WO2020187014A1

WO2020187014A1 - Side sweeping assembly and cleaning robot

Info

Publication number: WO2020187014A1
Application number: PCT/CN2020/077543
Authority: WO
Inventors: 邢兴国; 王涛; 张一茗; 陈震
Original assignee: 速感科技（北京）有限公司
Priority date: 2019-03-20
Filing date: 2020-03-03
Publication date: 2020-09-24
Also published as: CN111714032A

Abstract

Disclosed are a side sweeping assembly and a cleaning robot. The side sweeping assembly comprises a side sweeping main shaft (60) and a fall prevention sensor (20). The side sweeping main shaft (60) is connected to a side brush (50); the fall prevention sensor (20) comprises a transmitting end (23) and a receiving end (24), the transmitting end (23) is used for transmitting detection light rays, and the receiving end (24) is used for receiving incident light rays; and the transmitting end (23) and the receiving end (24) of the fall prevention sensor (20) are located in an internal space formed by the side brush (50), and the detection light rays and the incident light rays of the fall prevention sensor (20) are not blocked by the side brush (50). By means of the side sweeping assembly and the cleaning robot, the accuracy of ground information collected by the fall prevention sensor (20) can be improved, and the phenomenon whereby the cleaning robot falls is prevented.

Description

Side sweep assembly and cleaning robot

Technical field

The invention relates to the technical field of cleaning robots, in particular to a side sweep assembly and a cleaning robot.

Background technique

The cleaning robot can perform cleaning tasks autonomously without direct and continuous manual intervention and operation. The cleaning robot is usually equipped with an anti-fall sensor to prevent the cleaning robot from falling during operation and causing damage or jamming.

At present, the anti-drop sensors and side brushes of most cleaning robots are arranged in the front of the housing, the side brushes are arranged on the side of the chassis close to the ground, and the anti-drop sensors are located within the rotation range of the brush arm of the side brush.

However, when the cleaning robot is performing cleaning operations, the brush arm of the side brush will block the receiving light path of the anti-fall sensor, and then block the anti-fall sensor from receiving the reflected light, thereby affecting the accuracy of the anti-fall sensor collecting ground and ground information, and increasing the cleaning robot The risk of falling.

Summary of the invention

The embodiment of the present invention provides a side sweep assembly and a cleaning robot. The anti-drop sensor is arranged in the internal space formed by the side brush to prevent the side brush from blocking the anti-drop sensor from receiving incident light and improve the accuracy of the anti-drop sensor collecting ground information This is to avoid the phenomenon of falling when the ground in front of the cleaning robot is undulating.

In order to achieve the foregoing objectives, the embodiments of the present invention adopt the following technical solutions:

One aspect of the embodiment of the present invention provides a side sweep assembly, including: a side sweep spindle, a side brush, and an anti-drop sensor; the side sweep spindle is connected to the side brush; the anti-drop sensor includes a transmitter and a receiver The transmitting end is used to transmit detection light, and the receiving end is used to receive incident light; the transmitting end and the receiving end of the anti-drop sensor are located in the internal space formed by the side brush, and the anti-drop sensor The detection light and incident light are not blocked by the side brush.

Further, the internal space formed by the side brush is a hollow structure inside the side scan spindle, and the transmitting end and the receiving end of the anti-drop sensor are arranged in the hollow structure inside the side scan spindle.

Further, it also includes a side-scan housing, which includes a side-scan upper shell and a side-scan lower shell;

The upper shell of the side sweeper is provided with positioning holes, the lower shell of the side sweeper is provided with a positioning post matched with the positioning holes, and the positioning post of the lower side sweeper is inserted into the positioning hole of the upper side sweeper Inside, and the side-scan lower shell and the side-scan upper shell are connected by a buckle;

And/or, the side scan housing is provided with a positioning shaft, the positioning shaft is provided with a third mounting hole, and the anti-drop sensor is inserted into the third mounting hole; the positioning shaft is provided on the side Scan the hollow structure inside the spindle.

Further, it also includes a connecting shaft piercing through the side sweeping main shaft, and the side sweeping main shaft rotates relative to the connecting shaft; the internal space formed by the side brush is the space between the side brush and the ground, The transmitting end and the receiving end of the anti-drop sensor are arranged under the side brush and the anti-drop sensor is connected with the connecting shaft.

Further, the side sweeping spindle is provided with a plurality of limiting grooves and a plurality of elastic clamping portions for connecting the side brush; the plurality of elastic clamping portions and a plurality of limiting grooves are evenly distributed on the edge in the circumferential direction. On the outer wall of the scanning spindle; the side scanning spindle is clamped into the inner ring of the side brush through the elastic clamping portion; the inner wall of the inner ring is provided with a limit bar, the limit bar and the limit The groove is matched, and the limit bar is inserted into the limit groove.

Further, the anti-drop sensor includes a sleeve, the transmitting end and the receiving end are arranged in the sleeve, and a protective lens is arranged under the sleeve.

