CN216060376U - Cleaning robot and front collision plate assembly thereof - Google Patents
Cleaning robot and front collision plate assembly thereof Download PDFInfo
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- CN216060376U CN216060376U CN202122560263.6U CN202122560263U CN216060376U CN 216060376 U CN216060376 U CN 216060376U CN 202122560263 U CN202122560263 U CN 202122560263U CN 216060376 U CN216060376 U CN 216060376U
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Abstract
The utility model discloses a front collision plate component of a cleaning robot and the cleaning robot, wherein the front collision plate component comprises: a housing; the front collision plate is arranged on the shell and can move along the front-back direction and the left-right direction; the collision assembly is arranged on the left side, the right side and the rear side of the front collision plate, and the front collision plate can trigger the collision assembly when being collided to move left and right or move front and back. According to the front collision plate assembly of the cleaning robot, the front collision plate can move on the shell in the front-back direction and the left-right direction, the collision assemblies are arranged on the left side, the right side and the rear side of the front collision plate, the front collision plate can trigger the collision assemblies when being collided to move left and right or move front and back, the front collision plate can have excellent front collision obstacle avoidance and side collision obstacle avoidance functions under the conditions of large size and high rigidity, the height of an obstacle can be detected, and judgment information is provided for obstacle avoidance and obstacle crossing of the cleaning robot.
Description
Technical Field
The utility model relates to the field of domestic appliances, in particular to a front collision plate assembly of a cleaning robot and the cleaning robot.
Background
The function of the front collision plate assembly of the cleaning robot in the current market mainly has the functions of detecting ground obstacles, collision and the like, and the function of detecting the ground obstacles is mainly realized by an infrared obstacle avoidance sensor, an ultrasonic obstacle avoidance sensor or sensors such as a laser radar and vision. The front obstacle avoidance function of the front collision plate is realized by means of triggering the front collision limit switch by means of moving the front collision plate backwards integrally, and the side obstacle avoidance function is realized by means of triggering the side limit switch by means of elastic deformation generated by stress on two side faces of the front collision plate.
However, for the front collision plate with larger size and higher rigidity, the front collision plate is difficult to trigger the limit switch on the side surface by means of side surface deformation in the above mode, so that the front collision obstacle avoidance and side collision obstacle avoidance functions of the front collision plate are poor in effect, and common sensors such as an infrared obstacle avoidance sensor or an ultrasonic obstacle avoidance sensor have detection blind areas and cannot detect the height of an obstacle.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a front striker assembly of a cleaning robot, which can solve the problem of poor side-impact obstacle avoidance function of the prior art due to the lateral deformation of the front striker, and detect the height of an obstacle.
The utility model also aims to provide a cleaning robot to apply the front striking plate component.
A front striking plate assembly of a cleaning robot according to an embodiment of the present invention includes: a housing; the front collision plate is arranged on the shell and can move along the front-back direction and the left-right direction; the collision assemblies are arranged on the left side, the right side and the rear side of the front collision plate, and the front collision plate can trigger the collision assemblies when being collided to move left and right or move front and back; the laser radar subassembly, the laser radar subassembly is established the front side of crashing the board before, the contained angle has between laser line and the horizontal plane of laser radar subassembly.
According to the front collision plate assembly of the cleaning robot, the front collision plate can move on the shell along the front-back direction and the left-right direction, the collision assemblies are arranged on the left side, the right side and the rear side of the front collision plate, the front collision plate can trigger the collision assemblies when being collided and moved left and right or moved front and back, the front collision plate can have excellent front collision obstacle avoidance and side collision obstacle avoidance functions under the conditions of large size and high rigidity, the height of an obstacle can be detected, and judgment information is provided for obstacle avoidance and obstacle crossing of the cleaning robot.
In some embodiments, the impact assembly comprises: the mounting seat is arranged on the machine shell; one end of the elastic piece is arranged on the mounting seat, and the other end of the elastic piece is connected to the front collision plate; the switch piece is arranged on the mounting seat, and the front collision plate can trigger the switch piece to be opened when being collided and displaced.
