CN216364921U - Collision protection structure and robot of sweeping floor - Google Patents

Abstract

The application discloses a collision protection structure and a sweeping robot, wherein the collision protection structure comprises a collision protection plate and at least two pressure sensing elements, and the pressure sensing elements are connected to the inner wall surface of the collision protection plate; the pressure sensing element is used for sensing the condition of the collision protection plate when the collision protection plate collides with an external obstacle; the sweeping robot comprises a collision protection structure and a shell, wherein the shell is the collision protection plate or comprises the collision protection plate and a shell main body, and the collision protection plate is arranged on the shell main body; in this application, collision protection structure occupies robot housing space of sweeping floor still less, and the sensing of collision protection structure is more sensitive.

Description

Collision protection structure and robot of sweeping floor

Technical Field

The application relates to the technical field of robots, in particular to a collision protection structure and a floor sweeping robot.

Background

The floor sweeping robot is one kind of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. The obstacle avoidance function of the sweeping robot is one of important research subjects of the sweeping robot, and the better obstacle avoidance system represents that the sweeping robot has higher intelligent level.

The collision protection structure is a part of the obstacle avoidance system of the sweeping robot, and has the main functions of sensing whether the sweeping robot collides with an external obstacle, acquiring a collision signal, feeding the collision signal back to a control system of the sweeping robot, and providing parameters for a steering system of the sweeping robot.

As shown in fig. 1, the robot of sweeping the floor among the prior art senses whether collision protection plate 10 is deformed due to collision through a mechanical structure, specifically, two mechanical structures 60 are all arranged in the shell of the robot of sweeping the floor and abut against collision protection plate 10, and when collision protection plate 10 collides with an external obstacle, mechanical structure 60 is touched, however, mechanical structure 60 occupies too much shell space of the robot of sweeping the floor, and it can sense the external obstacle only when it needs to collide with the external obstacle violently, so that the robot of sweeping the floor senses the external obstacle insufficiently sensitively.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a collision protection structure, it occupies the casing space that robot sweeps floor still less, and the collision protection structure sensing outside barrier is more sensitive.

In a first aspect, embodiments of the present application provide a collision protection structure, which is applied to a sweeping robot,

the method comprises the following steps:

a collision protection plate;

at least two pressure sensing elements connected to an inner wall surface of the collision protection plate;

when the collision protection plate collides with an external obstacle, the pressure sensing element is used for sensing the collision condition of the collision protection plate.

Based on the collision protection structure of the embodiment of the application, the collision protection plate deforms after colliding with an external obstacle in the advancing process of the sweeping robot, the deformation generated by the collision protection plate presses the pressure sensitive element in the pressure sensing element to change the resistance value of the pressure sensitive resistor, the current passing through the pressure sensing element changes, at the moment, a current difference value exists between the current passing through the pressure sensing element after being pressed and the current passing through the pressure sensing element when not being pressed, and the control system of the sweeping robot determines the collision position of the sweeping robot by comparing the current difference values of the pressure sensing elements, so that the sweeping robot can accurately judge the collision position with the external obstacle, and further the steering of the sweeping robot is realized; compared with the prior art, set up mechanical structure in the casing of sweeping the robot, and mechanical structure butt collision protection shield comes the sensing collision protection shield and whether takes place deformation because of the collision, the pressure sensing component volume in this application is littleer, it is littleer to occupy the robot inner space of sweeping the floor, and pressure sensing component lug connection is on collision protection shield internal face, the pressure that produces when collision protection shield takes place deformation with the collision of outside barrier need not through mechanical structure transmission alright sensed by pressure sensing component to, the sensing sensitivity of collision protection structure has been improved.

In some embodiments, in the traveling direction of the sweeping robot, at least two of the pressure sensing elements are respectively located on two sides of the traveling direction of the sweeping robot.

Based on the above embodiment, at least two pressure sensing elements are arranged, the two pressure sensing elements are respectively located on two sides of the traveling direction of the sweeping robot, the two pressure sensing elements are respectively used for sensing whether the two sides of the collision protection plate collide, and the control system of the sweeping robot can judge the collision position of the collision protection plate and an external obstacle by judging the current difference value of the two pressure sensing elements, so that the steering function of the sweeping robot is realized, the cost is saved, and the control logic is simple.

In some embodiments, the pressure sensing elements include at least a first pressure sensing element, a second pressure sensing element and a third pressure sensing element, in the traveling direction of the sweeping robot, the first pressure sensing element is located at a position where the collision protection plate overlaps with the traveling direction or the first pressure sensing element is located on either side of the traveling direction, and the second pressure sensing element and the third pressure sensing element are respectively located on both sides of the first pressure sensing element.

