WO2020077997A1

WO2020077997A1 - Collision mechanism and floor mopping machine

Info

Publication number: WO2020077997A1
Application number: PCT/CN2019/087317
Authority: WO
Inventors: 陈锵锵
Original assignee: 宁波洒哇地咔电器有限公司
Priority date: 2018-10-17
Filing date: 2019-05-17
Publication date: 2020-04-23
Also published as: CN109199258A

Abstract

A collision mechanism and a floor mopping machine. The collision mechanism is provided on an inner casing (4) of a cleaning appliance and comprises a collision plate (1), an elastic device (2), and an induction device (3); the elastic device (2) is provided for maintaining a movable gap between the collision plate (1) and the inner casing (4); when the collision plate (1) hits an obstacle, the collision plate (1) is forced to drive the elastic device (2) to compress or stretch, so that the collision plate (1) is displaced, and a signal is generated by touching the induction device (3); when the horizontal or vertical component force of a certain collision position is small, the restriction on the collision plate (1) is elastic without any rigid restriction due to the configuration of the elastic device (2), so that the collision plate (1) can be displaced after overcoming the spring force of a spring (211), thereby triggering a plurality of sensors (31); and as the elastic device (2) is provided, different sensors (31) are triggered when different positions of the collision plate (1) are impacted, so that a control system can correctly determine the collision position and make a corresponding adjustment.

Description

Collision mechanism and mopping machine

Technical field

The invention relates to the field of cleaning technology, in particular to a collision mechanism and a mopping machine.

Background technique

With the improvement of science and technology, people are more and more inclined to use intelligent cleaning appliances to replace manual sweeping, vacuuming, mopping and other tasks.

At present, household smart cleaning appliances are generally circular, and the collision mechanism of the circular cleaning appliance is provided on the inner shell 4 of the cleaning appliance, and is composed of a collision plate 1, a guide device, and an induction device. Referring to FIG. 1, a certain movable gap is maintained between the collision plate 1 and the inner shell 4, and the guide device includes a first guide groove 10, a second guide groove 11 and two guide rods 9. The first guide groove 10 and the second guide groove 11 are provided at the front and rear ends of the inner shell 4, respectively, the first guide groove 10 is elongated, and the second guide groove 11 is fan-shaped. Two guide rods 9 are fixed on the collision plate 1 and are respectively disposed in the first guide groove 10 and the second guide groove 11. Moreover, an elastic piece 23 is provided at the front end of the inner shell 4 so that the collision plate 1 is always subjected to forward elastic force. The induction device is used to sense the collision force and transmit it to the control system, so as to make corresponding adjustment of the direction of advance.

Due to the circular arrangement of the cleaning appliance, when the obstruction of the cleaning appliance is obstructed, the impact force of the collision plate of the cleaning appliance no matter where the impact force is received is greater in the horizontal and vertical directions, and the collision plate 1 is The force moves so that the cleaning appliance can sense the corresponding collision position.

However, it is often difficult to clean the circular cleaning appliances when cleaning the ground near the wall or corner. Therefore, a square cleaning appliance appears on the market, which can greatly improve the cleaning efficiency of the wall or the corner edge ground. However, when the square cleaning appliance also uses the collision mechanism used by the original round cleaning appliance, in some special collision positions, due to the square arrangement of the cleaning appliance, when this part of the position is impacted, the horizontal or vertical component of force Very small, and because the guide rod is limited by the guide groove, the guide rod has little or no displacement in the guide groove. Therefore, the cleaning appliance cannot sense the collision signal and cannot change the direction of travel.

Summary of the invention

In view of the above problems, the present invention proposes a collision mechanism and a mopping machine, which can make a correct judgment of the direction of impact when subjected to an impact, thereby making adjustments to the direction of advancement.

The technical solution adopted by the present invention is as follows: A collision mechanism is provided on an inner shell of a cleaning appliance, and includes a collision plate, an elastic device, and an induction device. The collision plate is a square collision plate, and the collision plate continuously surrounds the inner shell , The elastic device is arranged on the inner shell and connected with the collision plate, so that a gap is formed between the collision plate and the inner shell, and the induction device includes several sensors, which are respectively arranged on the edges of the inner shell and are used to receive collisions The collision signal of the board and transfer the signal to the control system of the cleaning appliance.

Further, the elastic device includes an elastic member and a moving member, the elastic member is fixed on the inner shell, the moving member is fixed on the elastic member, the collision plate is provided with a guide bar, the guide bar and the moving The component connection is used to transmit the force on the collision plate to the moving component, so that the moving component approaches or moves away from the elastic component to compress or stretch the elastic component.