In some embodiments, at least two of the collision assemblies are arranged at the rear side of the front striking plate, and at least two of the collision assemblies are arranged symmetrically with respect to the vertical central plane of the front striking plate.
In some embodiments, the mounting seat is provided with a mounting hole, the elastic member is a spring, and the spring is arranged in the mounting hole and arranged along the horizontal direction.
In some embodiments, the striker plate comprises: a front plate portion, a rear side of which is vertically connected with the collision component; the right side of the left plate part is vertically connected with the collision assembly; the left side of right board portion is connected with perpendicularly the collision subassembly.
In some embodiments, a first rectangular hole is formed in the front plate portion, and a first pin is disposed on the housing and penetrates through the first rectangular hole and abuts against a rear side edge of the first rectangular hole.
In some embodiments, each of the left plate portion and the right plate portion has a second rectangular hole, a second pin is disposed in the second rectangular hole, a gap is disposed between the second pin and the second rectangular hole, and the second pin is disposed on the housing.
In some embodiments, an opening is provided on the left plate portion or the right plate portion, and the front striking plate further includes: the side door, the side door is established uncovered going up and pivotally connect the left board portion or the right board portion.
In some embodiments, there are three laser radar assemblies, one laser radar assembly is disposed in the middle of the front striking plate, and the other two laser radar assemblies are disposed on the left and right sides of the laser radar assembly located in the middle of the front striking plate.
The cleaning robot according to the embodiment of the utility model comprises the front striking plate assembly of the cleaning robot.
According to the cleaning robot provided by the embodiment of the utility model, the front collision plate assembly is arranged, so that the front collision plate has excellent functions of front collision obstacle avoidance and side collision obstacle avoidance under the conditions of larger size and higher rigidity, the height of an obstacle is detected, and judgment information is provided for obstacle avoidance and obstacle crossing of the cleaning robot.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a first perspective view of a front striker plate assembly according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a front striker plate assembly according to an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a crash assembly in accordance with an embodiment of the utility model;
FIG. 4 is a partial schematic structural view of a front striker plate assembly in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of a front striker plate assembly in accordance with an embodiment of the present invention in operation.
Reference numerals:
100. a front striker plate assembly;
10. a housing; 110. a base plate;
20. a front striker plate;
210. a front plate portion; 220. a left plate portion; 230. a right plate portion; 240. a side door; 2001. a first rectangular hole; 2002. a second rectangular hole; 2003. opening the mouth; 2004. an assembly hole; 2005. a step portion; 2006. a clamping hole;
250. a locking mechanism; 2501. a magnetic member; 2502. a ferromagnetic member;
30. a crash assembly;
310. a mounting seat; 3101. mounting holes; 320. an elastic member; 330. a switch member;
40. a laser radar component;
410. a fixed mount; 420. a laser radar; 4201. a laser line; 430. a light-transmitting plate; 4301. a hook.
50. Front collision plate edge strips.
2. An obstacle.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring now to fig. 1-5, a front striker plate assembly 100 in accordance with an embodiment of the present invention is described.
As shown in fig. 1, 2, and 5, a front striker plate assembly 100 of a cleaning robot according to an embodiment of the present invention includes: the chassis 10, the front striker plate 20, the impact assembly 30, and the lidar assembly 40.
The front striking plate 20 is provided on the casing 10 and is movable in the front-rear direction and the left-right direction; the collision components 30 are arranged on the left side, the right side and the rear side of the front collision plate 20, and the collision components 30 can be triggered when the front collision plate 20 is collided and moves left and right or front and back.
When the front side of the front collision plate 20 encounters the obstacle 2 in the working process of the cleaning robot, the front collision plate 20 can move backwards and trigger the collision component 30 at the rear side, and the cleaning robot capable of feeding back the obstacle information after the collision component 30 is triggered enables the cleaning robot to retreat backwards to avoid the obstacle 2. When the left side of the front striking plate 20 encounters the obstacle 2, the front striking plate 20 may move rightward to trigger the left impact assembly 30, causing the cleaning robot to retreat rightward from the obstacle 2. When the right side of the front striking plate 20 encounters the obstacle 2, the front striking plate 20 may move leftward to trigger the right-side collision assembly 30, so that the cleaning robot retreats leftward from the obstacle 2. Therefore, in the obstacle avoidance process, the front collision plate 20 can trigger the collision assembly 30 on the side part in a left-right movement mode, so that the side collision obstacle avoidance function is realized, and the collision detection is sensitive.