Another aspect of the embodiments of the present invention provides a cleaning robot, including a housing, a motion mechanism, a control system, a motor, a transmission mechanism, and the side sweep assembly; the motion mechanism is used to move the cleaning robot on the ground; The motor is used to drive the transmission mechanism, and the transmission mechanism drives the side sweeping spindle to rotate. At least one side sweeping assembly is provided on the side of the housing close to the ground; The anti-drop sensor is signally connected to the control system, and the control system is signally connected to the motion mechanism, and controls the motion state of the cleaning robot.

Further, the transmission mechanism includes a speed reducer; the power input end of the speed reducer is connected with the driving end of the motor, and the speed reducer drives the side scan spindle to rotate.

Further, a side of the housing close to the ground is provided with a plurality of side brushes; the side of the housing located at the cleaning gap of two adjacent side brushes is provided with an anti-drop sensor on the side close to the ground.

Further, the motion mechanism includes an auxiliary wheel, two driving wheels, and a driving motor that respectively drives the driving wheels; the driving motor is signally connected to the control system, and the control system controls the driving motor to change the Describe the movement state of the cleaning robot.

Compared with the prior art, the side sweep assembly and cleaning robot provided by the present invention have the following advantages:

The side sweep assembly and cleaning robot provided by the present invention, wherein the anti-drop sensor is arranged in the internal space formed by the side brush, and the detection light and incident light of the anti-drop sensor are both located in the internal space formed by the side brush, and no Blocked by the side brush; compared to the prior art, the anti-drop sensor is arranged on the rotation path of the brush arm. The present invention sets the detection light and incident light of the anti-drop sensor in the internal space formed by the side brush and is not blocked , Prevent the side brush from blocking the incident light and detection light of the anti-drop sensor, improve the accuracy of the anti-drop sensor to collect ground information, and avoid the phenomenon of falling of the cleaning robot.

In addition to the technical problems that the present invention solves, the technical features constituting the technical solutions, and the beneficial effects brought by the technical features of these technical solutions described above, the side sweep assembly and cleaning robot provided by the present invention can solve other The technical problems, other technical features contained in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments of the present invention or the prior art. Obviously, the drawings in the following description It is only a part of the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative work.

FIG. 1 is a schematic structural diagram of a side scan assembly provided by an embodiment of the present invention;

Figure 2 is a schematic diagram of the structure of the anti-drop sensor in Figure 1;

Fig. 3 is a schematic diagram of the structure of the side scan upper shell in Fig. 1;

Figure 4 is a schematic diagram of the structure of the lower shell of the side sweep in Figure 1;

Figure 5 is a schematic diagram of the connection between the transmission mechanism and the side-scanning spindle provided by an embodiment of the present invention;

Figure 6 is a schematic structural diagram of a side brush provided by an embodiment of the present invention;

Figure 7a is a schematic bottom view of a cleaning robot provided by an embodiment of the present invention;

Figure 7b is a schematic bottom view of a side brush provided by an embodiment of the present invention;

Figure 8 is a schematic front view of a cleaning robot provided by an embodiment of the present invention;

Figure 9 is a cross-sectional view along the line A-A in Figure 8;

FIG. 10 is a schematic diagram 1 of the installation of an anti-drop sensor provided by an embodiment of the invention (an enlarged schematic diagram at I);

Figure 11 is a second schematic diagram of the installation of an anti-drop sensor provided by an embodiment of the present invention;

Fig. 12a is a schematic diagram 1 of an internal space for installing an anti-drop sensor according to an embodiment of the present invention.

Figure 12b is a second schematic diagram of the internal space for installation of the anti-drop sensor provided by the embodiment of the present invention.

Description of reference signs:

10-Motor, 20-Anti-drop sensor,

21-fixed seat, 22-casing,

23-transmitting end, 24-receiving end,

25-The first lead, 26-The second lead,

30-Sweeping the upper shell, 31-The first mounting hole,

32-Second mounting hole, 33- Snap tongue,

34-Installing boss 35-Positioning axis,

40-Sweep down the shell, 41-Lock button,

42-Positioning column, 43-First through hole

50-Swipe side, 51-Swipe arm,

52-inner ring, 53-limit bar,

60-Sweeping the main axis, 61-flexible card connection part,

62-Limited slot, 63-Central hole

70-transmission mechanism, 71-reducer,

72-Gear, 80-Protective lens,

90-Upper case, 100-Lower case,

110-active wheel, 120-auxiliary wheel,

130-Connecting axis, 140-Ground.

detailed description

In order to make the above objectives, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings. If not explicitly stated, they are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying what is meant. The device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

As shown in Figures 1 to 6, the embodiment of the present invention provides a side sweep assembly, including: side sweep spindle 60, side brush 50 and anti-drop sensor 20; anti-drop sensor 20 as shown in Figure 7b, including transmitter The terminal 23 and the receiving terminal 24, the transmitting terminal 23 is used for transmitting the detection light, and the receiving terminal 24 is used for receiving the incident light.

