Cleaning robot

Abstract

The present invention relates to the field of cleaning equipment, and particularly to a cleaning robot. By providing a housing and a cover body, the cover body is connected to the housing and can move downward and backward relative to the housing. By providing a rotating member, the free end of the rotating member is located on the downward and backward movement path of the cover body. The rotating member is connected to the housing and can rotate downward relative to the housing. The triggering position of the switch is on the downward rotation path of the rotating member. The cover body is arranged on the housing and protrudes from the top of the housing. During the movement of the cleaning robot, when the cover body protruding from the top of the housing is collided or squeezed, the cover body can move and drive the free end of the rotating member to rotate downward, so that the switch is triggered. Compared with the structure in which the cover body is rotatably connected to the housing, this structure can detect the downward and backward movement of the cover body, improves the problem that it is difficult for the existing cleaning robot to detect whether the protective cover protruding from the top is stuck or collided, and the detection coverage rate is increased.

Description

Technical Field

[0001] The present invention relates to the field of cleaning equipment, and particularly to a cleaning robot. Background Art

[0002] With the improvement of the technological innovation ability, more and more cleaning robots have entered household life and are loved by the general public.

[0003] In order to improve the user experience, a lidar is convexly provided on the top of the cleaning robot, and a protective cover is provided on the lidar. The convex lidar and the protective cover on the top cause the problem that the cleaning robot is easily stuck in low positions such as under the sofa or under the bed when entering these low positions, or the protective cover continues to collide or be squeezed under the sofa or the bed and cannot continue cleaning.

[0004] Existing cleaning robots are difficult to detect whether the protective cover protruding from the top is stuck or collided. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a cleaning robot with high detection coverage rate and simple structure.

[0006] A cleaning robot, comprising:

[0007] A housing;

[0008] A cover body, which is arranged on the housing and protrudes from the top of the housing, and the cover body is connected to the housing so as to be able to move downward and backward relative to the housing;

[0009] A rotating member, which is connected to the housing so as to be able to rotate downward relative to the housing, and the free end of the rotating member is located on the moving path of the cover body;

[0010] A switch, the triggering position of the switch is on the downward rotation path of the rotating member, and the rotating member can trigger the switch during the downward rotation process.

[0011] By providing a housing and a cover, the cover is connected to the housing and can move downward and backward relative to the housing. By providing a rotating member, the free end of the rotating member is located on the downward and backward movement path of the cover. The rotating member is connected to the housing and can rotate downward relative to the housing. The triggering position of the switch is on the downward rotation path of the rotating member. During the downward rotation of the rotating member, the switch can be triggered. The cover is provided on the housing and protrudes from the top of the housing. During the movement of the cleaning robot, when the cover protruding from the top of the housing is collided or squeezed, according to the inclination, vertical or curved shape of the collision surface of the cover, corresponding-direction movement can be made, and the free end of the rotating member can be driven to rotate downward, so that the switch is triggered. Compared with the structure in which the cover is rotatably connected to the housing, on the one hand, not only can the downward movement of the cover be detected, but also the backward movement of the cover can be detected, improving the problem that it is difficult for the existing cleaning robot to detect whether the protective cover protruding from the top is stuck or collided, and the detection coverage rate is improved. On the other hand, the provided rotating member can receive the downward and backward pushing of the cover and unify it into the action of the rotating member rotating downward. Only a single switch can be used to detect the collision and extrusion of the cover at multiple angles, with low manufacturing cost and low assembly difficulty. On the third hand, there is no need to provide a transition surface on the top of the cover. For the structure in which the cover is rotatably connected to the housing, the transition surface at the top of the cover can convert the horizontal impact force received by the cover into the acting force that drives the cover to rotate. When any part of the cover protruding from the top of the housing of this autonomous cleaning device is collided or squeezed, no matter whether the wall surface collided on the cover is inclined, vertical or curved, the cover can perform actions and transmit them to trigger the switch, with extremely high detection coverage rate and simple structure.

[0012] Wherein, the downward direction is the vertically downward direction, and the rear refers to the direction centered on the cleaning robot and with the traveling direction of the cleaning robot as the front and the side opposite to the traveling direction. The rear can be any one of the lower rear, the horizontal rear and the upper rear. Specifically, taking the lower rear as an example, the lower rear refers to the direction opposite to the traveling direction and inclined downward, and the inclined angle can be any positive value less than 90 degrees, such as 10 degrees, 30 degrees, 50 degrees or 80 degrees, etc.

[0013] 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 the downward movement path of the cover body, the first arm is located on the backward movement path of the cover body, the switch is located on the downward rotation movement path of the second arm. During the movement of the cleaning robot, if the cover body protruding from the top of the housing is subjected to a backward collision or extrusion, the cover body moves backward, pushing the first arm located on the backward movement path of the cover body to rotate downward, driving the second arm to rotate downward, so that the switch is triggered; if the cover body protruding from the top of the housing is subjected to a downward collision or extrusion, the cover body moves downward, pushing the second arm located on the downward movement path of the cover body to rotate, so that the switch is triggered.

[0014] Further preferably, the rotation axis of the rotating member is a horizontal axis. When the cover body is collided or extruded at various angles downward or backward and downward, the rotation angle of the rotating member is more uniform.

