A cleaning robot

Abstract

The present application provides a cleaning robot. The cleaning robot includes a housing, a front collision reset member, a restraining member, and a light sensor; the front collision reset member is arranged on the front side of the cleaning robot, the front collision reset member can be detachably mounted on the housing, and can have the freedom to be detached from the housing along a first direction; the restraining member can be detachably mounted on the housing, at least part of the restraining member is located in the first direction, and is used to prevent the front collision reset member from being detached from the housing; the light sensor is arranged on the inner side of the housing, the restraining member is arranged on the light transmission path from the light sensor to the outside, the front collision movable member has a light-transmitting hole at a position located on the light transmission path, and at least part of the restraining member is constructed as a transmission structure that allows light to be transmitted. The cleaning robot provides a restraining effect of restricting the front collision reset member on the housing through the restraining member, and the purpose of conveniently removing the front collision reset member can be achieved by removing the restraining member, simplifying the disassembly and assembly operation of the front collision reset member, and thereby reducing the difficulty of replacing the front collision reset member.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning equipment, and more specifically, to a cleaning robot. Background Art

[0002] The cleaning robot moves automatically under the control of the control unit to clean the surface to be cleaned. During the movement of the cleaning robot, the front side may collide with uncertain obstacles, such as furniture, electrical appliances, walls, etc. In order to be able to avoid or change the path in time after encountering an obstacle, a front collision component is provided on the front side of the cleaning robot. The front collision component usually includes a bumper and a touch switch. The bumper is semi-cylindrical, the touch switch is connected to the bumper, and the control unit and the touch switch are controlled and connected. When the cleaning robot collides with an obstacle, the bumper and the obstacle come into contact, and the impact force triggers the switch. According to the trigger state of the trigger switch, the control unit controls the cleaning robot to avoid or change the path in time.

[0003] In the prior art, the front collision assembly also includes a spring piece, a light sensor and a condenser. The light sensor is connected to the machine housing through a number of screws, and the spring piece is connected to the machine housing through the light sensor. The spring piece is located on the side of the bumper away from the impact side, and is used to provide elastic force for the bumper to reset. The condenser is provided on the bumper, and the condenser and the bumper are in the same curved surface, and is used to transmit the light generated by the light sensor from the inside of the machine housing to the outside, so as to detect obstacles encountered by the robot.

[0004] When removing the shrapnel, first remove the connection between the light sensor and the machine housing to separate the light sensor and the shrapnel from the machine housing, then remove the connection between the shrapnel and the light sensor to remove the shrapnel independently and replace the shrapnel. The existing design of the front collision assembly makes the disassembly and assembly of the shrapnel complicated, making it more difficult to replace the shrapnel and increasing the maintenance cost of the robot. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a cleaning robot to solve the technical problem of high replacement cost of shrapnel caused by design defects in the front collision assembly of the existing cleaning robot.

[0006] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide a cleaning robot, the cleaning robot comprising a housing, a front collision reset member, a restraining member and a light sensor;

[0007] The front collision reset member is arranged at the front side of the cleaning robot for resetting the front collision movable member of the cleaning robot; the front collision reset member is detachably mounted on the housing and has the freedom to be detached from the housing along a first direction; the restraining member is detachably mounted on the housing, and at least part of the restraining member is located in the first direction, for preventing the front collision reset member from being detached from the housing along the first direction;

[0008] The light sensor is arranged on the inner side of the housing and is used to generate or receive light; the restraint member is arranged on the light transmission path from the light sensor to the outside world, and the front collision movable member has a light-transmitting hole at a position located on the light transmission path, and at least part of the restraint member is constructed as a transmission structure that allows the light to be transmitted, so that the light can be transmitted between the light sensor and the outside world.

[0009] In one embodiment, along the height direction of the housing, the front collision reset member has a relative upper side and a lower side of the spring sheet, part of the lower side of the spring sheet is pressed against the housing, and the restraint member is pressed against the part of the upper side of the spring sheet opposite to the part of the lower side of the spring sheet, and the first direction is a vertical upward direction.

[0010] In one embodiment, along the traveling direction of the cleaning robot, the front collision reset member has a relative front side and a rear side of the spring sheet, part of the rear side of the spring sheet is pressed against the housing, and the restraint member is pressed against part of the front side of the spring sheet opposite to part of the rear side of the spring sheet, and the first direction is consistent with the traveling direction.

[0011] In one embodiment, the restraint member includes a first restraint portion and a second restraint portion integrally connected to the first restraint portion, the first restraint portion can be detachably plugged or fitted onto the housing, at least a portion of the second restraint portion is constructed as a transmissive structure that allows the light to be transmitted, and the first restraint portion and / or the second restraint portion presses against the front collision reset member to eliminate the degree of freedom.

[0012] In one embodiment, the front collision reset member includes a first elastic sheet portion and a second elastic sheet portion integrally connected to the first elastic sheet portion, the first elastic sheet portion can be detachably inserted or sleeved on the housing, and can have the freedom to be detached from the housing along a first direction, and the second elastic sheet portion is used to reset the front collision movable member of the cleaning robot;

[0013] The restraining member includes a first restraining portion and a second restraining portion integrally connected to the first restraining portion, the first restraining portion can be detachably plugged or fitted onto the housing, the second restraining portion presses against the first spring portion to eliminate the degree of freedom, and at least a portion of the second restraining portion is constructed as a transmissive structure that allows light to pass through.

[0014] In one embodiment, the casing includes a casing main body and a guide portion integrally connected to the casing main body, the guide portion includes a first guide structure and a second guide structure coaxially continuous along the first direction, the first spring portion can be removably plugged into or sleeved on the first guide structure, and the first constraint portion can be removably plugged into or sleeved on the second guide structure.

[0015] In one embodiment, the casing includes a casing main body and a guide portion integrally connected to the casing main body, the guide portion includes a first guide structure and a second guide structure, the first guide structure and the second guide structure are arranged in sequence along the first direction, the first guide structure and the second guide structure are staggered along the second direction, the second direction and the first direction are perpendicular to each other, the first spring sheet portion can be removably plugged into or fitted on the first guide structure, and the first constraint portion can be removably plugged into or fitted on the second guide structure.

