Collision sensing unit and cleaning device

Abstract

Embodiments of the present application provide a collision sensing unit and a cleaning device, wherein the collision sensing unit comprises a first part and a second part, the first part comprises a moving part in sliding connection with the second part, the moving part moves relative to the second part in response to a force applied thereon, and the second part generates a sensing signal in response to the relative movement of the moving part. Embodiments of the present application provide a collision sensing unit capable of reducing assembly difficulty.

Description

Technical Field

[0001] This application belongs to the field of cleaning equipment technology, and particularly relates to a collision sensing unit and a cleaning device. Background Technology

[0002] In cleaning equipment, a front collision detection system is used to sense obstacles and adjust the robot's path. The robot detects obstacles by triggering sensors upon collision with an obstacle during movement. For example, sensors can be mounted on both the front collision module and the main body of the robot; the displacement of the two sensor parts upon impact with the obstacle causes relative movement between them. However, this approach is complex to assemble, has low accuracy, and is unsuitable for mass production and maintenance. Summary of the Invention

[0003] The purpose of this application is to provide a collision sensing unit and a cleaning device that can reduce assembly difficulty.

[0004] On one hand, embodiments of this application provide a collision sensing unit, including a first part and a second part. The first part includes a movable part slidably connected to the second part. The movable part moves relative to the second part in response to a force applied thereto. The second part generates a sensing signal in response to the relative movement of the movable part.

[0005] In an optional embodiment, the moving part moves between a first position and a second position relative to the second part in response to a force applied thereto; wherein the moving part moves from the first position to the second position in response to a collision, and after the collision disappears, the moving part returns to the first position by means of an elastic reset element in order to respond to the next collision.

[0006] In an optional embodiment, one of the moving part and the second part has an elastic reset element bracket, and the other has a sliding hole for sliding the elastic reset element bracket, and the elastic reset element is sleeved on the elastic reset element bracket.

[0007] In an optional embodiment, the second part includes:

[0008] A base having a guide structure for assembling the movable part, the movable part being movable relative to the base along the guide structure between a first position and a second position;

[0009] The sensing part is fixedly connected to the base, and the sensing part generates a sensing signal in response to the relative movement of the moving part.

[0010] In an optional embodiment, the base includes:

[0011] The main body has a sliding cavity for accommodating the movable part, the movable part being movable within the sliding cavity relative to the base between a first position and a second position, the main body having an assembly port for the movable part to be inserted into the sliding cavity and a first outlet for the movable part to partially extend out of the base when the movable part is in the first position, and the sensing part being connected to the main body;

[0012] A cover, which is connected to the main body, is used to close the assembly port.

[0013] In an optional embodiment, the outer wall surface of the main body has an assembly groove, and the sensing part is snapped into the assembly groove.

[0014] In an optional embodiment, the moving part includes:

[0015] A trigger bracket has a collision trigger end. When the moving part is in the first position, the collision trigger end extends out of the base from the first outlet. The trigger bracket has the elastic reset element bracket.

[0016] A trigger element, which is disposed on the trigger bracket;

[0017] The moving part moves relative to the second part in response to the force applied to the collision trigger end, and the sensing part generates a sensing signal in response to the relative movement of the trigger member.

[0018] In an optional embodiment, the trigger bracket has wings disposed opposite to each other, the wings interacting with the second part to stop the movement of the moving part when it moves from the second position to the first position; each wing is provided with an elastic reset element bracket; the cover has a guide block with a sliding hole.

[0019] In an optional embodiment, the cover is snapped into the main body.

[0020] In an optional embodiment, the main body has a connecting ear, and the connecting ear has a fixing hole.

[0021] In an optional embodiment, the sensing element is a Hall effect sensor, and the trigger is a permanent magnet.

[0022] Secondly, embodiments of this application provide a cleaning device, which includes a front-end collision sensor and a main unit, and also includes the collision sensing unit described in any of the above embodiments.

[0023] In an optional embodiment, the collision sensing unit is located on the host or the front of the impact.

[0024] In the collision sensing unit provided in this application embodiment, the relatively movable first part and the second part are assembled together to form a modular collision sensing unit. During assembly, the collision sensing unit only needs to be installed on one of the two relatively movable parts. This avoids the problem of requiring strict correspondence when installing them separately on two relatively movable parts. It reduces assembly difficulty and provides high precision and accurate signals.