[0015] 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 has a base and a cover portion, the base is connected to the housing, the cover body extends upward from the base, the base has a through hole, the free end of the first arm extends vertically upward into the through hole, the free end of the second arm is located below the base, the fixed included angle between the first arm and the second arm is less than 180 degrees, and the second arm is located on the side close to the cover portion with the first arm as the center. When the cover body is subjected to a backward collision or extrusion, the through hole pushes the free end of the first arm, so that the second arm rotates downward and triggers the switch. When the cover body is subjected to a downward collision or extrusion, the second arm rotates downward and triggers the switch.

[0016] Further preferably, the length of the first arm is less than the length of the second arm. Considering that the horizontal backward movement of the cover body is suddenly triggered when the cleaning robot is moving straight, and the force is relatively large. In order to avoid the switch being impacted by too much force, using the lever principle, the length of the first arm is set shorter, and the length of the force arm is adjusted to optimize the distribution of the triggering force of the backward extrusion or collision and the downward extrusion or collision, so that the influence of the two forces on the switch is closer and more reasonable, and to a certain extent, the service life of the switch is extended.

[0017] 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 body is collided or extruded.

[0018] Further preferably, the cover body has a protrusion, and the protrusion is located above the second arm. When the cover body moves backward or downward, the protrusion abuts against the second arm, so that the second arm rotates to trigger the switch. By providing the protrusion on the cover body, the second arm can be more easily driven to rotate downward.

[0019] Further preferably, there is a vertical gap between the cover body and the shell that allows the cover body to move to trigger the switch, and a vertical elastic reset member for resetting the vertical displacement of the cover body is provided between the cover body and the shell, and the vertical displacement of the cover body can be reset after the force state is cancelled.

[0020] Further preferably, there is a horizontal longitudinal gap between the cover body and the shell allowing the cover body to move to trigger the switch, and a horizontal elastic reset member for resetting the horizontal displacement of the cover body is arranged between the cover body and the shell. The arrangement of the horizontal elastic reset member can reset the horizontal displacement of the cover body after the stress state of the cover body is cancelled, and the structure connected to the shell with respect to the cover body can be rotatably connected to the shell. The structure with the horizontal longitudinal gap and the horizontal elastic reset member can perform buffering, thereby reducing damage to furniture and cleaning equipment when the cover body collides or squeezes the furniture.

[0021] Further preferably, the cover body is elastically connected to the shell by the vertical elastic reset member and the horizontal elastic reset member, so that when the cover body is not collided or squeezed, the cover body can be pressed against the shell, and the cover body of the cleaning robot will not shake at will during the movement.

[0022] Further preferably, the cleaning robot also includes a limit mounting piece, the limit mounting piece has a rod portion, the cover body has a mounting hole, the shell body has a mounting portion, the rod portion passes through the mounting hole and is fixedly connected to the mounting portion; the limit mounting piece also has a head portion, the head is connected to the rod portion, a limit portion extends in the mounting hole toward the center of the mounting hole, and the limit portion is located below the head portion to limit the range of upward movement of the cover body; there is a horizontal movable gap between the mounting portion and the limit portion, and the movable gap is the horizontal longitudinal gap.

[0023] By providing a position-limiting mounting piece, the rod portion thereof can be fixedly connected to the shell body, and the head portion thereof can limit the upward movement range of the cover body.

[0024] Further preferably, the cleaning robot further comprises:

[0025] A control unit for executing an escape action, the control unit being disposed on the housing and electrically connected to the switch;

[0026] A sensing component, which is electrically connected to the control unit. The sensing component is located inside the cover body and protrudes from the top of the housing to sense the environmental information around the cleaning robot.

[0027] By setting up a control unit, which is electrically connected to a switch. After the switch is triggered, the control unit receives a conduction signal and outputs actions to get out of trouble, such as stopping cleaning, shutting down, moving backward or sideways, and cleaning at a rotated angle. The sensing component is located inside the cover body, and the cover body can be used to protect the sensing component.

[0028] Compared with the prior art, for the cleaning robot of the present invention, by setting up a housing and a cover body, the cover body is connected to the housing and can move downward and backward relative to the housing. By setting up a rotating member, the free end of the rotating member is located on the downward and backward movement path of the cover body. The rotating member is connected to the housing and can rotate downward relative to the housing. The triggering position of the switch is on the downward rotation path of the rotating member. During the downward rotation of the rotating member, the switch can be triggered. The cover body is arranged on the housing and protrudes from the top of the housing. During the movement of the cleaning robot, when the cover body protruding from the top of the housing is collided or squeezed, according to the inclination, vertical or curved shape of the collision surface of the cover body, corresponding-direction movement can be made, and the free end of the rotating member is driven to rotate downward, so that the switch is triggered. Compared with the structure in which the cover body is rotatably connected to the housing, on the one hand, not only can the downward movement of the cover body be detected, but also the backward movement of the cover body can be detected, improving the problem that it is difficult for existing cleaning robots to detect whether the protective cover protruding from the top is stuck or collided, and the detection coverage rate is increased. On the other hand, the set rotating member can receive the downward and backward pushes of the cover body and unify them into the action of the rotating member rotating downward. Only a single switch can be used to detect the collisions and squeezes of the cover body at multiple angles, with low manufacturing cost and low assembly difficulty. On the third hand, there is no need to set a transition surface on the top of the cover body. For the structure in which the cover body is rotatably connected to the housing, the transition surface at the top of the cover body can convert the horizontal impact force received by the cover body into the driving force for the cover body to rotate. When any part of the cover body protruding from the top of the housing of this autonomous cleaning device is collided or squeezed, no matter whether the wall surface collided on the cover body is inclined, vertical or curved, the cover body can perform actions and transmit them to trigger the switch, with an extremely high detection coverage rate and a simple structure. The cleaning robot of the present invention has the characteristics of high detection coverage rate and simple structure.

