CN113116237A - Obstacle avoidance mechanism of sweeping robot and obstacle detection system - Google Patents
Obstacle avoidance mechanism of sweeping robot and obstacle detection system Download PDFInfo
- Publication number
- CN113116237A CN113116237A CN202110461881.7A CN202110461881A CN113116237A CN 113116237 A CN113116237 A CN 113116237A CN 202110461881 A CN202110461881 A CN 202110461881A CN 113116237 A CN113116237 A CN 113116237A
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- China
- Prior art keywords
- obstacle avoidance
- sweeping robot
- avoidance mechanism
- connector
- cavity groove
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Classifications
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- 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
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- 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
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- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of sweeping robots and discloses an obstacle avoidance mechanism of a sweeping robot, which comprises a sweeping machine body, wherein the sweeping machine body is provided with an installation frame for fixing an obstacle avoidance assembly, and a cavity groove is formed in the installation frame; the wire take-up assembly comprises a transmission shaft rotatably arranged on the inner wall of the cavity groove, and a rotary drum is fixed at the end part of the transmission shaft; the dust collection assembly is arranged on the wire collection assembly and comprises a gas pipe, a collection box, a hood and an air pump which are wound on the rotary drum, the gas pipe can be discharged and the hood can be driven to enter the gap or the hole through the matching of structures such as the rotary drum, the gas pipe, the hood and the collection box, so that dust in the deep part of the gap or the hole can be quickly removed, the gas pipe can be wound and retracted again when the dust collection assembly is idle, the structure is simple, the design is ingenious, and the using effect of the dust collection assembly is greatly improved.
Description
Technical Field
The invention belongs to the technical field of sweeping robots, and particularly relates to an obstacle avoidance mechanism and an obstacle detection system of a sweeping robot.
Background
The robot of sweeping the floor is called lazy people machine of sweeping the floor again, it is the intelligent domestic appliance who can carry out automatic dust absorption to ground, because it can be to the room size, the furniture is put, factors such as ground cleanliness detect, and rely on built-in procedure, formulate reasonable clean route, consequently the machine of sweeping the floor need possess the automatic function of keeping away barrier and intelligent navigation, in current device, the machine of sweeping the floor keeps away the barrier mechanism and comprises keeping away barrier frame and sensor module usually, sensor module comprises ultrasonic sensor and infrared laser sensor, and inlay on keeping away the barrier frame, be used for detecting whether there is the barrier in the place ahead.
However, the existing devices in the market still have more defects in practical use, for example, for places with small space such as splint gaps or holes, the robot is difficult to enter and clean, and the robot is also difficult to go deep into the places for cleaning, so that dust in the deep part of the gaps or holes is difficult to remove, and more piles are needed, which greatly affects the sanitation and safety.
Disclosure of Invention
The invention aims to provide an obstacle avoidance mechanism of a sweeping robot and an obstacle detection system, and aims to solve the problems that gaps or holes of a clamping plate and other spaces are small and cleaning is difficult in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the obstacle avoidance mechanism of the sweeping robot comprises a sweeping machine body, wherein a mounting frame for fixing an obstacle avoidance assembly is arranged on the sweeping machine body, and a cavity groove is formed in the mounting frame; the wire take-up assembly comprises a transmission shaft rotatably arranged on the inner wall of the cavity groove, and a rotary drum is fixed at the end part of the transmission shaft; the dust absorption subassembly, the dust absorption unit mount is on receiving the line subassembly, and the dust absorption subassembly includes gas-supply pipe, collecting box, hood and the air pump of winding on the rotary drum, wherein the one end of gas-supply pipe is fixed in on the rotary drum and is connected with the collecting box, and the other end of gas-supply pipe extends to the outside of installing frame and is connected with the hood, the air pump passes through the hose and is connected with the collecting box.
Preferably, the device comprises a limiting component arranged in the cavity groove; the limiting assembly comprises a fixing plate arranged on the inner wall of the cavity groove and a pressing plate, wherein a spring and a telescopic cylinder are connected between one side of the pressing plate and the fixing plate, and the other side of the pressing plate is abutted to the gas conveying pipe.