[0016] In one embodiment, the front collision restoration member includes two second elastic sheet parts, the first elastic sheet part has a first elastic sheet end and a second elastic sheet end opposite to each other, and the two second elastic sheet parts are respectively connected to the first elastic sheet end and the second elastic sheet end in one piece;

[0017] The restraining member comprises two first restraining parts, the second restraining part has a first restraining end and a second restraining end opposite to each other, and the two first restraining parts are respectively connected to the first restraining end and the second restraining end in one piece;

[0018] The housing includes two guide parts, and the first spring piece end and the second spring piece end are both provided with connecting structures. The two connecting structures can be detachably plugged or fitted on the two first guide structures respectively, and the two first restraining parts can be detachably plugged or fitted on the two second guide structures respectively.

[0019] In one embodiment, the connection structure and the first guide structure are plugged into each other in a concave-convex track;

[0020] The first constraint portion and the second guide structure are plugged into each other in a concave-convex track.

[0021] In one embodiment, in the same guide portion, the first guide structure and the second guide structure are sequentially arranged along the first direction, the first guide structure and the second guide structure are staggered and away from each other along the second direction, and the second direction is perpendicular to the first direction;

[0022] The two second guide structures are located at the inner sides of the two first guide structures, the two connection structures are arranged opposite to each other, and the two first constraint portions are arranged opposite to each other.

[0023] In one embodiment, the front collision restoration member includes two second elastic sheet parts, the first elastic sheet part has a first elastic sheet end and a second elastic sheet end opposite to each other, and the two second elastic sheet parts are respectively connected to the first elastic sheet end and the second elastic sheet end in one piece;

[0024] Along the direction in which the second elastic sheet portion, the first elastic sheet portion and the second elastic sheet portion are sequentially connected, the size of the restraining member is limited to a range between the first elastic sheet end and the second elastic sheet end.

[0025] In one embodiment, along the height direction of the housing, a projection of a side surface of the first elastic sheet portion facing the front of the cleaning robot on the housing coincides with an edge contour of the housing;

[0026] The second elastic sheet portion is arranged at an angle to the first elastic sheet portion, and the end of the second elastic sheet portion away from the first elastic sheet portion deviates toward the moving direction of the cleaning robot and is located outside the edge contour of the housing.

[0027] In one embodiment, the restraining member further comprises a third restraining portion integrally connected to the second restraining portion, the second restraining portion has a positive pressure surface, the third restraining portion has a side pressure surface, and the positive pressure surface and the side pressure surface are arranged at an angle;

[0028] Along the height direction of the casing, the first spring sheet portion has a relative spring sheet upper side and a relative spring sheet lower side; along the moving direction of the cleaning robot, the first spring sheet portion has a relative spring sheet front side and a relative spring sheet rear side; the lower side of the spring sheet is pressed against the casing, the positive pressing surface is pressed against the upper side of the spring sheet, and the side pressing surface is pressed against the front side of the spring sheet, and the first direction is a vertically upward direction.

[0029] In one embodiment, the constraint member includes a first constraint portion, a second constraint portion and a third constraint portion, the first constraint portion and the third constraint portion are both integrally connected to the second constraint portion; the first constraint portion can be detachably plugged or sleeved on the housing, and at least a portion of the second constraint portion is constructed as a transmission structure that allows light to be transmitted; the second constraint portion has a positive pressure surface, the third constraint portion has a side pressure surface, and the positive pressure surface and the side pressure surface are arranged at an angle;

[0030] Along the height direction of the housing, the first spring sheet portion has a relative spring sheet upper side and spring sheet lower side, the spring sheet lower side and the spring sheet rear side are both pressed against the housing, the positive pressing surface presses against the spring sheet upper side, and the side pressing surface presses against the spring sheet front side.

[0031] In one embodiment, the second constraint portion includes an annular frame portion, the transmissive structure is a transmissive sheet, the transmissive structure is integrally connected to one side end of the annular frame portion, the other side end of the annular frame portion opposite to the transmissive structure is open, and the light sensor is directly opposite to the opening;

[0032] The first restraining portion is integrally connected to the annular frame portion and is adjacent to the opening;

[0033] The third constraint portion is integrally connected to a side edge of the transmission structure, the side of the third constraint portion facing the annular frame portion is the side pressing surface, and the side of the annular frame adjacent to the third constraint portion is the positive pressing surface.

[0034] The beneficial effects of the cleaning robot provided by the present application are:

[0035] Compared with the prior art, the cleaning robot provided by the present application has a front collision reset member detachably mounted on the housing, and the front collision reset member may have the freedom to be detached from the housing along a first direction. The restraining member is detachably mounted on the housing, and by arranging at least part of the restraining member in the first direction, the front collision reset member is prevented from being detached from the housing along the first direction. When the freedom of the front collision reset member along the first direction is allowed, that is, the restraining member is detached from the housing, the front collision reset member may be detached from the housing along the first direction. When the freedom of the front collision reset member along the first direction is restricted, that is, the restraining member is mounted on the housing, the front collision reset member is mounted on the housing along the first direction. At least part of the restraining parts are constructed as a transmission structure that allows light to be transmitted. The transmission structure and the light-transmitting holes on the front-collision movable part provide a channel for light transmission, thereby realizing the function of detecting obstacles through light. The restraining parts provide a restrictive effect on the front-collision reset part being restricted on the casing. The restraining parts can be removed to achieve the purpose of conveniently removing the front-collision reset part, simplifying the disassembly and assembly operations of the front-collision reset part, thereby reducing the difficulty and cost of replacing the front-collision reset part. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1 A diagram of the cleaning robot provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the front side of the cleaning robot provided in an embodiment of the present application;

[0039] Figure 3 A top view of a cleaning robot provided by an embodiment of the present application, wherein the restraining member and the housing are separated;

[0040] Figure 4 A top view of the cleaning robot provided in an embodiment of the present application;

[0041] Figure 5 for Figure 4 A magnified view of part A;

[0042] Figure 6 A top view of a cleaning robot provided by an embodiment of the present application, wherein the restraining member and the interface are separated;

[0043] Figure 7 A top view of the cleaning robot provided in an embodiment of the present application;

[0044] Figure 8 for Figure 7 Enlarged view of part B

[0045] Fig. 9 A schematic diagram of a restraining member provided in an embodiment of the present application;

[0046] Fig.10 A schematic diagram of a restraining member provided in an embodiment of the present application;

[0047] Fig.11 A schematic diagram of a front-impact movable part provided in an embodiment of the present application.