In some embodiments, the side-scanning assembly further includes a side-scan housing, and the side-scanning spindle 60 is arranged in the side-scanning housing; the transmission mechanism 70 is driven by the motor 10, and the transmission mechanism 70 drives the side-scanning spindle 60 to rotate, thereby The sweeping spindle 60 drives the side brush 50 to rotate; the side sweeping spindle 60 is connected to the side brush 50 (for example, the side sweeping spindle 60 passes through the side sweeping housing and is connected to the side brush 50), and the side brush 50 can be connected to the outer wall of the side sweeping spindle 60. The transmitting end 23 and the receiving end 24 of the anti-drop sensor 20 are located in the internal space formed by the side brush 50, and the detection light and incident light of the anti-drop sensor 20 are not blocked by the side brush 50 (for example, not blocked by the brush arm 51), such as Shown in Figure 7b and Figure 11.

The internal space formed by the side brush 50 is shown in FIGS. 12a and 12b, which is the part where the section lines are arranged in the figure, that is, includes the internal space of the side scan spindle 60 and the space between the side brush 50 and the ground 140. In the present invention, the transmitting end 23 and the receiving end 24 of the anti-drop sensor 20 are located in the internal space formed by the side brush, which means that the transmitting end 23 and the receiving end 24 of the anti-drop sensor 20 are located in the side scan spindle 60, and/or located The space between the bottom of the side brush 50 and the ground 140 is shown in Figs. 7b, 10, and 11.

In the embodiment of FIG. 12a, the side brush 50 only includes the brush arms 51, that is, each brush arm 51 is individually fixed on the side scan spindle 60, then the side brush 50 at this time is all the brush arms 51; but the side brush 51 also has other Structure, as shown in Figure 6 and Figure 12b, the brush arm 51 is connected to the side sweeping spindle 60 through a fixing member, such as the inner ring 52 shown in Figures 6 and 12, then the side brush 50 includes all the brush arms 51 and a fixing member that fixes all brush arms 51 (in the embodiment of FIG. 6, the fixing member includes an inner ring 52 and a limiting strip 53). Those skilled in the art should understand that the side brush 50 in each embodiment of the present invention is only used to explain the technical solution of the present invention, rather than to limit the protection scope of the present invention. Side brushes with other structures are also within the protection scope of the present invention. .

In some embodiments of the present invention, specifically, the side sweep housing can be made of hard materials in one piece, or it can be made into a single body structure, which facilitates the installation of the transmission mechanism 70, the side sweep spindle 60 and the anti-drop sensor 20 in the side sweep housing . In this embodiment, it is preferable to set the side-scanning shell into a separate body structure. For example, as shown in Figures 3 and 4, the side-scanning shell includes a side-scan upper shell 30 and a side-scan lower shell 40, and a side-scan upper shell 30 and a side-scan lower shell. The shell 40 is made of hard plastic, so that it has better supporting strength. Wherein, the side-scan upper shell 30 includes an upper bottom plate and a side edge, while the side-scan lower shell 40 includes a lower bottom plate and a side edge. The side edge of the side-scan upper shell 30 is installed on the inner side of the side edge of the side-scan lower shell 40, or The side of the upper shell 30 is installed on the outside of the side of the lower side sweeping shell 40, that is, the upper side sweeping shell 30 and the side sweeping lower shell 40 are buckled together to form a cavity. The connection mode of the upper case 30 and the lower case 40 is not limited in this embodiment, and the upper case 30 and the lower case 40 may be detachably connected, for example, the upper case 30 The lower shell 40 can be connected by screws.

In order to facilitate the quick installation and accurate positioning of the upper housing 30 while scanning and the lower housing 40 while scanning, in this embodiment, the upper housing 30 is provided with positioning holes, and the lower housing 40 is provided with positioning posts 42; The positioning post 42 is inserted into the positioning hole of the upper side sweep housing 30, and the lower side sweep housing 40 and the upper side sweep housing 30 are connected together by buckles.

Specifically, the lower bottom plate of the side sweep lower shell 40 is provided with a plurality of positioning posts 42. The positioning posts 42 can be made integrally with the side sweep lower case 40. The axial cross section of the positioning posts 42 can be circular, square, etc., which is preferred in this embodiment The positioning post 42 is designed as a cylindrical positioning post. The side-scan upper shell 30 is provided with a positioning hole that is matched with the positioning column 42, and the positioning hole is a blind hole. When the upper case 30 and the lower case 40 need to be buckled together, the positioning post 42 of the lower case 40 is inserted into the positioning hole of the upper case 30 to realize the lower case 40 and the upper case 30 while scanning. Positioning.

After the upper side-scanning shell 30 and the lower side-scanning shell 40 are positioned, they are buckled together by a buckle to realize the detachable connection of the side-scan upper shell 30 and the side-scan lower shell 40. Specifically, a latching tongue 33 is provided on the side of the upper shell 30 while sweeping, and a lock 41 that cooperates with the latching tongue 33 is provided on the side of the lower shell 40 while scanning. The latch 41 can lock the latching tongue 33.