[0029] For better understanding and implementation, the present invention will be described in detail below with reference to the accompanying drawings. Description of the Drawings

[0030] Figure 1It is a three-dimensional exploded view of the cleaning robot of the present invention;

[0031] Figure 2 It is a schematic diagram of the connection relationship between the cover body and the housing;

[0032] Figure 3 It is Figure 2 The cross-sectional view along line A-A in

[0033] Figure 4 It is Figure 2 The partial enlarged view of area D in

[0034] Figure 5 It is Figure 3 The partial enlarged view of area E in

[0035] Figure 6 It is Figure 3 The partial enlarged view of area F in

[0036] Figure 7 It is Figure 2 The cross-sectional view along line B-B in

[0037] Figure 8 It is Figure 7 The partial enlarged view of area G in

[0038] Figure 9 It is Figure 2 The cross-sectional view along line C-C in

[0039] Figure 10 It is Figure 9 The partial enlarged view of area H in Detailed implementation manners

[0040] The orientation terms such as up, down, left, right, front, back, front side, back side, top, bottom, etc. mentioned or possibly mentioned in this specification are defined relative to its structure, and they are relative concepts. Therefore, it is possible to change accordingly according to their different positions and different usage states. So, these or other orientation terms should not be interpreted as restrictive terms.

[0041] The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are only examples of methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0042] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms "a", "the", and "said" used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly dictates 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.

[0043] Cleaning robots can be classified by use as commercial cleaning robots and household cleaning robots, and by type as cleaning robots such as floor sweepers, mopping machines, floor scrubbers, and floor washing machines.

[0044] Among them, the downward direction is vertically downward, and the rear direction refers to the direction centered on the cleaning robot and with the forward direction of the cleaning robot as the front, and is the direction on the side opposite to this forward direction. The rear can be any one of the lower rear, horizontal rear, and upper rear directions.

[0045] Specifically, taking the lower rear as an example, the lower rear refers to the direction opposite to this forward direction and inclined downward. The inclined angle can be any positive value less than 90 degrees, such as 10 degrees, 30 degrees, 50 degrees, or 80 degrees, etc. And the lower rear can be the lower rear on the left side, or the lower rear on the right side, or the direction opposite to the forward direction of the cleaning robot, that is, the directly lower rear. Similarly, the horizontal rear can be the horizontal rear on the left side centered on the cleaning robot and with the forward direction as the front, or the horizontal rear on the right side, or the direction opposite to this forward direction, that is, the directly horizontal rear.

[0046] Longitudinally, that is, along the axial direction of the forward direction of the cleaning robot.

[0047] Embodiment

[0048] As Figure 1 and Figure 2 shown, Figure 1 is the three-dimensional exploded view of the cleaning robot of the present invention, Figure 2 is the schematic diagram of the connection relationship between the cover body 2 and the housing 1.

[0049] The cleaning robot of the present invention includes:

[0050] A housing 1, which may include an upper shell and a lower shell, and functional components such as a walking wheel assembly, a rolling brush assembly, an air duct assembly, a dust box assembly, and a front collision assembly can be carried between the upper shell and the lower shell.

[0051] Cover 2 is disposed on the housing 1 and protrudes from the top of the housing 1. The cover 2 and the housing 1 are connected to be movable downward and backward relative to the housing 1. Specifically, the cover 2 and the housing 1 can be elastically connected and limited by a limiting mounting member 7. For example, a horizontal elastic reset member 6 and a vertical elastic reset member 5 can be used for elastic connection. The horizontal elastic reset member 6 is visible Figure 6 , and the vertical elastic reset member 5 is visible Figures 7 to 8 , and the limiting mounting member 7 is visible Figures 9 to 10 .

[0052] Rotating member 3 is connected to the housing 1 to be rotatable downward relative to the housing 1. The free end of the rotating member 3 is located on the downward and backward movement path of the cover 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 connection relationship between the first arm 31 and the cover 2 and the connection relationships between the second arm 32 and the cover 2 and the housing 1 respectively are visible Figure 4 and Figure 5 .

