CN213910043U - Cleaning robot - Google Patents

Abstract

The utility model relates to a cleaning device field, especially, relate to a cleaning robot, through setting up casing and lid, the lid connects into to be able to down and backward activity for the casing with the casing, through setting up the rotation piece, the free end that rotates the piece is located the lid down and on the activity route backward, it can rotate for the casing down to rotate piece and casing connection, the trigger position of switch is in on rotating the decurrent rotation route of piece, the lid sets up on the casing and from the top protrusion of casing, at cleaning robot advancing process, if receive the collision or when extrudeing from the convex lid in casing top, the lid can make the activity, and the free end that drives the piece rotates downwards, make the switch triggered, this kind of structure is for rotating the structure of connection on the casing with the lid, can detect the activity that the lid down reaches backward, the problem that whether current cleaning robot is difficult to block and the collision detects is improved to the convex visor in top And the detection coverage rate is improved.

Description

Cleaning robot

Technical Field

The utility model relates to a cleaning device field especially relates to a cleaning robot.

Background

With the improvement of technological innovation capability, more and more cleaning robots are in the family life and are popular with the masses.

In order to improve the user experience, the top of the cleaning robot is convexly provided with the laser radar, the protective cover is arranged on the laser radar, and the laser radar with the convex top and the protective cover are arranged, so that the cleaning robot is easily clamped at a low position such as the bottom of a sofa or the bottom of a bed when entering the low position, or the protective cover continuously collides or is extruded to be incapable of being continuously cleaned at the bottom of the sofa or the bottom of the bed.

The existing cleaning robot is difficult to detect whether the protective cover protruding from the top is stuck or collided.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model aims at providing a cleaning robot with detect that coverage is high and simple structure characteristics.

A cleaning robot, comprising:

a housing;

the cover body is arranged on the shell and protrudes out of the top of the shell, and the cover body and the shell are connected to move downwards and backwards relative to the shell;

the rotating piece is connected with the shell to be capable of rotating downwards relative to the shell, and the free end of the rotating piece is located on the moving path of the cover body;

the trigger position of the switch is located on a downward rotating path of the rotating piece, and the rotating piece can trigger the switch in the downward rotating process.

By arranging the shell and the cover body, the cover body and the shell are connected to move downwards and backwards relative to the shell, by arranging the rotating piece, the free end of the rotating piece is positioned on a downward and backward moving path of the cover body, the rotating piece and the shell are connected to rotate downwards relative to the shell, the triggering position of the switch is positioned on a downward rotating path of the rotating piece, the switch can be triggered in the downward rotating process of the rotating piece, the cover body is arranged on the shell and protrudes from the top of the shell, and when the cover body protruding from the top of the shell is collided or extruded in the traveling process of the cleaning robot, the cover body can move in a corresponding direction according to the inclined, vertical or curved surface arrangement of the collision surface of the cover body and drives the free end of the rotating piece to rotate downwards, so that the switch is triggered, compared with the structure that the cover body is connected to the shell in a rotating mode, the structure has the advantages that the first aspect is that downward movement of the cover body can be detected, backward movement of the cover body can be detected, the problem that whether the existing cleaning robot is difficult to detect whether the protective cover protruding from the top is stuck or not and collision is solved, the detection coverage rate is improved, the second aspect is that the arranged rotating piece can receive downward pushing and backward pushing of the cover body and is unified to downward rotating movement of the rotating piece, collision and extrusion of the cover body at multiple angles can be detected only through a single switch, the manufacturing cost is low, the assembly difficulty is low, the third aspect is that the top of the cover body does not need to be provided with a transition surface, the structure that the cover body is connected to the shell in a rotating mode, the impact force in the horizontal direction, which the cover body is subjected to, can be converted into acting force for driving the cover body to rotate through the transition surface at the top of the cover body, and the main cleaning equipment can drive the cover body to collide or extrude any part protruding from the top of the shell body When the cover is pressed, no matter the wall surface collided on the cover body is inclined, vertical or curved, the cover body can move and transmit the action to the trigger switch, so that the detection coverage rate is extremely high, and the structure is simple.

The lower side is a vertically downward direction, the rear side refers to a direction which is centered on the cleaning robot, the traveling direction of the cleaning robot is a front side, and a direction on a side opposite to the traveling direction, the rear side may be a rear lower side, a horizontal rear side or a rear upper side, specifically, the rear lower side is an opposite direction to the traveling direction and an inclined downward direction, and the inclined angle may be any positive angle smaller than 90 degrees, such as 10 degrees, 30 degrees, 50 degrees or 80 degrees.

