CN208988720U - Clean robot - Google Patents
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- CN208988720U CN208988720U CN201820852461.5U CN201820852461U CN208988720U CN 208988720 U CN208988720 U CN 208988720U CN 201820852461 U CN201820852461 U CN 201820852461U CN 208988720 U CN208988720 U CN 208988720U
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Abstract
The utility model discloses a kind of clean robot, including robot body, the robot body includes chassis and the cover that is oppositely arranged with the chassis；Drive the drive module of the clean robot traveling, controller and crash device.The crash device includes Buffer Unit and inductive component, and the inductive component includes the first component and second component.The first component and second component are respectively arranged in one of both described Buffer Unit and the robot body, when so that the Buffer Unit compression moving down, the first component is triggered, the controller controls the clean robot according to the state change of the first component and retreats or turn to, to sail out of current location.It is simple and convenient with dismantling or replacing the crash device using the utility model, and can detecte the advantages of whether clean robot is blocked by top barrier.
Description
Technical field
The utility model relates to field in intelligent robotics more particularly to a kind of clean robots.
Background technique
Clean robot is also known as intellective dust collector or automatic cleaner etc., it is related to mechanical, electronics and computer etc.
Knowledge, be mobile robot technology and clean technologies combine together, the new high-tech product of apery body cleaning action.Clean machine
People such as is able to carry out cleaning, mops floor at the functions, and the environmental information of work is sensed by crash device, so that internal controller controls
Other component executes corresponding actions.Being constantly progressive and develop, clean robot increasingly intelligence recently as science and technology and society
Energyization saves human resources, increasingly by the favor of people.
On the one hand crash device in the prior art is by after clean robot and barrier collision, bumper bar is backward
Movement, triggering are installed on the obstacle sensor of clean robot body interior, to control clean robot walking；Another party
Face is to judge clean robot work by detecting the power of the laser or infrared sensor signal that are installed on the clean robot
Make the Obstacle Position or directional information in environment.In above method, the crash device mainly detects clean robot row
The obstacle information in the front walked has certain limitation, clean robot to the obstacle information at the top of clean robot
Under operation to short object, it is easy to stuck.Infrared sensor and other obstacle sensors are all to be set to the cleaning machine
Inside human agent, the formality for installing or replacing the sensor is complicated, there is the risk of the other component of damage clean robot.
Utility model content
Technical problem to be solved by the utility model is to provide a kind of clean robot, the clean robot
Crash device structure setting is ingenious, so that the formality for installing or replacing the component of the crash device is simple, and can detecte institute
State whether clean robot is blocked by the barrier at top.
In order to solve the above-mentioned technical problem, the embodiments of the present invention use following technical scheme:
The embodiments of the present invention provide a kind of clean robot, comprising:
Robot body, the robot body include chassis and the cover that is oppositely arranged with the chassis；
Drive module is configured as connecting with the chassis, for driving the clean robot to travel in face to be cleaned；
Controller is configured as multiple component communications with the clean robot, to control the clean robot work
Make；
Crash device is configured as connecting with the robot body, and at least around the outer rim of the robot body
A part, the crash device includes Buffer Unit and inductive component, and the inductive component is at least partially based on the buffering
The activity of component and be triggered；
Wherein, the inductive component includes the first component and second component that can be separated from each other, the first component and institute
Relative motion can be occurred by stating second component, so that the first component and the second component cooperate, thus to the control
Device processed exports trigger signal, and with the generation of the event pressed down corresponding to the Buffer Unit, the controller corresponds to institute
It states trigger signal and controls the running of the clean robot.
In one of the embodiments, the first component of the inductive component be set to the cover towards the chassis
Side, at least part of the Buffer Unit extends to the direction of the clean robot main body, forms extension, described
Second component is set to the side towards the chassis of the extension.
Jagged or window is arranged in the position corresponding to the first component of the cover in one of the embodiments,
Mouthful.
When being pressurized before the clean robot by collision in one of the embodiments, the second component is described in
Notch or window are moved forward and backward.
In one of the embodiments, when the top of the clean robot is pressurized, the second component passes through described
Notch or window move up and down.
The second component is the protrusion for being set to the Buffer Unit in one of the embodiments, described first
Part is the inductive switch or microswitch for being set to the side towards the chassis of the cover, and the Buffer Unit is by big
When the downward pressure of body, the protrusion is contacted with the first component, and triggers the inductive component, keeps the first component defeated
Trigger signal out.
