CN212574786U - Floor sweeping robot - Google Patents

Abstract

The utility model discloses a sweeping robot, which comprises a robot body, a laser radar and a first supporting structure, wherein an accommodating cavity is formed in the robot body; the laser radar is arranged in the accommodating cavity; the first supporting structure is arranged in the accommodating cavity and supported between the cavity walls of the accommodating cavity. The utility model discloses technical scheme's robot of sweeping floor can avoid laser radar collision impaired, can strengthen the protection to laser radar.

Description

Floor sweeping robot

Technical Field

The utility model relates to a life electrical apparatus technical field, in particular to robot of sweeping floor.

Background

With the development of science and technology, the sweeping robot enters thousands of households, and due to the unique convenience in cleaning the ground, the sweeping robot is favored by users. Among the correlation technique, the robot of sweeping the floor all sends laser signal through setting up lidar and carries out the perception and keep away the barrier, however, this kind of robot of sweeping the floor's lidar sets up the top at the organism usually, and in the use like this, convex lidar drops and damages because of collision or other article easily, and the design of protectiveness to lidar is urgent need to solve.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a robot of sweeping floor aims at avoiding the laser radar collision impaired, strengthens the protection to laser radar.

In order to achieve the above object, the utility model provides a robot of sweeping floor, include:

the device comprises a machine body, a first clamping piece and a second clamping piece, wherein an accommodating cavity is formed in the machine body;

the laser radar is arranged in the accommodating cavity; and

the first supporting structure is arranged in the accommodating cavity and supported between the cavity walls of the accommodating cavity.

Optionally, the accommodating cavity has an upper cavity wall and a lower cavity wall which are arranged opposite to each other, and the first support structure is supported between the upper cavity wall and the lower cavity wall.

Optionally, the first supporting structure is a supporting column, a first limiting hole is concavely formed in the upper cavity wall, a second limiting hole is concavely formed in the lower cavity wall corresponding to the first limiting hole, one end of the supporting column is fixedly connected with the first limiting hole in an inserting mode, and the other end of the supporting column is fixedly connected with the second limiting hole in an inserting mode.

Optionally, the support column includes first spacing section, support section and the spacing section of second that connects gradually, first spacing section with the diameter of the spacing section of second is greater than the diameter of support section, first spacing section is pegged graft and is fixed in first spacing hole, the spacing section of second is pegged graft and is fixed in the spacing hole of second.

Optionally, the number of the first supporting structures is multiple, and the first supporting structures are equally distributed on two opposite sides of the laser radar.

Optionally, a laser exit port is formed in a side wall of the machine body, the laser exit port is communicated with the accommodating cavity, and both the laser radar and the first support structure can be exposed through the laser exit port.

Optionally, the robot of sweeping the floor includes the buffer board, the buffer board movably locates the lateral wall of organism, and be located one side of laser exit port, the buffer board corresponds the laser exit port has been seted up and has been dodged the mouth, the buffer board is relative the lateral wall activity of organism, with the lateral wall of organism laminates mutually or looks interval.

Optionally, the sweeping robot further comprises a second supporting structure, the avoidance opening is provided with an upper side and a lower side which are oppositely arranged up and down, and the second supporting structure is supported and connected between the upper side and the lower side.

Optionally, the viewing aperture has been seted up to the roof of organism, the viewing aperture with the holding chamber intercommunication, laser radar via the viewing aperture shows, the robot of sweeping the floor still includes the apron subassembly, the apron subassembly lid is located the roof of organism, just the apron subassembly corresponds the position of viewing aperture is equipped with transparent area.

Optionally, the sweeping robot further comprises a first detection module, wherein the first detection module is arranged on the side wall of the machine body and is arranged at an interval with the laser emitting port along the circumferential direction of the machine body;

and/or, the robot of sweeping the floor still includes the second and detects the module, the second detects the module and locates the lateral wall of organism, the second detect the module with laser radar corresponds the setting, and is located the below of laser exit opening.