Based on the above embodiment, at least three pressure sensing elements are provided, wherein the first pressure sensing element is arranged at a position where the collision protection plate overlaps with the traveling direction and is used for sensing whether the collision protection plate is square or not, and the second pressure sensing element and the third pressure sensing element are used for sensing whether the left side and the right side of the collision protection plate are collided or not; when the first pressure sensing element is located on any side of the advancing direction, although the first pressure sensing element does not detect whether the collision protection plate is in collision or not, the control system of the sweeping robot can determine the collision position of the collision protection plate and an external obstacle by comparing the current difference values of the three pressure sensing elements, and the two arrangement modes are adopted for the pressure sensing element, so that the precision of the collision protection structure is improved, and the reliability of the collision protection structure is improved.

In some embodiments, the collision protection plate is arc-shaped as a whole, and the plurality of pressure sensing elements are arranged at equal intervals along the length direction of the collision protection plate.

Based on above-mentioned embodiment, current robot of sweeping the floor sets up to discoid more, and then the collision protection shield that corresponds sets up to the arc form, for further improving this collision protection structure's accuracy, a plurality of pressure sensing element are laid along the length direction of collision protection shield equidistant, have guaranteed that pressure sensing element can sense the collision that the collision protection shield optional position and outside barrier of arc form take place.

In some of these embodiments, the crash protection structure further comprises:

the pressure sensing element is arranged between the middle frame and the collision protection plate.

Based on the above embodiment, pressure sensing element locates between center and the collision protection shield, and then the center will restrict pressure sensing element along with the removal of collision protection shield when collision protection shield and outside barrier take place the collision, forces pressure sensing element to sense the effort that produces when collision protection shield and outside barrier take place the collision fast, and the center has restricted the deformation volume that produces when collision protection shield takes place the collision, has not only improved the sensitivity of this collision protection structure, has also improved the security of collision protection shield.

In some embodiments, a groove for mounting the pressure sensing element is formed in the middle frame, an elastic cushion body is arranged in the groove, and any two opposite sides of the elastic cushion body are respectively abutted against the collision protection plate and the pressure sensing element.

Based on the embodiment, the collision protection plate is certainly deformed when colliding with an external obstacle, and because the pressure sensing element is arranged between the middle frame and the collision protection plate, the collision protection plate is likely to damage the pressure sensing element when deforming, the middle frame is provided with a plurality of grooves, and the pressure sensing element is arranged in the grooves, when the collision protection plate collides with the external obstacle, even if the collision protection plate is abutted to the middle frame, the pressure sensing element cannot be damaged because the pressure sensing element is arranged in the grooves, and the reliability of the collision protection structure is improved; meanwhile, the elastic cushion body is arranged at the position, corresponding to the groove, of the middle frame and used for transferring acting force generated when the collision protection plate collides with an external obstacle and buffering the acting force generated when the collision protection plate collides with the external obstacle so as to protect the pressure sensing element.

In some embodiments, the collision protection plate comprises a plate body and an abutting column extending from the plate body into the groove, and one side of the abutting column, which is close to the pressure sensing element, is connected with the elastic cushion body.

Based on above-mentioned embodiment, the effort that the collision protection shield produced will transmit elastic pad body and pressure sensing element to through the butt post in proper order in the collision takes place with outside barrier, makes like this that the distance between collision protection shield and the center can set up wantonly, has increased the plasticity of this collision protection structure, and simultaneously, the intensity of collision protection shield has been strengthened to the butt post.

In a second aspect, an embodiment of the present application provides a sweeping robot, where the sweeping robot includes the collision protection structure; and

the casing, the casing does the collision protection board or the casing includes collision protection board and shell main part, the collision protection board set up in on the shell main part.

Based on the robot of sweeping floor in this application embodiment, owing to have above-mentioned collision protection structure, can improve collision protection structure's sensing sensitivity through pressure sensing element to can improve this robot of sweeping floor's steering sensitivity.

