CN206007163U - A kind of slide system sweeping robot - Google Patents
A kind of slide system sweeping robot Download PDFInfo
- Publication number
- CN206007163U CN206007163U CN201620505842.7U CN201620505842U CN206007163U CN 206007163 U CN206007163 U CN 206007163U CN 201620505842 U CN201620505842 U CN 201620505842U CN 206007163 U CN206007163 U CN 206007163U
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- China
- Prior art keywords
- sweeping robot
- direction wheel
- hall element
- wheel assembly
- mcu
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Abstract
The utility model discloses a kind of slide system sweeping robot, which includes sweeping robot body, is arranged in pairs the rotating wheel for driving sweeping robot body to walk on the central shaft on the chassis of the sweeping robot body；The center on the chassis is provided with for controlling the direction wheel assembly of sweeping robot direction of travel；The direction wheel assembly is coupled with rotating wheel, and the rotating wheel is located at the both sides of direction wheel assembly；At least one Magnet is provided with the direction wheel assembly, is provided with for sensing the Hall element of direction wheel assembly rotary state above the Magnet；It is additionally provided with the chassis for the stop control apparatus according to direction wheel assembly rotary state output halt instruction; the stop control apparatus are electrically connected with Hall element; it is achieved thereby that the situation that quick detection sweeping robot is blocked by object at work and dallied in situ; and output halt instruction controls which and quits work in time, improves the safety of sweeping robot work.
Description
Technical field
This utility model is related to sweeping robot technical field, more particularly to a kind of slide system sweeping robot.
Background technology
Sweeping robot, also known as machine, intelligent dust suction, robot cleaner etc. is swept automatically, is the one of controlling intelligent household appliances
Kind, certain artificial intelligence can be relied on, walk in room automatically and complete floor cleaning work.Typically swept using brush and vacuum
Mode, ground debris is first received and enters the rubbish receiver of itself, so as to complete the function of land clearing, liberated user's
Both hands, greatly improve the life comfort level of user.
However, such frame for movement steering-type full-automatic machine people vacuum cleaner at present, can only by detect motor excessively stream come
Protection circuit, and work as, now direction wheel disc is just rotated always, as direction wheel disc normally turns
Dynamic, motor does not have stall therefore cannot detect judgement, so as to motor excessively stream be detected come protection circuit by existing.
Thus prior art could be improved and improve.
Utility model content
In view of in place of above-mentioned the deficiencies in the prior art, the purpose of this utility model is to provide a kind of slide system and sweeps the floor machine
People, the situation that energy quick detection sweeping robot is blocked by object at work and dallied in situ, and output shutdown in time refer to
Order controls which and quits work, and improves the safety of sweeping robot work.
In order to achieve the above object, this utility model takes technical scheme below：
A kind of slide system sweeping robot, including sweeping robot body, wherein, the chassis of the sweeping robot body
Central shaft on be arranged in pairs for drive sweeping robot body walk rotating wheel；The center on the chassis is provided with
For controlling the direction wheel assembly of sweeping robot direction of travel；The direction wheel assembly is coupled with rotating wheel, the rotating wheel
It is located at the both sides of direction wheel assembly；At least one Magnet is provided with the direction wheel assembly, is provided with above the Magnet
For sensing the Hall element of direction wheel assembly rotary state；It is additionally provided with the chassis for according to direction wheel assembly turn
The stop control apparatus of dynamic State- output halt instruction, the stop control apparatus are electrically connected with Hall element.
In described slide system sweeping robot, the direction wheel assembly includes direction wheel support and direction wheel disc, described
Direction wheel disc is coupled with direction wheel support, and the both sides of the direction wheel support are coupled with rotating wheel.
In described slide system sweeping robot, the quantity of the Magnet is two, and is separately positioned on direction wheel support
Both sides.
In described slide system sweeping robot, the stop control apparatus include MCU, and Hall element is in the side of sensing
When persistently rotating to wheel disc, to MCU, MCU exports halt instruction according to the idler signal and controls machine of sweeping the floor output idler signal
Human body quits work.