Wherein, the upper bottom plate of the side-scan upper shell 30 is provided with a first mounting hole 31 and a second mounting hole 32, and the first mounting hole 31 is opposite to the second mounting hole 32, and the first mounting hole 31 and the second mounting hole 32 Screw mounting holes are provided around the The motor 10 is arranged at the first mounting hole 31, and by inserting screws into the screw mounting holes located around the first mounting hole 31, the motor 10 can be fixed on the side scan upper shell 30, and the output end of the motor 10 penetrates Pass the upper bottom plate and extend into the cavity, and connect with one end of the transmission mechanism 70 located in the cavity; the other end of the transmission mechanism 70 is connected with the side sweeping spindle 60 for transmitting the driving force generated by the motor 10 through the transmission mechanism 70 Transfer to the side sweeping spindle 60.

It is understandable that the transmission mechanism 70 provided in this embodiment, as shown in FIG. 5, may also include a reducer 71 and a gear 72; wherein the gear 72 is sleeved on the side scanning main shaft 60 and fixed with the side scanning main shaft 60 to reduce The power input end of the motor 71 is connected to the drive end of the motor 10, and the power output end of the reducer 71 is connected to the gear 72. The reducer 71 adjusts the power transmitted by the motor 10 and transmits it to the side sweeping spindle 60, that is, the side sweeping spindle 60 The speed is adjustable. It can be understood that the composition of the transmission mechanism 70 is not limited in this embodiment, and a scheme in which the reducer 71 and the gear 72 cooperate can be preferably adopted, and other schemes for realizing the connection of the side sweeping spindle 60 and the motor 10 can also be adopted. For example, the matching scheme of pulleys and conveyor belts.

The lower end of the side-sweeping spindle 60 passes through the side-sweeping lower shell 40 and the lower side of the housing of the cleaning robot (that is, the side of the cleaning robot that is close to the ground when the cleaning robot is in working state or is placed normally), and is connected to the side brush 50 , Used to drive the side brush 50 to rotate to clean the ground. It can be understood that, as shown in FIG. 4, the lower casing 40 for side-scanning is provided with a first through hole 43 for the side-scanning spindle 60 to pass through, and the first through-hole 43 is in clearance fit with the side-scanning spindle 60 to facilitate side-scanning. The main shaft 60 passes through and is connected to the side brush 50. The side sweeping spindle 60 and the side brush 50 are detachably connected, so that the side brush 50 can be easily replaced and installed. The connection mode of the side brush 50 and the side sweep spindle 60 is not limited, for example, threaded connection, elastic clamping, etc. can be adopted.

The anti-drop sensor 20 is used for detecting ground information on the movement path of the cleaning robot, and includes a transmitting end and a receiving end; the transmitting end is used for transmitting detection light, and the receiving end is used for receiving incident light. Common anti-drop sensors include infrared pair tubes or TOF (time of flight sensors). The basic method is to emit detection light (such as infrared or laser) through the transmitting end, and the receiving end receives the detection light and passes through the test. The incident light that enters the receiving end behind the surface; the incident light can be reflected light (such as infrared pair tubes or TOF) or scattered light (such as TOF), and of course it can also be refracted light. The difference between the infrared pair tube and the TOF is that the infrared pair tube judges whether the ground is rising or falling according to the light intensity of the received incident light. If it does not receive the incident light or the intensity of the received incident light is less than A certain threshold indicates that the distance between the anti-drop sensor and the ground is beyond the set range; while TOF is an indirect measurement of the distance between the anti-drop sensor and the ground based on the time when the incident light returns to determine whether the ground rises or falls For example, when the distance between the anti-drop sensor and the ground is within the preset range, the incident light received by the receiving end is reflected light, and the distance measured by the laser flight time is within the preset range, and the ground surface rises Or drop, the incident light received by the receiving end may be scattered light (usually the probe light emitted by TOF is a cone beam with a certain angle, such as 25°, so that it has both reflected light and scattered light after passing through the surface to be measured) , And the distance between the anti-drop sensor and the ground is calculated from the scattered light received by the receiving end. If the distance is outside the set threshold, it means that the distance exceeds the set range, indicating that the ground has risen or fallen. Since the anti-drop sensor judges the ground information by incident light, the side brush cleaning surface of the cleaning robot in the prior art and the optical path of the anti-drop sensor usually have an intersection area, which causes the side brush to block the anti-drop when it is rotating. The light path of the sensor affects the detection effect of the anti-drop sensor. Sometimes, the sharp change of the ground (such as stairs, steps, slopes, etc.) is not detected or delayed, which causes the cleaning robot to fall and cause malfunction or damage.

In one embodiment, as shown in FIG. 11, the anti-drop sensor 20 may include a sleeve 22 and a transmitting end 23 and a receiving end 24 arranged in the sleeve 22, and the transmitting end 23 is connected to the control system signal through a first lead 25 , The receiving end 24 is connected to the control system signal through the second lead 26. The control system controls the transmitting end to emit detection light. The receiving end is used to receive incident light reflected, scattered or refracted by the ground, and transmit the collected information to the control system. The control system judges whether the ground is undulating based on the signal collected by the anti-drop sensor. And control the robot to turn or stop movement.

