CN215838717U - Obstacle avoidance mechanism and cleaning equipment - Google Patents
Obstacle avoidance mechanism and cleaning equipment Download PDFInfo
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- CN215838717U CN215838717U CN202122164055.4U CN202122164055U CN215838717U CN 215838717 U CN215838717 U CN 215838717U CN 202122164055 U CN202122164055 U CN 202122164055U CN 215838717 U CN215838717 U CN 215838717U
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- avoidance mechanism
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- 238000004140 cleaning Methods 0.000 title claims abstract description 63
- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 238000005034 decoration Methods 0.000 claims description 2
- 230000001681 protective effect Effects 0.000 abstract description 13
- 230000003139 buffering effect Effects 0.000 abstract 1
- 230000001960 triggered effect Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Abstract
The utility model relates to an obstacle avoidance mechanism and cleaning equipment, wherein the obstacle avoidance mechanism comprises a cleaning device, the cleaning device comprises a cleaning body, and the obstacle avoidance mechanism is characterized by comprising: a decorative plate provided on the cleaning body; the protective plate is movably arranged between the cleaning body and the decorative plate; at least one group of guide structures are formed on the opposite surfaces of the decorative plate and the protective plate, and the force borne by the protective plate is decomposed by the guide structures to drive the protective plate and the decorative plate to move relatively. According to the obstacle avoidance mechanism, the guide structure is arranged between the decorative plate and the protection plate, so that obstacles in the circumferential direction of the protection plate can trigger the collision switch through the guide structure, the collision blind area of the collision switch is eliminated, the obstacle can be recognized in 360-degree blind-angle-free omnidirectional mode, meanwhile, the obstacle avoidance mechanism is simple in structure, other buffering parts do not need to be added, and the cost is low.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to the field of household appliances, in particular to an obstacle avoidance mechanism and cleaning equipment.
[ background of the utility model ]
In the field of household appliances, cleaning devices of different structural forms are used to remove dirt, and at present, a cleaning device generally comprises a machine body, a striking plate or a buffer arranged on the side wall of the machine body, and other components protruding from the top of the machine body. For example, other components are cameras, LDS lidar components, and the like.
However, a problem arises with other components protruding from the top of the body of the cleaning appliance, in that when the component encounters an obstacle at a height above the body but below the top of the component, there is a tendency for the component to jam against the obstacle, as the obstacle cannot trigger a striker or bumper on the side wall of the body.
In view of the above, it is necessary to develop an obstacle avoidance mechanism and a cleaning apparatus to solve the above problems.
[ Utility model ] content
Aiming at the defects in the prior art, the utility model aims to provide an obstacle avoidance mechanism which is suitable for cleaning equipment, wherein the cleaning equipment comprises a cleaning body, and the obstacle avoidance mechanism is characterized by comprising:
a decorative plate provided on the cleaning body; and
the protective plate is movably arranged between the cleaning body and the decorative plate;
at least one group of guide structures are formed on the opposite surfaces of the decorative plate and the protective plate, and the force borne by the protective plate is decomposed by the guide structures to drive the protective plate and the decorative plate to move relatively.
Preferably, each set of said guide structures comprises: a guide portion vertically extending downward along a bottom surface of the decorative plate; and
the guide groove is formed in the surface of the protection plate, is positioned right below the guide part and is matched with the guide part;
the cross sections of the guide part and the guide groove are at least one of wedge-shaped, circular arc-shaped or conical.
Preferably, the guide portion includes a first guide surface having at least one of a wedge shape, a circular arc shape, or a tapered shape
The guide groove comprises a second guide surface which is matched with the first guide surface.
Preferably, the bottom surface of one side end of the protection plate extends vertically downwards to form a first sensing part;
the cleaning body is provided with a first collision switch which is positioned right below the first induction part.
Preferably, the bottom surface of the other side end of the protection plate extends vertically downwards to form a second sensing part;
and a second collision switch is arranged on the cleaning body and is positioned right below the second induction part.
