CN217885907U - Cleaning robot - Google Patents
Cleaning robot Download PDFInfo
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- CN217885907U CN217885907U CN202220709142.5U CN202220709142U CN217885907U CN 217885907 U CN217885907 U CN 217885907U CN 202220709142 U CN202220709142 U CN 202220709142U CN 217885907 U CN217885907 U CN 217885907U
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- body shell
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- cleaning robot
- machine body
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- 238000004140 cleaning Methods 0.000 title claims abstract description 64
- 230000001960 triggered effect Effects 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 15
- 230000004888 barrier function Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 238000005381 potential energy Methods 0.000 description 7
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
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Abstract
The utility model belongs to the technical field of it is clean, especially, relate to a cleaning robot, include: a body shell; the front guard plate is arranged at the front end of the body shell in a floating way relative to the body shell, and an installation space is formed by the front guard plate and the body shell; a crash switch device assembled in the installation space, the front guard plate for moving toward the body housing when being pressed by an obstacle to cause the crash switch device to be activated; the walking system is assembled at the bottom of the body shell; the control module is installed in the fuselage casing, and collision switch device and traveling system all with control module electric connection, control module are used for controlling traveling system and retreat and/or turn to when collision switch device is triggered. Use the technical scheme of the embodiment of the utility model solve the problem of how to realize keeping away the barrier safely.
Description
Technical Field
The utility model belongs to the technical field of it is clean, especially, relate to a cleaning robot.
Background
The cleaning robot needs to avoid obstacles on a traveling route and perform cleaning work in the traveling process. The existing cleaning robot generally adopts a radar detection obstacle avoidance mode to achieve the purpose of obstacle avoidance. However, the radar sensing device adopted in the radar detection obstacle avoidance method has high cost, and the assembly structure and the assembly precision of the radar detection obstacle avoidance device have high requirements, so that the overall cost of the cleaning robot is high.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a cleaning robot, the radar induction system who aims at solving current cleaning robot and adopts carries out the mode of keeping away the barrier safely and leads to the higher problem of cleaning robot overall cost.
In order to achieve the purpose, the utility model adopts the technical proposal that: a cleaning robot, comprising:
a body shell;
the front guard plate is arranged at the front end of the machine body shell in a floating mode relative to the machine body shell, and an installation space is formed by the front guard plate and the machine body shell;
a crash switch device fitted in the installation space, the front guard for moving toward the body housing when pressed by an obstacle to cause the crash switch device to be activated;
the traveling system is assembled at the bottom of the machine body shell;
the control module is installed in the machine body shell, the collision switch device and the traveling system are both electrically connected with the control module, and the control module is used for controlling the traveling system to retreat and/or turn when the collision switch device is triggered.
In one embodiment, the crash switch device is mounted on the body shell, and the crash switch device is provided with an abutting end which abuts against the front guard plate, and the front guard plate extrudes the abutting end when being extruded by an obstacle to trigger the crash switch device.
In one embodiment, the crash switch device comprises: the switch driving rod is provided with a first end, a second end and a connecting structure positioned between the first end and the second end, the connecting structure is rotatably connected to the machine body shell, and the first end is the abutting end; the switch function part is arranged on the machine body shell, electrically connected with the control module and used for triggering or closing the switch function part; the reset elastic piece is connected to the machine body shell, and the reset elastic piece is used for applying reset elastic force to the switch driving rod so as to enable the second end to trigger the switch functional part to be reset and closed.
In one embodiment, the switch function is an opto-electronic switch.
In one embodiment, the body shell is provided with a mounting column, and the connecting structure is a mounting hole which is arranged on the switch driving rod and sleeved on the mounting column; the reset elastic piece is a torsion spring, the torsion spring is installed on the mounting column, a first extending end of the torsion spring is abutted to the machine body shell, and a second extending end of the torsion spring is abutted to the switch driving rod.
In one embodiment, the body shell is provided with a mounting column, and the connecting structure is a mounting hole which is arranged on the switch driving rod and sleeved on the mounting column; the reset elastic piece is a tension spring, one end of the tension spring is connected to the machine body shell, and the other end of the tension spring is connected between the connecting structure and the second end; or the reset elastic piece is a first pressure spring, one end of the first pressure spring is abutted to the machine body shell, and the other end of the first pressure spring is abutted to the connecting structure and the first end.