Further preferably, the rotating member has a first arm and a second arm, the first arm and the second arm have a fixed included angle, the second arm is located on a downward moving path of the cover body, the first arm is located on a backward moving path of the cover body, the switch is located on a downward moving path of the second arm, and in the moving process of the cleaning robot, if the cover body protruding from the top of the housing is collided or extruded backwards, the cover body moves backwards, the first arm located on the backward moving path of the cover body is pushed to rotate downwards, the second arm is driven to rotate downwards, and the switch is triggered; if the cover body protruding from the top of the shell is impacted or extruded downwards, the cover body moves downwards, and the second arm located on the downward moving path of the cover body is pushed to rotate, so that the switch is triggered.

Further preferably, the rotation axis of the rotating part is a horizontal axis, and when the cover body is collided or extruded at each angle downward or rearward and downward, the rotation angle of the rotating part is more uniform.

Further preferably, the rotating member is located on one side of the cover body close to the traveling direction of the cleaning robot; the cover body is provided with a base portion and a cover portion, the base portion is connected with the shell, the cover body extends upwards from the base portion, the base portion is provided with a through hole, the free end of the first arm vertically extends upwards into the through hole, the free end of the second arm is located below the base portion, the fixed included angle between the first arm and the second arm is smaller than 180 degrees, and the second arm is located on one side, close to the cover portion, of the first arm serving as the center. When the cover body is collided or extruded backwards, the through hole pushes the free end of the first arm, so that the second arm rotates downwards, and the switch is triggered. When the cover body is impacted or squeezed downwards, the second arm rotates downwards and triggers the switch.

Further preferably, the length of first arm is less than the length of second arm, considers that the activity of lid level backward triggers suddenly when cleaning machines people is straight going, and the dynamics is great, in order to avoid the switch to receive too big impulsive force, utilizes lever principle, with the shorter of the length setting of first arm, the length of adjustment arm of force optimizes extrusion or collision backward and the extrusion of down direction or the distribution of collision trigger dynamics for two kinds of dynamics are closer to the influence of switch, and is more reasonable, prolongs the life of switch to a certain extent.

Further preferably, the switch is located below the free end of the second arm, so that the switch can be triggered in time after the cover is bumped or squeezed.

Further preferably, the cover has a protrusion located above the second arm, and during backward or downward movement of the cover, the protrusion abuts against the second arm to cause the second arm to rotate to trigger the switch, and by providing the protrusion on the cover, the second arm is more easily driven to rotate downward.

Further preferably, a vertical gap allowing the cover to move to trigger the switch is formed between the cover and the shell, a vertical elastic resetting piece used for resetting the cover to move in the vertical direction is arranged between the cover and the shell, and the vertical displacement of the cover can be reset after the stress state is cancelled.

Further preferably, a horizontal longitudinal gap allowing the cover body to move to trigger the switch is formed between the cover body and the shell, a horizontal elastic resetting piece used for resetting the horizontal displacement of the cover body is arranged between the cover body and the shell, the horizontal elastic resetting piece can reset the horizontal displacement of the cover body after the stress state of the cover body is cancelled, and the structure with the horizontal longitudinal gap and the horizontal elastic resetting piece can buffer relative to the structure of the cover body which is rotatably connected to the shell, so that damage to furniture and cleaning equipment when the cover body collides or extrudes the furniture is reduced.

Further preferably, the cover body and the shell are elastically connected through the vertical elastic resetting piece and the horizontal elastic resetting piece, so that when the cover body is not collided or extruded, the cover body can be pressed on the shell, and the cover body cannot shake randomly in the advancing process of the cleaning robot.

Further preferably, the cleaning robot further comprises a limiting installation part, the limiting installation part is provided with a rod part, the cover body is provided with an installation hole, the shell is provided with an installation part, and the rod part penetrates through the installation hole and is fixedly connected with the installation part; the limiting mounting piece is also provided with a head part, the head part is connected with the rod part, a limiting part extends towards the center of the mounting hole in the mounting hole, and the limiting part is positioned below the head part so as to limit the upward moving range of the cover body; the installation department with horizontal direction's clearance of activity has between the spacing portion, the clearance of activity does horizontal longitudinal gap.

Through setting up spacing installed part, its pole portion can and casing fixed connection, and its head can restrict the scope of the upwards activity of lid.

Further preferably, the cleaning robot further includes:

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 cleaning robot.

Through setting up the control part, the control part is connected with the switch electricity, and after the switch was triggered, the control part received the turn-on signal to the output is carried out and is if stopped cleaning, shut down, move to the rear or side, turned angle cleans activities of getting rid of poverty etc. and the perception subassembly is located in the lid, the lid can be used for protecting the perception subassembly.