In order to improve the accuracy of the ground information collected by the anti-drop sensor, in this embodiment, the anti-drop sensor is arranged in the internal space formed by the side brush 50, and the detection light and incident light of the anti-drop sensor 20 are located inside the side brush 50. In the space, the side brush does not block the detection light and the incident light. In this embodiment, the brush arm 51 can be directly connected to the outer wall of the side brush main shaft 60, or connected to the side brush main shaft 60 through a fixing member. The anti-drop sensor 20 can be installed in the side brush main shaft 60, that is, the side brush is formed The internal space of the side brush is a hollow structure inside the side-scanning spindle 60, and the transmitting end 23 and the receiving end 24 of the anti-drop sensor 20 are arranged in the hollow structure inside the side-scanning spindle; specifically, the side brush spindle 60 is a hollow shaft. The anti-drop sensor 20 is inserted into the hollow shaft of the side brush main shaft 60. Alternatively, the anti-drop sensor 20 is set apart from the side brush main shaft 60, and its transmitting end and receiving end are set in the space formed by the side brush and the ground. At this time, the internal space formed by the side brush is the space between the side brush and the ground. Since the side brush spindle 60 is connected to the side brush 50, the emitting end and the receiving end of the anti-drop sensor 20 are arranged below the side brush, and the detection light and incident light are not blocked by the side brush.

The following is a specific description based on the installation position of the anti-drop sensor;

2 and 3, in this embodiment, the anti-drop sensor 20 (that is, its transmitting end and receiving end) is arranged in the side brush spindle 60; specifically, the anti-drop sensor 20 is arranged at the second mounting hole 32, The anti-drop sensor 20 provided in this embodiment includes a fixed seat 21 and a sleeve 22. The fixed seat 21 is connected to the sleeve 22 and forms a T-shaped structure. The sleeve 22 and the fixed seat 21 can be made integrally, and the fixed seat 21 is inserted with With the screws matching the screw mounting holes around the second mounting hole 32, the anti-drop sensor 20 is installed at the second mounting hole 32 through the fixing seat 21, and its sleeve 22 is inserted into the center hole 63 of the side sweeping spindle 60, and the sleeve 22 and the hole wall of the central hole 63 maintain a certain gap, so that the anti-drop sensor 20 and the side-scanning spindle 60 are independent of each other, and the rotation of the side-scanning spindle 60 is not affected. When the lower end of the side-scanning spindle 60 is connected to the side brush 50, the detection light of the anti-drop sensor 20 can shine on the ground without being affected by the side brush 50.

In the side sweep assembly and cleaning robot provided by the embodiment of the present invention, the transmitting end and the receiving end of the anti-drop sensor 20 are arranged in the central hole 63 of the cleaning spindle, and the photosensitive element in the receiving end in the sleeve 22 can accept The incident light reflected from the ground is not blocked by the side brush, which can improve the accuracy of the ground information collected by the anti-drop sensor 20 and avoid the danger of the cleaning robot from falling.

In order to realize the protection and limitation of the anti-drop sensor 20, in this embodiment, as shown in FIG. 5, FIG. 10, and FIG. 11, a positioning shaft 35 is provided on the lower surface of the side-scan upper shell 30, and the positioning shaft is set at Inside the hollow structure inside the side scan spindle 60; the positioning shaft 35 is provided with a third mounting hole, and the sleeve 22 is inserted into the third mounting hole; the positioning shaft 35 is inserted into the center hole 63, the positioning shaft 35 and the center hole 63 Clearance fit.

Specifically, the lower surface of the side sweep upper shell 30 is provided with a positioning shaft 35, the positioning shaft 35 is located at the second mounting hole 32, and the positioning shaft 35 is provided with a third mounting hole, which communicates with the second mounting hole 32 . The sleeve 22 of the anti-drop sensor 20 passes through the second mounting hole 32 and is inserted into the third mounting hole. In this embodiment, the sleeve 22 and the positioning shaft 35 can be screwed together, an internal thread can be provided in the third mounting hole, and an external thread matching the internal thread is provided on the outer wall of the sleeve 22 to connect the sleeve 22 is screwed into the positioning shaft 35 and connected together by internal and external threads. Alternatively, the sleeve 22 is in clearance fit with the third installation hole of the positioning shaft 35, and the sleeve 22 can be inserted into the third installation hole.

After the fall prevention sensor 20 is inserted and installed on the positioning shaft 35, the positioning shaft 35 is inserted into the side-scanning spindle 60, and the center hole 63 of the side-scanning spindle 60 and the positioning shaft 35 are installed with a gap, which can realize the side-scanning spindle 60 and the positioning shaft 35 They are isolated from each other to prevent the positioning shaft 35 from affecting the rotation of the side scan spindle 60.