[0025] It should be understood that the foregoing general description and the following detailed description are exemplary and illustrative only, and are not intended to limit this application.

[0026] The overview of various implementations or examples of the technology described in this application is not a full disclosure of the entire scope or all features of the disclosed technology. Attached Figure Description

[0027] In drawings that are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with or without letter suffixes may indicate different instances of similar parts. The drawings generally illustrate various embodiments by way of example rather than limitation and are used, together with the description and claims, to illustrate embodiments of this application. Where appropriate, the same reference numerals are used in all drawings to refer to the same or similar parts. Such embodiments are illustrative and not intended to be exhaustive or exclusive embodiments of the apparatus or method.

[0028] Figure 1 A schematic diagram of the structure of a collision sensing unit according to an embodiment of this application is shown.

[0029] Figure 2 An exploded view of the structure of a collision sensing unit according to an embodiment of this application is shown.

[0030] Figure 3 A cross-sectional structural schematic diagram of the base of a collision sensing unit according to an embodiment of this application is shown.

[0031] Explanation of the labels in the diagram

[0032] 100 - First part; 110 - Moving part; 111 - Trigger bracket; 112 - Trigger element; 113 - Wing; 114 - Trigger end; 120 - Elastic reset element bracket; 200 - Second part; 210 - Base; 220 - Sensing part; 230 - Main body; 231 - Sliding hole; 232 - Bracket hole; 233 - First outlet; 234 - Connecting ear; 235 - Assembly groove; 236 - Limiting block; 237 - First snap-fit ​​part; 240 - Cover; 241 - Assembly arm; 242 - Second outlet; 243 - Guide block; 244 - Second snap-fit ​​part; 250 - Sliding cavity; 300 - Elastic reset element. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the described embodiments of this application without creative effort are within the scope of protection of this application.

[0034] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0035] To keep the following description of the embodiments of this application clear and concise, detailed descriptions of known functions and known components are omitted.

[0036] See Figure 1 and Figure 2 This application provides a collision sensing unit, including a first part 100 and a second part 200. The first part 100 includes a movable part 110 that is slidably connected to the second part 200. The movable part 110 moves relative to the second part 200 in response to a force applied thereto. The second part 200 generates a sensing signal in response to the relative movement of the movable part 110.

[0037] In the collision sensing unit provided in this embodiment, the relatively movable first part 100 and the second part 200 are assembled together to form a modular collision sensing unit. During assembly, the collision sensing unit only needs to be installed on one of the two relatively movable parts. This avoids the problem of requiring strict alignment when installing on two relatively movable parts separately. It reduces assembly difficulty, provides high precision, and generates accurate signals. It also significantly reduces the structural space required.

[0038] In this embodiment of the application, corresponding structures can be provided on the first part 100 and the second part 200 to limit the range of movement of the first part 100 relative to the second part 200.

[0039] In some embodiments, the moving part 110 moves relative to the second part 200 between a first position and a second position in response to a force applied thereto; wherein the moving part 110 moves from the first position to the second position in response to a collision, and after the collision disappears, the moving part 110 returns to the first position by means of the elastic reset element 300 in order to respond to the next collision.

[0040] In this embodiment, under normal conditions, the first part 100 is located in a first position relative to the second part 200. When the first part 100 is subjected to a collision, the moving part 110 responds to the force applied to it by the collision and moves from the first position to the second position. The maximum displacement of the first part 100 relative to the second part 200 in response to the applied force is from the first position to the second position. Of course, depending on the type of collision, the first part 100 may move to a position between the first and second positions. When the force on the first part 100 disappears, the moving part 110 can return to the first position.

[0041] In this embodiment, a force can be applied to hold the first portion 100 in the first position by setting an appropriate elastic reset element 300. The specific structure and setting of the elastic reset element 300 are not specifically limited. As long as a force can be applied to the first portion 100 so that the first portion 100 can return to the first position after the force applied by the collision disappears, it is acceptable.