[0048] Among them, the reference numerals in the figure are:

[0049] 10. Casing; 20. Front-impact movable part; 30. Front-impact reset part; 40. Constraint; 201. Light-transmitting hole; 301. First spring sheet; 302. Second spring sheet; 303. Connecting structure; 30a. Upper side of spring sheet; 30b. Lower side of spring sheet; 30c. Front side of spring sheet; 30d. Rear side of spring sheet; 401. First constraining part; 402. Second constraining part; 403. Third constraining part; 402a. Ring-shaped frame; 402b. Transmission structure; 402c. Opening; 402d. Positive pressure surface; 403a. Side pressure surface; 101. Casing body; 102. Guide; 102a. First guide structure; 102b. Second guide structure. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0052] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0054] The cleaning robot provided in the embodiment of the present application is now described.

[0055] See also Figures 1 to 8 As shown, the cleaning robot provided in the embodiment of the present application includes a housing 10, a front collision movable part 20, a front collision reset part 30, a restraining part 40, and a light sensor (not shown in the figure);

[0056] Among them, the front collision movable part 20 is movably connected to the casing 10, and the front collision movable part 20 is arranged on the front side of the cleaning robot. It is in a semicircular arc shape that adapts to the contour of the casing 10, and can move relative to the casing 10 and approach or move away from the casing 10. The front collision movable part 20 is used to receive the impact of obstacles located on the traveling path of the cleaning robot.

[0057] The front collision resetting member 30 is disposed at the front side of the cleaning robot, and is located between the housing 10 and the front collision movable member 20 , and is used to reset the front collision movable member 20 of the cleaning robot.

[0058] In the embodiment of the present application, the front collision reset member 30 can be detachably mounted on the housing 10 and can have the freedom to be detached from the housing 10 along the first direction; the restraint member 40 can be detachably mounted on the housing 10, and at least part of the restraint member 40 is arranged in the first direction to prevent the front collision reset member 30 from being detached from the housing 10 along the first direction.

[0059] The light sensor is arranged on the inner side of the housing 10 for generating or receiving light; the restraint member 40 is arranged on the light transmission path from the light sensor to the outside world, and the front collision movable member 20 has a light-transmitting hole 201 at a position located on the light transmission path, and at least part of the restraint member 40 is constructed as a transmission structure 402b that allows light to be transmitted, so that the light can be transmitted between the light sensor and the outside world.

[0060] Compared with the prior art, the cleaning robot provided by the embodiment of the present application, wherein the front collision reset member 30 is detachably mounted on the housing 10, and the front collision reset member 30 may have the freedom to be detached from the housing 10 along the first direction. The restraining member 40 is detachably mounted on the housing 10, and the front collision reset member 30 is prevented from being detached from the housing along the first direction by arranging at least part of the restraining member 40 in the first direction. When the freedom of the front collision reset member 30 along the first direction is allowed, that is, the restraining member 40 is detached from the housing 10, the front collision reset member 30 can be detached from the housing 10 along the first direction. When the freedom of the front collision reset member 30 along the first direction is restricted, that is, the restraining member 40 is mounted on the housing 10, the front collision reset member 30 is fastened to the housing 10 along the first direction.

[0061] The light sensor may be an infrared transmitter for transmitting infrared rays, or an infrared receiver for receiving infrared rays, or a light sensor composed of an infrared transmitter and an infrared receiver, or a laser transmitter for transmitting lasers, or other sensing structures that can transmit or receive light for light transmission. For example, if the light sensor is an infrared receiver, the transmission structure 402b is a transmission structure 402b that allows infrared rays to be transmitted from the outside to the infrared receiver; if the light sensor is an infrared transmitter, the transmission structure 402b is a transmission structure 402b that allows infrared rays to be transmitted from the infrared transmitter to the outside; specifically, the transmission structure 402b may be a transmission structure 402b that allows light to be transmitted from the outside to the light sensor and allows light to be transmitted from the light sensor to the outside.

[0062] At least part of the restraining member 40 is constructed as a transmission structure 402b that allows light to be transmitted. The transmission structure 402b and the light-transmitting hole 201 on the front-collision movable member 20 provide a channel for light transmission, thereby realizing the function of detecting obstacles through light. The restraining member 40 provides a limiting effect on the front-collision reset member 30 being restricted on the housing 10. The restraining member 40 can be removed to achieve the purpose of conveniently removing the front-collision reset member 30, simplifying the disassembly and assembly operations of the front-collision reset member 30, thereby reducing the difficulty and cost of replacing the front-collision reset member 30.

[0063] like Fig.11As shown, in the embodiment of the present application, the front-impact movable member 20 has a light-transmitting hole 201 at a position on the light transmission path, and the light is freely transmitted between the light sensor and the outside world using the transmission structure 402b and the light-transmitting hole 201 as a transmission channel.

[0064] When the cleaning robot moves in the direction of travel, the front collision movable part 20 is located at the front side of the cleaning robot, and the light-transmitting hole 201 can be set in the middle of the front collision movable part 20. The transmission structure 402b and the light-transmitting hole 201 are arranged opposite to each other, and the two provide a path for the light generated by the light sensor to be transmitted to the front of the cleaning robot, and provide a path for the light reflected back from the front of the cleaning robot to be received by the light sensor, so as to judge whether there is an obstacle in front of the robot by whether there is reflected light. The light-transmitting hole 201 can be circular, elliptical, flat or square, for example, it can be set to a rectangle with a length of 5 cm and a width of 3 cm.