Preferably, the connecting component is arranged between the air conveying pipe and the head cover; the coupling assembling is including being fixed in the first connector on the hood and being fixed in the second connector on the gas-supply pipe, wherein the tip symmetric connection of second connector has the stopper, and the spacing groove has been seted up to the tip of second connector, still be fixed with the snap ring in the middle of the tip of second connector.
Preferably, a guide component is arranged on the hood; the guide assembly comprises a movable shaft, the movable shaft is rotatably installed on the head cover, and the two ends of the movable shaft are symmetrically connected with idler wheels.
Preferably, a driving assembly is further mounted inside the cavity groove, and the driving assembly is used for driving the transmission shaft to rotate back and forth.
Preferably, the driving assembly comprises a driving motor and a gear set, and the driving motor can drive the transmission shaft to rotate through the gear set.
Preferably, the gear set includes a driving gear and a driven gear, and the driven gear is engaged with the driving gear.
Preferably, the side wall of the mounting frame is provided with a through hole, and the through hole is used for matching with a gas pipe to enter and exit the cavity groove.
Preferably, the obstacle avoidance assembly comprises an ultrasonic sensor and an infrared laser sensor.
The obstacle detection system of the sweeping robot comprises an obstacle avoidance mechanism of the sweeping robot.
Compared with the prior art, the invention has the beneficial effects that:
(1) the dust collecting device has the advantages that the rotating drum, the gas conveying pipe, the head cover, the collecting box and the like are matched, so that the gas conveying pipe can be discharged and drives the head cover to enter the gap or the hole, dust in the deep part of the gap or the hole can be quickly removed, the gas conveying pipe can be wound and retracted again when the dust collecting device is idle, the structure is simple, the design is ingenious, and the using effect of the dust collecting device is greatly improved.
(2) The invention can ensure that the pressing plate can be pressed on the outer side of the gas pipe through the matching of the structures such as the telescopic cylinder, the pressing plate, the spring and the like, so that the gas pipe can be always attached to the rotary cylinder, and further, the gas pipe can be prevented from being separated from the rotary cylinder when the rotary cylinder rotates, the paying-off or taking-up effect is prevented from being influenced, and the normal use of the device is ensured.
(3) According to the invention, through the matching of the structures such as the limiting block, the limiting groove, the clamping ring and the like, the rapid disassembly and assembly between the first connector and the second connector can be realized, so that the hood can be replaced conveniently, the hoods with various specifications can be installed according to actual conditions, and the practical function of the device is greatly improved.
(4) The invention can guide the head cover when the gas pipe drives the head cover to move by the matching of the movable shaft and the roller, thereby leading the head cover to stably move on the ground, having certain reinforcing capacity, effectively preventing the head cover from swinging in a flying way and greatly improving the safety.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is an enlarged view of portion B of FIG. 1;
FIG. 4 is a schematic structural diagram of the first connector and the second connector of the present invention;
FIG. 5 is an enlarged view of section C of FIG. 1;
in the figure: 1. a sweeper body; 2. installing a frame; 21. an ultrasonic sensor; 22. an infrared laser sensor; 3. a cavity groove; 31. a drive shaft; 32. a rotating drum; 33. a collection box; 34. an air pump; 35. a gas delivery pipe; 36. a head cover; 37. a through hole; 41. a drive motor; 42. a drive gear; 43. a driven gear; 51. pressing the plate; 52. a spring; 53. a fixing plate; 54. a telescopic cylinder; 61. a first connector; 62. a second connector; 63. a limiting block; 64. a limiting groove; 65. a snap ring; 71. a movable shaft; 72. and a roller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Referring to fig. 1-5, the present invention provides the following technical solutions: an obstacle avoidance mechanism of a sweeping robot comprises a sweeping machine body 1, wherein a mounting frame 2 for fixing an obstacle avoidance assembly is arranged on the sweeping machine body 1, and a cavity groove 3 is formed in the mounting frame 2; the wire take-up assembly