CN209269577U - Sweeping robot and wherein sweeping device - Google Patents

Abstract

The utility model provides a kind of sweeping robot and wherein sweeping device, wherein, the middle sweeping device include mounting rack and on the mounting rack in sweep motor, and with it is described in sweep motor and connect and can be by sweeping the middle brush of motor driven rotation in described, the end-cap assembly for further including the end set on the middle brush and being connect with the mounting rack, the end-cap assembly includes the first end cover connecting with the middle brush and the second end cover connecting with the mounting rack, the first end cover wraps the second end cover close to one end of the middle brush and can rotate relative to the second end cover.In middle sweeping device provided by the utility model, the first end cover wraps the second end cover close to one end of the middle brush and can rotate relative to the second end cover, the i.e. described end-cap assembly does not have gap close to one end of the middle brush, it can preferably avoid hair from being entangled in the end-cap assembly in the rotation process of middle brush, improve user experience.

Description

Sweeping robot and wherein sweeping device

Technical field

The utility model relates to Smart Home technical field more particularly to a kind of middle sweeping device and use the middle sweeping device Sweeping robot.

Background technique

With the continuous development of science and technology, more and more smart homes equipment brings great convenience to people's lives Property, for people to performances such as the intelligence of smart home device and practicabilities there has also been higher requirement, sweeping robot is intelligence A Typical Representative in energy household technology.

Sweeping robot generally includes the middle sweeping device set on its bottom at present, for cleaning ground.However, in existing Sweeping device generally can not well solve the problem of hair winding, and the end of middle brush can be got over using the increase of time to wind Carry out more hairs, is easy to sweep motor in stuck and hair cleaning is inconvenient, can breed bacterium causes preferably clean ground, It is bad so as to cause user experience.

Utility model content

The primary and foremost purpose of the utility model is intended to provide a kind of middle sweeping device of anti-tangle hair.

The another object of the utility model is to provide a kind of sweeping robot using sweeping device among the above.

To achieve the goals above, the utility model the following technical schemes are provided:

A kind of middle sweeping device, for being arranged in sweeping robot, the middle sweeping device includes mounting rack and is set to described Sweep motor on mounting rack, and with it is described in sweep motor output axis connection and can be by sweeping motor driven rotation in described Middle brush, the middle sweeping device further include the end-cap assembly for being set to the end of the middle brush and connecting with the mounting rack, institute Stating end-cap assembly includes the first end cover connecting with the middle brush and the second end cover connecting with the mounting rack, and described first End cap wraps the second end cover close to one end of the middle brush and can rotate relative to the second end cover.

Preferably, the both ends of the end-cap assembly are detachably connected with the middle brush and the mounting rack respectively.

Preferably, the end-cap assembly further includes the connecting shaft affixed with the first end cover, the end of the middle brush Connecting hole is offered, one end of the connecting shaft is inserted in the connecting hole and, the company circumferentially fixed with the middle brush The other end of spindle connect with the second end cover and can rotate relative to the second end cover.

Further, the end of one end that the connecting shaft is used to connect with the middle brush is equipped with guiding chamfering.

Preferably, the end-cap assembly further includes the bearing being sheathed in the connecting shaft, and the second end cover passes through institute State bearing and the connection axis connection.

More preferably, the end-cap assembly further includes being embedded in the second end cover and the buffering with the connection axis connection Set, the cushion collar are made of elastic material.

Further, the end of the connecting shaft is equipped with the first flat position, be equipped in the connecting hole can with it is described first flat Position cooperates so that circumferentially fixed the second flat position of the relatively described middle brush of the connecting shaft.

Further, one of them in the first end cover and the middle brush is equipped with limiting groove, another is equipped with The retention bead in the limiting groove and for keeping the relatively described middle brush of the first end cover circumferentially fixed can be inserted in.

Preferably, the first end cover includes for abutting supporting end face and supporting end face set on described for the middle brush Go up and be used to clamp the claw of the middle brush.

Further, the claw includes at least two being set to described support on end face along the outer weekly interval of the middle brush Clamping protrusion.

Preferably, the second end cover includes the first connecting portion and second connecting portion being axially connected along it, and described first Interconnecting piece is embedded in the first end cover, and the second connecting portion is connect with the mounting rack, the second connecting portion it is straight Diameter is less than the first connecting portion.

Preferably, the mounting rack includes fixed frame and can glide in the fixed frame and on the relatively described fixed frame Dynamic sliding rack, the middle brush are set up on the sliding rack by the end-cap assembly.

Preferably, the middle sweeping device further includes being detachably connected with the mounting rack and being used to abut scraping for face to be cleaned Item.

More preferably, the scraping article is set to the middle brush along the rear of the sweeping robot direction of travel.

Preferably, the bottom of the mounting rack, which offers to be pierced by the mounting rack for the middle brush, sweeps window, institute Stating mounting rack includes the separator for being separated at least two wickets for sweeping window in will be described.

As second aspect, the utility model provides a kind of sweeping robot, including shell and is disposed in the housing Control system, and sweeping device among the above, the middle sweeping device are disposed in the housing and are electrically connected with the control system.

Preferably, the shell includes bottom plate and the cover board that is covered on the bottom plate, and be set to the bottom plate or Sound-insulating covering on cover board, the sound-insulating covering and the bottom plate and cover board are enclosed sound chamber, the intracavitary receiving of sound jointly There is the loudspeaker being electrically connected with the control system.

It preferably, further include the side sweeping device being detachably connected with the shell, the control system includes circuit board, institute The power input for stating side sweeping device is electrically connected by abutting the conductive contact of the circuit board with the control system.

More preferably, the control system further includes the metal clips for abutting the side sweeping device.

Further, the metal clips includes the elastic portion connecting with the power input of the side sweeping device and is used for It is inserted in the plug division that the conductive contact is abutted in the circuit board.