In described slide system sweeping robot, the stop control apparatus also include the first electric capacity, the second electric capacity, the 3rd
Electric capacity, first resistor, second resistance, 3rd resistor, the 4th resistance and audion, one end connection MCU's of first electric capacity
VSS ends and ground, the vdd terminal and VDD feeder ears of the other end connection MCU of first electric capacity；The output of the Hall element
Hold the PA5/ for VDD feeder ears being connected by first resistor, connecting MCU also by the second capacity earth, also by second resistance
INT1 ends；The GND ends and ground of one end connection Hall element of the 3rd electric capacity, the other end of the 3rd electric capacity connect suddenly
The vdd terminal and the colelctor electrode of audion of your sensor, the base stage of the audion connect the PA4/INT1 of MCU by 3rd resistor
End, the emitter stage also by the 4th resistance connecting triode.
In described slide system sweeping robot, SMD hall sensing of the Hall element using model OH4N
Device.
In described slide system sweeping robot, the MCU adopts model HT66F family chip.
Compared to prior art, the slide system sweeping robot that this utility model is provided includes sweeping robot body, its
In, be arranged in pairs on the central shaft on the chassis of the sweeping robot body for drive sweeping robot body walking turn
Driving wheel；The center on the chassis is provided with for controlling the direction wheel assembly of sweeping robot direction of travel；The steering wheel
Component is coupled with rotating wheel, and the rotating wheel is located at the both sides of direction wheel assembly；At least one is provided with the direction wheel assembly
Individual Magnet, is provided with above the Magnet for sensing the Hall element of direction wheel assembly rotary state；On the chassis
It is additionally provided with for the stop control apparatus according to direction wheel assembly rotary state output halt instruction, the stop control apparatus
Electrically connect with Hall element, it is achieved thereby that quick detection sweeping robot is blocked by object at work and dallied in situ
Situation, and output halt instruction controls which and quits work in time, improves the safety of sweeping robot work.
Description of the drawings
The chassis structure schematic diagram of the slide system sweeping robot that Fig. 1 is provided for this utility model；
The circuit theory diagrams of stop control apparatus in the slide system sweeping robot that Fig. 2 is provided for this utility model.
Specific embodiment
This utility model provides a kind of slide system sweeping robot, and energy quick detection sweeping robot is at work by object
The situation that blocks and dally in situ, and output halt instruction controls which and quits work in time, improves sweeping robot work
Safety.
For making the purpose of this utility model, technical scheme and effect clearer, clear and definite, develop simultaneously enforcement referring to the drawings
Example is further described to this utility model.It should be appreciated that specific embodiment described herein is only in order to explaining this practicality
New, it is not used to limit this utility model.
Fig. 1 is referred to, the slide system sweeping robot that this utility model is provided includes sweeping robot body, wherein, institute
The rotation for driving sweeping robot body to walk is arranged in pairs on the central shaft on the chassis 10 for stating sweeping robot body
Wheel 11；The center on the chassis 10 is provided with for controlling the direction wheel assembly 12 of sweeping robot direction of travel；The side
Couple to wheel assembly 12 with rotating wheel 11, the rotating wheel 11 is located at the both sides of direction wheel assembly 12；The direction wheel assembly 12
On be provided with least one Magnet 13, the top of the Magnet 13 is provided with for sensing 12 rotary state of direction wheel assembly suddenly
That sensor 14；It is additionally provided with the chassis 10 for the shutdown according to 12 rotary state of direction wheel assembly output halt instruction
Control device（Not shown in figure）, the stop control apparatus are electrically connected with Hall element 14.
This utility model drives the walking of sweeping robot body by the rotating wheel 11 being arranged in pairs, by direction wheel assembly 12
The direction of travel of control sweeping robot, while passing through to install Magnet 13 on direction wheel assembly 12, makes on installation and Magnet 13
The hall sensor of side can sense the rotary state of direction wheel assembly 12 in time, when sweeping robot is originally at work by object
Block when causing direction wheel assembly 12 to rotate always, the stop control apparatus electrically connected with Hall element 14 are exported shutdown and referred to
Order control sweeping robot quits work, it is ensured that the safety of sweeping robot work, and avoids free-running belt always
Energy dissipation.
