CN217137953U - Cleaning robot with good collision detection effect - Google Patents
Cleaning robot with good collision detection effect Download PDFInfo
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- CN217137953U CN217137953U CN202123032720.0U CN202123032720U CN217137953U CN 217137953 U CN217137953 U CN 217137953U CN 202123032720 U CN202123032720 U CN 202123032720U CN 217137953 U CN217137953 U CN 217137953U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
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Abstract
The embodiment of the utility model discloses collision detection effect's cleaning machines people, including organism, swing joint in the collision board of organism front side, locate the collision sensor of organism front side, can trigger when the collision board moves backward the collision sensor, cleaning machines people is equipped with guide structure, guide structure is including locating respectively the organism with guide block and guide way on the collision board, the guide block is arranged in the guide way, the guide block is configured to support when the collision board receives oblique collision force and press the guide wall and the edge of guide way the guide wall removes in the front and back direction. The utility model discloses cleaning machines people's collision board when receiving slant impact, can follow the guide wall through the guide structure that includes guide block and guide way and remove in the front and back direction for collision sensor can be effectively triggered, helps cleaning machines people discernment barrier and reduces the emergence of collision.
Description
Technical Field
The utility model relates to a cleaning equipment technical field, concretely relates to collision detection effect's cleaning machines people.
Background
The collision sensor is triggered when the collision plate of the cleaning robot moves backwards, and when the collision plate receives oblique collision force, the collision sensor cannot be triggered effectively because the movement direction of the collision plate is consistent with the direction of the oblique collision force.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a collision detection effect's cleaning robot for solve the problem that the collision board can not effectively be triggered when receiving slant impact.
The embodiment of the utility model provides an adopt following technical scheme:
the utility model provides an effectual cleaning machines people of collision detection, its includes organism, swing joint in the impact plate of organism front side, locate the collision sensor of organism front side, can trigger when the impact plate moves backward the collision sensor, cleaning machines people is equipped with guide structure, guide structure is including locating respectively the organism with guide block and guide way on the impact plate, the guide block is arranged in the guide way, the guide block is configured to be in support when the impact plate receives the slant impact and press the guide wall of guide way and follow the guide wall is in the front and back direction removal.
Further, the guide structure comprises a first guide structure and a second guide structure which are positioned on the front side of the collision sensor, the first guide structure is positioned on the left side of the central axis of the machine body in the front-back direction, and the second guide structure is positioned on the right side of the central axis of the machine body in the front-back direction;
the first guide structure on the left side comprises a first guide groove and a first guide block, and the first guide block is configured to press against a guide wall of the first guide groove and move along the guide wall in the front-back direction when a first region of the collision plate on the right side of the central axis is subjected to an oblique collision force;
the second guide structure on the right side includes a second guide groove and a second guide block, and the second guide block is configured to press against a guide wall of the second guide groove and move in the front-rear direction along the guide wall when a first region of the collision plate on the left side of the central axis is subjected to an oblique collision force.
Further, the guide structure comprises a third guide structure and a fourth guide structure which are positioned at the rear side of the collision sensor, the third guide structure is positioned at the left side of the central axis of the machine body in the front-rear direction, and the fourth guide structure is positioned at the right side of the central axis of the machine body in the front-rear direction;
the third guide structure comprises a third guide groove and a third guide block, and when a third region of the collision plate, which is positioned on the left side of the central axis, is subjected to an oblique collision force vertical to the front-back direction, the third guide block presses against the guide wall of the third guide groove and moves along the guide wall in the front-back direction;
the fourth guide structure comprises a fourth guide groove and a fourth guide block, and when a third area, located on the right side of the central axis, of the collision plate is subjected to oblique collision force perpendicular to the front-back direction, the fourth guide block abuts against the guide wall of the fourth guide groove and moves in the front-back direction along the guide wall.
Further, the collision sensor comprises a first collision sensor positioned on the left side of the central axis of the machine body in the front-back direction and a second collision sensor positioned on the right side of the central axis of the machine body in the front-back direction;
the first guide groove includes a first blocking wall, and when a second region of the collision plate located on the left side of the central axis receives an oblique collision force, the first guide block abuts against the first blocking wall to block the oblique collision force from being transmitted to the collision plate located on the right side of the central axis and to move the collision plate located on the left side of the central axis in the front-rear direction along the guide wall;
the second guide groove includes a second blocking wall, and when a second region of the collision plate located on the right side of the central axis receives an oblique collision force, the second guide block abuts against the second blocking wall to block the oblique collision force from being transmitted to the collision plate located on the left side of the central axis and to move the collision plate located on the right side of the central axis in the front-rear direction along the guide wall;
the first region is located at the front side of the first guide block and the second guide block, and the second region is located at the rear side of the first guide block and the second guide block.