In one embodiment, the collision switch device is installed on the front guard plate, the collision switch device is provided with an abutting end which abuts against the body shell, and the front guard plate drives the collision switch device to move towards the body shell when being extruded by an obstacle, so that the body shell extrudes the abutting end to trigger the collision switch device.
In one embodiment, the crash switch device comprises: the switch driving rod is provided with a first end, a second end and a connecting structure positioned between the first end and the second end, the connecting structure is rotatably connected to the front guard plate, and the first end is the abutting end; the switch function part is arranged on the front guard plate, electrically connected with the control module and used for triggering or closing the switch function part; one end of the second pressure spring is abutted to the front guard plate, and the other end of the second pressure spring is abutted to the position between the connecting structure and the first end head.
In one embodiment, the number of the collision switch devices 30 is an even number, and the even number of the collision switch devices are symmetrically arranged with respect to a central axis of the cleaning robot in a forward direction thereof.
In one embodiment, the cleaning robot further comprises a floating elastic sheet, and the floating elastic sheet is arranged between the front guard plate and the body shell.
The utility model discloses following beneficial effect has at least:
the utility model discloses cleaning machines people adopts collision switch device and arranges for fuselage casing movably apron plate, that is, the relative fuselage casing of apron plate can float and install in the front end of fuselage casing, when cleaning machines people march the in-process and collide the barrier, the apron plate receives the barrier extrusion and moves towards fuselage casing and trigger collision switch device, and, control module controls traveling system when collision switch device is triggered and retreats and/or turns to, thereby dodge out the barrier, can realize the barrier and keep away the purpose. Adopt radar detection device to realize keeping away the mode of barrier purpose for current cleaning machines people, the utility model discloses the collision switch device's that cleaning machines people adopted low cost only needs to become correspondingly the apron front from current cleaning machines people's fixed assembly mode moreover into floating assembly mode can, so, just can reduce cleaning machines people's whole manufacturing cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic view of an assembly structure of a body housing, a front guard plate and a collision switch device of a cleaning robot according to an embodiment of the present invention;
fig. 2 is a schematic view of an assembly structure of a body housing and a collision switch device of the cleaning robot according to the embodiment of the present invention;
FIG. 3 is an enlarged view of FIG. 1 at A;
fig. 4 is a schematic structural diagram of a collision switch device of a cleaning robot according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
10. a body shell;
20. a front guard plate; 21. an installation space;
30. a crash switch device; 31. a switch drive lever; 311. a first end; 312. a second end; 313. A connecting structure; 32. a switch function section; 33. the elastic member is reset.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In one embodiment:
as shown in fig. 1 to 4, an embodiment of the present invention provides a cleaning robot, specifically, the cleaning robot includes a body housing 10, a front guard plate 20, a collision switch device 30, a traveling system (not shown) and a control module (not shown), the control module is installed in the body housing 10, the traveling system is assembled at the bottom of the body housing 10, the collision switch device 30 and the traveling system are all electrically connected to the control module, and the control module controls the traveling system to travel on the ground in the process of cleaning operation performed by the cleaning robot. In this cleaning robot, the front guard plate 20 is floatably mounted to the front end of the body housing 10 with respect to the body housing 10 (that is, each portion of the front guard plate 20 is movable within a certain displacement range with respect to the body housing 10). When the front guard 20 is completely assembled on the body housing 10, the front guard 20 and the body housing 10 form the installation space 21, and the impact switch device 30 is assembled in the installation space 21. When the cleaning robot collides with an obstacle during traveling, the front guard plate 20 is pressed by the obstacle to move toward the body housing 10, and then the collision switch device 30 is triggered by the front guard plate 20 moving backward, and then the control module is used for controlling the traveling system to retreat and/or turn when the collision switch device 30 is triggered, thereby achieving the purpose of avoiding the obstacle by the cleaning robot.
The utility model discloses cleaning machines adopts collision switch device 30 and arranges for fuselage casing 10 movably apron plate 20, that is, apron plate 20 installs in the front end of fuselage casing 10 with floating relatively fuselage casing 10, when cleaning machines people march the in-process and collide the barrier, apron plate 20 receives the barrier extrusion and moves and trigger collision switch device 30 towards fuselage casing 10, and, control module controls the traveling system when collision switch device 30 is triggered and retreats and/or turn to, thereby dodge out the barrier, can realize keeping away the barrier purpose. Adopt radar detection device to realize keeping away the mode of barrier purpose for current cleaning machines people, the utility model discloses the collision switch device 30's that cleaning machines people adopted low cost only needs to become correspondingly preceding backplate 20 from current cleaning machines people's fixed mounting means moreover into floating mounting means can, so, just can reduce cleaning machines people's whole manufacturing cost.