The utility model discloses technical scheme's robot of sweeping floor is through setting up the holding chamber in the organism to set up lidar in the holding chamber, thereby make lidar can embed to hide, can utilize the organism to form the protection to lidar, effectually avoided lidar the impaired phenomenon of collision to appear, strengthened the protection to lidar greatly. Further, the utility model discloses technical scheme makes first bearing structure support between the chamber wall in holding chamber through setting up first bearing structure to can increase the structural strength of organism under the effect of first bearing structure's supporting force, can not weaken the structural strength of organism because of setting up the holding chamber, even ensure the organism under the condition that receives exogenic action, also can not take place easily and warp, structural stability is good.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of an embodiment of the sweeping robot of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is another perspective view of FIG. 1;

fig. 4 is a schematic structural view of an embodiment of a first support structure in the sweeping robot of the present invention;

FIG. 5 is a schematic diagram of the exploded structure of FIG. 1;

fig. 6 is a schematic structural view of the installation of the second supporting structure and the buffer board in the sweeping robot of the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				10	Machine body	11	Containing cavity
111	Upper chamber wall	112	Lower chamber wall
				1121	Second limit hole	12	Laser exit
13	Viewing port	20	First supporting structure
				21	First limit section	22	Support section
23	Second limit section	24	Transition section
				30	Cover plate assembly	40	Buffer board
41	Dodging port	411	Upper side edge
				412	Lower side edge	42	First connecting post
43	Second connecting column	50	Second support structure
				60	First detection module	70	Second detection module
100	Floor sweeping robot

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a robot 100 sweeps floor.

Referring to fig. 1 to 3, in an embodiment of the present invention, the sweeping robot 100 includes a body 10, a laser radar (not shown) and a first supporting structure 20, wherein an accommodating cavity 11 is formed in the body 10; the laser radar is arranged in the accommodating cavity 11; the first supporting structure 20 is disposed in the accommodating chamber 11 and supported between the chamber walls of the accommodating chamber 11.

The body 10 is formed as a main structure of the sweeping robot 100, and the body 10 may be designed as a flat cylindrical body. In general, the machine body 10 is further provided with common components of the sweeping robot 100, such as a driving assembly, an electric control assembly, a water tank, a dust box assembly, and the like, and the bottom of the machine body 10 is provided with a driving wheel, a universal wheel, an edge brush, a rolling brush, a floor mopping structure, and the like, so that the sweeping robot 100 can mop the floor and clean the floor during the traveling process.

The accommodating cavity 11 is disposed in the machine body 10, and may be formed into a cavity structure having a regular shape, for example, a projection of the shape of the accommodating cavity 11 on the bottom of the machine body 10 may be a fan shape or a fan ring shape. Of course, the receiving cavity 11 may be formed in other reasonably and effectively irregular cavity configurations. The accommodating cavity 11 may be disposed at a front side direction of the body 10, wherein the front side direction is a direction in which the sweeping robot 100 moves forward, so that a laser signal emitted after the laser radar is installed is emitted toward the front side.

The laser radar is mainly used for sending out laser signals so as to sense obstacles by utilizing the laser signals, and therefore map routes can be replaced and planned in time, and effective obstacle avoidance is achieved. In the embodiment of the application, when the laser radar emits the laser signal to sense the obstacle, the laser signal may be emitted through the side wall of the machine body 10 directly, and at this time, the side wall of the machine body 10 may be set as a transparent wall, and the laser signal is emitted through the transparent wall; in addition, the laser signal may also be directly transmitted through an exit port on the sidewall of the body 10.

The first supporting structure 20 may be vertically supported and disposed between the cavity walls of the accommodating cavity 11, and the supporting height of the first supporting structure 20 may be adaptively set according to the height of the accommodating cavity 11, and of course, in other embodiments, according to the shape of the body 10 of the sweeping robot 100 being different, or the accommodating cavity 11 being configured in different shapes, the supporting direction of the first supporting structure 20 may also be changed correspondingly.

Therefore, the utility model discloses technical scheme's robot 100 of sweeping floor is through setting up holding chamber 11 in organism 10 to set up lidar in holding chamber 11, thereby make lidar can embed to hide, can utilize organism 10 to form the protection to lidar, effectually avoided lidar the impaired phenomenon of collision to appear, strengthened the protection to lidar greatly. Further, the utility model discloses technical scheme makes first bearing structure 20 support between the chamber wall of holding chamber 11 through setting up first bearing structure 20 to can increase organism 10's structural strength under the effect of first bearing structure 20's supporting force, can not weaken organism 10's structural strength because of setting up holding chamber 11, even ensure organism 10 under the condition that receives exogenic action, also can not take place easily and warp, structural stability is good.

