CN215838828U

CN215838828U - Autonomous cleaning device

Info

Publication number: CN215838828U
Application number: CN202023244129.7U
Authority: CN
Inventors: 郑连荣
Original assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2022-02-18
Anticipated expiration: 2030-12-29

Abstract

The utility model relates to the field of cleaning equipment, in particular to autonomous cleaning equipment, which is characterized in that a shell and a cover body are arranged, the cover body and the shell are connected to move downwards and backwards relative to the shell, and the cover body is provided with an acting part; by arranging the switch, the trigger position of the switch is positioned on the moving path of the action part, the cover body can trigger the switch through the action part in the moving process, the cover body protrudes from the top of the shell, and when the automatic cleaning device is used, the cover body can drive the action part to trigger the switch if being collided in the moving process of the automatic cleaning device, so that the structure can detect not only downward movement but also backward movement of the cover body, the problem that the traditional detection assembly cannot detect the translation of the cover body is solved, and the detection range is enlarged; the switch comprises at least two first switches capable of being triggered in the horizontal direction, the horizontal circumferential trigger range formed by all the first switches is larger than or equal to 180 degrees, and the range of horizontal movement detection of the cover body is further enlarged.

Description

Autonomous cleaning device

Technical Field

The utility model relates to the field of cleaning equipment, in particular to autonomous cleaning equipment.

Background

Common autonomic cleaning device's laser rangefinder module, for response autonomic cleaning device week border information, need follow the top protrusion, and convex structure blocks easily when getting into sofa, bed end, perhaps directly collides sofa and bed end, if do not have corresponding response subassembly, and autonomic cleaning device will continue to strike or block and die at this position, can't normally work.

Common detection device has set up the protective housing, and laser rangefinder module is located the protective housing, and the protective housing can rotate machine main part relatively, but the unable translation that detects the protective housing of this kind of mode.

SUMMERY OF THE UTILITY MODEL

In view of this, it is an object of the present invention to provide an autonomous cleaning device having a wide detection range.

An autonomous cleaning device comprising: a housing; the cover body is arranged on the shell and protrudes from the top of the shell, and the cover body and the shell are connected to move downwards and backwards relative to the shell; the cover body is provided with an acting part; the trigger position of the switch is positioned on the moving path of the action part, and the cover body can trigger the switch through the action part in the moving process; the switch comprises at least two first switches capable of being triggered in the horizontal direction, and the horizontal circumferential triggering range formed by all the first switches is larger than or equal to 180 degrees.

The cover body and the shell body are connected to move downwards and backwards relative to the shell body through the arrangement of the shell body and the cover body, and the cover body is provided with an acting part; by arranging the switch, the trigger position of the switch is positioned on the moving path of the action part, the cover body can trigger the switch through the action part in the moving process, the cover body protrudes from the top of the shell, and when the automatic cleaning equipment is used, the cover body protruding from the top of the shell can move in a corresponding direction when acted force is applied or backwards applied to the cover body in the moving process of the automatic cleaning equipment, so that the action part is driven to trigger the switch, the structure can detect not only downward movement of the cover body, but also backwards movement, the problem that the traditional detection assembly cannot detect the translation of the cover body is solved, and the detection range is increased; the switch comprises at least two first switches capable of being triggered in the horizontal direction, the horizontal circumferential triggering range formed by all the first switches is larger than or equal to 180 degrees, the detection range of the horizontal circumferential triggering range is larger than or equal to 180 degrees by arranging the at least two first switches, the range of horizontal movement detection of the cover body is increased, and the detection range is further improved.

The horizontal circumferential triggering range is greater than or equal to 180 degrees, namely the horizontal circumferential triggering range comprises ranges greater than 180 degrees and equal to 180 degrees, namely the horizontal circumferential triggering range is more than 180 degrees.

Further preferably, the horizontal circumferential triggering range is a continuous horizontal circumferential triggering range. The continuous horizontal circumferential trigger range is greater than 180 degrees, the detection range is further improved, for example, when the vehicle faces the traveling direction of the autonomous cleaning device, not only forward collision but also lateral collision can be detected.

Further preferably, all the first switches are contact switches, each first switch has a key, and an orientation of a key of one first switch has an included angle greater than 0 degree and less than 90 degrees with respect to a horizontal advancing direction of the autonomous cleaning device, and different horizontal circumferential trigger ranges can be formed by setting orientations of different first switches.

Further preferably, the keys of both said first switches are oriented with an angle greater than 0 degrees and less than 90 degrees with respect to the horizontal advancement direction of said autonomous cleaning apparatus, wherein the key of one of said first switches is oriented to the left with respect to the horizontal forward direction of said autonomous cleaning device, the key of the other first switch is oriented to the right relative to the horizontal advancing direction of the autonomous cleaning device, forms the advancing direction of the autonomous cleaning device and can detect the left side and the right side which are in front of the horizontal advancing direction of the autonomous cleaning device, meanwhile, this structure, compared to the first switch which is solely directed to the horizontal advancing direction of the autonomous cleaning apparatus, at the time of collision facing the left and right front, the included angle between the key orientation and the collision direction of the corresponding first switch is smaller, the induction is more sensitive, and the problem that the single first switch is insensitive to the collision induction of the left front part and the right front part is solved.

Further preferably, the keys of the two first switches are oriented at an angle of 30-60 degrees relative to the horizontal advancing direction of the autonomous cleaning device, and the collision sensing sensitivity of each angle is more average.