[0042] In some embodiments, one of the moving part 110 and the second part 200 has an elastic reset element support 120, and the other has a sliding hole 231 for sliding the elastic reset element support 120. An elastic reset element 300 is sleeved on the elastic reset element support 120. In an exemplary embodiment, the elastic reset element 300 is a spring. For example, it may be a coil spring.

[0043] Taking a spring as an elastic reset element 300 as an example, an elastic reset element bracket 120 is provided on one of the moving part 110 and the second part 200, and a spring is sleeved on the elastic reset element bracket 120 to serve as the elastic reset element 300. When the moving part 110 is subjected to collision movement, the spring is compressed, and the spring applies a force to the moving part 110, causing it to move to a first position. The elastic reset element bracket 120 allows the spring to be linearly compressed when subjected to force. A sliding hole 231 is provided on the other of the moving part 110 and the second part 200, and the elastic reset element bracket 120 passes through the sliding hole 231, which can guide the moving part 110.

[0044] See Figure 2 In an exemplary embodiment, the elastic reset element bracket 120 is provided on the movable portion 110. The sliding hole 231 is provided on the second portion 200.

[0045] One end of the elastic reset element 300 acts on the moving part 110, and the other end can act on the inlet end of the sliding hole 231. Alternatively, the elastic reset element 300 can also be installed inside the sliding hole 231, with the end of the elastic reset element 300 that acts on the second part 200 acting on the bottom of the sliding hole 231.

[0046] In this embodiment, the sliding hole 231 can be a blind hole. Alternatively, see... Figure 3 The bottom of the sliding hole 231 may have a bracket hole 232 for the elastic reset element bracket 120 to extend out of the base 210.

[0047] The specific connection and structure between the first part 100 and the second part 200 are not limited. As long as the two can be assembled together and the first part 100 can slide relative to the second part 200, it is acceptable.

[0048] In some embodiments, the second part 200 includes a base 210 and a sensing part 220.

[0049] The base 210 has a guide structure for assembling the movable part 110, which is capable of moving relative to the base 210 between a first position and a second position along the guide structure.

[0050] The sensing unit 220 is fixedly connected to the base 210. When the moving part 110 moves on the base 210, the sensing unit 220 generates a sensing signal in response to the relative movement of the moving part 110.

[0051] In an exemplary embodiment, a slide rail may be provided on the base 210, and the moving part 110 may be mounted on the slide rail, allowing the moving part 110 to move along the slide rail. Alternatively, the base 210 may have a sliding cavity 250, and the moving part 110 may be mounted inside the sliding cavity 250, allowing the moving part 110 to slide along the sliding cavity 250.

[0052] In some embodiments, the base 210 includes a body 230 and a cover 240.

[0053] The main body 230 has a sliding cavity 250 for accommodating the movable part 110. The movable part 110 is movable within the sliding cavity 250 relative to the base 210 between a first position and a second position. The main body 230 has a mounting opening for the movable part 110 to be inserted into the sliding cavity 250. A cover 240 is connected to one end of the mounting opening of the main body 230 to close the mounting opening. The base 210 also has a first outlet 233 for the movable part 110 to partially extend out of the base 210 when the movable part 110 is in the first position. In an exemplary embodiment, the first outlet 233 is provided on the main body 230. In addition to having a mounting opening, the main body 230 also has a first outlet 233 for the movable part 110 to partially extend out of the base 210 when the movable part 110 is in the first position. The portion of the movable part 110 extending out of the base 210 can be used to withstand the force generated by an impact. A sensing part 220 is connected to the main body 230. The portion of the movable part 110 extending out of the first outlet 233 can be referred to as an impact trigger end 114. The first outlet 233 can be set opposite to the assembly port.

[0054] In some embodiments, the main body 230 may also have only one mounting port. A first outlet 233 for a portion of the movable part 110 extending out of the base 210 is provided on the cover 240.

[0055] In some embodiments, when the first outlet 233 is provided on the main body 230, the cover 240 may have a second outlet 242. The second outlet 242 is for the other end of the moving part 110 opposite to the collision trigger end 114 to extend out. The other end opposite to the collision trigger end 114 may be referred to as the tail end. The tail end of the moving part 110 extends out of the base 210 through the second outlet 242, which allows the base 210 to have a large sliding distance with a small volume.

