CN216962316U - Cleaning robot - Google Patents

Abstract

The application provides a cleaning robot. The cleaning robot comprises a face shell, a radar cover and an anti-collision mechanism; the face shell is provided with a radar; the radar cover is arranged on the radar and movably connected with the face shell so as to move towards the rear side relative to the face shell; the anti-collision mechanism comprises a swing rod mechanism and a traveling switch which are both arranged on the face shell, the swing rod mechanism is rotatably connected with the face shell, and two ends of the swing rod mechanism are respectively a linkage end and a free end; the linkage end of the swing rod mechanism is linked with the radar cover, the free end of the swing rod mechanism is adjacent to the radar cover, and when the radar cover moves towards the rear side relative to the face shell, the linkage end of the swing rod mechanism is driven to move, the free end of the swing rod mechanism swings to trigger the traveling switch, and therefore the cleaning robot can adjust the traveling direction. The application improves the effectiveness of collision detection of the cleaning robot.

Description

Cleaning robot

Technical Field

The application relates to the field of smart homes, in particular to a cleaning robot.

Background

Nowadays, cleaning robots are increasingly becoming effective assistance for people's home life. The cleaning robot can automatically clean the ground, particularly the areas such as the bottom of a sofa, the bottom of a bed and the bottom of a cabinet which are not easy to clean by users. And the cleaning robot needs intelligent function, in the process of traveling, can automatically detect the barrier, thereby realizing autonomous movement without artificial excessive intervention. Therefore, the existing product develops a key collision type anti-collision radar to prevent the machine from continuously advancing and blocking.

In the prior art, the impact switch is triggered to be pressed by utilizing the displacement of the radar cover. However, since the collision stroke of the radar cover is small, the collision switch cannot be effectively triggered, and the collision detection fails.

The above information disclosed in this background section is only for enhancement of understanding of the background of the application and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art.

SUMMERY OF THE UTILITY MODEL

It is an object of the present application to improve the effectiveness of collision detection for a cleaning robot.

In order to solve the technical problem, the following technical scheme is adopted in the application:

according to one aspect of the present application, there is provided a cleaning robot having opposing front and rear sides; the cleaning robot includes:

the face shell is provided with a radar;

the radar cover covers the radar and is movably connected with the face shell, and the radar cover can move towards the rear side relative to the face shell;

the anti-collision mechanism comprises a swing rod mechanism and a traveling switch which are both arranged on the face shell, the swing rod mechanism is rotatably connected with the face shell, and two ends of the swing rod mechanism are respectively a linkage end and a free end; the linkage end of the swing rod mechanism is linked with the radar cover, the free end of the swing rod mechanism is adjacent to the radar cover, and when the radar cover moves towards the rear side relative to the face shell, the linkage end of the swing rod mechanism is driven to move, the free end of the swing rod mechanism swings to trigger the traveling switch, and therefore the cleaning robot can adjust the traveling direction.

According to an embodiment of the application, the swing link mechanism comprises a first connecting rod and a second connecting rod connected with the first connecting rod, and the length of the first connecting rod is smaller than that of the second connecting rod;

first connecting rod one end with second connecting rod one end fixed connection, first connecting rod is kept away from second connecting rod one end with radar lid fixed connection forms the linkage end, first connecting rod with the junction of second connecting rod is equipped with pivot portion, pivot portion with the face-piece rotates to be connected, the second connecting rod is kept away from first connecting rod one end extends to near the switch of marcing, forms the free end.

According to an embodiment of the application, radar cover includes the column main part and forms in the flange of main part lower extreme, the flange has the connecting plate to protruding the stretching of outside, the linkage end of pendulum rod mechanism with the connecting plate links mutually.

According to an embodiment of the present application, the travel switch includes an opto-electronic switch having oppositely disposed transmitter and receiver;

and a photoelectric baffle is arranged at the free end of the swing rod mechanism, and when the radar cover moves, the swing rod mechanism is driven to move, so that the photoelectric baffle moves to a position between the transmitter and the receiver, and the photoelectric switch is triggered.

According to an embodiment of the application, the linkage end of the swing rod mechanism and the line direction of the center of the radar cover are defined to be a first direction, the front side and the rear side are defined to be a second direction, and the first direction is opposite to the second direction and is arranged in an obtuse angle mode.