Further, the elastic member includes two springs, the moving member includes two moving blocks, the inner shell is provided with a mounting groove, and the two springs are respectively fixed on two opposite first sides of the mounting groove, The two moving blocks are respectively fixed at the free ends of the two springs, the guide rod is arranged between the two moving blocks, and the top ends of the two moving blocks abut the guide rod.

Further, the mounting groove is provided with a limiting groove on the second side surface substantially perpendicular to the first side surface, and the length direction of the limiting groove is consistent with the moving direction of the moving block. The moving block is provided with a limiting bar. The limit bar is inserted into the limit slot.

Further, the elastic device further includes a shield, which is fixed on the inner shell, and covers the elastic member and at least part of the moving member inside.

Further, the elastic device includes two sets of elastic components and two sets of moving devices, and a set of elastic components and a set of moving devices are respectively provided at the front and rear ends of the inner shell.

Further, the elastic device further includes a shrapnel. The shrapnel is disposed on the end surface of the front end of the inner shell, and the free end of the shrapnel abuts against the inner wall of the collision plate to keep the collision plate and the front end of the inner shell movable There is no gap between the collision plate and the rear end of the inner shell.

Further, the number of the sensors is six, and two are respectively provided at the front end and the left and right ends of the inner shell, and each sensor has its own identification information, and transmits the self identification information to the control together when transmitting the collision signal system.

Further, the sensing device further includes a trigger bracket, and the trigger bracket is rotatably disposed on the inner shell, and is used to transmit the collision signal of the collision plate to the sensor.

A mopping machine includes the collision mechanism as described above.

The beneficial effect of the present invention is: the elastic gap is provided to maintain the movable gap between the collision plate and the inner shell. When the collision plate hits an obstacle, the collision plate is forced to drive the elastic device to compress or stretch, thereby making the collision plate When a displacement occurs, the touch sensing device generates a signal; when the horizontal or vertical component of a collision position is small, due to the setting of the elastic device, the restriction on the collision plate is elastic, and there is no hard limit, so the collision plate can be Displacement occurs after overcoming the elastic force of the spring, thereby triggering multiple sensors; the setting of the elastic device triggers different sensors when different positions of the collision plate are impacted, so that the control system can correctly judge the collision position and make corresponding adjustments.

BRIEF DESCRIPTION

Figure 1 is a schematic diagram of a collision mechanism in the prior art;

2 is a schematic diagram of a three-dimensional structure of a mopping machine according to an embodiment of the invention;

3 is a schematic diagram of the structure of the collision plate and the elastic device according to an embodiment of the present invention;

FIG. 4 is a partially enlarged schematic structural view at A in FIG. 3;

FIG. 5 is a top schematic structural view of a mopping machine according to an embodiment of the present invention (except for collision plates);

6 is a schematic view of the top structure of a mopping machine according to an embodiment of the present invention (except collision plate and shield);

FIG. 7 is a partially enlarged structural diagram at B in FIG. 6;

8 is a schematic diagram of the bottom view of the mopping machine according to an embodiment of the present invention;

9 is a schematic view of a partially enlarged structure at C in FIG. 8;

10 is a schematic diagram of a collision position (top view) of collision detection according to an embodiment of the invention.

The reference numerals in the figure are: 1, collision plate, 2, elastic device, 21, elastic member, 211, spring, 22, moving part, 221, moving block, 23, shrapnel, 3, sensing device, 31, sensor, 311, first sensor, 312, second sensor, 313, third sensor, 314, fourth sensor, 32, trigger bracket, 4, inner shell, 5, installation slot, 6, limit slot, 7, limit bar , 8, shield, 9, guide rod, 10, first guide slot, 11, second guide slot.

detailed description

The present invention will be described in detail below with reference to the accompanying drawings.

Example one

2-10, this embodiment provides a collision mechanism, which is provided on the inner shell 4 of the cleaning appliance. The inner shell 4 of the cleaning appliance is arranged in a square shape, which can effectively clean the place close to the wall surface and the corner of the wall.

The collision mechanism includes a collision plate 1, an elastic device 2, and an induction device 3. The collision plate 1 is a square collision plate 1, and the collision plate 1 continuously surrounds the inner shell 4 of the cleaning appliance.

Referring to FIGS. 4, 6, and 7, the elastic device 2 is provided on the inner shell 4 and is connected to the collision plate 1 so that a gap is formed between the collision plate 1 and the inner shell 4. The sensing device 3 includes a plurality of sensors 31, which are respectively arranged on the edge of the inner shell 4 and are used to receive the collision signal of the collision plate 1 and transmit the signal to the control system of the cleaning appliance.