[0053] Switch 4, the triggering position of the switch 4 is on the downward rotation path of the rotating member 3, and the rotating member 3 can trigger the switch 4 during the downward rotation. The switch 4 can be a contact switch such as a micro switch or a tactile switch, or a non-contact inductive switch such as a Hall switch. When the switch 4 is a contact switch, during the downward rotation of the rotating member 3, when it rotates to the triggering position, it can trigger the switch 4. At this time, the moving reed of the switch 4 is also on the downward rotation path of the rotating member 3. For example, during the rotation process, the rotating member 3 rotates to abut against the moving reed of the switch 4 and pushes the moving reed into contact with the switch contact, and the switch 4 is triggered. The contact position between the moving reed and the switch contact is the triggering position. Another example is that if the switch 4 is a non-contact inductive switch, a magnet is provided on the rotating member 3. When the rotating member 3 rotates to the triggering position where the magnet can be sensed, the switch 4 is triggered. At this time, the triggering position is the sensing position where the magnet can be sensed

[0054] During use, when the cleaning robot is moving, if the cover 2 protruding from the top of the housing 1 is collided or squeezed backward, according to the shape of the wall surface at the collision position, the cover 2 can make corresponding-direction activities and drive the free end of the rotating member 3 to rotate downward, so that the switch 4 is triggered. After the cover 2 is collided or squeezed, the specific activity situation of the cover 2 is specifically visible Figure 3 .

[0055] This structure has many advantages compared with the structure in which the cover 2 is rotatably connected to the housing 1:

[0056] First, the device can detect not only the backward movement of the cover 2, but also the downward movement of the cover 2, which improves the problem that the existing cleaning robot is difficult to detect whether the top protruding protective cover is stuck or collided, and the detection coverage is improved;

[0057] Secondly, the rotating member 3 can receive the downward and backward push of the cover body 2, which is unified into the downward rotation of the rotating member 3. Only a single switch 4 can be used to detect the collision and extrusion of the cover body 2 at multiple angles, with low manufacturing cost and low assembly difficulty;

[0058] Thirdly, there is no need to set a transition surface 26 on the top of the cover body 2. For the structure in which the cover body 2 is rotatably connected to the shell, when the impact position is at the top of the cover body 2, the transition surface 26 at the top of the cover body 2 can convert the horizontal impact force on the cover body 2 into a force that drives the cover body 2 to rotate. When the impact position is below the transition surface 26 at the top of the cover body 2, the cover body cannot move. When the cover body 2 of any part protruding from the top of the shell 1 of the autonomous cleaning device is collided or squeezed, no matter whether the wall surface on the cover body 2 that is collided is inclined, vertical or curved, the cover body 2 can move and transmit to the trigger switch 4, with a very high detection coverage and a simple structure. For specific information on the movement of the cover body when various forms of walls are horizontally impacted, see Figure 3 .

[0059] In order to deal with the stuck situation of the cleaning robot more intelligently, the cleaning robot can also be configured to be able to perform an escape action. When the cover 2 is detected to be collided or squeezed, the cleaning robot performs an escape action. Specifically, the cleaning robot also includes: a control unit for performing an escape action, the control unit is arranged on the housing 1, and the control unit is electrically connected to the switch 4; and a sensing component, the sensing component is electrically connected to the control unit, the sensing component is located in the cover 2, and protrudes from the top of the housing 1 to sense the environmental information around the cleaning robot. By setting the control unit, the control unit is electrically connected to the switch 4. After the switch 4 is triggered, the control unit receives a conduction signal and outputs an escape action such as stopping cleaning, shutting down, moving backward or sideways, and rotating the angle to clean. The sensing component is located in the cover 2, and the cover 2 can be used to protect the sensing component. Among them, the sensing component can be a sensor such as a laser radar, a TOF sensor, a structured light, an ultrasonic sensor, etc., which can be a single sensor or a sensor module formed by at least two sensors. The perception component is used to perceive single or multiple combined environmental information features such as distance, position, image features, contours or straight lines.

[0060] like Figure 3 As shown, Figure 3 yes Figure 1Cross-sectional view along line A-A

[0061] Optionally, the top end of the cover part 22 of the cover body 2 has an annular transition surface 26. The transition surface 26 can be a frustum-shaped curved surface formed by chamfering or an arc-shaped curved surface formed by rounding the corners.

[0062] During the movement of the cleaning robot, when the transition surface 26 of the cover body 2 is horizontally impacted, it will be transformed into pushing the cover body 2 to move backward and downward. For example, when encountering an impact object such as a sofa or a bed, the impact object will exert a reaction force on the cover body 2, and this reaction force acts on the cover body 2 along the transition surface 26. Among them, the cover body 2 is elastically connected to the housing 1 in both the horizontal and vertical directions. The collision surface of the cover part 22 has various forms. During the movement of the cleaning robot, depending on the shape of the collision surface on the cover body 2 and the position of the collision, after the cover body 2 is horizontally impacted, it may move horizontally backward, backward and downward, or downward. Specifically as follows:

[0063] (1) In this embodiment, the cover body 2 has a transition surface 26 at the top end. The transition surface 26 has an inclined or arc-shaped surface. The wall surface between the lowest position of the transition surface 26 of the cover part 22 and the highest position of the base part 21 is inclined. And the inclined direction is that the top end of the cover body 2 is away from the moving direction of the cleaning robot, and the bottom end is toward the moving direction of the cleaning robot. When the position of the horizontal impact is on the transition surface 26, the cover body 2 moves along the transition surface 26 in the superimposed direction of backward and downward. At this time, the moving direction of the cover body 2 is backward and downward; when the position of the horizontal impact is between the lowest position of the transition surface 26 of the cover part 22 and the highest position of the base part 21, similar to the transition surface 26, the cover body 2 moves along the transition surface 26 in the superimposed direction of backward and downward. At this time, the moving direction of the cover body 2 is backward and downward, and the smaller the inclination angle, the greater the degree of the cover body 2 moving backward.

