CN217013894U

CN217013894U - Collision detection structure of sweeper and sweeper

Info

Publication number: CN217013894U
Application number: CN202220363775.5U
Authority: CN
Inventors: 万勇
Original assignee: Shenzhen Water World Co Ltd
Current assignee: Shenzhen Water World Co Ltd
Priority date: 2022-02-22
Filing date: 2022-02-22
Publication date: 2022-07-22
Anticipated expiration: 2032-02-22

Abstract

The utility model discloses a sweeper collision detection structure and a sweeper, wherein the sweeper collision detection structure comprises a shell, a sensing piece and a radar cover, wherein the upper end of the shell is provided with a mounting groove for mounting the sensing piece and the radar cover, the lower end of the sensing piece is fixedly arranged at the bottom of the mounting groove, and the upper end of the radar cover protrudes out of the mounting groove; the lower extreme of radar lid is provided with the holding tank, and sensing piece holds in the holding tank, and the groove limit slope of holding tank sets up. When the upper end of radar lid received the collision, the tank bottom extrusion sensing piece of holding tank, the upper end that sensing piece can the sensing radar lid received the collision. When the side of radar lid received the collision, the side of trough limit extrusion sensing piece can be judged the position that the radar lid received the collision according to the side extruded position of sensing piece upper end, and the side that sensing piece can sensing radar lid receives the collision. One sensing piece can sense the collision of radar cover many azimuths, and there is not the blind area in radar cover's collision sensing.

Description

Machine of sweeping floor collision detection structure and machine of sweeping floor

Technical Field

The utility model relates to the technical field of cleaning, in particular to a collision detection structure of a sweeper and the sweeper.

Background

With the development of science and technology and the improvement of living standard, the sweeper gradually enters the daily life of people. The sweeper is a special robot for human service, mainly used for cleaning and washing in home hygiene, such as a sweeping robot for sweeping dust or small solid garbage, a mopping robot for removing water stains, a sweeper for removing stains difficult to clean, and the like.

The sweeper is often provided with a radar cover for covering and protecting the radar, and the radar cover is often convexly arranged on the upper surface of the sweeper body, so that the condition that the radar cover is higher than the sweeper body is caused. At present, touch switches are only arranged on the periphery of a radar cover, when a sweeper body collides with an obstacle, the obstacle extrudes the radar cover, the radar cover extrudes the touch switches, the sweeper body receives a feedback signal and controls the self-switching direction to avoid the obstacle and avoid the collision with the obstacle; however, the existing touch switches vertically touch the radar cover, one touch switch can only sense the collision in one direction, and if a plurality of touch switches which touch the radar cover are arranged, blind areas still exist; the whole side of radar lid all contradicts there is touch switch, and seamless setting between every touch switch can influence each other between the touch switch, influences the sensing effect.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a sweeper collision detection structure and a sweeper, and aims to solve the technical problems that one touch switch can only sense collision of a radar cover in one direction, and the collision sensing of the radar cover has a blind area.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a collision detection structure of a sweeper comprises a shell, a sensing piece and a radar cover, wherein the upper end of the shell is provided with a mounting groove for mounting the sensing piece and the radar cover, the lower end of the sensing piece is fixedly arranged at the bottom of the mounting groove, and the upper end of the radar cover protrudes out of the mounting groove; the lower extreme of radar lid is provided with the holding tank, sensing piece holds in the holding tank, the groove limit slope of holding tank sets up.

Furthermore, the sensing part comprises a main board and a plurality of touch switches, the main board is fixed at the bottom of the mounting groove, and the lower ends of the touch switches are respectively fixed on the main board; the touch switches are arranged at intervals along the circumferential direction of the mounting groove;

wherein, the touch switch is a microswitch.

Further, still include the control, the mainboard is connected with the control communication.

Furthermore, the lower end of the radar cover is provided with a plurality of accommodating grooves, and the touch switches are respectively accommodated in the corresponding accommodating grooves.

Furthermore, the groove edge of the accommodating groove inclines outwards, and a first gap is formed between the groove bottom of the accommodating groove and the upper end of the sensing piece.

Further, the included angle between the side edge of the trigger switch and the groove edge of the accommodating groove ranges from 40 degrees to 50 degrees.