The cleaning robot further includes a floating elastic sheet (not shown) disposed between the front guard plate 20 and the body housing 10. When the cleaning robot travels, the front guard plate 20 collides with an obstacle, the obstacle presses the front guard plate 20, the front guard plate 20 moves toward the body housing 10, and the front guard plate 20 presses the floating elastic sheet to make the floating elastic sheet generate elastic potential energy (at this time, the collision switch device 30 is in a triggered state). After the control module controls the traveling system to retreat and/or turn around so that the front guard plate 20 is separated from the obstacle, the front guard plate 20 is separated from the body shell 10 under the elastic force of the floating elastic sheet to restore the initial assembly state (at this time, the collision switch device 30 is restored to the off state).
As shown in fig. 2, the crash switch device 30 is mounted to the body housing 10, and during the assembly process, the crash switch device 30 is assembled to the body housing 10, and then the front guard 20 is assembled to the body housing 10, so that the crash switch device 30 is located in the mounting space 21 formed between the body housing 10 and the front guard 20.
Specifically, the collision switch device 30 is provided with an abutting end abutting against the front guard plate 20, when the cleaning robot collides with an obstacle in the traveling process, the front guard plate 20 is pressed by the obstacle, the front guard plate 20 moves towards the body shell 10 to press the abutting end, so that the collision switch device 30 is triggered, then the control module receives that the collision switch device 30 is triggered, so that the traveling system is controlled to retreat and/or turn, so that the obstacle is avoided, and then the cleaning robot can continue to travel.
As shown in fig. 3 and 4, in the present embodiment, the collision switch device 30 includes a switch driving lever 31, a switch function portion 32, and a return elastic member 33. Specifically, the switch driving lever 31 is provided with a first end 311, a second end 312 and is located the first end 311 with a connection structure 313 between the second end 312, the connection structure 313 is rotatably connected to the body housing 10, the first end 311 is the butt end, so that the switch driving lever 31 installed on the body housing 10 uses the connection point between the connection structure 313 and the body housing 10 as the fulcrum to form a lever structure, the first end 311 is the operation end, the second end 312 is the action end, that is, the second end 312 is used for triggering or closing the switch function portion 32. Further, the switch function portion 32 is installed on the body housing 10, the switch function portion 32 is electrically connected to the control module, and the switch function portion 32 is preferably a photoelectric switch, so that the cost is low and the operation is stable and reliable. The elastic return element 33 is connected to the body housing 10, when the front guard plate 20 moves relative to the body housing 10 to press the first end 311, the second end 312 triggers the switch function portion 32, and the elastic return element 33 stores elastic potential energy, that is, the elastic return element 33 is used to apply elastic return force to the switch driving rod 31, so that the second end 312 triggers the switch function portion 32 and then returns to close the switch function portion 32.
More specifically, the body housing 10 is provided with a mounting post, and the connection structure 313 is a mounting hole provided in the switch driving rod 31 and sleeved on the mounting post. The elastic restoring element 33 is a torsion spring (as shown in fig. 4), the torsion spring is installed on the mounting post, a first extending end of the torsion spring abuts against the body housing 10, and a second extending end of the torsion spring abuts against the switch driving rod 31. When the cleaning robot collides with an obstacle in the traveling process, the front guard plate 20 is pressed by the obstacle and moves towards the body shell 10, the front guard plate 20 abuts against the first end 311, the second end 312 is separated from the photoelectric switch, so that the photoelectric switch is triggered, the torsion spring stores elastic potential energy along with the compression of the first end 311, and the second end 312 returns to and closes the photoelectric switch under the elastic force of the torsion spring when the control module controls the traveling system to retreat and/or turn to separate from the obstacle.