According to an embodiment of the application, a first mounting groove communicated with the face shell and a second mounting groove positioned on one side of the first mounting groove are arranged on the face shell, and the first mounting groove is communicated with the second mounting groove;

the radar and the radar cover are installed in the first installation groove, and the oscillating bar mechanism and the traveling switch are installed in the second installation groove.

According to an embodiment of the application, the cleaning robot further comprises an elastic sheet, wherein two ends of the elastic sheet are fixed on the face shell and are arranged close to the rear side of the radar cover;

when the radar cover moves to the rear side due to collision, the radar cover interferes with the elastic sheet, thereby compressing the elastic sheet; when no obstacle exists in front of the radar cover, the radar cover resets under the elastic action of the elastic sheet.

According to an embodiment of the application, a limiting clamping hook is arranged at the rear end of the radar cover, and a limiting hole is formed in the position, corresponding to the limiting clamping hook, of the face shell; the size of the limiting hole in the front-back direction is larger than the thickness of the limiting clamping hook;

the limiting clamping hook extends into the limiting hole and can move back and forth in the limiting hole; when the radar cover is collided and moves towards the rear side, so that the limiting clamping hook is abutted against the hole wall of the limiting hole, the radar cover is limited and stops moving.

According to an embodiment of the application, two limiting rings are arranged on the front side of the radar cover, one limiting column is arranged on the face shell corresponding to each limiting ring, the limiting columns extend into the limiting rings, and the limiting columns can move forwards and leftwards in the limiting rings; when the radar cover is collided and moves towards the rear side, so that the limiting column is abutted against the hole wall of the limiting ring, the radar cover is limited and stops moving.

According to an embodiment of the application, the bottom of the radar cover is convexly provided with a plurality of sliding structures which are in contact with the surface of the face shell, at least connecting lines of the three sliding structures form a triangle, and when the radar cover is collided and moved, friction force is generated between the sliding structures and the surface of the face shell.

The anti-collision structure in the embodiment comprises a swing rod mechanism and a travel switch, and when the cleaning robot collides with an object from the front, collides with the object from the front on the left side, and collides with the object from the front on the right side, the radar cover moves to the rear side. When the radar cover moves towards the rear side, one end of the swing rod mechanism is driven to follow, and because each connecting rod in the swing rod mechanism is linked, the free end of the swing rod mechanism can correspondingly generate displacement. Because the swing rod mechanism has the displacement amplification effect, the displacement generated by the free end is larger than the movement displacement of the radar cover, the probability of successfully triggering the traveling switch is improved, and after the main control board of the cleaning robot receives the triggered signal of the traveling switch, the traveling wheel assembly is controlled to adjust the traveling direction, so that the current obstacle is far away. Therefore, the scheme improves the effectiveness of effectively preventing collision of the cleaning robot.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 is a schematic structural diagram illustrating a cleaning robot according to an embodiment.

Fig. 2 is a schematic structural view of fig. 1 with a face shell removed.

Fig. 3 is a schematic diagram illustrating a structure in which a radar cover is mounted on a face housing according to an embodiment.

Fig. 4 is an exploded view of the structure of fig. 3.

FIG. 5 is a schematic diagram illustrating a face shell structure according to one embodiment.

Fig. 6 is a schematic structural diagram illustrating a rocker mechanism according to an embodiment.

Fig. 7 is a schematic structural diagram illustrating a travel switch according to an embodiment.

Fig. 8 is a schematic structural diagram of a spring plate according to an embodiment.

Fig. 9 is a schematic structural diagram of a radar cover according to an embodiment.

Fig. 10 is a bottom view of fig. 9.

Fig. 11 is another perspective view of fig. 9.

Fig. 12 is a schematic view illustrating positions of the stopper hook and the stopper post when the radar cover is not collided according to an embodiment.

Fig. 13 is a schematic diagram illustrating the positions of the position-limiting hooks and the position-limiting posts when the front end of the radar cover is collided according to an embodiment.

Fig. 14 is a schematic diagram illustrating positions of the position-limiting hooks and the position-limiting posts when the radar cover is collided at the front left side according to an embodiment.