Referring to FIG. 11, in another embodiment, the anti-drop sensor 20 may be disposed under the side scan spindle 60 and located in the internal space formed by the side brush 50. The implementation is as follows: the side sweep assembly further includes a connecting shaft 130 piercing through the side sweep main shaft, and the side sweep main shaft 60 rotates relative to the connecting shaft 130; the upper end of the connecting shaft 130 is fixed on the side sweep upper shell 30, and the connecting shaft 130 passes through The lower shell 40 is swept over the side and an anti-drop sensor 20 is arranged at its lower end. As can be seen from the figure, the anti-drop sensor 20 (that is, the transmitting end 23 and the receiving end 24 thereof) is located under the side scanning spindle 60. Specifically, the side sweep assembly further includes a connecting shaft. One end of the connecting shaft 130 can be fixed to the upper side sweep housing 30 or the housing of the cleaning robot. The connecting shaft 130 passes through the third mounting hole of the positioning shaft 35. And extend to the lower side of the robot housing; the connecting shaft 130 is sleeved with a side-scanning spindle 60, and a bearing is arranged between the side-scanning spindle 60 and the connecting shaft 130, when the side-scanning spindle 60 is received by the motor 10 through the transmission mechanism 70 When the driving force is transmitted, the side-scanning spindle 60 can rotate relative to the connecting shaft 130 and can drive the side brush 50 to rotate, while the connecting shaft 130 can be stationary relative to the cleaning robot or rotate at a relatively small speed without being affected by the side-scanning spindle 60 control.

An anti-drop sensor 20 is sleeved on the connecting shaft 130 under the side sweeping spindle 60, that is, the sleeve 22 of the anti-drop sensor is fixed on the connecting shaft 130 so that the transmitting end 23 and the receiving end 24 installed in the sleeve 22 are located The side scan spindle 60 is located below the main shaft 60, and then located in the internal space formed by the side brush 50 (the internal space formed by the side brush at this time is the space between the side brush and the ground), and the detection light and incident light are not affected by the side brush Blocking further improves the accuracy of the ground information collected by the anti-drop sensor, and prevents the robot from falling or jamming.

10, in order to prevent dust from entering the casing 22 of the anti-fall sensor 20 and affect the accuracy of the ground information collected by the anti-fall sensor, in this embodiment, a protective lens 80 is provided under the casing 22, and the protective lens 80 is used for Protective casing 22. Specifically, the lower end of the casing can be provided with an annular step mounting surface, the protective lens 80 can be pressed on the annular step mounting surface, the protective lens 80 seals the casing 22, and protects the casing 22, effectively preventing the casing 22 from being affected by It can damage and prevent dust and water vapor from entering the sleeve 22. At the same time, the protective lens can also play a role in filtering light. It can be understood that the connection mode of the protective lens 80 and the sleeve 22 is not limited. An internal thread can be provided on the inner wall of the lower end of the sleeve 22, and the side of the protective lens 80 is provided with a thread that matches the internal thread of the sleeve 22. With external threads, the protective lens 80 and the sleeve 22 can be connected together by internal threads and external threads. The preferred solution of this embodiment: the protective lens 80 is crimped on the annular step mounting surface.

5 and 6, in this embodiment, the side-scanning spindle 60 and the side brush 50 are detachably connected, and the side-scanning spindle 60 has a limit slot 62 and an elastic clamping portion 61 at one end close to the side brush 50; The part 61 is located on the outer wall of the side-scanning spindle 60, and the side-scanning spindle 60 is clamped into the inner ring 52 of the side brush 50 through the elastic clamping part 61; the inner wall of the inner ring 52 is provided with a limit bar 53, the limit bar 53 and the limit bar. The position slot 62 is matched, and the limit bar 53 is inserted into the limit slot 62. Specifically, a plurality of limiting grooves 62 and a plurality of elastic clamping portions 61 are provided on the side wall of the lower end of the side scanning spindle 60, and the plurality of limiting grooves 62 and the plurality of elastic clamping portions 61 sweep the circumference of the spindle 60 along the side. One end of the limiting groove 62 is flush with the lower end of the side-scanning spindle 60, and the other end of the limiting groove 62 extends toward the lower end surface away from the side-scanning spindle 60, and a plurality of elastic clamping portions 61 can be respectively provided in two Between the limiting grooves 62 or a plurality of elastic clamping parts 61 are arranged at one end of the limiting groove 62 away from the lower end of the side scan spindle 60.

The side brush 50 includes an inner ring 52 connected to the side-scanning spindle 60. A limit bar 53 is provided on the wall of the inner ring 52. The limit bar 53 is matched with the limit slot 62 to enable the side-scan spindle 60 to be inserted through the limit slot 62. The limit bar 53 provided on the inner ring 52 can transmit the power of the side sweeping spindle 60 to the side brush 50 and drive the side brush 50 to rotate, thereby completing the floor cleaning work. The elastic clamping portion 61 abuts on the inner ring 52 of the side brush 50, so that the side brush 50 is clamped on the side sweeping spindle 60 to prevent the side brush 50 from falling off from the side sweeping spindle 60; in addition, on the side sweeping spindle 60 The elastic clamping part 61 is provided to facilitate the side-scanning spindle 60 to be connected to the side brush 50.