Preferably, the first sensing portion and the second sensing portion are both in at least one of a strip shape, a cylindrical shape or a spherical shape.
Preferably, the method further comprises the following steps: the LDS module, it set up in on the clean body and protrusion the top of clean body, simultaneously the LDS module is located the below of guard plate, the LDS module respectively with first bump switch the second bump switch reaches clean this body coupling.
Preferably, at least two elastic elements are arranged between the protection plate and the cleaning body, and the elastic elements provide driving force for resetting the protection plate.
Preferably, the elastic element is at least one of a return spring, a return elastic sheet or a return torsion spring.
In another aspect, the present invention provides a cleaning apparatus comprising: the obstacle avoidance mechanism is described above.
Compared with the prior art, the utility model has the beneficial effects that:
according to the obstacle avoidance mechanism and the cleaning equipment, the guide structure is arranged between the decorative plate and the protective plate, so that the protective plate can trigger the collision switch through the guide structure by the obstacles located in the circumferential direction of the protective plate, the collision blind area of the collision switch is eliminated, the obstacles can be identified in 360-degree blind angle-free omnidirectional mode, meanwhile, the obstacle avoidance mechanism is simple in structure, other buffer parts do not need to be added, and the cost is low.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
[ description of the drawings ]
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the utility model and together with the description serve to explain the utility model without limiting the utility model. In the drawings:
fig. 1 is a schematic perspective view of an obstacle avoidance mechanism according to the present invention;
fig. 2 is an exploded view of the obstacle avoidance mechanism of the present invention;
FIG. 3 is a cross-sectional view of the obstacle avoidance mechanism of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
fig. 5 is a cross-sectional view of the obstacle avoidance mechanism of the present invention, wherein the directions M and N are the stress directions of the protection plate;
FIG. 6 is a partial enlarged view of FIG. 5 at B;
FIG. 7 is an enlarged view of a portion of FIG. 5 at C;
fig. 8 is a schematic perspective view of the decorative panel of the present invention.
Description of reference numerals:
11. cleaning the body;
12. a decorative plate; 121. a guide portion; 1211. a first guide surface; 122. avoiding holes;
13. a protection plate; 131. a guide groove; 1311. a second guide surface; 132. a first sensing part; 133. a second sensing part; 134. a protection recognition unit;
14. a return spring;
15. a first bump switch;
16. a second bump switch;
17. a sensing module.
[ detailed description ] embodiments
The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, which will enable those skilled in the art to practice the present invention with reference to the accompanying specification. In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components. In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, and the like are used based on the orientation or positional relationship shown in the drawings. In particular, "height" corresponds to the dimension from top to bottom, "width" corresponds to the dimension from left to right, and "depth" corresponds to the dimension from front to back. These relative terms are for convenience of description and are not generally intended to require a particular orientation. Terms concerning attachments, coupling and the like (e.g., "connected" and "attached") refer to a relationship wherein structures are secured or attached, either directly or indirectly, to one another through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict. It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
With reference to fig. 1 to 8, the present invention relates to an obstacle avoidance mechanism, which is suitable for a cleaning device, the cleaning device includes a cleaning body 11, and the obstacle avoidance mechanism includes:
a decorative plate 12 provided on the cleaning body 11; and
the protection plate 13 is movably arranged between the cleaning body 11 and the decorative plate 12;
at least one group of guide structures are formed on the opposite surfaces of the decorative plate 12 and the protection plate 13, and the guide structures decompose the force borne by the protection plate 13 to drive the protection plate 13 and the decorative plate 12 to generate relative displacement.
Understandably, when the obstacle with the height higher than that of the cleaning body 11 but lower than that of the protection plate 13 appears in the circumferential direction of the cleaning body 11, the obstacle collides with the protection plate 13 to apply force to the protection plate 13, and the applied force can be decomposed into force in the horizontal direction and force in the vertical direction through the guide structure between the decorative plate 12 and the protection plate 13, so that the protection plate 13 can move in the vertical direction under the guide of the guide structure when colliding with the obstacle in any direction, thereby triggering the collision switch to avoid the obstacle, eliminating the collision blind area of the collision switch, and realizing 360-degree blind-angle-free omnidirectional obstacle recognition.
