CN211834214U - Sweeping robot and cleaning robot - Google Patents
Sweeping robot and cleaning robot Download PDFInfo
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- CN211834214U CN211834214U CN201922336332.8U CN201922336332U CN211834214U CN 211834214 U CN211834214 U CN 211834214U CN 201922336332 U CN201922336332 U CN 201922336332U CN 211834214 U CN211834214 U CN 211834214U
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Abstract
The utility model relates to a cleaning equipment technical field, concretely relates to robot and cleaning machines people sweep floor. The utility model discloses aim at solving the technical problem that the limit brush interference dropproof detecting element of current robot bottom of sweeping the floor normally worked. In order to solve the technical problem, the utility model provides a robot of sweeping floor, the robot of sweeping floor includes: the driving wheel is arranged at the bottom of the shell; the side brush is arranged at the bottom of the shell, and the cleaning area of the side brush avoids the driving wheel; the anti-falling detection unit is arranged at the position where the outer side of the driving wheel avoids the cleaning area. The utility model discloses an install dropproof detecting element in the outside of drive wheel and avoid the region that cleans of limit brush, can reduce the robot during operation of sweeping the floor the limit brush to dropproof detecting element's interference, improve dropproof detecting element's operational reliability, simultaneously, the technical scheme of the utility model change little to the robot of sweeping the floor, can reduce the change cost to the robot of sweeping the floor.
Description
Technical Field
The utility model relates to a cleaning equipment technical field, concretely relates to robot and cleaning machines people sweep floor.
Background
This section provides background information related to the present disclosure only and is not necessarily prior art.
An existing self-moving cleaning robot, such as a sweeping robot, is often subjected to working conditions such as steps and potholes in the walking process, and therefore the sweeping robot needs to be provided with cliff detection parts to sense the steps and the potholes so as to solve the problem which possibly occurs in the walking process. The existing technical scheme is that cliff detection parts are arranged at the front end and the left side and the right side of a chassis of the sweeping robot to sense steps and potholes.
When the cliff detection parts are installed at the front end and the left side and the right side of a disc of the sweeping robot, the left side and the right side brush parts are often installed on the chassis, so that the left side and the right side brush parts shield the cliff detection parts during working and interfere with the cliff detection parts.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving the technical problem that the limit brush interference dropproof detecting element of the robot bottom of sweeping the floor normally worked to a certain extent at least.
In order to achieve the above object, a first aspect of the present invention provides a robot for sweeping floor, comprising: the driving wheel is arranged at the bottom of the shell; the side brush is arranged at the bottom of the shell, and the cleaning area of the side brush avoids the driving wheel; the anti-falling detection unit is arranged at the position where the outer side of the driving wheel avoids the cleaning area.
The utility model discloses an install dropproof detecting element in the outside of drive wheel and avoid the region that cleans of limit brush, can reduce the robot during operation of sweeping the floor the limit brush to dropproof detecting element's interference, improve dropproof detecting element's operational reliability, simultaneously, the technical scheme of the utility model change little to the robot of sweeping the floor, can reduce the change cost to the robot of sweeping the floor.
In addition, according to the utility model discloses above-mentioned robot of sweeping the floor can also have following additional technical characterstic:
according to the utility model discloses an embodiment, the dropproof detecting element is installed between the edge of drive wheel and casing, and the dropproof detecting element is located the pivot axis of drive wheel and cleans between the region.
According to the utility model discloses an embodiment, distance more than or equal to 15mm between dropproof detecting element and the drive wheel, and have the interval between the board subassembly that hits of the edge of dropproof detecting element and casing.
According to the utility model discloses an embodiment, two drive wheels that are located both sides are installed to the bottom of casing, and the dropproof detecting element is all installed in the outside of every drive wheel.
According to the utility model discloses an embodiment, the bottom front end of casing is provided with the universal wheel, and dropproof detecting element is all installed to the both sides of universal wheel.
According to the utility model discloses an embodiment, dropproof detecting element is visible light detecting element, infrared detecting element or sound wave detecting element.
According to the utility model discloses an embodiment, the detection angle of dropproof detecting element includes the front lower place and under to the direction of advance slope of robot of sweeping the floor.
According to the utility model discloses an embodiment, the detection angle scope less than or equal to 45 of dropproof detecting element, and the detection angle scope of dropproof detecting element avoids the region of cleaning of limit brush.
According to the utility model discloses an embodiment, the bottom of casing is provided with the mounting groove, is provided with angle adjustment mechanism in the mounting groove, and the dropproof detecting element is installed on the angle adjustment mechanism in the mounting groove.