[0056] In conjunction with the above embodiments, when the moving part 110 slides relative to the base 210, the sliding hole 231 can be provided on the base 210. Specifically, the sliding hole 231 can be provided on the end cap.

[0057] The connection method between the sensing unit 220 and the main body 230 is not specifically limited. In the exemplary embodiment, the sensing unit 220 may be connected to the main body 230 via a threaded connection, or snap-fitted to the main body 230, or plugged in, or bonded to the main body 230. Of course, a combination of multiple methods may also be used.

[0058] In some embodiments, the outer wall surface of the main body 230 has a mounting groove 235, and the sensing part 220 is snapped into the mounting groove 235. The sensing part 220 may be inserted from one end of the mounting groove 235 and fixed to the main body 230 by an interference fit. Alternatively, after the sensing part 220 is inserted into the mounting groove 235, it may be fixed by screws. Alternatively, after the sensing part 220 is inserted into the mounting groove 235, it may be snapped and fixed to the main body 230. In an exemplary embodiment, the mounting groove 235 is provided on the base 210.

[0059] In the exemplary embodiment, the insertion end of the assembly groove 235 has a deformable free end, and the free end has a limiting block 236 for interacting with the sensing unit 220. During the insertion of the sensing unit 220 into the assembly groove 235 from the insertion end, the free end undergoes a certain deformation. After the sensing unit 220 is inserted into the limiting groove, the free end returns to its original position, and the limiting block 236 interacts with the edge of the sensing unit 220, fixing the sensing unit 220 within the assembly groove 235. When disassembling the sensing unit 220, the free end can be manipulated to deform it, thereby allowing the sensing unit 220 to be removed from the assembly groove 235.

[0060] In some embodiments, the moving part 110 includes a trigger bracket 111 and a trigger member 112. The trigger member 112 is disposed on the trigger bracket 111. The trigger member 112 is used to trigger the sensing part 220 to generate a sensing signal.

[0061] The trigger bracket 111 has a collision trigger end 114. When the moving part 110 is in the first position, the collision trigger end 114 extends from the base 210 from the first outlet 233. The trigger bracket 111 has an elastic reset element bracket 120. The trigger bracket 111 and the elastic reset element bracket 120 can be an integral structure. The elastic reset element bracket 120 can be a column.

[0062] The moving part 110 moves relative to the second part 200 in response to the force applied to the collision trigger end 114, and the sensing part 220 generates a sensing signal in response to the relative movement of the trigger member 112.

[0063] In some embodiments, the trigger bracket 111 has a wing 113 disposed opposite to the second part, the wing 113 interacting with the second part to stop the movement of the moving part 110 when it moves from the second position to the first position.

[0064] Each wing 113 is provided with an elastic reset element bracket 120.

[0065] The cover 240 has a guide block 243, and the guide block 243 has a sliding hole 231. The elastic reset element bracket 120 is inserted into the sliding hole 231.

[0066] In this embodiment, the connection method between the cover 240 and the main body 230 is not limited. For example, the cover 240 can be connected to the main body 230 via a threaded connection.

[0067] In some embodiments, the cover 240 is snapped into the body 230. A first snap-fit ​​portion 237 and a second snap-fit ​​portion 244 are respectively provided on the cover 240 and the body 230 for engaging. The first snap-fit ​​portion 237 can be a snap block, and the corresponding second snap-fit ​​portion 244 can be a hook or a slot. In an exemplary embodiment, the hook or slot is provided on the cover 240. In an exemplary embodiment, the cover 240 has two opposing mounting arms 241, and the hook or slot is provided on the mounting arms 241. The mounting arms 241 clamp the body 230. A corresponding snap block is provided on the body 230. The snap block can be provided on the outer wall surface of the body 230. At least one of the snap block and the mounting arm 241 has a guide surface. During the assembly process of the cover 240 moving towards the main body 230, the assembly arm 241 and the locking block move more easily relative to each other under the action of the guide surface. After assembly, the hook or slot will interact with the locking surface of the locking block to connect the cover 240 and the main body 230 together. To disassemble, simply move the assembly arm 241 to disengage it from the locking block, and the cover 240 can be separated from the main body 230.

[0068] In some embodiments, the main body 230 has a connecting ear 234 with a fixing hole. The collision sensing unit of this embodiment can be fixed to a cleaning device via the connecting ear 234. For example, it can be connected to the cleaning device by passing a screw through the fixing hole.