Alternatively, the elastic restoring element 33 is a tension spring (not shown), one end of the tension spring is connected to the body housing 10, and the other end of the tension spring is connected between the connecting structure 313 and the second end 312. When the cleaning robot collides with an obstacle in the traveling process, the front guard plate 20 is pressed by the obstacle and moves towards the body shell 10, the front guard plate 20 abuts against the first end 311, the second end 312 is separated from the photoelectric switch, so that the photoelectric switch is triggered, at the moment, the tension spring stores elastic potential energy along with the stretching of the second end 312, and when the control module controls the traveling system to retreat and/or turn to be separated from the obstacle, the second end 312 returns under the tension of the tension spring and closes the photoelectric switch.
Alternatively, the elastic return member 33 is a first compression spring (not shown), one end of the first compression spring abuts against the body shell 10, and the other end of the first compression spring abuts against between the connection structure 313 and the first end 311. When the cleaning robot collides with an obstacle in the traveling process, the front guard plate 20 is extruded by the obstacle and moves towards the body shell 10, the front guard plate 20 abuts against the first end 311, the second end 312 is separated from the photoelectric switch, so that the photoelectric switch is triggered, the first pressure spring stores elastic potential energy along with the compression of the first end 311, and when the control module controls the traveling system to retreat and/or turn to separate from the obstacle, the second end 312 returns under the elastic force action of the first pressure spring and closes the photoelectric switch.
When the front guard 20 moves relative to the body shell 10 to press the first end 311, the second end 312 triggers the switch function portion 32, and the return elastic member 33 stores elastic potential energy, that is, the return elastic member 33 is used to apply a return elastic force to the switch driving lever 31, so that the second end 312 triggers the switch function portion 32 and then returns to close the switch function portion 32. After the switch function portion 32 is triggered, the control module controls the traveling system to perform backward and/or steering so as to avoid the obstacle.
As shown in fig. 2, the number of the collision switch devices 30 is an even number, and the collision switch devices 30 are arranged in an even number symmetrically with respect to a central axis of the cleaning robot in its advancing direction. In the embodiment of the present invention, the number of the collision switch devices 30 is two (hereinafter, the operation will be described with two collision switch devices 30 symmetrically disposed).
When an obstacle is positioned right in front of the cleaning robot during the traveling of the cleaning robot, the middle position of the front guard plate 20 collides with the obstacle, and at this time, the left and right halves of the front guard plate 20 almost simultaneously abut against the first ends 311 of the two switch driving levers 31, and the second ends 312 of the two switch driving levers 31 almost simultaneously contact the light switches. Then, the control module detects that the two collision switch devices 30 are triggered almost simultaneously, and then the control module determines that the obstacle is located right in front of the cleaning robot, so that the control module controls the traveling system to retreat first, and then the photoelectric switch is closed, and then the control module controls the traveling system to turn left or right, thereby avoiding the obstacle.
In another embodiment, the following differences are provided as compared to the previous embodiment:
in this embodiment, the collision switch device 30 is installed on the front guard plate 20, the collision switch device 30 is provided with an abutting end abutting against the body shell 10, and the front guard plate 20 drives the collision switch device 30 to move towards the body shell 10 when being squeezed by an obstacle, so that the body shell 10 squeezes the abutting end to trigger the collision switch device 30.
Furthermore, in the cleaning robot of this embodiment, the collision switch device 30 includes a switch driving rod 31, a switch function portion 32 and a second pressure spring, the switch driving rod 31 is provided with a first end 311, a second end 312 and a connection structure 313 located between the first end 311 and the second end 312, the connection structure 313 is rotatably connected to the front guard plate 20, the first end 311 is the abutting end, the switch function portion 32 is installed on the front guard plate 20, the switch function portion 32 is electrically connected to the control module, the second end 312 is used for triggering or closing the switch function portion 32, one end of the second pressure spring abuts against the front guard plate 20, and the other end of the second pressure spring abuts against between the connection structure 313 and the first end 311.
When the cleaning robot collides with an obstacle in the traveling process, the front guard plate 20 is pressed by the obstacle and moves towards the body shell 10, at this time, the collision switch device 30 moves towards the body shell 10 together with the front guard plate 20, the first end 311 abuts against the body shell 10, the second end 312 is separated from the switch function part 32, so that the switch function part 32 is triggered, and at this time, the second pressure spring stores elastic potential energy along with the compression of the first end 311, and when the control module controls the traveling system to retreat and/or turn to separate from the obstacle, the second end 312 returns and closes the switch function part 32 under the elastic force of the second pressure spring.