[0064] (2) In another embodiment, the cover body 2 has a transition surface 26 at the top end. The transition surface 26 has an inclined or arc-shaped surface. The wall surface between the lowest position of the transition surface 26 of the cover part 22 and the highest position of the base part 21 is inclined. And the inclined direction is that the top end of the cover body 2 is toward the moving direction of the cleaning robot, and the bottom end of the cover body 2 is away from the moving direction of the cleaning robot. When the position of the horizontal impact is between the lowest position of the transition surface 26 of the cover part 22 and the highest position of the base part 21, then the cover body 2 has a tendency to move backward and upward. However, due to the limitation of the upward movement range of the cover body 2 by the limit mounting member 7, the actual movement of the cover body 2 is to move horizontally backward. Of course, in other embodiments, the limit mounting member 7 can be cancelled or the upward movement range of the cover body 2 restricted by the limit mounting member 7 can be adjusted, so that the cover body 2 can also move backward and upward.

[0065] (3) In yet another embodiment, the cover body 2 has a transition surface 26 at the top. The transition surface 26 has an inclined or arc-shaped surface. A vertically arranged wall surface is provided between the lowest position of the transition surface 26 of the cover portion 22 and the highest position of the base portion 21. When the position of the horizontal impact received is between the lowest position of the transition surface 26 of the cover portion 22 and the highest position of the base portion 21, the moving direction of the cover body 2 is horizontally backward.

[0066] (4) In a modified example, the transition surface 26 in the above three embodiments can also be removed, and the inclined or vertically arranged wall surface is retained.

[0067] (5) In other modified examples, there may be other usage scenarios where the cover body 2 moves downward. For example, when a pet jumps onto the cleaning robot or a person presses the cover body 2 from top to bottom, the cleaning robot can detect the movement of the cover body and thus perform corresponding actions such as stopping cleaning to prevent harm to the pet or manually stopping cleaning.

[0068] As Figure 4 and Figure 5 combined Figure 1 shown, Figure 4 is Figure 2 a partial enlarged view of region D in Figure 5 and Figure 3 is a partial enlarged view of region E in

[0069] Considering that the cover body 2 can move backward or downward, a rotating member 3 is provided to receive the two movements of the cover body 2 and output a single-direction rotation, so as to save the number of switches 4. With one switch 4, it can detect the movement of the cover body 2 in any one of the upward or backward directions. 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 located on the backward movement path of the cover body 2, and the second arm 32 is located on the downward movement path of the cover body 2. The switch 4 is located on the downward rotation movement path of the second arm 32.

[0070] In this embodiment, the rotating member 3 is located on one side of the cover body 2 close to the traveling direction of the cleaning robot. Among them:

[0071] The first arm 31 is located on the backward movement path of the cover body 2. The cover body 2 has a base portion 21 and a cover portion 22. The base portion 21 is connected to the housing 1. The cover body 2 extends upward from the base portion 21. The base portion 21 has a through hole 211. The free end of the first arm 31 extends vertically upward into the through hole 211. When the cover body 2 is collided or squeezed backward, the through hole 211 pushes the free end of the first arm 31, causing the second arm 32 to rotate downward and trigger the switch 4. Specifically, an arm extending in the traveling direction of the cleaning robot can also be provided on the base portion 21, and the through hole 211 is provided on this arm.

[0072] The second arm 32 is located on the downward movement path of the cover body 2. The free end of the second arm 32 is located below the base portion 21. The fixed angle between the first arm 31 and the second arm 32 is less than 180 degrees, and the second arm 32 is located on the side close to the cover portion 22 with the first arm 31 as the center. Specifically, this fixed angle can be 90 degrees. When the cover body 2 is collided or squeezed downward, the cover body 2 moves downward to abut against the second arm 32 and drives the second arm 32 to rotate downward, finally triggering the switch 4.

[0073] When the cover body 2 moves backward and downward, according to the inclination or 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 cover portion 22 and the highest position of the base portion 21, the first arm 31 or the second arm 32 rotates downward, finally triggering the switch 4.

[0074] The switch 4 is located on the downward rotation movement path of the second arm 32. 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 body 2 is collided or squeezed. Of course, in another embodiment, the switch 4 can also be located at a position close to the free end on the second arm 32, or at the middle position of the second arm 32, etc.

[0075] In another embodiment, the rotating member 3 may also be located at other positions on the cover body 2, such as being located at the left and right ends of the cover body 2. In a modified example, the rotating member 3 is located on the side of the cover body 2 away from the direction of travel of the cleaning robot. At this time, unlike the present embodiment, the second arm 32 is located on the side away from the cover portion 22 with the first arm 31 arranged vertically as the center, so as to push the second arm 32 to rotate downward when the cover body 2 moves backward or horizontally backward. In another modified example, the switch 4 may not be arranged vertically, and the position of the switch 4 may be arranged tilted or horizontally, and the position of the rotating member 3 only needs to be adjusted according to the present embodiment. In another modified example, the through hole 211 may also be replaced by a groove, and at this time, there is also a vertical gap d1 between the top wall of the first arm 31 and the bottom wall of the groove that allows the cover body 2 to move to trigger 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 that allows the cover body 2 to move to trigger the switch 4.