The reference numerals are explained below: 1. a cleaning robot; 11. a face shell; 111. a first mounting groove; 112. a second mounting groove; 113. a limiting hole; 114. a limiting ring; 115. mounting a column;

12. a radar cover; 121. a flange; 122. a connecting plate; 123. connecting columns; 124. a limiting clamping hook; 125. A limiting column; 126. a sliding structure;

13. a swing rod mechanism; 131. a first link; 132. a second link; 133. a photoelectric baffle plate; 134. a rotating shaft hole; 135. a free end;

14. a travel switch; 141. a transmitter; 142. a receiver;

15. an elastic sheet.

Detailed Description

While this application is susceptible of embodiment in different forms, there is shown in the drawings and will herein be described in detail only some specific embodiments thereof with the understanding that the present disclosure is to be considered as an exemplification of the principles of the application and is not intended to limit the application to that as illustrated herein.

Thus, a feature indicated in this specification is intended to describe one of the features of an embodiment of the application and does not imply that every embodiment of the application must have the described feature. Further, it should be noted that this specification describes many features. Although some features may be combined to show a possible system design, these features may also be used in other combinations not explicitly described. Thus, the combinations illustrated are not intended to be limiting unless otherwise specified.

In the embodiments shown in the drawings, directional references (such as up, down, left, right, front, and rear) are used to explain the structure and movement of the various elements of the present application not absolutely, but relatively. These descriptions are appropriate when the elements are in the positions shown in the drawings. If the description of the positions of these elements changes, the indication of these directions changes accordingly.

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.

The preferred embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The application provides a cleaning robot 1, cleaning robot 1 can be commercial cleaning robot 1 and domestic cleaning robot 1 according to the usage classification, can be cleaning robot 1 such as machine of sweeping the floor, mopping machine and scrubber according to the classification. The present application is not particularly limited.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a cleaning robot 1 according to an embodiment. Generally, the cleaning robot 1 includes a base and a surface cover, the surface shell 11 is installed between the base and the surface cover, a traveling wheel assembly is installed on the base, a cavity is formed between the surface shell 11 and the base for accommodating the rolling brush assembly, the air duct assembly, the dust box assembly and the like, and this is not the focus of the present application, and therefore, no important description is made.

Referring to fig. 2 to 4, fig. 2 is a schematic structural view of fig. 1 with a face shell removed. Fig. 3 is a schematic structural view illustrating that the radar cover 12 is mounted on the face housing 11 according to an embodiment. Fig. 4 is an exploded view of the structure of fig. 3. In one embodiment, the cleaning robot 1 includes a face housing 11, a radar cover 12, and an anti-collision mechanism; the face shell 11 is provided with a radar; the radar cover 12 covers the radar and is movably connected with the face case 11 so as to be movable toward the rear side with respect to the face case 11; the anti-collision mechanism comprises a swing rod mechanism 13 and an advancing switch 14 which are both arranged on the face shell 11, and two ends of the swing rod mechanism 13 are respectively a linkage end and a free end 135; the linkage end of the swing rod mechanism 13 is linked with the radar cover 12, the free end 135 of the swing rod mechanism 13 is adjacent to the radar cover 12, and when the radar cover 12 moves towards the rear side relative to the face shell 11, the linkage end of the swing rod mechanism 13 is driven to move, the free end 135 of the swing rod mechanism 13 swings to trigger the traveling switch 14, and therefore the cleaning robot can adjust the traveling direction.

A radar for detecting an obstacle is mounted on the top surface of the face housing 11. Structurally, the radar protrudes from the face shell 11 and the face cover. The face cover is arranged on the outer side of the radar and used for protecting the radar from being impacted by obstacles in the advancing process of the cleaning robot 1. The radar cover 12 is substantially in a cylindrical hollow structure, and electromagnetic waves emitted by a radar can freely pass through the hollow structure on the radar cover 12 to detect obstacles. And when a collision occurs, the radar cover 12 is first collided, so the radar cover 12 is movably coupled with the face housing 11 to be movable toward the rear side with respect to the face housing 11.

Here, with reference to the horizontal center axis of the radar cover 12, the side close to the front collision portion of the cleaning robot 1 may be the front side, and the other side may be the rear side. It is seen that the rear side does not merely refer to the right rear side of the radar cover 12, but includes the left rear side and the right rear side of the radar cover 12.

