CN204445707U - Sweeping robot - Google Patents
Sweeping robot Download PDFInfo
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- CN204445707U CN204445707U CN201520145909.6U CN201520145909U CN204445707U CN 204445707 U CN204445707 U CN 204445707U CN 201520145909 U CN201520145909 U CN 201520145909U CN 204445707 U CN204445707 U CN 204445707U
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Abstract
The utility model relates to a kind of sweeping robot, comprise robot body, driver element, at least one caster units, castor mobility detect unit, caster units comprises and is rotatably supported in castor bottom robot body by a horizontal rotating shaft, castor, castor has external peripheral surface, and castor can rotate around horizontal rotating shaft along with the movable of robot body; The external peripheral surface of castor is provided with at least one propelling movement face, and the plane at propelling movement place, face and horizontal axis line are in being greater than the angle that 0 ° is less than 90 °, and the side pushing face is provided with one and moves back and forth bar, and the bottom and the propelling movement face that move back and forth bar offset; When castor rotates around horizontal axis line, move back and forth bar and move left and right under the driving in the face of propelling movement.By arranging propelling movement face on castor, relying on the driving effect in propelling movement face to make to move back and forth bar can move, thus moves back and forth bar by detection and whether continue to occur line and move and indirectly judge whether castor is in and continues to rotate.
Description
Technical field
The utility model relates to a kind of sweeping robot.
Background technology
Sweeping robot has another name called sweeper or certainly walks dust catcher, it can be clean by reservation timing, the work of the cleannes in effective maintenance man make you originally every day becomes weekly, its progressively accept by increasing people, become the requisite clean helper of each family.
Usually, sweeping robot drives mobile by the movable pulley being supported on ground or rotates, and movable pulley is rotated by motor driving.In cleaning course, it is mobile that sweeping robot relies on the drive of movable pulley to continue row on the ground.Therefore whether earlier detection robot remains on mobile status, be rely on movable pulley wheel shaft on encoder is installed realize, when movable pulley rotates, encoder constantly sends the signal of telecommunication to main control unit, by the signal of telecommunication received, main control unit judges that whether movable pulley is in rotation.And in actual use, often encounter the situation that movable pulley is forwarded to the region such as pit or projection and original place skidding, now active cell accurately can not judge whether robot is moving.
Publication number is disclose one " automatic cleaner and control method thereof " in the Chinese patent of CN1636497, this automatic cleaner is provided with an auxiliary wheel 9 in the bottom of body of dust collector, the outer surface of auxiliary wheel 9 is alternately applied black, white two color coatings, utilize the outer surface utilizing emitted light of optical pickocff 104 to auxiliary wheel 9 of probe unit 10, due to when dust catcher normally moves, auxiliary wheel 9 rotates, the optical pickocff 104 of probe unit 10 is just recognized and is being converted by the reverberation of white coating 101 and black coating 102 alternating reflex, with this, control unit judges whether robot body is in normal forward process and still runs into the front line direction of barrier needs adjustment.
Robot body in above-mentioned patent due to white coating 101 and black coating 103 be coated on the outer surface of auxiliary wheel 9, therefore along with auxiliary wheel 9 is ignorant of rolling on the ground, white coating 101 on auxiliary wheel 9 outer surface constantly dirtyly can become Dark grey or brown, it is little that white coating 102 after such variable color and the light reflectivity of black coating 103 can not become difference, thus affect the Effect on Detecting of probe unit 10, and when probe unit 10 can't detect the change of reverberation or the words of change trust, robot can think and encounters barrier stagnation and turn to, thus affect the even running of sweeping robot.
Utility model content
For the technical deficiency of above-mentioned existence, the purpose of this utility model is to provide a kind of sweeping robot operated steadily.
