CN212415633U

CN212415633U - Protection mechanism and self-moving equipment

Info

Publication number: CN212415633U
Application number: CN202020787349.5U
Authority: CN
Inventors: 刘桐
Original assignee: Zhuichuang Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2020-05-13
Filing date: 2020-05-13
Publication date: 2021-01-29
Anticipated expiration: 2030-05-13
Also published as: WO2021228144A1

Abstract

The application relates to a protection mechanism and from mobile device, protection mechanism includes: a protective cover; a moving assembly connected with the protective cover; the moving assembly is provided with a first moving track capable of horizontally moving relative to the protective cover and a second moving track capable of vertically moving relative to the protective cover; the protection mechanism further comprises a guide piece connected with the moving assembly, and the guide piece is used for enabling the moving assembly to have a first motion track and a second motion track simultaneously under the action of external force. Through being provided with the guide, this guide is used for making the safety cover receive the exogenic action, and the removal subassembly has first movement track and second movement track simultaneously, and the safety cover moves along the guide when receiving the exogenic action promptly, and the movement track is fixed, so only need be provided with a detection mechanism can, simple structure and reduce cost.

Description

Protection mechanism and self-moving equipment

Technical Field

The utility model relates to a protection mechanism and self-moving equipment belongs to intelligent house technical field.

Background

Along with the development of the robot technology, the intelligent degree of the sweeping robot is higher and higher. The sweeping robot generally employs a Laser Distance Sensor (LDS) module for navigation, and the LDS module is mounted on a rotatable component located on the sweeping robot body. To protect the LDS module, a protective cover is generally disposed around the LDS module. When the protective cover receives external force, the protective cover can generate displacement, and therefore a detection mechanism is installed to detect whether the protective cover generates displacement so as to know whether the sweeping robot is collided.

In the prior art, a plurality of detection mechanisms are generally adopted to obtain the horizontal displacement, the vertical displacement and the like of the protective cover, the structure is relatively complex, the installation precision requirement of the detection mechanisms is higher, and meanwhile, the cost of the floor sweeping robot is also improved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a protection machanism reaches from mobile device, its simple structure and with low costs.

In order to achieve the above purpose, the utility model provides a following technical scheme: a protection mechanism disposed on a self-moving device, the protection mechanism comprising:

a protective cover;

a moving assembly connected with the protective cover;

the moving assembly is provided with a first moving track capable of horizontally moving relative to the protective cover and a second moving track capable of vertically moving relative to the protective cover;

the protection mechanism further comprises a guide piece connected with the moving assembly, and the guide piece is used for enabling the moving assembly to have a first motion track and a second motion track simultaneously under the action of external force.

Further, the protective cover comprises a protective cover body and a connecting piece connected with the protective cover body, and the moving assembly comprises a first roller connected with the connecting piece; the guide member is connected with the first roller or connected with the connecting member.

Further, the guide member is connected with the connecting member; the guide piece is a guide rail which is obliquely arranged on the connecting piece, and the first rolling shaft obliquely moves along the guide rail under the action of external force.

Further, the protection mechanism still include with the fixing base that is connected from the mobile device, first roller bearing with the fixing base is connected.

Further, the guide is connected with the first roller; the guide piece is a guide rail which is fixedly connected with the self-moving equipment and is obliquely arranged, and the first rolling shaft obliquely moves along the guide rail under the action of external force.

Further, the guide is connected with the first roller; the guide piece is a connecting rod, one end of the connecting rod is connected with the first rolling shaft, and the other end of the connecting rod is rotatably connected with the self-moving equipment.

Further, the moving assembly further comprises a second roller, and the second roller penetrates through the connecting rod and is connected with the self-moving device.

The utility model also provides a from the mobile device, from the mobile device include from the mobile device body, set up be in from LDS mechanism on the mobile device body and as above protection mechanism, protection mechanism encloses to be established outside the LDS mechanism.

Furthermore, the self-moving equipment also comprises a detection mechanism arranged on the self-moving equipment body, and the detection mechanism is used for detecting whether the protection mechanism generates displacement or not.

Further, the detection mechanism is a microswitch or a photoelectric sensor; the photoelectric sensor is a laser sensor or an infrared sensor.

The beneficial effects of the utility model reside in that: through being provided with the guide, this guide is used for making the safety cover receive the exogenic action, and the removal subassembly has first movement track and second movement track simultaneously, and the safety cover moves along the guide when receiving the exogenic action promptly, and the movement track is fixed, so only need be provided with a detection mechanism can, simple structure and reduce cost.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of a protection mechanism according to an embodiment of the present invention.