It preferably, further include the dust exhaust apparatus being disposed in the housing, the dust exhaust apparatus includes exhaust fan and silencing cotton, The silencing cotton is set at the air outlet of the exhaust fan.

Compared with prior art, the embodiment of the utility model has the advantage that

1. in middle sweeping device provided by the utility model, end-cap assembly include the first end cover being connect with middle brush and with peace Shelve the second end cover of connection, the first end cover wraps the second end cover close to one end of the middle brush and can be opposite The second end cover rotation, i.e., the described end-cap assembly does not have gap close to one end of the middle brush, in the rotation of middle brush Cheng Zhongke preferably avoids hair from being entangled in the end-cap assembly, improves user experience.

2. in middle sweeping device provided by the utility model, the scraping article including being set to middle brush rear can be cleaned in middle brush The fouls such as dust on face to be cleaned are swept by the scraping article while work, realize better cleaning effect, and described Scraping article is design for disassembly, cleaning or replacement easy to disassemble.

3. middle brush can move up and down in middle sweeping device provided by the utility model, ground gap is cleaned to can realize Interior rubbish has better cleaning effect, and can more cross easily when encountering low obstructions, and can be adapted to more makes Use occasion.

4. in sweeping robot provided by the utility model, the sound chamber for accommodating loudspeaker be by the cover board of shell with Base plate cover cooperatively forms after closing, the design of dependent sound chamber, and the sound chamber, assembly knot can be opened wide after the separation of cover board opposed bottom Structure is simple, saves cost, and be convenient for the maintenance and replacement of loudspeaker.

5. in sweeping robot provided by the utility model, the power input of side sweeping device is by abutting control system Conductive contact is electrically connected with the control system, compared to by wire connecting power, easily facilitates disassembly, can be directly taken out described Side sweeping device carries out cleaning hair or maintenance replacement.

6. in sweeping robot provided by the utility model, silencing cotton is equipped at the air outlet of the exhaust fan of dust exhaust apparatus, The noise that the exhaust fan generates in use can be reduced, to reduce the noise of the sweeping robot, improve user Experience.

The additional aspect of the utility model and advantage will be set forth in part in the description, these will be from following description In become obvious, or recognized by the practice of the utility model.

Detailed description of the invention

The utility model is above-mentioned and/or additional aspect and advantage from the following description of the accompanying drawings of embodiments will Become obvious and be readily appreciated that, in which:

Fig. 1 divides screenshot for sweeping robot provided by the utility model；

Fig. 2 is the bottom view of sweeping robot provided by the utility model；

Fig. 3 is the cross-sectional view of sweeping robot provided by the utility model；

Fig. 4 is the exploded view of the middle sweeping device in sweeping robot shown in Fig. 2；

Fig. 5 is the cross-sectional view of the connection structure of middle brush shown in Fig. 4 and end-cap assembly；

Fig. 6 is the exploded view of end-cap assembly shown in Fig. 4；

Fig. 7 is the top view of the protective cover in detection device shown in FIG. 1；

Fig. 8 is the exploded view of detection device shown in FIG. 1；

Fig. 9 is the cross-sectional view of obstacle sensor provided by the utility model；

Figure 10 is the schematic diagram of internal structure of steep cliff sensor shown in Fig. 2；

Figure 11 is the exploded view of power device shown in Fig. 2；

Figure 12 is the perspective view of driving motor and velocity measurement mechanisms shown in Figure 11；

Figure 13 is the attachment structure schematic diagram of side sweeping device and control system shown in Fig. 2；

Figure 14 is the main view of cradle provided by the utility model.

Specific embodiment

The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, and is only used for explaining the utility model, and cannot be construed to the utility model Limitation.

Those skilled in the art of the present technique are appreciated that unless expressly stated, arrange used in the specification of the utility model Diction " comprising " refer to that there are the feature, integer, step, operation, zero/component and/or components, but it is not excluded that in the presence of or add Add other one or more features, integer, step, operation, zero/component, component and/or their group.It should be understood that working as us When zero/component being claimed to be "connected" to another zero/component, it can be directly connected to other zero/components, or there may also be in Between zero/component.Wording "and/or" used herein includes one or more associated wholes for listing item or any cell With whole combinations.

Fig. 1 to Figure 13 collectively illustrates the utility model embodiment and provides sweeping robot, is used as smart home device, For automatically walk indoors and the functions such as it can realize automatic cleaning, dust suction and mop floor, save user time and labour On the basis of, guarantee the sanitation and hygiene of life or working environment.

As shown in Figure 1 with Figure 2, the sweeping robot 1000 includes shell 1 and the control system in the shell 1 System 2, and connect with the shell 1 and be electrically connected with the control system 2 middle sweeping device 3, detection device 4, recharge Device 5, power device 6, side sweeping device 7 and dust exhaust apparatus 8, the control system 2 are used for by transmitting between each device It controls signal and realizes the automatic running for controlling the sweeping robot 1000.

As shown in figure 4, the middle sweeping device 3 include mounting rack 31 and on the mounting rack 31 in sweep motor 32, And with it is described in sweep motor 32 output axis connection and can by sweeping the middle brush 33 of the driving rotation of motor 32 in described, it is described in Brush 33 is used to sweep ground by rotation.It should be understood that in addition to ground the sweeping robot 1000 face to be cleaned It can be also the planes such as carpet, plank or ceramic tile, this will not be repeated here.

Incorporated by reference to Fig. 4 and Fig. 5, the middle sweeping device 3 further include two ends for being divided into the middle brush 33 and with institute The end-cap assembly 34 of the connection of mounting rack 31 is stated, i.e., the described middle brush 33 is connected by the end-cap assembly 34 with the mounting rack 31 It connects, and the both ends of the end-cap assembly 34 are detachably connected with the middle brush 33 and the mounting rack 31 respectively, it is detachable Design the middle brush 33 and the end-cap assembly 34 are disassembled and are cleaned convenient for user, such as cleaning is wound in institute State the hair on brush 33 or the end-cap assembly 34.