Compared with the prior art, the cleaning robot of the utility model is provided with the shell and the cover body, the cover body is connected with the shell to move downwards and backwards relative to the shell, the rotating part is arranged, the free end of the rotating part is positioned on the moving path of the cover body downwards and backwards, the rotating part is connected with the shell to rotate downwards relative to the shell, the triggering position of the switch is positioned on the rotating path of the rotating part downwards, the rotating part can trigger the switch in the downwards rotating process, the cover body is arranged on the shell and protrudes from the top of the shell, when the cover body protruding from the top of the shell is collided or extruded in the traveling process of the cleaning robot, the cleaning robot can move in the corresponding direction according to the inclination, the vertical or curved surface arrangement of the collision surface of the cover body, and the free end of the rotating part is driven to rotate downwards, so that the switch is triggered, compared with a structure for rotationally connecting the cover body to the shell, on the first hand, the structure can detect downward movement of the cover body and backward movement of the cover body, thereby improving the problem that the existing cleaning robot is difficult to detect whether a protective cover protruding from the top is stuck or collided, the detection coverage rate is improved, on the second hand, the arranged rotating part can receive downward and backward pushing of the cover body and unify the downward rotating movement of the rotating part, collision and extrusion of the cover body at multiple angles can be detected only by using a single switch, the manufacturing cost is low, the assembly difficulty is low, on the third hand, no transition surface is required to be arranged on the top of the cover body, for the structure rotationally connected to the shell, the transition surface at the top end of the cover body can convert the impact force in the horizontal direction on the cover body into the acting force for driving the rotation of the cover body, when the cover body of any part of the autonomous cleaning equipment protruding from the top of the shell is collided or extruded, no matter the wall surface of the cover body which is collided is inclined, vertical or in a curved surface shape, the cover body can act and transmit the action to the trigger switch, the detection coverage rate is extremely high, and the structure is simple. The utility model discloses a cleaning robot has the characteristics that detect the coverage rate height and simple structure.

For a better understanding and an implementation, the present invention is described in detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a three-dimensional exploded view of the cleaning robot of the present invention;

FIG. 2 is a schematic view of the connection between the cover and the housing;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;

fig. 4 is a partially enlarged view of a region D in fig. 2;

fig. 5 is a partially enlarged view of an area E in fig. 3;

fig. 6 is a partially enlarged view of the region F in fig. 3;

FIG. 7 is a cross-sectional view taken along line B-B of FIG. 2;

fig. 8 is a partial enlarged view of a region G in fig. 7;

FIG. 9 is a cross-sectional view taken along line C-C of FIG. 2;

fig. 10 is a partially enlarged view of the region H in fig. 9.

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 cleaning robots can be classified into commercial cleaning robots and household cleaning robots according to purposes, and can be cleaning robots such as floor sweepers, mopping machines, floor washing machines and the like according to types.

The lower side is a vertically downward direction, the rear side is a direction which is centered on the cleaning robot and is opposite to a traveling direction of the cleaning robot, 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 cleaning robot, that is, a straight rear-lower direction. Similarly, the horizontal rear direction may be a left horizontal rear direction with the traveling direction as the front with the center of the cleaning robot, a right horizontal rear direction, or a direction opposite to the traveling direction, that is, a horizontal direction right behind.

A longitudinal direction, i.e., an axial direction along a traveling direction of the cleaning robot.

Examples

As shown in fig. 1 and 2, fig. 1 is a three-dimensional exploded view of the cleaning robot of the present invention, and fig. 2 is a schematic view of a connection relationship between the cover body 2 and the housing 1.

The utility model discloses a cleaning robot, include:

the casing 1, this casing 1 can include epitheca and inferior valve, can bear between epitheca and the inferior valve and walk wheel subassembly, round brush subassembly, wind channel subassembly, dirt box subassembly and functional part such as preceding subassembly of hitting.

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. Specifically, the cover 2 and the housing 1 may be elastically connected and limited by a limiting installation component 7, for example, a horizontal elastic restoring component 6 and a vertical elastic restoring component 5 may be elastically connected, the horizontal elastic restoring component 6 may be shown in fig. 6, the vertical elastic restoring component 5 may be shown in fig. 7 to 8, and the limiting installation component 7 may be shown in fig. 9 to 10.

And the rotating piece 3 is connected with the shell 1 to be capable of rotating downwards relative to the shell 1, and the free end of the rotating piece 3 is positioned on a downward and backward moving path of the cover body 2. Specifically, the rotating member 3 has a first arm 31 and a second arm 32, the first arm 31 and the second arm 32 have a fixed included angle, the first arm 31 is connected with the cover 2, and the second arm 32 is connected with the cover 2 and the housing 1, respectively, as shown in fig. 4 and 5.

The trigger position of the switch 4 is located on a downward rotating path of the rotating piece 3, and the rotating piece 3 can trigger the switch 4 in the downward rotating process. The switch 4 may be a contact switch such as a microswitch or a tact switch, or may be a non-contact inductive switch such as a hall switch. When the switch 4 is a contact switch, the rotating member 3 can trigger the switch 4 when rotating to a trigger position in a downward rotating process, and an action reed of the switch 4 is also located on a downward rotating path of the rotating member 3 at this time, for example, in the rotating process, the rotating member 3 rotates to abut against the action reed of the switch 4 and pushes the action reed to contact with a switch contact, the switch 4 is triggered, and the contact position of the action reed and the switch contact is the trigger position; if the switch 4 is a non-contact inductive switch, the rotating member 3 is provided with a magnet, the switch 4 is triggered when the rotating member 3 rotates to a triggering position where the magnet can be sensed, and the triggering position is a sensing position where the magnet can be sensed.