Further, the guide wall is parallel to the central axis of the machine body in the front-back direction.
Further, the height of the top edge of the collision plate is not lower than the height of the top edge of the machine body.
Furthermore, a flange is arranged inwards along the edge of the top side of the collision plate, and the flange is in arc transition so that the collision plate does not interfere with the machine body when moving along the guide wall in the front-back direction.
Further, the first guide structure and the second guide structure are symmetrically arranged about a central axis of the machine body in the front-back direction.
Furthermore, the first guide groove and the second guide groove are arranged on the machine body, and the first guide block and the second guide block are arranged on the collision plate; or the first guide block and the second guide block are arranged on the machine body, and the first guide groove and the second guide groove are arranged on the collision plate.
Further, elastic members are symmetrically arranged on the left side and the right side of the machine body, and the elastic members are configured to elastically deform when the collision plate is subjected to oblique collision force and generates displacement relative to the machine body, and push the collision plate to restore to an initial position before generating the displacement through restoring elastic deformation.
The utility model discloses beneficial effect includes:
1. the embodiment of the utility model provides a be equipped with guide structure on cleaning robot, guide structure includes locating guide block and guide way on organism and the collision board respectively, the guide block is arranged in the guide way, the guide block is configured to when the collision board receives oblique collision power, support the guide wall of pressing the guide way and move along the guide wall in the front and back direction; with the arrangement, when the collision plate of the cleaning robot is subjected to oblique collision force, the guide structure comprising the guide block and the guide groove can move in the front-back direction along the guide wall, so that the collision sensor can be effectively triggered, the cleaning robot is facilitated to recognize obstacles, and the occurrence of collision is reduced.
2. The guide structure provided by the embodiment of the utility model comprises a first guide structure and a second guide structure which are positioned at the front side of the collision sensor, wherein the first guide structure is positioned at the left side of the central axis of the front and back direction of the machine body, and the second guide structure is positioned at the right side of the central axis of the front and back direction of the machine body; the first guide structure on the left side includes a first guide groove and a first guide block configured to press a guide wall of the first guide groove and move in a front-rear direction along the guide wall when a first region of the collision plate on the right side of the central axis receives an oblique collision force; the second guide structure on the right side includes a second guide groove and a second guide block configured to press a guide wall of the second guide groove and move in the front-rear direction along the guide wall when a first region of the collision plate on the left side of the central axis receives an oblique collision force; so set up, when the first region of one side of the collision board that is located collision sensor front side meets oblique collision force, the guide block of the opposite side of collision board can be followed the guide wall and moved in the front and back direction, effectively triggers collision sensor to improve cleaning machines people's detection effect.
3. The guide structure provided by the embodiment of the utility model comprises a third guide structure and a fourth guide structure which are positioned at the rear side of the collision sensor, wherein the third guide structure is positioned at the left side of the middle axis of the front and back direction of the machine body, and the fourth guide structure is positioned at the right side of the central axis of the front and back direction of the machine body; the third guide structure comprises a third guide groove and a third guide block, and when a third region of the collision plate, which is positioned on the left side of the central axis, is subjected to oblique collision force vertical to the front-back direction, the third guide block presses against the guide wall of the third guide groove and moves along the guide wall in the front-back direction; the fourth guide structure comprises a fourth guide groove and a fourth guide block, and when a third area of the collision plate, which is positioned on the right side of the central axis, is subjected to oblique collision force vertical to the front-back direction, the fourth guide block presses against a guide wall of the fourth guide groove and moves along the guide wall in the front-back direction; with the arrangement, when the third area of the collision plate is subjected to oblique collision force in the vertical front-back direction, the collision plate on the side can move in the front-back direction along the guide wall through the guide block, so that the collision sensor is effectively triggered, and the detection effect of the cleaning robot is improved.
