WO2022134609A1 - Ensemble commutateur de collision et robot de nettoyage du sol - Google Patents

Ensemble commutateur de collision et robot de nettoyage du sol Download PDF

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Publication number
WO2022134609A1
WO2022134609A1 PCT/CN2021/111554 CN2021111554W WO2022134609A1 WO 2022134609 A1 WO2022134609 A1 WO 2022134609A1 CN 2021111554 W CN2021111554 W CN 2021111554W WO 2022134609 A1 WO2022134609 A1 WO 2022134609A1
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WO
WIPO (PCT)
Prior art keywords
moving member
switch assembly
trigger
housing
collision
Prior art date
Application number
PCT/CN2021/111554
Other languages
English (en)
Chinese (zh)
Inventor
黄现安
李健
林海利
刘宇莹
黄忠平
刘旭阳
Original Assignee
珠海格力电器股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 珠海格力电器股份有限公司 filed Critical 珠海格力电器股份有限公司
Publication of WO2022134609A1 publication Critical patent/WO2022134609A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated

Definitions

  • the present application relates to the technical field of cleaning equipment, and in particular, to a collision switch assembly and a cleaning robot.
  • a collision switch assembly is usually provided on the sweeping robot body.
  • the crash switch assembly includes a crash plate and a contact crash switch connected with the crash plate.
  • the anti-collision plate transmits the collision force to the collision switch, so as to control the sweeping robot to turn to avoid obstacles according to the detection result of the collision switch.
  • the crash switch is easily damaged by impact in the event of a crash.
  • a crash switch assembly comprising:
  • a photoelectric switch configured to generate a crash signal in response to triggering
  • a moving member located on one side of the photoelectric switch, the moving member configured to move in a first direction in response to a contact impact
  • a triggering piece connected with the moving piece, and the moving piece can drive the triggering piece to move between a first position and a second position along the first direction;
  • the trigger member has a movement path capable of continuously triggering the photoelectric switch during the movement process between the first position and the second position.
  • the photoelectric switch responds to a change in the position of the trigger to generate a collision signal that changes with a preset regularity or a collision signal that changes linearly.
  • the photoelectric switch includes a light emitting unit and a light receiving unit for receiving a light beam emitted by the light emitting unit;
  • the trigger can be located at least partially on the propagation path of the light beam emitted by the light emitting unit to change the amount of the light beam from the light emitting unit received by the light receiving unit.
  • the trigger includes a shutter
  • the shielding portion can shield the light beam emitted by the light emitting unit to the light receiving unit.
  • the light-emitting unit and the light-receiving unit are disposed opposite to each other along the second direction;
  • the second direction is perpendicular to the first direction.
  • the photoelectric switch includes a switch body having an opening slot through which the shielding portion passes;
  • the light emitting unit and the light receiving unit are located on groove walls of the opening groove opposite to each other along the second direction.
  • the moving member extends along the first direction, and the trigger member is located on one side of the moving member along the third direction relative to the axis of the moving member;
  • the third direction is perpendicular to the first direction.
  • the moving member and the trigger member are integrally formed.
  • the crash switch assembly further includes a housing
  • the moving element is arranged on the casing, and the photoelectric switch and the trigger element are arranged in the casing.
  • the housing has a first inner wall and a second inner wall opposite to each other along the first direction, and the trigger is located between the first inner wall and the second inner wall;
  • the triggering member When the moving member is located at the first position, the triggering member abuts against the first inner wall and is separated from the second inner wall, and when the moving member is at the second position, the triggering member The piece abuts against the second inner wall and is separated from the first inner wall.
  • the moving member passes through the casing along a first direction
  • the moving member includes a first limiting portion and a second limiting portion oppositely disposed along the first direction, the The first limiting portion is located in the casing, and the second limiting portion is located outside the casing;
  • the first limiting portion abuts against the inner wall of the housing, and the second limiting portion is spaced from the outer wall of the housing.
  • the second limiting portion abuts against the outer wall of the housing, and the first limiting portion is spaced from the inner wall of the housing.
  • the crash switch assembly further includes an elastic reset member connected between the moving member and the housing, or disposed between the trigger member and the housing ;
  • the elastic restoring member is used for providing elastic restoring force for moving the moving member along the first direction and toward the direction away from the photoelectric switch.
  • the elastic return member comprises an elastic compression return member or a torsion spring.