Fig. 2 is another schematic structural diagram of the protection mechanism in an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a protection mechanism according to another embodiment of the present invention.

Fig. 4 is a schematic view of the moving assembly of fig. 3 coupled to a guide.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other. In the description of the present invention, the axis direction is the same as the height direction.

The utility model discloses a from mobile device in a preferred embodiment can be used to the road surface cleanness in family, factory or public area, and this application does not do the injecing from mobile device's application scene. Taking the sweeping robot as an example, the sweeping robot comprises a sweeping robot body and an LDS mechanism arranged on the sweeping robot body, wherein the LDS mechanism is arranged on a rotating part on the sweeping robot body.

The LDS mechanism is a Laser Direct Structuring (LDS) mechanism, which mostly adopts a triangulation method for distance measurement. The principle of triangulation distance measurement is as follows: the laser emits infrared beams according to a certain angle, and the infrared beams are reflected back after encountering an object; after the reflected light is detected by a CCD (Charge Coupled Device) detector, the distance between the sensor and the obstacle is calculated based on the emission angle, the angle f of the filter, and the offset distance using a trigonometric relationship. However, when the LDS mechanism is used for measuring, an environmental object higher than the laser light source is a measurement blind area, and at this time, if an obstacle encountered by the sweeping robot is just higher than the sweeping robot main body and lower than the highest point of the rotating part where the LDS mechanism is located, the sweeping robot cannot sense the existence of the obstacle, so that the rotating part where the LDS mechanism is located easily collides with the obstacle, and is even stuck together, and cannot be separated.

Referring to fig. 1 and fig. 2, therefore, the sweeping robot further includes a protection mechanism 100, and the protection mechanism 100 is enclosed outside the LDS mechanism. The protection mechanism 100 includes a protection cover 1, a moving member 2 connected to the protection cover 1, and a guide 3 connected to the moving member 2, and the moving member 2 and the guide 3 are disposed below the protection cover 1 in a height direction of the protection mechanism 100.

Specifically, the protective cover 1 includes a protective cover body 11 and a connecting member 12 connected to the protective cover body 11, and in this embodiment, the connecting member 12 is integrally formed with the protective cover body 11. Indeed, in other embodiments, the connecting member 12 may be separately disposed from the protective cover body 11 and then connected by splicing, welding, bonding, or the like, which is not specifically limited herein and is determined according to actual situations. Being above-mentioned, for making the better range finding of laser radar, protection cover body 11 has hollow out construction 13, and this hollow out construction 13 is used for making laser radar's light self preservation protection cover body 11's inside transmission to protection cover body 11's outside.

The connecting pieces 12 are provided with two sets, each set comprises two connecting pieces 12, and the two sets of connecting pieces 12 are respectively arranged on two sides of the bottom of the protective cover body 11, so that the protective cover body 11 is more stable in connection with the sweeping robot body. Indeed, in other embodiments, the number of the connecting members 12 may be other, and is not limited herein, according to the actual situation.

The moving component 2 has a first moving track capable of moving horizontally relative to the protection cover 1 and a second moving track capable of moving vertically relative to the protection cover 1, and the guide 3 is used for enabling the moving component 2 to have the first moving track and the second moving track simultaneously under the action of external force. Wherein the guide 3 is connected to the moving assembly 2 or to the connecting piece 12.

In this embodiment, the moving assembly 2 includes a first roller 21 connected to the connecting member 12, and the guide member 3 is a guide rail 3. As described above, the number of the first rollers 21 is two, and each first roller 21 is connected to one set of the connecting members 12.

When the guide rail 3 is coupled to the coupling member 12, which is disposed obliquely to the coupling member 12, the first roller 21 is moved obliquely along the guide rail 3 by an external force. When the first roller 21 is subjected to a horizontal external force or a vertical external force, it moves along the guide rail 3 to cause the same displacement of the protection mechanism 100 as a whole. The guide rail 3 and the connecting member 12 are integrally formed, so as to simplify the process, reduce the cost and improve the aesthetic property of the whole structure. In order to install the protection mechanism 100 on the sweeping robot body, the protection mechanism 100 further includes two fixing seats 4 connected to the self-moving device, and the two fixing seats 4 are respectively disposed at two ends of the first roller 21, so that the first roller 21 is connected to the fixing seats 4.

When the guide rail 3 is connected with the moving assembly 2, that is, the guide rail 3 is connected with the first roller 21, at this time, the guide rail 3 is fixedly connected with the self-moving device and is obliquely arranged, the first roller 21 is fixedly connected with the connecting piece 12, and the first roller 21 obliquely moves along the guide rail 3 under the action of external force. When the first roller 21 is subjected to a horizontal external force or a vertical external force, it moves along the guide rail 3 to cause the same displacement of the protection mechanism 100 as a whole.