The elastic device 2 is provided to maintain the movable gap between the collision plate 1 and the inner shell 4. When the collision plate 1 hits an obstacle, the collision plate 1 is forced to drive the elastic device 2 to compress or stretch, thereby making the collision plate 1 When a displacement occurs, the touch sensing device 3 generates a signal; when the horizontal or vertical component of a collision position is small, due to the setting of the elastic device 2, the restriction on the collision plate 1 is elastic, and there is no hard restriction, so the collision The plate 1 can be displaced after overcoming the elastic force of the spring, thereby triggering multiple sensors 31; the setting of the elastic device 2 triggers different sensors 31 when different positions of the collision plate 1 are impacted, so that the control system can correctly determine the collision position And make adjustments accordingly.

The collision plate 1 includes an integrated annular plate and side plates, the annular plate continuously surrounds the outer side of the inner shell 4, and the side plates are arranged along the inner wall of the annular plate perpendicular to the annular plate.

Referring to FIG. 4, the elastic device 2 includes an elastic member 21 and a moving member 22. The elastic member 21 is fixed to the inner case 4, and the moving member 22 is fixed to the elastic member 21. The collision plate 1 is provided with a guide rod 9 which is connected to the moving member 22 for transmitting the force on the collision plate 1 to the moving member 22, so that the moving member 22 approaches or moves away from the elastic member 21 to compress or stretch the elasticity Part 21. The guide bar 9 is fixed to the side plate of the collision plate 1.

6 and 7, the inner shell 4 is provided with a mounting groove 5, and the front and rear ends of the inner shell 4 are respectively provided with a mounting groove 5 for setting the elastic member 21 and the moving member 22. The elastic device 2 includes two sets of elastic members 21 and two sets of moving members 22, and each mounting slot 5 is provided with a set of elastic members 21 and a set of moving members 22.

In this embodiment, each set of elastic members 21 includes two springs 211, which are respectively fixed on two opposite first sides of the mounting groove 5. Each set of moving parts 22 includes two moving blocks 221 fixed to the free ends of the two springs 211 respectively. The guide bar 9 is disposed between the two moving blocks 221, and the top ends of the two moving blocks 221 abut the guide bar 9.

When the collision plate 1 is impacted, the guide bar 9 is driven by the collision plate 1 to push the moving block 221 to displace and compress the spring 211, so that the collision plate 1 can effectively displace and trigger the corresponding sensor 31. The mounting groove 5 is arranged horizontally, and the direction of the spring 211 is along the length direction of the mounting groove 5. Under the elastic force of the spring 211, the moving block 221 acts on the guide rod 9 to make the collision plate 1 and the inner shell 4 have left and right The movable gap between the two sides can be freely compressed and rebound.

The mounting groove 5 is provided with a limiting groove 6 on a second side surface substantially perpendicular to the first side surface, and the length direction of the limiting groove 6 is consistent with the moving direction of the moving block 221. The moving block 221 is provided with a limit bar 7, and the limit bar 7 is inserted into the limit groove 6.

Referring to FIGS. 3-5, in this embodiment, the elastic device 2 further includes a shield 8, which is fixed on the inner shell 4 and covers the elastic member 21 and at least part of the moving member 22 inside. The shield 8 covers the spring 211 and part of the moving block 221 to prevent the spring 211 and the moving block 221 from being accidentally damaged, thereby increasing the overall service life of the collision mechanism.

4-7, in this embodiment, the elastic device 2 further includes an elastic sheet 23. The elastic piece 23 is disposed on the end face of the front end of the inner shell 4, and the free end of the elastic piece 23 abuts against the inner wall of the collision plate 1, that is, against the inner wall of the annular plate of the collision plate 1, for holding the annular plate and the front end of the inner shell 4 There is no gap between the annular plate and the rear end of the inner shell 4 under the action of the elastic force. Therefore, when the collision plate 1 is impacted, it can only be compressed and displaced backward and left and right, but not forward.

In this embodiment, the number of sensors 31 is six, and two are provided at the front end and the left and right ends of the inner shell 4, respectively, and each sensor 31 carries its own identification information, and identifies itself when transmitting a collision signal The information is passed to the control system. The self-identification information of each sensor 31 is different. For example, it can be different digital information, codes, etc., so that each sensor can be distinguished. The sensor 31 is an optical coupling sensor 31. When the control system receives the collision signal of the sensor 31, it simultaneously receives the self-identification information of the sensor 31, so as to recognize the position of the triggered sensor 31 and adjust accordingly. In other embodiments, the specific number and type of sensors 31 are not limited.

Referring to FIGS. 8 and 9, the sensing device 3 further includes a trigger bracket 32 that is rotatably provided on the inner housing 4 and used to transmit the collision signal of the collision plate 1 to the sensor. The trigger bracket 32 is provided with a torsion spring, so that one end of the trigger bracket 32 can elastically displace around the rotation point under the force. The other end of the trigger bracket 32 is provided with a shielding rib. When the triggering bracket 32 is rotated by the collision, the shielding rib is displaced at the same time, blocking the infrared light of the sensor 31, so that the sensor 31 senses the trigger signal. When the collision plate 1 is reset, the trigger bracket 32 is also reset under the elastic force of the torsion spring.