Referring to fig. 3 in combination, in an embodiment of the present application, the accommodating chamber 11 has an upper chamber wall 111 and a lower chamber wall 112 disposed opposite to each other, and the first supporting structure 20 is supported between the upper chamber wall 111 and the lower chamber wall 112. In this embodiment, the first supporting structure 20 is vertically supported between the upper cavity wall 111 and the lower cavity wall 112, so that, in the use process of the sweeping robot 100, when an object falls on the top wall of the machine body 10, the top wall of the machine body 10 is prevented from collapsing and deforming due to the gravity of the falling body by the deformation resistance of the supporting force of the first supporting structure 20, and the laser radar located in the accommodating cavity 11 is effectively protected from being damaged.

Referring to fig. 2 again, in an embodiment of the present application, the first supporting structure 20 is a supporting pillar, the upper cavity wall 111 is concavely provided with a first limiting hole (not labeled), the lower cavity wall 112 is concavely provided with a second limiting hole 1121 corresponding to the first limiting hole, one end of the supporting pillar is inserted into and fixed to the first limiting hole, and the other end of the supporting pillar is inserted into and fixed to the second limiting hole 1121. Through setting up first bearing structure 20 as the columnar body to both ends are fixed with upper cavity wall 111, lower cavity wall 112 through first spacing hole and second spacing hole 1121 respectively, can make the firm support of support column between upper cavity wall 111 and lower cavity wall 112, be difficult to take place to shift, and then improved first bearing structure 20 greatly and supported the intensity of connecting.

Based on the above-mentioned embodiment, referring to fig. 4, in the present application, the support column includes a first limiting section 21, a support section 22 and a second limiting section 23 that are connected in sequence, the first limiting section 21 is inserted and fixed in the first limiting hole, and the second limiting section 23 is inserted and fixed in the second limiting hole 1121.

Specifically, the first limiting section 21, the supporting section 22 and the second limiting section 23 are of an integral structure, so that the supporting column has good structural strength, and meanwhile, the processing, molding and manufacturing are facilitated. First spacing section 21, support section 22 and the spacing section 23 of second can be the cylinder section, and the diameter of first spacing section 21 and the spacing section 23 of second is greater than the diameter of supporting section 22, and first spacing section 21 can pass through threaded connection tight fit with first spacing hole, and on the same hand, the spacing section 23 of second also can pass through threaded connection tight fit with the spacing hole 1121 of second, can make the support column stabilize and support in holding chamber 11 from this in, the operation of dismantlement also is more convenient.

In order to enable the first limiting section 21 and the supporting section 22 and the second limiting section 23 and the supporting section 22 to have good structural strength, transition sections 24 are further formed between the first limiting section 21 and the supporting section 22 and between the second limiting section 23 and the supporting section 22, and the transition sections 24 are conical sections, so that the supporting column is not prone to breaking when in use.

Of course, in another embodiment, the first support structure 20 may also be a support table, thereby being capable of increasing the strength of support by increasing the support area with the upper and lower cavity walls 111 and 112.

In the embodiment of this application, first bearing structure 20's quantity is a plurality of, and is a plurality of first bearing structure 20 is in equally divide the arrangement in the opposite both sides side of laser radar. Specifically, the quantity of first bearing structure 20 can be 2, and 2 first bearing structure 20 are located lidar's both sides respectively to this can support in holding chamber 11 through jointly, thereby avoid organism 10 roof atress to collapse and warp and damage lidar. It will be appreciated that the number of first support structures 20 may also be 3, 4 or more.

With reference to fig. 1 and fig. 3, in the embodiment of the present application, a laser exit port 12 is formed in a side wall of the machine body 10, the laser exit port 12 is communicated with the accommodating cavity 11, and both the laser radar and the first support structure 20 can be exposed by the laser exit port 12.