The collision prevention structure in this embodiment includes a swing link mechanism 13 and a travel switch 14, and when the cleaning robot 1 collides with an object right in front, collides with an object on the left side in front, and collides with an object on the right side in front, the radar cover 12 moves to the rear side. When the radar cover 12 moves to the rear side, one end of the swing link mechanism 13 will be driven to follow, and since the links in the swing link mechanism 13 are linked, the free end 135 of the swing link mechanism 13 will be displaced accordingly. Because the swing link mechanism 13 has the displacement amplification function, the displacement generated by the free end 135 is larger than the moving displacement of the radar cover 12, so that the probability of successfully triggering the traveling switch 14 is improved, and after the main control board of the cleaning robot 1 receives the triggered signal of the traveling switch 14, the traveling wheel assembly is controlled to adjust the traveling direction, so as to be far away from the current obstacle. This solution thus improves the effectiveness of the cleaning robot 1 in effectively preventing collisions.

Here, a first mounting groove 111 and a second mounting groove 112 may be provided on the face shell 11 to communicate with each other, the first mounting groove 111 and the second mounting groove 112 being in communication with each other; the radar and the radar cover 12 are installed in the first installation groove 111, and the swing link mechanism 13 and the travel switch 14 are installed in the second installation groove 112. As shown in the drawing, the right side of the first mounting groove 111 communicates with the left side of the second mounting groove 112. The groove bottoms of the first and second mounting grooves 111 and 112 may be flush. The thickness of the cleaning robot 1 can be reduced by the provision of the two mounting grooves.

The radar cover 12 includes a cylindrical body and a flange 121 formed at a lower end of the body. A connecting plate 122 protrudes outwards from the flange 121, and a connecting column 123 is arranged on the connecting plate 122; the linkage end of the swing rod mechanism 13 is provided with a through hole, and the linkage end is installed on the connecting column 123 through the through hole so as to realize linkage.

Here, the connection plate 122 may be disposed between the rear end and the right end of the annular end edge of the radar cover 12, so that the link end of the swing link mechanism 13 is fixed between the rear end and the right end of the radar cover 12, and thus a frontal collision and a left frontal collision may be detected. The connection plate 122 may also be provided between the rear end and the left end of the annular end edge of the radar cover 12, so that the link end of the swing link mechanism 13 is fixed between the rear end and the left end of the radar cover 12, and further, a frontal collision and a right frontal collision may be detected. Also can set up a connecting plate 122 between the rear end of radar cover 12 annular end edge and right-hand member simultaneously, respectively between rear end and the left end, it is corresponding, pendulum rod mechanism 13 and march switch 14 all set up two to can detect the ascending collision in radar cover 12 front side all directions.

The face shell 11 is provided with a mounting column 115, the swing link mechanism 13 includes at least two connecting rods, a rotating shaft hole 134 is provided at the joint of two adjacent connecting rods, the rotating shaft hole 134 extends into the mounting column 115 and can rotate around the mounting column 115.

Please refer to fig. 6 and 7. Fig. 6 is a schematic structural diagram of the swing link mechanism 13 according to an embodiment. Fig. 7 is a schematic structural diagram of the travel switch 14 shown according to an embodiment. Here, when the radar cover 12 moves, the relationship between the displacement thereof and the displacement of the free end 135 of the swing lever mechanism 13 needs to be determined according to the link number and link length relationship of the swing lever mechanism 13. In one embodiment, the swing link mechanism 13 includes a first link 131 and a second link 132 connected to the first link 131, and the length of the first link 131 is smaller than that of the second link 132; one end of the first connecting rod 131 is fixedly connected with one end of the second connecting rod 132, one end of the first connecting rod 131, far away from the second connecting rod 132, is fixedly connected with the radar cover to form a linkage end, a rotating shaft portion is arranged at the joint of the first connecting rod 131 and the second connecting rod 132 and is rotatably connected with the face shell, and one end of the second connecting rod 132, far away from the first connecting rod 131, extends to the position near the travel switch to form a free end. The face shell 11 is provided with a mounting post 115, and the rotating shaft hole 134 is sleeved on the mounting post 115, so that the swing link mechanism 13 can rotate relative to the mounting post 115. The first connecting rod 131 and the second connecting rod 132 both extend on a horizontal plane, and both may be integrally formed or may be fixedly connected by a fixing member.