Further preferably, there is a horizontal gap between the cover and the housing that allows the cover to move to trigger the first switch, the autonomous cleaning apparatus further comprising: the horizontal elastic reset piece is used for resetting the horizontal displacement of the cover body and is arranged between the cover body and the shell. The horizontal displacement of lid can reset after the lid stress state is cancelled to the setting of horizontal elasticity piece that resets to rotate the structure of connection on the casing for the lid, the structure that has horizontal clearance and horizontal elasticity piece that resets can cushion, has reduced the lid to furniture and cleaning device's destruction when colliding to furniture.

Further preferably, the horizontal elastic restoring member includes: a mounting frame; the reset buttons are in one-to-one correspondence with the first switches, and the orientation of the reset buttons is the same as that of the keys of the first switches. Through setting up the button that resets that corresponds with first switch one-to-one, and the same with its button orientation, can reset the horizontal displacement of lid after the lid atress state cancels.

Further preferably, each of the reset buttons includes: a first bulge extends from the mounting frame along the direction of the reset button, and an action end of the compression spring is sleeved with the first bulge; the movable part is provided with a second bulge, and the other acting end of the compression spring is sleeved with the second bulge so as to reset the movable part when the reset button is not stressed. The two ends of the compression spring are respectively sleeved on the first protrusion and the second protrusion, so that the radial movement of the compression spring is limited, and the reset can be realized through the movable part.

Further preferably, the housing has at least two first mounting grooves, the first mounting grooves correspond to the first switches one by one, and the length direction of the first mounting grooves is the same as the direction of the compression spring; first mounting groove is the cuboid shape, reset button is the cuboid shape, the width of first mounting groove with reset button's width looks adaptation, first mounting groove length is less than reset button's length makes reset button with first mounting groove elastic connection. Set up first mounting groove and reset button elastic connection, it is more convenient to install, will reset the button during installation press to first mounting groove can to be elastic connection between the two, have certain interact power, can not rock at will when independently cleaning device moves.

Further preferably, the action part is provided with at least two first pressing plates, the first pressing plates correspond to the first switches one to one, the switches are arranged on the shell, the direction of the pressing surface of the first pressing plate is the same as that of the keys of the first switches, and the first pressing plate is positioned on one side of the first switches facing the advancing direction of the autonomous cleaning equipment so as to trigger the first switches when the cover body is horizontally displaced; the cover body is provided with at least two second pressing plates, the second pressing plates correspond to the reset buttons one to one, the direction of the pressing surface of each second pressing plate is the same as that of the reset button, and the first pressing plate is located on one side, facing the advancing direction of the autonomous cleaning equipment, of the reset button so as to reset the cover body after the horizontal acting force on the cover body is cancelled. The first switch that corresponds can be pressed to the setting of first clamp plate, and the setting of second clamp plate can be pressed the second clamp plate by reset button when cancelling the atress and drive the lid and reset.

Further preferably, the button of the first switch is oriented at an angle greater than 0 degrees and less than 90 degrees from horizontal. The first switch can also detect the activity from top to bottom, and the switch with the vertical direction in the orientation can be not required to be arranged.

Further preferably, the switch comprises at least one second switch that can be triggered in a vertical direction; the action part is also provided with at least one third bulge, and the third bulges correspond to the second switches one by one so as to trigger the second switches when the cover body is vertically displaced. The second switch and the first switch are matched to realize the downward and backward displacement of the detection cover body.

Further preferably, a vertical gap allowing the cover to move to trigger the switch is formed between the cover and the housing, and a vertical elastic resetting piece for resetting the cover to move in the vertical direction is arranged between the cover and the housing. The vertical elastic reset piece of setting can reset the vertical displacement of lid after the stress state of lid cancels.

Further preferably, the cover body and the shell are elastically connected through the vertical elastic resetting piece, and vertical shaking cannot occur randomly during cleaning of the autonomous cleaning equipment.

Further preferably, the autonomous cleaning device further comprises: the control part is used for executing the action of getting rid of poverty and is arranged on the shell, and the control part is electrically connected with the switch; the sensing assembly is electrically connected with the control part and is positioned in the cover body and protrudes out of the top of the shell to sense the surrounding environmental information of the autonomous cleaning equipment. Through setting up the control part that carries out the action of getting rid of poverty, the control part with the switch electricity is connected, can control autonomic cleaning equipment when the switch is triggered and carry out the action of getting rid of poverty.

Compared with the prior art, the autonomous cleaning equipment has the advantages that the shell and the cover body are arranged, the cover body and the shell body are connected to move downwards and backwards relative to the shell body, and the cover body is provided with the action part; by arranging the switch, the trigger position of the switch is positioned on the moving path of the action part, the cover body can trigger the switch through the action part in the moving process, the cover body protrudes from the top of the shell, and when the automatic cleaning equipment is used, the cover body protruding from the top of the shell can move in a corresponding direction when acted force is applied or backwards applied to the cover body in the moving process of the automatic cleaning equipment, so that the action part is driven to trigger the switch, the structure can detect not only downward movement of the cover body, but also backwards movement, the problem that the traditional detection assembly cannot detect the translation of the cover body is solved, and the detection range is increased; the switch comprises at least two first switches capable of being triggered in the horizontal direction, the horizontal circumferential triggering range formed by all the first switches is larger than or equal to 180 degrees, the detection range of the horizontal circumferential triggering range is larger than or equal to 180 degrees by arranging the at least two first switches, the range of horizontal movement detection of the cover body is increased, and the detection range is further improved. The autonomous cleaning device of the utility model has the characteristic of a large detection range.

