips 312. The two reinforcing bars 312 may reinforce the panel 311 so that the entire step 31 has sufficient strength. The position sensor 35 is fixed to the bottom surface of the panel 311 in the thickness direction, and the position sensor 35 is located between the two reinforcing bars 312.

Note that the hinge 32 attached to the step 31 may be one, two, three, or the like.

Further, the pedal 31 is provided with mounting seats 313 on both sides in the direction of the rotation axis a of the hinge 32. The two mounting seats 313 are fixed to the two reinforcing bars 312, respectively.

Illustratively, the mounting seat 313 includes a connecting block 3131 and a connecting plate 3132, the connecting block 3131 is fixed on an outer side surface of the reinforcing strip 312, the connecting plate 3132 is fixed on an end of the connecting block 3131 away from the reinforcing strip 312, and the connecting plate 3132 and the connecting block 3131 form an L-shaped structure. The connection block 3131 is located at the rear end of the reinforcing strip 312, and the connection plate 3132 is parallel to the reinforcing strip 312.

The pedal 31 is provided with a first stopper 33 and a second stopper 34 on both sides in the direction of the rotation axis a of the hinge 32. The bearing force of the pedal 31 can be transmitted to the frame 10 through the first limiting member 33 by the second limiting members 34 on both sides of the pedal 31, so that the stability and the bearing capacity of the pedal 31 in the unfolding position are improved.

The second limiting member 34 is fixed on the connecting plate 3132 of the mounting seat 313 on the pedal 31. The provision of the mounting seat 313 on the pedal 31 facilitates the arrangement of the second stopper 34. Meanwhile, the installation seat 313 can keep a certain distance between the first limiting member 33 and the side portion of the pedal 31, so that the first limiting member 33 is prevented from interfering with the pedal 31 in the process of turning up and down.

It should be noted that one first stopper 33 (shown in fig. 3) may be disposed on each side of the pedal 31 in the direction of the rotation axis a of the hinge 32. Of course, a plurality of first stoppers 33 may be disposed on each side of the pedal 31 in the direction of the rotation axis a of the hinge 32.

Please refer to fig. 4, which is a partial view of the pedal position limiting mechanism 30 according to the embodiment of the present disclosure. Two first stoppers 33 are disposed on both sides of the pedal 31 in the direction of the rotation axis a of the hinge 32. The two first limiting members 33 have better supporting capability for the second limiting member 34.

The second limiting member 34 includes a first limiting portion 341 and a second limiting portion 342 spaced apart from each other and disposed on the mounting seat 313 of the pedal 31. When the pedal 31 is turned to the unfolding position relative to the frame 10, the first position-limiting portion 341 abuts against the first position-limiting member 33 downward, and the second position-limiting portion 342 abuts against the first position-limiting member 33 upward. That is, the first position-limiting portion 341 receives an upward force from the first position-limiting member 33, and the second position-limiting portion 342 receives a downward force from the first position-limiting member 33, so as to effectively counteract the turning moment applied to the pedal 31 to turn it downward. The first position-limiting portion 341 and the second position-limiting portion 342 disposed at an interval are adopted to abut against the first position-limiting member 33, and this structure can effectively improve the bearing capacity of the pedal 31.

In this embodiment, the rotation axis a of the hinge 32 is located between the first position-limiting portion 341 and the second position-limiting portion 342, which can effectively reduce the swing amplitude of the first position-limiting portion 341 and the second position-limiting portion 342 during the overturning process of the pedal 31, and is convenient for the first position-limiting portion 341 and the second position-limiting portion 342 to abut against the first position-limiting member 33.

Illustratively, the distance from the rotation axis a of the hinge 32 to the first position-limiting portion 341 is smaller than the distance from the rotation axis a of the hinge 32 to the second position-limiting portion 342. That is, during the overturning process of the pedal 31, the swing amplitude of the first position-limiting portion 341 is smaller than the swing amplitude of the second position-limiting portion 342.

In other embodiments, the first position-limiting portion 341 may be located between the second position-limiting portion 342 and the rotation axis a of the hinge 32, or the second position-limiting portion 342 may be located between the first position-limiting portion 341 and the rotation axis a of the hinge 32.

Illustratively, the first and second position-limiting

portions

341 and 342 are each a shaft-like member having a circular cross-section. The first position-limiting portion 341 and the second position-limiting portion 342 are both protruded on the connecting plate 3132 of the mounting base 313. The same plane where the axis of the first position-limiting portion 341 and the axis of the second position-limiting portion 342 are located is parallel to the plane where the panel 311 of the pedal 31 is located, and the first position-limiting portion 341 is located on the front side of the second position-limiting portion 342. In other embodiments, the same plane where the axis of the first position-limiting portion 341 and the axis of the second position-limiting portion 342 are located and the plane where the panel 311 of the pedal 31 is located may also be arranged at an included angle.