[0065] The front impact reset member 30 may be a front impact spring piece or a spring piece. In this embodiment, the front impact reset member 30 is preferably a front impact spring piece. At least part of the restraint is arranged in the first direction mentioned above, which can prevent the front impact reset member 30 from being detached from the housing 10 along the first direction. The prevention includes directly eliminating the above-mentioned detachment freedom by abutting against each other, or preventing it from being detached from the housing by allowing the front impact reset member to move slightly by reserving a gap. The reserved gap provides the front impact reset member 30 with movement within a small range along the first direction, such as translation or slight movement in the vertical direction, but it will not fall off. In this embodiment, the restraint 40 and the front impact reset member 30 are preferably directly abutted against each other along the first direction to eliminate the detachment freedom.

[0066] In the embodiment of the present application, the front collision reset member 30 can be detached from the housing 10 along a first direction, and the restraining member 40 presses against the front collision reset member 30 in a direction opposite to the first direction. There are many options for the first direction, which can be a vertical direction, a horizontal direction, an inclined direction, or a traveling direction of the robot.

[0067] Among them, Figure 2 Taking the orientation of the view shown as an example, the vertical direction includes two directions: vertical upward and vertical downward, and the horizontal direction includes two directions: horizontal left and horizontal right. In the plane formed by the vertical direction and the horizontal direction, the inclined direction includes multiple directions that are at an angle to the vertical direction or the horizontal direction. In the plane formed by the vertical direction and the robot's travel direction, the inclined direction includes multiple directions that are at an angle to the vertical direction or the robot's travel direction. In the plane formed by the horizontal direction and the robot's travel direction, the inclined direction includes multiple directions that are at an angle to the horizontal direction or the robot's travel direction.

[0068] In the embodiment of the present application, the first direction is preferably one of vertically upward, vertically downward, horizontally leftward, horizontally rightward, or the traveling direction of the robot. Further preferably, the first direction is preferably vertically upward or the traveling direction of the robot. Further preferably, the first direction is preferably vertically upward.

[0069] In one embodiment, taking the first direction as vertical upward as an example, along the height direction of the housing 10, the front collision reset member 30 has a relative spring sheet upper side 30a and spring sheet lower side 30b, part of the spring sheet lower side 30b is pressed against the housing 10, the restraining member 40 is pressed against the part of the spring sheet upper side 30a opposite to the part of the spring sheet lower side 30b, and the front collision reset member 30 where the other part of the spring sheet upper side 30a and the other part of the spring sheet lower side 30b are located is used to reset the front collision movable part 20 of the cleaning robot. The housing 10 is pressed against the spring sheet lower side 30b to limit the downward freedom of the front collision reset member 30, the restraining member 40 is pressed against the spring sheet upper side 30a to limit the upward freedom of the front collision reset member 30, and the front collision reset member 30 limits other degrees of freedom through a detachable connection with the housing 10. In this embodiment, the front collision reset member is located in a vertical plane as a whole.

[0070] In this embodiment, the restraint 40 can be detached from the housing 10 along the first direction, or the restraint 40 can be detached from the housing 10 along a direction perpendicular to the first direction. The restraint 40 removes the restriction on the freedom of the front collision reset member 30 along the first direction, and the front collision reset member 30 can be detached from the housing 10 along the first direction.

[0071] In one embodiment, taking the first direction as vertical upward as an example, the front collision reset member 30 includes two parts, one part of the spring sheet structure is located in the horizontal plane, and the other part of the spring sheet structure is located in the vertical plane. The two parts of the spring sheet structure are connected as one, and the connection is in a twisted shape. The spring sheet structure in the vertical plane provides the elastic force for resetting the front collision movable member 20. The housing 10 is integrally provided with a groove, the depth of the groove is adapted to the thickness of the spring sheet structure located in the horizontal plane, and the groove notch faces upward. Along the height direction of the housing 10, the spring sheet structure located in the horizontal plane has a relative spring sheet upper side 30a and a spring sheet lower side 30b, and along the traveling direction of the cleaning robot, the spring sheet structure located in the horizontal plane has a relative spring sheet front side 30c and a spring sheet rear side 30d. The spring sheet lower side 30b is pressed against the bottom of the groove, and the spring sheet front side 30c and the spring sheet rear side 30d are pressed against the two opposite groove walls of the groove respectively. The restraining member 40 is pressed against the spring sheet upper side 30a. The spring sheet structure is located in the horizontal plane, and the groove limits its other degrees of freedom except the upward direction. The restraining member 40 presses against the upper side 30a of the spring sheet to limit the upward degree of freedom of the front collision reset member 30.

[0072] In one embodiment, taking the first direction as vertical downward as an example, along the height direction of the housing 10, the front collision reset member 30 has an upper side 30a and a lower side 30b of the spring sheet relative to each other, a portion of the upper side 30a of the spring sheet is pressed against the housing 10, the restraining member 40 is pressed against a portion of the lower side 30b of the spring sheet relative to the upper side 30a of the spring sheet, and the front collision reset member 30 where another portion of the upper side 30a of the spring sheet and another portion of the lower side 30b of the spring sheet are located is used to reset the front collision movable member 20 of the cleaning robot. The housing 10 is pressed against the upper side 30a of the spring sheet to limit the upward degree of freedom of the front collision reset member 30, the restraining member 40 is pressed against the lower side 30b of the spring sheet to limit the downward degree of freedom of the front collision reset member 30, and the front collision reset member 30 is detachably connected to the housing 10 to limit other degrees of freedom.

[0073] In this embodiment, the restraint 40 can be detached from the housing 10 along the first direction, or the restraint 40 can be detached from the housing 10 along a direction perpendicular to the first direction. The restraint 40 removes the restriction on the freedom of the front collision reset member 30 along the first direction, and the front collision reset member 30 can be detached from the housing 10 along the first direction.