For a better understanding and practice, the utility model is described in detail below with reference to the accompanying drawings.

Drawings

FIG. 1 is a three-dimensional block diagram of the autonomous cleaning apparatus of the present invention;

FIG. 2 is a three-dimensional exploded view of the housing and cover;

FIG. 3 is a schematic view showing the connection between the housing and the cover;

fig. 4 is a partially enlarged view of a region B in fig. 3;

FIG. 5 is a three-dimensional structural view of the cover;

fig. 6 is a schematic structural view of a horizontal elastic reset piece;

fig. 7 is a partially enlarged view of a region a in fig. 2;

fig. 8 is a partially enlarged view of the region C in fig. 6;

fig. 9a to 9d show four further embodiments of the switch.

Detailed Description

The terms of orientation of up, down, left, right, front, back, top, bottom, and the like, referred to or may be referred to in this specification, are defined relative to their configuration, and are relative concepts. Therefore, it may be changed according to different positions and different use states. Therefore, these and other directional terms should not be construed as limiting terms.

The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

The autonomous cleaning device can be classified into a commercial autonomous cleaning device and a household autonomous cleaning device according to purposes, and can be classified into an autonomous cleaning device such as a sweeper, a mopping machine, a floor washing machine and the like according to types.

The lower side is a vertical downward direction, the rear side refers to a direction which is centered on the autonomous cleaning device and is opposite to a traveling direction of the autonomous cleaning device, and the rear side may be any one of a rear lower side, a horizontal rear side and a rear upper side.

Specifically, the rear-lower direction refers to a direction opposite to the traveling direction and inclined downward, and the inclined angle may be any positive angle smaller than 90 degrees, such as 10 degrees, 30 degrees, 50 degrees, or 80 degrees, and the rear-lower direction may be a rear-lower direction on the left side, a rear-lower direction on the right side, or a direction opposite to the traveling direction of the autonomous cleaning apparatus, that is, a straight rear-lower direction. Similarly, the horizontal rear direction may be a horizontal rear direction on the left side with the traveling direction as the front with the autonomous cleaning apparatus as the center, may be a horizontal rear direction on the right side, or may be a direction opposite to the traveling direction, that is, a direction right behind the horizontal direction.

Examples

As shown in fig. 1 and 2, fig. 1 is a three-dimensional structural view of an autonomous cleaning apparatus of the present invention, and fig. 2 is a three-dimensional exploded view of a housing and a cover.

The autonomous cleaning apparatus of the present invention comprises:

the device comprises a shell 1, wherein the shell 1 can comprise an upper shell and a lower shell, and functional components such as a traveling wheel assembly, a rolling brush assembly, an air duct assembly, a dust box assembly, a front collision assembly and the like can be borne between the upper shell and the lower shell;

the cover body 2 is arranged on the shell 1 and protrudes from the top of the shell 1, and the cover body 2 is connected with the shell 1 to be capable of moving downwards and backwards relative to the shell 1; the cover 2 has an active portion 21, which active portion 21 may be a first pressure plate, the active portion 21 being shown in particular in fig. 5.

The trigger position of the switch 3 is on the moving path of the action part 21, and the cover body 2 can trigger the switch 3 through the action part 21 in the moving process. The switch 3 comprises at least two first switches 31 capable of being triggered in the horizontal direction, and a second switch 32 capable of being triggered in the vertical direction is optionally arranged, and the horizontal circumferential triggering range formed by all the first switches 31 is larger than or equal to 180 degrees. The switch 3 may be a contact switch 3 such as a microswitch 3 or a tact switch 3, or may be a non-contact inductive switch 3 such as a hall switch 3. In this embodiment, the first switch 31 is a touch switch 3, the action part 21 can trigger the first switch 31 when moving to the triggering position during the movement, and at this time, the button or the action reed of the first switch 31 is also located on the moving path of the action part 21, specifically, the orientation of the first switch 31 can be seen in fig. 7, 9a to 9d, at this time, the first switch 31 can be a forward first switch 31, that is, the first switch 31 is preferably oriented in the traveling direction of the autonomous cleaning apparatus, and all the first switches 31 are preferably touch switches, and the first switch 31 has a button. In other embodiments, the first switch 31 is a non-contact inductive switch 3, and a magnet is disposed on the action portion 21, and when the action portion 21 moves to a triggering position where the magnet can be sensed, the first switch 31 is triggered, and the triggering position is a sensing position where the magnet can be sensed.

In this embodiment, at least two first switches 31 can be used, and the second switch 32 can cooperate to complete the activation position of the switch 3 in the path of movement of the activation portion 21, see fig. 7. In other embodiments, at least two first switches 31 may be used to complete the trigger position of the switch 3 on the moving path of the acting part 21, or different orientations of the first switches 31 may be used to form different detection ranges, as shown in fig. 8a to 9 d.