Further, each set of the guide structures includes: a guide portion 121 extending vertically downward along the bottom surface of the decorative plate 12; and
a guide groove 131, which is opened on the surface of the protection plate 13, wherein the guide groove 131 is located right below the guide part 121, and the guide groove 131 is matched with the guide part 121;
the cross sections of the guide part 121 and the guide groove 131 are at least one of wedge-shaped, circular arc-shaped, and tapered.
In an embodiment of the present invention, the cross sections of the guide part 121 and the guide groove 131 are wedge-shaped, in another embodiment of the present invention, the cross sections of the guide part 121 and the guide groove 131 are arc-shaped, and in yet another embodiment of the present invention, the cross sections of the guide part 121 and the guide groove 131 are tapered;
the shape of the guide part 121 and the guide groove 131 can be selected by a worker according to actual conditions.
Specifically, in a preferred embodiment of the present invention, the cross sections of the guide portion 121 and the guide groove 131 are wedge-shaped, so as to facilitate the machining and forming of the guide portion 121.
Further, the guide portion 121 includes a first guide surface 1211, the first guide surface 1211 has at least one of a wedge shape, a circular arc shape, or a tapered shape,
the guide groove 131 includes a second guide surface 1311 which is fitted with the first guide surface 1211.
It can be understood that when an obstacle higher than the cleaning body 11 but lower than the protection plate 13 is present in the circumferential direction of the cleaning body 11, the obstacle collides with the protection plate 13 to apply a force to the protection plate 13, the first guide surface 1211 abuts against the second guide surface 1311, and the force applied is decomposed into a force in the horizontal direction and a force in the vertical direction through the cooperation of the first guide surface 1211 and the second guide surface 1311, so that the protection plate 13 can move in the vertical direction under the guidance of the guide structure when colliding with the obstacle in any direction, and the collision switch is triggered to avoid the obstacle, thereby eliminating the collision blind area of the collision switch, and realizing 360-degree blind-angle-free omnidirectional obstacle identification.
Further, the bottom surface of one side end of the protection plate 13 extends vertically downwards to form a first sensing part 132;
the cleaning body 11 is provided with a first collision switch 15, and the first collision switch 15 is located right below the first sensing part 132.
The bottom surface of the other side end of the protection plate 13 extends vertically downwards to form a second sensing part 133;
the cleaning body 11 is provided with a second collision switch 16, and the second collision switch 16 is located right below the second sensing part 133.
Further, the first sensing portion 132 and the second sensing portion 133 are at least one of a long strip shape, a cylindrical shape, or a spherical shape.
In an embodiment of the present invention, the first sensing portion 132 and the second sensing portion 133 are both in a strip shape; in another embodiment of the present invention, the first sensing portion 132 and the second sensing portion 133 are both cylindrical; in another embodiment of the present invention, the first sensing portion 132 and the second sensing portion 133 are both spherical;
the shapes of the first sensing part 132 and the second sensing part 133 are specifically set, and a worker can specifically select the shapes according to actual conditions.
It can be understood that when the first sensing part 132 is in contact connection with the first collision switch 15 or the second sensing part 133 is in contact connection with the second collision switch 16, the first collision switch 15 or the second collision switch 16 is triggered, so that the cleaning body recognizes an obstacle, and thus the avoidance operation is performed.
Further, still include: LDS module 17, it set up in on the clean body 11 and protrusion the top of clean body, simultaneously LDS module 17 is located the below of guard plate 13, LDS module 17 respectively with first bump switch 15 second bump switch 16 reaches clean body 11 is connected.
In a preferred embodiment of the present invention, the top surface of the protection plate 13 extends vertically upwards to form a protection identification part 134, and the LDS module 17 is located inside the protection identification part 134.
