Collision system and sweeping robot

Abstract

The collision system comprises a collision plate arranged on the outer side of a machine shell of the sweeping robot in a surrounding mode, at least two symmetrical guide grooves are formed in the inner side, right opposite to the moving direction of the sweeping robot, of the collision plate, and each guide groove comprises a first guide part in the first direction and a second guide part in the second direction; the first direction is perpendicular to the moving direction of the sweeping robot, and the included angle between the second direction and the first direction is larger than 90 degrees; the triggering assemblies are symmetrically arranged on one side of the machine shell and opposite to the guide groove, each triggering assembly comprises a collision switch and a swing rod which are connected, one end of each swing rod is provided with a pulley, and the pulleys are contained in the guide groove and can respond to the acting force of the collision plate to slide in the first direction and the second direction so as to trigger the collision switches; the collision plate reset assemblies are arranged at intervals in the circumferential direction of the machine shell, and each collision plate reset assembly comprises an elastic reset piece protruding out of the outer side of the machine shell and making contact with the collision plate. The problems of large occupied space and high cost caused by collision plate resetting and triggering structure modular design are solved.

Description

Technical Field

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

[0002] With the fast pace and heavy burden of modern people's lives, the household ratio of cleaning products (such as vacuum cleaners, floor scrubbers, electric mops, etc.) is getting higher and higher. Among them, floor cleaning robots can automatically complete floor cleaning work including sweeping, vacuuming, and mopping in the room by virtue of artificial intelligence, and are deeply popular among the public.

[0003] When the existing floor cleaning robots clean the floor, due to the relatively complex surrounding environment, in order to thoroughly clean all floors, the floor cleaning robots will move around, and thus often collide with surrounding obstacles, which will cause damage to the floor cleaning robots. In order to avoid damage caused by the collision between the floor cleaning robot and surrounding obstacles, a collision system of the floor cleaning robot is generally set. The above-mentioned collision system usually includes installing a bumper plate around the body of the floor cleaning robot and a trigger structure and a bumper plate reset structure connected to the bumper plate. When the floor cleaning robot collides with surrounding obstacles, the bumper plate can play a good role, and transmit information to the main controller through the trigger structure to control the rotation direction of the floor cleaning robot. At the same time, the bumper plate reset structure resets the bumper plate and the trigger structure. However, at present, the reset and trigger structures of floor cleaning robots on the market are generally modularized in the whole machine, that is, the bumper plate reset structure and the trigger structure are integrated together, with complex structure, high cost, and more occupied longitudinal space in the whole machine. There is generally a vacant phenomenon in the transverse space, and the space utilization rate is low. Summary of the Invention

[0004] The object of the present invention is to solve the above-mentioned technical problems existing in the prior art, and provide a collision system and a floor cleaning robot. The collision system is applied to the floor cleaning robot. By redesigning the structure of the collision system, the bumper plate reset component and the trigger component are separately and independently arranged, while ensuring that the collision switch can be triggered in time to transmit information and the bumper plate can be accurately reset when the floor cleaning robot is collided at any angle, the problems of large space occupation and high cost caused by the modular design of the bumper plate reset structure and the trigger structure are solved.

[0005] In order to solve the technical problems in the background art, the technical solution adopted by the present invention is: to provide a collision system applied to a floor cleaning robot, the collision system includes:

[0006] Bumper, the bumper is arranged around the outer side of the housing of the floor sweeping robot. At least two symmetrically arranged guiding grooves are provided on the inner side of the bumper facing the moving direction of the floor sweeping robot. The guiding grooves include a first guiding portion extending in a first direction and a second guiding portion extending in a second direction. The first direction is perpendicular to the moving direction of the floor sweeping robot, and the included angle between the second direction and the first direction is greater than 90°;

[0007] Trigger assembly, at least two trigger assemblies are symmetrically arranged on one side of the housing and are respectively opposite to the guiding grooves. The trigger assembly includes a collision switch and a swing rod connected to the collision switch. A pulley is provided at one end of the swing rod away from the collision switch. The pulley is accommodated in the guiding groove and can slide along the first direction and the second direction in response to the acting force of the bumper, so as to drive the swing rod to trigger the collision switch;

[0008] Bumper reset assembly, a plurality of bumper reset assemblies are arranged at intervals along the circumferential direction of the housing. The bumper reset assembly includes an elastic reset member, and the elastic reset member protrudes out of the outer side of the housing to contact the bumper. The bumper reset assembly is used to provide a first elastic restoring force for resetting the bumper after it is displaced by a collision.