And the sensing component 4 is electrically connected with the control part, and the sensing component 4 is positioned in the cover body 2 and protrudes out of the top of the shell 1 so as to sense the environmental information around the autonomous cleaning equipment. The sensing component 4 may be a sensor such as a laser radar, a TOF sensor, a structured light sensor, an ultrasonic sensor, etc., and may be a single sensor or a sensor module formed by at least two sensors. The perception component 4 is used for perceiving environmental information characteristics of distance, position, image characteristics, contour or straight line, and the like in single or multiple combinations.

For more intelligent handling of the situation of the dead self-cleaning device, the self-cleaning device can be set to detect collision through the switch 3, the self-cleaning device can be configured to perform the action of getting rid of the trouble, and when the cover body 2 is detected to be collided, the self-cleaning device performs the action of getting rid of the trouble. In particular, the autonomous cleaning device further comprises: the control part is used for executing the action of getting rid of poverty, the control part is arranged on the shell 1, and the control part is electrically connected with the switch 3; through setting up the control part, the control part is connected with switch 3 electricity, and after switch 3 was triggered, the control part received the signal that switches on to the output is carried out and is if stop to clean, shut down, move to the rear or side, turned angle cleans and so on the action of getting rid of poverty, and perception subassembly 4 is located in lid 2, lid 2 can be used for protecting perception subassembly 4.

When the automatic cleaning device is used, in the moving process of the automatic cleaning device, if the cover body 2 protruding from the top of the shell 1 is acted by or moves backwards, the cover body can move in the corresponding direction, so that the action part 21 is driven to trigger the switch 3, the structure can not only detect the downward movement of the cover body 2, but also detect the backward movement, the problem that the traditional detection assembly cannot detect the translation of the cover body 2 is solved, and the detection range is increased; the switch 3 comprises at least two first switches 31 which can be triggered in the horizontal direction, the horizontal circumferential triggering range formed by all the first switches 31 is larger than or equal to 180 degrees, the detection range of the horizontal circumferential triggering range which is larger than or equal to 180 degrees is formed by arranging the at least two first switches 31, the range of horizontal movement detection of the cover body 2 is increased, and the detection range is further improved.

Considering that the cover body 2 needs to be restored after being collided, a horizontal elastic restoring piece 5 and a vertical elastic restoring piece 6 are preferably arranged, particularly as shown in fig. 3, considering that relative movement between the cover body 2 and the shell body 1 needs to be enabled, a gap is reserved between the cover body 2 and the shell body, and a limiting installation piece 7 is adopted for connection, particularly as shown in fig. 4.

As shown in fig. 3 and 4, fig. 3 is a schematic view showing a connection relationship between the case and the cover, and fig. 4 is a partially enlarged view of a region B in fig. 3;

in order that the cover body 2 can move relative to the shell 1, a gap can be reserved between the cover body 2 and the shell 1, elastic connection is adopted, and the limit of the upward moving range of the cover body 2 is carried out by using a limit mounting piece 7. Specifically, a horizontal gap d1 is provided between the cover 2 and the housing 1 to allow the cover 2 to move to trigger the first switch 31, the autonomous cleaning apparatus further includes a horizontal elastic reset member 5 for resetting the horizontal displacement of the cover 2, and the horizontal elastic reset member 5 is disposed between the cover 2 and the housing 1. The horizontal elastic reset piece 5 is arranged to reset the horizontal displacement of the cover body 2 after the stress state of the cover body 2 is cancelled, and the structure with the horizontal gap d1 and the horizontal elastic reset piece 5 can buffer relative to the structure of the cover body 2 which is rotationally connected to the shell 1, so that the damage to furniture and cleaning equipment when the cover body 2 collides with the furniture is reduced. A vertical gap d2 allowing the cover 2 to move to trigger the switch 3 is formed between the cover 2 and the housing 1, and a vertical elastic reset piece 6 for resetting the vertical displacement of the cover 2 is arranged between the cover 2 and the housing 1. The vertical elastic reset piece 6 can reset the vertical displacement of the cover body 2 after the stress state of the cover body 2 is cancelled.

In order to cooperate with the horizontal reset of the cover body 2, the acting part 21 is provided with at least two first pressing plates, the first pressing plates correspond to the first switches 31 one by one, and when the cover body 2 is horizontally displaced, the acting part 21 triggers the first switches 31; the cover 2 has at least two second pressing plates 22, the second pressing plates 22 correspond to the reset buttons 52 one by one, the reset buttons 52 can be seen in fig. 6, and after the horizontal acting force on the cover 2 is cancelled, the horizontal elastic reset piece 5 pushes the second pressing plates 22 to reset the cover 2. The first pressing plate is arranged to press the corresponding first switch 31, and the second pressing plate 22 is arranged to press the second pressing plate 22 to drive the cover 2 to reset by the reset button 52 when the force is removed. The first and second platens 22 are seen in particular in fig. 5. The mounting of the horizontal elastic return element 5 and the vertical elastic return element 6 can be seen in fig. 5 to 7.

It should be noted that, in the present embodiment, the switch 3 includes at least one second switch 32 capable of being triggered in the vertical direction to match the vertical reset, the number of the second switches 32 is preferably 2, and the second switches are distributed on the left side and the right side of the sensing assembly 4, the acting portion 21 further has at least one third protrusion 25, and the third protrusions 25 are in one-to-one correspondence with the second switches 32 to trigger the second switches 32 when the cover 2 is displaced vertically, and the third protrusion can be seen in fig. 5. The second switch 32 and the first switch 31 are provided to cooperate to detect the downward and rearward displacement of the cover 2.