  • the moving member is further provided with a guide portion
  • the housing is provided with a fitting portion
  • the guide portion is matched with the fitting portion to guide the moving member to move along the first direction .
  • a cleaning robot which includes the above-mentioned collision switch assembly.
  • the cleaning robot further includes an anti-collision plate, and the moving member is in contact with the anti-collision plate.
  • the trigger element does not need mechanical collision to trigger the collision switch. And, after the bumper plate is struck, the trigger member moves backward along the first direction. After the triggering piece triggers the photoelectric switch, the triggering piece can still continue to retreat to trigger the triggering piece continuously, so a buffer space is reserved for the movement of the triggering piece.
  • the main controller of the sweeping robot can receive the collision signal of the photoelectric switch and make the sweeping robot perform obstacle avoidance actions, such as decelerating or retreating, thus avoiding collision in the event of a collision.
  • the switch assembly was damaged by shock.
  • FIG. 1 is a schematic structural diagram of a collision switch assembly in an embodiment of the present application.
  • FIG. 2 is a schematic diagram of an exploded structure of the crash switch assembly shown in FIG. 1 .
  • FIG. 3 is a schematic cross-sectional structural diagram of the collision switch group shown in FIG. 1 in an initial state.
  • FIG. 4 is a schematic cross-sectional structural diagram of the collision switch assembly shown in FIG. 1 in a triggered state.
  • FIG. 5 is a schematic structural diagram of the collision switch assembly shown in FIG. 1 from another perspective.
  • FIG. 6 is a schematic structural diagram of a partial structure of a cleaning robot according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a photoelectric switch in a collision switch assembly according to an embodiment of the present application.
  • FIG. 8 is a schematic cross-sectional structural diagram of a collision switch assembly located on a housing of a cleaning robot according to an embodiment of the present application.
  • FIG. 9 is an enlarged schematic view of the collision switch assembly shown in FIG. 8 located at A on the casing of the cleaning robot.
  • FIG. 10 is a schematic cross-sectional structural diagram of a collision switch group in an initial state according to another embodiment of the present application.
  • FIG. 11 is a schematic cross-sectional structural diagram of the collision switch group shown in FIG. 10 in a triggered state.
  • FIG. 12 is a schematic cross-sectional structural diagram of a collision switch group in an initial state according to another embodiment of the present application.
  • FIG. 13 is a schematic cross-sectional structural diagram of the collision switch group shown in FIG. 12 in a triggered state.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature.
  • plurality means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • a first feature "on” or “under” a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary touch.
  • the first feature being “above”, “over” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature being “below”, “below” and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.
  • an embodiment of the present application provides a crash switch assembly 100 , which includes a photoelectric switch 10 , a moving member 20 and a trigger member 30 .
  • the collision switch assembly 100 is used for contacting with the collision shield 220 .
  • the crash switch assembly 100 is applied to the cleaning robot 200 in the embodiment of the present application, and in other embodiments, it can also be applied to other devices suitable for the crash switch assembly 100 , which is not limited herein.
  • the photoelectric switch 10 is configured to generate a crash signal in response to triggering.
  • the moving part 20 is located on one side of the photoelectric switch 10 .
  • the moving member 20 is configured to be movable in a first direction in response to a contact collision.
  • the trigger part 30 is connected to the moving part 20 .
  • the moving member 20 can drive the triggering member 30 to move between the first position and the second position along the first direction.
  • the first direction is the horizontal direction.
  • the moving member 20 is kept in contact with the crash plate 220 .
  • the trigger member 30 has a movement path capable of continuously triggering the photoelectric switch 10 during the movement between the first position and the second position.
  • the photoelectric switch 10 includes a light emitting unit 11 and a light receiving unit 12 for receiving the light beam emitted by the light emitting unit 11,.
  • the trigger 30 can be positioned at least partially on the propagation path of the light beam emitted by the light emitting unit 11 to change the amount of the light beam received by the light receiving unit 12 . It should be pointed out that the intensity or presence of the light beam should be a reflection of the amount of the light beam.
  • the trigger member 30 does not need to be mechanically impacted to trigger the impact switch. And, after the crash plate 220 is hit, the trigger 30 moves backward in the first direction. After the triggering member 30 triggers the photoelectric switch 10 , the triggering member 30 can continue to retreat to continue to trigger, thus leaving a buffer space for the movement of the triggering member 30 .