comprises a transmission shaft 31 rotatably arranged on the inner wall of the cavity groove 3, and a rotary drum 32 is fixed at the end part of the transmission shaft 31; the dust collection assembly is arranged on the wire collection assembly and comprises an air pipe 35 wound on the rotary drum 32, a collection box 33, a head cover 36 and an air pump 34, wherein one end of the air pipe 35 is fixed on the rotary drum 32 and connected with the collection box 33, the other end of the air pipe 35 extends to the outside of the mounting frame 2 and is connected with the head cover 36, the air pump 34 is connected with the collection box 33 through a hose, when a gap or a hole is met, the head cover 36 faces to the gap or the hole through the obstacle avoidance assembly, then the transmission shaft 31 is driven to rotate through the driving assembly, the transmission shaft 31 drives the rotary drum 32 to rotate, so that the air pipe 35 wound on the rotary drum 32 can be released, the air pipe 35 extends out of the cavity groove 3 and drives the head cover 36 to enter the gap or the hole, then suction force is generated through the work of the head cover 34, then dust can enter the air pump 35 through the head cover 36 and, and then can clear away the dust of gap or hole depths fast, guaranteed sanitary safety, and simple structure, design benefit is convenient for change the maintenance, has improved the result of use of device greatly.
Further, the device comprises a limiting component arranged in the cavity groove 3; the limiting assembly comprises a fixing plate 53 and a pressing plate 51 which are arranged on the inner wall of the cavity groove 3, wherein a spring 52 and a telescopic cylinder 54 are connected between one side of the pressing plate 51 and the fixing plate 53, the other side of the pressing plate 51 is abutted to the air conveying pipe 35, the pressing plate 51 can be supported and fixed through the telescopic cylinder 54, and meanwhile, under the elastic action of the spring 52, the pressing plate 51 can be always abutted to the outer side of the air conveying pipe 35, so that the air conveying pipe 35 can be tightly attached to the rotary drum 32, the air conveying pipe 35 can be prevented from being separated from the rotary drum 32 when the rotary drum 32 rotates, the paying-off or taking-up effect is influenced, and the normal use of the device is ensured.
Further, the connecting component is arranged between the air conveying pipe 35 and the head cover 36; the coupling assembling is including being fixed in the first connector 61 on the hood 36 and being fixed in the second connector 62 on the gas-supply pipe 35, wherein the tip symmetric connection of second connector 62 has stopper 63, and the spacing groove 64 has been seted up to the tip of second connector 62, still be fixed with snap ring 65 in the middle of the tip of second connector 62, through stopper 63 and the mutual rotation joint of spacing groove 64, snap ring 65 can peg graft in first connector 61 simultaneously, thereby can realize quick assembly disassembly between first connector 61 and the second connector 62, and then be convenient for change hood 36, so that install the hood 36 of multiple specification according to actual conditions, the practical function of device has been improved greatly.
Specifically, the hood 36 is provided with a guide assembly; the guide assembly comprises a movable shaft 71, the movable shaft 71 is rotatably arranged on the head cover 36, the two ends of the movable shaft 71 are symmetrically connected with rollers 72, and the movable shaft 71 and the rollers 72 are matched with each other, so that the head cover 36 can be guided when the air conveying pipe 35 drives the head cover 36 to move, the head cover 36 can stably move on the ground, and meanwhile, certain reinforcing capacity is achieved, the head cover 36 can be effectively prevented from swinging in a flying manner, and the safety is greatly improved.
Specifically, a driving assembly is also mounted inside the cavity 3 and is used for driving the transmission shaft 31 to rotate back and forth.
Specifically, the driving assembly includes a driving motor 41 and a gear set, and the driving motor 41 can drive the transmission shaft 31 to rotate through the gear set.
Specifically, the gear train includes a driving gear 42 and a driven gear 43, and the driven gear 43 is engaged with the driving gear 42, and the drum 32 is stably rotated slowly through the gear train.
Specifically, the side wall of the mounting frame 2 is provided with a through hole 37, the air pipe 35 is convenient to move through the through hole 37, and the through hole 37 is used for matching the air pipe 35 to enter and exit the cavity groove 3.