[0074] In this embodiment, the extension dimension of the restraint 40 in the vertical direction is greater than the extension dimension of the front impact restoration member 30 in the vertical direction, the lower part of the restraint 40 presses against the lower side 30b of the spring sheet of the front impact restoration member 30, and the upper part of the restraint 40 is located above the front impact restoration member 30, and the upper part of the restraint 40 is configured as a transmission structure that allows light to be transmitted. Among them, the middle part of the restraint 40 between the upper part and the lower part can press against the side of the front impact restoration member 30 facing the front of the vehicle.

[0075] In one embodiment, taking the first direction as the moving direction of the cleaning robot as an example, along the moving direction of the cleaning robot, the front collision reset member 30 has opposite front sides 30c and rear sides 30d of the spring sheet, part of the rear sides 30d of the spring sheet presses against the housing 10, the restraining member 40 presses against the front sides 30c of the spring sheet opposite to the rear sides 30d of the spring sheet, and the front collision reset member 30 where the front sides 30c and the rear sides 30d of the spring sheet are located is used to reset the front collision movable member 20 of the cleaning robot. The housing 10 is pressed against the rear sides 30d of the spring sheet to limit the backward freedom of the front collision reset member 30, the restraining member 40 presses against the front sides 30c of the spring sheet to limit the forward freedom of the front collision reset member 30, and the front collision reset member 30 limits other degrees of freedom through the detachable connection with the housing 10.

[0076] In this embodiment, the restraint 40 can be detached from the housing 10 along the first direction, or the restraint 40 can be detached from the housing 10 along a direction perpendicular to the first direction. The restraint 40 removes the restriction on the freedom of the front collision reset member 30 along the first direction, and the front collision reset member 30 can be detached from the housing 10 along the first direction.

[0077] In this embodiment, a U-shaped structure is provided on the housing 10, the opening of the U-shaped structure faces the front side of the robot, and the U-shaped structure extends in a horizontal direction. The partial front collision reset member 30 can enter the U-shaped structure in a direction opposite to the travel direction of the cleaning robot, and its rear side 30d of the spring sheet presses against the bottom side of the U-shaped structure, and the two side surfaces of the U-shaped structure press against the upper side 30a of the partial spring sheet and the lower side 30b of the partial spring sheet respectively. The partial front collision reset member 30 can be detached from the U-shaped structure along the travel direction of the cleaning robot. The restraint member 40 can be mounted on the housing 10 in a direction opposite to the travel direction of the cleaning robot, and close the opening of the U-shaped structure and fit the front side 30c of the spring sheet of the front collision reset member 30. The restraint member 40 can be detached from the housing 10 along the travel direction of the cleaning robot. Alternatively, the restraint member 40 can be mounted on the housing 10 in a direction perpendicular to the travel direction of the cleaning robot, and the opening of the U-shaped structure is closed to fit the front side 30c of the spring sheet of the front collision reset member 30, and the restraint member 40 can be detached from the housing 10 in a direction perpendicular to the travel direction of the cleaning robot. The direction perpendicular to the travel direction of the cleaning robot can be vertically upward or vertically downward.

[0078] Alternatively, in this embodiment, a quasi-L-shaped structure is provided on the housing 10, the opening of the quasi-L-shaped structure faces the upper side and the front side of the robot, and the quasi-L-shaped structure extends in a horizontal direction. Part of the front collision reset member 30 can enter the quasi-L-shaped structure in a direction opposite to the travel direction of the cleaning robot, and its rear side 30d of the spring sheet presses against one side of the quasi-L-shaped structure, and its lower side 30b of the spring sheet presses against the other side of the quasi-L-shaped structure. This part of the front collision reset member 30 can be detached from the quasi-L-shaped structure along the travel direction of the cleaning robot. The restraint member 40 can be mounted on the housing 10 in a direction opposite to the travel direction of the cleaning robot, and close the opening of the quasi-L-shaped structure and fit the upper side 30a and the front side 30c of the spring sheet of the front collision reset member 30. The restraint member 40 can be detached from the housing 10 along the travel direction of the cleaning robot. Alternatively, the restraint member 40 can be mounted on the housing 10 in a direction perpendicular to the travel direction of the cleaning robot, and the opening of the L-shaped structure is closed to fit the upper side 30a and the front side 30c of the spring sheet of the front collision reset member 30, and the restraint member 40 can be detached from the housing 10 in a direction perpendicular to the travel direction of the cleaning robot. The direction perpendicular to the travel direction of the cleaning robot can be vertically upward or vertically downward.

[0079] In the embodiment of the present application, the first direction is preferably the vertical upward direction mentioned above.

[0080] Reference Figure 3 and Figure 4 ,as well as Figure 5 and Figure 6As shown, in the embodiment of the present application, the restraint member 40 includes a first restraint portion 401 and a second restraint portion 402 integrally connected to the first restraint portion 401, the first restraint portion 401 can be detachably plugged or mounted on the housing 10, and at least a portion of the second restraint portion 402 is constructed as a transmission structure 402b that allows light to be transmitted.

[0081] The first constraint part 401 may be pressed against the front collision restoration member 30 to eliminate the degree of freedom. Alternatively, the second constraint part 402 may be pressed against the front collision restoration member 30 to eliminate the degree of freedom. Alternatively, both the first constraint part 401 and the second constraint part 402 may be pressed against the front collision restoration member 30 to eliminate the degree of freedom.

[0082] The front collision reset member 30 includes a first elastic sheet portion 301 and a second elastic sheet portion 302 integrally connected to the first elastic sheet portion 301. The first elastic sheet portion 301 can be detachably inserted or sleeved on the housing 10 and can have the freedom to be detached from the housing 10 along the first direction. The second elastic sheet portion 302 is used to reset the front collision movable member 20 of the cleaning robot. In a preferred embodiment, the first constraint portion 401 and the second constraint portion 402 are both pressed against the first elastic sheet portion 301 to eliminate the freedom.