Preferably, as shown in connection with fig. 5 such as Fig. 6, the end-cap assembly 34 includes the first end connecting with the middle brush 33 Lid 341 and the second end cover 342 connecting with the mounting rack 31, the first end cover 341 wrap the second end cover 342 and lean on One end of the nearly middle brush 33 can simultaneously be rotated relative to the second end cover 342, i.e., the described end-cap assembly 34 is swept in described One end of brush 33 does not have gap, can preferably avoid hair from being entangled to the end-cap assembly 34 in the rotation process of middle brush 33 It is interior, thus avoid hair it is stuck it is described in sweep motor 32.

The second end cover 342 includes the first connecting portion 3421 and second connecting portion 3422 being axially connected along it, described First connecting portion 3421 is embedded in the first end cover 341 and is wrapped by the first end cover 341, the second connecting portion 3422 connect with the mounting rack 31, and the diameter of the second connecting portion 3422 is less than the first connecting portion 3421, due to The second end cover 342 be it is opposing stationary motionless, the first connecting portion 3421 is wrapped and directly by the first end cover 341 The lesser second connecting portion 3422 of diameter is connect with the mounting rack 31, is equivalent to and is hidden the first end cover 341 completely, into one Step reduces a possibility that hair winding.

Preferably, the end-cap assembly 34 further include be arranged in the first end cover 341 and with the first end cover 341 One end of affixed connecting shaft 343, the connecting shaft 343 is inserted in the middle brush 33 along the axis direction of the middle brush 33 Interior and circumferentially fixed with the middle brush 33, the other end of the connecting shaft 343 connect with the second end cover 342 and can be opposite The second end cover 342 rotates, and the first end cover 341 can be 342 turns of second end cover relatively described by the connecting shaft 343 It is dynamic.In addition, the junction of the connecting shaft 343 and the first end cover 341 is closed without gap, hair or dust etc. are prevented Foreign matter enters in the first end cover 341.

The end-cap assembly 34 further includes the bearing 344 being sheathed in the connecting shaft 343, and the second end cover 342 is logical It crosses the bearing 344 to connect with the connecting shaft 343, the smoothness that the middle brush 33 rotates is guaranteed by the bearing 344.

The end-cap assembly 34 further includes being embedded at delaying of connect in the second end cover 342 and with the connecting shaft 343 Punching set 345, the inner ring of the cushion collar 345 and the outer ring tight fit of bearing 344, and the cushion collar 345 is by elastic material system At, such as materials such as silica gel, foam, can when the middle brush 33 is run from cushioning effect, protect the middle sweeping device 34 Operation noise is reduced simultaneously.Specifically, the cushion collar 345 offers location hole 3451, and the inside of the second end cover 342 is set There is the positioning protrusion 3423 that can be arranged in the location hole 3451, the cushion collar 345 passes through the location hole 3451 and institute The cooperation for stating positioning protrusion 3423 is embedded in the second end cover, replacement easy to disassemble while achieving a fixed connection.

Further, in fig. 5 it is shown that the middle brush 33 includes roller bearing 331 and encloses set on 331 periphery of roller bearing The end of bristle 332, the roller bearing 331 offers connecting hole 3311 along its axial direction, and the connecting shaft 343 is inserted in the connection Be interference fitted in hole 3311 and with the connecting hole 3311, in disassembly can the relatively described connecting hole 3311 directly extract the end Cap assemblies 34.

The end of one end that the connecting shaft 343 is used to connect with the middle brush 33 is equipped with guiding chamfering 3431, in group When dress, convenient for preferably the end-cap assembly 34 is inserted in the middle brush 33 by the connecting shaft 343.

The bristle 332 is set to the periphery of the roller bearing 331 along the axial direction of the roller bearing 331 in a curve, described Sweeping robot 1000 runs to complicated landform (such as broken terrain) Shi Yiran and can guarantee that there is preferable clean to imitate Fruit.

As shown in connection with fig. 5 such as Fig. 6, the end of the connecting shaft 343 is equipped with the first flat position 3432, in the connecting hole 3311 Equipped with can cooperate with the described first flat position 3432 so that circumferentially fixed second flat of the relatively described shaft 331 of the connecting shaft 343 Position 3312.

Further, the first end cover 341 include for abut the shaft 331 support end face 3411 and be set to institute The retention bead 3412 supported on end face 3411 is stated, the end face of the shaft 331 offers the corresponding retention bead 3412 and sets The limiting groove 3313 set, the cooperation that the first end cover 341 passes through the retention bead 3412 and the limiting groove 3313 It is circumferentially fixed with the shaft 331.

It should be understood that in other embodiments, the cooperation knot of the first flat position 3432 and the second flat position 3312 Structure can be replaced the structures such as key and keyway, sliding slot and sliding block to cooperate the week for realizing the relatively described shaft 331 of connecting shaft 343 To fixation.In addition, the retention bead 3412 can be also opened on the end face of the shaft 331, it is correspondingly, described to support end face 3411 are equipped with the limiting groove 3313, and it is circumferentially fixed to be equally able to achieve the opposite shaft 331 of the first end cover 341.

Preferably, the first end cover 341 further includes being set to described support on end face 3411 and for clamping the shaft 331 claw 3413, the claw 3413 include supporting end face described in three periphery equidistant intervals along the shaft 331 are set to Clamping protrusion 3414 on 3411.Further, it can offer in the periphery of the shaft 331 for being embedded the clamping protrusion 3414 clamp groove (not shown, similarly hereinafter), to further strengthen connection.