As shown in FIG. 5, lidar assembly 40 is positioned on the front side of striker plate 20 such that laser line 4201 of lidar assembly 40 is angled from the horizontal. Laser radar subassembly 40 sends laser line 4201 under the slant, has certain contained angle between laser line 4201 and the horizontal plane, and along with cleaning robot gos forward, when the front has barrier 2, laser line 4201 can be beaten on barrier 2, makes cleaning robot detect the front and has barrier 2, and along with the robot continues to go forward, laser line 4201 scans gradually from bottom to top on barrier 2, when can't receive the reflected signal of laser line 4201, just can acquire the height of front barrier 2 to the high efficiency provides judgement information for the obstacle avoidance and the obstacle crossing of cleaning robot, reduces unnecessary collision, improves the security of cleaning robot motion.
According to the front striking plate assembly 100 of the cleaning robot of the embodiment of the utility model, the front striking plate 20 can move on the machine shell 10 along the front-back direction and the left-right direction, the collision assemblies 30 are arranged on the left side, the right side and the rear side of the front striking plate 20, the front striking plate 20 can trigger the collision assemblies 30 when being collided and moved left and right or back and forth, so that the front striking plate 20 has excellent front collision avoidance and side collision avoidance functions under the conditions of larger size and higher rigidity, the height of the obstacle 2 can be detected, and judgment information is provided for obstacle avoidance and obstacle crossing of the cleaning robot.
In some embodiments, as shown in FIG. 3, the crash assembly 30 comprises: the mounting seat 310, the elastic element 320 and the switch element 330, wherein the mounting seat 310 is arranged on the machine shell 10; one end of the elastic element 320 is arranged on the mounting seat 310 and the other end is connected to the front striking plate 20; the switch member 330 is disposed on the mounting seat 310, and the front striking plate 20 can trigger the switch member 330 to open when displaced by a collision. When the front striking plate 20 is collided, the elastic member 320 can play a role of absorbing energy and shock and drive the front striking plate 20 to reset when the cleaning robot is far away from the obstacle 2. The switch 330 is triggered when the front striking plate 20 moves in collision, and provides a feedback signal to the cleaning robot, so that the cleaning robot can move to avoid obstacles.
For example, when the front side of the front striking plate 20 collides with the obstacle 2, the front striking plate 20 moves backward, the elastic member 320 is compressed, the opening and closing member 330 is triggered during the backward movement, the cleaning robot moves backward to avoid the obstacle, and the elastic member 320 restores the front striking plate 20 to move forward during the backward movement. When the left side of the front striking plate 20 collides with the obstacle 2, the front striking plate 20 moves rightwards, the elastic member 320 is compressed, the switch member 330 is triggered during the rightward movement, the cleaning robot moves rightwards to avoid the obstacle, and the elastic member 320 restores the front striking plate 20 leftwards during the rightward movement. When the right side of the front collision plate 20 collides with the obstacle 2, the front collision plate 20 moves leftwards, the elastic member 320 is compressed, the switch member 330 is triggered during the left movement, the cleaning robot moves leftwards to avoid the obstacle, and the elastic member 320 resets rightwards when recovering during the left movement.
Since the elastic members 320 of the left and right collision assemblies 30 can provide the same pre-tightening force, it can be ensured that the front collision plate 20 does not sway left and right during the movement of the cleaning robot.
In some embodiments, the switch member 330 is a limit switch. Alternatively, the switch member 330 is a shutter and a photoelectric switch, and the photoelectric switch is triggered by the shutter blocking the photoelectric switch.