The laser emitting port 12 is opened in the front side direction of the side wall of the machine body 10, and the laser emitting port 12 may extend in the circumferential direction of the side wall of the machine body 10, that is, the laser emitting port 12 is formed as an arc-shaped port on the side wall of the machine body 10. The laser radar is exposed through the laser exit port 12, and may be completely exposed through the laser exit port 12, or may be partially exposed through the laser exit port 12, and it is only required to ensure that the laser signal can exit through the laser exit port 12, which is not specifically limited in this application. Through the arrangement of the laser exit port 12, the signal emitted by the laser radar can be directly emitted through the laser exit port 12 in the front side direction, so that the situation that the laser signal needs to be emitted through some transparent materials in related schemes is avoided, the situation that the emission of the laser signal is influenced due to dust deposition of the transparent materials is further avoided, and the smoothness of a laser light path is ensured.

Further, referring to fig. 5, in an embodiment of the present application, viewing aperture 13 has been seted up to the roof of organism 10, viewing aperture 13 with holding chamber 11 communicates, laser radar via viewing aperture 13 shows, robot 100 of sweeping floor still includes apron subassembly 30, apron subassembly 30 lid is located the roof of organism 10, just apron subassembly 30 corresponds the position of viewing aperture 13 is equipped with transparent area.

In the above embodiment, the viewing port 13 may be a circular opening, and the cover plate assembly 30 is detachably connected to the top wall of the machine body 10 and is disposed to cover the viewing port 13. From this, in practical application, whether user's accessible transparent area overlooks with viewing aperture 13 and observes lidar and whether work, conveniently inspects lidar to the convenience of using has been promoted greatly. And apron subassembly 30 can avoid falling the ash from viewing aperture 13, and is good to lidar's protectiveness, is favorable to prolonging lidar's life.

Further, with reference to fig. 5, in an embodiment of the present application, the robot 100 of sweeping the floor includes the buffer board 40, the buffer board 40 is movably located the lateral wall of the machine body 10 and is located one side of the laser emitting port 12, the buffer board 40 corresponds the laser emitting port 12 has been seted up and has been dodged the mouth 41, the buffer board 40 is relative the lateral wall activity of the machine body 10, in order to with the lateral wall of the machine body 10 is laminated mutually or is spaced apart.

In this embodiment, the buffer plate 40 may be an arc plate adapted to the radian of the side wall of the body 10, and the shape and size of the avoiding opening 41 are adapted to the shape and size of the laser emitting opening 12. In order to enable the buffer plate 40 to move relative to the machine body 10, a spring (not labeled) is disposed on the sidewall of the machine body 10, and the buffer plate 40 abuts against the sidewall of the machine body 10 through the spring. Thus, in the advancing process of the sweeping robot 100, when the robot is collided, the buffer board 40 firstly touches the robot, and at the moment, the buffer board 40 is pressed and buffers the collision energy through the elastic potential energy of the elastic sheet, so that the machine body 10 is effectively protected from being damaged.

Referring to fig. 6, in an embodiment, the sweeping robot 100 further includes a second supporting structure 50, the avoiding opening 41 has an upper side 411 and a lower side 412 which are oppositely disposed, and the second supporting structure 50 is connected between the upper side 411 and the lower side 412 in a supporting manner.

In this embodiment, a first connection column 42 and a second connection column 43 are disposed on one side of the buffer board 40 facing the side wall of the machine body 10, the first connection column 42 is disposed adjacent to the upper side 411, the second connection column 43 is disposed adjacent to the lower side 412 and corresponds to the first connection column 42, one end of the second support structure 50 is connected in the first connection column 42, and the other end is connected in the second connection column 43. The specific structure of the second support structure 50 may be similar to that of the first support structure 20, and details are not repeated here, the number of the second support structures 50 may be multiple, and the multiple second support structures 50 are arranged at intervals along the extending direction of the avoidance port 41; the first connecting column 42 and the second connecting column 43 can be integrated with the buffer board 40, and the second supporting structure 50 can be fixed with the first connecting column 42 and the second connecting column 43 through threaded connection. The upper side 411 and the lower side 412 of the avoiding opening 41 are supported by the second supporting structure 50, so that the structural strength of the buffer board 40 can be increased, and the buffer board 40 cannot easily collapse and deform when articles fall on the top wall of the machine body 10 in the use process of the sweeping robot 100.