4. The embodiment of the utility model provides a through the collision sensor include be located organism fore-and-aft direction axis left first collision sensor, and be located organism fore-and-aft direction axis right side second collision sensor; the first guide groove comprises a first blocking wall, when a second area of the collision plate, which is positioned on the left side of the central axis, is subjected to oblique collision force, the first guide block is abutted against the first blocking wall so as to block the oblique collision force from being transmitted to the collision plate on the right side of the central axis and enable the collision plate on the left side of the central axis to move in the front-back direction along the guide wall; the second guide groove comprises a second blocking wall, when a second area of the collision plate located on the right side of the central axis is subjected to oblique collision force, the second guide block is abutted against the second blocking wall to block the oblique collision force from being transmitted to the collision plate located on the left side of the central axis and enable the collision plate located on the right side of the central axis to move along the guide wall in the front-back direction; the first area is positioned on the front side of the first guide block and the second guide block, and the second area is positioned on the rear side of the first guide block and the second guide block; so set up for when being located the second region of collision board axis one side and suffering from oblique collision power and remove, the guide block butt of homonymy is on stopping the wall, reduces the possibility that collision board axis opposite side takes place to rock.
5. The guide wall of the embodiment of the utility model is parallel to the central axis of the machine body in the front-back direction; so set up, first guide block, second guide block can be respectively along the guide wall of first guide way, second guide way in the steady movement of fore-and-aft direction, improve the collision board and receive oblique impact force the time displacement volume of fore-and-aft direction to effectively trigger collision sensor, further improve cleaning machines people's detection effect.
6. The height of the top edge of the collision plate is not lower than that of the top edge of the machine body; so set up, can avoid the barrier of organism top and organism to take place direct collision.
7. The first guide structure and the second guide structure of the embodiment of the utility model are symmetrically arranged around the central axis of the machine body in the front-back direction; so set up, can improve first guide structure and second guide structure's stability.
8. The embodiment of the utility model provides a through be equipped with the elastic component in organism left and right sides symmetry, the elastic component is configured to take place elastic deformation when the collision board receives oblique collision power and produces the displacement for the organism, and through restoring elastic deformation promotion the collision board restores to the initial position before producing the displacement; so set up, cleaning machines people all can be fast and effectual recovery to the form before bumping after bumping at every turn, ensure the stability and the reliability of cleaning machines people work.
Drawings
FIG. 1 is a schematic diagram of a cleaning robot according to an embodiment;
FIG. 2 is a schematic structural diagram of a housing according to an embodiment;
FIG. 3 is a schematic structural view of a bottom of a housing according to an embodiment;
FIG. 4 is a schematic view of a collision plate according to an embodiment;
FIG. 5 is a schematic structural view of another embodiment of a crash plate;
FIG. 6 is a schematic view of a structure of a connection bar according to an embodiment.
Description of the reference numerals:
10-a cleaning robot;
11-body;
12-collision plate, 121-flanging;
13-impact sensor, 131-first impact sensor, 132-second impact sensor;
141-first guide groove, 1411-first guide wall, 1412-first blocking wall, 142-first guide block;
151-second guide groove, 1511-second guide wall, 1512-second blocking wall, 152-second guide block;
161-third guide groove, 1611-third guide wall, 162-third guide block;
171-fourth guide groove, 1711-fourth guide wall, 172-fourth guide block;
18-elastic piece, 181-assembly part, 182-holding part;
19-connecting strips.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to specific embodiments of the present disclosure and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step based on the embodiments in the description belong to the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The utility model discloses a cleaning machines people's 10 structure, as shown in fig. 1 and fig. 2, it includes organism 11, swing joint in the collision board 12 of organism 11 front side, locates the collision sensor 13 of organism 11 front side, and collision board 12 can trigger collision sensor 13 when receiving oblique impact, helps the effective perception barrier's of cleaning machines people 10 existence.
In the prior art, the collision plate 12 of the cleaning robot 10 will trigger the collision sensor 13 when moving backward, wherein the collision sensor 13 is used for sensing a collision signal and transmitting the signal to the control system, and the control system of the cleaning robot 10 controls the body 11 to perform corresponding operations, such as: the cleaning robot 10 performs steering or reverse or stops traveling. When the collision plate 12 is subjected to an oblique collision force, the collision sensor 13 cannot be effectively triggered because the moving direction of the collision plate 12 is the same as the direction of the oblique collision force.