It can be understood that the elastic clamping portion 61 is an elastic piece or an elastic protrusion, and the elastic piece or an elastic protrusion is integrally provided with the side scan spindle 60. Specifically, the side-scanning spindle 60 can be provided with elastic protrusions or elastic pieces on the side wall of the lower end. The elastic protrusions or elastic pieces can be made of elastic plastic, and the side-scanning spindle 60 can be made of hard plastic, with elastic protrusions or The elastic sheet can be made integrally with the side-scanning spindle 60 to enhance the connection strength between the elastic clamping portion 61 and the side-scanning spindle 60, and to prevent the elastic clamping portion 61 from falling off from the side-scanning spindle 60.

Referring to FIGS. 7a to 10, another aspect of the embodiment of the present invention provides a cleaning robot, which includes a housing, a movement mechanism, a motor, a transmission mechanism, a control system, and a side sweep assembly. The movement mechanism is used to move the cleaning robot on the ground. The motor is used to drive the transmission mechanism, and the transmission mechanism drives the side scan spindle to rotate. The housing can be a one-piece structure, or can be composed of two or more parts. In this embodiment, the casing is composed of an upper casing 90 and a lower casing 100. The side sweep assembly is arranged between the upper casing 90 and the lower casing 100; the lower side of the lower casing 100 (that is, the side of the casing close to the ground) is provided with at least one side sweep assembly; the side sweep assembly is anti-drop The sensor 20 is signal-connected with the control system, and the control system is signal-connected with the motion mechanism, and controls the motion state of the cleaning robot.

Specifically, the upper housing 90 and the lower housing 100 can be made of plastic, and the shape can be round or square. The shape of the upper housing 90 and the lower housing 100 is not limited in this embodiment. The body 90 and the lower shell 100 are designed as circular shells.

The upper housing 90 and the lower housing 100 are detachably connected together to form an installation space. The upper housing 90 is provided with internal threads, and the lower housing 100 is provided with external threads that cooperate with the upper housing 90. The housing 100 can be connected together by internal threads and external threads. Among them, the control system and the side sweep assembly are arranged in the installation space formed by the upper housing 90 and the lower housing 100. The side sweeping assembly includes a side sweeping spindle 60 and a side brush 50, and the side sweeping spindle 60 is connected with the side brush 50 to drive the side brush 50 to rotate.

It can be understood that the lower housing 100 is provided with a second through hole for the side sweep spindle 60 to pass through, and the upper housing 90 is provided with a plurality of threaded connection posts around the second through hole, and the plurality of threaded connection posts are along the first The two through holes are distributed in the circumferential direction, and the threaded connecting post is used to fix the side sweep assembly on the lower housing 100. In order to realize the fixed connection between the side sweep assembly and the lower housing 100, a mounting boss 34 is provided at the edge of the upper housing 90 of the side sweep assembly, and the mounting boss 34 is provided with a threaded hole matching with a threaded connection post. When it is necessary to install the side sweep assembly on the lower housing 100, the mounting boss 34 of the upper side sweep housing 30 can be aligned with the threaded connection post and inserted into the threaded connection post.

In this embodiment, each side scan assembly is connected to a side brush 50 correspondingly, and each side scan assembly includes an anti-drop sensor 20, and the transmitting end and receiving end of the anti-drop sensor 20 are formed on the side brush 50. In the internal space, the aforementioned internal space is shown in FIGS. 12a and 12b. The internal space formed by the side brush 50 includes the internal space of the side sweeping spindle 60 and the space between the bottom of the side brush 50 and the ground 140. In this embodiment, the transmitting end 23 and the receiving end 24 of the anti-drop sensor 20 are preferably arranged in the side scan spindle 60, and the anti-drop sensor 20 and the side scan spindle 60 are independent of each other and do not affect each other's work.

The anti-fall sensor 20 is electrically connected to the control system, and can transmit the ground information collected by it to the control system. The control system controls the state of the movement mechanism according to the ground information collected by the anti-fall sensor 20, for example, when judging whether the ground is rising or falling In the case of abrupt changes, the movement mechanism is controlled to decelerate or turn; in addition, the control system is electrically connected to the motor 10 of the side sweep assembly, and can control the rotation speed and steering of the driving end of the motor 10, thereby controlling the working state of the side brush 50.

It can be understood that the motion mechanism provided in this embodiment includes two driving wheels 110, an auxiliary wheel 120, and a driving motor connected to the driving wheel 110. The two driving wheels 110 are symmetrically arranged, and one auxiliary wheel 120 is arranged in two Among the driving wheels 110, the three are distributed in a triangular shape. Wherein, each driving wheel 110 is correspondingly connected with a driving motor, and the driving motor is electrically connected with the control system. The control system can control the speed of the driving motor according to the ground information collected by the anti-drop sensor 20, so that the two driving wheels 110 can pass through Differential speed realizes turning or synchronous rotation and linear movement.