Preferably, the connecting shaft 343, retention bead 3412 and clamping protrusion 3414 support end face 3,411 1 with described Body formed, the first end cover 341 and second end cover 342 can be made of plastic material, and easy to process and manufacturing cost is lower.

As shown in figure 5, in two end-cap assemblies 34, the end-cap assembly 34 that motor 32 is swept in described further includes Connect with the end of the connecting shaft 343 and with it is described in sweep motor 32 output axis connection driving member 346, it is described in sweep electricity Machine 34 can drive the connecting shaft 343 to rotate by the driving member 346, to be driven in described by the connecting shaft 343 Brush 33 rotates.

As shown in connection with fig. 4 such as Fig. 3, the mounting rack 31 includes fixed frame 311 and is set in the fixed frame 311 and can phase To the sliding rack 312 that the fixed frame 311 slides up and down, the middle brush 33 is set up in the cunning by the end-cap assembly 34 In moving frame 312, i.e., the described middle brush 33 can move up and down, so that the rubbish cleaned in the gap of ground can be realized, have better Cleaning effect, and can more be crossed easily when encountering low obstructions, more use occasions can be adapted to.

Specifically, motor 32 and middle brush 33 are swept in described to be set on the sliding rack 312, and can be in the sliding rack 312 follow when moving up and down and move up and down together, and are equipped between the fixed frame 311 and the sliding rack 312 for limiting The guidance set of 312 moving direction of sliding rack guarantees that the sliding rack 312 will not misplace.

As shown in figure 4, the mounting rack 31 further include set on the sliding rack 312 bottom and with the sliding rack 312 The fixation lid 313 being detachably connected is offered on the fixed lid 312 and is pierced by the mounting rack 31 for the middle brush 33 Window 3131 is swept, and the both ends of the fixed lid 313 are equipped with the second connection for being respectively used to two second end covers 342 of clamping The notch 3132 in portion 3422, the second end cover 342 are held on the sliding rack 312 by the notch 3132.It is tearing open When unloading the middle sweeping device 3, the middle brush 33 and end-cap assembly 34 can be directly taken out after removing the fixed lid 313.Into One step, being additionally provided on the fixed lid 313 can the quick relatively described sliding rack 312 isolated quick-disassembly structure 3133.

As shown in connection with fig. 4 such as Fig. 3, the middle sweeping device 3 further includes being detachably connected with the fixed lid 313 and for supporting The scraping article 35 in the cleaning face of reception.Specifically, the mounting rack 31 further includes the plug connector 314 being plugged on the fixed lid 313, The scraping article 35 is embedded in the plug connector 314 and can be fixed by the relatively described fixed lid 313 of the plug connector 314.Institute State scraping article 35 set on the middle brush 33 along the rear of 1000 direction of travel of sweeping robot, can be in middle 33 sweeper of brush While work by the scraping article 35 sweeping fouls such as dusts on face to be cleaned, realize better cleaning effect, and institute Stating scraping article 35 is design for disassembly, cleaning or replacement easy to disassemble.

Preferably, the middle sweeping device 3 further includes for sweeping 3131 equidistant separation of window into three wickets in will be described Separator 36, the separator 36 be along the sweeping robot 1000 direction of travel set up with it is described in sweep window 3131 On shaft.By the isolation of the separator 36, make electric wire of the sweeping robot 1000 on walking traverse ground When avoid the rotation due to the middle brush 33 that wire intertwist is entered to the inside of the middle sweeping device 3.

Further, the position of the corresponding dust exhaust apparatus 8 (being shown in FIG. 1) of the fixed frame 311 offers dust suction Window 3111 makes so as to be siphoned away the dust that the middle brush 33 and the scraping article 35 have been cleared up by the dust exhaust apparatus 8 The sweeping robot 1000 can provide more efficient cleaning function with the cooperating of dust suction by cleaning.

As shown in connection with fig. 8 such as Fig. 7, the detection device 4 is used to detect the surrounding enviroment of the sweeping robot 1000, Elastic parts 42, protective cover 43 and the first collision sensing component 44 including fixing seat 41, in the fixing seat 41.Institute Protective cover 43 is stated to connect with the elastic parts 42 and can be described by relatively described 41 springing of fixing seat of the elastic parts 42 First collision sensing component 44 is electrically connected with the control system 2 and can be when it is triggered by protective cover 43 to the control system 2 feed back the signal that is hampered, and the control system 2 can plan again the walking of the sweeping robot 1000 according to the signal that is hampered Route.

The protective cover 43 protrudes from the shell 1 and is arranged, played when bumping against barrier protection must protrude from it is described The effect for the component (such as described recharging device 5) that shell 1 is arranged, and can be by triggering the first collision sensing component 44 The signal that will be hampered feedback and the control system 2 can preferably detect barrier and plan again convenient for the control system 2 Route.

The first collision sensing component 44 includes vertical microswitch 441 (being shown in FIG. 1), and the vertical fine motion is opened 441 are closed to be set to 43 lower section of protective cover and can be triggered when protective cover 43 is by lateral pressure by it to the control system 2 Transmission is hampered signal.

As shown in figure 8, the elastic parts 42 includes the pressure spring suppressed between the protective cover 43 and fixing seat 41 421, the pressure spring 421 is used to support the protective cover 43 and it is made to be suspended in the top of the vertical microswitch 441.It is preferred that Ground, the elastic parts 42 includes four pressure springs 421 of the quadrangle for being divided into the protective cover 43, more stable to provide Support.

As shown in fig. 7, the first collision sensing component 44 further includes a pair of horizontal microswitch 442, this is to the water Flat microswitch 442 is symmetrically set to the protective cover 43 along the walking side about 1000 direction of travel of sweeping robot To rear, and the direction of motion to horizontal 442 movable contact of microswitch is mutually perpendicular to, in the sweeping robot 1000 when walking forward, has barrier to bump against the protective cover 43 and is triggered by 43 springing of protective cover.