Therefore, the cleaning robot 10 in this usage model is provided with a guide structure, the guide structure comprises a guide block and a guide groove which are respectively arranged on the machine body 11 and the collision plate 12, the guide block is arranged in the guide groove, the guide block is configured to be pressed against the guide wall of the guide groove and move in the front-back direction along the guide wall when the collision plate 12 is subjected to oblique collision force, so as to be arranged, the collision plate 12 of the cleaning robot 10 can move in the front-back direction along the guide wall through the guide structure comprising the guide block and the guide groove when being subjected to oblique collision force, so that the collision sensor 13 can be effectively triggered, and the cleaning robot 10 is facilitated to recognize obstacles and the occurrence of collision is reduced.
Here, the oblique collision force may be understood as a direction of the collision force having an angle different from zero with a traveling direction of the cleaning robot 10.
When the guide groove is provided on the body 11 and the guide block is provided on the collision plate 12, the collision plate 12 moves backward in the process that the guide block moves backward along the guide wall relative to the guide groove; correspondingly, when the guide block is provided on the body 11 and the guide groove is provided on the collision plate 12, the collision plate 12 moves backward while the guide block moves forward along the guide wall relative to the guide groove.
Because the upper and lower ends of the machine body 11 and the collision plate 12 are both provided with the guide structures, for convenience of explaining the scheme, the guide structures at the bottom ends of the machine body 11 and the collision plate 12 are taken as examples for expanding and describing, and for further convenience of explaining the scheme, the guide groove at the bottom end of the machine body 11 is taken as an example, and correspondingly, the bottom end of the collision plate 12 is provided with the guide block.
The impact plate 12 may be monolithic or segmented; which is shaped to fit the body 11 of the cleaning robot 10.
It can be understood that the collision plate 12 is disposed around the body 11, and the surrounding angle may be 180 ° or 360 ° around the outer circumferential side of the body 11, so that the sensing range of the cleaning robot 10 can be improved.
In the present embodiment, as shown in fig. 3 and 4, the guide structure includes a first guide structure and a second guide structure located on the front side of the collision sensor 13, the first guide structure being located on the left side of the center axis of the front-rear direction of the body 11, and the second guide structure being located on the right side of the center axis of the front-rear direction of the body 11.
Wherein, the first guide structure on the left side includes the first guide groove 141 and the first guide block 142, and the first guide block 142 is configured to press the first guide wall 1411 of the first guide groove 141 and move in the front-rear direction along the guide wall when the first region of the collision plate 12 on the right side of the central axis is subjected to the oblique collision force.
Among them, the second guide structure on the right side includes the second guide groove 151 and the second guide block 152, and the second guide block 152 is configured to press the second guide wall 1511 of the second guide groove 151 and move in the front-rear direction along the guide wall when the oblique collision force is applied to the first region of the collision plate 12 on the left side of the central axis.
The first guide groove 141 is fitted to the first guide block 142, and the second guide groove 151 is fitted to the second guide block 152. The first guide wall 1411 is positioned at the left side of the first guide groove 141, and the second guide wall 1511 is positioned at the right side of the second guide groove 151.
Here, the region between the center axis of the collision plate 12 and the first guide block 142 is set as a first region a1, and the region between the center axis of the collision plate 12 and the second guide block 152 is set as a first region a 1'.
The first case: when the first area a1 on the left side of the central axis of the collision plate 12 receives an oblique collision force, the second guide block 152 abuts against the second guide wall 1511 of the second guide groove 151, so that the right side of the central axis of the collision plate 12 can move towards the rear of the body 11, the collision sensor 13 is effectively triggered, and the detection effect of the cleaning robot 10 is improved.
The second case: when the first area a 1' on the right side of the central axis of the impact plate 12 receives an oblique impact force, the first guide block 142 presses against the first guide wall 1411 of the first guide groove 141, so that the left side of the central axis of the impact plate 12 can move towards the rear of the body 11, the impact sensor 13 is effectively triggered, and the detection effect of the cleaning robot 10 is improved.
In the present embodiment, as shown in fig. 3 and 4, the guide structure further includes a third guide structure and a fourth guide structure located at the rear side of the collision sensor 13, the third guide structure is located at the left side of the central axis of the front-rear direction of the machine body 11, and the fourth guide structure is located at the right side of the central axis of the front-rear direction of the machine body 11.