During the use, at cleaning robot advancing process, if follow 1 top of casing is convex the lid 2 receives collision or extrusion backward, according to the wall shape of collision position, the activity of corresponding direction can be made to lid 2 to the free end that drives and rotate 3 rotates downwards, makes switch 4 triggered. The specific movement of the cover 2 after the cover 2 is impacted or squeezed can be seen in fig. 3.

This configuration has various advantages over the configuration for rotationally coupling the cover 2 to the housing 1:

on the first hand, the backward movement of the cover body 2 can be detected, the downward movement of the cover body 2 can be detected, the problem that the existing cleaning robot is difficult to detect whether the protective cover protruding from the top is stuck or collided is solved, and the detection coverage rate is improved;

in the second aspect, the rotating part 3 can receive the downward and backward pushing of the cover body 2, the downward rotating action of the rotating part 3 is unified, the collision and extrusion of the cover body 2 at multiple angles can be detected only by using a single switch 4, the manufacturing cost is low, and the assembly difficulty is low;

in the third aspect, the transition surface 26 may not be arranged at the top of the cover 2, for the structure that the cover 2 is rotatably connected to the housing, when the impact position is at the top end of the cover 2, the transition surface 26 at the top end of the cover 2 may convert the impact force in the horizontal direction received by the cover 2 into the acting force for driving the cover 2 to rotate, when the impact position is at a position below the transition surface 26 at the top end of the cover 2, the cover cannot move, and when the self-cleaning device is collided or extruded with the cover 2 at any part protruding from the top of the housing 1, no matter whether the wall surface collided on the cover 2 is inclined, vertical or curved, the cover 2 can act and transmit the action to the trigger switch 4, and the detection coverage rate is extremely high, and the. The movement of the cover when horizontal impact is applied to the wall surface in various forms is shown in fig. 3.

In order to more intelligently cope with the situation that the cleaning robot is stuck, the cleaning robot may be configured to be able to perform the escaping action, and the cleaning robot may perform the escaping action when it is detected that the cover body 2 is collided or pressed. Specifically, the cleaning robot further includes: a control part for executing the action of getting rid of the trouble, wherein the control part is arranged on the shell 1 and is electrically connected with the switch 4; and the sensing assembly is electrically connected with the control part, is positioned in the cover body 2 and protrudes out of the top of the shell body 1 so as to sense the surrounding environmental information of the cleaning robot. Through setting up the control part, the control part is connected with switch 4 electricity, and after switch 4 was triggered, the control part received the signal that switches on to the output is carried out and is if stop cleaning, shut down, move to the rear or side, turned angle cleans and so on the action of getting rid of poverty, and the perception subassembly is located in lid 2, lid 2 can be used for protecting the perception subassembly. The sensing component can be a sensor such as a laser radar, a TOF sensor, a structured light sensor, an ultrasonic sensor, and the like, and can be a single sensor, or a sensor module formed by at least two sensors. The sensing component is used for sensing single or multiple combined environmental information characteristics such as distance, position, image characteristics, contour or straight line.

As shown in fig. 3, fig. 3 is a sectional view taken along line a-a of fig. 1.

Alternatively, the top end of the cap portion 22 of the lid body 2 has an annular transition surface 26, and the transition surface 26 may be a truncated cone-shaped curved surface formed by chamfering or an arc-shaped curved surface formed by chamfering.

When the transition surface 26 of the cover 2 is horizontally impacted during the traveling of the cleaning robot, the cleaning robot is changed to push the cover 2 to move backward and downward, for example, when the impacted object such as a sofa, a bed, etc. is encountered, the impacted object applies a reaction force to the cover 2, and the reaction force acts on the cover 2 along the transition surface 26. Wherein, the cover body 2 and the shell body 1 are elastically connected in the horizontal direction and the vertical direction. The collision surface of the cover 22 has various forms, and the cleaning robot may move horizontally backward, and downward after the cover 2 is horizontally impacted according to the shape of the collision surface on the cover 2 and the position of the collision during the traveling process. The method comprises the following specific steps:

(1) in the present embodiment, the lid body 2 has a transition surface 26 at the top end, the transition surface 26 has an inclined or arc-shaped surface, and a wall surface is obliquely provided between the lowest position of the transition surface 26 of the lid portion 22 and the highest position of the base portion 21, and the inclination direction is a traveling direction in which the top end of the lid body 2 is away from the cleaning robot and the bottom end is close to the cleaning robot. When the position of the horizontal impact is located on the transition surface 26, the cover body 2 moves along the overlapping direction of the transition surface 26 to the rear and the lower part, and the moving direction of the cover body 2 is the rear lower part; when the horizontal impact is applied between the lowest position of the transition surface 26 of the lid 22 and the highest position of the base 21, the lid 2 moves in the direction in which the transition surface 26 overlaps rearward and downward, in the same manner as the transition surface 26, the movement direction of the lid 2 is rearward and downward, and the degree of rearward movement of the lid 2 increases as the inclination angle decreases.

(2) In another embodiment, the cover 2 has a transition surface 26 at the top end, the transition surface 26 has an inclined or arc-shaped surface, a wall surface is obliquely arranged between the lowest position of the transition surface 26 of the cover 22 and the highest position of the base 21, the inclination direction is the advancing direction of the top end of the cover 2 approaching to the cleaning robot, the bottom end of the cover 2 is the advancing direction far away from the cleaning robot, when the position of the horizontal impact is between the lowest position of the transition surface 26 of the cover 22 and the highest position of the base 21, the cover 2 has the tendency of moving back and up, but due to the limitation of the limit installation part 7 on the upward moving range of the cover 2, the cover 2 actually moves as moving horizontally and back. Of course, in other embodiments, the limit mounting member 7 may be eliminated or the range of upward movement of the limit mounting member 7 with respect to the lid body 2 may be adjusted so that the lid body 2 can also move back and forth upward.

(3) In yet another embodiment, the cover 2 has a transition surface 26 at the top end, the transition surface 26 has an inclined or arc surface, a wall surface is vertically arranged between the lowest position of the transition surface 26 of the cover 22 and the highest position of the base 21, and the moving direction of the cover 2 is horizontally backward when the horizontal impact is applied to the cover between the lowest position of the transition surface 26 of the cover 22 and the highest position of the base 21.

(4) In a modification, the transition surface 26 in the above three embodiments may be removed, and a wall surface disposed obliquely or vertically may be retained.

(5) In other variations, there may be other usage scenarios in which the cover 2 moves downward, for example, when a pet jumps onto the cleaning robot or a human hand presses the cover 2 from top to bottom, the cleaning robot may detect the movement of the cover, and perform a corresponding action, such as stopping cleaning, to prevent the pet from being injured or stopping cleaning manually.

As shown in fig. 4 and 5 in conjunction with fig. 1, fig. 4 is a partial enlarged view of a region D in fig. 2, and fig. 5 is a partial enlarged view of a region E in fig. 3.

Considering that the cover body 2 can move backward or downward, the rotating member 3 is provided to receive two kinds of movements of the cover body 2 and output a rotation in a single direction, so that the number of the switches 4 is saved, and the movement in any one direction of the upward or backward movement of the cover body 2 can be detected by one switch 4. Specifically, the rotation member 3 has a first arm 31 and a second arm 32, the first arm 31 and the second arm 32 have a fixed included angle, the first arm 31 is located on a backward moving path of the cover 2, the second arm 32 is located on a downward moving path of the cover 2, and the switch 4 is located on a downward moving path of the second arm 32.

In this embodiment, the rotating member 3 is located on a side of the cover body 2 close to the traveling direction of the cleaning robot. Wherein:

the first arm 31 is located on the backward moving path of the cover body 2, the cover body 2 has a base 21 and a cover 22, the base 21 is connected with the housing 1, the cover body 2 extends upwards from the base 21, the base 21 has a through hole 211, the free end of the first arm 31 vertically extends upwards into the through hole 211, when the cover body 2 is collided or extruded backwards, the through hole 211 pushes the free end of the first arm 31, so that the second arm 32 rotates downwards and triggers the switch 4; specifically, a support arm extending in the traveling direction of the cleaning robot may be provided on the base 21, and the support arm may be provided with a through hole 211;

the second arm 32 is located on a downward moving path of the cover 2, a free end of the second arm 32 is located below the base 21, a fixed included angle between the first arm 31 and the second arm 32 is less than 180 degrees, and the second arm 32 is located on a side close to the cover 22 with the first arm 31 as a center. Specifically, the fixed angle may be 90 degrees. When the cover body 2 is impacted or extruded downwards, the cover body 2 moves downwards to abut against the second arm 32, and drives the second arm 32 to rotate downwards, and finally the switch 4 is triggered;

when the lid 2 moves backward and downward, the first arm 31 or the second arm 32 rotates downward according to the inclination or the arc degree of the transition surface 26 and the inclination angle of the inclined wall surface between the lowest position of the transition surface 26 of the lid 22 and the highest position of the base 21, and finally the switch 4 is triggered.