To achieve the above object, the utility model adopts following technical scheme: a kind of sweeping robot, comprising:
One robot body, it can move forward and backward on ground to be cleaned;
One sucks unit, and it is arranged on described robot body, in order to siphon away ground dirt to be cleaned in described robot body moving process;
One driver element, for driving described robot body movable on ground to be cleaned;
At least one caster units, described caster units is arranged on the bottom of robot body, described caster units comprises a castor, described castor is rotatably supported in the bottom of described robot body by a horizontal rotating shaft, described horizontal rotating shaft has a horizontal axis line extended in left-right direction, described castor has external peripheral surface, the external peripheral surface of described castor has at least part to be supported on ground to be cleaned, and described castor can rotate around described horizontal rotating shaft along with the movable of described robot body;
Whether one castor mobility detect unit, rotate around described horizontal rotating shaft for detecting castor;
One main control unit, for responding signal from described castor mobility detect unit inspection to control described driver element work;
The external peripheral surface of described castor is provided with at least one propelling movement face, the plane at described place, propelling movement face and described horizontal axis line are in being greater than the angle that 0 ° is less than 90 °, the side in described propelling movement face is provided with one and moves back and forth bar, and the described bottom moving back and forth bar and described propelling movement face offset; When described castor rotates around described horizontal axis line, the described bar that moves back and forth moves left and right under the driving in described propelling movement face; Described castor mobility detect unit comprises for detecting the described detection part moving back and forth bar and whether move left and right, and described detection part is connected with described main control unit signal.
In technique scheme, preferably, the external peripheral surface of described castor is provided with two propelling movement faces, propelling movement face described in two distributes in left-right direction, place, propelling movement face plane parallel described in two, the side in two described propelling movement faces is provided with one and moves back and forth bar, and the bar that moves back and forth described in two is linked together by a contiguous block.
In technique scheme, preferably, described external peripheral surface comprises the first periphery and the second periphery, and the radius of described first periphery is greater than the radius of described second periphery, and described propelling movement face is the transition joint face of connection first periphery and the second periphery.
In technique scheme, preferably, described detection part comprises signal dish, light-emitting tube, light receiving tube, described signal dish having one can around the chassis of vertical axis of rotation and the some convex tendon protruded upward from described chassis, gap is formed between convex tendon described in adjacent two, described vertical rotating shaft has a vertical axial line extended along the vertical direction, some described convex tendons are distributed in a central point and drop on described vertical axial line circumferentially, described light-emitting tube and light receiving tube are placed in described circumference respectively, outer both sides, described chassis is arranged with the described upper end phase transmission moving back and forth bar, when the described right side move back and forth bar move left and right time, described chassis is rotated by the vertical axial line driven around described.
In technique scheme, preferably, described caster units also comprises trundle bracket, described trundle bracket can be arranged on described robot body by a longitudinal axis of rotation, described longitudinal rotating shaft has a longitudinal axis center line extended along the vertical direction, and described castor can be rotatably installed on described trundle bracket by described horizontal rotating shaft.
To achieve the above object, the utility model can also adopt following another kind of technical scheme: a kind of sweeping robot, comprising:
One robot body, it can move forward and backward on ground to be cleaned;
One sucks unit, and it is arranged on described robot body, in order to siphon away ground dirt to be cleaned in described robot body moving process;
One driver element, for driving described robot body movable on ground to be cleaned;
At least one caster units, described caster units is arranged on the bottom of robot body, described caster units comprises a castor, described castor is rotatably supported in the bottom of described robot body by a horizontal rotating shaft, described horizontal rotating shaft has a horizontal axis line extended in left-right direction, described castor has an external peripheral surface, the external peripheral surface of described castor has at least part to be supported on ground to be cleaned, and described castor can rotate around described horizontal rotating shaft along with the movable of described robot body;
Whether one castor mobility detect unit, rotate around described horizontal axis line for detecting castor;
One main control unit, for responding signal from described castor mobility detect unit inspection to control described driver element work;
The external peripheral surface of described castor has at least one propelling movement face, described propelling movement face is a concave-convex curved surface, point on described propelling movement face varies in size to the distance of described horizontal axis line, the top in described propelling movement face is provided with one and moves back and forth bar, and the described bottom moving back and forth bar and described propelling movement face offset; When described castor rotates around described horizontal axis line, the described bar that moves back and forth moves up and down under the driving in described propelling movement face; Described castor mobility detect unit comprises for detecting the described detection part moving back and forth bar and whether move up and down, and described detection part is connected with described main control unit signal.