Considering independently cleaning device 2's stationarity in the operation process, promptly for lid 2 when not receiving collision or extrusion, lid 2 can compress tightly on casing 1, realize independently cleaning device at the effect that lid 2 can not rock at will of the in-process of marcing, in this embodiment, still adopt horizontal elasticity to reset piece 5 and vertical elasticity to reset piece 6 will lid 2 with casing 1 carries out elastic connection, can not take place vertical rocking at will when independently cleaning device cleaning operation. At this time, when the cover 2 is not squeezed or collided, the horizontal elastic restoring member 5 applies a horizontal elastic acting force to the cover 2, and the vertical elastic restoring member 6 applies a vertical elastic acting force to the cover 2, so that the cover 2 and the housing 1 are relatively fixed by the elastic acting forces in two directions. Specifically, the horizontal elastic restoring member 5 may be a compression spring horizontally disposed, and the vertical elastic restoring member 6 may be a compression spring vertically disposed. The elastic connection can be realized by reserving gaps in the horizontal and vertical directions between the cover body 2 and the shell body 1, namely reserving a horizontal gap d1 and a vertical gap d2, arranging a horizontal elastic reset piece 5 between the cover body 2 and the shell body 1 in the horizontal direction, and arranging a vertical elastic reset piece 6 between the cover body 2 and the shell body 1 in the vertical direction, so that when the cover body 2 is under the action of external force and horizontal impact occurs, the cover body 2 overcomes the elastic acting force of the horizontal elastic reset piece 5, horizontally moves backwards, and when the external force is cancelled, the original position is restored through the elastic acting force of the horizontal elastic reset piece 5; when the cover body 2 is moved downward by the action force of the external force, the cover body 2 overcomes the elastic action force of the vertical elastic reset piece 6 to move downward, and when the external force is cancelled, the original position is restored by the elastic action force of the vertical elastic reset piece 6. When the cover body 2 moves backwards and downwards, the horizontal elastic reset piece 5 and the vertical elastic reset piece 6 work together.

Certainly, in another embodiment, the cover 2 and the housing 1 may not be elastically connected through the vertical elastic restoring member 6 and the horizontal elastic restoring member 5, at this time, the vertical elastic restoring member 6 and the horizontal elastic restoring member 5 are used for restoring horizontal backward movement and backward movement of the cover 2, during the operation of the autonomous cleaning apparatus, the cover 2 may move relative to the housing 1, and the vertical elastic restoring member 6 and the horizontal elastic restoring member 5 may restore the movement of the cover 2 caused by extrusion or collision when the cover 2 is extruded or collided, although the cover 2 in this connection manner can also restore the movement of the cover 2 caused by external force, when the cover 2 is not subjected to the external force of extrusion or collision, the elastic pressing force is not applied between the cover 2 and the housing 1 through a spring, and the cover 2 is very prone to shaking during the whole operation, and generates noise.

In consideration of the requirement of limiting the upward movable range of the cover body 2, in the embodiment, the autonomous cleaning device further comprises a limiting installation part 7, the limiting installation part 7 is provided with a rod part 71, the cover body 2 is provided with an installation hole 23, the shell 1 is provided with an installation part 13, and the rod part 71 penetrates through the installation hole 23 and is fixedly connected with the installation part 13; the limiting installation part 7 is further provided with a head part 72, the head part 72 is connected with the rod part 71, a limiting part 24 extends towards the center of the installation hole 23 in the installation hole 23, and the limiting part 24 is positioned below the head part 72 to limit the upward moving range of the cover body 2; the installation department 13 with the clearance that has the horizontal direction between the spacing portion 24, the clearance does horizontal clearance d1, this spacing portion 24 can be spacing hole, and this installation department 13 can be bellied erection column, sets up the screw hole in this erection column and is connected with pole portion 71, forms horizontal clearance d1 between the outer wall of this erection column and the inner wall in spacing hole. By providing the limit mounting member 7, the rod portion 71 thereof can be fixedly connected to the housing 1, the head portion 72 thereof can limit the upward movement range of the cover body 2, and a horizontal movement gap is formed between the mounting portion 13 and the limit portion 24, so that the cover body 2 can move in the horizontal direction with respect to the housing 1. In addition, the size of the range of movement of the lid body 2 in the downward direction and the size of the range of movement in the horizontal direction can be adjusted by the size of the vertical gap d2 and the horizontal gap d 1.

Specifically, the limiting mounting member 7 may be, for example, an integrally connected limiting mounting member 7 of a meson head screw, and at this time, the head 72 is the head 72 of the meson head screw; the limiting installation part 7 can also be a common screw or bolt, and at the moment, the head 72 is the head 72 of the common screw or bolt; of course, the limiting installation member 7 may also be a split structure in which a common screw or bolt and an elastic gasket disposed under the head 72 of the common screw or bolt are connected, at this time, the head 72 is the head 72 of the common screw or bolt and the elastic gasket, on one hand, the diameter of the head 72 is increased by the elastic gasket, and the elastic gasket can be better matched with the installation hole 23 to limit the upward movement range of the cover body 2, and on the other hand, by increasing the diameter of the elastic gasket, the diameter of the elastic gasket is larger than the movement gap in the horizontal direction between the installation portion 13 and the limiting portion 24, and the horizontal gap d1 can be reduced.