[0076] When in use, during the movement of the cleaning robot, if the cover 2 protruding from the top of the housing 1 is hit or squeezed backward, the cover 2 moves backward, pushing the second arm 32 located on the moving path of the cover 2 backward to rotate downward, so that the switch 4 is triggered; if the cover 2 protruding from the top of the housing 1 is hit or squeezed downward, the cover 2 moves downward, pushing the first arm 31 located on the moving path of the cover 2 downward to rotate, driving 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 can be in the shape of a rod or a plate.

[0077] It is worth noting that in order to make the rotation angle of the rotating member 3 more uniform when the cover body 2 is hit or squeezed at various angles downward or from behind, the rotation axis of the rotating member 3 is a horizontal axis.

[0078] Preferably, the cover body 2 has a protrusion 23, and the protrusion 23 is located above the second arm 32. When the cover body 2 moves backward or downward, the protrusion 23 abuts against the second arm 32, so that the second arm 32 rotates to trigger the switch 4. By providing the protrusion 23 on the cover body 2, the second arm 32 is more easily driven to rotate downward. Specifically, the protrusion 23 can be a columnar protrusion 23, such as a columnar protrusion 23 with a circular, square or X-shaped cross section.

[0079] Considering that the horizontal backward movement of the cover body 2 is suddenly triggered when the cleaning robot is moving straight forward with a relatively large force, in order to avoid the switch 4 from being impacted too greatly, the length of the first arm 31 is set to be less than that of the second arm 32. Using the lever principle, the length of the first arm 31 is set to be shorter, and the length of the force arm is adjusted to optimize the distribution of the triggering forces of the backward or squeezing collision and the downward collision or squeezing, making the impacts of the two forces on the switch 4 closer and more reasonable, and extending the service life of the switch 4 to a certain extent.

[0080] As Figures 6 to 8 shown, Figure 6 is Figure 3 a partial enlarged view of the F area in Figure 7 is Figure 2 a cross-sectional view taken along the B-B line in Figure 8 is Figure 7 a partial enlarged view of the G area in

[0081] In order for the cover body 2 to move relative to the housing 1, a gap can be reserved between the cover body 2 and the housing 1, and elastic connection is adopted, and the upward movement range of the cover body 2 is limited by the limit mounting member 7. In this embodiment, a horizontal elastic reset member 6 and a vertical elastic reset member 5 are used for elastic connection. This elastic connection can be achieved 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, and by arranging the horizontal elastic reset member 6 in the horizontal direction between the cover body 2 and the housing 1, and arranging the vertical elastic reset member 5 in the vertical direction between the cover body 2 and the housing 1. When the cover body 2 is impacted horizontally under the action of an external force, the cover body 2 overcomes the elastic force of the horizontal elastic reset member 6 and moves horizontally backward, and when the external force is cancelled, it returns to the original position through the elastic force of the horizontal elastic reset member 6; when the cover body 2 moves downward under the action of an external force, the cover body 2 overcomes the elastic force of the vertical elastic reset member 5 and moves downward, and when the external force is cancelled, it returns to the original position through the elastic force of the vertical elastic reset member 5. When the cover body 2 moves backward and downward, the horizontal elastic reset member 6 and the vertical elastic reset member 5 act together. The limit mounting member 7 can be seen Figure 10 .

[0082] Among them, there is a horizontal longitudinal gap d2 between the cover body 2 and the housing 1 that allows the cover body 2 to move to trigger the switch 4. A horizontal elastic reset member 6 is provided between the cover body 2 and the housing 1 for resetting the horizontal displacement of the cover body 2. Specifically, the housing 1 includes a first groove with a vertically arranged side wall. The body of the horizontal elastic reset member 6 is arranged on the first groove of the housing 1. One end of the horizontal elastic reset member 6 abuts against the side wall of the first groove on the housing 1, and the other end abuts against the side wall of the cover body 2. The setting of the horizontal elastic reset member 6 can reset the horizontal displacement of the cover body 2 after the force on the cover body 2 is cancelled. And compared with the structure where the cover body 2 is rotatably connected to the housing 1, the structure with the horizontal longitudinal gap d2 and the horizontal elastic reset member 6 can buffer, reducing the damage to the furniture and the cleaning equipment when the cover body 2 collides with or squeezes the furniture. Among them, considering the positional relationship between the housing 1 and the cover body 2, the horizontal longitudinal gap d2 is the activity gap in the horizontal direction between the housing 1 and the cover body 2. Specifically, see Figure 10 . In addition, there is a vertical gap d1 between the cover body 2 and the housing 1 that allows the cover body 2 to move to trigger the switch 4. A vertical elastic reset member 5 is provided between the cover body 2 and the housing 1 for resetting the vertical displacement of the cover body 2. Specifically, the housing 1 includes a second groove with a horizontally arranged bottom wall. The body of the vertical elastic reset member 5 is arranged on the second groove of the housing 1. One end of the vertical elastic reset member 5 abuts against the bottom wall of the second groove on the housing 1, and the other end abuts against the bottom of the cover body 2. The setting of the vertical elastic reset member 5 can reset the vertical displacement of the cover body 2 after the force on the cover body 2 is cancelled.