Referring to fig. 3 and 4, indeed, in other embodiments, the moving element 2 comprises a first roller 21 and a second roller 22, in which case the guiding element 3 is a connecting rod 3. The first roller 21 is fixedly connected with the connecting piece 12, one end of the connecting rod 3 is rotatably connected with the first roller 21, the other end of the connecting rod 3 is rotatably connected with the second roller 22, and the first roller 21, the second roller 22 and the connecting piece 12 form a connecting rod mechanism. When the protection mechanism 100 is subjected to a horizontal external force or a vertical external force, a vertical displacement and a horizontal displacement can be generated simultaneously. In order to mount the protection mechanism 100 on the sweeping robot body, the second roller 22 is connected with the self-moving device through the connecting rod 3.

The self-moving device further comprises a detection mechanism arranged on the self-moving device body, and the detection mechanism is used for detecting whether the protection mechanism 100 generates displacement. The detection mechanism may be disposed below the protection mechanism 100 or outside the protection mechanism 100, and is not specifically limited herein, and according to the actual situation, it is only necessary that the detection mechanism is capable of detecting the position where the protection mechanism 100 displaces. In this embodiment, the detection mechanism is a microswitch or a photosensor. When the detection mechanism is a photoelectric sensor, the photoelectric sensor is a laser sensor or an infrared sensor, or others, and is not limited herein. Indeed, in other embodiments, the detection mechanism may be other, and is not limited herein, depending on the actual situation.

When the detection mechanism is a microswitch, the protection mechanism 100 generates displacement under the action of external force and then acts on the microswitch, so that the microswitch is started, and the fact that the protection mechanism 100 generates displacement is known; when the detection mechanism is a photoelectric sensor, the protection mechanism generates displacement when being subjected to external force, and then the light of the photoelectric sensor is shielded, so that the photoelectric sensor is triggered, and the fact that the protection mechanism 100 generates displacement is known.

In summary, the following steps: through being provided with guide 3, this guide 3 is used for making safety cover 1 when receiving the exogenic action, removes subassembly 2 and has first movement track and second movement track simultaneously, and safety cover 1 receives the exogenic action promptly and removes along guide 3, and the movement track is fixed, so only need be provided with a detection mechanism can, simple structure and reduce cost.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A protection mechanism is arranged on a self-moving device, and is characterized by comprising:

a protective cover;

a moving assembly connected with the protective cover;

the protection mechanism further comprises a guide piece connected with the moving assembly, and the guide piece is used for enabling the moving assembly to have the first motion trail and the second motion trail simultaneously under the action of external force.

2. The protective mechanism of claim 1 wherein the protective cover includes a protective cover body and a connecting member connected to the protective cover body, the moving assembly including a first roller connected to the connecting member; the guide member is connected with the first roller or connected with the connecting member.

3. The protection mechanism of claim 2, wherein said guide member is coupled to said link member; the guide piece is a guide rail which is obliquely arranged on the connecting piece, and the first rolling shaft obliquely moves along the guide rail under the action of external force.

4. The protective mechanism of claim 3, further comprising a mounting base coupled to the self-moving device, wherein the first roller is coupled to the mounting base.

5. The protective mechanism of claim 2, wherein the guide is coupled to the first roller; the guide piece is a guide rail which is fixedly connected with the self-moving equipment and is obliquely arranged, and the first rolling shaft obliquely moves along the guide rail under the action of external force.

6. The protective mechanism of claim 2, wherein the guide is coupled to the first roller; the guide piece is a connecting rod, one end of the connecting rod is connected with the first rolling shaft, and the other end of the connecting rod is rotatably connected with the self-moving equipment.

7. The protective mechanism of claim 6, wherein the moving assembly further comprises a second roller coupled to the self-moving device through the linkage.

8. A self-moving device, comprising a self-moving device body, an LDS mechanism disposed on the self-moving device body, and the protection mechanism of any one of claims 1-7, the protection mechanism being enclosed outside the LDS mechanism.

9. The self-moving device as claimed in claim 8, further comprising a detection mechanism disposed on the self-moving device body, wherein the detection mechanism is configured to detect whether the protection mechanism is displaced.

10. The self-moving apparatus as claimed in claim 9, wherein the detection mechanism is a micro switch or a photo sensor; the photoelectric sensor is a laser sensor or an infrared sensor.