It can be understood that the protection recognition part 134 protects the LDS module 17 to prevent the LDS module 17 from being damaged, and meanwhile, the protection recognition part 134 is also used for sensing and recognizing an obstacle.
When the first collision switch 15 or the second collision switch 16 is triggered, the first collision switch 15 or the second collision switch 16 sends a feedback signal to the LDS module 17, and the LDS module 17 sends a control instruction to the cleaning body 11 according to a feedback result after receiving the feedback signal, so as to control the cleaning body 11 to perform an avoidance operation.
Further, at least two elastic elements 14 are arranged between the protection plate 13 and the cleaning body 11, and the elastic elements 14 provide driving force for resetting the protection plate 13.
It can be understood that when an obstacle with a height higher than that of the cleaning body 11 and lower than that of the protection plate 13 appears in the circumferential direction of the cleaning body 11, the obstacle collides with the protection plate 13, the protection plate 13 longitudinally displaces after the protection plate 13 and the decorative plate 12 are relatively displaced, and the return spring is extruded and deformed;
when the cleaning body 11 leaves the obstacle, the force applied to the protective identification part 134 of the shielding plate 13 is removed, and the shielding plate 13 is restored to the original position by the driving force provided by the return spring 14.
Can be reset by the reset spring 14, so that the protection plate 13 is restored to the original position
Further, the elastic element 14 is at least one of a return spring, a return spring sheet or a return torsion spring.
In an embodiment of the present invention, the elastic element 14 is a return spring; in another embodiment of the present invention, the elastic element 14 is a reset spring; in another embodiment of the present invention, the elastic element 14 is a return torsion spring;
the specific arrangement of the elastic element 14 can be set by a worker according to actual conditions.
In particular, in a preferred embodiment of the present invention, the elastic element 14 is a return spring.
To sum up, in a first embodiment of the present invention: when an obstacle appears above the cleaning body 11, the protection recognition portion 134 of the protection plate 13 receives a force with a direction N, so that the protection plate 13 moves downward through the guide structure, and the return spring 14 is pressed, after the protection plate 13 moves for a certain stroke, so that the first sensing portion 132 is in contact connection with the first collision switch 15 or the second sensing portion 133 is in contact connection with the second collision switch 16, the first collision switch 15 or the second collision switch 16 is triggered, the first collision switch 15 or the second collision switch 16 sends a feedback signal to the LDS module 17, and after receiving the feedback signal, the LDS module 17 sends a control instruction to the cleaning body 11 according to a feedback result, so as to control the cleaning body 11 to change a route and perform a corresponding avoidance action, therefore, the obstacle is avoided, when the cleaning body 11 leaves the obstacle, the force applied to the protective identification part 134 of the protection plate 13 disappears, and the protection plate 13 is restored to the original position under the action of the driving force provided by the return spring 14 and the guidance of the guide structure.
In a second embodiment of the present invention: when an obstacle appears in the circumferential direction of the cleaning body 11, the circumferential direction of the protection recognition portion 134 of the protection plate 13 receives a force applied by the obstacle, taking the obstacle appears in the front of the cleaning body 11 as an example, when an obstacle appears in the front of the cleaning body 11, the protection recognition portion 134 of the protection plate 13 receives a force applied by the obstacle in the direction M, the protection plate 13 moves backward and downward under the guidance of the guidance structure due to the action of the guidance structure between the decoration plate and the protection plate, and the return spring 14 is pressed, so that the first sensing portion 132 is in contact connection with the first collision switch 15 or the first sensing portion 133 is in contact connection with the second collision switch 16 after the protection plate 13 moves a certain stroke, the first collision switch 15 or the second collision switch 16 is triggered, the first collision switch 15 or the second collision switch 16 sends a feedback signal to the LDS module 17, the LDS module 17 receives the feedback signal and sends a control instruction to the cleaning body 11 according to a feedback result to control the cleaning body 11 to change a route and perform a corresponding avoidance action, so as to avoid an obstacle, when the cleaning body 11 leaves the obstacle, the force applied to the protection recognition part 134 of the protection plate 13 disappears, and the protection plate 13 is restored to an original position under the driving force provided by the return spring 14 and the guidance of the guide structure.