[0083] Specifically, refer to Figure 5 and Figure 8 As shown, the housing 10 includes a housing 10 body and a guide portion 102 integrally connected to the housing 10 body, wherein the housing 10 body has an upwardly facing mounting table for mounting the front collision reset member 30 and the restraining member 40, and the guide portion 102 protrudes from the mounting table and extends upward with a height, and the guide portion 102 is preferably a column. The guide portion 102 includes a first guide structure 102a and a second guide structure 102b that are coaxial and continuous in the vertically upward direction, the first guide structure 102a is a lower part column, and the second guide structure 102b is an upper part column. The first spring piece portion 301 is detachably mounted on the lower part column, and the lower side 30b of the spring piece is pressed against the mounting table. The first restraint portion 401 is detachably mounted on the upper column, and presses against the upper side 30a of the first spring sheet portion 301 mounted on the lower column, while the second restraint portion 402 presses against the upper side 30a of most of the first spring sheet portion 301. The column limits other degrees of freedom of the first spring sheet portion 301 and the restraint member 40. The first restraint portion 401 and the second restraint portion 402 press against the upper side 30a of the spring sheet, making the front collision reset member 30 more stable.

[0084] In this embodiment, the column can be replaced by a concave track or a convex track, the concave track or the convex track extends a length in the vertical direction, the first spring part 301 can be removably plugged into the concave track or the convex track in the vertical direction, and the first constraint part 401 can be removably plugged into the concave track or the convex track in the vertical direction.

[0085] In another preferred embodiment, only the second constraint portion 402 presses against the first elastic sheet portion 301 to eliminate the degree of freedom.

[0086] Specifically, the guide portion 102 includes a first guide structure 102a and a second guide structure 102b, the first guide structure 102a and the second guide structure 102b are arranged in sequence along the first direction, the first guide structure 102a and the second guide structure 102b are staggered along the second direction, and the second direction and the first direction are perpendicular to each other. The first guide structure 102a is a concave track or a convex track, and the first guide structure 102a is selected to be a concave track or a convex track. The first guide structure 102a and the second guide structure 102b can extend upward from the mounting table separately and have a length. Alternatively, the first guide structure 102a and the second guide structure 102b are arranged on different sides or the same side of the guide portion 102. The first elastic sheet portion 301 can be detachably plugged into the first guide structure 102a, and the first constraint portion 401 can be detachably plugged into the second guide structure 102b.

[0087] In this embodiment, the concave track or the convex track can be replaced by a column, and a guide portion 102 includes two columns, which extend in a vertical direction. The first spring portion 301 can be detachably mounted on one of the columns in the vertical direction, and the first constraint portion 401 can be detachably mounted on the other column in the vertical direction.

[0088] In a preferred embodiment, the front collision reset member 30 includes two second elastic sheet parts 302, the first elastic sheet part 301 has a first elastic sheet end and a second elastic sheet end opposite to each other, and the two second elastic sheet parts 302 are respectively connected to the first elastic sheet end and the second elastic sheet end in one piece. The constraint member 40 includes two first constraint parts 401, the second constraint part 402 has a first constraint end and a second constraint end opposite to each other, and the two first constraint parts 401 are respectively connected to the first constraint end and the second constraint end in one piece; the housing 10 includes two guide parts 102, the first elastic sheet end and the second elastic sheet end are both provided with a connecting structure 303, the two connecting structures 303 are respectively detachably plugged or sleeved on the two first guide structures 102a, and the two first constraint parts 401 are respectively detachably plugged or sleeved on the two second guide structures 102b. The connecting structure 303 and the first guide structure 102a are plugged in with a concave-convex track; the first constraint part 401 and the second guide structure 102b are plugged in with a concave-convex track.

[0089] Further preferably, with respect to the positional relationship between the first guide structure 102a and the second guide structure 102b on the guide portion 102, in this embodiment, in the same guide portion 102, the first guide structure 102a and the second guide structure 102b are arranged in sequence along the first direction, the first guide structure 102a and the second guide structure 102b are staggered and opposite to each other along the second direction, and the second direction and the first direction are perpendicular to each other; and the two second guide structures 102b are located on the inner sides of the two first guide structures 102a, the two connecting structures 303 are arranged opposite to each other and are plugged into the two first guide structures 102a located on the outer sides, and the two first constraint portions 401 are arranged opposite to each other and are plugged into the second guide structures 102b on both sides located on the inner side, so that the guide portion 102 is clamped between the connecting structure 303 and the first constraint portion 401.

[0090] like Figure 2 , Figures 3 to 8 As shown, the connection structure 303 is preferably as follows Figure 2 The vertically extending concave track shown in FIG. 1 is preferably a first guide structure 102a as shown in FIG. Figure 2 The first constraint portion 401 is preferably as shown in the figure. Figure 2 The second guide structure 102b is preferably a convex track extending in the vertical direction as shown in Figure 2 The concave track extending in the vertical direction shown in the figure is plugged into each other and can be separated in the vertical upward direction. Figures 3 to 5 As shown, the thickness of the first guide structure 102a shown therein is a partial thickness of the guide portion 102, and as shown Figure 5 and Figure 8 As shown, the thickness of the first guide structure 102 a shown therein is the overall thickness of the guide portion 102 .

[0091] In one embodiment, along the direction in which the second spring piece part 302, the first spring piece part 301 and the second spring piece part 302 are connected in sequence, the size of the restraint 40 is limited to the range between the first spring piece end and the second spring piece end. Compared with the prior art solution in which the spotlight occupies most of the length of the bumper, the size of the restraint 40 along the length direction of the front impact movable part 20 in the embodiment of the present application is limited to the length direction of the first spring piece part 301, and its length can be reduced by 5-10 times. The restraint 40 is in the shape of a smaller piece as a whole, which effectively reduces the manufacturing cost of the restraint 40, reduces the difficulty of installing the restraint 40, and also saves the installation space of the cleaning robot.