  • the main controller 240 of the cleaning robot 200 can receive the collision signal of the photoelectric switch 10 to make the cleaning robot 200 perform obstacle avoidance actions, such as decelerating or retreating. Avoid impact damage to the crash switch assembly 100 in the event of a crash.
  • the crash switch assembly 100 also includes a housing 40 .
  • the photoelectric switch 10 and the trigger member 3 are arranged in the casing 40 , the movable member 20 is partially arranged in the casing 40 , and the end of the movable member 20 is exposed outside the casing 40 .
  • the housing 40 has an accommodating cavity 41 .
  • the photoelectric switch 10 and the trigger element 30 are arranged in the accommodating cavity 41 .
  • the photoelectric switch 10 , the moving part 20 and the triggering part 30 can be centrally mounted on the housing 40 , which simplifies the structure of the collision switch assembly 100 .
  • the casing 40 includes a first casing 41 and a second casing 42 .
  • the first casing 41 and the second casing 42 are configured to be able to be mated along the first direction to form the accommodating cavity 41 of the casing 40 . In this way, the installation of the photoelectric switch 10 , the moving member 20 and the trigger member 30 relative to the housing 40 can be more convenient.
  • first housing 41 and the second housing 42 is provided with a locking portion 411
  • the other of the first housing 41 and the second housing 42 is provided with a fitting portion 421 .
  • the locking portion 411 cooperates with the matching portion 421 to lock the first casing 41 and the second casing 42 . In this way, the reliability of the mating of the first casing 41 and the second casing 42 can be improved, and the stability of the overall structure of the crash switch assembly 100 can be improved.
  • the locking portion 411 includes a first buckle
  • the matching portion 421 includes a second buckle
  • the first buckle and the second buckle are snap-fitted. This method is simple in structure and convenient in operation.
  • the first housing 41 is further provided with a first positioning portion
  • the second housing 42 is further provided with a second positioning portion.
  • the first positioning portion cooperates with the second positioning portion to position the first housing 41 relative to the second housing 42 .
  • the first positioning portion is disposed on a side surface of the first casing 41 facing the second casing 42 along the first direction.
  • the second positioning portion is disposed on a side surface of the second casing 42 facing the first casing 41 along the first direction.
  • one of the first positioning portion and the second positioning portion includes a positioning groove
  • the other one of the first positioning portion and the second positioning portion includes a positioning protrusion matched with the positioning groove.
  • the housing 40 is further provided with a connecting through hole 42 that communicates with the accommodating cavity 41 .
  • the crash switch assembly 100 also includes a connection cover 50 .
  • the connection cover 50 is covered at the connection through hole 42 .
  • the photoelectric switch 10 is electrically connected to an external main controller via the connection cover 50 . In this way, when the photoelectric switch 10 is electrically connected to the main controller, the connection through hole 42 can also be blocked, so as to avoid the connection through hole 42 being exposed when the photoelectric switch 10 is directly connected to the main controller through the connection through hole 42, causing foreign matter Or light easily enters the accommodating cavity 41 and affects the triggering accuracy of the photoelectric switch 10 . Please refer to FIG. 2 again.
  • the housing 40 is provided with a positioning groove 43 which is arranged around the connecting through hole 42 and communicates with the connecting through hole 42 .
  • the connection cover 50 is installed in the positioning groove 43 . In this way, the positioning method of the connection cover plate 50 relative to the connection through hole 42 is simple and reliable.
  • the photoelectric switch 10 is covered at the connection through hole 42 , and the photoelectric switch 10 is electrically connected to an external main controller through the connection through hole 42 . In this way, the photoelectric switch 10 itself is used to cover the connection through hole 42 , which simplifies the structure of the collision switch assembly 100 .
  • the housing 40 can also be the housing 210 of the cleaning robot 200 .
  • the existing structure of the housing 210 is fully utilized, and the structure of the collision switch assembly 100 is simplified. , the occupied space of the touch switch assembly 100 is saved.
  • the housing 40 has a first inner wall 44 and a second inner wall 45 opposite to each other along the first direction, and the trigger 30 is located on the first inner wall 44 and the second inner wall 45 between.
  • the triggering member 30 abuts against the first inner wall 44 and separates from the second inner wall 45 .
  • the triggering member 30 abuts against the second inner wall 45 and separates from the first inner wall 44 .