The switch 4 is located on the downward rotation path of the second arm 32, and the switch 4 is located below the free end of the second arm 32, so that the switch 4 can be triggered in time after the cover 2 is collided or squeezed. Of course, in another embodiment, the switch 4 may be located on the second arm 32 near the free end, or in the middle of the second arm 32, etc.

In another embodiment, the rotating member 3 may be located at other positions on the cover 2, such as at the left and right ends of the cover 2. In the modified example, the rotating member 3 is located on a side of the cover 2 away from the traveling direction of the cleaning robot, and at this time, unlike the present embodiment, the second arm 32 is located on a side away from the cover 22 with the first arm 31 vertically disposed as a center, so as to push the second arm 32 to rotate downward when the cover 2 moves downward in the rear direction or in the horizontal rear direction. In another modification, the switch 4 may not be vertically disposed, and the position of the switch 4 may be obliquely disposed or horizontally disposed, and only the position of the rotating member 3 needs to be correspondingly adjusted according to the present embodiment. In a further variant, the through hole 211 can also be replaced by a groove, in which case there is also a vertical gap d1 between the top wall of the first arm 31 and the bottom wall of the groove, which allows the cover 2 to move to activate the switch 4, and there is also a horizontal longitudinal gap d2 between the side wall of the first arm 31 and the side wall of the groove, which allows the cover 2 to move to activate the switch 4.

When the cleaning robot is used, if the cover body 2 protruding from the top of the shell 1 is collided or extruded backwards in the process of traveling of the cleaning robot, the cover body 2 moves backwards, and pushes the second arm 32 positioned on the backward moving path of the cover body 2 to rotate downwards, so that the switch 4 is triggered; if the cover 2 protruding from the top of the housing 1 is impacted or squeezed downward, the cover 2 moves downward, and pushes the first arm 31 located on the downward moving path of the cover 2 to rotate, and drives the second arm 32 forming a fixed angle with the first arm 31 to rotate downward, so that the switch 4 is triggered. The first arm 31 and the second arm 32 may have a rod shape or a plate shape.

It should be noted that, in order to make the rotation angle of the rotating member 3 more uniform when the cover 2 is collided or pressed by downward or downward angles, the rotation axis of the rotating member 3 is a horizontal axis.

Preferably, the cover 2 has a protrusion 23, the protrusion 23 is located above the second arm 32, during the backward or downward movement of the cover 2, the protrusion 23 abuts against the second arm 32, so that the second arm 32 rotates to trigger the switch 4, and by providing the protrusion 23 on the cover 2, the second arm 32 is more easily driven to rotate downward. Specifically, the protrusion 23 may be a columnar protrusion 23, such as a columnar protrusion 23 having a circular, square, or X-shaped cross section.

Considering that the activity of lid 2 level backward triggers suddenly when cleaning machines people go straight, the dynamics is great, avoids switch 4 to receive too big impulsive force, the length of first arm 31 sets up to the length that is less than second arm 32, utilizes lever principle, and with the short of the length setting of first arm 31, the distribution of the length optimization backward collision of the adjustment arm of force or extrusion and decurrent collision or extrusion trigger dynamics for two kinds of dynamics are closer to switch 4's influence, and is more reasonable, prolongs switch 4's life to a certain extent.

As shown in fig. 6 to 8, fig. 6 is a partially enlarged view of a region F in fig. 3, fig. 7 is a sectional view taken along a line B-B in fig. 2, and fig. 8 is a partially enlarged view of a region G in fig. 7.

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. In this embodiment, a horizontal elastic reset piece 6 and a vertical elastic reset piece 5 are adopted to perform elastic connection, the elastic connection can be realized by reserving gaps in the horizontal and vertical directions between the cover body 2 and the housing 1, that is, reserving a horizontal longitudinal gap d2 and a vertical gap d1, the horizontal elastic reset piece 6 is arranged between the cover body 2 and the housing 1 in the horizontal direction, and the vertical elastic reset piece 5 is arranged between the cover body 2 and the housing 1 in the vertical direction, so that when the cover body 2 is subjected to external force and horizontal impact occurs, the cover body 2 overcomes the elastic acting force of the horizontal elastic reset piece 6, moves horizontally backwards, and when the external force is cancelled, the original position is restored by the elastic acting force of the horizontal elastic reset piece 6; 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 5 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 5. When the cover body 2 moves backwards and downwards, the horizontal elastic reset piece 6 and the vertical elastic reset piece 5 work together. The stop mounting 7 is seen in figure 10.