Based on the collision protection structure of the embodiment of the application, the collision protection plate deforms after colliding with an external obstacle in the advancing process of the sweeping robot, the deformation generated by the collision protection plate presses the pressure sensitive element in the pressure sensing element to change the resistance value of the pressure sensitive resistor, the current passing through the pressure sensing element changes, at the moment, a current difference value exists between the current passing through the pressure sensing element after being pressed and the current passing through the pressure sensing element when not being pressed, and the control system of the sweeping robot determines the collision position of the sweeping robot by comparing the current difference values of the pressure sensing elements, so that the sweeping robot can accurately judge the collision position with the external obstacle, and further the steering of the sweeping robot is realized; compared with the prior art, set up mechanical structure in the casing of sweeping the robot, and mechanical structure butt collision protection shield comes the sensing collision protection shield and whether takes place deformation because of the collision, the pressure sensing component volume in this application is littleer, it is littleer to occupy the robot inner space of sweeping the floor, and pressure sensing component lug connection is on collision protection shield internal face, the pressure that produces when collision protection shield takes place deformation with the collision of outside barrier need not through mechanical structure transmission alright sensed by pressure sensing component to, the sensing sensitivity of collision protection structure has been improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of a portion of a prior art crash protection structure of the present application;

fig. 2 is a schematic overall structure diagram of the sweeping robot in the present application;

FIG. 3 is a schematic view of an embodiment of the crash protection structure of the present application, which is intended to illustrate the connection relationship between the crash protection plate and the middle frame;

FIG. 4 is a schematic view of the impact protection structure shown in FIG. 3 with the middle frame omitted;

FIG. 5 is a schematic view of the collision protection structure shown in FIG. 3 without the collision protection plate, which is intended to show the groove;

FIG. 6 is an enlarged schematic view of the structure of the portion A in the collision protection structure shown in FIG. 5;

fig. 7 is a schematic view of a collision protection structure in another embodiment of the present application.

FIG. 8 is a schematic structural view from another perspective of the impact protection structure shown in FIG. 7;

FIG. 9 is a schematic view of the impact protection structure shown in FIG. 8 with the resilient member omitted;

FIG. 10 is a schematic structural view of a resilient member in an embodiment of the present application

Reference numerals: 10. a collision protection plate; 11. perforating; 12. a butting post; 13. a plate body; 20. a pressure sensing element; 30. an elastic member; 40. a resilient member; 41. a connecting member; 42. a movable member; 43. a limiting member; 44. a collision member; 45. a clamping piece; 60. a mechanical structure; 70. a middle frame; 71. a groove; 80. an elastic cushion body; and a is the traveling direction of the robot.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The floor sweeping robot is one of intelligent household appliances, can automatically complete floor cleaning work in a room by means of certain artificial intelligence, and generally speaking, the floor sweeping robot can be unified to be a floor sweeping robot after the floor cleaning, dust collection and floor wiping work is completed. The obstacle avoidance function of the sweeping robot is one of important research subjects of the sweeping robot, and the more excellent obstacle avoidance system represents that the sweeping robot has a higher intelligent level, wherein the obstacle avoidance refers to various obstacle avoidance actions for the external obstacle to the movement direction of an object and continues to interrupt the previous actions.

The sweeping robot in the application comprises a single suction port type, a middle brush wafer type or a lifting V brush type and the like, the embodiment of the application is not limited to the above, the sweeping robot can be in a disc shape, a cube shape, a flat shape or other shapes, and the embodiment of the application is also not limited to the above.

The collision protection structure is a part of the obstacle avoidance system of the sweeping robot, and has the main functions of sensing whether the sweeping robot collides with an external obstacle, acquiring a collision signal, feeding the collision signal back to a control system of the sweeping robot, and providing a steering signal for a steering system of the sweeping robot.

Referring to fig. 1, in the collision protection structure of the related art, at least one mechanical structure 60 is generally disposed inside a housing of a sweeping robot for sensing whether a collision protection plate is deformed when colliding with an external obstacle, such as a wall or a table and chair, specifically, the mechanical structure 60 includes a trigger, a torsion spring, a housing and an electrical component, where an arbitrary position of the trigger is rotatably connected to the housing, and one end of the trigger abuts against an inner wall surface of the collision protection plate, and the other end of the trigger is connected to the electrical component, one end of the torsion spring is fixedly connected to the housing, and the other end of the torsion spring is fixedly connected to the trigger, and the collision protection plate 10 collides with the external obstacle to be deformed, so that the trigger rotates around a rotation connection point of the trigger and the housing, and the trigger triggers the electrical component to generate a signal, so that the sweeping robot senses that the collision protection plate 10 collides; the torsion spring is used for providing power for returning the trigger to the initial position.