  • the first inner wall 44 and the second inner wall 45 are inner walls disposed in the accommodating cavity 41 . In other manners, it can also be the inner wall of the casing 210 , which is not limited here.
  • the moving member 20 can pass through the casing 40 along the first direction.
  • the moving member 20 includes a first limiting portion 21 and a second limiting portion 22 that are oppositely disposed along the first direction.
  • the first limiting portion 21 is located inside the casing 40
  • the second limiting portion 22 is located outside the casing 40 .
  • the first limiting portion 21 abuts against the inner wall of the housing 40
  • the second limiting portion 22 is spaced from the outer wall of the housing 40 .
  • the casing 40 in this embodiment may be the casing 210 .
  • the photoelectric switch 10 responds to the position change of the trigger member 30 to generate a collision signal that changes with a preset regularity or a collision signal that changes linearly.
  • the collision signal may correspond to the light beam amount received by the light receiving unit 12 that changes with a certain regularity, or may maintain a certain light beam amount, which is not limited herein.
  • the trigger 30 includes a shielding portion, which can shield the light beam emitted by the light emitting unit 11 to the light receiving unit 12 .
  • the shielding portion extends along the first direction. In this way, the structure of the shielding portion is simple and reliable, and during the moving process of the moving member 20 in the first direction, the shielding portion can ensure that the shielding portion continuously and stably shields the light beam.
  • the triggering element 30 can also be triggered by generating diffuse reflection, which is not limited herein.
  • the light emitting unit 11 and the light receiving unit 12 are disposed opposite to each other along a second direction, wherein the second direction is perpendicular to the first direction.
  • the second direction in FIG. 3 is a direction perpendicular to the paper surface.
  • the manner of arranging the opposite light emitting unit 11 and light receiving unit 12 is simple.
  • the light emitting unit 11 and the light receiving unit 12 of the photoelectric switch 10 can also be arranged on the same side, and the triggering member 30 can be triggered by setting a mirror surface on the triggering member 30 or the triggering member 30 generates diffuse reflection, which is not limited here.
  • the photoelectric switch 10 includes a switch body, and the switch body has an opening slot 13 through which the shielding portion passes.
  • the light emitting unit 11 and the light receiving unit 12 are located on the groove walls of the opening groove 13 opposite to each other along the second direction.
  • the way of arranging the opening slot 13 is simple and does not affect the movement of the shielding part.
  • the opening groove 13 penetrates the photoelectric switch 10 along the first direction. In this way, during the movement of the moving member 20 in the first direction, even at the extreme position of the movement, the shielding portion will not collide with the photoelectric switch 10 , thereby avoiding damage to the photoelectric switch 10 . Please refer to FIG. 2 and FIG.
  • the moving member 20 extends along the first direction, and the axis of the triggering member 30 relative to the moving member 20 is located on one side of the moving member 20 along the third direction, wherein the third direction are perpendicular to the first direction and the second direction, respectively.
  • the third direction in FIG. 3 is the vertical direction, so that there is no positional interference between the moving member 20 and the shielding portion, thereby not affecting the functions of each other.
  • the moving member 20 and the trigger member 30 are integrally formed. In this way, the structural stability of the moving member 20 and the trigger member 30 can be improved.
  • the moving member 20 is provided with a guide portion, and the housing 40 is provided with a fitting portion.
  • the guide portion cooperates with the matching portion to guide the moving member 20 to move in the first direction.
  • the guide portion is arranged to cooperate with the matching portion to guide the movement of the moving portion, so that the moving member 20 can be more stable during the moving process, so that the triggering member 30 can be triggered accurately.
  • the crash switch assembly 100 further includes an elastic restoring member, which is connected between the moving member 20 and the housing 40 .
  • the elastic restoring member is used to provide an elastic restoring force for moving the moving member 20 and the bumper plate 220 in the first direction and toward the direction away from the photoelectric switch 20 .
  • the provision of the elastic restoring member can make the moving member 20 automatically return to the initial state in a state of no pressure.
  • the photoelectric switch 10 , the moving member 20 , the triggering member 30 and the elastic reset member are centrally installed in the housing 40 , when the cleaning robot 200 collides with the surrounding obstacles, the triggering member 30 can follow the moving member 20 along the first direction.