The second component is the protrusion for being set to the robot body in one of the embodiments, described first
Component is the inductive switch or microswitch for being set to the Buffer Unit, and the Buffer Unit is by substantially downward pressure
When, the protrusion is contacted with the first component, and triggers the inductive component, makes the first component output trigger signal.
The inductive switch is photoelectric sensor or magnetic inductor in one of the embodiments,.
The first component is fixedly installed in the marginal position of the cover in one of the embodiments, and described first
Component further includes elastic component, and after the revocation of pressure suffered by the Buffer Unit, the elastic component makes its reset.
After the inductive component is triggered in one of the embodiments, the controller controls the driving wheel and retreats
Or turn to, so that the clean robot sails out of current location.
Compared with prior art, the technical solution of the utility model embodiment at least has the advantages that
In the embodiments of the present invention, by the cover that the inductive component part is set to the clean robot
Partially be set to the Buffer Unit, when assembling or replacing the inductive component, only need to cover to clean robot or
Buffer Unit is operated, and the other component for touching the body interior of the clean robot is avoided.The implementation of the utility model
In example, when compression at the top of the clean robot, the Buffer Unit is moved down, and triggers the inductive component, further with inspection
Survey the information whether clean robot is blocked by the barrier at top.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other variants.
Fig. 1 is the stereoscopic schematic diagram of clean robot in the utility model embodiment；
Fig. 2 is the bottom view of clean robot in the utility model embodiment；
Fig. 3 is the explosive view of clean robot in the utility model embodiment；
Fig. 4 is the structural schematic diagram of Buffer Unit in the utility model embodiment；
Fig. 5 is the fractionation schematic diagram of cover and inductive component in the utility model embodiment；
Fig. 6 is cross section view of the Fig. 1 along the direction A-A；
Fig. 7 is the partial enlarged view of the part I in Fig. 6；
Fig. 8 is inductive component schematic diagram in the utility model embodiment.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It is explicitly described, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
Noun of locality "front", "rear" described herein, "left", "right" are with mobile robot direction of advance for reference side
To state when "top" described herein, "bottom", "upper", "lower" are with clean robot normal work is reference.
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is the stereoscopic schematic diagram of clean robot in the utility model embodiment, and Fig. 2 is this
The bottom view of clean robot in utility model embodiment.In an embodiment of the present invention, the clean robot can be with
Including robot body 10, the robot body 10 includes chassis 20 and lid and the cover 30 in the chassis 20；For driving
Move the drive module 60 that the clean robot travels in face to be cleaned；It is installed on the cleaning assemblies on the chassis 20, for receiving
The cleaning object containing box 50 and crash device 40 of collection cleaning object.
The drive module 60 includes left and right sidesing driving wheel, and the left and right sidesing driving wheel is installed on the left and right two on the chassis 20
Side, the left and right sidesing driving wheel can neatly stretch out or retract the chassis 20.If the clean robot is in running order
Or chassis 20, towards when the placement of face to be cleaned, the left and right sidesing driving wheel is in retracted mode, and at least partly stretches out the chassis
20 surface, to support the robot body 10 and the clean robot is enabled to travel in face to be cleaned.The left side
Encoder has can be set in right driving wheel, to detect the distance of the clean robot walking.To cooperate the drive module 60
The clean robot is preferably driven to travel in the face to be cleaned, the clean robot can also include omni-directional wheel 61,
The omni-directional wheel 61 is installed on before the chassis 20, so that clean robot walking, steering or fallback procedures are more
Steadily.
The cleaning assemblies is installed on the chassis towards the side in face to be cleaned, and the cleaning assemblies includes the first cleaning
Component 70 and the second cleaning assemblies 71, the cleaning assemblies clean ground, first cleaning assemblies with the working method rotated
70 are installed on the middle position on the chassis 20, and first cleaning assemblies 70 may include hairbrush and scraping article, for cleaning
State the position that clean robot walking process middle fuselage can cover.The side of second cleaning assemblies 71 installation and the chassis
Along position, second cleaning assemblies 71 includes swipe and brush holder, and brush holder rotation drives the swipe rotation, low for extending to
Under short object, corner or other edge placements, be difficult to clean position to clean first cleaning assemblies 70.