Here, a connection line direction between the link end of the swing link mechanism 13 and the center of the radar cover 12 is defined as a first direction, a relative direction between the front side and the rear side is defined as a second direction, and the first direction is arranged at an obtuse angle with respect to the second direction. The arrangement is such that when the radar cover 12 is moved to the rear side, the moving stroke of the link end is increased, thereby increasing the moving stroke of the free end 135. And the free end of the swing link mechanism 13 moves towards one side of the radar cover 12, so that the structural compactness of the swing link mechanism 13 and the radar cover 12 can be improved.

In this embodiment, since the length of the first link 131 is smaller than that of the second link 132, when the radar cover 12 moves to drive the first link 131 to move slightly, the free end 135 of the second link 132 will have a larger displacement, so as to amplify the displacement of the radar cover 12, and the larger displacement of the free end 135 can improve the effectiveness of successfully triggering the travel switch 14.

Further, to increase the probability of successful activation of the travel switch 14, in one embodiment, the travel switch 14 includes a photoelectric switch having a transmitter 141 and a receiver 142 disposed opposite each other; the free end 135 of the swing link mechanism 13 is provided with a photoelectric barrier 133, and when the radar cover 12 moves to drive the swing link mechanism 13 to move, so that the photoelectric barrier 133 moves between the transmitter 141 and the receiver 142, and the photoelectric switch is triggered to act.

In other embodiments, the travel switch may also be a capacitive, inductive or magneto-inductive proximity switch or a hall switch, with a corresponding adapted trigger at the free end 135.

As described above, when the radar cover 12 moves due to collision, the free end 135 of the swing lever mechanism 13 is displaced accordingly, and the free end 135 is displaced greatly, so that the free end can successfully enter the area between the transmitter 141 and the receiver 142, and the photoelectric switch is triggered. Different from the key switch in the prior art which can be triggered only by external force pressing, the photoelectric switch in the embodiment does not need external force contact triggering, so that the success rate of successful triggering is improved, and the success rate of collision detection is improved.

Referring to fig. 8, fig. 8 is a schematic structural diagram of the elastic sheet 15 according to an embodiment. In an embodiment, the cleaning robot 1 further includes a spring plate 15, two ends of the spring plate 15 are fixed on the face shell 11 and are disposed near the rear side of the radar cover 12; when the radar cover 12 is moved to the rear side by the collision, the radar cover 12 interferes with the spring piece 15, thereby compressing the spring piece 15; when there is no obstacle in front of the radar cover 12, the radar cover 12 is reset by the elastic force of the elastic pieces 15.

The shell fragment 15 can be arc shell fragment 15, and arc shell fragment 15 is located between the rear end and the right-hand member of radar cover 12, also can be located between the rear end and the left end of radar cover 12, also can set up simultaneously between the rear end and the right-hand member of radar cover 12 and between the rear end and the left end of radar cover 12 to can be in the front side of radar cover 12 after receiving the collision of all directions, the homoenergetic resets immediately under the elastic force effect of shell fragment 15.

As before, radar cover 12 can remove to the rear side after the collision, through the setting of shell fragment 15 for radar cover 12 extrudes shell fragment 15 at the in-process that moves to the rear side, thereby receives the reaction force of shell fragment 15, cushions the impact force that receives, and the effectual radar cover 12 of having avoided damages because of the collision.

Please refer to fig. 5, 9 to 11, and 9 are schematic structural diagrams of the radar cover 12 according to an embodiment. Fig. 5 is a schematic structural diagram of the face shell 11 according to an embodiment. Fig. 10 is a bottom view of fig. 9. Fig. 11 is another perspective view of fig. 9. Further, the structural stability of the radar cover 12 during a collision is improved for better protection. In one embodiment, the rear end of the radar cover 12 is provided with a limiting hook 124, and the face shell 11 is provided with a limiting hole 113 corresponding to the limiting hook 124; the size of the limiting hole 113 in the front-back direction is larger than the thickness of the limiting hook 124; the limiting clamping hook 124 extends into the limiting hole 113 and can move back and forth in the limiting direction; when the radar cover 12 is collided and moves to the rear side, and the limit hook 124 abuts against the hole wall of the limit hole 113, the radar cover 12 is limited and stops moving. Here, the length direction and the width direction of the limiting hole 113 may be set to be greater than the corresponding size of the limiting hook 124, so that the limiting hook 124 may move in the front-back, left-side, and right-side directions in the limiting hole 113 to cope with different collision directions.