  • the movement triggers the photoelectric switch 10, and after controlling the sweeping robot 200 to change the direction, the elastic reset member can timely provide the elastic restoring force to move the moving member 20 and the anti-collision plate 220 to the direction away from the photoelectric switch 10.
  • the reset is timely and the reset process is also easy. Very stable and balanced.
  • the elastic restoring member includes an elastic compression restoring member 51 .
  • the elastic compression return member 51 includes a compression spring.
  • the elastic restoring member may also include a torsion spring 52, which is not limited herein. The application of the elastic compression restoring member 51 and the torsion spring 52 in the embodiments of the present application will be described below.
  • the moving member 20 includes a first guide portion 23 extending along the first direction, and the elastic compression restoring member 51 is sleeved on the first guide portion 23 .
  • the first guide portion 23 is cylindrical, optionally, the first guide portion 23 is cylindrical. Under the guiding action of the first guide portion 23 , the elastically compressing and restoring member 51 can more reliably compress and stretch during the movement of the moving member 20 .
  • the moving member 20 further includes a first moving body 24 .
  • the first guide portion 23 is connected with the first moving body 24
  • the trigger member 30 is connected with the first moving body 24 .
  • the elastic compression restoring member 51 is connected between the trigger member 30 and the casing 40 , one end abuts the trigger member 30 , and one end abuts the side wall of the casing 40 .
  • the first guide portion 23 is located on one side of the first moving body 24 along the first direction. In this way, since the first direction of the first guide portion 23 is located on one side of the first moving body 22, the size of the collision switch assembly 100 in the direction perpendicular to the first direction can be reduced to suit different applications.
  • the first moving body 24 extends along the first direction
  • the trigger member 30 is located on one side of the first moving body 24 along the third direction relative to the axis of the first moving body 24 , the first guide portion 23 and the trigger member 30 adjacent settings.
  • the trigger member 30 can directly contact the elastic reset member 51 to compress the elastic reset member 51, so that the structure of the crash switch assembly 100 is more compact, the size of the crash switch assembly 100 in the first direction is shortened, and the volume of the crash switch assembly 100 is reduced. smaller.
  • the housing 40 includes a first matching portion 46 , and one end of the first guide portion 23 away from the first moving body 24 in the first direction is matched with the first matching portion 46 to guide the moving member 20 along the first direction move.
  • the first guide portion 23 can be fully utilized to ensure the stability of the moving process of the moving member 20, and at the same time, the compression and reset process of the elastically compressing and restoring member 61 can be stabilized.
  • the first fitting portion 46 includes a fitting groove or a fitting through hole.
  • the first matching portion 46 penetrates through the matching groove or the matching through hole. It can be understood that the first guide portion 23 in this embodiment is an embodiment of the aforementioned guide portion, and the first matching portion 46 is an embodiment of the aforementioned matching portion.
  • the moving member 20 further includes a second guide portion 25 extending along the first direction.
  • the second guide portion 25 is located on the side of the first moving body 24 away from the first guide portion 23 in the first direction.
  • One end of the second guide portion 25 is connected to one end of the first moving body 24 .
  • the housing 10 has the second fitting portion 47 .
  • the second guide portion 25 cooperates with the second matching portion 47 to guide the moving member 20 to move in the first direction. Since the first guide portion 23 and the second guide portion 25 are located at both ends of the first moving body 24 along the first direction, the guides on both sides of the first moving body 24 along the first direction can be balanced, and the movement of the first moving body 24 can be further improved.
  • the stability of the moving process of the piece 20 It can be understood that the second guide portion 25 in this embodiment is an embodiment of the aforementioned guide portion, and the second matching portion 47 is an embodiment of the aforementioned matching portion.
  • the second matching portion 47 includes a second matching through hole 471 , and the second guide portion 25 penetrates through the second matching through hole 471 and protrudes out of the outer side of the housing 40 through the second matching through hole 471 .
  • One end of the second guide portion 25 facing the outer side of the housing 40 is kept in contact with the bumper plate 220 .
  • the method of arranging the second matching through hole 471 is simple, and the guiding is stable and reliable.
  • the moving member 20 can be moved more stably, and the reliability of the triggering member 30 being triggered is improved.
  • the moving member 20 further includes a third limiting portion 26 .
  • the first moving body 24 extends in the first direction.
  • the third limiting portion 26 is located on one side of the first moving body 24 along the third direction relative to the axis of the first moving body 24 .