In technique scheme, preferably, the external peripheral surface of described castor has the first periphery, point on described first periphery is greater than the distance of point to the axial line of described horizontal rotating shaft of the remainder on described external peripheral surface to the distance of the axial line of described horizontal rotating shaft, the first described external peripheral surface is supported on ground to be cleaned, and described propelling movement face is dropped on the first described periphery.
In technique scheme, preferably, described detection part comprises the light-emitting tube and light receiving tube that are oppositely arranged, there is between described light-emitting tube and light receiving tube the space of a up/down perforation, when described move back and forth bar move up and down time, described in move back and forth bar upper end slide in described space, skid off.
In technique scheme, preferably, described caster units also comprises trundle bracket, described trundle bracket can be arranged on described robot body by a longitudinal axis of rotation, described longitudinal rotating shaft has a longitudinal axis center line extended along the vertical direction, and described castor can be rotatably installed on described trundle bracket by described horizontal rotating shaft.
The beneficial effects of the utility model are: by arranging propelling movement face on the external peripheral surface of castor, the driving effect in the propelling movement face of dependence makes to move back and forth bar and can move linearly, detected by detection part and move back and forth bar and whether continue rectilinear movement occurs and indirectly judge whether castor is in and continues to rotate, thus create the condition of necessity for sweeping robot even running.
Accompanying drawing explanation
Accompanying drawing 1 is the schematic perspective view (overlooking visual angle) of sweeping robot of the present utility model;
Accompanying drawing 2 is the another schematic perspective view (looking up visual angle) of sweeping robot of the present utility model;
Accompanying drawing 3 is a kind of structural representation of caster units of the present utility model;
Accompanying drawing 4 is that the fractionation schematic diagram of caster units in accompanying drawing 3 (adds castor mobility detect unit;
Accompanying drawing 5 is the another kind of structural representation of caster units of the present utility model;
Accompanying drawing 6 is the fractionation schematic diagram of the caster units in accompanying drawing 5;
Wherein: 1, robot body; 2, shell body; 3, base plate; 4, travel wheel; 5, caster units; 6, suction port; 7, side brush; 8, castor; 9, trundle bracket; 10, longitudinal rotating shaft; 11, longitudinal axis center line; 12, horizontal rotating shaft; 13, horizontal axis line; 14, external peripheral surface; 15, face is pushed; 15 ', face is pushed; 16, left and right moves back and forth bar; 16 ', left and right moves back and forth bar; 17, contiguous block; 18, the first periphery; 19, the second periphery; 19 ', second periphery; 20, castor mobility detect unit; 21, detection part; 22, signal dish; 23, infrared transmitting tube; 24, infrared receiving tube; 25, main control unit; 26, vertically rotating shaft; 27, chassis; 28, convex tendon; 29, gap; 30, vertical axial line; 31, central point; 32, circumference;
50, caster units; 51, castor; 52, trundle bracket; 53, longitudinal rotating shaft; 54, longitudinal axis center line; 55, horizontal rotating shaft; 56, horizontal axis line; 57, external peripheral surface; 58, the first periphery; 59, bar is moved back and forth up and down; 510, castor mobility detect unit; 511, detection part; 512, infrared transmitting tube; 513, infrared receiving tube; 514, space; 515, main control unit; 516, back-moving spring; 517, face is pushed.