Further, the elastic parts 44 further includes two the protective cover 43 is crossed at 41 top of the fixing seat Tension spring 422, two tension springs 422 are used to make the protection after the horizontal applied force that protective cover 43 is subject to disappears or weakens Cover 43 resets, and is set to protective cover 43 along the front of the direction of travel and about institute relative to the horizontal microswitch 442 It is symmetrical to state direction of travel.

As shown in figure 8, offering the guide groove in the springing direction for limiting the protective cover 43 in the fixing seat 41 411, correspondingly, the bottom of the protective cover 43, which is equipped with, to be inserted in the guide groove 411 and can move along the guide groove 411 Guide post 431.The guide groove 411 is right triangular shape, and two right-angle sides are opened along two horizontal fine motions respectively The direction of motion setting for closing 442 movable contacts makes the protective cover by the guide post 431 and the cooperation of the guide groove 411 It, can be along the movement side of horizontal 442 movable contact of microswitch when 43 different angle in the horizontal direction bumps against barrier To movement, to guarantee effectively to trigger the horizontal microswitch 442.

It is worth noting that, in other embodiments, the first collision sensing component 44 may also include more water Flat microswitch 442, such as four horizontal microswitches 442 for being divided into 43 4 jiaos of the protective cover, can be more accurate The orientation of the barrier of the protective cover 43 is hit in ground detection, easily facilitates the control system 2 programme path again.But consider It is usually that can bump against barrier in the front along its direction of travel to the sweeping robot 1000, after the protective cover 43 Setting a pair of horizontal microswitch 442 in side's just realizes the function of detection barrier, and the comparable more water of setting enough Flat microswitch 442 can reduce production cost, reduce system disorders rate.

Referring to Figure 1, it is preferable that the detection device 4 further includes second touching for being electrically connected with the control system 2 Inductive component 45 is hit, the second collision sensing component 45 also abuts with the shell 1 and can bump against barrier in the shell 1 When triggered by the shell 1 to the control system 2 feedback and be hampered signal, barrier and just can preferably be detected by collision The track route of the sweeping robot 1000 is planned again in the control system 2.

Further, the control system 2 includes circuit board 21, the vertical microswitch 441 and second collision Inductive component 45 is set on the circuit board 21, and the shell 1 is equipped with abutting the second collision sensing component 45 and can When it is hit, springing triggers the touch part 15 of the second collision sensing component 45.

Specifically, the second collision sensing component 45 include be respectively used to the shell 1 all around and top Preceding microswitch, rear microswitch, left microswitch, right microswitch and the upper microswitch being triggered when bumping against barrier, The control system 2 is set to understand that barrier is located at described sweep the floor by the respective feedback signal of microswitch that five directions are arranged Which orientation of robot 1000, to avoid continuing to walk along the orientation.

As shown in figure 9, the detection device 4 further includes that at least one is arranged on the shell 1 and is with the control The obstacle inductive component 46 of 2 electrical connection of system, the obstacle inductive component 46 is for detecting the sweeper robot 1000 and barrier Obstacle information can be fed back to the control system 2 by hindering the distance of object.The obstacle inductive component 46 includes obstacle sensor 461 Be set to the transparent baffle 462 in 461 front of the obstacle sensor, and suppress in the obstacle sensor 461 with it is described Shading flexible glue 463 between bright baffle 462, the corresponding obstacle sensor of the shading flexible glue 463 offer light hole 4631.

Specifically, the obstacle sensor 461 is set on the side wall 14 of the shell 1, and the obstacle sensor 461 includes Obstacle infrared emission head 4611 and obstacle infrared receiving terminal 4612, the corresponding obstacle infrared emission head of the shading flexible glue 463 4611 and obstacle infrared receiving terminal 4622 open up there are two the light hole 4631, and two light holes 4631 are not connected to. The infrared ray for avoiding the obstacle infrared emission head 4611 from launching by the airtightness of the shading flexible glue 463 is described in the transmission It directly reflects before transparent baffle 462 and is received by the obstacle infrared receiving terminal 4612, that is, avoid that optical crosstalk phenomenon occurs, protect Demonstrate,prove the accuracy of data.

Preferably, the light hole 4631 is horn-like in distributing outward, to provide preferably to the obstacle sensor 461 Spotlight effect.

It is shown in fig. 2, the detection device 4 further includes being electrically connected with the control system 2 and being to the control The steep cliff inductive component 47 of 2 feedback earth's surface information of system, the steep cliff inductive component 47 include four placed separately between the edge of shell 1 Steep cliff sensor 471, four steep cliff sensors 471 are set to 1 bottom of shell along 1000 row of sweeping robot It walks in front of direction.The steep cliff sensor 471 is steep cliff (high drop in the front that senses the sweeping robot 1000 Shape) when, corresponding signal can be fed back to the control system 2, control the sweeping robot will pass through the control system 2 1000 stop continuing to walk toward steep cliff, avoid falling damage.

As shown in Figure 10, the steep cliff sensor 471 includes steep cliff infrared emission head 4711 and steep cliff infrared receiving terminal 4712, the 4711 opposed vertical direction of steep cliff infrared emission head is obliquely installed towards the steep cliff infrared receiving terminal 4712, adjacent The inclined direction of the steep cliff infrared emission head 4711 of two steep cliff sensors 471 is opposite.Specifically, the steep cliff is infrared connects Receive head 4712 be arranged along the vertical direction, the steep cliff infrared receiving terminal 4711 be arranged towards the infrared receiving terminal 4712 and with institute The angle for stating steep cliff infrared receiving terminal 4712 is 60 degree, and those skilled in the art can need in conjunction with practical application to the angle It is adjusted.