Further, the direction wheel assembly 12 includes direction wheel support 121 and direction wheel disc 122, the direction wheel disc
122 are coupled with direction wheel support 121, and the both sides of the direction wheel support 121 are coupled with rotating wheel 11.Under normal circumstances, i.e.,
When sweeping robot body is not blocked by object or runs into barrier, the rotating wheel 11 of only both sides is rotated, steering wheel wheel disc
Motionless, when barrier is run into, rotating wheel 11 can be stopped operating by resistance, and rotate to realize turning to by direction wheel disc 122
Or retreat, but now direction wheel disc 122 is only rotated and and is not dallied always；When sweeping robot body is blocked by object
When, not only rotating wheel 11 stops operating, and direction rotating disk then can be dallied always, the Magnet being now arranged on direction wheel support 121
13 and Hall element 14 coordinate and sense the lasting rotary state of direction wheel disc 122, and then stopped by stop control apparatus output
Machine is instructed, and is prevented direction rotating disk to continue idle running in time, is caused power wastage.
Preferably, the quantity of the Magnet 13 is two, and is separately positioned on the both sides of direction wheel support 121, makes Hall
Sensor 14 more accurately can sense the rotary state of direction rotating disk by changes of magnetic field, improve the accuracy of sensing.
Specifically, Fig. 2 is seen also, the stop control apparatus include that MCU, Hall element 14 are sensing direction
When wheel disc 122 is persistently rotated, to MCU, MCU exports halt instruction control sweeper according to the idler signal to output idler signal
Device human body quit work, and under normal circumstances, the rotating wheel 11 that sweeping robot body only has both sides is rotated, and steering wheel wheel disc is not
Dynamic, now Hall element 14 does not output signal to MCU, and when sweeping robot body is blocked by object, rotating wheel 11 stops
Rotation stop move, direction rotating disk then can continuing spinning, now Hall element 14 sense the lasting rotary state of direction wheel disc 122,
And idler signal is exported to MCU, MCU exports halt instruction control sweeping robot body according to the idler signal and stops work
Make, quickly and efficiently whether detection sweeping robot idle running phenomenon occurs, and exports halt instruction in time, improves machine of sweeping the floor
The safety of people's work.
Further, the stop control apparatus also include the first electric capacity C1, the second electric capacity C2, the 3rd electric capacity C3, first
Resistance R1, second resistance R2,3rd resistor R3, the 4th resistance R4 and audion Q1, one end connection MCU of the first electric capacity C1
VSS ends and ground, the first electric capacity C1 the other end connection MCU vdd terminal and VDD feeder ears；The Hall element 14
Outfan by first resistor R1 connect VDD feeder ears, also by the second electric capacity C2 ground connection, also by second resistance R2 connect
The PA5/INT1 ends of MCU；The GND ends and ground of one end connection Hall element 14 of the 3rd electric capacity C3, the 3rd electric capacity
The vdd terminal and the colelctor electrode of audion Q1 of the other end connection Hall element 14 of C3, the base stage of the audion Q1 is by the
The PA4/INT1 ends of three resistance R3 connection MCU, the emitter stage also by the 4th resistance R4 connecting triode Q1, the audion Q1
Using PNP triode Q1.
Further, SMD Hall element 14 of the Hall element 14 using model OH4N, certainly
Can have Hall element 14 or dry-reed tube switch of phase same-action etc. using other as needed.
Further, the MCU adopts model HT66F family chip, is also just had using complete other certainly identical
The processor of control action, this utility model are not construed as limiting to this.
In sum, the slide system sweeping robot that this utility model is provided includes sweeping robot body, wherein, described
The rotating wheel for driving sweeping robot body to walk is arranged in pairs on the central shaft on the chassis of sweeping robot body；Institute
The center for stating chassis is provided with for controlling the direction wheel assembly of sweeping robot direction of travel；The direction wheel assembly with turn
Driving wheel couples, and the rotating wheel is located at the both sides of direction wheel assembly；At least one Magnet, institute is provided with the direction wheel assembly
State and be provided with above Magnet for sensing the Hall element of direction wheel assembly rotary state；Use is additionally provided with the chassis
In the stop control apparatus for exporting halt instruction according to direction wheel assembly rotary state, the stop control apparatus and hall sensing
Device is electrically connected, it is achieved thereby that the situation that quick detection sweeping robot is blocked by object at work and dallied in situ, and
Timely output halt instruction controls which and quits work, and improves the safety of sweeping robot work.