The cleaning object containing box is removably mounted to the rear portion of the robot body 10, for storing the cleaning
The cleaning object of unit clean.
The controller (not shown) is installed on the clean robot main body, and the controller may include multiple
All parts are controlled respectively, can also be only arranged one, be controlled all components.Such as: the controller may include being set to
The master controller of the main body is set to cover 30 to receive the information for handling the crash device 40, and the information is passed
Pass master controller, the master controller retransmits corresponding information and is given to other each components, with master controller between various components
Centered on, it exchanges mutually, transmits signal.The controller can be the micro-control units such as single-chip microcontroller, FPGA, ASIC, DSP.
The crash device 40 is connect with the robot body 10, and at least about the outer rim of the robot body 10
A part, crash device 40 described in the present embodiment around the robot body 10 first half.In other embodiments,
The crash device 40 can surround the robot body 10 with 360 deg, each around the clean robot to detect
The barrier in direction and the clean robot collision situation.It is envisioned that, the clean robot further includes being installed on institute
Robot body 10 is stated, and the battery for giving the clean robot to power and the blower for being installed on the cleaning object containing box
Component etc..
Fig. 3, Fig. 4 and Fig. 5 are please referred to, Fig. 3 is the explosive view of clean robot in the utility model embodiment, and Fig. 4 is this
The structural schematic diagram of crash device in utility model embodiment, Fig. 5 are cover and inductive component in the utility model embodiment
Split schematic diagram.In the present embodiment, the crash device 40 includes bolster 41 and inductive component 42, and the Buffer Unit 41 can
With according to by collision situation, along the vertical direction or front-rear direction is mobile, and the inductive component 42 is at least partially based on the buffering
The activity of component 41 and be triggered.The inductive component 41 includes the first component 420 and second component 425, the first component
420 and the second component 425 can relatively move so that the first component 420 and the second component 425 are mutual
Cooperation, so that trigger signal is exported to the controller, with the generation of the event pressed down in response to the Buffer Unit 41,
The controller controls the running of the clean robot in response to the trigger signal.
Further, the first component 420 of the inductive component 42 be set to the cover 30 towards the chassis 20
Side, at least part of the Buffer Unit 41 extends to the direction of the clean robot main body, forms extension
411, the second component 425 is set to the side towards the chassis 20 of the extension 411.The cover 30 with it is described
Jagged or window 31 is arranged in the corresponding position of the first component 420, when the clean robot collision is pressurized, the second component
425 are moved forward and backward or move up and down along the notch or window.Such as: if be pressurized before the clean robot by collision,
The second component 425 is moved forward and backward along the notch or window；If the top of the clean robot is pressurized, described second
Component 425 passes through the notch or window moves up and down.
The first component 420 described in the present embodiment is microswitch, and the microswitch includes movable part 421, trigger member
422 and the contact 423 that is set in trigger member.The trigger member 422 is fixedly installed in the marginal position of the cover 30, described
The fixed form of trigger member 422 can be fixed by screw 424 or be integrally formed with the cover 30.The movable part 421 1
The cover 30 is fixed at end, and the other end extends to the trigger member 422, and the movable part 421 can be with the trigger member 422
Contact 423 contact or have gap setting.If the movable part 421 contacts setting with the contact 423 of the trigger member 422,
The microswitch can be made to be easier to be triggered, i.e., when 41 pressure of buffer unit is smaller, that is, can trigger institute
Microswitch is stated, so that being more timely detected the situation whether clean robot is stuck.In the present embodiment, the work
Moving part 421 is elastic component, and the elastic component is elastic slice, and after 41 pressure of the Buffer Unit revocation, the elastic slice is automatic
It resets.In other embodiments, the elastic component can be spring, pressure spring, tension spring or torsional spring, and the elastic component is set to and institute
The connection of movable part 421 is stated, so that the first component 42 resets after the revocation of 41 pressure of the Buffer Unit.
In another embodiment, the first component 420 is photoelectric sensor, when the clean robot collides stress, institute
It states second component 425 to move between the transmitter and receiver of the photoelectric sensor, the photoelectric switching signal is blocked to pass
It send.When controller detects that the receiver does not receive the signal that the transmitter issues within a certain period of time, judgement
It is pressurized at the top of the clean robot downwards, control drive module reversion is so that the clean robot sails out of current location.