Wherein, a horizontal longitudinal gap d2 allowing the cover 2 to move to trigger the switch 4 is provided between the cover 2 and the housing 1, a horizontal elastic reset piece 6 for resetting the horizontal displacement of the cover 2 is provided between the cover 2 and the housing 1, specifically, the housing 1 comprises a first groove having a vertically arranged side wall, the body of the horizontal elastic reset piece 6 is arranged on the first groove of the housing 1, one end of the horizontal elastic reset piece 6 is abutted against the side wall of the first groove on the housing 1, the other end is abutted against the side wall of the cover 2, the horizontal elastic reset piece 6 is arranged to reset the horizontal displacement of the cover 2 after the stress state of the cover 2 is cancelled, and is rotatably connected to the housing 1 relative to the cover 2, the structure having the horizontal longitudinal gap d2 and the horizontal elastic reset piece 6 can buffer, the damage to the furniture and the cleaning equipment when the cover body 2 collides or extrudes the furniture is reduced. Here, in consideration of the positional relationship between the case 1 and the cover 2, the horizontal longitudinal gap d2 is a movable gap in the horizontal direction between the case 1 and the cover 2, and is specifically shown in fig. 10. In addition, lid 2 with have between the casing 1 and allow lid 2 activity to trigger switch 4's vertical clearance d1, lid 2 with be provided with between the casing 1 and be used for reseing the vertical elasticity of lid 2 vertical direction displacement resets 5, and is concrete, casing 1 includes the second recess, and this second recess has the diapire of level setting, and the body that vertical elasticity resets 5 sets up on the second recess of casing 1, and the diapire butt of the second recess on vertical elasticity resets 5's one end and the casing 1, and the other end and lid 2 bottom butt, and vertical elasticity resets 5's setting can reset lid 2's vertical displacement after lid 2 stress state cancels.

In order to ensure that the cover body 2 can be pressed on the shell body 1 when the cover body 2 is not collided or extruded, the effect that the cover body 2 cannot shake randomly in the process of traveling of the cleaning robot is realized, in the embodiment, the cover body 2 is elastically connected with the shell body 1 through the vertical elastic resetting piece 5 and the horizontal elastic resetting piece 6. At this time, when the cover 2 is not squeezed or collided, the horizontal elastic restoring member 6 applies a horizontal elastic acting force to the cover 2, and the vertical elastic restoring member 5 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 6 may be a horizontally disposed spring, and the vertical elastic restoring member 5 may be a vertically disposed spring. Certainly, in another embodiment, the cover 2 and the housing 1 may not be elastically connected through the vertical elastic restoring member 5 and the horizontal elastic restoring member 6, at this time, the vertical elastic restoring member 5 and the horizontal elastic restoring member 6 are used for restoring horizontal backward movement and backward movement of the cover 2, the cover 2 may move relative to the housing 1 during the operation of the cleaning robot, the vertical elastic restoring member 5 and the horizontal elastic restoring member 6 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, no elastic pressing force is applied between the cover 2 and the housing 1 through a spring, and the cover 2 is very prone to shake during the entire operation, and generates noise.

As shown in fig. 9 and 10, fig. 9 is a sectional view taken along line C-C of fig. 2, and fig. 10 is a partial enlarged view of region H of fig. 9.

In consideration of the requirement of limiting the upward movable range of the cover body 2, the cleaning robot further comprises a limiting installation part 7, wherein the limiting installation part 7 is provided with a rod part 72, the cover body 2 is provided with an installation hole 24, the shell 1 is provided with an installation part 11, and the rod part 72 penetrates through the installation hole 24 and is fixedly connected with the installation part 11; the limiting installation part 7 is further provided with a head part 71, the head part 71 is connected with a rod part 72, a limiting part 25 extends towards the center of the installation hole 24 in the installation hole 24, and the limiting part 25 is positioned below the head part 71 so as to limit the upward moving range of the cover body 2; the installation department 11 with the clearance that has the horizontal direction between the spacing portion 25, the clearance does horizontal longitudinal clearance d2, this spacing portion 25 can be spacing hole, and this installation department 11 can be bellied erection column, sets up the screw hole in this erection column and is connected with pole portion 72, forms horizontal longitudinal clearance d2 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 72 thereof can be fixedly connected to the housing 1, the head portion 71 thereof can limit the upward movement range of the cover body 2, and a horizontal movement gap is formed between the mounting portion 11 and the limit portion 25, 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 motion of the cover 2 in the downward direction and the size of the range of motion in the horizontal direction can be adjusted by the size of the vertical gap d1 and the horizontal longitudinal gap d 2.

Specifically, the limiting mounting member 7 may be an integrally connected limiting mounting member 7 such as a head screw, and at this time, the head 71 is the head 71 of the head screw; the limiting installation part 7 can also be a common screw or bolt, and at the moment, the head 71 is the head 71 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 71 of the common screw or bolt are connected, at this time, the head 71 is the head 71 of the common screw or bolt and the elastic gasket, on one hand, the diameter of the head 71 is increased by the elastic gasket, and the elastic gasket can be better matched with the installation hole 24 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 11 and the limiting portion 25, and the horizontal longitudinal gap d2 can be reduced.