In some embodiments, as shown in fig. 2, at least two collision assemblies 30 are provided at the rear side of the front striker plate 20, and at least two collision assemblies 30 are symmetrically arranged with respect to the vertical central plane of the front striker plate 20. During the left or right movement of the front striking plate 20 due to the collision, the elastic member 320 in the collision assembly 30 behind the front striking plate 20 can be twisted, and when the front striking plate 20 is restored to the right or left, the twisted elastic member 320 is restored, and the torsional restoring force of the elastic member 320 can further drive the front striking plate 20 to be restored to the right or left, thereby enhancing the right or left restoring capability of the front striking plate 20. Secondly, the rear side collision assembly 30 is symmetrically arranged with respect to the vertical center plane of the front collision plate 20, so that a balanced torsional restoring force can be provided, and the centering performance of the front collision plate 20 after being reset is good.
Alternatively, as shown in fig. 2, the two collision modules 30 are provided at the rear side of the front striker plate 20, and the two collision modules 30 are provided at the left and right portions of the front striker plate 20, respectively.
Alternatively, the collision module 30 on the rear side of the front striker 20 may be provided in three, one being provided in the middle of the front striker 20, and the remaining two being provided in the left and right portions of the front striker 20. Of course, this is only an example and will not be described again.
In some embodiments, as shown in fig. 3, the mounting base 310 is provided with a mounting hole 3101, and the elastic member 320 is a spring, which is disposed in the mounting hole 3101 and is arranged along the horizontal direction. The mounting seat 310 is provided with the mounting hole 3101 for mounting the spring, so that the operation is simple, and the mounting reliability of the spring can be improved. The springs are arranged in a horizontal direction, i.e., the axial direction of the springs is perpendicular to the mounting surface of the front striker 20, for example, the axis of the elasticity on the left side is perpendicular to the left side surface of the front striker 20, the axis of the spring on the right side is perpendicular to the right side surface of the front striker 20, and the axis of the spring on the front side is perpendicular to the front side surface of the front striker 20 (i.e., the axis of the spring on the front side is parallel to the vertical center plane of the front striker 20).
In some embodiments, as shown in fig. 1, the front striker plate 20 includes: a front plate part 210, a left plate part 220, and a right plate part 230, wherein the collision module 30 is vertically connected to the rear side of the front plate part 210; the right side of the left plate portion 220 is vertically connected with the crash module 30; the crash module 30 is vertically connected to the left side of the right plate portion 230. The front plate part 210, the left plate part 220 and the right plate part 230 enable the front striker plate 20 to be in a U shape, the rear side of the front plate part 210 is vertically connected with the collision assembly 30 to better receive the collision from the front obstacle 2, the right side of the left plate part 220 is vertically connected with the collision assembly 30 to better receive the collision from the right obstacle 2, and the left side of the right plate part 230 is vertically connected with the collision assembly 30 to better receive the collision from the left obstacle 2.
In some embodiments, as shown in fig. 1, the front plate portion 210 is provided with a first rectangular hole 2001, and the housing 10 is provided with a first pin (not shown) penetrating through the first rectangular hole 2001 and abutting on a rear side edge of the first rectangular hole 2001. The first rectangular hole 2001 and the first pin are matched with each other to limit the position of the front plate portion 210, and the first pin abuts against the rear side edge of the first rectangular hole 2001, so that the position of the front plate portion 210 can be ensured to be reliable, and the front plate portion 210 cannot be influenced to move backwards to avoid obstacles.
Alternatively, as shown in fig. 1, the first rectangular hole 2001 may be provided in plurality, and the plurality of first rectangular holes 2001 are provided at intervals along the length direction of the front plate portion 210 to improve the mounting reliability of the front plate portion 210. For example, the number of the first rectangular holes 2001 is four, two first rectangular holes 2001 are provided in the middle of the front plate portion 210, and the remaining two are provided in the left and right portions of the front plate portion 210, respectively. Of course, this is merely an example, and the number of the first rectangular holes 2001 may be specifically set according to the circumstances, and is not limited thereto, and will not be described herein again.