In other embodiments, the second component 425 can be set to the Buffer Unit 41 towards the cover
30 side, the photoelectric sensor can be set under clean robot normal operating conditions, and the second component 425 is in
Between the transmitter and the receiver, the receiver is not received by the signal that the transmitter issues；If described slow
When rushing component 41 and being pressurized downward, the second component 425 is moved down, leave the photoelectric sensor transmitter and receiver it
Between, the receiver can receive the signal of the transmitter transmitting, and the controller connects according to the photoelectric sensor switch
Situation is received, the clean robot is controlled and sails out of current location.In a further embodiment, the inductive switch can also be magnetic
Inductive switch.
In other embodiments, the second component 425 is the protrusion for being set to the robot body 10, described first
Component 420 is the inductive switch or microswitch for being set to the Buffer Unit 41.The second component 425, which can be, to be set to
The chassis 20 towards the side of the cover 30 protrusion, it is described when the Buffer Unit 41 is by substantially downward pressure
It is raised to be contacted with the first component 420, and the inductive component 42 is triggered, make the first component output trigger signal.?
In other embodiments, the second component 425 can also be set to the cover towards 30 to 20 side of chassis protrusion,
The second component 425 further includes the extension rod at least partly extending 30 edge of cover, and the protrusion is set to the extension
On bar, when the Buffer Unit 41 is by substantially downward pressure, the protrusion is contacted with the first component 420, and is triggered
The inductive component 42 makes the first component output trigger signal.In a further embodiment, the second component 425 can
To be the protrusion for being set to the cover 30 towards 20 side of chassis, the Buffer Unit 41 is not pressurized when moving down, described
Protrusion is pressed against on the first component 420, so that the first component 420, which is in, signal output state；When the buffering
When the compression of component 41 moves down, the first component 420 leaves the protrusion, so that output signal is interrupted, the control
Device detects the output state signal information, judges whether the clean robot is stuck.
Fig. 6, Fig. 7 and Fig. 8 are please referred to, Fig. 6 is cross section view of the Fig. 1 along the direction A-A, and Fig. 7 is the part of the part I in Fig. 6
Enlarged drawing, Fig. 8 are switch block schematic diagrames in the utility model embodiment.The Buffer Unit 41 is pressurized, the second component
425 pass through the cover 30 notch or window move down, the movable part 421 is pressed against to the touching of the trigger member 422
On point 423, so that the first component 420 is triggered.The controller receives the letter that the first component 420 is triggered
Number, it controls the clean robot and turns to or retreat, to leave the current location of the clean robot.If the controller inspection
Measuring time of the first component 420 in the state that is triggered is more than time threshold, then judges that the clean robot can not
Current location is voluntarily sailed out of, the controller controls the clean robot and issues alarm sound.
In the embodiments of the present invention, by the cover that the inductive component part is set to the clean robot
Partially be set to the Buffer Unit, when assembling or replacing the inductive component, only need to cover to clean robot or
Buffer Unit is operated, and the other component for touching the body interior of the clean robot is avoided.The clean robot top
When the compression in portion, the Buffer Unit is moved down, and further triggers the inductive component, with detect the clean robot whether by
The information that the barrier at top blocks.Controller described further controls the clean robot and turns to or retreat, and is worked as with sailing out of
Front position, above water.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means particular features, structures, materials, or characteristics described in conjunction with this embodiment or example
It is contained at least one embodiment or example of the utility model.In the present specification, schematic expression of the above terms
It may not refer to the same embodiment or example.Moreover, the particular features, structures, materials, or characteristics of description can be any
One or more embodiment or examples in can be combined in any suitable manner.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (10)
1. a kind of clean robot characterized by comprising
Robot body, the robot body include chassis and the cover that is oppositely arranged with the chassis；
Drive module is configured as connecting with the chassis, for driving the clean robot to travel in face to be cleaned；
Controller is configured as multiple component communications with the clean robot, to control the clean robot work；
Crash device is configured as connecting with the robot body, and at least around the one of the outer rim of the robot body
Part, the crash device include Buffer Unit and inductive component, and the inductive component is at least partially based on the Buffer Unit
Activity and be triggered；
Wherein, the inductive component includes the first component and second component that can be separated from each other, the first component and described
Relative motion can occur for two components, so that the first component and the second component cooperate, thus to the controller
Trigger signal is exported, with the generation of the event pressed down in response to the Buffer Unit, the controller is in response to the touching
Signal and control the running of the clean robot.