Detailed description of the invention
Below in conjunction with embodiment shown in the drawings, the utility model is described in detail below:
Sweeping robot as shown in Figure 1, 2, it has a robot body 1 that can move forward and backward on ground to be cleaned and rotate, robot body 1 has a shell body 2 and base plate 3, robot body 1 is also provided with the driver element moving on ground to be cleaned for driven machine human body 1 or rotate.Driver element comprises a pair travel wheel 4 be arranged on bottom robot body 1, a pair travel wheel 4 is rotated by a driven by motor respectively, a pair travel wheel 4 is medially arranged in the left and right sides place of the bottom of robot body 1 according to the mode of symmetry, a pair travel wheel 4 can perform and comprise motor performance that is mobile and that rotate under the control of the main control unit of robot body 1.The bottom of robot body 1 is provided with a caster units 5.Robot body 1 is provided with the suction unit for siphoning away ground dirt to be cleaned in robot body 1 moving process, suck unit comprise be arranged on robot body 1 inside dust sucting motor (not shown), be opened in suction port 6 on base plate 3 and dust-collecting box (not shown) and filter element, dust-contained airflow can be drawn in the dust-collecting box of robot body 1 inside via suction port 6 under the effect of dust sucting motor, discharges after after air-flow filters further by filter element from the exhaust outlet (not shown) robot body.In order to strengthen the pick-up performance at suction port 6 place, some sweeping robot is also configured with the round brush (not arranging in this example) dust can rolled at suction port place.In this example, be also respectively arranged with side brush 7 in suction port 6 left and right sides, dust at a distance can be brought to suction port 6 place by side brush 7.
As shown in Figure 3,4, caster units 5 comprises castor 8 and trundle bracket 9, trundle bracket 9 is rotatably installed in the bottom of robot body 1 by longitudinal rotating shaft 10, longitudinal rotating shaft 10 has a longitudinal axis center line 11 extended along the vertical direction, and trundle bracket 9 can rotate around longitudinal axis center line 11 with castor 8.Castor 8 can be rotatably installed on trundle bracket 9 by horizontal rotating shaft 12, horizontal rotating shaft 12 has a horizontal axis line 13 extended in left-right direction, when robot body 1 moves forward and backward, castor 8 can rotate around horizontal axis line 13 along with the movable of robot body 1.
Castor 8 has an external peripheral surface 14, and the external peripheral surface 14 of castor 8 has part to be supported on ground to be cleaned.In this example, external peripheral surface 14 comprises first periphery 18 and two the second peripheries 19 and 19 ', two the second peripheries 19 and 19 ' are distributed in the left and right sides of the first periphery 18, the radius of the first periphery 18 is greater than the radius of two the second peripheries 19 and 19 ', the external peripheral surface 14 of castor 8 is also provided with a pair propelling movement face 15 and 15 ', propelling movement face 15 and 15 ' for connection first periphery 18 and two the second peripheries 19 and 19 ' transition joint face, two push face 15 and 15 ' distribution and place plane are parallel to each other in left-right direction, the plane at place, propelling movement face 15 and 15 ' and the horizontal axis line 13 of horizontal rotating shaft 12 are in being greater than the angle that 0 ° is less than 90 °, namely pushing face 15 and 15 ' is an inclined plane tilted, the left side in propelling movement face 15 is provided with left and right and moves back and forth bar 16, the right side in propelling movement face 15 ' is provided with left and right and moves back and forth bar 16 ', left and right move back and forth bar 16 and 16 ' bottom all offset with corresponding propelling movement face, about two are moved back and forth bar 16 and 16 ' and are linked together by a contiguous block 17.When castor 8 rotates around the horizontal axis line 13 of horizontal rotating shaft 12, left and right moves back and forth bar 16 and 16 ' and under the driving in corresponding propelling movement face separately, does left and right move back and forth.
The vicinity of caster units 5 is also provided with the castor mobility detect unit 20 detecting castor 8 and whether continue to rotate around horizontal axis line 13, in this example, castor mobility detect unit 20 is detected by the rotation of round-about way to castor 8, castor mobility detect unit 20 comprise for detect left and right move back and forth bar 16 and the 16 ' detection part whether moved left and right 21, detection part 21 comprises signal generation dish 22, infrared transmitting tube 23, infrared receiving tube 24, infrared transmitting tube 23 and infrared receiving tube 24 all connect with signal with main control unit 25, signal generation dish 22 have a chassis 27 can rotated around vertical rotating shaft 26 and the some convex tendons 28 protruded upward from chassis 27, vertical rotating shaft 26 has a vertical axial line 30 extended along the vertical direction, some convex tendons 28 are distributed on the circumference 32 that a central point 31 drops on vertical axial line 30, gap 29 is formed between adjacent two convex tendons 28, infrared receiving tube 24 and infrared transmitting tube 23 are oppositely arranged and are separately positioned in circumference 32, outer both sides, chassis 27 and left and right move back and forth bar 16 and 16 ' upper end phase transmission arrange, bar 16 and 16 ' is moved back and forth when moving left and right in left and right, chassis 27 is rotated by the vertical axial line 30 driven around vertical rotating shaft 26.When chassis 27 is rotated by driving, infrared receiving tube 24 intermittence receives the signal sent from infrared transmitting tube 23; As chassis 27 stop operating time, infrared receiving tube 24 by continuous reception to the infrared signal sent from infrared transmitting tube 23 or do not receive the infrared signal sent from infrared transmitting tube 23 all the time.