As shown in Fig. 2, respective steep cliff is infrared to be connect in two steep cliff sensors 471 being located among the shell 1 It receives head 4711 to be provided close to the position of middle and be respectively facing emit infrared ray far from middle position, makes respective steep cliff Infrared receiving terminal 4712 is only capable of receiving the infrared ray of its corresponding steep cliff infrared receiving terminal 4711, avoids since adjacent two outstanding Precipice infrared receiving terminal 4711 tilts in one direction and leads to optical crosstalk phenomenon.

Further, as shown in Figure 10, the steep cliff sensor 471 further includes being set to the steep cliff infrared emission head 4711 Barn door 4713 between steep cliff infrared receiving terminal 4712, the infrared ray for avoiding the steep cliff infrared emission head 4711 from launching It is directly reflected back the steep cliff infrared receiving terminal 4712 without ground, improves stability.

The recharging device 5 is for guiding the sweeping robot in the not enough power supply of the sweeping robot 1000 1000, which return to its cradle, charges, as shown in figure 8, the recharging device 5 includes that can seek the charging by infrared ray The infrared locating module 51 that seat is set and the framing module 52 that the cradle position can be sought by image, it is described infrared Locating module 51 and framing module 52 are used to be electrically connected with the control system 2 and can feed back to the control system 2 The cradle position.

Further, the infrared locating module 51 includes for receiving the red of the infrared ray launched by the cradle Outer receiver, or include by transmitting infrared ray to infrared emission of the cradle to be positioned to the cradle Device.Described image locating module 52 include can acquire identification code on the cradle recharge camera, or including being used for It is acquired by the cradle with the identification code to the sweeping robot 1000 feedback positioning signal.

Preferably, the infrared locating module 51 include at least one for receive launched by the cradle it is infrared The infrared remote receiver of line goes to seek the position of the cradle without actively emitting Infrared High-Power line, can save described sweep the floor The electricity of robot 1000, to extend the time that uses of the sweeping robot 1000, raising user experience.

Preferably, described image locating module 52 includes on the image and/or the cradle for can acquire the cradle Identification code recharge camera, cooperate the infrared remote receiver by the camera that recharges while finding the cradle Position, guarantees the precision of positioning and location efficiency is higher, and the position of cradle can be quickly found in complex environment.

As shown in figure 8, the recharging device 5 further includes the rotary components for being set to the shell 1 and protruding the shell 1 53, the rotary components 53 are used to that the infrared locating module 51 and framing module 52 to be driven to carry out 360 degree rotation, thus It can be achieved to seek cradle position in all directions, further increase location efficiency.

Further, the rotary components 53 include rotating electric machine 531 and the output axis connection with the rotating electric machine 531 Driving wheel 532, and the rotating seat 533 for installing the infrared locating module 51 and framing module 52, the drive Driving wheel 532 connect with the rotating seat 533 and the rotating seat 533 can be driven to rotate under the driving of the rotating electric machine 531, To drive the infrared locating module 51 being set on the rotating seat 533 and framing module 52 to rotate.

Preferably, the recharging device 5 further includes being set on the rotating seat 533 and being driven by the rotating seat 533 The range sensor 54 of rotation, the range sensor 54 is for further strengthening the position for positioning the cradle.

The recharging method of the sweeping robot 1000 specifically includes: starting the infrared locating module when the power is insufficient 51 and framing module 52 seek cradle position, be such as not found cradle will start along wall walking mode, along wall side row Continue to seek the cradle position after walking to another room, until being by the control after navigating to the cradle 2 planning track route of system returns to the cradle and charges.

Preferably, the recharging device 5 further includes being electrically connected with control system 2 and can be by wireless signal to the charging The wireless locating module that seat is positioned, the wireless locating module can be by filling described in the mobile networks such as Wi-Fi, bluetooth detection Corresponding wireless module positions the cradle on electric seat, and position to the control for then feeding back the cradle is System 2 plans the route of return cradle so as to the control system.

As shown in figure 8, the protective cover 43 of the detection device 4 covers on the rotating seat 533, rises and recharged described in protection The effect of device 5, and the corresponding infrared locating module 51 of the protective cover 43 and the height and position of framing module 52 are opened The normal operation of the recharging device 5 is not influenced equipped with through-hole 431, while protecting recharging device 5.

As shown in connection with fig. 2 such as Figure 11, the power device 6 includes driving motor 61 and the output with the driving motor 61 Axis connection can simultaneously be driven the traveling wheel 62 of walking by the driving motor 61, and for installing the driving motor 61 and described The mounting shell 63 of traveling wheel 62, the traveling wheel 62 can be rotated around the driving motor 61, i.e., traveling wheel 62 is encountering short barrier Hindering can more cross when object easily, while play damping effect, can be adapted to more use occasions.

Incorporated by reference to Figure 11 and Figure 12, the power device 6 further includes velocity measurement mechanisms 64, and the velocity measurement mechanisms 64 include and institute State the output axis connection of driving motor 61 and can by the driving motor 61 drive rotation tachometer disc 641 and along the tachometer disc 641 circumferencial direction is equidistantly embedded at multiple magnetic elements (not shown, similarly hereinafter) on the tachometer disc 641, and opposite institute The magnetic switch (not shown, similarly hereinafter) that the shell for stating driving motor 61 is fixed and can be triggered by the magnetic element, the magnetism Switch is set on tachometer circuit plate 642, and the tachometer circuit plate 642 is set on the shell of driving motor 61 and is with the control 2 electrical connection of system and the revolving speed that the traveling wheel 62 can be fed back to the control system 2.