The first limiting member 33 is a plate, the first limiting member 33 includes a plate portion 331, a first hooking portion 332 and a second hooking portion 333, the first hooking portion 332 and the second hooking portion 333 are respectively disposed on two sides of the plate portion 331, the first hooking portion 332 and the plate portion 331 substantially form an "L" shaped structure, and the second hooking portion and the plate portion 331 substantially form an inverted "L" shaped structure.

When the pedal 31 is turned to the unfolding position relative to the frame 10, the first hooking portion 332 is hooked on the first position-limiting portion 341, and the second hooking portion 333 is hooked on the second position-limiting portion 342. The first hooking part 332 has a good limiting function on the first limiting part 341, and the second hooking part 333 has a good limiting function on the second limiting part 342.

Please refer to fig. 5, which is a schematic structural diagram of the first limiting member 33 in the pedal limiting mechanism 30 shown in fig. 4. The first hooking part 332 has a first arc 3321 for engaging with the circumferential surface of the first stopper 341, and the second hooking part 333 has a second arc 3331 for engaging with the circumferential surface of the second stopper 342.

In some embodiments of the present application, in the case that the second position-limiting member 34 is a first position-limiting portion 341 and a second position-limiting portion 342 which are arranged at an interval, and the first position-limiting portion 341 and the second position-limiting portion 342 are shaft-shaped members, the first position-limiting member 33 may also have other structures. For example, please refer to fig. 6, which is a partial view of a pedal limiting mechanism 30 according to some embodiments of the present disclosure. The first limiting member 33 is a rectangular plate having a first side surface 334 and a second side surface 335 that are parallel to each other, the first side surface 334 is located in front of the second side surface 335, the first limiting portion 341 is lower than the second limiting portion 342, and the rotation axis a of the hinge 32 is located in front of the first limiting portion 341. When the pedal 31 is located at the unfolding position, the first position-limiting portion 341 abuts against the first side surface 334 backwards, and the second position-limiting portion 342 abuts against the second side surface 335 forwards, so as to counteract the overturning moment applied to the pedal 31 to overturn downwards.

In other embodiments of the present application, the second limiting member 34 can also have other structures, for example, as shown in fig. 7, which is a partial view of the pedal limiting mechanism 30 provided in other embodiments of the present application. The second limiting member 34 is a plate-shaped member, the second limiting member 34 has an upper surface and a lower surface which are arranged in parallel, the lower surface is a first limiting portion 341, the upper surface is a second limiting portion 342, the second limiting member 34 is provided with a strip-shaped through hole 343 which runs through the upper surface and the lower surface, the strip-shaped through hole 343 is used for the top of the first limiting member 33 to pass through when the pedal 31 is turned downwards, so that the lower surface (the first limiting portion 341) of the second limiting member 34 is abutted downwards against the first limiting member 33 when the pedal 31 reaches the unfolded position, and the upper surface (the second limiting portion 342) of the second limiting member 34 is abutted upwards against the first limiting member 33, so as to counteract the turning moment which makes the pedal 31 turn downwards.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A pedal limiting mechanism is characterized by comprising:

a pedal;

the first limiting piece is used for being fixed on the rack; and

the second limiting part is fixed on the pedal and used for abutting against the first limiting part when the pedal is overturned to the unfolding position relative to the rack so as to counteract overturning moment applied to the pedal and enabling the pedal to overturn downwards.

2. The pedal limiting mechanism according to claim 1, wherein the second limiting member includes a first limiting portion and a second limiting portion which are arranged at intervals on the pedal;

3. The pedal limiting mechanism according to claim 2, wherein the first limiting portion and the second limiting portion are both shaft-like members.

4. The pedal limiting mechanism according to claim 3, wherein the first limiting member has a first hooking portion and a second hooking portion;

5. The pedal limit mechanism according to claim 3, wherein the axis of rotation of the hinge is located between the first limit portion and the second limit portion.

6. The pedal limit mechanism of claim 1, further comprising:

the position sensor is fixedly arranged on the pedal;

7. The pedal limiting mechanism according to any one of claims 1 to 6, wherein the first limiting member and the second limiting member are disposed on both sides of the pedal in the direction of the rotation axis of the hinge.

8. The pedal limiting mechanism according to claim 7, wherein two first limiting members are disposed on both sides of the pedal in the direction of the rotation axis of the hinge.

9. The pedal limiting mechanism according to claim 7, wherein the pedal is fixedly provided with mounting seats at both sides in the direction of the rotation axis of the hinge;

the second limiting piece is fixed on the mounting seat.

10. A cleaning robot, characterized by comprising:

the pedal limit mechanism according to any one of claims 1-9;

the hinge is connected to the rack, and the first limiting piece is fixed to the rack; and

and the cleaning mechanism is arranged on the rack.