The third guide structure includes a third guide groove 161 and a third guide block 162, and when a third region of the collision plate 12 located on the left side of the central axis is subjected to an oblique collision force perpendicular to the front-rear direction, the third guide block 162 presses against a third guide wall 1611 of the third guide groove 161 and moves in the front-rear direction along the third guide wall 1611.
The fourth guide structure includes a fourth guide groove 171 and a fourth guide block 172, and when the third region of the collision plate 12 located on the right side of the central axis is subjected to an oblique collision force perpendicular to the front-back direction, the fourth guide block 172 presses against the fourth guide wall 1711 of the fourth guide groove 171 and moves in the front-back direction along the fourth guide wall 1711.
The third guide groove 161 is adapted to the third guide block, and the fourth guide groove 171 is adapted to the fourth guide block. The third guide wall 1611 is positioned at an upper side of the third guide groove 161, and the fourth guide wall 1711 is positioned at an upper side of the fourth guide groove 171.
It is understood that the first guide groove 141, the second guide groove 151, the third guide groove 161, and the fourth guide groove 171 are substantially the same in shape, except for the difference in orientation.
Moreover, the first guide block, the second guide block, the third guide block, and the fourth guide block respectively have inclined surfaces corresponding to the first guide wall 1411, the second guide wall 1511, the third guide wall 1611, and the fourth guide wall 1711, so that the first guide block 142, the second guide block 152, the third guide block 162, and the fourth guide block 172 respectively move along the first guide wall 1411, the second guide wall 1511, the third guide wall 1611, and the fourth guide wall 1711 under the action of oblique impact force, thereby driving the collision plate 12 to move toward the rear side of the machine body 11, and effectively triggering the collision sensor 13.
Here, the rear side region of the third guide block on the collision plate 12 is set as a third region A3, and the rear side region of the fourth guide block on the collision plate 12 is set as a third region A3'.
The first case: when the third area a3 on the left side of the central axis of the collision plate 12 receives an oblique collision force in the vertical front-rear direction, the third guide block presses against the third guide wall 1611 of the third guide groove 161 to move the collision plate 12 in the front-rear direction toward the rear side of the machine body 11, so as to effectively trigger the collision sensor 13, thereby improving the detection effect of the cleaning robot 10.
The second case: when the third area a 3' of the collision plate 12 located on the left side of the central axis is subjected to an oblique collision force in the vertical front-rear direction, the fourth guide block presses against the fourth guide wall 1711 of the fourth guide groove 171 to move the collision plate 12 in the front-rear direction toward the rear side of the body 11, effectively triggering the collision sensor 13, thereby improving the detection effect of the cleaning robot 10.
In the present embodiment, as shown in fig. 2 and 3, the impact sensor 13 includes a first impact sensor 131 located on the left side of the center axis in the front-rear direction of the body 11, and a second impact sensor 132 located on the right side of the center axis in the front-rear direction of the body 11. The first guide groove 141 on the left side of the center axis of the collision plate 12 includes a first blocking wall 1412, and the second guide groove 151 on the right side of the center axis of the collision plate 12 includes a second blocking wall 1512.
The area between the first guide block and the third guide block on the impact plate 12 is set to a second area a2, and the area between the second guide block and the fourth guide block on the impact plate 12 is set to a second area a 2'.
It is understood that the second areas a2, a2 'may also include the third areas A3, A3', as shown in fig. 5.
The first blocking wall 1412 is located at the right side of the first guide groove 141, and the second blocking wall 1512 is located at the left side of the second guide groove 151.
The first case: when the second area a2 of the collision plate 12 on the left side of the central axis receives an oblique collision force, the first guide block abuts against the first blocking wall 1412 to block the oblique collision force from being transmitted to the collision plate 12 on the right side and to move the collision plate 12 on the left side toward the rear side of the body 11, thereby reducing the possibility of the part on the right side of the central axis of the collision plate 12 shaking.
The second case: when the second area a 2' of the collision plate 12 located on the right side of the central axis receives the oblique collision force, the second guide block abuts against the second blocking wall 1512 to block the oblique collision force from being transmitted to the collision plate 12 located on the left side and to move the collision plate 12 located on the right side toward the rear side of the body 11, thereby reducing the possibility of the portion on the left side of the central axis of the collision plate 12 shaking.