The above-mentioned main control unit 25 mentioned can control to suck unit and driver element work, is specially: the signal that main control unit 21 detects for the infrared receiving tube 24 responded from castor mobility detect unit 20 is to control driver element work.When infrared receiving tube 24 intermittence receives infrared signal, then main control unit 25 will judge that robot body 1 line direction normally travels before current.When infrared receiving tube 24 continuous reception is to infrared signal or when not receiving infrared signal all the time, then main control unit 25 will judge that robot body 1 line direction before current runs into obstacle, and order robot body 1 turns to or turns around by main control unit 25.
Another kind of caster units 50 structure as shown in Figure 5,6, this caster units 50 comprises castor 51 and trundle bracket 52, trundle bracket 52 is rotatably installed in the bottom of robot body by longitudinal rotating shaft 53, longitudinal rotating shaft 53 has a longitudinal axis center line 54 extended along the vertical direction, and trundle bracket 52 can rotate around longitudinal axis center line 54 with castor 51.Castor 51 is rotatably installed on trundle bracket 52 by horizontal rotating shaft 55, and horizontal rotating shaft 55 has a horizontal axis line 56 extended along left and right, and castor 51 can rotate around horizontal axis line 56.Castor 51 has external peripheral surface 57, and the external peripheral surface 57 of castor 51 has part to be supported on ground to be cleaned, and castor 51 can horizontal axis line 56 around horizontal rotating shaft 55 rotates along with the movable of robot body.
In this example, the external peripheral surface 57 of castor 51 has the first periphery 58, point on first periphery 58 is greater than the distance of point to the horizontal axis line 56 of horizontal rotating shaft 55 of the remainder on external peripheral surface 57 to the distance of the horizontal axis line 56 of horizontal rotating shaft 55, namely the first periphery 58 is castor external diameter maximum, first periphery 58 is supported on ground to be cleaned, first periphery 58 is provided with a propelling movement face 517, this propelling movement face 517 is a concave-convex curved surface, point on propelling movement face 517 varies in size to the distance of horizontal axis line 56, the top in propelling movement face 517 is provided with one and moves back and forth up and down bar 59, the bottom and the propelling movement face 517 that move back and forth up and down bar 59 offset, move back and forth up and down between bar 59 and trundle bracket 52 and be provided with back-moving spring 516.When castor 51 rotates around horizontal axis line 56, move back and forth up and down bar 59 and move up and down under the driving in propelling movement face 517.
The vicinity of caster units 50 is also provided with the castor mobility detect unit 510 detecting castor 51 and whether continue to rotate around horizontal axis line 56, and in this example, castor mobility detect unit 510 is also detected by the rotation of round-about way to castor 51.As shown in the figure, castor mobility detect unit 510 comprises for detecting the detection part 511 moving back and forth up and down bar 59 and whether move up and down, detection part 511 comprises the infrared transmitting tube 512 and infrared receiving tube 513 that are oppositely arranged, infrared transmitting tube 512 and infrared receiving tube 513 are all connected with main control unit 515 signal, there is between infrared transmitting tube 512 and infrared receiving tube 513 space 514 of a up/down perforation, when moving back and forth up and down bar 59 and moving up and down, the upper end moving back and forth up and down bar 59 slides in space 514, skid off, now intermittence is received the signal sent from infrared transmitting tube 512 by infrared receiving tube 513.When moving back and forth up and down bar 59 and being slack, infrared receiving tube 513 continuous reception is to infrared signal or do not receive infrared signal all the time.