In some embodiments, as shown in fig. 1, a second rectangular hole 2002 is formed in each of the left plate portion 220 and the right plate portion 230, a second pin (not shown) is disposed in the second rectangular hole 2002, a gap is formed between the second pin and the second rectangular hole 2002, and the second pin is disposed on the casing 10. The second pin and the second rectangular hole 2002 are matched with each other to limit the left board part 220 and the right board part 230, so that the left board part 220 and the right board part 230 are prevented from being separated from the casing 10, and a gap is formed between the second pin and the second rectangular hole 2002, so that the left board part 220 and the right board part 230 can be guaranteed to move in the left-right direction by a small displacement, and obstacle avoidance can be realized.
In some embodiments, as shown in FIG. 1, the enclosure 10 includes: a bottom plate 110 and a top plate on which first and second pins are provided, and first and second rectangular holes 2001 and 2002 are provided on the top end surface of the front striker plate 20.
In some embodiments, the bottom plate 110 is provided with a first pin and a second pin, and the bottom surface of the front striker plate 20 is provided with a first rectangular hole 2001 and a second rectangular hole 2002, so that the top end surface and the bottom end surface of the front striker plate 20 are matched with the pins through the rectangular holes, thereby improving the mounting reliability of the upper end and the lower end of the front striker plate 20.
In some embodiments, as shown in fig. 1 and 2, an opening 2003 is provided on the left plate portion 220 or the right plate portion 230, and the front striking plate 20 further includes: and a side door 240, the side door 240 being provided on the open cover 2003 and pivotably connecting the left plate portion 220 or the right plate portion 230. The side door 240 is pivotally connected to the left plate part 220 or the right plate part 230 to be opened or closed, and an accommodating space for accommodating a roller brush assembly of the cleaning robot may be formed inside the front striking plate 20, so that the roller brush assembly may be conveniently detached or replaced by providing the side door 240 which may be opened or closed.
For example, an open mouth 2003 and a side door 240 are provided on the left plate portion 220, and the removal or installation of the brush roll assembly from the left side of the front striking plate 20 can be achieved by opening the side door 240.
For example, an open mouth 2003 and a side door 240 are provided on the right plate portion 230, and the removal or installation of the brush roll assembly from the right side of the front striking plate 20 can be achieved by opening the side door 240.
In some embodiments, a pivot shaft (not shown) is provided on the side door 240, and the pivot shaft is provided on the front striking plate 20 and rotates around a vertical direction, so that the side door 240 swings open or closed.
In other embodiments, the pivot shaft can rotate around the horizontal direction, for example, the pivot shaft is arranged at the upper part of the side door 240, and the side door 240 is opened in the upward direction and closed in the downward direction. Alternatively, the pivot shaft is provided at the lower portion of the side door 240, and the side door 240 is rotated outward to be opened and rotated inward to be closed.
In some embodiments, as shown in fig. 1, the front striker plate 20 further includes: and a locking mechanism 250 for locking or releasing the side door 240.
Alternatively, as shown in fig. 1, the locking mechanism 250 includes: magnetic piece 2501 and ferromagnetic piece 2502, magnetic piece 2501 and ferromagnetic piece 2502 both establish on the front striking plate 20 and near open mouth 2003 the setting, and the other establishes on side door 240, adopts this mode to just can realize locking or release of side door 240 through the magnetic mode, easy operation, convenient to use.
For example, magnetic member 2501 is a magnet and can be disposed on left plate portion 220, and ferromagnetic member 2502 is an iron insert and can be disposed on side door 240, so that side door 240 can be firmly fixed to left plate portion 220 by the magnetic attraction. Of course, magnetic member 2501 may be disposed on side door 240, and ferromagnetic member 2502 may be disposed on left plate portion 220, and may also serve to lock side door 240.
Optionally, the locking mechanism 250 may include: first magnetism is inhaled piece (not shown in the figure) and second magnetism and is inhaled piece (not shown in the figure), first magnetism inhale the piece and the second magnetism inhale the setting mode of piece refer to the above, inhale the mode that the piece can produce stronger magnetism through setting up two magnetism and inhale the effort, locking effect is also better.