[0092] In one embodiment, along the height direction of the housing 10, the projection of the side surface of the first spring piece portion 301 facing the front of the cleaning robot on the housing 10 coincides with the edge contour of the housing 10; the second spring piece portion 302 and the first spring piece portion 301 are arranged at an angle, and the end of the second spring piece portion 302 away from the first spring piece portion 301 deviates toward the traveling direction of the cleaning robot and is located outside the edge contour of the housing 10, and the elastic force of the front-collision movable part 20 is provided by the end of the second spring piece portion 302 away from the first spring piece portion 301.

[0093] Reference Fig. 9 and Fig.10 As shown, based on the above-mentioned embodiment in which the first direction is the vertically upward direction as an example, combined with the structure of the restraint member 10, it is further explained. In a preferred embodiment, the restraint 40 also includes a third restraint portion 403 integrally connected to the second restraint portion 402, the second restraint portion 402 has a positive pressure surface 402d, and the third restraint portion 403 has a side pressure surface 403a, and the positive pressure surface 402d and the side pressure surface 403a are set at an angle; along the height direction of the housing 10, the first spring piece portion 301 has a relative spring piece upper side 30a and a spring piece lower side 30b; along the moving direction of the cleaning robot, the first spring piece portion 301 has a relative spring piece front side 30c and a spring piece rear side 30d; the front collision reset member 30 is mounted on the housing 10 in a vertically downward direction, and its spring piece lower side 30b presses against the housing 10, while the positive pressure surface 402d presses against the spring piece upper side 30a, limiting its freedom to detach from the housing 10 in a vertically upward direction, and the side pressure surface 403a presses against the spring piece front side 30c.

[0094] Reference Fig. 9 and Fig.10 As shown, based on the above-mentioned embodiment in which the first direction is the moving direction of the cleaning robot, it is further described in combination with the structure of the restraint 10. In a preferred embodiment, the restraint 40 also includes a third restraint portion 403 integrally connected to the second restraint portion 402, the second restraint portion 402 has a positive pressure surface 402d, the third restraint portion 403 has a side pressure surface 403a, and the positive pressure surface 402d and the side pressure surface 403a are set at an angle; along the height direction of the housing 10, the first spring sheet portion 301 has a relative spring sheet upper side 30a and a spring sheet lower side 30b; along the moving direction of the cleaning robot, the first spring sheet portion 301 has a relative spring sheet front side 30c and a spring sheet rear side 30d. The front impact reset member 30 is mounted on the housing 10 in a direction opposite to the moving direction of the cleaning robot, with the lower side 30b and the rear side 30d of the spring sheet pressed against the housing 10, the positive pressing surface 402d pressed against the upper side 30a of the spring sheet, and the side pressing surface 403a pressed against the front side 30c of the spring sheet, thereby limiting its freedom to be detached from the housing 10 along the moving direction of the cleaning robot.

[0095] Reference Fig. 9 and Fig.10 As shown, in the embodiment of the present application, the second constraint portion 402 includes an annular frame portion 402a, the above-mentioned transmission structure 402b is a transmission sheet, the transmission structure 402b is integrally connected to one side end of the annular frame portion 402a, and the other side end of the annular frame portion 402a opposite to the transmission structure 402b is provided with an opening 402c, and the light sensor and the opening 402c are opposite; the first constraint portion 401 is integrally connected to the annular frame portion 402a and is adjacent to the opening 402c; the third constraint portion 403 is integrally connected to a side edge of the transmission structure 402b, the side of the third constraint portion 403 facing the annular frame portion 402a is a side pressure surface 403a, and the side of the annular frame adjacent to the third constraint portion 403 is a positive pressure surface 402d.

[0096] The integral connection means that the annular frame portion 402a and the projection portion 402b are made of the same material, and the annular frame portion 402a can also transmit the light of the light sensor. The transmission sheet can be an acrylic plate or glass sheet that can transmit light. For example, when the light sensor is an infrared sensor, the transmission sheet is an acrylic plate or glass sheet that transmits infrared light.

[0097] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: including a housing, a front impact reset member, a restraint member and a light sensor; The front collision reset member is arranged at the front side of the cleaning robot for resetting the front collision movable member of the cleaning robot; the front collision reset member is detachably mounted on the housing and has the freedom to be detached from the housing along a first direction; the restraining member is detachably mounted on the housing, and at least part of the restraining member is located in the first direction, for preventing the front collision reset member from being detached from the housing along the first direction; The light sensor is arranged on the inner side of the housing and is used to generate or receive light; the restraint member is arranged on the light transmission path from the light sensor to the outside world, the front collision movable member has a light transmission hole at a position located on the light transmission path, and at least part of the restraint member is constructed as a transmission structure that allows the light to be transmitted, so that the light can be transmitted between the light sensor and the outside world; The restraint member includes a first restraint portion and a second restraint portion integrally connected to the first restraint portion, the first restraint portion can be detachably plugged or fitted onto the housing, at least a portion of the second restraint portion is constructed as a transmissive structure that allows the light to be transmitted, and the first restraint portion and / or the second restraint portion press against the front impact spring to eliminate the degree of freedom.

2. The cleaning robot according to claim 1, characterized in that: Along the height direction of the housing, the front collision reset member has a relative upper side and lower side of the spring sheet, part of the lower side of the spring sheet is pressed against the housing, and the restraint member is pressed against part of the upper side of the spring sheet opposite to part of the lower side of the spring sheet, and the first direction is a vertical upward direction.

3. The cleaning robot according to claim 1 or 2, characterized in that: Along the traveling direction of the cleaning robot, the front collision reset component has a relative front side and rear side of the spring sheet, part of the rear side of the spring sheet is pressed against the housing, and the restraint component is pressed against part of the front side of the spring sheet opposite to part of the rear side of the spring sheet, and the first direction is consistent with the traveling direction.