Preferably, 16 magnetic elements are embedded on the tachometer disc 641, compared to the less magnetic element of setting Speed-measuring structure can measure finer data, and will not lead to the magnetism because of the excessive magnetic element of dense arrangement again Element can not be sensed by magnetic switch one by one, guarantee that velocity measurement mechanisms can normal use.

It is shown in FIG. 11, the mounting shell 63 includes enclosing periphery set on the velocity measurement mechanisms 64 and by high magnetic permeability material Baffle 631 is shielded made of material, guarantees the velocity measurement mechanisms 64 during testing the speed by the magnetic screen of the shielding baffle 631 It will not lead to occur error due to being influenced by extraneous factor, precisely test the speed to realize.

The power device 6 further includes power train 65 and rotating assembly 66, and the traveling wheel 62 passes through the power train 65 With the output axis connection of the driving motor 62, and can be rotated by the rotating assembly 66 around the driving motor 62.It is described Power train 65 is made of the synchronous driving member such as gear, chain or synchronous belt, makes the traveling wheel 62 and the driving motor 62 non-coaxial connections.The rotating assembly 66 includes the fixed first rotating shaft part 661 of the relatively described driving motor 62 and opposite institute The second fixed shaft part 662 of traveling wheel 62 is stated, is rotated by the cooperation of the first rotating shaft part 661 and the second shaft part 662 It can play the guiding role to the traveling wheel 62 relative to the rotation of the driving motor 62.

The power device 6 further includes the elasticity member that both ends are connect with the driving motor 61 and the traveling wheel 62 respectively Part (not shown, similarly hereinafter), the elastic element are the tension spring in the mounting shell 63.Further, the power device 6 It further include the locating part 67 for limiting the rotational angle of the relatively described driving motor 62 of the traveling wheel 62.

Preferably, the shielding baffle 631 is made of iron-nickel alloy material, and processing performance is good, can be made into it is complex-shaped, Size requires accurate shielding baffle 631 to enclose set on the periphery of the velocity measurement mechanisms 64.The magnetic switch be tongue tube or Hall sensor.

It should be understood that the detection device 4, recharging device 5 and power device 6 are not limited to be arranged in the sweeper On device people 1000, be also applicable to other can automatically walk smart home device, or even can be used for the nothings such as unmanned vehicle, unmanned plane In people's equipment.

As shown in connection with fig. 2 such as Figure 13, the sweeping robot 1000 further includes that the side being detachably connected with the shell 1 is swept Device 7, conductive contact and the control system 2 of the power input of the side sweeping device 7 by the abutting circuit board 21 Electrical connection, connects the circuit board 21 compared to by conducting wire, easily facilitates disassembly, directly can integrally take out the side sweeping device 7 Carry out cleaning hair or maintenance replacement.

It is described while sweeping device 7 include while sweep motor 71 and with it is described while the output axis connection for sweeping motor 71 and can by it is described while The side brush 72 of the driving rotation of motor 71 is swept, the side brush 72 is set to the edge of 1 bottom of shell, for cleaning in described The foundation position that sweeping device 3 can not be swept into.It is described while sweep motor 71 and it is described while brush 72 be wholely set.

Preferably, the control system 2 further includes the metal clips 22 for abutting the side sweeping device 7, the metal Elastic slice 22 includes the elastic portion 221 connecting with the power input 711 of the side sweeping device 7 and for being inserted in the circuit board The plug division 222 being electrically connected by abutting the conductive contact electricity with the control system 2 in 21.Pass through the metal clips 22 Guarantee that the side sweeping device 7 and the contact of the circuit board 21 are good, does not turn off connection in use.

As shown in Figure 1, the dust exhaust apparatus 8 includes exhaust fan 81 and silencing cotton 82, the silencing cotton 82 is set to the pumping At the air outlet of blower 81, the noise that the exhaust fan 81 generates in use can be reduced, to reduce the sweeper The noise of device people 1000 improves user experience.

The dust exhaust apparatus 8 further includes the dirt box 83 connecting with the air inlet of the exhaust fan 81, the dirt box 83 it is another One end abuts the dust absorption window 3111 (showing in figs. 3 and 4), and the dust that the middle sweeping device 3 has cleaned can be by described In dirt box 83 described in 81 inspiration of exhaust fan, dust suction effect is realized.

The shell 1 includes bottom plate 11 and the cover board 12 being covered on the bottom plate 11, and is set on the bottom plate 11 Sound-insulating covering 13, the sound-insulating covering 13 is enclosed sound chamber, the intracavitary receipts of sound with the bottom plate 11 and cover board 12 jointly Have a loudspeaker 9 being electrically connected with control system 2, the loudspeaker 9 for making a sound prompt, such as cleaning complete prompt with Fault cues etc..Since the sound chamber is cooperatively formed by the cover board 12 and 11 Gai Hehou of bottom plate, using dependent sound chamber Design can open wide the sound chamber after the separation of 12 opposed bottom 11 of cover board, and assembling structure is simple, save cost, and convenient for raising The maintenance and replacement of sound device 9.

As second aspect, the utility model also provides a kind of cradle 2000, is shown in FIG. 14, is used for described Equal other unmanned machines charging of sweeping robot 1000, the cradle 2000 is including charging base 2001 and is set to the charging Infrared transmitter 2002 on pedestal 2001 and for being returned by unmanned machine described in transmitting heat homing, the charging bottom The identification code 2003 for guiding the unmanned machine to return is additionally provided on seat 2001.It is guided together by infrared ray and identification code Other equal unmanned machines of the sweeping robot 1000 return, and unmanned machine can be allowed more rapidly to search out the cradle 2000 position, so that improves unmanned machine recharges efficiency.

It preferably, further include the signal projector being set on the charging base 2001 and for emitting radio positioning signal (not shown, similarly hereinafter), wireless locating module on the sweeping robot 1000 can be according to the radio positioning signals to being filled Electric seat 2000 is positioned.