In some embodiments, the locking mechanism 250 may also be a clamping structure, and the structure thereof may refer to a clamping structure in the prior art, as long as the locking or releasing of the side door 240 can be achieved, which is not described herein again.
In some embodiments, as shown in FIG. 2, there are three lidar assemblies 40, one lidar assembly 40 disposed in the middle of front striker plate 20, and two remaining lidar assemblies 40 disposed on the left and right sides of lidar assembly 40 in the middle of front striker plate 20. The three laser radar assemblies 40 are respectively arranged at the middle part, the left part and the right part of the front collision plate 20, so that the obstacles 2 in the front of the front collision plate 20, on the left side of the front and on the right side of the front can be detected, a certain overlapping area is formed at the joint of any two adjacent laser radar assemblies 40, and the overlapping area can detect the obstacles 2 with the height of about 30 mm.
In some embodiments, as shown in FIG. 4, lidar assembly 40 includes: the fixing frame 410, the laser radar 420 and the light-transmitting plate 430 are arranged on the front collision plate 20, the light-transmitting plate 430 is arranged on the assembly hole 2004, the fixing frame 410 is arranged on the light-transmitting plate 430, and the laser radar 420 is arranged on the fixing frame 410. Laser radar subassembly 40 sets up to include mount 410, laser radar 420, light-passing board 430 and assembles each other, realizes the replacement or the maintenance of spare part, reduce cost.
Optionally, lidar 420 is an infrared lidar and light transmissive plate 430 is an infrared light transmissive plate.
In some embodiments, the lidar 420 at the left and right portions of the front side of the front striker plate 20 are infrared lidar having a wavelength of 980nm, and the lidar 420 at the center portion of the front side of the front striker plate 20 is infrared lidar having a wavelength of 808 nm.
Optionally, as shown in fig. 4, a step portion 2005 arranged around the edge of the assembly hole 2004 is arranged on the assembly hole 2004, a clamping hole 2006 is arranged on the step portion 2005, a clamping hook 4301 is arranged on the light-transmitting plate 430, the clamping hook 4301 is arranged on the clamping hole 2006, and the light-transmitting plate 430 abuts against the step portion 2005, so that the light-transmitting plate 430 and the front striking plate 20 are clamped and matched.
In some embodiments, as shown in fig. 1, the front striker plate assembly 100 further comprises: the front collision plate edge strip 50 is arranged on the bottom edge of the front collision plate 20, and the front collision plate edge strip 50 plays a role in protecting the bottom edge of the front collision plate 20.
Optionally, the front striker bar 50 is a rubber bar.
One embodiment of the front striker plate assembly 100 of the cleaning robot of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 1 to 5, the front striker assembly 100 of the cleaning robot includes: the front bumper comprises a machine shell 10, a front bumper 20, a collision assembly 30, a laser radar assembly 40 and a front bumper edge strip 50.
The front striking plate 20 is provided on the housing 10 and is movable in the front-rear direction and the left-right direction.
The front striker plate 20 includes: a front plate portion 210, a left plate portion 220, a right plate portion 230, a side door 240, and a lock mechanism 250, wherein a crash module 30 is vertically connected to the rear side of the front plate portion 210; the right side of the left plate portion 220 is vertically connected with the crash module 30; the crash module 30 is vertically connected to the left side of the right plate portion 230.
An opening 2003 is provided on the left plate portion 220, and a side door 240 is provided on the opening 2003 and pivotably connected to the left plate portion 220.
The locking mechanism 250 includes: magnetic piece 2501 and ferromagnetic piece 2502, magnetic piece 2501 is a magnet and is set up on left plate portion 220 and adjacent to open mouth 2003 and ferromagnetic piece 2502 is a iron insert and is set up on side door 240, is used for realizing the locking or releasing of side door 240.
The collision components 30 are arranged on the left side, the right side and the rear side of the front collision plate 20, and the collision components 30 can be triggered when the front collision plate 20 is collided and moves left and right or front and back. The two collision assemblies 30 are provided at the rear side of the front striker plate 20, and the two collision assemblies 30 are arranged symmetrically with respect to the vertical center plane of the front striker plate 20.