  • One end of the first guide portion 23 is connected to the third limiting portion 26 .
  • the elastic compression restoring member 51 is connected between the third limiting portion 26 and the housing 40 , one end abuts the third limiting portion 26 , and one end abuts the housing 40 . Because the elastic compression restoring member 51 is located on one side of the first moving body 24 along the third direction, it will not interfere with the movement of the first moving body 24, thereby improving the movement stability of the first moving body 24.
  • the trigger member 30 is located on the side away from the third limiting portion 26 along the third direction relative to the axis of the first moving body 24 . In this way, the forces on both sides of the first moving body 24 along the third direction can be balanced, and the triggering member 30 and the elastic compression restoring member 51 can be kept as far apart as possible without mutual interference. As shown in FIGS. 6 to 8 , in other embodiments, the trigger 30 is located at the end of the first moving body 24 along the first direction. In this way, while the structure is simplified, the size of the crash switch assembly 100 in the third direction is also reduced.
  • the housing 40 includes a third mating portion 48 .
  • One end of the first guide portion 23 away from the third limiting portion 26 along the first direction is matched with the third matching portion 48 to guide the moving member 20 to move along the first direction.
  • the first guide portion 23 can be fully utilized to ensure the stability of the moving process of the moving member 20, and at the same time, the compression and reset process of the elastically compressing and restoring member 51 are also stable.
  • the third fitting portion 48 includes a fitting groove or a fitting through hole. In the second position, the first guide portion 23 may be inserted into the fitting groove or the fitting through hole along the first direction. It can be understood that the third matching portion 48 in this embodiment is an embodiment of the aforementioned matching portion.
  • the moving member 20 further includes a third guide portion 27 extending along the first direction, and the third guide portion 27 is located on the side of the third limiting portion 26 away from the first guide portion 23 along the first direction.
  • the housing 10 is provided with a fourth matching portion 49 , and the third guiding portion 27 is matched with the fourth matching portion 49 to guide the moving member 20 to move in the first direction. Since the first guide portion 23 and the third guide portion 27 are located on both sides of the third limiting portion 26 along the first direction, the guiding of the third limiting portion 26 on both sides along the first direction can be balanced, and further The stability of the moving process of the moving part 20 is improved.
  • the third guide portion 27 in this embodiment is an embodiment of the aforementioned guide portion
  • the fourth matching portion 49 is an embodiment of the aforementioned matching portion.
  • the third guide portion 27 has the same structure as the aforementioned second guide portion 25
  • the fourth matching portion 49 has the same structure as the aforementioned second matching portion 47 , which will not be repeated here.
  • the moving member 20 further includes a fourth guide portion 28 extending along the first direction, and one end of the fourth guide portion 28 is connected to an end of the first moving body 24 facing away from the third guide portion 27 along the first direction.
  • the casing 10 is further provided with a fifth matching portion 401 , and the fifth matching portion 401 is matched with the fourth guiding portion 28 to guide the moving member 20 to move in the first direction. Since the fourth guide portion 28 and the third guide portion 27 are located at both ends of the first moving body 24 along the first direction, the guides on both sides of the first moving body 24 along the first direction can be balanced, thereby further improving the movement of the first moving body 24. The stability of the moving process of the piece 20.
  • the fifth matching portion 401 includes a matching groove or a matching through hole.
  • the fourth guide portion 28 may be inserted into the fitting groove or the fitting through hole along the first direction. It can be understood that the fourth guide portion 28 in this embodiment is an embodiment of the aforementioned guide portion, and the fifth matching portion 401 is an embodiment of the aforementioned matching portion.
  • the casing 40 defines a first matching through hole 402 , and the first guide portion 23 protrudes out of the casing 40 through the first matching through hole 402 to prevent collision.
  • Plate 220 remains in contact.
  • the housing 40 of this embodiment may be the housing 210 of the cleaning robot 200 .
  • both ends of the first guide portion 23 are provided with a first limiting portion 21 and a second limiting portion 22 .
  • the elastic compression restoring member 51 is connected between the second limiting portion 22 and the housing 40 , one end abuts the second limiting portion 22 , and one end abuts the outer surface of the housing 40 .
  • the moving member 20 further includes a connecting portion 201 and a sixth guiding portion 202 .
  • the housing 40 is further provided with a second matching through hole 403 .