Further, the shell comprises a face shell and a middle shell, the middle shell is provided with the mounting groove, the face shell seals an opening at the upper end of the mounting groove, and the face shell is provided with a mounting hole for mounting the radar cover; the lower extreme of radar cover holds in the mounting groove, the upper end of radar cover pass through the mounting hole protrusion in the casing.

Further, the radar cover includes lid and arch, the arch set up in the lower extreme of lid, and follow the circumference protrusion of lid in the lid, it is a plurality of the holding tank sets up bellied lower extreme, the arch set up in the mounting groove, just the face-piece support blocks bellied upper end.

Further, when the radar cover is in a natural state, a second gap is formed between the upper end of the protrusion and the lower end piece of the face shell.

The utility model also discloses a sweeper, which comprises the collision detection structure of the sweeper.

Has the advantages that:

when the upper end of radar lid received the collision, radar lid downstream, sensing piece held in the holding tank, and the lower extreme is fixed to be set up at the tank bottom of mounting groove, and the tank bottom extrusion sensing piece of holding tank, sensing piece can sense the upper end of radar lid and receive the collision. When the side edge of the radar cover is impacted, the groove edge presses the side edge of the sensing piece. The slope of trough limit sets up, extrudees the side of sensing piece, and radar cover rebound, the side of trough limit extrusion sensing piece upper end, and the upper end that sensing piece can sensing radar cover receives the collision, and according to the side of sensing piece upper end by the extruded position, can judge the position that radar cover received the collision, the side that sensing piece can sensing radar cover receives the collision. One sensing piece can sense the collision of the radar cover in multiple directions, and the collision sensing of the radar cover does not have blind areas.

Drawings

Fig. 1 is a schematic structural view of a collision detection structure of a sweeper in an embodiment of the present invention;

fig. 2 is a schematic cross-sectional view of the detecting structure and the radar cover assembly when the sweeper collides with an obstacle in the forward direction according to an embodiment of the present invention;

fig. 3 is a schematic cross-sectional view of the detection structure and the radar cover assembly when the sweeper moves forward without colliding with an obstacle according to an embodiment of the present invention;

fig. 4 is a schematic cross-sectional view of the detection structure and the radar cover assembly when the sweeper collides with an obstacle after backing;

fig. 5 is a schematic cross-sectional structure view of the detection structure and the radar cover assembly when the sweeper collides with an obstacle on an upward slope according to an embodiment of the present invention;

wherein: 1. a radar cover; 11. accommodating a tank; 2. a touch switch; 3. a main board; 4. a face shell; 5. a middle shell; 51. and (4) mounting the groove.

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

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the utility model and do not limit the utility model.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "one end," "another end," "first," "second," and the like as used herein are for illustrative purposes only and are not to be construed as indicating or implying relative importance.

Technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope claimed by the present invention.

Referring to fig. 1 to 5, in an embodiment, the utility model discloses a collision detection structure of a sweeper, which includes a housing, a sensing piece and a radar cover 1, wherein an installation groove 51 for installing the sensing piece and the radar cover 1 is formed in the upper end of the housing, the lower end of the sensing piece is fixedly arranged at the bottom of the installation groove 51, and the upper end of the radar cover 1 protrudes out of the installation groove; the lower extreme of radar lid 1 is provided with holding tank 11, and sensing part holds in holding tank 11, and the groove limit slope of holding tank 11 sets up.

In the above embodiment, when the upper end of the radar cover 1 receives the collision, the radar cover 1 moves downward, the sensing piece is accommodated in the accommodating groove 11, the lower end is fixedly arranged at the groove bottom of the mounting groove 51, the sensing piece is pressed by the groove bottom of the accommodating groove 11, and the upper end of the sensing piece capable of sensing the radar cover 1 receives the collision. When the side of the radar cover 1 is hit, the groove side presses the side of the sensing piece. The slope of trough limit sets up, extrudees the side of sensing piece, and the side of trough limit extrusion sensing piece upper end, and the upper end that sensing piece can sensing radar lid 1 receives the collision, and according to the side of sensing piece upper end by extruded position, can judge that radar lid 1 receives the position of collision, and the side that sensing piece can sensing radar lid 1 receives the collision. One sensing member can sense that the radar cover 1 is collided in a plurality of directions, and the collision sensing of the radar cover 1 has no blind area.