In the above prior art, there are the following problems:

1. the mechanical structure 60 comprises a trigger, a torsion spring and a shell, the size is large, the collision protection plate 10 serves as a force application part, the mechanical structure 60 serves as a stressed part, and the mechanical structure 60 needs to be fixedly arranged in the shell to occupy the inner space of the shell;

2. after the collision protection plate 10 collides with an external obstacle, the trigger needs to overcome the elasticity of the torsion spring when rotating around the rotation connection point of the trigger and the housing, so that the acting force generated when the collision protection plate 10 collides with the external obstacle is lost, that is, the acting force generated when the collision protection plate 10 collides with the external obstacle must be greater than the elasticity of the torsion spring to trigger the electrical component of the mechanical structure 60, and the requirement for deformation of the collision protection plate 10 is transmitted to the electrical component through the mechanical structure 60, which causes insensitive sensing.

In order to solve the above technical problem, please refer to fig. 2 to 10, a first aspect of the present application provides a collision protection structure, which can not only improve the sensitivity of the collision protection structure for sensing external obstacles, but also reduce the occupation of the collision protection structure on the internal space of the housing of the sweeping robot.

In the embodiment of the present application, the collision protection structure is applied to a sweeping robot, and includes a collision protection plate 10 and at least two pressure sensing elements 20; the pressure sensing element 20 is attached to the inner wall surface of the collision protection plate 10; wherein the pressure sensor 20 is used to sense the collision condition of the collision protection plate 10 when the collision protection plate 10 collides with an external obstacle.

The sweeping robot travels in a straight line towards a specific direction, and after the collision protection plate 10 collides, the robot turns to continue to travel in a straight line towards another specific direction, so that the collision protection plate 10 is generally arranged on one side of the traveling direction of the shell of the sweeping robot along the traveling direction of the sweeping robot; since the collision protection plate 10 often collides with an external obstacle, the collision protection plate 10 should have a certain pressure-bearing capacity and can be restored to its original shape after collision, and the collision protection plate 10 may be made of an elastic material such as plastic, hard rubber, etc., in this embodiment, the shape of the collision protection plate 10 is not particularly limited, and in practical cases, the shape of the collision protection plate 10 should be designed according to the shape of the housing of the sweeping robot.

The working principle of the pressure sensing element 20 is: the resistance value of the pressure sensitive element inside is changed to acquire a pressure signal, no matter what way the pressure sensing element 20 is connected with the collision protection plate 10, the pressure sensing element 20 can accurately sense the acting force generated when the collision protection plate 10 deforms, the pressure sensing element 20 comprises but is not limited to a pressure sensor, a vibration sensor or a displacement sensor, and the like, according to the difference of the pressure sensing element, the condition that the pressure sensing element is used for sensing the collision protection plate is different, if the pressure sensing element 20 is a pressure sensor, the pressure sensing element is used for sensing the acting force generated when the collision protection plate collides with an external obstacle, if the pressure sensing element 20 is a displacement sensor, the pressure sensing element is used for sensing the deformation amount generated when the collision protection plate collides with the external obstacle, and considering that the setting of the pressure sensing elements 20 into different types increases the difficulty of signal processing of the control system In the present embodiment, the pressure sensing elements 20 are pressure sensors.

The collision protection structure based on the embodiment of the application has the following specific working engineering: the collision protection plate 10 elastically deforms after colliding with an external obstacle in the running process of the sweeping robot, the elastic shape generated by the collision protection plate 10 extrudes the pressure sensing element 20 to cause the resistance value of the pressure sensing element in the pressure sensing element 20 to change, at the moment, a current difference value exists between the current passing through the pressure sensing element 20 after being pressed and the current passing through the pressure sensing element when not being pressed, and the control system of the sweeping robot determines the collision position of the sweeping robot by comparing the current difference values of the pressure sensing elements to realize the steering of the sweeping robot; in order to prevent the components in the pressure sensing element from being burnt out in actual conditions, the resistance value of the piezoresistor in the pressure sensing element 20 is increased after the piezoresistor is pressed, and the increase of the resistance value is also increased when the pressure applied to the piezoresistor in the pressure sensing element 20 is larger, so that the current passing through the pressure sensing element 20 after the piezoresistor in the pressure sensing element 20 is pressed is reduced, and the pressure sensing element 20 with the largest current difference can be judged to collide; compare among the prior art, through set up mechanical structure 60 in the casing of sweeping the robot, and mechanical structure 60 butt collision protection board 10 comes the sensing collision protection board 10 whether take place deformation, pressure sensing element 20 volume in this application is littleer and connect on collision protection board 10 internal face, occupy littleer robot's of sweeping the floor inner space, and collision protection board 10 can act on pressure sensing element 20 with the produced effort of outside barrier collision completely, make collision protection structure's sensing sensitivity higher.