The utility model also relates to a cleaning device comprising: the obstacle avoidance mechanism is described above.
It should be understood that the above-described embodiments are only illustrative of portions of the present application and are not intended to limit the scope of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Claims (10)
1. An obstacle avoidance mechanism adapted for a cleaning device, the cleaning device comprising a cleaning body (11), the obstacle avoidance mechanism comprising:
a decorative plate (12) provided on the cleaning body (11); and
the protection plate (13) is movably arranged between the cleaning body (11) and the decoration plate (12);
at least one group of guide structures are formed on the opposite surfaces of the decorative plate (12) and the protection plate (13), and the guide structures decompose the force borne by the protection plate (13) to drive the protection plate (13) and the decorative plate (12) to move relatively.
2. An obstacle avoidance mechanism according to claim 1, wherein each set of said guide structures comprises: a guide part (121) vertically extending downward along the bottom surface of the decorative plate (12); and
the guide groove (131) is formed in the surface of the protection plate (13), the guide groove (131) is located right below the guide part (121), and the guide groove (131) is matched with the guide part (121);
wherein the cross section of the guide part (121) and the guide groove (131) is at least one of wedge-shaped, circular arc-shaped or conical.
3. An obstacle avoidance mechanism according to claim 2, wherein the guide portion (121) comprises a first guide surface (1211), the first guide surface (1211) being at least one of wedge-shaped, circular arc-shaped or conical,
the guide groove (131) comprises a second guide surface (1311) which is adapted to the first guide surface (1211).
4. An obstacle avoidance mechanism according to any one of claims 1 to 3, wherein the bottom surface of one side end of the guard plate (13) extends vertically downwards to form a first sensing part (132);
the cleaning device is characterized in that a first collision switch (15) is arranged on the cleaning body (11), and the first collision switch (15) is located right below the first sensing part (132).
5. The obstacle avoidance mechanism according to claim 4, wherein the bottom surface of the other side end of the protection plate (13) extends vertically downward to form a second sensing portion (133);
the cleaning body (11) is provided with a second collision switch (16), and the second collision switch (16) is located right below the second sensing part (133).
6. An obstacle avoidance mechanism according to claim 5, wherein the first sensing portion (132) and the second sensing portion (133) are each at least one of elongate, cylindrical or spherical.
7. An obstacle avoidance mechanism according to claim 4, further comprising: LDS module (17), it set up in on clean body (11) and protrusion the top of clean body, simultaneously LDS module (17) are located the below of guard plate (13), LDS module (17) respectively with first bump switch (15) second bump switch (16) and clean body (11) are connected.
8. An obstacle avoidance mechanism according to claim 1, wherein at least two resilient elements (14) are provided between the guard plate (13) and the cleaning body (11), the resilient elements (14) providing a driving force for resetting the guard plate (13).
9. An obstacle avoidance mechanism according to claim 7, wherein the resilient element (14) is at least one of a return spring, a return spring plate or a return torsion spring.
10. A cleaning apparatus, comprising: an obstacle avoidance mechanism according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122164055.4U CN215838717U (en) | 2021-09-08 | 2021-09-08 | Obstacle avoidance mechanism and cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122164055.4U CN215838717U (en) | 2021-09-08 | 2021-09-08 | Obstacle avoidance mechanism and cleaning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215838717U true CN215838717U (en) | 2022-02-18 |
Family
ID=80257449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122164055.4U Active CN215838717U (en) | 2021-09-08 | 2021-09-08 | Obstacle avoidance mechanism and cleaning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215838717U (en) |
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2021
- 2021-09-08 CN CN202122164055.4U patent/CN215838717U/en active Active
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