In the present embodiment, as shown in fig. 3, the first guide wall 1411 and the second guide wall 1511 are parallel to the central axis of the front-rear direction of the body 11. With this arrangement, the first guide block 142 and the second guide block 152 can stably move in the front-rear direction along the first guide wall 1411 and the second guide wall 1511, and the displacement amount of the collision plate 12 in the front-rear direction when receiving the oblique collision force is increased, so that the collision sensor 13 is effectively triggered, and the detection effect of the cleaning robot 10 is further improved.
It is understood that the first and second guide walls 1411 and 1511 may have a small angle with the traveling direction of the cleaning robot 10.
In the present embodiment, as shown in fig. 1, the height of the top edge of the collision plate 12 is not lower than the height of the top edge of the machine body 11, so that an obstacle above the machine body 11 can be prevented from directly colliding with the machine body 11.
In the present embodiment, as shown in fig. 1, the top side of the collision plate 12 is provided with a turned edge 121 edgewise inward, and the turned edge 121 is in an arc transition so that the collision plate 12 does not interfere with the body 11 when moving along the guide wall in the front-rear direction.
In the process that the collision plate 12 moves towards the machine body 11, the flanging 121 with excessive arc shape is inserted under the surface cover of the machine body 11, so that the height of the collision plate 12 is not less than the top edge of the machine body 11, and the space above the surface cover of the machine body 11 is not occupied.
In the present embodiment, as shown in fig. 3 and 4, the first guide structure and the second guide structure are symmetrically disposed about a central axis of the body 11 in the front-rear direction. In this way, the stability of the first and second guide structures can be improved.
In the present embodiment, as shown in fig. 3 and 4, the first guide groove 141 and the second guide groove 151 are provided in the body 11, and the first guide block 142 and the second guide block 152 are provided in the collision plate 12; alternatively, the first guide block 142 and the second guide block 152 are provided in the body 11, and the first guide groove 141 and the second guide groove 151 are provided in the collision plate 12.
The third guide groove 161 and the fourth guide groove 171 may be provided in the body 11 or the collision plate 12; accordingly, a third guide block and a fourth guide block are provided on the collision plate 12 or the body 11.
Preferably, the third guide groove 161 and the fourth guide groove 171 are formed on the body 11 at the same time as the first guide groove 141 and the second guide groove 151.
Wherein, as shown in fig. 6, the collision plate 12 comprises a body and a connecting strip 19 detachably disposed on the body, and the guiding structure is partially disposed on the connecting strip 19, so as to facilitate the disassembly and assembly of the collision plate 12.
It can be understood that the guiding structure can also be disposed at the upper end of the machine body 11 and at the inner side of the upper end of the collision plate 12, and the collision plate 12 is movably mounted on the machine body 11 through the guiding structure disposed at the upper and lower ends of the machine body 11.
In the present embodiment, as shown in fig. 1 and 2, the body 11 is symmetrically provided with elastic members 18 on both left and right sides, and the elastic members 18 are configured to be elastically deformed when the collision plate 12 is subjected to an oblique collision force and displaced with respect to the body 11, and push the collision plate 12 to return to an initial position before the displacement is generated by restoring the elastic deformation.
Wherein, the elastic element 18 comprises a mounting part 181 and a holding part 182; the assembling part 181 is arranged at the front end of the machine body 11, and the abutting parts 182 are symmetrically arranged at two sides of the central axis of the machine body 11 in the front-back direction; the abutting portion 182 abuts against the inner surface of the collision plate 12 facing the body 11; the elastic member 18 is elastically deformed when the collision plate 12 is displaced relative to the body 11 by the thrust force, and pushes the collision plate 12 to be restored to the original position before the displacement by restoring the elastic deformation. In this way, the cleaning robot 10 can be quickly and effectively restored to the pre-collision form after each collision, and the working stability and reliability of the cleaning robot 10 are ensured.
Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above.
It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A cleaning robot with good collision detection effect comprises a body, a collision plate movably connected to the front side of the body, and a collision sensor arranged on the front side of the body, wherein the collision sensor can be triggered when the collision plate moves backwards,
the cleaning robot is provided with a guide structure, the guide structure comprises a guide block and a guide groove which are respectively arranged on the machine body and the collision plate, the guide block is arranged in the guide groove, and the guide block is configured to be pressed against a guide wall of the guide groove and move along the guide wall in the front-back direction when the collision plate is subjected to oblique collision force.