Compared with the prior art, the cleaning robot of the utility model is provided with the shell 1 and the cover body 2, the cover body 2 is connected with the shell 1 to move downwards and backwards relative to the shell 1, the free end of the rotating part 3 is arranged on the moving path of the cover body 2 downwards and backwards by arranging the rotating part 3, the rotating part 3 is connected with the shell 1 to rotate downwards relative to the shell 1, the triggering position of the switch 4 is arranged on the rotating path of the rotating part 3 downwards, the switch 4 can be triggered during the downward rotation of the rotating part 3, the cover body 2 is arranged on the shell 1 and protrudes from the top of the shell 1, during the traveling of the cleaning robot, if the cover body 2 protruding from the top of the shell 1 is collided, according to the inclination, the vertical or curved surface arrangement of the collision surface of the cover body 2, the structure can not only detect the downward movement of the cover body 2, but also detect the backward movement of the cover body 2, thereby improving the problem that the existing cleaning robot is difficult to detect whether the protective cover with the convex top is stuck or collided, the detection coverage rate is improved, in the second aspect, the arranged rotating piece 3 can receive the downward and backward push of the cover body 2, unify the downward rotating action of the rotating piece 3, can detect the collision and extrusion of the cover body 2 at a plurality of angles by only using a single switch 4, the manufacturing cost is low, the assembly difficulty is low, in the third aspect, the top of the cover body 2 can be free from arranging a transition surface 26, and the structure that the cover body 2 is rotatably connected on the shell is triggered, the transition face 26 at lid 2 top can convert the impact of the horizontal direction that lid 2 received into and order about lid 2 pivoted effort, and this autonomic cleaning device is followed the convex arbitrary part in casing 1 top the lid 2 receives the collision or when extrudeing, no matter the wall of collision is slope, vertical or is the curved surface form on the lid 2, and lid 2 can both move and transmit trigger switch 4, and it is high to detect the coverage, simple structure. The utility model discloses a cleaning robot has the characteristics that detect the coverage rate height and simple structure.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims (12)

1. A cleaning robot, characterized by comprising:

a housing;

the cover body is arranged on the shell and protrudes out of the top of the shell, and the cover body and the shell are connected to move downwards and backwards relative to the shell;

the rotating piece is connected with the shell to be capable of rotating downwards relative to the shell, and the free end of the rotating piece is located on the moving path of the cover body;

the trigger position of the switch is located on a downward rotating path of the rotating piece, and the rotating piece can trigger the switch in the downward rotating process.

2. The cleaning robot of claim 1, wherein the rotating member has a first arm and a second arm, the first arm and the second arm having a fixed included angle, the first arm being located on a rearward path of movement of the cover, the second arm being located on a downward path of movement of the cover, the switch being located on a downward path of movement of the second arm.

3. The cleaning robot as claimed in claim 2, wherein the rotation axis of the rotating member is a horizontal axis.

4. The cleaning robot according to claim 2, wherein the rotating member is located on a side of the cover body near a traveling direction of the cleaning robot;

the cover body is provided with a base portion and a cover portion, the base portion is connected with the shell, the cover body extends upwards from the base portion, the base portion is provided with a through hole, the free end of the first arm vertically extends upwards into the through hole, the free end of the second arm is located below the base portion, the fixed included angle between the first arm and the second arm is smaller than 180 degrees, and the second arm is located on one side, close to the cover portion, of the first arm serving as the center.

5. The cleaning robot of claim 2, wherein the length of the first arm is less than the length of the second arm.

6. The cleaning robot of claim 2, wherein the switch is located below a free end of the second arm.

7. The cleaning robot as claimed in claim 2, wherein the cover has a projection which is located above the second arm, and the projection abuts against the second arm during backward or downward movement of the cover, so that the second arm is rotated to trigger the switch.

8. The cleaning robot as claimed in any one of claims 1 to 7, 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 restoring member for restoring vertical displacement of the cover is provided between the cover and the housing.

9. The cleaning robot as claimed in claim 8, wherein a horizontal longitudinal gap is provided between the cover and the housing to allow the cover to move to trigger the switch, and a horizontal elastic restoring member for restoring horizontal displacement of the cover is provided between the cover and the housing.

10. The cleaning robot as claimed in claim 9, wherein the cover body is elastically connected to the housing by the vertical elastic restoring member and the horizontal elastic restoring member.

11. The cleaning robot of claim 10, further comprising a limiting mounting member having a rod portion, the cover having a mounting hole, the housing having a mounting portion, the rod portion extending through the mounting hole and fixedly coupled to the mounting portion;

the limiting mounting piece is also provided with a head part, the head part is connected with the rod part, a limiting part extends towards the center of the mounting hole in the mounting hole, and the limiting part is positioned below the head part so as to limit the upward moving range of the cover body;

the installation department with horizontal direction's clearance of activity has between the spacing portion, the clearance of activity does horizontal longitudinal gap.

12. The cleaning robot 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 cleaning robot.

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