[0083] When the cover body 2 is not subjected to collision or extrusion, the cover body 2 can be pressed tightly against the housing 1, so as to achieve the effect that the cover body 2 will not shake randomly during the movement of the cleaning robot. In this embodiment, the cover body 2 and the housing 1 are elastically connected through the vertical elastic reset member 5 and the horizontal elastic reset member 6. At this time, when the cover body 2 is not subjected to extrusion or collision, the horizontal elastic reset member 6 applies a horizontal elastic force to the cover body 2, and the vertical elastic reset member 5 applies a vertical elastic force to the cover body 2, so that the cover body 2 and the housing 1 are relatively fixed by the elastic forces in two directions. Specifically, the horizontal elastic reset member 6 can be a horizontally arranged spring, and the vertical elastic reset member 5 can be a vertically arranged spring. Of course, in another embodiment, the cover body 2 and the housing 1 may not be elastically connected through the vertical elastic reset member 5 and the horizontal elastic reset member 6. At this time, the functions of the vertical elastic reset member 5 and the horizontal elastic reset member 6 are to reset the horizontal backward movement and the backward movement of the cover body 2. During the operation of the cleaning robot, the cover body 2 can move relative to the housing 1. When the cover body 2 is subjected to extrusion or collision, the vertical elastic reset member 5 and the horizontal elastic reset member 6 can reset the movement of the cover body 2 caused by extrusion or collision. Although the cover body 2 of this connection method can also reset the movement of the cover body 2 when it is subjected to external force, when there is no external force of extrusion or collision, no pressing elastic force is applied between the cover body 2 and the housing 1 through the spring, and the cover body 2 is very likely to shake and generate noise during the whole operation process.

[0084] As Figure 9 and Figure 10 shown, Figure 9 is Figure 2 a cross-sectional view along line C-C in Figure 10 and Figure 9 is a partial enlarged view of area H in

[0085] Considering the need to limit the upward movement range of the cover 2, the cleaning robot further includes a limiting mounting member 7. The limiting mounting member 7 has a rod portion 72. The cover 2 has a mounting hole 24. The housing 1 has a mounting portion 11. The rod portion 72 passes through the mounting hole 24 and is fixedly connected to the mounting portion 11. The limiting mounting member 7 further has a head portion 71. The head portion 71 is connected to the rod portion 72. A limiting portion 25 extends towards the center of the mounting hole 24 within the mounting hole 24. The limiting portion 25 is located below the head portion 71 to limit the upward movement range of the cover 2. There is a horizontal movement gap between the mounting portion 11 and the limiting portion 25. The movement gap is the horizontal longitudinal gap d2. The limiting portion 25 can be a limiting hole. The mounting portion 11 can be a protruding mounting post. A threaded hole is provided within the mounting post to connect with the rod portion 72. A horizontal longitudinal gap d2 is formed between the outer wall of the mounting post and the inner wall of the limiting hole. By providing the limiting mounting member 7, its rod portion 72 can be fixedly connected to the housing 1, its head portion 71 can limit the upward movement range of the cover 2, and a horizontal movement gap is formed between the mounting portion 11 and the limiting portion 25, enabling the cover 2 to move horizontally relative to the housing 1. Additionally, the size of the downward movement range and the horizontal movement range of the cover 2 can be adjusted by the sizes of the vertical gap d1 and the horizontal longitudinal gap d2.

[0086] Specifically, the limiting mounting member 7 can be a limiting mounting member 7 integrally connected like a socket head screw. At this time, the head portion 71 is the head portion 71 of the socket head screw. The limiting mounting member 7 can also be an ordinary screw or bolt. At this time, the head portion 71 is the head portion 71 of the ordinary screw or bolt. Of course, the limiting mounting member 7 can also be a split structure connected by an ordinary screw or bolt and an elastic gasket provided under the head portion 71 of the ordinary screw or bolt. At this time, the head portion 71 is the head portion 71 of the ordinary screw or bolt and the elastic gasket. On the one hand, the presence of the elastic gasket increases the diameter of the head portion 71, enabling better cooperation with the mounting hole 24 to form a limit on the upward movement range of the cover 2. On the other hand, by increasing the diameter of the elastic gasket to be greater than the horizontal movement gap between the mounting portion 11 and the limiting portion 25, the horizontal longitudinal gap d2 can be reduced.