Specifically, the obstacle avoidance assembly includes an ultrasonic sensor 21 and an infrared laser sensor 22, and the distance between the object and the device can be detected by the obstacle avoidance assembly.
An obstacle detection system of a sweeping robot comprises an obstacle avoidance mechanism of the sweeping robot.
The working principle and the using process of the invention are as follows: when the invention is used, the head cover 36 faces to the gap or the hole through the obstacle avoidance component, then the driving component drives the driving shaft 31 to rotate, the driving shaft 31 drives the rotary drum 32 to rotate, so that the air conveying pipe 35 wound on the rotary drum 32 can be released, at the moment, the pressing plate 51 can be pressed against the outer side of the air conveying pipe 35 under the matching of the telescopic drum 54 and the spring 52, so that the air conveying pipe 35 can be tightly attached to the rotary drum 32, further, the air conveying pipe 35 is prevented from being separated from the rotary drum 32 when the rotary drum 32 rotates, then the air conveying pipe 35 extends out of the cavity groove 3 and drives the head cover 36 to enter the gap or the hole, through the matching of the movable shaft 71 and the roller 72, the head cover 36 can be guided when the air conveying pipe 35 drives the head cover 36 to move, so that the head cover 36 can stably move on the ground, meanwhile, certain reinforcing capacity is provided, the head cover 36 can be effectively prevented from, later produce suction through the work of air pump 34, dust accessible hood 36 gets into in the gas-supply pipe 35, then in getting into collecting box 33 through gas-supply pipe 35 again, and then can clear away the dust of gap or hole depths fast, sanitary safety has been guaranteed, and simple structure, design benefit, be convenient for change the maintenance, the result of use of device has been improved greatly, furthermore, through stopper 63 and spacing groove 64 looks mutual rotation joint, snap ring 65 can peg graft in first connector 61 simultaneously, thereby can realize the quick assembly disassembly between first connector 61 and the second connector 62, and then be convenient for change hood 36, so that install the hood 36 of multiple specification according to actual conditions, the practical function of device has been improved greatly.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a robot of sweeping floor keeps away barrier mechanism which characterized in that includes:
the sweeper body is provided with an installation frame for fixing the obstacle avoidance assembly, and a cavity groove is formed in the installation frame;
the wire take-up assembly comprises a transmission shaft rotatably arranged on the inner wall of the cavity groove, and a rotary drum is fixed at the end part of the transmission shaft;
the dust absorption subassembly, the dust absorption unit mount is on receiving the line subassembly, and the dust absorption subassembly includes gas-supply pipe, collecting box, hood and the air pump of winding on the rotary drum, wherein the one end of gas-supply pipe is fixed in on the rotary drum and is connected with the collecting box, and the other end of gas-supply pipe extends to the outside of installing frame and is connected with the hood, the air pump passes through the hose and is connected with the collecting box.
2. The obstacle avoidance mechanism of the sweeping robot according to claim 1, characterized in that: comprises a limiting component arranged in a cavity groove;
the limiting assembly comprises a fixing plate arranged on the inner wall of the cavity groove and a pressing plate, wherein a spring and a telescopic cylinder are connected between one side of the pressing plate and the fixing plate, and the other side of the pressing plate is abutted to the gas conveying pipe.
3. The obstacle avoidance mechanism of the sweeping robot according to claim 1, characterized in that: the connecting component is arranged between the gas conveying pipe and the head cover;
the coupling assembling is including being fixed in the first connector on the hood and being fixed in the second connector on the gas-supply pipe, wherein the tip symmetric connection of second connector has the stopper, and the spacing groove has been seted up to the tip of second connector, still be fixed with the snap ring in the middle of the tip of second connector.
4. The obstacle avoidance mechanism of the sweeping robot according to claim 1, characterized in that: the head cover is provided with a guide component;
the guide assembly comprises a movable shaft, the movable shaft is rotatably installed on the head cover, and the two ends of the movable shaft are symmetrically connected with idler wheels.