  • the sixth guide portion 202 is spaced from the first guide portion 23 along the third direction.
  • the trigger 30 is connected between the sixth guide portion 202 and the first guide portion 23 .
  • the sixth guide portion 202 protrudes out of the outer side of the housing 40 through the second matching through hole 403 to keep in contact with the bumper plate 220 .
  • the trigger member 30 is connected to the sixth guide portion 202 . In this way, the movement stability of the moving member 20 can be improved, and the triggering member 30 can be reliably triggered.
  • the elastic restoring member includes a torsion spring 52 .
  • the torsion spring 52 includes a torsion spring body 521 and a first torsion arm 522 and a second torsion arm 523 disposed at both ends of the torsion spring body 521 .
  • the torsion spring main body 521 is installed in the housing 40 .
  • the first torsion arm 522 is connected to the moving member 20
  • the second torsion arm 523 is connected to the housing 40 . Since the torsion spring 52 occupies less space compared to other elastic compression restoring members 51 and needs to match with less parts, the internal structure of the crash switch assembly 100 is more compact, and the crash switch assembly 100 is more miniaturized.
  • the moving member 20 includes a second moving body 201 and a sixth guide portion 202 connected with the second moving body 201 .
  • the second moving body 201 extends along the first direction
  • the sixth guide portion 202 extends along the third direction.
  • the first torsion arm 522 can cooperate with the sixth guide portion 202 to guide the first torsion arm 522 to twist or rotate around the center of the torsion spring body 521 .
  • the sixth guide The portion 202 cooperates with the first torsion arm 522 to guide the first torsion arm 522 to twist or rotate around the center of the torsion spring body 51, thereby ensuring that the torsion spring 52 can store force, so as to provide the moving member 20 and the bumper plate 220 along the line.
  • the elastic restoring force moving in the first direction and toward the direction away from the photoelectric switch 10 can also play a role of guiding the restoration when the torsion spring 52 is restored.
  • the moving member 20 includes a third position and a fourth position during the movement in the first direction
  • the sixth guide portion 202 includes a first guide surface and a second guide surface arranged at an angle.
  • the trigger member 30 does not trigger the photoelectric switch 10, and the first torsion arm 522 of the torsion spring 52 is in contact with the first guide surface.
  • the trigger member 30 triggers the photoelectric switch 10, and the second torsion arm 523 of the torsion spring 52 is in contact with the second guide surface.
  • the first position and the third position are the same position
  • the second position and the fourth position are the same position.
  • the first guide surface 291 is parallel to the third direction.
  • the first guide surface is connected with the second guide surface along the third direction.
  • the sixth guide portion 202 includes a first guide groove.
  • the first guide surface and the second guide surface are located at the groove bottom of the first guide groove.
  • the structure of the first guide groove is simple, and the inner side wall of the first guide groove can also play a guiding role, which further improves the reliability of the guide and simplifies the installation process of the torsion spring 52 relative to the housing 40 .
  • the housing 40 is provided with a fourth limiting portion 404 .
  • the fourth limiting portion 404 cooperates with the second torsion arm 523 to restrict the movement of the second torsion arm 523 in the first direction. In this way, when the moving member 20 moves in the first direction, since the second torsion arm 523 is restricted to the fourth limiting portion 404 , the torsion spring body 521 can be reliably compressed.
  • the fourth limiting portion 404 includes a limiting groove, and one end of the second torsion arm 523 away from the torsion spring body 521 is limited in the limiting groove.
  • the structure of the limit groove is simple, the limit is reliable, and the installation process of the torsion spring 52 relative to the housing 10 is simplified.
  • the sixth guide portion 202 is located on one side of the second moving body 201 along the third direction relative to the axis of the second moving body 201 . In this way, the movement of the first torsion arm 522 and the second torsion arm 523 of the torsion spring 522 can be prevented from affecting the movement of the second moving body 201 , and the size of the collision switch assembly 100 in the first direction can also be reduced to adapt to different applications.
  • the trigger member 30 is located on the side of the second moving body 201 away from the sixth guide portion 202 along the third direction. In this way, the positions between the torsion spring 52 and the trigger member 30 can be prevented from interfering with each other, thereby improving the working stability of the collision switch assembly 100 .
  • the moving member 20 includes a second moving body 201 and a seventh guide portion 203 and an eighth guide portion 204 extending along the first direction.