The signal that main control unit 515 detects for the infrared receiving tube 513 responded from castor mobility detect unit 510 is to control driver element work.When infrared receiving tube 513 receives infrared signal in intermittence, then main control unit 515 will judge that robot body line direction normally travels before current.When infrared receiving tube 513 continuous reception is to infrared signal or when not receiving infrared signal all the time, then main control unit 515 will judge that robot body's line direction before current runs into obstacle, and order robot body turns to or turns around by main control unit 515.
Above-described embodiment, only for technical conceive of the present utility model and feature are described, its object is to person skilled in the art can be understood content of the present utility model and implement according to this, can not limit protection domain of the present utility model with this.All equivalences done according to the utility model spirit change or modify, and all should be encompassed within protection domain of the present utility model.
Claims (9)
1. a sweeping robot, comprising:
One robot body, it can move forward and backward on ground to be cleaned;
One sucks unit, and it is arranged on described robot body, in order to siphon away ground dirt to be cleaned in described robot body moving process;
One driver element, for driving described robot body movable on ground to be cleaned;
At least one caster units, described caster units is arranged on the bottom of robot body, described caster units comprises a castor, described castor is rotatably supported in the bottom of described robot body by a horizontal rotating shaft, described horizontal rotating shaft has a horizontal axis line extended in left-right direction, described castor has an external peripheral surface, the external peripheral surface of described castor has at least part to be supported on ground to be cleaned, and described castor can rotate around described horizontal rotating shaft along with the movable of described robot body;
Whether one castor mobility detect unit, rotate around described horizontal rotating shaft for detecting castor;
One main control unit, for responding signal from described castor mobility detect unit inspection to control described driver element work; It is characterized in that:
The external peripheral surface of described castor is provided with at least one propelling movement face, the plane at described place, propelling movement face and described horizontal axis line are in being greater than the angle that 0 ° is less than 90 °, the side in described propelling movement face is provided with one and moves back and forth bar, and the described bottom moving back and forth bar and described propelling movement face offset; When described castor rotates around described horizontal axis line, the described bar that moves back and forth moves left and right under the driving in described propelling movement face; Described castor mobility detect unit comprises for detecting the described detection part moving back and forth bar and whether move left and right, and described detection part is connected with described main control unit signal.
2. sweeping robot according to claim 1, it is characterized in that: the external peripheral surface of described castor is provided with two propelling movement faces, propelling movement face described in two distributes in left-right direction, place, propelling movement face plane parallel described in two, the side in two described propelling movement faces is provided with one and moves back and forth bar, and the bar that moves back and forth described in two is linked together by a contiguous block.
3. sweeping robot according to claim 1, it is characterized in that: described external peripheral surface comprises the first periphery and the second periphery, the radius of described first periphery is greater than the radius of described second periphery, and described propelling movement face is the transition joint face of connection first periphery and the second periphery.
4. sweeping robot according to claim 1, it is characterized in that: described detection part comprises signal dish, light-emitting tube, light receiving tube, described signal dish having one can around the chassis of vertical axis of rotation and the some convex tendon protruded upward from described chassis, gap is formed between convex tendon described in adjacent two, described vertical rotating shaft has a vertical axial line extended along the vertical direction, some described convex tendons are distributed in a central point and drop on described vertical axial line circumferentially, described light-emitting tube and light receiving tube are placed in described circumference respectively, outer both sides, described chassis is arranged with the described upper end phase transmission moving back and forth bar, when the described right side move back and forth bar move left and right time, described chassis is rotated by the vertical axial line driven around described.
5. sweeping robot according to claim 1, it is characterized in that: described caster units also comprises trundle bracket, described trundle bracket can be arranged on described robot body by a longitudinal axis of rotation, described longitudinal rotating shaft has a longitudinal axis center line extended along the vertical direction, and described castor can be rotatably installed on described trundle bracket by described horizontal rotating shaft.