The collision detection structure of the sweeper further comprises a protective sleeve, the protective sleeve is covered on the radar cover 1 and used for protecting the radar cover 1 and preventing the radar cover 1 from being damaged. The protective sheath is the flexible glue material, and the structure safety of better protection radar just does not influence radar signal's transmission.

Different azimuths of radar cover 1 receive the collision, and it is different to sensing piece extrusion position, and then can judge radar cover 1 according to the sensing of sensing piece and receive the position of collision.

Fig. 2, fig. 4 and fig. 5 are schematic sectional structural diagrams of the radar cover colliding with the obstacle sensing structure and the radar cover assembly when the sweeper moves forward, moves backward and goes up a slope, respectively, wherein the arrow direction is the driving direction of the sweeper, the slot side presses the side of the sensing structure, and the collided direction of the radar cover 1 is determined according to the pressed position of the side of the sensing part.

In one embodiment, the sensing member includes a main board 3 and a plurality of tact switches 2, the main board 3 is fixed at the bottom of the mounting groove 51, and the lower ends of the plurality of tact switches 2 are respectively fixed on the main board 3; the tact switches 2 are disposed at intervals in the circumferential direction of the mounting groove 51.

In the above embodiment, the sensing member includes a plurality of tact switches 2, and the tact switches 2 are arranged at intervals along the circumferential direction of the mounting groove 51, so that the sensitivity of the sensing member for sensing the collision of the radar cover 1 is increased. In order to reduce the size of the sweeper as much as possible, the touch switch 2 is a small part, the accommodating groove 11 is also small and is formed in the side edge of the radar cover 1, and in order to facilitate sensing of collision, the part, protruding out of the housing, of the radar cover 1 is cylindrical and can sense collision of the peripheral side. Although the slope of the trough edge of holding tank 11 sets up the collision that can sense 1 a plurality of position of radar lid, holding tank 11 is located the side of radar lid 1, and some radar lid 1 receive the collision of yielding object or the back that blocks of small-size object in some positions, and the machine of sweeping the floor promotes the barrier and moves forward, and the trough edge of holding tank 11 can not extrude touch switch 2 and warp, and the uncontrollable machine of sweeping the floor turns to and promotes the barrier always, consumes the energy of machine of sweeping the floor. The plurality of tact switches 2 are arranged at intervals along the circumferential direction of the mounting groove 51, and when the radar cover 1 is collided, the force with which the tact switch 2 closest to the collision position is pressed is larger.

The touch switch 2 is an elastic switch capable of automatically recovering the original state, and the touch switch 2 can be deformed only by enough extrusion force, and the touch switch 2 can sense the collision of the radar cover 1 after being deformed. After the extrusion is finished, the touch switch 2 is restored to the original state.

In an embodiment, the collision detection structure of the sweeper further comprises a control member, and the main board 3 is in communication connection with the control member.

In the above embodiment, the touch switches 2 are squeezed to deform, the radar cover 1 has different squeezing forces on the touch switches 2 after being collided in different directions, each touch switch 2 has different squeezing forces and different force points, the touch switches 2 have different squeezing forces on the main board 3, the main board 3 is in communication connection with the control element, the lower end of each touch switch 2 is correspondingly fixed on the main board 3, the main board 3 transmits the different squeezing forces and the different force points to the main board 3, the main board 3 is in communication connection with the control element, the main board 3 converts the different squeezing forces and the different force points of the touch switches 2 into corresponding signals to be transmitted to the control element, and the control element controls the sweeper to turn according to the corresponding signals to ensure that the sweeper avoids obstacles and normally works.

In an embodiment, the lower end of the radar cover 1 is provided with a plurality of receiving grooves 11, and the plurality of tact switches 2 are respectively received in the corresponding receiving grooves 11.