It is understood that for those of ordinary skills, can according to the technical solution of the utility model and
Its utility model design in addition equivalent or change, and all these changes or replace should all belong to appended by this utility model
Scope of the claims.
Claims (7)
1. a kind of slide system sweeping robot, including sweeping robot body, it is characterised in that the sweeping robot body
The rotating wheel for driving sweeping robot body to walk is arranged in pairs on the central shaft on chassis；The center on the chassis sets
It is equipped with for controlling the direction wheel assembly of sweeping robot direction of travel；The direction wheel assembly is coupled with rotating wheel, described turn
Driving wheel is located at the both sides of direction wheel assembly；At least one Magnet is provided with the direction wheel assembly, is set above the Magnet
It is equipped with for sensing the Hall element of direction wheel assembly rotary state；It is additionally provided with the chassis for according to steering wheel group
Part rotary state exports the stop control apparatus of halt instruction, and the stop control apparatus are electrically connected with Hall element.
2. slide system sweeping robot according to claim 1, it is characterised in that the direction wheel assembly includes steering wheel
Support and direction wheel disc, the direction wheel disc are coupled with direction wheel support, and the both sides of the direction wheel support are coupled with rotating wheel.
3. slide system sweeping robot according to claim 2, it is characterised in that the quantity of the Magnet is two, and
It is separately positioned on the both sides of direction wheel support.
4. slide system sweeping robot according to claim 2, it is characterised in that the stop control apparatus include MCU,
Hall element exports idler signal to MCU when sensing that direction wheel disc is persistently rotated, and MCU is exported according to the idler signal
Halt instruction control sweeping robot body quits work.
5. slide system sweeping robot according to claim 4, it is characterised in that the stop control apparatus also include
One electric capacity, the second electric capacity, the 3rd electric capacity, first resistor, second resistance, 3rd resistor, the 4th resistance and audion, described first
The VSS ends and ground of one end connection MCU of electric capacity, the vdd terminal and VDD feeder ears of the other end connection MCU of first electric capacity；Institute
The outfan of Hall element is stated by first resistor connection VDD feeder ears, also by the second capacity earth, also by the second electricity
The PA5/INT1 ends of resistance connection MCU；The GND ends and ground of one end connection Hall element of the 3rd electric capacity, the 3rd electricity
The vdd terminal and the colelctor electrode of audion of the other end connection Hall element of appearance, the base stage of the audion pass through 3rd resistor
The PA4/INT1 ends of connection MCU, the emitter stage also by the 4th resistance connecting triode.
6. slide system sweeping robot according to claim 1, it is characterised in that the Hall element adopts model
The SMD Hall element of OH4N.
7. slide system sweeping robot according to claim 4, it is characterised in that the MCU adopts model HT66F system
Row chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620505842.7U CN206007163U (en) | 2016-05-30 | 2016-05-30 | A kind of slide system sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620505842.7U CN206007163U (en) | 2016-05-30 | 2016-05-30 | A kind of slide system sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206007163U true CN206007163U (en) | 2017-03-15 |
Family
ID=58242516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620505842.7U Active CN206007163U (en) | 2016-05-30 | 2016-05-30 | A kind of slide system sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206007163U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107802213A (en) * | 2017-11-03 | 2018-03-16 | 北京奇虎科技有限公司 | Driven pulley, sweeping robot and the control method of sweeping robot |
| CN110584552A (en) * | 2019-10-21 | 2019-12-20 | 中航物业管理有限公司 | Flexible-turning mobile cleaning robot |
-
2016
- 2016-05-30 CN CN201620505842.7U patent/CN206007163U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107802213A (en) * | 2017-11-03 | 2018-03-16 | 北京奇虎科技有限公司 | Driven pulley, sweeping robot and the control method of sweeping robot |
| CN110584552A (en) * | 2019-10-21 | 2019-12-20 | 中航物业管理有限公司 | Flexible-turning mobile cleaning robot |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |