CN218009556U

CN218009556U - Cleaning robot

Info

Publication number: CN218009556U
Application number: CN202221745741.9U
Authority: CN
Inventors: 康观生
Original assignee: Shenzhen Useer Robot Co Ltd
Current assignee: Shenzhen Useer Robot Co Ltd
Priority date: 2022-07-07
Filing date: 2022-07-07
Publication date: 2022-12-13
Anticipated expiration: 2032-07-07

Abstract

The utility model belongs to the technical field of cleaning robots, in particular to a cleaning robot, which comprises a body, a collision plate, a first sensing mechanism and at least two second sensing mechanisms, wherein the collision plate is movably arranged at the outer side of the body and forms a movable space with the outer side of the body; the first sensing mechanism is arranged in the movable space and is positioned in the middle of the collision plate, and the first sensing mechanism is provided with a first abutting part abutted against the collision plate; at least two second sensing mechanisms are arranged in the movable space at intervals along a preset direction and are arranged far away from the middle part of the collision plate, and each second sensing mechanism is provided with a second abutting part abutted against the collision plate. Therefore, the cleaning robot can clearly determine the collision position, and can adjust the collision position in the direction, so that the cleaning robot can avoid that the cleaning robot does not clean partial areas due to the fact that the collision position is not clear while accurately avoiding obstacles.

Description

Cleaning robot

Technical Field

The utility model relates to a cleaning machines people field, in particular to cleaning machines people.

Background

When an existing cleaning robot cleans the ground, due to the fact that the surrounding environment is complex, when the existing cleaning robot moves around, the existing cleaning robot often collides with surrounding obstacles, and therefore damage is caused to a cleaning robot. In order to avoid collision between the cleaning robot and surrounding obstacles, a collision plate and a collision switch connected with the collision plate are usually installed around the cleaning robot body, when the cleaning robot collides with the surrounding obstacles, the collision plate can play a good role in buffering, and information is transmitted to the main controller through the collision switch so as to control the cleaning robot to turn around or turn around. However, many existing cleaning robots cannot clearly determine collision positions after collision plates are collided, and obstacle avoidance errors are easily caused.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims at providing a cleaning robot, aim at solving current cleaning robot and easily keep away the technical problem of barrier error.

In order to achieve the above object, the utility model provides a cleaning robot, include:

a body;

the collision plate is movably arranged on the outer side of the body and forms a movable space with the outer side of the body in a surrounding manner;

the first sensing mechanism is arranged in the movable space and positioned in the middle of the collision plate, and the first sensing mechanism is provided with a first abutting part abutted against the collision plate; and

the at least two second sensing mechanisms are arranged in the movable space at intervals along a preset direction and are far away from the middle part of the collision plate, and each second sensing mechanism is provided with a second abutting part abutted against the collision plate;

wherein the collision plate collides with an external object and presses at least one of the first abutting part and the second abutting part, so that the body receives a collision signal.

Optionally, the first sensing mechanism includes a first sensing component and a first triggering component, the first sensing component is disposed in the movable space and connected to the body, the first triggering component is movably connected to an end of the first sensing component far away from the body, and an end of the first triggering component far away from the first sensing component is provided with a first abutting portion abutting against the collision plate.

Optionally, the first sensing assembly includes a first sensor and a bracket, the bracket is disposed on the body, the first sensor is disposed on the bracket, the first triggering assembly is slidably connected to the bracket and corresponds to the first sensor, and the first triggering assembly is configured to trigger the first sensor.

Optionally, the support is equipped with the spout and communicates the via hole of spout, the via hole with first sensor is just right, first trigger assembly includes first trigger and first elastic component, first trigger is equipped with first butt portion, first trigger is kept away from the one end of first butt portion slides and is worn to locate the spout, and at least part passes the via hole, the both ends of first elastic component respectively with the bottom wall of spout with first trigger elastic connection.

Optionally, the first trigger piece includes a sliding portion and a trigger portion, the sliding portion with the spout sliding connection, one end that the sliding portion was kept away from the first sensor forms the first butt portion, the trigger portion connect in the sliding portion is close to the surface of first sensor, and partly passes the via hole, the first elastic component cover is located the trigger portion, the both ends of first elastic component respectively with the bottom wall surface of spout with the sliding portion elastic connection.

Optionally, a mounting groove is formed in a joint of the triggering portion and the sliding portion, one end of the first elastic piece is accommodated in the mounting groove and elastically connected with the bottom wall surface of the mounting groove, and the other end of the first elastic piece is elastically connected with the bottom wall surface of the sliding groove.

Optionally, one end of the sliding groove, which is away from the first sensor, is provided with a first limiting member, and the first limiting member is in limiting abutment with the first trigger member to prevent the first trigger member from being disengaged from the sliding groove.

Optionally, one end of the bracket, which is far away from the collision plate, is connected with two clamping blocks arranged at intervals, and the first sensor is clamped between the two clamping blocks.

Optionally, two first abutting parts are arranged on the first sensing mechanism in a staggered manner in the vertical direction;

and/or the collision plate collides with an external object and presses against the first abutting part, and the first abutting part is moved by a first distance to trigger the first sensing mechanism; the collision plate collides with an external object to press the second abutting part and moves the second abutting part for a second distance to trigger the second sensing mechanism; the first distance is greater than the second distance.

Optionally, the collision plate is arc-shaped, and an included angle formed by a circle center of the arc and a connecting line of the two first abutting portions ranges from 10 degrees to 50 degrees;

and/or the collision plate is arc-shaped, and the range of an included angle formed by the circle center of the arc and the connecting line of the two second abutting parts is 90-130 degrees.

The utility model provides a cleaning robot is through setting up the activity space for can remove towards the center of body when the collision board is hit, through set up first sensing mechanism on the body, and first butt portion is close to the middle part setting of collision board, makes this collision board receive when coming from the striking of place ahead barrier, and the collision board removes and supports and presses first butt portion, thereby makes the body receive collision signal, and the control robot further moves in order to dodge the barrier. Through set up two at least second sensing mechanism on the body for when this collision board receives the striking from the side direction barrier, the collision board removes and supports and presses one of them second butt portion, thereby makes the body acquire the collision information and thereby control the machine to move to the opposite side, in order to bypass the barrier. Therefore, the cleaning robot can clearly determine the collision position, and can adjust the collision position in the direction, so that the cleaning robot can avoid that the cleaning robot does not clean partial areas due to the fact that the collision position is not clear while accurately avoiding obstacles.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be 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 invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of a cleaning robot according to an embodiment of the present invention;

fig. 2 is an assembly diagram of the first sensing mechanism, the second sensing mechanism and the collision plate according to an embodiment of the present invention;

fig. 3 is a front view of a cleaning robot (with a structure of a body part omitted) according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a first sensing mechanism according to an embodiment of the present invention;

fig. 5 is an exploded view of a first sensing mechanism according to an embodiment of the present invention;

fig. 6 is a sectional view of the first sensing mechanism according to an embodiment of the present invention.

The reference numbers illustrate:

the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture, and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if the meaning of "and/or" and/or "appears throughout, the meaning includes three parallel schemes, for example," A and/or B "includes scheme A, or scheme B, or a scheme satisfying both schemes A and B. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a cleaning robot means domestic machine of sweeping floor, mopping machine, sweep and drag all-in-one, floor cleaning machine etc. and be used for the clean ability robot equipment in family's ground.

Referring to fig. 1 to 3, in an embodiment of the present invention, the cleaning robot 100 includes a body 14, a collision plate 13, a first sensing mechanism 11 and at least two second sensing mechanisms 12, the collision plate 13 is movably disposed outside the body 14, and forms a movable space with the outside of the body 14; the first sensing mechanism 11 is arranged in the movable space and is positioned in the middle of the collision plate 13, and the first sensing mechanism 11 is provided with a first abutting part 113 abutting against the collision plate 13; at least two second sensing mechanisms 12 are arranged in the movable space at intervals along a preset direction, and are both arranged far away from the middle part of the collision plate 13, and each second sensing mechanism 12 is provided with a second abutting part 123 abutting against the collision plate 13; wherein the collision plate 13 collides with an external object and presses against at least one of the first abutting portion 113 and the second abutting portion 123, so that the body 14 receives a collision signal.

The utility model provides a cleaning robot 100 is through setting up the activity space for can move towards the center of body 14 when collision plate 13 is collided, through set up first sensing mechanism 11 on body 14, and first butt portion 113 is close to the middle part setting of collision plate 13, when making this collision plate 13 receive the striking that comes from the place ahead barrier, collision plate 13 removes and supports and presses first butt portion 113, thereby makes body 14 acquire the collision signal. By arranging at least two second sensing mechanisms 12 on the body 14, when the collision plate 13 is impacted by a lateral obstacle, the collision plate 13 moves and presses against one of the second abutting parts 123, so that the body 14 acquires collision information to control the machine to move to the other side to bypass the obstacle. Thus, the cleaning robot 100 can clearly determine the collision position, and adjust the collision position in the direction, so that the obstacle can be accurately avoided, and meanwhile, the cleaning robot 100 can be prevented from not cleaning partial areas due to the fact that the collision position is not clear.

It is understood that the collision plate 13 may be a continuous, complete plate, or may be formed by connecting a plurality of single plates in a predetermined direction, which is not limited herein. In the present embodiment, as shown in fig. 3, the collision plate 13 is a continuous, complete plate, and two second sensing mechanisms 12 are provided, and two second sensing mechanisms 12 are respectively located at both ends of the collision plate 13 in the length direction, and the first sensing mechanism 11 is located between the two second sensing mechanisms 12. In this way, the collision plate 13 on the main body 14 receives either a force in the left front direction or a force in the right front direction, and the main body 14 can specify the collision position, and further operation of the robot is controlled to avoid an obstacle.

Referring to fig. 2 to 6, in an embodiment, the first sensing mechanism 11 includes a first sensing element 111 and a first triggering element 112, the first sensing element 111 is disposed in the movable space and connected to the body 14, the first triggering element 112 is movably connected to an end of the first sensing element 111 away from the body 14, and an end of the first triggering element 112 away from the first sensing element 111 is provided with a first abutting portion 113 abutting against the collision plate 13.

It is understood that the first sensing element 111 can be a touch sensing module or a proximity sensing module. When the collision plate 13 is impacted, the collision plate 13 moves toward the center of the body 14 and presses against the first abutting portion 113 on the first trigger component 112, so that the first abutting portion 113 approaches or separates from or contacts the first sensing component 111, and the body 14 receives a collision signal. Compared with a laser sensor, the first sensing component 111 is free from influences of terrain, stray light and environment, wide in application range, low in cost and easy to assemble.

Referring to fig. 2 to 6, in an embodiment, the first sensing assembly 111 includes a first sensor 1111 and a bracket 1112, the bracket 1112 is disposed on the body 14, the first sensor 1111 is disposed on the bracket 1112, the first triggering assembly 112 is slidably connected to the bracket 1112 and corresponds to the first sensor 1111, and the first triggering assembly 112 is configured to trigger the first sensor 1111.

It can be understood that the bracket 1112 can be detachably connected to the body 14 by gluing, bolting, snapping, or interference fitting, and the bracket 1112 can also be integrally formed with the body 14, as long as the bracket 1112 can be fixed to the body 14, which is not limited herein. Similarly, the first sensor 1111 may be mounted on the bracket 1112 by glue, bolt lock, snap fit, or interference fit, and the first trigger assembly 112 is located between the impact plate 13 and the first sensor 1111. The first sensor 1111 is a touch sensor or a proximity sensor, and the first trigger assembly 112 is configured to achieve the steering of the body 14 by approaching or moving away from or touching the first sensor 1111. In the present embodiment, the bracket 1112 is detachably mounted on the body 14 by using a bolt lock, so that the structure of the body 14 is simplified, and the stability of the bracket 1112 is improved, thereby ensuring the accuracy of the collision position of the collision plate 13.

Referring to fig. 5, in an embodiment, the bracket 1112 is provided with a sliding slot 1113 and a via hole communicating with the sliding slot 1113, the via hole is opposite to the first sensor 1111, the first triggering component 112 includes a first triggering part 1121 and a first elastic part 1122, the first triggering part 1121 is provided with a first abutting part 113, one end of the first triggering part 1121, which is far away from the first abutting part 113, is slidably disposed through the sliding slot 1113 and at least partially penetrates through the via hole, and two ends of the first elastic part 1122 are respectively elastically connected to a bottom wall surface of the sliding slot 1113 and the first triggering part 1121. In the present embodiment, the opening of the chute 1113 is provided toward the collision plate 13, and the first elastic member 1122 is a spring. Through holes extending in the height direction are formed at the left end and the right end of the support 1112, two threaded holes corresponding to the two through holes one by one are formed in the body 14, and the support 1112 is fixedly connected to the body 14 through two bolts. First sensor 1111 adopts micro-gap switch, and micro-gap switch is prior art, so no longer describe here, and micro-gap switch's contact is just to the via hole setting. The collision plate 13 is moved by the collision to press against the first abutting portion 113 of the first trigger 1121, the first trigger 1121 is moved toward the microswitch to press against the spring, and one end of the first trigger 1121 close to the microswitch passes through the through hole, and finally, the first trigger 1121 presses against the contact piece and triggers the microswitch, so that the body 14 is turned. After the external force acting on the collision plate 13 disappears, the first triggering member 1121 is restored by the spring. The first elastic member 1122 is provided to buffer the impact plate 13, so that the service lives of the impact plate 13 and the first sensor 1111 are effectively prolonged. In addition, the microswitch is also called a sensitive switch, has the advantages of short action stroke, small required pressing power and high sensitivity, so that the body 14 can be quickly steered to reduce the collision damage degree.

Referring to fig. 5 to 6, in an embodiment, the first triggering member 1121 includes a sliding portion 1123 and a triggering portion 1124, the sliding portion 1123 is slidably connected to the sliding slot 1113, one end of the sliding portion 1123 away from the first sensor 1111 forms a first abutting portion 113, the triggering portion 1124 is connected to a surface of the sliding portion 1123 close to the first sensor 1111, and a portion of the sliding portion 1123 passes through the through hole, the first elastic member 1122 is sleeved on the triggering portion 1124, and two ends of the first elastic member 1122 are respectively elastically connected to a bottom wall surface of the sliding slot 1113 and the sliding portion 1123.

It is understood that the shape of the sliding slot 1113 is adapted to the external shape of the sliding portion 1123, and the sliding slot 1113 may be a circle, an irregular shape, a square shape or other polygonal shapes, as long as the sliding portion 1123 is slidably connected with the sliding slot 1113, which is not limited herein. In this embodiment, the sliding slot 1113 is circular, the sliding portion 1123 is cylindrical, and one end of the trigger portion 1124 close to the micro switch passes through the through hole to press against the contact of the micro switch. By sleeving the first elastic member 1122 on the trigger portion 1124, the spring is prevented from arching when being stressed and compressed, and the service life of the spring is prolonged, and the trigger portion 1124 can quickly press against the contact plate on the microswitch after the collision plate 13 is collided.

Referring to fig. 5 to 6, in an embodiment, a mounting groove is disposed at a connection position of the triggering portion 1124 and the sliding portion 1123, one end of the first elastic member 1122 is accommodated in the mounting groove and elastically connected to a bottom wall surface of the mounting groove, and the other end of the first elastic member 1122 is elastically connected to a bottom wall surface of the sliding groove 1113. In this embodiment, a circular protrusion is fixedly disposed on the bottom wall of the sliding slot 1113, and the protrusion encloses the through hole to form an accommodating cavity. The diameter of the mounting groove is greater than the diameter of the trigger portion 1124, one end of the first elastic member 1122 is accommodated in the mounting groove and abuts against the bottom wall surface of the mounting groove, and the other end of the first elastic member 1122 is accommodated in the accommodating cavity and abuts against the bottom wall surface of the accommodating cavity. In actual use, the diameter of the triggering part 1124 is smaller than the inner diameter of the spring to facilitate the extension and contraction of the spring, and the spring can be prevented from moving up and down by arranging the mounting groove and the accommodating cavity.

Optionally, a circular-ring-shaped protrusion is fixedly arranged on the bottom wall surface of the sliding groove 1113, the protrusion and the via hole are arranged at intervals, the protrusion and the bottom wall surface of the sliding groove 1113 jointly form an accommodating cavity, the mounting groove and the triggering portion 1124 are arranged at intervals, the mounting groove is just opposite to the accommodating cavity, the first elastic piece 1122 is not sleeved on the triggering portion, and two ends of the first elastic piece are respectively and elastically connected with the bottom wall surface of the mounting groove and the bottom wall surface of the accommodating cavity.

Referring to fig. 5, in an embodiment, a first limiting member 1117 is disposed at an end of the sliding slot 1113 away from the first sensor 1111, and the first limiting member 1117 is in limiting abutment with the first triggering member 1121 to prevent the first triggering member 1121 from being separated from the sliding slot 1113. The first limiting member 1117 is fixedly disposed at the bottom of the circular wall surface of the sliding slot 1113, and the first limiting member 1117 is used for abutting against the sliding portion 1123 to prevent the sliding portion 1123 from separating from the sliding slot 1113 when it is reset under the action of the spring. Of course, the first elastic element 1122 may also be a metal spring, however, the metal spring will be fatigued after a long time use, the elasticity thereof is reduced, the buffering effect is reduced, and the use of a spring is beneficial to improving the buffering effect.

Referring to fig. 5 to 6, in an embodiment, two spaced-apart latches 1114 are connected to an end of the bracket 1112 far away from the collision plate 13, and the first sensor 1111 is engaged between the two latches 1114. In this embodiment, two fixture blocks 1114 are symmetrically arranged at one end of the bracket 1112 far away from the collision plate 13, two fixture blocks 1114 are both fixedly arranged on the top surface of the bracket 1112, and a gap for placing a contact piece of the micro switch is arranged between the two fixture blocks 1114 and the via hole. The relative surface of two fixture blocks 1114 all sets firmly spacing portion 1115, and spacing portion 1115 is located the top of corresponding fixture block 1114, is provided with the chamfer on the spacing portion 1115 to make things convenient for micro-gap switch card to go into. Two guide posts 1116 are fixedly arranged between the two clamping blocks 1114, the micro switch is provided with two guide holes, and the two guide holes are respectively in one-to-one correspondence with the two guide posts 1116. During the installation, aim at two guide posts 1116 with two guiding holes on the micro-gap switch respectively, press the micro-gap switch and support and press the chamfer on two spacing portions 1115 for the top and two spacing portions 1115 of two fixture blocks 1114 move outwards, until micro-gap switch and support 1112 contact, at this moment, two spacing portions 1115 support micro-gap switch's both ends respectively to prevent micro-gap switch from moving along the direction of height. In addition, the microswitch cannot be moved in the horizontal direction due to the provision of the two guide posts 1116. So set up, be favorable to improving assembly efficiency.

Referring to fig. 2 to 3, in an embodiment, the second sensing mechanism 12 includes a second sensor 122 and a swing link 121, the second sensor 122 is disposed on a side of the body 14 facing the movable space, the swing link 121 is movably disposed in the movable space and connected to the body 14, one end of the swing link 121 away from the second sensor 122 abuts against the collision plate 13 to form a second abutting portion 123, wherein the collision plate 13 collides with a foreign object and abuts against the second abutting portion 123, so that the swing link 121 triggers the second sensor 122 to steer the body 14.

It is understood that the second sensor 122 may be a touch sensor or a proximity sensor. When the end of the collision plate 13 is impacted, the collision plate 13 moves toward the center of the body 14 and presses against the second contact part 123, so that the second contact part 123 approaches or separates from or contacts the first sensing element 111, and the body 14 is turned around the obstacle. Compared with a laser sensor, the first sensing component 111 of the technical scheme is not affected by terrain, stray light and environment, and is wide in application range, low in cost and easy to assemble.

In an embodiment, a stud is disposed on a side of the body 14 facing the moving space, a through hole is disposed in a middle portion of the swing rod 121, and the swing rod 121 is rotatably connected to the stud through the through hole. In this embodiment, the bore and the stud each extend in the height direction, the stud being integrally formed with the body 14. The collision plate 13 is made of plastic, and when the end of the collision plate 13 is collided, the end of the collision plate 13 bends toward the center of the body 14 and presses against the second abutting part 123 on the swing link 121, so that the swing link 121 rotates around the stud, the second sensor 122 is triggered, and the body 14 is turned. It can be understood that the end of the collision plate 13 is forced not only to move toward the center of the body 14 but also to bend, so that the swing link 121 is rotatably provided to rapidly trigger the second sensor 122.

In an embodiment, the second sensor 122 is an optoelectronic switch, and one end of the swing link 121 close to the second sensor 122 is bent toward a sensing region of the second sensor 122. The photoelectric switch is the prior art, and therefore no longer described herein, belongs to proximity sensor, and it need not to carry out direct contact with pendulum rod 121, is favorable to improving life. The collision plate 13 is pressed against the swing rod 121 by collision and the swing rod 121 rotates, and the bent end of the swing rod 121 leaves the sensing area of the photoelectric switch, so that the body 14 is turned.

In an embodiment, the second sensing mechanism 12 further includes a second limiting member and a second elastic member, the second elastic member and the swing rod 121 are sequentially sleeved on the stud, the second limiting member is detachably connected to the stud, the second limiting member is used for limiting and abutting against the swing rod 121, and two ends of the second elastic member are respectively elastically connected to the body 14 and the swing rod 121. In this embodiment, the second elastic element is a torsion spring, and the swing link 121 can be reset by providing the torsion spring. The second limiting part is a screw, an internal thread hole is formed in the stud, and the second limiting part is in threaded connection with the stud. The movement of the swing link 121 in the height direction is restricted by using a screw.

Referring to fig. 2 to 3, in one embodiment, two first abutting portions 113 are provided in the first sensing mechanism 11, and the two first abutting portions 113 are vertically offset. In the present embodiment, the two first sensing mechanisms 11 are arranged at intervals in the longitudinal direction of the collision plate 13, and are each located between the two second sensing mechanisms 12.

In one embodiment, the collision plate 13 collides with the foreign object and presses against the first abutting portion 113, and moves a distance to trigger the first sensing mechanism 11, where the distance is the first distance D1; the collision plate 13 collides with the foreign object and presses against the second abutting portion 123, and moves a distance to trigger the second sensing mechanism 12, where the distance is a second distance D2; the first distance D1 is greater than the second distance D2, i.e., D1 > D2. This arrangement enables the cleaning robot 100 to further specify the collision position when the collision plate 13 is collided.

It will be appreciated that the second sensor 122 is primarily a photoelectric switch, and only a slight touch will sense an obstacle. First sensor 1111 adopts micro-gap switch, and micro-gap switch is for assisting, owing to be equipped with the spring, its stroke that can sense the collision is far away relatively, mainly plays buffering and the even effect of atress. Both types of sensors may transmit a switching signal to the body 14.

Alternatively, as shown in fig. 3, the collision plate 13 is circular arc-shaped, an included angle formed by the center of the circular arc and the connecting line of the two first abutting portions 113 ranges from 10 ° to 50 °, and an included angle formed by the rotation point and the connecting line of the two first abutting portions 113 is defined as an angle a.

Alternatively, as shown in fig. 3, the collision plate 13 is circular arc-shaped, an included angle formed by the center of the circular arc and the connecting line of the two second abutting portions 123 ranges from 90 ° to 130 °, and an included angle formed by the rotation point and the connecting line of the two second abutting portions 123 is defined as an angle B.

It is understood that the collision plate 13 is circular, and the collision plate 13 is subjected to large horizontal and vertical force components regardless of the collision plate 13 in any direction, and the collision plate 13 is easily moved by force. When the impact plate 13 is impacted forward, the front compression spring acts as a buffer, triggering the first sensor 1111. The two sets of first sensors 1111 and the compression spring assembly are more sensitive and have higher stability and accuracy.

With this arrangement, the cleaning robot 100 can specify the collision position more clearly, and the cleaning efficiency is improved.

The above only is the preferred embodiment of the present invention, not so limiting the patent scope of the present invention, all under the concept of the present invention, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.

Claims

1. A cleaning robot, comprising:

a body;

wherein the collision plate collides with a foreign object and presses against at least one of the first abutting portion and the second abutting portion, so that the body receives a collision signal.

2. The cleaning robot as claimed in claim 1, wherein the first sensing mechanism includes a first sensing element and a first triggering element, the first sensing element is disposed in the movable space and connected to the body, the first triggering element is movably connected to an end of the first sensing element away from the body, and an end of the first triggering element away from the first sensing element is provided with the first abutting portion abutting against the collision plate.

3. The cleaning robot as claimed in claim 2, wherein the first sensor assembly includes a first sensor and a bracket, the bracket is disposed on the body, the first sensor is disposed on the bracket, the first trigger assembly is slidably connected to the bracket and corresponds to the first sensor, and the first trigger assembly is configured to trigger the first sensor.

4. The cleaning robot as claimed in claim 3, wherein the bracket has a sliding slot and a via hole communicating with the sliding slot, the via hole is opposite to the first sensor, the first trigger assembly includes a first trigger member and a first elastic member, the first trigger member has the first abutting portion, one end of the first trigger member, which is far away from the first abutting portion, slidably penetrates through the sliding slot and at least partially penetrates through the via hole, and two ends of the first elastic member are respectively elastically connected to the bottom wall surface of the sliding slot and the first trigger member.

5. The cleaning robot as claimed in claim 4, wherein the first trigger member includes a sliding portion and a trigger portion, the sliding portion is slidably connected to the sliding slot, one end of the sliding portion away from the first sensor forms the first abutting portion, the trigger portion is connected to a surface of the sliding portion close to the first sensor and partially penetrates through the through hole, the first elastic member is sleeved on the trigger portion, and two ends of the first elastic member are respectively elastically connected to a bottom wall surface of the sliding slot and the sliding portion.

6. The cleaning robot as claimed in claim 5, wherein a mounting groove is provided at a junction of the trigger part and the sliding part, one end of the first elastic member is received in the mounting groove and elastically coupled to a bottom wall surface of the mounting groove, and the other end of the first elastic member is elastically coupled to a bottom wall surface of the sliding groove.

7. The cleaning robot as claimed in claim 4, wherein a first stopper is disposed at an end of the sliding slot away from the first sensor, the first stopper being in limit abutment with the first trigger to prevent the first trigger from disengaging from the sliding slot.

8. The cleaning robot as claimed in claim 4, wherein the bracket has two spaced-apart engaging blocks connected to an end thereof remote from the collision plate, and the first sensor is engaged between the two engaging blocks.

9. The cleaning robot according to any one of claims 1 to 8, wherein there are two of the first sensing mechanisms, and two of the first abutting portions are arranged to be vertically staggered;

10. The cleaning robot according to claim 9, wherein the collision plate has a circular arc shape, and an angle formed by a center of the circular arc and a line connecting the two first abutting portions ranges from 10 ° to 50 °;