Referring to Figs. 5 and 10, the front end and the right side of the inner shell 4 are taken as objects to perform collision detection at seven collision positions. Among them, the two sensors at the front end of the inner case 4 are the first sensor 311 and the second sensor 312 respectively, and the two sensors on the right side of the inner case 4 are the third sensor 313 and the fourth sensor 314 respectively.

When the position a is collided, the collision plate 1 is displaced vertically backward. The first and second sensors are triggered; when the position b is collided, the collision plate 1 rotates clockwise, and the second and fourth sensors are triggered; when When the position c is collided, the collision plate 1 is displaced along the impact direction of the third position, the diagonal of the inner shell 4 is displaced, and the first, second, third, and fourth sensors are triggered; when the position d is collided When the collision plate 1 rotates counterclockwise, the third and first sensors are triggered; when the e position is collided, the collision plate 1 is displaced to the left, and the third and fourth sensors are triggered; when the f position is collided, When the collision plate 1 rotates clockwise, the fourth and second sensors are triggered; when the position g is collided, the collision plate 1 moves counterclockwise, and the third and first sensors are triggered. Among them, when the position d and the position g are collided, the third and first sensors are triggered. At this time, the control system of the cleaning appliance needs to determine whether the collision at the moment comes from the front or the rear according to the collision result of the previous step. Thus, the d position and the g position are distinguished.

The front end and the left side of the inner shell 4 are symmetrical with it, so they will not be described in detail.

Example 2

This embodiment provides a floor mopping machine including an inner shell 4, a control system, and the collision mechanism in the first embodiment.

The above are only the preferred embodiments of the present invention, which does not limit the scope of patent protection of the present invention. Any equivalent structural transformations made by using the description and drawings of the present invention are directly or indirectly used in other related technical fields. The same reason is included in the protection scope of the present invention.

Claims

A collision mechanism is provided on an inner shell of a cleaning appliance, and is characterized by comprising a collision plate, an elastic device and an induction device, the collision plate is a square collision plate, and the collision plate continuously surrounds the inner shell, the elastic The device is arranged on the inner shell and is connected with the collision plate, so that a gap is formed between the collision plate and the inner shell. The induction device comprises several sensors, which are respectively arranged on the edges of the inner shell and used to receive collision signals of the collision plate And transmit the signal to the control system of the cleaning appliance.
The collision mechanism according to claim 1, wherein the elastic device includes an elastic member and a moving member, the elastic member is fixed on the inner shell, the moving member is fixed on the elastic member, and the collision plate A guide rod is provided, the guide rod being connected to the moving member, for transmitting the force on the collision plate to the moving member, so that the moving member approaches or moves away from the elastic member to compress or stretch the elastic member.
The collision mechanism according to claim 2, wherein the elastic member includes two springs, the moving member includes two moving blocks, the inner shell is provided with a mounting groove, and the two springs are respectively fixed to the mounting On two opposite first sides of the groove, two moving blocks are respectively fixed at the free ends of the two springs, the guide rod is arranged between the two moving blocks, and the top ends of the two moving blocks abut the guide rod.
The collision mechanism according to claim 3, wherein a limiting groove is provided on the second side surface substantially perpendicular to the first side surface of the mounting groove, and the length direction of the limiting groove is consistent with the moving direction of the moving block, A limit bar is provided on the moving block, and the limit bar is inserted into the limit groove.
The collision mechanism according to any one of claims 2 to 4, wherein the elastic device further includes a shield, the shield is fixed to the inner shell, and covers the elastic member and at least part of the moving member inside.
The collision mechanism according to claim 5, wherein the elastic device includes two sets of elastic members and two sets of moving devices, and a set of elastic members and a set of moving devices are provided at the front and rear ends of the inner shell, respectively.
The collision mechanism according to claim 6, wherein the elastic device further comprises an elastic piece, the elastic piece is disposed on an end surface of the front end of the inner shell, and the free end of the elastic piece abuts against the inner wall of the collision plate for Keep the collision plate and the front end of the inner shell movable, and there is no gap between the collision plate and the rear end of the inner shell.
The collision mechanism according to claim 1 or 7, wherein the number of the sensors is six, and two are provided at the front end and the left and right ends of the inner shell, respectively, and each sensor has its own identification information, When the collision signal is transmitted, the self-identification information is transmitted to the control system together.
The collision mechanism according to claim 8, wherein the sensing device further comprises a trigger bracket, and the trigger bracket is rotatably provided on the inner shell for transmitting the collision signal of the collision plate to the sensor.
A mopping machine, characterized by comprising the collision mechanism according to any one of claims 1-9.