The second aspect of the utility model also provides a cleaning robot, which comprises the floor sweeping robot according to the first aspect of the utility model.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a bottom view of a sweeping robot according to an embodiment of the present invention;
fig. 2 is a schematic partial structure view of the sweeping robot shown in fig. 1;
figure 3 is a side view of the sweeping robot of figure 1.
Wherein the reference numbers are as follows:
100. a sweeping robot; 101. a housing; 102. a striker plate assembly;
10. a drive wheel;
20. brushing edges;
30. a fall prevention detection unit;
40. a universal wheel.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, the utility model discloses it is only to be applied to the robot of sweeping the floor with dropproof detecting element the utility model discloses a preferred embodiment is not right the utility model discloses well dropproof detecting element's application limit, for example, the utility model discloses a dropproof detecting element can also be applied to other cleaning machines people if wipe glass robot etc. this kind of adjustment belongs to the utility model discloses dropproof detecting element's protection scope.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, elements, and/or components, but do not preclude the presence or addition of one or more other features, elements, components, and/or groups thereof.
In the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
For convenience of description, spatially relative terms, such as "bottom", "outer", "upper", "side", "front", "lower", "inner", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. This spatially relative relationship is intended to encompass different orientations of the mechanism in use or operation in addition to the orientation depicted in the figures. For example, if the mechanism in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The mechanism may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 and 2, a first aspect of the present invention provides a floor sweeping robot 100, the floor sweeping robot 100 includes a casing 101, a side brush 20 and a fall-prevention detection unit 30, a driving wheel 10 is installed at the bottom of the casing 101, the side brush 20 is installed at the bottom of the casing 101, a cleaning area of the side brush 20 avoids the driving wheel 10, and the fall-prevention detection unit 30 is installed at a position where the outside of the driving wheel 10 avoids the cleaning area.
In the above embodiment, the anti-drop detection unit 30 is installed at the bottom of the sweeping robot 100, the anti-drop detection unit 30 transmits the detection signal and receives the feedback signal, and the sweeping robot 100 determines whether the sweeping robot 100 is beside a step or a hollow according to the feedback signal received by the anti-drop detection unit 30, and when the sweeping robot 100 encounters a suspected drop condition, the sweeping robot 100 performs anti-drop protection, for example, the sweeping robot 100 performs a backward movement. Further, in the above embodiment, the anti-drop detection unit 30 is installed outside the driving wheel 10 and avoids the cleaning area of the side brush 20, so that the interference of the side brush 20 to the anti-drop detection unit 30 when the sweeping robot 100 works can be reduced, meanwhile, the anti-drop detection unit 30 is installed outside the driving wheel 10, and the anti-drop detection unit 30 can also detect the road condition outside the driving wheel 10, so that the sweeping robot 100 can reasonably plan the motion trajectory of the sweeping robot 100 according to the road condition outside the driving wheel 10, and the phenomenon that the sweeping robot 100 only executes the retreating motion when encountering a step or a hollow is reduced.
Specifically, the utility model provides a robot 100 sweeps floor, including casing 101 and the control unit (not mark in the text), the dropproof detecting element 30 is installed in the bottom edge of casing 101, and dropproof detecting element 30 is used for detecting that the robot is in different states, including normal, liftoff, suspension and fall the state, the bottom of casing 101 still sets up drive wheel 10 and round brush, the control unit respectively with dropproof detecting element 30, drive wheel 10 and round brush electricity are connected, the control unit is responsible for according to the robot 100 that sweeps floor is in different state control robot 100 that sweeps floor and carries out corresponding mode.
With continued reference to fig. 1 and 2, according to an embodiment of the present invention, the fall-prevention detecting unit 30 is installed between the driving wheel 10 and the edge of the housing 101, and the fall-prevention detecting unit 30 is located between the rotating shaft axis L of the driving wheel 10 and the cleaning area. Specifically, the distance between the fall prevention detection unit 30 and the driving wheel 10 is equal to or greater than 15mm, and there is a space between the fall prevention detection unit 30 and the striking plate assembly 102 at the edge of the housing 101.
In the above embodiment, the anti-drop detection unit 30 is installed between the rotation axis L of the driving wheel 10 and the cleaning area, and the anti-drop detection unit 30 can also detect the road surface condition outside the driving wheel 10, so that the sweeping robot 100 can reasonably plan the motion trajectory of the sweeping robot 100 according to the road surface condition outside the driving wheel 10, and the phenomenon that the sweeping robot 100 only executes the retreating motion when encountering a step or a pothole is reduced. For example, when the anti-drop detection unit 30 detects that the road surface condition outside the driving wheels 10 is a step or a depression, the control unit in the sweeping robot 100 can control the sweeping robot 100 to move inwards, and the phenomenon that the sweeping robot 100 collides with the step or drops into the depression during the movement process can also be reduced. Further, the distance is reserved between the anti-falling detection unit 30 and the driving wheel 10 and between the anti-falling detection unit 30 and the collision plate assembly 102, so that the interference phenomenon between the driving wheel 10 and the anti-falling detection unit 30 in the movement process is reduced, meanwhile, the influence of the collision plate assembly 102 on the anti-falling detection unit 30 can be reduced, and the mutual interference phenomenon between the collision plate assembly 102 and the anti-falling detection unit 30 in the assembling process is reduced.