As shown in fig. 5 to 7, fig. 5 is a three-dimensional structural view of the cover, fig. 6 is a structural view of the horizontal elastic restoring member, and fig. 7 is a partially enlarged view of a region a in fig. 2.

In the present embodiment, the number of the first switch 31, the second switch 32, the first pressing plate and the second pressing plate 22 is two, the number of the horizontal elastic reset pieces 5 is one, and the horizontal elastic reset pieces 5 include two reset keys; the number of the first mounting grooves 11 for mounting the reset button 52 on the housing 1, and the number of the vertical elastic reset pieces 6 and the third protrusions 25 for pressing the second switch 32 on the cover 2 are two.

The acting part 21 may be at least two first pressing plates, the number of the first pressing plates corresponds to that of the first switches 31 one by one, the switches 3 are arranged on the housing 1, the pressing surface of the first pressing plates faces the same direction as the keys of the first switches 31, and the first pressing plates are located on one side of the first switches 31 facing the advancing direction of the autonomous cleaning device, so as to trigger the first switches 31 when the cover 2 is horizontally displaced;

the pressing surface of the second pressing plate 22 is oriented in the same direction as the reset button 52, and the first pressing plate is located on the side of the reset button 52 facing the advancing direction of the autonomous cleaning apparatus, so as to reset the cover 2 after the horizontal acting force on the cover 2 is cancelled.

During the use, when lid 2 receives the collision, lid 2 drives first clamp plate and presses first switch 31 and move first switch 31 in order to go out first switch 31, wherein, when lid 2 receives the collision of left place ahead, the first switch 31 of button orientation left place ahead triggers switch 3 earlier, and when lid 2 received the collision of right place ahead, the first switch 31 of button orientation right place ahead triggers switch 3 earlier, and its detection scope is bigger than single first switch 31 towards the place ahead to it is more sensitive. After the cover 2 is relieved of the force of collision, the horizontal elastic reset piece 5 pushes the second pressing plate 22 to drive the cover 2 to reset.

The cover body 2 further comprises a limiting part 24, and the limiting part 24 and the limiting mounting part 7 are matched to limit the horizontal moving range and the vertical moving range of the cover body 2.

In this embodiment, the horizontal elastic restoring member 5 includes:

the mounting rack 51 can be detachably connected with the shell 1 through threaded connection, and can also be clamped with the first mounting groove 11 of the shell 1 through a reset key;

at least two reset buttons 52, the reset buttons 52 correspond to the first switches 31 one by one, and the orientation of the reset buttons 52 is the same as the orientation of the keys of the first switches 31. By providing the reset button 52 corresponding to the first switch 31 in one-to-one correspondence and having the same key orientation, the horizontal displacement of the cover 2 can be reset after the force state of the cover 2 is cancelled. The specific structure of the reset button 52 can be seen in fig. 8.

The housing 1 has at least two first mounting grooves 11, the first mounting grooves 11 correspond to the first switches 31 one by one, and the length direction of the first mounting grooves 11 is the same as the direction of the compression spring; first mounting groove 11 is the cuboid shape, reset button 52 is the cuboid shape, the width of first mounting groove 11 with reset button 52's width looks adaptation, first mounting groove 11 length is less than reset button 52's length makes reset button 52 with first mounting groove 11 elastic connection. Set up first mounting groove 11 and reset button 52 elastic connection, it is more convenient to install, during the installation with reset button 52 press to first mounting groove 11 can to be elastic connection between the two, have certain interact power, can not rock at will when independently cleaning device moves. In other embodiments, the first mounting groove 11 and the first switch 31 may be oriented at an angle, such as 5 degrees to 60 degrees, specifically, 5 degrees, 10 degrees, 20 degrees, etc. At this time, the orientation of the second pressing plate 22 may be the same as the orientation of the first mounting groove 11, and may also have an included angle of 5 degrees to 60 degrees.

Fig. 7 shows two first switches 31, the horizontal circumferential triggering range being a continuous horizontal circumferential triggering range, and one first switch 31 facing the front left and one first switch 31 facing the front right.

In the present embodiment, the horizontal circumferential triggering range of the two first switches 31 is a continuous horizontal circumferential triggering range. The continuous horizontal circumferential trigger range is greater than or equal to 180 degrees, the detection range is further improved, and for example, when the autonomous cleaning device faces the traveling direction, not only the forward collision but also the lateral collision can be detected. Wherein, the orientation of one of the first switches 31 has an angle greater than 0 degree and less than 90 degrees with respect to the horizontal forward direction of the autonomous cleaning device, and different horizontal circumferential trigger ranges can be formed by setting the orientations of different first switches 31. In particular, the two first switches 31 are each oriented at an angle greater than 0 degrees and less than 90 degrees with respect to the horizontal advancement direction of the autonomous cleaning apparatus, one of the first switches 31 has its key oriented to the left with respect to the horizontal advancement direction of the autonomous cleaning device, the other key of the first switch 31 is oriented rightward with respect to the horizontal direction of travel of the autonomous cleaning apparatus, forms a traveling direction toward the autonomous cleaning apparatus and is capable of detecting left and right impacts ahead of the horizontal direction of travel of the autonomous cleaning apparatus, meanwhile, this structure, compared to the first switch 31 which is solely directed to the horizontal forward direction of the autonomous cleaning apparatus, at the time of collision facing the left and right front, the included angle between the key orientation and the collision direction of the corresponding first switch 31 is smaller, the induction is more sensitive, and the problem that the collision induction of a single first switch 31 facing to the left front and the right front is insensitive is solved.