2. clean robot according to claim 1, which is characterized in that the first component of the inductive component is set to institute
State the side towards the chassis of cover, at least part of the Buffer Unit is to the direction of the clean robot main body
Extend, form extension, the second component is set to the side towards the chassis of the extension.
3. clean robot according to claim 2, which is characterized in that the cover corresponds to the first component
Jagged or window is arranged in position.
4. clean robot according to claim 3, which is characterized in that be pressurized before the clean robot by collision
When, the second component is moved forward and backward along the notch or window.
5. clean robot according to claim 3, which is characterized in that when the top of the clean robot is pressurized,
The second component passes through the notch or window moves up and down.
6. clean robot according to claim 1, which is characterized in that the second component is to be set to the buffering group
The protrusion of part, the first component are that the inductive switch for being set to the side towards the chassis of the cover or fine motion are opened
It closes, when the Buffer Unit is by substantially downward pressure, the protrusion is contacted with the first component, and triggers the induction
Component makes the first component output trigger signal.
7. clean robot according to claim 1, which is characterized in that the second component is to be set to the robot
The protrusion of main body, the first component are the inductive switch or microswitch for being set to the Buffer Unit, the Buffer Unit
When by substantially downward pressure, the protrusion is contacted with the first component, and triggers the inductive component, makes described first
Component exports trigger signal.
8. clean robot according to claim 6 or 7, which is characterized in that the inductive switch be photoelectric sensor or
Magnetic inductor.
9. clean robot according to claim 2, which is characterized in that the first component is fixedly installed in the cover
Marginal position, the first component further includes elastic component, pressure suffered by the Buffer Unit revocation after, the elastic component makes
It is resetted.
10. clean robot according to claim 1, which is characterized in that after the inductive component is triggered, the control
Device controls the drive module and retreats or turn to, so that the clean robot sails out of current location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820852461.5U CN208988720U (en) | 2018-06-04 | 2018-06-04 | Clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820852461.5U CN208988720U (en) | 2018-06-04 | 2018-06-04 | Clean robot |
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| Publication Number | Publication Date |
|---|---|
| CN208988720U true CN208988720U (en) | 2019-06-18 |
Family
ID=66795062
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820852461.5U Active CN208988720U (en) | 2018-06-04 | 2018-06-04 | Clean robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110664329A (en) * | 2019-10-18 | 2020-01-10 | 上海高仙自动化科技发展有限公司 | Collision sensor and cleaning robot |
| CN114044051A (en) * | 2021-11-29 | 2022-02-15 | 东风汽车集团股份有限公司 | Auxiliary guiding control method and control device for automatic driving vehicle |
| CN114680758A (en) * | 2020-12-16 | 2022-07-01 | 科沃斯商用机器人有限公司 | Self-moving robot and striking plate assembly |
| CN114828721A (en) * | 2019-11-20 | 2022-07-29 | 美国iRobot公司 | Floating bumper in autonomous cleaning robot |
-
2018
- 2018-06-04 CN CN201820852461.5U patent/CN208988720U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110664329A (en) * | 2019-10-18 | 2020-01-10 | 上海高仙自动化科技发展有限公司 | Collision sensor and cleaning robot |
| CN114828721A (en) * | 2019-11-20 | 2022-07-29 | 美国iRobot公司 | Floating bumper in autonomous cleaning robot |
| CN114680758A (en) * | 2020-12-16 | 2022-07-01 | 科沃斯商用机器人有限公司 | Self-moving robot and striking plate assembly |
| CN114680758B (en) * | 2020-12-16 | 2023-10-13 | 科沃斯商用机器人有限公司 | Self-moving robot and striking plate assembly |
| CN114044051A (en) * | 2021-11-29 | 2022-02-15 | 东风汽车集团股份有限公司 | Auxiliary guiding control method and control device for automatic driving vehicle |
| CN114044051B (en) * | 2021-11-29 | 2023-02-28 | 东风汽车集团股份有限公司 | Auxiliary guiding control method and control device for automatic driving vehicle |
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Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |
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