  • the seventh guide portion 203 and the eighth guide portion 204 are located at both ends of the second moving body 201 along the first direction.
  • the housing 10 is provided with a sixth matching portion 405 and a seventh matching portion 406 .
  • the seventh guide portion 203 is matched with the sixth matching portion 40
  • the eighth guide portion 204 is matched with the seventh matching portion 406 to guide the moving member 20 to move in the first direction. Since both ends of the moving member 20 along the first direction are provided with guide structures, the guides on both sides of the moving member 20 along the first direction are balanced, which further improves the stability of the moving process of the moving member 20 .
  • the seventh guide portion 203 has the same structure as the aforementioned third guide portion 27
  • the eighth guide portion 204 has the same structure as the aforementioned fourth guide portion 28
  • the sixth matching portion 405 has the same structure as the aforementioned fourth matching portion 49 .
  • the structure of the seventh matching portion 406 is the same as that of the aforementioned fifth matching portion 401 , which will not be described in detail here.
  • the present application further provides a cleaning robot 200 including the above-mentioned collision switch assembly 100 .
  • the cleaning robot 200 further includes a cleaning robot body and an anti-collision plate 220 .
  • the anti-collision plate 220 is installed in front of the cleaning robot body along the traveling direction of the cleaning robot 200 .
  • the collision switch assembly 100 is installed on the cleaning robot body, and is in contact with the collision shield 220. In this way, when the cleaning robot 200 collides with the surrounding obstacles, the anti-collision plate 220 retreats, so that the moving member 20 is driven by the force of the anti-collision plate 220 to drive the trigger member 30 to move in the first direction, thereby triggering the photoelectric switch 10 .
  • the elastic restoring member can timely provide elastic restoring force to move the moving member 20 and the bumper plate 220 away from the photoelectric switch 10 , and the trigger member 30 is reset along with the moving member 20 .
  • the cleaning robot body further includes a main controller 230, and the photoelectric switch 10 is connected to the main controller 230 in communication.
  • the photoelectric switch 10 is triggered, a triggered signal can be sent to the main controller 230, and the main controller 230 controls the cleaning robot 200 to change the direction according to the triggered signal.
  • the photoelectric switch 10 is mounted on the main controller 230 . In this way, the connection lines between the photoelectric switch 10 and the main controller 230 are reduced, and the structure of the cleaning robot 200 is simpler.
  • the crash switch assembly 100 includes a plurality of crash switch assemblies 100 , and the multiple crash switch assemblies 100 are arranged at intervals along the extending direction of the crash plate 220 .
  • the collision switch assembly 100 and the cleaning robot 200 provided by the embodiments of the present application have the following beneficial effects:
  • the trigger member 30 Since the photoelectric switch 10 is provided, the trigger member 30 does not need a mechanical impact to trigger the impact switch. And, after the crash plate 220 is hit, the trigger 30 moves backward in the first direction. After the triggering member 30 triggers the photoelectric switch 10 , the triggering member 30 can continue to retreat to continue to trigger, thus leaving a buffer space for the movement of the triggering member 30 .
  • the main controller 240 of the cleaning robot 200 can receive the collision signal of the photoelectric switch 10 to make the cleaning robot 200 perform obstacle avoidance actions, such as decelerating or retreating. Avoid impact damage to the crash switch assembly 100 in the event of a crash.

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Push-Button Switches (AREA)

Abstract

L'invention concerne un ensemble commutateur de collision (100) et un robot de nettoyage du sol (200) ; l'ensemble commutateur de collision (100) comprend un commutateur photoélectrique (10), conçu pour générer un signal de collision en réponse à un déclenchement ; un élément de mouvement (20), situé sur un côté du commutateur photoélectrique (10), l'élément de mouvement (20) étant conçu de façon à pouvoir se déplacer dans une première direction en réponse à une collision de contact ; et un élément de déclenchement (30), relié à l'élément de mouvement (20), l'élément de mouvement (20) étant capable d'entraîner l'élément de déclenchement (30) dans une première direction entre une première position et une seconde position ; l'élément de déclenchement (30) a un trajet de mouvement qui peut déclencher en continu le commutateur photoélectrique (10) pendant le mouvement entre la première position et la seconde position.
PCT/CN2021/111554 2020-12-24 2021-08-09 Ensemble commutateur de collision et robot de nettoyage du sol WO2022134609A1 (fr)

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