In some embodiments, at least two pressure sensing elements 20 are respectively located on both sides of the travel direction of the sweeping robot in the travel direction of the sweeping robot.

Two pressure sensing elements are used for sensing whether the both sides of collision protection board 10 bump respectively, and the control system of robot of sweeping the floor can judge the position that collision protection board and outside barrier bump through judging two pressure sensing element 20's current difference, realizes the function that turns to of robot of sweeping the floor, not only saves the cost, and control logic is simple moreover, and is further, in some embodiments, two pressure sensing elements are about the direction of travel symmetry setting of robot of sweeping the floor, and be 45 contained angles between the direction of travel of robot of sweeping the floor.

In other embodiments, the plurality of pressure sensing elements 20 at least include a first pressure sensing element, a second pressure sensing element and a third pressure sensing element, in the traveling direction of the sweeping robot, the first pressure sensing element is located at a position where the collision protection plate 10 overlaps with the traveling direction, and the second pressure sensing element and the third pressure sensing element are respectively located at two sides of the first pressure sensing element; in still other embodiments, the first pressure sensing element may be located on either side of the direction of travel, with the second and third pressure sensing elements being located on either side of the first pressure sensing element.

The first pressure sensor is positioned at the position where the collision protection plate 10 is overlapped with the traveling direction and is used for sensing whether acting force is generated by collision right in front of the collision protection plate 10, and the second pressure sensing element 20 and the third pressure sensing element 20 are respectively positioned at two sides of the first pressure sensing element 20 and are used for sensing whether acting force is generated by collision on the left side and the right side of the collision protection plate 10; in addition, even if the first pressure sensor is located on any side of the traveling direction of the sweeping robot, the control system of the sweeping robot still judges the collision position of the collision protection plate and an external obstacle by comparing the current difference values of the three pressure sensing elements, and the collision protection plate 10 can be sensed in all directions only by the three pressure sensing elements 20 in the arrangement mode, so that the cost is saved.

Because the existing sweeping robot is usually set to be disc-shaped, and the peripheral wall of the sweeping robot shell is a circular ring, in a further embodiment, the collision protection plate 10 is integrally set to be arc-shaped to correspond to the peripheral wall of the sweeping robot, and the plurality of pressure sensing elements 20 are arranged along the length direction of the collision protection plate 10, so that the plurality of pressure sensing elements 20 can all-directionally sense the deformation of the collision protection plate 10, further, the plurality of pressure sensing elements 20 are arranged along the length direction of the collision protection plate 10 at equal intervals, and the sensing range of each pressure sensing element 20 is the same.

Based on the above embodiment, the collision protection plate 10 is integrally formed in an arc shape, and in order to ensure that the pressure sensing element 20 is tightly attached to the inner wall surface of the collision protection plate 10, referring to fig. 5, in some embodiments, the pressure sensing element 20 is also integrally formed in an arc shape to be matched with the inner wall surface of the arc shape of the collision protection plate 10, so as to ensure that the collision protection structure has good sensitivity.

Referring to fig. 3, 4, 5 and 6, in some embodiments, the collision protection structure further includes a middle frame 70, and the pressure sensing element 20 is disposed between the middle frame 70 and the collision protection plate 10.

The middle frame 70 can be set to any shape, but in order to adapt to the structure of the collision protection plate 10, the whole of the middle frame 70 corresponding to the collision protection plate 10 is set to be arc-shaped, and the middle frame 70 can be used as a part of the shell of the sweeping robot and integrally arranged with the shell of the sweeping robot, and can also be fixedly connected with the sweeping robot after being separately arranged.

The pressure sensing element 20 is disposed between the middle frame 70 and the crash protection plate 10, and whether the pressure sensing element is in contact with the middle frame and the crash protection plate is not limited in this embodiment, and in some embodiments, the pressure sensing element 20 may abut the middle frame 70 and the crash protection plate 10 at the same time, in other embodiments, the pressure sensing element 20 may abut the middle frame 70 or the crash protection plate 10, and in still other embodiments, the pressure sensing element 20 may not abut the middle frame 70 and the crash protection plate 10.

The middle frame 70 is used for limiting the movement of the pressure sensing element 20 along with the crash protection plate 10 when the crash protection plate 10 collides with an external obstacle, so that the pressure sensing element 20 can rapidly sense the acting force generated when the crash protection plate 10 collides with the external obstacle, and then the distance from the middle frame 70 to the crash protection plate 10 should not be greater than the maximum deformation amount of the crash protection plate 10.

The pressure sensing element 20 is disposed between the middle frame 70 and the crash protection plate 10, so that the crash protection plate 10 may be subjected to a large force after colliding with an external obstacle, and particularly, the crash protection plate 10 may easily damage the pressure sensing element 20 after colliding with the external obstacle.

Referring to fig. 5 and 6, in some embodiments, the middle frame 70 is provided with a plurality of grooves 71 for mounting the pressure sensing elements 20, and the grooves 71 are provided with elastic pads 80, wherein two opposite sides of the elastic pads 80 are respectively abutted against the collision protection plate 10 and the pressure sensing elements 20.

The groove 71 may be provided in any shape as long as the groove 71 can accommodate the pressure sensing element 20, the elastic pad 80, and the abutment post 12, but it is preferable that the groove 71 be provided in a rectangular shape in view of stability after the pressure sensing element 20 is mounted into the groove 71; the number of the grooves 71 should be not less than the number of the pressure sensing elements 20, and the number of the grooves 71 is not too large in consideration of the structural strength of the middle frame 70, so that the number of the grooves 71 should be the same as the number of the pressure sensing elements 20, and one pressure sensing element 20 and one elastic pad 80 are installed in one groove 71.

The shape of the elastic pad 80 can be arbitrarily set, and in order to adapt to the shape of the pressure sensing element 20 and improve the safety of the pressure sensing element, the shape of the elastic pad 80 is consistent with that of the pressure sensing element 20, and meanwhile, the projection surface of the elastic pad 80 on the pressure sensing element 20 is not smaller than that of the pressure sensing element 20 and not larger than the groove 71. The elastic pad body 80 should be made of a material capable of being elastically deformed, such as polyester elastomer, vinyl elastomer, acryl elastomer, or the like, and all the elastic pad bodies 80 should be made of the same material since the elastic pad bodies 80 made of each material have different elasticity and are consistent in force transmission.

Referring to fig. 4, in some embodiments, the collision protection plate 10 includes a plate body and an abutting column 12 formed from the plate body extending into the groove 71, and a side of the abutting column 12 adjacent to the pressure sensing element 20 is connected to an elastic pad 80.

In the process that the acting force generated by the collision of the collision protection plate 10 and an external obstacle is sequentially transmitted to the elastic cushion body 80 and the pressure sensing element 20, the collision protection plate 10, the elastic cushion body 80 and the pressure sensing element 20 are in surface-to-surface contact, the pressure transmitted to the pressure sensing element 20 is too small, after the abutting column 12 is arranged on the inner side of the collision protection plate 10, the contact area between the abutting column 12 and the elastic cushion body 80 is smaller, according to p ═ F/S, the acting force with the same size can generate larger pressure to the pressure sensing element 20, the sensitivity of the collision protection structure is improved, and meanwhile, the structural strength of the collision protection plate is enhanced by the abutting column 12.

Referring to fig. 8, in some embodiments, the collision protection structure further includes an elastic member 30, the elastic member 30 is connected to the collision protection plate 10 and extends along a length direction of the collision protection plate 10, the elastic member 30 extends at least partially to an inner side of the collision protection plate 10, and the pressure sensing element 20 is located between the elastic member 30 and the collision protection plate 10.

The elastic member 30 may be used to buffer the collision protection plate 10 and the pressure sensing element 20 and provide a resilient force for the collision protection plate 10 to recover to the original shape after the collision protection plate 10 collides with the external obstacle, however, after the collision protection plate 10 collides with the external obstacle, the elastic member 30 buffers the collision protection plate 10 and the pressure sensing element 20, which tends to reduce the deformation amount of the collision protection plate 10 and further reduces the sensitivity of the collision protection structure, therefore, the elastic member 30 should have good resilience and poor bearing capacity, such as an adhesive tape, so that the main function of the elastic member 30 is to provide a resilient force for the collision protection plate 10 to recover to the original shape, and the influence of the elastic member 30 on the deformation amount generated when the collision protection plate 10 collides with the external obstacle is reduced as much as possible, even if so, the elastic member 30 still has a certain protection plate capacity, however, the pressure bearing capability can be used for buffering the collision protection plate 10 and the pressure sensing element 20 to prevent the collision protection plate 10 and an external obstacle from being too violent to cause damage to the collision protection plate 10 and the pressure sensing element 20.

In some embodiments, the elastic member 30 may be configured as a strip, the elastic member 30 is fixedly disposed on the inner wall surface of the collision protection plate 10, and the pressure sensing element 20 is clamped between the elastic member 30 and the collision protection plate 10, and further, in order to facilitate the fixed connection between the elastic member 30 and the collision protection plate 10, the elastic member 30 is configured as a strip, and the elastic member 30 may be directly glued on the inner wall surface of the collision protection plate 10.