In an embodiment of the present application, the sweeping robot 100 further includes a first detection module 60, where the first detection module 60 is disposed on the side wall of the machine body 10, and is circumferentially spaced from the laser emitting port 12 along the machine body 10. In this embodiment, the forward direction of the sweeping robot 100 is defined as a front direction, and the laser emitting port 12 is opened in the front direction of the side wall of the machine body 10, so that the first detecting module 60 can be disposed on the left side or the right side of the machine body 10, or on both the left side and the right side. Particularly, first detection module 60 can be some laser module or line laser module, through setting up first detection module 60 for robot 100 of sweeping the floor can also send laser signal through first detection module 60 when marcing, thereby also can carry out the perception in the side of the route of marcing and keep away the barrier, avoids leaning on the wall.

After the laser signal emitted by the laser radar is emitted from the laser emitting port 12, it can only sense an obstacle higher than the laser plane emitted from the laser emitting port 12. In order to sense the obstacle more comprehensively, the sweeping robot 100 is prevented from colliding and falling. In an embodiment of the present application, the sweeping robot 100 further includes a second detection module 70, the second detection module 70 is disposed on the side wall of the machine body 10, the second detection module 70 corresponds to the laser radar, and is located below the laser emitting port 12.

The second detection module 70 can be a line laser module or a depth camera, and the second detection module 70 can sense the obstacle lower than the laser exit 12, so that the obstacle can be more comprehensively avoided, the cleaning route can be planned in time, and the running reliability of the floor-sweeping robot 100 can be ensured.

The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made by the contents of the specification and the drawings under the inventive concept of the present invention, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims (10)

1. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes:

the device comprises a machine body, a first clamping piece and a second clamping piece, wherein an accommodating cavity is formed in the machine body;

the laser radar is arranged in the accommodating cavity; and

the first supporting structure is arranged in the accommodating cavity and supported between the cavity walls of the accommodating cavity.

2. The sweeping robot of claim 1, wherein the receiving cavity has an upper cavity wall and a lower cavity wall which are opposite to each other, and the first supporting structure is supported between the upper cavity wall and the lower cavity wall.

3. The sweeping robot of claim 2, wherein the first supporting structure is a supporting pillar, the upper cavity wall is concavely provided with a first limiting hole, the lower cavity wall is concavely provided with a second limiting hole corresponding to the first limiting hole, one end of the supporting pillar is fixedly inserted into the first limiting hole, and the other end of the supporting pillar is fixedly inserted into the second limiting hole.

4. The sweeping robot of claim 3, wherein the supporting column comprises a first limiting section, a supporting section and a second limiting section which are sequentially connected, the diameter of the first limiting section and the diameter of the second limiting section are larger than that of the supporting section, the first limiting section is fixedly inserted into the first limiting hole, and the second limiting section is fixedly inserted into the second limiting hole.

5. The sweeping robot according to claim 2, wherein the number of the first support structures is plural, and the plural first support structures are equally distributed on opposite sides of the laser radar.

6. The sweeping robot of any one of claims 1 to 5, wherein a laser exit port is formed in a side wall of the body, the laser exit port is communicated with the accommodating cavity, and both the laser radar and the first support structure are exposed through the laser exit port.

7. The sweeping robot of claim 6, wherein the sweeping robot comprises a buffer plate movably disposed on a side wall of the body and located at one side of the laser emitting port, the buffer plate is provided with an avoiding port corresponding to the laser emitting port, and the buffer plate is movable relative to the side wall of the body to be attached to or spaced from the side wall of the body.

8. The sweeping robot of claim 7, further comprising a second support structure, wherein the avoiding opening has an upper side and a lower side which are opposite to each other, and the second support structure is supported and connected between the upper side and the lower side.

9. The sweeping robot of claim 6, wherein a viewing port is formed in a top wall of the body, the viewing port is communicated with the accommodating cavity, the lidar is exposed through the viewing port, the sweeping robot further comprises a cover plate assembly, the cover plate assembly is covered on the top wall of the body, and a transparent area is formed in a position of the cover plate assembly corresponding to the viewing port.

10. The sweeping robot of claim 6, further comprising a first detection module, wherein the first detection module is disposed on a side wall of the body and spaced from the laser exit port along a circumferential direction of the body;

and/or, the robot of sweeping the floor still includes the second and detects the module, the second detects the module and locates the lateral wall of organism, the second detect the module with laser radar corresponds the setting, and is located the below of laser exit opening.

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