[0087] Compared with the prior art, for the cleaning robot of the present invention, by providing a housing 1 and a cover body 2, the cover body 2 is connected to the housing 1 to be able to move downward and backward relative to the housing 1. By providing a rotating member 3, the free end of the rotating member 3 is located on the downward and backward movement path of the cover body 2. The rotating member 3 is connected to the housing 1 to be able to rotate downward relative to the housing 1. The triggering position of the switch 4 is on the downward rotation path of the rotating member 3. During the downward rotation of the rotating member 3, the switch 4 can be triggered. The cover body 2 is provided on the housing 1 and protrudes from the top of the housing 1. During the movement of the cleaning robot, when the cover body 2 protruding from the top of the housing 1 is collided, according to the inclination, vertical or curved shape of the collision surface of the cover body 2, it can make corresponding-direction movements and drive the free end of the rotating member 3 to rotate downward, so that the switch 4 is triggered. Compared with the structure in which the cover body 2 is rotatably connected to the housing 1, on the one hand, not only can the downward movement of the cover body 2 be detected, but also the backward movement of the cover body 2 can be detected, improving the problem that it is difficult for the existing cleaning robot to detect whether the protective cover protruding from the top is stuck or collided, and the detection coverage rate is increased. On the other hand, the provided rotating member 3 can receive the downward and backward pushes of the cover body 2 and unify them into the action of the rotating member 3 rotating downward. Only a single switch 4 can be used to detect the collisions and squeezes of the cover body 2 at multiple angles, with low manufacturing cost and low assembly difficulty. On the third hand, there is no need to provide a transition surface 26 on the top of the cover body 2. For the structure in which the cover body 2 is rotatably connected to the housing, the transition surface 26 at the top of the cover body 2 can convert the horizontal impact force received by the cover body 2 into the acting force to drive the cover body 2 to rotate. When any part of the cover body 2 protruding from the top of the housing 1 of this autonomous cleaning device is collided or squeezed, no matter whether the wall surface collided on the cover body 2 is inclined, vertical or curved, the cover body 2 can perform actions and transmit them to trigger the switch 4, with extremely high detection coverage rate and simple structure. The cleaning robot of the present invention has the characteristics of high detection coverage rate and simple structure.

[0088] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A cleaning robot, characterized in that, include: A housing, the housing comprising an upper housing and a lower housing, wherein the upper housing and the lower housing carry functional components; A cover body, the cover body is arranged on the shell and protrudes from the top of the shell, and the cover body is connected to the shell so as to be able to move downward and backward relative to the shell; A rotating member, the rotating member is connected to the housing so as to be able to rotate downward relative to the housing, and the free end of the rotating member is located on the movable path of the cover body; the rotating member has a first arm and a second arm, the first arm and the second arm have a fixed angle, the first arm is located on the movable path of the cover body backward, the second arm is located on the movable path of the cover body downward, and the switch is located on the movable path of the second arm rotating downward; A switch, wherein the triggering position of the switch is located on the downward rotation path of the rotating member, and the switch can be triggered during the downward rotation of the rotating member.

2. The cleaning robot according to claim 1, wherein, The rotation axis of the rotating member is a horizontal axis.

3. The cleaning robot according to claim 1, characterized in that The rotating member is located on a side of the cover body close to the moving direction of the cleaning robot; The cover body has a base and a cover, the base is connected to the shell, the cover body extends upward from the base, the base has a through hole, the free end of the first arm extends vertically upward into the through hole, the free end of the second arm is located below the base, the fixed angle between the first arm and the second arm is less than 180 degrees, and the second arm is located on a side of the cover centered on the first arm.

4. The cleaning robot according to claim 1, wherein, The length of the first arm is shorter than the length of the second arm.

5. The cleaning robot according to claim 1, wherein The switch is located below the free end of the second arm.

6. The cleaning robot according to claim 1, wherein The cover body has a protrusion, and the protrusion is located above the second arm. When the cover body moves backward or downward, the protrusion abuts against the second arm, so that the second arm rotates to trigger the switch.

7. The cleaning robot according to any one of claims 1-6, characterized in that, A vertical gap is provided between the cover body and the shell to allow the cover body to move to trigger the switch, and a vertical elastic reset member is provided between the cover body and the shell for resetting the vertical displacement of the cover body.

8. The cleaning robot according to claim 7, wherein A horizontal longitudinal gap is provided between the cover body and the housing to allow the cover body to move to trigger the switch, and a horizontal elastic reset member for resetting the horizontal displacement of the cover body is provided between the cover body and the housing.

9. The cleaning robot according to claim 8, characterized in that, The cover body is elastically connected to the shell through the vertical elastic reset member and the horizontal elastic reset member.

10. The cleaning robot according to claim 9, characterized in that, It also includes a position limiting mounting member, the position limiting mounting member has a rod portion, the cover body has a mounting hole, the shell has a mounting portion, the rod portion passes through the mounting hole and is fixedly connected to the mounting portion; The position-limiting mounting piece further comprises a head portion, the head portion is connected to the rod portion, a position-limiting portion extends in the mounting hole toward the center of the mounting hole, and the position-limiting portion is located below the head portion to limit the upward movement range of the cover body; There is a movable gap in a horizontal direction between the mounting portion and the limiting portion, and the movable gap is the horizontal longitudinal gap.

11. The cleaning robot according to claim 1, characterized in that, Also includes: A control unit for executing an escape action, the control unit being disposed on the housing and electrically connected to the switch; A sensing component, the sensing component being electrically connected to the control unit, the sensing component being located inside the cover body and protruding from the top of the housing to sense the environmental information around the cleaning robot.

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