In the cleaning robot provided in this embodiment, the transmitting end and receiving end of the anti-drop sensor 20 are arranged in the internal space formed by the side brush 50, so that the incident light received by the receiving end of the anti-drop sensor 20 is not blocked by the side brush 50, The accuracy of the ground information collected by the anti-drop sensor 20 can be improved, and the cleaning robot can be prevented from falling and causing damage.

Further, in order to improve the safety and cleaning efficiency of the cleaning robot, the cleaning robot can be provided with multiple anti-drop sensors 20 and multiple side brushes 50; each side brush 50 is provided with a side brush 50 assembly corresponding to the side brush 50 The assembly drives the side brush 50 to rotate and controls the working state of the side brush 50. Among them, each side brush 50 assembly is provided with an anti-drop sensor 20 in the main shaft of the side brush 50, that is, part of the anti-drop sensors 20 are respectively installed in the side scanning main shaft 60, and the other anti-drop sensors 20 can be installed in adjacent side brushes. The gap of the 50 cleaning range, as shown in Fig. 7a, is used to collect ground information at multiple locations of the cleaning robot, to improve the accuracy of the ground information collected by the cleaning robot, and to prevent the cleaning robot from falling risk.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.

Claims

A side sweeping assembly, which is characterized in that it comprises: a side sweeping spindle, a side brush and an anti-drop sensor;

The side scan spindle is connected to the side brush;

The anti-drop sensor includes a transmitting end and a receiving end, the transmitting end is used for transmitting detection light, and the receiving end is used for receiving incident light;

The transmitting end and the receiving end of the anti-drop sensor are located in the internal space formed by the side brush, and the detection light and incident light of the anti-drop sensor are not blocked by the side brush.
The side scan assembly of claim 1, wherein the internal space formed by the side brush is a hollow structure inside the side scan spindle, and the transmitting end and the receiving end of the anti-drop sensor are arranged in the side scan Inside the hollow structure inside the spindle.
The side sweep assembly of claim 2, further comprising a side sweep housing, the side sweep housing comprising a side sweep upper shell and a side sweep lower shell;

The upper shell of the side sweeper is provided with positioning holes, the lower shell of the side sweeper is provided with a positioning post matched with the positioning holes, and the positioning post of the lower side sweeper is inserted into the positioning hole of the upper side sweeper Inside, and the side-scan lower shell and the side-scan upper shell are connected by a buckle;

and / or,

The side scan housing is provided with a positioning shaft, the positioning shaft is provided with a third mounting hole, and the anti-drop sensor is inserted into the third mounting hole;

The positioning shaft is arranged in a hollow structure inside the side scan spindle.
The side sweep assembly according to claim 1, further comprising a connecting shaft penetrating through the side sweeping main shaft, and the side sweeping main shaft rotates relative to the connecting shaft;

The internal space formed by the side brush is the space between the bottom of the side brush and the ground, the transmitting end and the receiving end of the anti-drop sensor are arranged below the side brush, and the anti-drop sensor is connected with the connecting shaft.
The side sweep assembly according to claim 1, wherein the side sweep spindle is provided with a plurality of limiting grooves and a plurality of elastic clamping parts for connecting the side brush;

A plurality of the elastic clamping parts and a plurality of limiting grooves are evenly distributed on the outer wall of the side sweeping spindle in the circumferential direction;

The side scan spindle is clamped into the inner ring of the side brush through the elastic clamping portion;

A limit bar is arranged on the inner wall of the inner ring, the limit bar is matched with the limit groove, and the limit bar is inserted into the limit groove.
The side sweep assembly according to claim 1, wherein the anti-drop sensor comprises a sleeve;

The transmitting end and the receiving end are arranged in the sleeve, and a protective lens is arranged under the sleeve.
A cleaning robot, characterized by comprising a housing, a movement mechanism, a control system, a motor, a transmission mechanism, and the side sweep assembly according to any one of claims 1 to 6;

The movement mechanism is used to make the cleaning robot move on the ground;

The motor is used to drive the transmission mechanism, and the transmission mechanism drives the side scan spindle to rotate;

At least one side sweep assembly is provided on one side of the housing close to the ground;

The anti-drop sensor of the side sweep assembly is signal-connected with the control system, and the control system is signal-connected with the motion mechanism, and controls the motion state of the cleaning robot.
The cleaning robot according to claim 7, wherein the transmission mechanism includes a speed reducer;

The power input end of the reducer is connected with the drive end of the motor, and the reducer drives the side scan spindle to rotate.
The cleaning robot according to claim 7, wherein a plurality of side brushes are provided on one side of the housing close to the ground;

An anti-drop sensor is provided on the side of the housing located at the cleaning gap of two adjacent side brushes close to the ground.
The cleaning robot according to claim 7, wherein the movement mechanism comprises an auxiliary wheel, two driving wheels, and driving motors that drive the driving wheels respectively;

The driving motor is in signal connection with the control system, and the control system controls the driving motor to change the motion state of the cleaning robot.