With continued reference to fig. 1 and 2, according to an embodiment of the present invention, two driving wheels 10 located at both sides are installed at the bottom of the housing 101, and a fall-prevention detecting unit 30 is installed at the outer side of each driving wheel 10.
In the above embodiment, the anti-drop detection unit 30 is installed on the outer side of each driving wheel 10, when the anti-drop detection unit 30 detects that the road surface condition on the outer side of one driving wheel 10 is a step depression, and the road surface condition on the outer side of the other driving wheel 10 is normal, the control unit in the sweeping robot 100 can control the sweeping robot 100 to move towards the other driving wheel 10, and when the anti-drop detection unit 30 detects that the road surface conditions on the outer sides of the two driving wheels 10 are both the step depression, the control unit in the sweeping robot 100 can control the sweeping robot 100 to move forwards or retreat.
With continued reference to fig. 1 and 2, according to an embodiment of the present invention, the bottom front end of the casing 101 is provided with a universal wheel 40, and the anti-falling detection unit 30 is installed on both sides of the universal wheel 40.
In the above embodiment, the anti-drop detection units 30 are installed on both sides of the universal wheel 40, when the anti-drop detection unit 30 detects that the road surface condition at the position of the universal wheel 40 is a step or a depression, the control unit in the sweeping robot 100 can control the sweeping robot 100 to perform a backward or steering motion, when the sweeping robot 100 performs a steering motion, the control unit further needs to control the sweeping robot 100 to perform a steering motion according to the road surface conditions detected by the two anti-drop detection units 30 on both sides of the driving wheels 10 on both sides, and when the anti-drop detection unit 30 detects that the road surface condition outside the two driving wheels 10 is also a step or a depression, the control unit in the sweeping robot 100 controls the sweeping robot 100 to perform a backward motion.
Specifically, the anti-falling detection unit 30 is an infrared signal sensor, four infrared signal sensors are respectively disposed on two sides of the universal wheel 40 and the outer sides of the two driving wheels 10, the four infrared signal sensors are located at the front end and the left and right ends of the bottom advancing direction of the casing 101, and each of the four infrared signal sensors includes an infrared signal emitting device and a corresponding infrared signal receiving device. The surrounding environment of the sweeping robot 100 is identified through the four infrared signal sensors, so that frequent backing or steering of the sweeping robot 100 can be reduced, and the working efficiency of the sweeping robot 100 is greatly improved.
It should be noted that the falling protection detection unit 30 is only a preferred embodiment and is not limited to the falling protection detection unit 30, for example, the falling protection detection unit 30 may also be other visible light detection elements or sound wave detection elements, and such adjustment belongs to the protection scope of the falling protection detection unit 30.
With continuing reference to fig. 1 and fig. 3, according to an embodiment of the present invention, the falling prevention detection unit 30 is inclined to the forward direction of the sweeping robot 100, and the detection angle of the falling prevention detection unit 30 includes a front lower portion and a right lower portion. Specifically, the detection angle range of the fall prevention detection unit 30 is equal to or less than 45 ° (as shown in fig. 3, α is equal to or less than 45 °, and β is equal to or less than 45 °), and the detection angle range of the fall prevention detection unit 30 avoids the cleaning region of the side brush 20.
In the above embodiment, the detection angle of the anti-drop detection unit 30 is adjusted to be front lower and right lower, so that the detection range of the anti-drop detection unit 30 can be increased, and therefore the control unit in the sweeping robot 100 can plan the motion trajectory of the sweeping robot 100 in advance according to the road condition detected by the anti-drop detection unit 30, specifically, the control unit plans the motion trajectory of the sweeping robot 100 reasonably according to the motion speed of the sweeping robot 100 and the distance from the sweeping robot 100 to the front obstacle, and reduces the phenomenon that the sweeping robot 100 collides with a step or drops into a hollow due to too fast motion speed. Further, the detection angle range of the anti-drop detection unit 30 is set to avoid the cleaning area of the side brush 20, so that the interference and influence of the side brush 20 on the detection signal of the anti-drop detection unit 30 can be reduced, and the detection precision of the anti-drop detection unit 30 is improved.