In the above embodiment, when the radar cover 1 is collided, the groove edge of the accommodating groove 11 presses the tact switches 2, and the plurality of tact switches 2 are respectively accommodated in the corresponding accommodating grooves 11, so that the pressed orientation of the tact switches 2 is increased, that is, each tact switch 2 senses the collided orientation of the radar cover 1. If a plurality of tact switches 2 are accommodated in one accommodation groove 11, one of the tact switches 2 is blocked by the other tact switches 2, so that the individual tact switches 2 cannot be pressed.

In an embodiment, the groove edge of the accommodating groove 11 is inclined outward, and a first gap is provided between the groove bottom side edge of the accommodating groove 11 and the upper end of the sensing part.

In above-mentioned embodiment, the machine of sweeping the floor carries out cleaning, can take place to rock when meetting the road surface of unevenness, and radar lid 1 can produce and rock, and radar lid 1 takes place to rock and can crowd to touch switch 2, is provided with first clearance between the tank bottom side of holding tank 11 and the upper end of sensing piece, moves in first clearance when radar lid 1 can produce, nevertheless does not extrude touch switch 2. The touch switch 2 is prevented from making wrong collision direction sensing when the radar cover 1 shakes, so that the sweeper is prevented from turning on an uneven road surface. The sweeper turns on an uneven road surface, works on an uneven plane after turning, and continues to turn after shaking to cause the sweeper to work abnormally.

In one embodiment, the side of the tact switch 2 and the groove edge of the receiving groove 11 form an included angle in a range of 40 degrees to 50 degrees.

In the above embodiment, an included angle between the side edge of the touch switch 2 and the groove edge of the holding groove 11 is a, where a is not less than 40 degrees and not more than 50 degrees, the radar cover 1 is collided by an obstacle, the obstacle applies a driving force to the radar cover 1 to hinder the movement of the sweeper, the radar cover 1 extrudes the side edge of the upper end of the touch switch 2, the included angle between the side edge of the touch switch 2 and the groove edge of the holding groove 11 ranges from 40 degrees to 50 degrees, and the touch switch 2 cannot sense the collision orientation of the radar cover 1 due to sliding of the radar cover 1 when the side edge of the touch switch 2 is extruded due to an excessively large or excessively small included angle. As shown in the attached drawings, the included angle between the side edge of the tact switch 2 and the groove edge of the accommodating groove 11 is 45 degrees.

In one embodiment, the shell comprises a face shell 4 and a middle shell 5, wherein the middle shell 5 is provided with a mounting groove 51, the face shell 4 seals an upper end opening of the mounting groove 51, and the face shell 4 is provided with a mounting hole for mounting the radar cover 1; the lower end of the radar cover 1 is received in the mounting groove 51, and the upper end of the radar cover 1 protrudes from the case through the mounting hole.

In the above embodiment, the face case 4 seals the upper end opening of the mounting groove 51, preventing foreign objects or liquid from entering the mounting groove 51, which may cause a short circuit of the main board 3. If the foreign material falls into the receiving groove 11 and fills between the groove edge of the receiving groove 11 and the tact switch 2, the foreign material prevents the groove edge of the receiving groove 11 from pressing the tact switch 2. The face shell 4 seals the upper end opening of the mounting groove 51, ensuring that the sensing element senses that the radar cover 1 is impacted in different directions.

In one embodiment, the radar cover 1 includes a cover body and a protrusion, the protrusion is disposed at a lower end of the cover body and protrudes from the cover body along a circumferential direction of the cover body, the plurality of accommodating grooves 11 are disposed at a lower end of the protrusion, the protrusion is disposed in the mounting groove 51, and the face shell 4 abuts against an upper end of the protrusion.

In the above embodiment, the elastic potential energy released by the touch switch 2 after being pressed is used for resetting, the upper end of the touch switch 2 abuts against the radar cover 1, and the face shell 4 abuts against the upper end of the protrusion, so that the elastic potential energy released by the touch switch 2 is prevented from popping up the radar cover 1. After the collision is finished, the radar cover 1 and the touch switch 2 are restored to the original positions.

In an embodiment, when the radar cover 1 is in a natural state, the upper end of the protrusion is provided with a second gap from the lower end member of the face case 4.