The cleaning robot of the present embodiment is the same as the cleaning robot of the previous embodiment except that the above structure is different, and the description thereof is omitted.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.
Claims (10)
1. A cleaning robot, characterized by comprising:
a body shell;
the front guard plate is arranged at the front end of the machine body shell in a floating mode relative to the machine body shell, and an installation space is formed by the front guard plate and the machine body shell;
a crash switch device fitted in the installation space, the front guard for moving toward the body housing when pressed by an obstacle to cause the crash switch device to be activated;
the traveling system is assembled at the bottom of the machine body shell;
the control module is installed in the machine body shell, the collision switch device and the traveling system are electrically connected with the control module, and the control module is used for controlling the traveling system to retreat and/or turn when the collision switch device is triggered.
2. The cleaning robot according to claim 1,
the collision switch device is installed on the machine body shell and provided with a butt end which abuts against the front guard plate, and the front guard plate extrudes the butt end to trigger the collision switch device when being extruded by an obstacle.
3. The cleaning robot according to claim 2,
the crash switch device includes:
the switch driving rod is provided with a first end, a second end and a connecting structure positioned between the first end and the second end, the connecting structure is rotatably connected to the machine body shell, and the first end is the abutting end;
the switch function part is arranged on the machine body shell, electrically connected with the control module and used for triggering or closing the switch function part;
the reset elastic piece is connected to the machine body shell, and the reset elastic piece is used for applying reset elastic force to the switch driving rod so as to enable the second end to trigger the switch functional part to be reset and closed.
4. The cleaning robot according to claim 3,
the switch function part is a photoelectric switch.
5. The cleaning robot according to claim 3,
the machine body shell is provided with an installation column, and the connecting structure is an installation hole which is arranged on the switch driving rod and sleeved on the installation column;
the utility model discloses a switch actuating lever, including the fuselage casing, the fuselage casing is equipped with the mounting post, the elastic component that resets is the torsional spring, the torsional spring install in the mounting post, the first extension end butt of torsional spring in the fuselage casing, the second extension end butt of torsional spring in the switch actuating lever.
6. The cleaning robot according to claim 3,
the machine body shell is provided with an installation column, and the connecting structure is an installation hole which is arranged on the switch driving rod and sleeved on the installation column;
the reset elastic piece is a tension spring, one end of the tension spring is connected to the machine body shell, and the other end of the tension spring is connected between the connecting structure and the second end; or the reset elastic piece is a first pressure spring, one end of the first pressure spring abuts against the machine body shell, and the other end of the first pressure spring abuts against the connecting structure and the first end.
7. The cleaning robot according to claim 1,
the collision switch device is installed on the front guard plate, the collision switch device is provided with a butt end which abuts against the machine body shell, and the front guard plate drives the collision switch device to move towards the machine body shell when being extruded by an obstacle, so that the machine body shell extrudes the butt end to trigger the collision switch device.
8. The cleaning robot according to claim 7,
the crash switch device includes:
the switch driving rod is provided with a first end, a second end and a connecting structure positioned between the first end and the second end, the connecting structure is rotatably connected to the front guard plate, and the first end is the abutting end;
the switch function part is arranged on the front guard plate, electrically connected with the control module and used for triggering or closing the switch function part;
and one end of the second pressure spring is abutted to the front guard plate, and the other end of the second pressure spring is abutted to the position between the connecting structure and the first end head.
9. The cleaning robot according to any one of claims 1 to 8,
the number of the collision switch devices is even, and the even collision switch devices are symmetrically arranged relative to a central axis of the cleaning robot along the advancing direction of the cleaning robot.
10. The cleaning robot according to claim 1,
the cleaning robot further comprises a floating elastic sheet, and the floating elastic sheet is arranged between the front protection plate and the machine body shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220709142.5U CN217885907U (en) | 2022-03-29 | 2022-03-29 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220709142.5U CN217885907U (en) | 2022-03-29 | 2022-03-29 | Cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217885907U true CN217885907U (en) | 2022-11-25 |
Family
ID=84105599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220709142.5U Active CN217885907U (en) | 2022-03-29 | 2022-03-29 | Cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217885907U (en) |
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2022
- 2022-03-29 CN CN202220709142.5U patent/CN217885907U/en active Active
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