Two position-limiting rings 114 may be disposed on the front side of the radar cover 12, and the two position-limiting rings 114 may be symmetrically disposed along the central axis of the radar cover. The face shell 11 is provided with a limiting column 125 corresponding to the limiting ring 114, the limiting column 125 extends into the limiting ring 114, and the limiting column 125 can move forwards and leftwards in the limiting ring 114; when the radar cover 12 is moved to the rear side by the collision, and the stopper pillar 125 abuts against the hole wall of the stopper ring 114, the radar cover 12 is stopped by the stopper. Here, the size of the retainer ring 114 may be set larger than that of the retainer post 125 so that the retainer post 125 can move in the front-rear, left-right directions within the retainer ring 114 to cope with different collision directions. Here, the collision stroke of the radar cover 12 in the front-rear direction may be about 3mm and the collision stroke in the horizontal direction may be about 2mm by the dimensional fit of the stopper ring 114 and the stopper groove.

Referring to fig. 12 to 14, fig. 12 is a schematic diagram illustrating positions of the limit hook 124 and the limit post 125 when the radar cover 12 is not collided according to an embodiment. Fig. 13 is a schematic diagram illustrating the positions of the stopper hook 124 and the stopper post 125 when the front end of the radar cover 12 is collided according to an embodiment. Fig. 14 shows a schematic position diagram of the limit hook 124 and the limit post 125 when the front left of the radar cover 12 is collided according to an embodiment.

Taking the orientation shown in fig. 12 to 14 as an example, in an example, when the radar cover 12 is in an initial state (without hitting an obstacle), the elastic sheet 15 exerts an elastic force, so the position-limiting pillar 125 abuts against the rear-end side wall of the position-limiting ring 114, and the position-limiting hook 124 is clamped on the front-end side wall of the position-limiting hole 113. When a collision happens right in front of the radar cover 12, the radar cover 12 moves backward, compressing the elastic sheet 15 until the limiting pillar 125 abuts against the front side wall of the limiting ring 114, and the limiting hook 124 is clamped on the rear side wall of the limiting hole 113. In the moving process of the radar cover 12, the radar cover 12 drives the swing rod mechanism 13, so that the free end 135 of the swing rod mechanism 13 triggers the traveling switch 14, and after the main control board of the cleaning robot 1 receives a trigger signal of the traveling switch 14, the traveling direction is adjusted specifically according to the current environment, and the cleaning robot leaves an obstacle.

When the left front collision of the radar cover 12 occurs, the radar cover 12 moves to the right rear, compressing the elastic sheet 15 until the limiting pillar 125 abuts against the left front side wall of the limiting ring 114, and the limiting hook 124 is clamped on the right rear side wall of the limiting hole 113. In the moving process of the radar cover 12, the radar cover 12 drives the swing rod mechanism 13, so that the free end 135 of the swing rod mechanism 13 triggers the traveling switch 14, and after the main control board of the cleaning robot 1 receives a trigger signal of the traveling switch 14, the traveling direction is adjusted specifically according to the current environment, and the cleaning robot leaves an obstacle.

This embodiment is through setting up two limit structure for radar cover 12 can have a buffer distance when the collision, forms the elasticity collision, compares in the problem that hard collision easily caused radar cover 12 to damage, and the effectual improvement of this embodiment collides in-process, radar cover 12's security.

In order to reduce the friction between the radar cover 12 and the surface of the face housing 11, in one embodiment, a plurality of sliding structures 126 contacting with the surface of the face housing 11 are protruded from the bottom of the radar cover 12, and the connecting lines of at least three sliding structures 126 form a triangle, so that when the radar cover 12 is moved by collision, the sliding structures 126 generate friction with the surface of the face housing 11.

Here, the three sliding structures 126 are not necessarily identical in structure, and in fig. 11, the two sliding structures 126 located on the rear side are cross-shaped structures, and the sliding structures 126 located on the front side are strip-shaped structures. Through this embodiment structure setting, reduced the area of contact on radar cover 12 and face-piece 11 surface, consequently when radar cover 12 along 11 surface contact on face-piece, can reduce sliding friction for radar cover 12 can remove to the rear side fast after the collision, avoids causing structural damage, and consequently this embodiment has improved the security of collision in-process.