In the above embodiment, the sweeper is used for cleaning, the sweeper can shake up and down when encountering uneven road surfaces, the upper end of the touch switch 2 is abutted against the bottom of the accommodating groove 11, when the radar cover 1 shakes up and down, the bottom of the accommodating groove 11 continuously extrudes the touch switch 2 downwards, the touch switch 2 is not extruded any more when moving upwards, the touch switch 2 is not continuously extruded, the collision position of the interval sensing radar cover 1 is caused, the interval time is short, and the sweeper is enabled to rotate in a continuous direction. The lower end piece of bellied upper end and face-piece 4 is provided with the second clearance, for the machine of sweeping the floor carries out cleaning, rocks about meeting radar cover 1 when the road surface of unevenness provides the space, prevents to rock about radar cover 1 on the road surface of unevenness and causes the machine of sweeping the floor to turn to that does not stop.

When the radar cover 1 is in a natural state, the distance value between the upper end of the protrusion and the lower end face of the face shell 4 in the vertical direction is smaller than the depth of the accommodating groove 11, so that when the radar cover 1 is bounced by elastic potential energy released by the touch switch 2, the touch switch 2 is prevented from being separated from the accommodating groove 11, and the touch switch 2 cannot drive the radar cover 1 to collide.

The pore wall of mounting hole and the side of lid are provided with the third clearance, can take place to rock from top to bottom when meetting the uneven road surface for the machine of sweeping the floor to carry out cleaning work and provide the space. The protrusion protrudes from the cover body along the circumferential direction of the cover body and is disposed in the mounting groove 51, so that external foreign matters or liquid are prevented from entering the mounting groove 51 from the third gap.

In an embodiment, the utility model further discloses a sweeper, and the sweeper comprises the collision detection structure of any sweeper.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields will be covered by the scope of the present invention.

Claims

1. The collision detection structure of the sweeper is characterized by comprising a shell, a sensing piece and a radar cover, wherein the upper end of the shell is provided with a mounting groove for mounting the sensing piece and the radar cover, the lower end of the sensing piece is fixedly arranged at the bottom of the mounting groove, and the upper end of the radar cover protrudes out of the mounting groove; the lower extreme of radar lid is provided with the holding tank, sensing piece holds in the holding tank, the groove limit slope of holding tank sets up.

2. The collision detection structure of a sweeper according to claim 1, wherein the sensing member comprises a main plate and a plurality of tact switches, the main plate is fixed at the bottom of the mounting groove, and the lower ends of the plurality of tact switches are respectively fixed on the main plate; the touch switches are arranged at intervals along the circumferential direction of the mounting groove;

wherein, the touch switch is a micro switch.

3. The sweeper collision detection structure of claim 2, further comprising a control member, wherein the main board is in communication with the control member.

4. The impact detection structure of a sweeper according to claim 2, wherein a plurality of receiving grooves are provided at a lower end of the radar cover, and a plurality of tact switches are respectively received in the corresponding receiving grooves.

5. The impact detection structure of a sweeper according to claim 4, wherein the edge of the receiving groove is inclined outward, and a first gap is provided between the bottom of the receiving groove and the upper end of the sensor.

6. The collision detecting structure of a sweeper according to claim 2, wherein an included angle between the side edge of the tact switch and the groove edge of the receiving groove ranges from 40 degrees to 50 degrees.

7. The collision detection structure of the sweeper according to claim 1, wherein the housing comprises a face shell and a middle shell, the middle shell is provided with the mounting groove, the face shell seals an upper end opening of the mounting groove, and the face shell is provided with a mounting hole for mounting the radar cover; the lower extreme of radar cover holds in the mounting groove, the upper end of radar cover pass through the mounting hole protrusion in the casing.

8. The sweeper collision detecting structure of claim 7, wherein the radar cover comprises a cover body and a protrusion, the protrusion is disposed at a lower end of the cover body and protrudes from the cover body along a circumferential direction of the cover body, the plurality of accommodating grooves are disposed at the lower end of the protrusion, the protrusion is disposed in the mounting groove, and the face housing abuts against an upper end of the protrusion.

9. The collision detecting structure of a sweeper according to claim 8, wherein a second gap is provided between the inner wall of the housing and the radar cover when the radar cover is in a natural state.

10. A sweeper, characterized by comprising the sweeper collision detection structure of any one of claims 1 to 9.