The crash module 30 includes: the mounting seat 310, the elastic element 320 and the switch element 330, wherein the mounting seat 310 is arranged on the machine shell 10; one end of the elastic element 320 is arranged on the mounting seat 310 and the other end is connected to the front striking plate 20; the switch member 330 is disposed on the mounting seat 310, and the front striking plate 20 can trigger the switch member 330 to open when displaced by a collision.
The switch 330 is a limit switch, the mounting base 310 is provided with a mounting hole 3101, and the elastic member 320 is a spring, which is arranged in the mounting hole 3101 and along the horizontal direction.
The laser radars 420 of the left and right portions of the front side of the front striker plate 20 are infrared laser radars having a wavelength of 980nm, and the laser radar 420 of the middle portion of the front side of the front striker plate 20 is an infrared laser radar having a wavelength of 808 nm.
The light-transmitting panel 430 is an infrared light-transmitting panel.
The fitting hole 2004 is provided with a step portion 2005 provided around the edge of the fitting hole 2004, the step portion 2005 is provided with a latching hole 2006, the light-transmitting plate 430 is provided with a latching hook 4301, the latching hook 4301 is provided on the latching hole 2006, and the light-transmitting plate 430 abuts against the step portion 2005.
The front collision plate edge 50 is a rubber edge which is arranged on the bottom edge of the front collision plate 20 so as to protect the bottom edge of the front collision plate 20.
The operation of the front striker assembly 100 of the cleaning robot of the present invention is described as follows:
when the obstacle 2 collides with a front collision plate 20 of the cleaning robot in front of the cleaning robot, the front collision plate 20 moves backwards under the action of collision force, a front collision spring is compressed, the front collision plate 20 moves backwards integrally, a front collision limit switch is triggered, the cleaning robot retreats to avoid the obstacle 2, and the front collision plate 20 returns to an initial position under the action of the restoring force of the front collision spring; when the obstacle 2 is on the left side of the cleaning robot, the obstacle collides with the left side of a front collision plate 20 of the cleaning robot, the front collision plate 20 moves rightwards under the action of collision force, a left collision spring is compressed, the front collision plate 20 integrally moves rightwards, a left collision limit switch is triggered, the cleaning robot retreats rightwards to open the obstacle 2, and the front collision plate 20 returns to an initial position under the action of the torsion force of the front collision spring and the return force of the left collision spring; when the obstacle 2 collides with the right side of the front collision plate 20 of the cleaning robot, the front collision plate 20 moves leftwards under the action of the collision force to compress the right collision spring, so that the front collision plate 20 moves leftwards integrally to trigger the right collision limit switch, the cleaning robot retreats leftwards to open the obstacle 2, and the front collision plate 20 returns to the initial position under the action of the torsion force of the front collision spring and the return force of the right collision spring.
Obstacle detection process:
when barrier 2 was in cleaning robot the place ahead, the infrared laser radar of place ahead can detect the distance of barrier 2, according to infrared laser radar's installation angle and position, calculates the concrete position and the height of barrier 2. Due to the installation height limitation of the infrared lidar, the maximum height of the obstacle 2 which can be detected by the infrared lidar does not exceed the installation height of the laser center position of the infrared lidar.
Taking the detection of the obstacle 2 right ahead as an example: when the infrared laser radar in front just detects the obstacle 2, the position and distance information of the obstacle 2 can be calculated according to the feedback information, at the moment, the cleaning robot continues to move forwards, and the height information of the obstacle 2 is continuously obtained according to the information fed back by the intersection point of the infrared light emitted by the line laser radar and the obstacle 2 until the height of the obstacle 2 is measured (the height of the obstacle which can be measured by the infrared laser radar is not more than the installation height of the laser center position of the obstacle).