[0069] In some embodiments, the sensing element 220 is a Hall effect sensor and the trigger element 112 is a permanent magnet.

[0070] Of course, the trigger 112 can also be a proximity element of a proximity switch, and the sensing part 220 can be a sensing element of a proximity switch.

[0071] In some embodiments, the sensing unit 220 may also include a mounting plate adapted to the mounting slot 235 so that the sensing unit 220 can be easily and conveniently mounted onto the main body 230.

[0072] This application provides a cleaning device, which includes a front-end collision sensor and a main unit, and also includes a collision sensing unit as described in any of the above embodiments.

[0073] The collision sensing unit is located on the main unit or the front of the collision.

[0074] The cleaning equipment in this application includes sweeping robots, disinfection robots, etc.

[0075] The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more of them) can be used in combination with each other, and these embodiments can be combined with each other in various combinations or arrangements. The scope of this application should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A collision sensing unit, characterized in that, The collision sensing unit is mounted on one of two relatively movable components. The collision sensing unit includes a first part (100) and a second part (200). The first part (100) includes a movable part (110) slidably connected to the second part (200). The movable part (110) moves relative to the second part (200) in response to a force applied thereto. The second part (200) generates a sensing signal in response to the relative movement of the movable part (110). The second part (200) includes a base (210) and a sensing part (220), wherein the moving part (110) extends out of a first outlet (233) of the base (210); The moving part (110) includes: A trigger bracket (111) has a collision trigger end (114). When the moving part (110) is in the first position, the collision trigger end (114) extends out of the base (210) from the first outlet (233). The trigger bracket (111) has an elastic reset element bracket (120). The second part (200) has a sliding hole (231) for sliding the elastic reset element bracket (120). The elastic reset element bracket (120) is provided with an elastic reset element (300). A trigger element (112) is disposed on the trigger bracket (111); The moving part (110) moves relative to the second part (200) in response to the force applied to the collision trigger end (114), and the sensing part (220) generates a sensing signal in response to the relative movement of the trigger (112).

2. The collision sensing unit according to claim 1, characterized in that, The moving part (110) moves between a first position and a second position relative to the second part (200) in response to a force applied thereto; wherein the moving part (110) moves from the first position to the second position in response to a collision, and the moving part (110) returns to the first position by means of an elastic reset element (300) after the collision disappears in order to respond to the next collision.

3. The collision sensing unit according to claim 2, characterized in that, The base (210) has a guide structure for assembling the movable part (110), which is movable relative to the base (210) along the guide structure between a first position and a second position; The sensing unit (220) is fixedly connected to the base (210), and the sensing unit (220) generates a sensing signal in response to the relative movement of the moving unit (110).

4. The collision sensing unit according to claim 3, characterized in that, The base (210) includes: A main body (230) having a sliding cavity (250) for accommodating the movable part (110), the movable part (110) being movable within the sliding cavity (250) relative to the base (210) between a first position and a second position, the main body (230) having an assembly port for the movable part (110) to be inserted into the sliding cavity (250) and a sensing part (220) connected to the main body (230) when the movable part (110) is in the first position; A cover (240), which is connected to the body (230), is used to close the assembly port.

5. The collision sensing unit according to claim 4, characterized in that, The outer wall surface of the main body (230) has an assembly groove (235), and the sensing part (220) is snapped into the assembly groove (235).

6. The collision sensing unit according to claim 4, characterized in that, The trigger bracket (111) has opposing wings (113), which interact with the second part to stop the movement of the moving part (110) when it moves from the second position to the first position; each wing (113) is provided with an elastic reset element bracket (120); the cover (240) has a guide block (243), which has a sliding hole (231).

7. The collision sensing unit according to claim 4, characterized in that, The main body (230) has a connecting ear (234) and a fixing hole.

8. The collision sensing unit according to claim 1, characterized in that, The sensing part (220) is a Hall sensor element, and the trigger element (112) is a permanent magnet.

9. A cleaning device comprising a front bumper and a main unit, characterized in that, It also includes a collision sensing unit as described in any one of claims 1-8, the collision sensing unit being located on the host or the front impact.

Images