In some embodiments, the elastic member 30 includes a fixing strip and a sealing strip, the sealing strip is disposed at the bottom of the fixing strip, and an included angle of 90 ° is formed between the sealing strip and the fixing strip, that is, the cross section of the elastic strip is L-shaped, wherein the fixing strip is fixedly connected to the inner wall surface of the collision protection plate 10 for fixing the pressure sensing element 20, and the sealing strip is sandwiched between the bottom of the collision protection plate 10 and the housing of the sweeping robot for sealing between the bottom of the collision protection plate 10 and the housing of the sweeping robot and for damping the collision protection plate 10 when the sweeping robot shakes.

Referring to fig. 7, 9 and 10, in some embodiments, the collision protection plate 10 is provided with two through holes 11 and a resilient member 40, the resilient member 40 includes a connecting member 41, the connecting member 41 is disposed on an inner side of the collision protection plate 10, two movable members 42 respectively extend from two ends of the connecting member 41, the two movable members 42 respectively pass through the collision protection plate 10 through the two through holes 11 and extend to an outer side of the collision protection plate 10, and the movable members 42 are movably disposed relative to the collision protection plate 10.

After the connecting piece 41 is arranged on the inner side of the connecting plate, the two movable pieces 42 respectively penetrate through the through hole 11 and extend to the outer side of the collision protection plate 10, after the collision protection plate 10 collides with an external obstacle to generate deformation, the movable pieces 42 slide in the through hole 11 relative to the collision protection plate 10, in the process, the rebound member 40 also deforms due to acting force from the collision protection plate 10, meanwhile, the rebound member 40 also exerts force on the collision protection plate 10 to prevent overlarge deformation generated when the collision protection plate 10 collides with the external obstacle, and then the rebound member 40 exerts force on the collision protection plate 10 when recovering the shape of the rebound member 40, so that the speed of recovering the original shape of the collision protection plate 10 is increased.

The resilience member 40 generates an elastic force when being deformed, the magnitude of the elastic force of the resilience member 40 follows the generalized hooke's law within the effective deformation amount, when the resilience member 40 is not deformed, no mutual acting force exists between the resilience member 40 and the collision protection plate 10, however, the resilience member 40 initially deforms, i.e., generates a blocking effect on the deformation of the collision protection plate 10, the elastic force of the resilience member 40 itself increases with the increase of the deformation amount of the resilience member 40, but because the elastic force of the resilience member 40 follows the generalized hooke's law, the elastic force of the resilience member 40 when being deformed is very small and is far smaller than the acting force generated when the collision protection plate 10 collides with an external obstacle, and the sensing sensitivity of the collision protection structure is not affected; when the collision protection plate 10 collides with an external obstacle too violently, the collision protection plate 10 and the rebound member 40 both generate too much deformation, at this time, the rebound member 40 has a large elastic force to limit the collision protection plate 10 to further generate deformation, and at this time, because the deformation amount generated by the collision protection plate 10 is too much, the pressure sensing element 20 has sensed the deformation of the collision protection plate 10, and the rebound member 40 does not have influence on the sensing sensitivity of the collision protection structure.

Referring to fig. 10, in some embodiments, the connecting member 41 and the movable member 42 are both configured as a sheet, and the size of the connecting member 41 is larger than that of the movable member 42 in the extending direction of the length of the collision protection plate 10.

In some embodiments, to increase the elastic force of the resilient member 40 during deformation, an included angle a is provided between the connecting member 41 and the movable member 42 in the plane of the connecting member 41, the included angle a is greater than or equal to 0 ° and less than or equal to 90 °, so that the included angle between the connecting member 41 and the movable member 42 gradually decreases during deformation of the resilient member 40, thereby generating the resilient force, specifically, in this embodiment, the included angle is preferably 30 °.

Referring to fig. 7 and 10, in some embodiments, a limiting member 43 is disposed at one end of the movable member 42 penetrating through the collision protection plate 10, and a size of the limiting member 43 is larger than a size of the elastic penetration hole 11 to prevent the movable member 42 from coming out of the elastic penetration hole 11.