4. The cleaning robot according to claim 1 or 2, characterized in that: The front collision reset member includes a first elastic sheet portion and a second elastic sheet portion integrally connected to the first elastic sheet portion, the first elastic sheet portion can be detachably inserted or sleeved on the housing and has the freedom to be detached from the housing along a first direction, and the second elastic sheet portion is used to reset the front collision movable member of the cleaning robot; The restraining member includes a first restraining portion and a second restraining portion integrally connected to the first restraining portion, the first restraining portion can be detachably plugged or fitted onto the housing, the second restraining portion presses against the first spring portion to eliminate the degree of freedom, and at least a portion of the second restraining portion is constructed as a transmissive structure that allows light to pass through.

5. The cleaning robot according to claim 4, characterized in that: The casing includes a casing body and a guide portion integrally connected to the casing body, the guide portion includes a first guide structure and a second guide structure coaxially continuous along the first direction, the first spring portion can be detachably plugged into or sleeved on the first guide structure, and the first constraint portion can be detachably plugged into or sleeved on the second guide structure.

6. The cleaning robot according to claim 4, characterized in that: The casing includes a casing main body and a guide portion integrally connected to the casing main body, the guide portion includes a first guide structure and a second guide structure, the first guide structure and the second guide structure are arranged in sequence along the first direction, the first guide structure and the second guide structure are staggered along the second direction, the second direction and the first direction are perpendicular to each other, the first spring sheet portion can be detachably plugged into or fitted on the first guide structure, and the first constraint portion can be detachably plugged into or fitted on the second guide structure.

7. The cleaning robot according to claim 5 or 6, characterized in that: The front collision restoration member comprises two second elastic sheet parts, the first elastic sheet part has a first elastic sheet end and a second elastic sheet end opposite to each other, and the two second elastic sheet parts are respectively connected to the first elastic sheet end and the second elastic sheet end in one piece; The restraining member comprises two first restraining parts, the second restraining part has a first restraining end and a second restraining end opposite to each other, and the two first restraining parts are respectively connected to the first restraining end and the second restraining end in one piece; The housing includes two guide parts, and the first spring piece end and the second spring piece end are both provided with connecting structures. The two connecting structures can be detachably plugged or fitted on the two first guide structures respectively, and the two first restraining parts can be detachably plugged or fitted on the two second guide structures respectively.

8. The cleaning robot according to claim 7, characterized in that: The connecting structure and the first guide structure are plugged into each other in a concave-convex track; The first constraint portion and the second guide structure are plugged into each other in a concave-convex track.

9. The cleaning robot according to claim 8, characterized in that: In the same guide portion, the first guide structure and the second guide structure are sequentially arranged along the first direction, the first guide structure and the second guide structure are staggered and separated from each other along the second direction, and the second direction is perpendicular to the first direction; The two second guide structures are located at the inner sides of the two first guide structures, the two connection structures are arranged opposite to each other, and the two first constraint portions are arranged opposite to each other.

10. The cleaning robot according to claim 4, characterized in that: The front collision restoration member comprises two second elastic sheet parts, the first elastic sheet part has a first elastic sheet end and a second elastic sheet end opposite to each other, and the two second elastic sheet parts are respectively connected to the first elastic sheet end and the second elastic sheet end in one piece; Along the direction in which the second elastic sheet portion, the first elastic sheet portion and the second elastic sheet portion are sequentially connected, the size of the restraining member is limited to a range between the first elastic sheet end and the second elastic sheet end.

11. The cleaning robot according to claim 10, characterized in that: Along the height direction of the housing, a projection of a side surface of the first elastic sheet portion facing the front of the cleaning robot on the housing coincides with an edge contour of the housing; The second elastic sheet portion is arranged at an angle to the first elastic sheet portion, and the end of the second elastic sheet portion away from the first elastic sheet portion deviates toward the moving direction of the cleaning robot and is located outside the edge contour of the housing.

12. The cleaning robot according to claim 4, characterized in that: The restraining member further comprises a third restraining portion integrally connected to the second restraining portion, the second restraining portion having a positive pressing surface, the third restraining portion having a side pressing surface, the positive pressing surface and the side pressing surface being arranged at an angle; Along the height direction of the casing, the first spring sheet portion has a relative spring sheet upper side and a relative spring sheet lower side; along the moving direction of the cleaning robot, the first spring sheet portion has a relative spring sheet front side and a relative spring sheet rear side; the lower side of the spring sheet is pressed against the casing, the positive pressing surface is pressed against the upper side of the spring sheet, and the side pressing surface is pressed against the front side of the spring sheet, and the first direction is a vertically upward direction.

13. The cleaning robot according to claim 3, characterized in that: The constraint member comprises a first constraint portion, a second constraint portion and a third constraint portion, wherein the first constraint portion and the third constraint portion are integrally connected to the second constraint portion; the first constraint portion can be detachably plugged or sleeved on the housing, and at least a portion of the second constraint portion is constructed as a transmission structure that allows light to be transmitted; the second constraint portion has a positive pressure surface, and the third constraint portion has a side pressure surface, and the positive pressure surface and the side pressure surface are arranged at an angle; Along the height direction of the housing, the front collision reset component has a relative upper side and lower side of the spring sheet, the lower side of the spring sheet and the rear side of the spring sheet are both pressed against the housing, the positive pressing surface presses against the upper side of the spring sheet, and the side pressing surface presses against the front side of the spring sheet.

14. The cleaning robot according to claim 12 or 13, characterized in that: The second constraint portion includes an annular frame portion, the transmission structure is a transmission sheet, the transmission structure is integrally connected to one side end of the annular frame portion, the other side end of the annular frame portion opposite to the transmission structure is open, and the light sensor is directly opposite to the opening; The first restraining portion is integrally connected to the annular frame portion and is adjacent to the opening; The third constraint portion is integrally connected to a side edge of the transmission structure, the side of the third constraint portion facing the annular frame portion is the side pressing surface, and the side of the annular frame adjacent to the third constraint portion is the positive pressing surface.

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