5. The obstacle avoidance mechanism of the sweeping robot according to claim 1, characterized in that: and a driving assembly is further installed in the cavity groove and used for driving the transmission shaft to rotate back and forth.
6. The obstacle avoidance mechanism of the sweeping robot according to claim 5, characterized in that: the driving assembly comprises a driving motor and a gear set, and the driving motor can drive the transmission shaft to rotate through the gear set.
7. The obstacle avoidance mechanism of the sweeping robot according to claim 6, characterized in that: the gear set comprises a driving gear and a driven gear, and the driven gear is meshed with the driving gear.
8. The obstacle avoidance mechanism of the sweeping robot according to claim 1, characterized in that: the side wall of the mounting frame is provided with a through hole, and the through hole is used for matching with a gas pipe inlet and outlet cavity groove.
9. The obstacle avoidance mechanism of the sweeping robot according to claim 1, characterized in that: keep away barrier subassembly includes ultrasonic sensor and infrared laser sensor.
10. The utility model provides a barrier detecting system of robot sweeps floor which characterized in that: an obstacle avoidance mechanism comprising the sweeping robot of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110461881.7A CN113116237A (en) | 2021-04-27 | 2021-04-27 | Obstacle avoidance mechanism of sweeping robot and obstacle detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110461881.7A CN113116237A (en) | 2021-04-27 | 2021-04-27 | Obstacle avoidance mechanism of sweeping robot and obstacle detection system |
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| Publication Number | Publication Date |
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| CN113116237A true CN113116237A (en) | 2021-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110461881.7A Pending CN113116237A (en) | 2021-04-27 | 2021-04-27 | Obstacle avoidance mechanism of sweeping robot and obstacle detection system |
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| Country | Link |
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| CN (1) | CN113116237A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1495608A (en) * | 1974-03-08 | 1977-12-21 | Tissier J | Cleaning appliance |
| DE4140853A1 (en) * | 1991-12-11 | 1993-06-17 | Gansow Maschbau Gmbh Co Kg | FLOOR CLEANING MACHINE |
| CN107822565A (en) * | 2017-11-08 | 2018-03-23 | 安嘉琦 | The smart home sweeper of slit cleaning can be realized |
| CN207370673U (en) * | 2017-05-15 | 2018-05-18 | 谢平平 | A kind of mill floor and equipment surface dust stratification negative pressure clearing apparatus |
| CN208625576U (en) * | 2017-12-06 | 2019-03-22 | 马伊兰 | A kind of scalable steel arm type sweeping robot |
| CN209951167U (en) * | 2019-02-15 | 2020-01-17 | 深圳市互动网络科技有限公司 | Household multifunctional robot |
| CN212136251U (en) * | 2020-07-15 | 2020-12-11 | 深圳市悦音电声科技有限公司 | Winding device of loudspeaker voice coil |
-
2021
- 2021-04-27 CN CN202110461881.7A patent/CN113116237A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1495608A (en) * | 1974-03-08 | 1977-12-21 | Tissier J | Cleaning appliance |
| DE4140853A1 (en) * | 1991-12-11 | 1993-06-17 | Gansow Maschbau Gmbh Co Kg | FLOOR CLEANING MACHINE |
| CN207370673U (en) * | 2017-05-15 | 2018-05-18 | 谢平平 | A kind of mill floor and equipment surface dust stratification negative pressure clearing apparatus |
| CN107822565A (en) * | 2017-11-08 | 2018-03-23 | 安嘉琦 | The smart home sweeper of slit cleaning can be realized |
| CN208625576U (en) * | 2017-12-06 | 2019-03-22 | 马伊兰 | A kind of scalable steel arm type sweeping robot |
| CN209951167U (en) * | 2019-02-15 | 2020-01-17 | 深圳市互动网络科技有限公司 | Household multifunctional robot |
| CN212136251U (en) * | 2020-07-15 | 2020-12-11 | 深圳市悦音电声科技有限公司 | Winding device of loudspeaker voice coil |
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Application publication date: 20210716 |