Moreover, the housing 1 is provided with a first positioning groove 12 adapted to the shape of the cover 2, and the cover 2 can be directly placed on the first positioning groove 12 of the cover 2 without time and labor consuming alignment. The casing is provided with a second mounting groove 14 for mounting the vertical elastic reset piece 6, the vertical elastic reset piece 6 can be a compression spring, the second mounting groove 14 can be provided with a bulge, the compression spring is sleeved on the second mounting groove 14, a bulge is also arranged at a corresponding position on the cover body 2, and the horizontal movement of the compression spring is limited by the two bulges. The acting part 21 is further provided with at least one third protrusion 25, and the third protrusions 25 correspond to the second switches 32 one by one. Casing 1 has installation department 13, and installation department 13 is two at least bellied erection columns, and all erection columns are setting up around lid 2, for example can set up four edges and corners that four erection columns set up on first constant head tank 12.

Preferably, the two first switches 31 are oriented at an angle of 30-60 degrees with respect to the horizontal advancing direction of the autonomous cleaning device, and the collision sensing sensitivity of each angle is more average.

In other embodiments, the horizontal circumferential detection ranges of the two keys of the first switch 31 may not overlap, or a vertical collision may also be detected, as shown in fig. 9a to 9 d.

As shown in fig. 8, fig. 8 is a partially enlarged view of the region C in fig. 6.

Each of the reset buttons 52 includes: a compression spring, wherein a first protrusion 511 extends from the mounting bracket 51 along the direction of the reset button 52, and an action end of the compression spring is sleeved with the first protrusion 511; the movable part 521, the movable part 521 has a second protrusion 522, and the other acting end of the compression spring is sleeved with the second protrusion 522 so as to reset the movable part 521 when the reset button 52 is not stressed. The two ends of the compression spring are respectively sleeved on the first protrusion 511 and the second protrusion 522, so that the radial movement of the compression spring is limited, and the return can be realized through the movable part 521. The compression spring can also be tightly sleeved on the first protrusion 511 and the second protrusion 522, for example, the first protrusion 511 and the second protrusion 522 are cross-shaped protrusions, and the maximum outer diameters of the first protrusion 511 and the second protrusion 522 are matched with the inner diameter of the compression spring, so that the compression spring is clamped by the cross-shaped protrusions to connect the movable part 521 and the mounting frame 51.

Fig. 9a to 9d show four further embodiments of the switch, as shown in fig. 1 in combination with fig. 9a to 9 d.

Fig. 9a shows that the horizontal circumferential detection ranges of the two first switches 31 are consecutive and wherein the keys of one of the first switches 31 are oriented with an angle larger than 0 degrees and smaller than 90 degrees with respect to the horizontal forward direction of the autonomous cleaning device.

In addition, the first switch 31 may be directed to the horizontal proceeding direction of the autonomous cleaning apparatus, and in this case, the detection range may be expanded as compared to the case where the first switch 31 directed to the horizontal proceeding direction of the autonomous cleaning apparatus is separately provided.

Fig. 9b shows that the horizontal circumferential detection range of the two first switches 31 is continuous, with the keys of one first switch 31 facing in the horizontal forward direction of the autonomous cleaning device and the keys of the other first switch 31 facing in the right left direction. Certainly, a first switch 31 may be further disposed on the right side, or a first switch 31 may be disposed on both the right side and the left side of the front direction and the rear direction, and the detection range is 360 degrees horizontal omni-directional detection.

Fig. 9c shows that the horizontal circumferential detection ranges of the two first switches 31 are intermittent and cannot be detected when the cover 2 is collided with right left and right rear sides, but the detection range can be expanded as compared with the case where the first switches 31 are separately provided toward the horizontal forward direction of the autonomous cleaning apparatus, and collision in backward movement can be detected.

Fig. 9d shows a structure in which two first switches 31 can also detect downward movement of the cover 2, which is different from the embodiment shown in fig. 7 in that the orientation of the button having the first switch 31 is different from the horizontal plane by an included angle greater than 0 degree and less than 90 degrees, and the first switch 31 can also detect downward movement from above, and at this time, it is not necessary to provide the switch 3 whose orientation is vertical.

The first switch 31 and the second switch 32 in the above embodiments may be mounted by installing a mounting groove on the housing 1, or a plurality of protrusions are arranged on the housing 1 to form a clip, so as to clip the first switch 31 and the second switch 32, or may be fixed by gluing or the like.

Compared with the prior art, the autonomous cleaning equipment has the advantages that by arranging the shell 1 and the cover body 2, the cover body 2 is connected with the shell 1 to be capable of moving downwards and backwards relative to the shell 1, and the cover body 2 is provided with the action part 21; by arranging the switch 3, the trigger position of the switch 3 is located on the moving path of the action part 21, the cover body 2 can trigger the switch 3 through the action part 21 in the moving process, the cover body 2 protrudes from the top of the shell 1, and when the automatic cleaning device is used, in the moving process of the automatic cleaning device, the cover body 2 protruding from the top of the shell 1 can move in the corresponding direction when being subjected to or under a backward acting force, so that the action part 21 is driven to trigger the switch 3, the structure can not only detect the downward movement of the cover body 2, but also can detect the backward movement, the problem that the traditional detection assembly cannot detect the translation of the cover body 2 is solved, and the detection range is increased; the switch 3 comprises at least two first switches 31 which can be triggered in the horizontal direction, the horizontal circumferential triggering range formed by all the first switches 31 is larger than or equal to 180 degrees, the detection range of the horizontal circumferential triggering range which is larger than or equal to 180 degrees is formed by arranging the at least two first switches 31, the horizontal movement detection range of the cover body 2 is increased, and the detection range is further improved. The autonomous cleaning device of the utility model has the characteristic of a large detection range.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims

1. An autonomous cleaning apparatus, characterized in that it comprises:

a housing;

the cover body is arranged on the shell and protrudes from the top of the shell, and the cover body and the shell are connected to move downwards and backwards relative to the shell; the cover body is provided with an acting part;

the trigger position of the switch is positioned on the moving path of the action part, and the cover body can trigger the switch through the action part in the moving process; the switch comprises at least two first switches capable of being triggered in the horizontal direction, and the horizontal circumferential triggering range formed by all the first switches is larger than or equal to 180 degrees.

2. The autonomous cleaning apparatus of claim 1, wherein the horizontal circumferential trigger range is a continuous horizontal circumferential trigger range.

3. The autonomous cleaning apparatus of claim 2, wherein all of the first switches are contact switches having keys, wherein a key of a first switch is oriented at an angle greater than 0 degrees and less than 90 degrees relative to a horizontal forward direction of the autonomous cleaning apparatus.

4. The autonomous cleaning apparatus of claim 3, wherein the keys of both of the first switches are oriented at an angle greater than 0 degrees and less than 90 degrees relative to the horizontal forward direction of the autonomous cleaning apparatus, wherein the key of one of the first switches is oriented to the left relative to the horizontal forward direction of the autonomous cleaning apparatus and the key of the other of the first switches is oriented to the right relative to the horizontal forward direction of the autonomous cleaning apparatus.

5. The autonomous cleaning apparatus of claim 4, wherein the keys of both of the first switches are oriented at an angle of between 30 and 60 degrees relative to the horizontal forward direction of the autonomous cleaning apparatus.

6. The autonomous cleaning apparatus of claim 1, wherein the cover and the housing have a horizontal gap therebetween that allows the cover to move to activate the first switch, the autonomous cleaning apparatus further comprising:

the horizontal elastic reset piece is used for resetting the horizontal displacement of the cover body and is arranged between the cover body and the shell.

7. The autonomous cleaning apparatus of claim 6, wherein the horizontal resilient return comprises:

a mounting frame;

the reset buttons are in one-to-one correspondence with the first switches, and the orientation of the reset buttons is the same as that of the keys of the first switches.

8. The autonomous cleaning apparatus of claim 7, wherein each reset button comprises:

a first bulge extends from the mounting frame along the direction of the reset button, and an action end of the compression spring is sleeved with the first bulge;

the movable part is provided with a second bulge, and the other acting end of the compression spring is sleeved with the second bulge so as to reset the movable part when the reset button is not stressed.

9. The autonomous cleaning apparatus of claim 8, wherein the housing has at least two first mounting slots, the first mounting slots corresponding to the first switches one to one, a length direction of the first mounting slots being the same as an orientation of the compression spring;

first mounting groove is the cuboid shape, reset button is the cuboid shape, the width of first mounting groove with reset button's width looks adaptation, first mounting groove length is less than reset button's length makes reset button with first mounting groove elastic connection.

10. The autonomous cleaning apparatus of claim 7, wherein the action portion has at least two first pressing plates, the first pressing plates correspond to the first switches one by one, the switches are disposed on the housing, the pressing surfaces of the first pressing plates face the same direction as the keys of the first switches, and the first pressing plates are located on one side of the first switches facing the advancing direction of the autonomous cleaning apparatus, so as to trigger the first switches when the cover body is displaced horizontally;

the cover body is provided with at least two second pressing plates, the second pressing plates correspond to the reset buttons one to one, the direction of the pressing surface of each second pressing plate is the same as that of the reset button, and the first pressing plate is located on one side, facing the advancing direction of the autonomous cleaning equipment, of the reset button so as to reset the cover body after the horizontal acting force on the cover body is cancelled.

11. The autonomous cleaning apparatus of claim 1, wherein the button of the first switch is oriented at an angle greater than 0 degrees and less than 90 degrees from horizontal.

12. The autonomous cleaning apparatus of any of claims 1-10, wherein the switch comprises at least one second switch that can be triggered in a vertical direction;

the action part is also provided with at least one third bulge, and the third bulges correspond to the second switches one by one so as to trigger the second switches when the cover body is vertically displaced.

13. The autonomous cleaning apparatus of claim 12, wherein a vertical gap is provided between the cover and the housing to allow the cover to move to trigger the switch, and a vertical elastic reset member is provided between the cover and the housing to reset the cover to move in a vertical direction.

14. The autonomous cleaning apparatus of claim 13, wherein the cover and the housing are resiliently connected by the vertical resilient return.

15. The autonomous cleaning apparatus of claim 1, further comprising:

the control part is used for executing the action of getting rid of poverty and is arranged on the shell, and the control part is electrically connected with the switch;

the sensing assembly is electrically connected with the control part and is positioned in the cover body and protrudes out of the top of the shell to sense the surrounding environmental information of the autonomous cleaning equipment.