6. a sweeping robot, comprising:
One robot body, it can move forward and backward on ground to be cleaned;
One sucks unit, and it is arranged on described robot body, in order to siphon away ground dirt to be cleaned in described robot body moving process;
One driver element, for driving described robot body movable on ground to be cleaned;
At least one caster units, described caster units is arranged on the bottom of robot body, described caster units comprises a castor, described castor is rotatably supported in the bottom of described robot body by a horizontal rotating shaft, described horizontal rotating shaft has a horizontal axis line extended in left-right direction, described castor has an external peripheral surface, the external peripheral surface of described castor has at least part to be supported on ground to be cleaned, and described castor can rotate around described horizontal rotating shaft along with the movable of described robot body;
Whether one castor mobility detect unit, rotate around described horizontal axis line for detecting castor;
One main control unit, for responding signal from described castor mobility detect unit inspection to control described driver element work; It is characterized in that:
The external peripheral surface of described castor has at least one propelling movement face, described propelling movement face is a concave-convex curved surface, point on described propelling movement face varies in size to the distance of described horizontal axis line, the top in described propelling movement face is provided with one and moves back and forth bar, and the described bottom moving back and forth bar and described propelling movement face offset; When described castor rotates around described horizontal axis line, the described bar that moves back and forth moves up and down under the driving in described propelling movement face; Described castor mobility detect unit comprises for detecting the described detection part moving back and forth bar and whether move up and down, and described detection part is connected with described main control unit signal.
7. sweeping robot according to claim 6, it is characterized in that: the external peripheral surface of described castor has the first periphery, point on described first periphery is greater than the distance of point to the axial line of described horizontal rotating shaft of the remainder on described external peripheral surface to the distance of the axial line of described horizontal rotating shaft, the first described external peripheral surface is supported on ground to be cleaned, and described propelling movement face is dropped on the first described periphery.
8. sweeping robot according to claim 6, it is characterized in that: described detection part comprises the light-emitting tube and light receiving tube that are oppositely arranged, there is between described light-emitting tube and light receiving tube the space of a up/down perforation, when described move back and forth bar move up and down time, described in move back and forth bar upper end slide in described space, skid off.
9. sweeping robot according to claim 6, it is characterized in that: described caster units also comprises trundle bracket, described trundle bracket can be arranged on described robot body by a longitudinal axis of rotation, described longitudinal rotating shaft has a longitudinal axis center line extended along the vertical direction, and described castor can be rotatably installed on described trundle bracket by described horizontal rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520145909.6U CN204445707U (en) | 2015-03-16 | 2015-03-16 | Sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520145909.6U CN204445707U (en) | 2015-03-16 | 2015-03-16 | Sweeping robot |
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|---|---|
| CN204445707U true CN204445707U (en) | 2015-07-08 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106419744A (en) * | 2016-12-07 | 2017-02-22 | 厦门视贝智能电器有限公司 | Velocity-measuring mechanical wheel |
| CN108261151A (en) * | 2018-01-16 | 2018-07-10 | 深圳市智意科技有限公司 | Floor-cleaning machine |
| CN111436862A (en) * | 2019-01-16 | 2020-07-24 | 燕成祥 | Robot detection trapping device |
| CN111837586A (en) * | 2019-04-29 | 2020-10-30 | 苏州科瓴精密机械科技有限公司 | Automation device |
-
2015
- 2015-03-16 CN CN201520145909.6U patent/CN204445707U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106419744A (en) * | 2016-12-07 | 2017-02-22 | 厦门视贝智能电器有限公司 | Velocity-measuring mechanical wheel |
| CN108261151A (en) * | 2018-01-16 | 2018-07-10 | 深圳市智意科技有限公司 | Floor-cleaning machine |
| CN108261151B (en) * | 2018-01-16 | 2024-04-05 | 智意(中山)科技有限公司 | Floor washing machine |
| CN111436862A (en) * | 2019-01-16 | 2020-07-24 | 燕成祥 | Robot detection trapping device |
| CN111837586A (en) * | 2019-04-29 | 2020-10-30 | 苏州科瓴精密机械科技有限公司 | Automation device |
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