Further, it is set on the charging base 2001 there are three transmitting infrared ray in the horizontal direction and mutually with angle The infrared transmitter 2002, to provide more comprehensive infrared guidance signal to the sweeping robot 1000, further Promotion recharges efficiency.

The identification code 2003 includes at least two pieces color lumps being set on charging base 2001 side by side, the color of adjacent color lump Difference, such as one black one white, the identification code 2003 being made up of the different color lump of color, can be according to 2000 periphery of cradle The tone of environment presets color more outstanding as the identification code 2003, so as to allow the sweeping robot 1000 can be fast Speed identifies the cradle 2000, to realize that precise positioning recharges.

The above is only some embodiments of the utility model, it is noted that for the common skill of the art For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and Retouching also should be regarded as the protection scope of the utility model.

Claims (21)

1. a kind of middle sweeping device, for being arranged in sweeping robot, the middle sweeping device includes mounting rack and is set to the peace Sweep motor in shelving, and with it is described in sweep motor output axis connection and can be by sweeping in motor driven rotation in described Brush, which is characterized in that further include the end-cap assembly for being set to the end of the middle brush and being connect with the mounting rack, the end Cap assemblies include the first end cover connecting with the middle brush and the second end cover connecting with the mounting rack, the first end cover The second end cover is wrapped close to one end of the middle brush and can be rotated relative to the second end cover.

2. middle sweeping device according to claim 1, which is characterized in that the both ends of the end-cap assembly respectively with it is described in sweep Brush and the mounting rack are detachably connected.

3. middle sweeping device according to claim 1, which is characterized in that the end-cap assembly further includes and the first end cover Affixed connecting shaft, the end of the middle brush offer connecting hole, and one end of the connecting shaft is inserted in the connecting hole And it is circumferentially fixed with the middle brush, the other end of the connecting shaft connect with the second end cover and can the relatively described second end Lid rotation.

4. middle sweeping device according to claim 3, which is characterized in that the connecting shaft was used to connect with the middle brush The end of one end is equipped with guiding chamfering.

5. middle sweeping device according to claim 3, which is characterized in that the end-cap assembly further includes being sheathed on the connection Bearing on axis, the second end cover pass through the bearing and the connection axis connection.

6. the middle sweeping device according to claim 3 or 5, which is characterized in that the end-cap assembly further include be embedded at it is described Cushion collar in second end cover and with the connection axis connection, the cushion collar are made of elastic material.

7. middle sweeping device according to claim 3, which is characterized in that the end of the connecting shaft is equipped with the first flat position, institute State be equipped in connecting hole can cooperate with the described first flat position so that the opposite middle brush of the connecting shaft it is circumferentially fixed second Flat position.

8. middle sweeping device according to claim 1, which is characterized in that in the first end cover and the middle brush wherein One is equipped with limiting groove, another, which is equipped with, can be inserted in the limiting groove and for keeping the first end cover relatively described The circumferentially fixed retention bead of middle brush.

9. middle sweeping device according to claim 1, which is characterized in that the first end cover includes sweeping for abutting in described Brush supports end face and set on the claw supported on end face and for clamping the middle brush.

10. middle sweeping device according to claim 9, which is characterized in that the claw includes at least two sweeping in described The outer weekly interval of brush is set to the clamping protrusion supported on end face.

11. middle sweeping device according to claim 1, which is characterized in that the second end cover includes axially connected along it First connecting portion and second connecting portion, the first connecting portion are embedded in the first end cover, the second connecting portion and institute Mounting rack connection is stated, the diameter of the second connecting portion is less than the first connecting portion.

12. middle sweeping device according to claim 1, which is characterized in that the mounting rack includes fixed frame and is set to described In fixed frame and can the sliding rack that slides up and down of the relatively described fixed frame, the middle brush is set up in institute by the end-cap assembly It states on sliding rack.

13. according to claim 1 or middle sweeping device described in 12, which is characterized in that further include detachably connecting with the mounting rack Connect and be used to abut the scraping article in face to be cleaned.

14. middle sweeping device according to claim 13, which is characterized in that the scraping article is set to the middle brush and sweeps along described The rear of floor-washing robot direction of travel.

15. middle sweeping device according to claim 1, which is characterized in that the bottom of the mounting rack, which offers, to be supplied in described Brush, which is pierced by the mounting rack, sweeps window, and the mounting rack includes that be separated at least two small for sweeping window in will be described The separator of window.

16. a kind of sweeping robot, including shell and the control system being disposed in the housing, which is characterized in that further include as Middle sweeping device described in any one of claim 1 to 15, the middle sweeping device be disposed in the housing and with the control System electrical connection.

17. sweeping robot according to claim 16, which is characterized in that the shell includes bottom plate and is covered on described Cover board on bottom plate, and the sound-insulating covering on the bottom plate or cover board, the sound-insulating covering and the bottom plate and lid Plate is enclosed sound chamber jointly, and the sound is intracavitary to contain the loudspeaker being electrically connected with the control system.

18. sweeping robot according to claim 16, which is characterized in that further include being detachably connected with the shell Side sweeping device, the control system include circuit board, and the power input of the side sweeping device is by abutting the circuit board Conductive contact is electrically connected with the control system.

19. sweeping robot according to claim 18, which is characterized in that the control system further includes for abutting State the metal clips of side sweeping device.

20. sweeping robot according to claim 19, which is characterized in that the metal clips includes sweeping dress with the side Set power input connection elastic portion and for being inserted in the plug division for abutting the conductive contact in the circuit board.

21. sweeping robot according to claim 16, which is characterized in that further include the dust suction dress being disposed in the housing It sets, the dust exhaust apparatus includes exhaust fan and silencing cotton, and the silencing cotton is set at the air outlet of the exhaust fan.