In conclusion, the front collision plate assembly 100 of the present invention solves the problem of collision (front and side) and obstacle avoidance when the front collision plate 20 of the cleaning robot has a large size and a large rigidity, and can detect the distance and height information of the obstacle 2 in front of the cleaning robot, provide more accurate information for the robot obstacle avoidance, reduce the number of collisions of the front collision plate 20 of the robot, and improve the safety of robot movement.
The cleaning robot according to the embodiment of the present invention includes the front striking plate assembly 100 of the cleaning robot described above.
According to the cleaning robot provided by the embodiment of the utility model, the front collision plate assembly 100 is arranged, so that the front collision plate 20 has excellent front collision obstacle avoidance and side collision obstacle avoidance functions under the conditions of larger size and higher rigidity, the height of the obstacle 2 can be detected, and judgment information is provided for obstacle avoidance and obstacle crossing of the cleaning robot.
Other configurations and operations of the cleaning robot according to the embodiment of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "some embodiments," "optionally," "further," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A front striker plate assembly for a cleaning robot, comprising:
a housing;
the front collision plate is arranged on the shell and can move along the front-back direction and the left-right direction;
the collision assemblies are arranged on the left side, the right side and the rear side of the front collision plate, and the front collision plate can trigger the collision assemblies when being collided to move left and right or move front and back;
the laser radar subassembly, the laser radar subassembly is established the front side of crashing the board before, the contained angle has between laser line and the horizontal plane of laser radar subassembly.
2. The front striker assembly of a cleaning robot according to claim 1, wherein the collision assembly comprises:
the mounting seat is arranged on the machine shell;
one end of the elastic piece is arranged on the mounting seat, and the other end of the elastic piece is connected to the front collision plate;
the switch piece is arranged on the mounting seat, and the front collision plate can trigger the switch piece to be opened when being collided and displaced.
3. The front striker assembly of a cleaning robot according to claim 2, wherein the number of the collision members at the rear side of the front striker is at least two, and at least two of the collision members are symmetrically arranged with respect to a vertical center plane of the front striker.
4. The front striking plate assembly of claim 2, wherein said mounting base has a mounting hole, said elastic member is a spring, and said spring is disposed in said mounting hole and horizontally disposed.
5. The front striker assembly of a cleaning robot according to claim 1, wherein the front striker comprises:
a front plate portion, a rear side of which is vertically connected with the collision component;
the right side of the left plate part is vertically connected with the collision assembly;
the left side of right board portion is connected with perpendicularly the collision subassembly.
6. The front striking plate assembly of claim 5, wherein said front plate portion has a first rectangular hole, said housing has a first pin penetrating said first rectangular hole and abutting against a rear side of said first rectangular hole.
7. The front striker assembly for a cleaning robot according to claim 5, wherein each of the left and right plate portions has a second rectangular hole, a second pin is disposed in the second rectangular hole, a gap is disposed between the second pin and the second rectangular hole, and the second pin is disposed on the housing.
8. The front striking plate assembly of claim 5, wherein an opening is provided on said left plate portion or said right plate portion, said front striking plate further comprising: the side door, the side door is established uncovered going up and pivotally connect the left board portion or the right board portion.
9. The front striker plate assembly of a cleaning robot according to claim 1, wherein there are three of said lidar assemblies, one of said lidar assemblies being disposed at a central portion of said front striker plate, and the remaining two of said lidar assemblies being disposed at left and right sides of said lidar assemblies at said central portion of said front striker plate.
10. A cleaning robot characterized by comprising the front striker assembly of the cleaning robot of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122560263.6U CN216060376U (en) | 2021-10-22 | 2021-10-22 | Cleaning robot and front collision plate assembly thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122560263.6U CN216060376U (en) | 2021-10-22 | 2021-10-22 | Cleaning robot and front collision plate assembly thereof |
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| CN216060376U true CN216060376U (en) | 2022-03-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115040032A (en) * | 2022-05-16 | 2022-09-13 | 深圳银星智能集团股份有限公司 | Cleaning robot |
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- 2021-10-22 CN CN202122560263.6U patent/CN216060376U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115040032A (en) * | 2022-05-16 | 2022-09-13 | 深圳银星智能集团股份有限公司 | Cleaning robot |
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