While the present application has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present application may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims (10)

1. A cleaning robot having opposing front and rear sides; characterized in that the cleaning robot comprises:

the face shell is provided with a radar;

the radar cover covers the radar and is movably connected with the face shell, and the radar cover can move towards the rear side relative to the face shell;

the anti-collision mechanism comprises a swing rod mechanism and a traveling switch which are both arranged on the face shell, the swing rod mechanism is rotatably connected with the face shell, and two ends of the swing rod mechanism are respectively a linkage end and a free end; the linkage end of the swing rod mechanism is linked with the radar cover, the free end of the swing rod mechanism is adjacent to the radar cover, and when the radar cover moves towards the rear side relative to the face shell, the linkage end of the swing rod mechanism is driven to move, the free end of the swing rod mechanism swings to trigger the traveling switch, and therefore the cleaning robot can adjust the traveling direction.

2. The cleaning robot of claim 1, wherein the swing link mechanism includes a first link and a second link connected to the first link, the first link having a length less than a length of the second link;

first connecting rod one end with second connecting rod one end fixed connection, first connecting rod is kept away from second connecting rod one end with radar lid fixed connection forms the linkage end, first connecting rod with the junction of second connecting rod is equipped with pivot portion, pivot portion with the face-piece rotates to be connected, the second connecting rod is kept away from first connecting rod one end extends to near the switch of marcing, forms the free end.

3. The cleaning robot as claimed in claim 1, wherein the radar cover includes a cylindrical body and a flange formed at a lower end of the body, the flange having a connection plate protruding outward, and a link end of the swing link mechanism being linked with the connection plate.

4. The cleaning robot of claim 1, wherein the travel switch comprises a photoelectric switch having an oppositely disposed transmitter and receiver;

and a photoelectric baffle is arranged at the free end of the swing rod mechanism, and when the radar cover moves, the swing rod mechanism is driven to move, so that the photoelectric baffle moves between the transmitter and the receiver, and the photoelectric switch is triggered.

5. The cleaning robot of claim 1, wherein a direction of a line connecting the link end of the swing link mechanism and the center of the radar cover is defined as a first direction, and a direction opposite to the front side and the rear side is defined as a second direction, and the first direction is disposed at an obtuse angle with respect to the second direction.

6. The cleaning robot as claimed in claim 1, wherein the face housing is provided with a first mounting groove communicated with the face housing, and a second mounting groove located at one side of the first mounting groove, the first mounting groove being communicated with the second mounting groove;

the radar and the radar cover are installed in the first installation groove, and the swing rod mechanism and the traveling switch are installed in the second installation groove.

7. The cleaning robot of claim 1, further comprising a spring plate, wherein two ends of the spring plate are fixed on the face housing and are arranged close to the rear side of the radar cover;

when the radar cover moves towards the rear side due to collision, the elastic sheet is compressed by the radar cover; when no obstacle exists in front of the radar cover, the radar cover resets under the elastic action of the elastic sheet.

8. The cleaning robot as claimed in claim 1, wherein a limit hook is provided at a rear end of the radar cover, and a limit hole is provided at a position corresponding to the limit hook on the surface housing; the size of the limiting hole in the front-back direction is larger than the thickness of the limiting clamping hook;

the limiting clamping hook extends into the limiting hole and can move back and forth in the limiting hole; when the radar cover is collided and moves towards the rear side, so that the limiting clamping hook is abutted against the hole wall of the limiting hole, the radar cover is limited and stops moving.

9. The cleaning robot as claimed in claim 1, wherein two stop rings are provided on the front side of the radar cover, one stop post is provided on the face housing corresponding to each stop ring, the stop posts extend into the stop rings, and the stop posts can move forward and leftward within the stop rings; when the radar cover is collided and moves towards the rear side, so that the limiting column is abutted against the hole wall of the limiting ring, the radar cover is limited and stops moving.

10. The cleaning robot as claimed in claim 1, wherein a plurality of sliding structures contacting with the surface of the housing are protruded from a bottom of the radar cover, and a line connecting at least three of the sliding structures forms a triangle, so that a friction force is generated between the sliding structures and the surface of the housing when the radar cover is moved by collision.

Images