In another embodiment, the collision protection plate 10 is provided with a resilient member 40, the resilient member 40 includes a connecting member 41 and two movable members 42, the connecting member 41 is disposed inside the collision protection plate 10, two movable members 42 extend from two ends of the connecting member 41, and the two movable members 42 respectively abut against an inner wall surface of the collision protection plate 10; when collision protection board 10 collides with outside barrier, collision protection board 10 and resilience member 40 produce deformation simultaneously, and moving part 42 keeps away from 41 one end of connecting piece and will take place to slide on collision protection board 10 internal face, produces the reaction force to collision protection board 10, and in the same way, resilience member 40 follows hooke's law, can not lead to the fact the influence to the sensitivity of collision protection structure, simultaneously, can restrict collision protection board 10 and produce the damage because of taking place too big deformation volume.

In order to realize the connection between the connector 41 and the impact protection plate 10, in some embodiments, the resilient member 40 further includes a collision piece 44 and at least one clip 45, the collision piece 44 is disposed outside the impact protection plate 10 and located right in front of the impact protection plate 10 in the traveling direction of the sweeping robot, the clip 45 is inserted into the impact protection plate 10 to connect the connector 41 and the resilient collision piece 44, that is, the clip 45 penetrates through the impact protection plate 10, and one end of the clip is connected to the connector 41, and the other end of the clip is connected to the collision piece 44, so as to realize the connection between the connector 41 and the impact protection plate 10.

In some embodiments, the clamping member 45 includes a clamping rod and a clamping block, one end of the clamping rod is fixedly connected to the connecting member 41, the other end of the clamping rod extends towards the collision protection plate 10 and is located outside the collision protection plate 10 through the collision protection plate 10, the clamping block is located on the clamping rod and located outside the collision protection plate 10, correspondingly, the collision member 44 is provided with a clamping hole corresponding to the clamping rod, the size of the clamping hole is larger than that of the clamping rod and smaller than that of the clamping block, so that the clamping rod is arranged in the clamping hole in a penetrating manner, but cannot be separated from the clamping hole under the limiting action of the clamping block. The specific shape of the collision member 44 is not specifically limited in this application, as long as the collision member 44 is shaped to be connected with the clip 45, in some embodiments, the collision member 44 may be rectangular, in other embodiments, the collision member 44 may be circular, and the collision member 44 is configured to collide with an external obstacle right in front of the robot cleaner in the traveling direction.

Referring to fig. 2, a second aspect of the present application provides a sweeping robot, which includes the above collision protection structure and a housing, where the housing is a collision protection plate 10 or includes the collision protection plate 10 and a housing main body, and the collision protection plate 10 is disposed on the housing main body, and since the sweeping robot has the above collision protection structure, the sensitivity of the sweeping robot for sensing external obstacles can be improved by the collision protection structure.

The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it is to be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the above terms may be understood by those skilled in the art according to specific situations.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims (8)

1. The utility model provides a collision protection structure which characterized in that is applied to robot of sweeping the floor, includes:

a collision protection plate made of an elastic material;

and at least two pressure sensing elements connected to the inner wall surface of the collision protection plate.

2. The collision protection structure according to claim 1, wherein at least two of the pressure sensing elements are located on both sides of the travel direction of the sweeping robot in the travel direction of the sweeping robot, respectively.

3. The impact protection structure according to claim 1, wherein the pressure sensing elements include at least a first pressure sensing element, a second pressure sensing element and a third pressure sensing element, the first pressure sensing element is located at a position where the impact protection plate overlaps with the traveling direction or the first pressure sensing element is located on either side of the traveling direction in the traveling direction of the sweeping robot, and the second pressure sensing element and the third pressure sensing element are respectively located on both sides of the first pressure sensing element.

4. The crash protection structure according to claim 1, wherein said crash protection plate has an arc shape as a whole, and a plurality of said pressure sensing elements are arranged at equal intervals in a length direction of said crash protection plate.

5. The collision protection structure according to any one of claims 1 to 4, further comprising:

the pressure sensing element is arranged between the middle frame and the collision protection plate.

6. The collision protection structure according to claim 5, wherein a recess is defined in the middle frame for mounting the pressure sensing element, and an elastic pad is disposed in the recess, and any two opposite sides of the elastic pad are abutted against the collision protection plate and the pressure sensing element, respectively.

7. The crash protection structure according to claim 6, wherein said crash protection plate comprises a plate body and an abutment post extending from said plate body into said recess, wherein a side of said abutment post adjacent to said pressure sensing element is connected to said elastic pad.

8. A sweeping robot is characterized by comprising:

the impact protection structure of any one of claims 1-7; and

the casing, the casing does the collision protection board or the casing includes collision protection board and shell main part, the collision protection board set up in on the shell main part.

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