2. The cleaning robot according to claim 1,
the guide structure comprises a first guide structure and a second guide structure which are positioned on the front side of the collision sensor, the first guide structure is positioned on the left side of the central axis of the machine body in the front-back direction, and the second guide structure is positioned on the right side of the central axis of the machine body in the front-back direction;
the first guide structure on the left side includes a first guide groove and a first guide block configured to press a guide wall of the first guide groove and move in a front-rear direction along the guide wall when a first region of the collision plate on the right side of the central axis receives an oblique collision force;
the second guide structure on the right side includes a second guide groove and a second guide block configured to press a guide wall of the second guide groove and move in the front-rear direction along the guide wall when a first region of the collision plate on the left side of the central axis receives an oblique collision force.
3. The cleaning robot according to claim 2,
the guide structure comprises a third guide structure and a fourth guide structure which are positioned at the rear side of the collision sensor, the third guide structure is positioned at the left side of the central axis of the machine body in the front-rear direction, and the fourth guide structure is positioned at the right side of the central axis of the machine body in the front-rear direction;
the third guide structure comprises a third guide groove and a third guide block, and when a third region of the collision plate, which is positioned on the left side of the central axis, is subjected to an oblique collision force vertical to the front-back direction, the third guide block presses against the guide wall of the third guide groove and moves along the guide wall in the front-back direction;
the fourth guide structure comprises a fourth guide groove and a fourth guide block, and when a third area, located on the right side of the central axis, of the collision plate is subjected to oblique collision force perpendicular to the front-back direction, the fourth guide block abuts against the guide wall of the fourth guide groove and moves in the front-back direction along the guide wall.
4. The cleaning robot according to claim 2,
the collision sensors comprise a first collision sensor positioned on the left side of the central axis of the machine body in the front-back direction and a second collision sensor positioned on the right side of the central axis of the machine body in the front-back direction;
the first guide groove comprises a first blocking wall, when a second area of the collision plate on the left side of the central axis is subjected to oblique collision force, the first guide block is abutted against the first blocking wall to block the oblique collision force from being transmitted to the collision plate on the right side of the central axis and enable the collision plate on the left side of the central axis to move in the front-back direction along the guide wall;
the second guide groove includes a second blocking wall, and when a second region of the collision plate located on the right side of the central axis receives an oblique collision force, the second guide block abuts against the second blocking wall to block the oblique collision force from being transmitted to the collision plate located on the left side of the central axis and to move the collision plate located on the right side of the central axis in the front-rear direction along the guide wall;
the first region is located at the front side of the first guide block and the second guide block, and the second region is located at the rear side of the first guide block and the second guide block.
5. The cleaning robot according to any one of claims 1 to 2,
the guide wall is parallel to the central axis of the machine body in the front-back direction.
6. The cleaning robot according to any one of claims 1 to 4,
the height of the top edge of the collision plate is not lower than that of the top edge of the machine body.
7. The cleaning robot according to claim 6,
the collision plate is characterized in that a flange is arranged inwards along the edge at the top side of the collision plate, and the flange is in arc transition so that the collision plate does not interfere with the machine body when moving along the guide wall in the front-back direction.
8. The cleaning robot according to claim 2,
the first guide structure and the second guide structure are symmetrically arranged around a central axis of the machine body in the front-back direction.
9. The cleaning robot according to claim 2,
the first guide groove and the second guide groove are arranged on the machine body, and the first guide block and the second guide block are arranged on the collision plate; or the first guide block and the second guide block are arranged on the machine body, and the first guide groove and the second guide groove are arranged on the collision plate.
10. The cleaning robot according to claim 1,
elastic pieces are symmetrically arranged on the left side and the right side of the machine body, and the elastic pieces are configured to generate elastic deformation when the collision plate is subjected to oblique collision force and generates displacement relative to the machine body, and push the collision plate to restore to an initial position before the displacement is generated through restoring the elastic deformation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123032720.0U CN217137953U (en) | 2021-12-03 | 2021-12-03 | Cleaning robot with good collision detection effect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123032720.0U CN217137953U (en) | 2021-12-03 | 2021-12-03 | Cleaning robot with good collision detection effect |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217137953U true CN217137953U (en) | 2022-08-09 |
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ID=82685609
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123032720.0U Active CN217137953U (en) | 2021-12-03 | 2021-12-03 | Cleaning robot with good collision detection effect |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217137953U (en) |
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2021
- 2021-12-03 CN CN202123032720.0U patent/CN217137953U/en active Active
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