According to the utility model discloses an embodiment, the bottom of casing 101 is provided with the mounting groove, is provided with angle adjustment mechanism (not shown in the figure) in the mounting groove, and dropproof detecting element 30 installs on the angle adjustment mechanism in the mounting groove.
In the above embodiment, by installing the anti-drop detection unit 30 in the installation groove, the installation groove has a protective effect on the anti-drop detection unit 30, and the phenomenon that the anti-drop detection unit 30 touches the ground is reduced. Further, angle adjustment mechanism includes driving motor and a pair of intermeshing's drive gear and driven gear, drive gear installs on driving motor's output shaft, anti-falling detection unit 30 installs on driven gear, and driving motor is connected with the control unit in the robot 100 of sweeping the floor, control unit passes through driving motor and drive gear and driven gear and adjusts the detection angle of anti-falling detection unit 30, thereby make the control unit can acquire the peripheral road conditions of robot 100 of sweeping the floor, thereby make the control unit can rationally plan the motion trail of robot 100 of sweeping the floor according to the peripheral road conditions of robot 100 of sweeping the floor.
Continuing to refer to fig. 1, the second aspect of the present invention further provides a cleaning robot, which comprises the sweeping robot 100 according to the first aspect of the present invention.
It should be noted that the utility model discloses it is only to be applied to robot 100 of sweeping the floor with dropproof detecting element 30 the utility model discloses an it is not right the utility model discloses well dropproof detecting element 30's application scope restriction, for example, the utility model discloses a dropproof detecting element 30 can also be applied to other cleaning machines people like glass cleaning robot etc. and this kind of adjustment belongs to the utility model discloses dropproof detecting element 30's protection scope.
In addition, well known power/ground connections to the control unit and other components may or may not be shown in the provided figures for simplicity of illustration and discussion, and so as not to obscure the invention. Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the invention, it should be apparent to one skilled in the art that the invention can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes:
the driving wheel is arranged at the bottom of the shell;
the side brush is arranged at the bottom of the shell, and the cleaning area of the side brush avoids the driving wheel;
and the outer side of the driving wheel avoids the position of the cleaning area and is provided with the anti-falling detection unit.
2. The sweeping robot of claim 1, wherein the fall detection unit is mounted between the drive wheel and the edge of the housing, and the fall detection unit is located between the axis of the shaft of the drive wheel and the cleaning area.
3. The sweeping robot according to claim 2, wherein the distance between the fall detection unit and the driving wheel is greater than or equal to 15mm, and a space is provided between the fall detection unit and the striking plate assembly at the edge of the housing.
4. The sweeping robot according to claim 1, wherein the bottom of the housing is provided with two driving wheels at two sides, and the falling prevention detection unit is mounted at the outer side of each driving wheel.
5. The sweeping robot according to claim 1, wherein a universal wheel is arranged at the front end of the bottom of the housing, and the anti-falling detection unit is mounted on both sides of the universal wheel.
6. The sweeping robot according to any one of claims 1 to 5, wherein the fall prevention detection unit is a visible light detection element or a sound wave detection element.
7. The sweeping robot of claim 6, wherein the fall-prevention detection unit is inclined towards the advancing direction of the sweeping robot, and the detection angle of the fall-prevention detection unit comprises a front lower part and a right lower part.
8. The sweeping robot according to claim 7, wherein the detection angle range of the fall prevention detection unit is less than or equal to 45 °, and the detection angle range of the fall prevention detection unit avoids the cleaning area of the side brush.
9. The sweeping robot according to claim 7, wherein a mounting groove is formed in the bottom of the housing, an angle adjusting mechanism is arranged in the mounting groove, and the anti-falling detection unit is mounted on the angle adjusting mechanism in the mounting groove.
10. A cleaning robot, characterized in that the cleaning robot comprises a sweeping robot according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922336332.8U CN211834214U (en) | 2019-12-23 | 2019-12-23 | Sweeping robot and cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922336332.8U CN211834214U (en) | 2019-12-23 | 2019-12-23 | Sweeping robot and cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211834214U true CN211834214U (en) | 2020-11-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922336332.8U Active CN211834214U (en) | 2019-12-23 | 2019-12-23 | Sweeping robot and cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211834214U (en) |
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2019
- 2019-12-23 CN CN201922336332.8U patent/CN211834214U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210310 Address after: No.39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou, Jiangsu Province, 215000 Patentee after: Meizhizongheng Technology Co.,Ltd. Address before: No.39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou, Jiangsu Province, 215000 Patentee before: JIANGSU MIDEA CLEANING APPLIANCES Co.,Ltd. Patentee before: MIDEA GROUP Co.,Ltd. |
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| TR01 | Transfer of patent right |