[0009] The collision system of the floor sweeping robot with the above structure realizes that while ensuring that the collision switch can be triggered in time and the bumper can be accurately reset when the floor sweeping robot is collided at any angle, it solves the problems of large space occupation, low space utilization rate and high cost caused by the modular design of the bumper reset structure and the trigger structure.

[0010] Further, the collision switch is a swing rod type micro switch, and the triggering is more sensitive.

[0011] Further, when the bumper is in the reset state, the elastic reset member and the bumper are in interference fit. With the above structure, the push rod and the bumper are in interference fit, ensuring the accurate position of the bumper on the housing.

[0012] Further, the interference amount between the elastic reset member arranged on one side of the housing facing the moving direction of the floor sweeping robot and the bumper is a first interference amount, and the interference amount between the elastic reset member arranged on one side of the housing parallel to the moving direction of the floor sweeping robot and the bumper is a second interference amount. The second interference amount is greater than the first interference amount.

[0013] Further, the first interference amount is 0 - 0.5 mm, and the second interference amount is 0.3 - 0.8 mm.

[0014] Furthermore, the number of the bumper reset components is at least four, including at least two first-direction bumper reset components and two second-direction bumper reset components. The two first-direction bumper reset components are symmetrically arranged on one side of the housing facing the moving direction of the sweeping robot, and the two second-direction bumper reset components are respectively symmetrically arranged on the opposite sides of the housing parallel to the moving direction of the sweeping robot. With the above arrangement of the positions of the four bumper reset components, it is ensured that the bumper can be perfectly reset when collided at any angle.

[0015] Furthermore, the bumper reset component further includes an upper shell and a lower shell. The upper shell and the lower shell are assembled to form a receiving cavity. The top of the upper shell has a mating hole communicating with the receiving cavity. The elastic reset member is arranged in the receiving cavity. The elastic reset member includes a push rod and an elastic member. One end of the push rod facing the elastic member abuts against the elastic member and can move along the receiving cavity under the telescopic force of the elastic member. The end of the push rod away from the elastic member protrudes out of the upper shell through the mating hole and contacts the bumper.

[0016] Furthermore, the push rod includes a base and a top rod. The base abuts against the elastic member. One end of the top rod is connected to the base, and the other end protrudes out of the upper shell through the mating hole and contacts the bumper. The outer diameter of the base is larger than the inner diameter of the mating hole to prevent the push rod and the elastic member from coming out.

[0017] Furthermore, the push rod is perpendicular to the bumper.

[0018] Furthermore, the push rod is inclined with respect to the bumper.

[0019] Furthermore, the elastic member is a spring. The base of the push rod is sleeved on the spring and can move along the receiving cavity under the telescopic force of the spring. The lower shell has a limiting post extending from the bottom of the lower shell towards the center of the receiving cavity. The spring is sleeved on the limiting post to improve the telescopic stability of the spring, and further ensure the stability of the bumper reset component.

[0020] Further, at least one guiding inclined surface that cooperates with the elastic reset member is provided inside the impact plate. The guiding inclined surface is located at the position where the impact plate contacts the elastic reset member. When the impact plate is subjected to an impact force that causes the guiding inclined surface to move towards the elastic reset member, the guiding inclined surface can abut against the elastic reset member and apply a pressure to the elastic reset member, and the elastic reset member moves away from the impact plate along the guiding inclined surface; when the impact force disappears and the impact plate resets, the elastic reset member applies a thrust to the guiding inclined surface and moves towards the impact plate along the guiding inclined surface to provide a second elastic restoring force for resetting the impact plate. Through the first elastic restoring force provided by the impact plate reset assembly and the combined second elastic restoring force added due to the guiding inclined surface, it effectively helps the impact plate to reset in a timely and accurate manner.

[0021] Further, the inclination angle a of the guiding inclined surface is 5 - 60°.

[0022] Further, the number of the guiding inclined surfaces is two, and the two guiding inclined surfaces are symmetrically arranged at the positions where the impact plate contacts the elastic reset members of the two first-direction impact plate reset assemblies, which helps the impact plate to reset in a timely and accurate manner when subjected to a side-direction impact force.

[0023] The present invention also provides a floor cleaning robot, which includes the above-mentioned collision system.

[0024] In the collision system and the floor cleaning robot provided by the present invention, the trigger assembly and the impact plate reset assembly are independently arranged respectively, which solves the problems of large space occupation, low space utilization rate and high cost caused by the modular design of the impact plate reset structure and the trigger structure; and through the matching of the symmetrically arranged trigger assembly and the guiding groove, the pulley of the trigger assembly can slide along the first direction and the second direction in response to the acting force of the impact plate to trigger the collision switch, which enables the collision system to trigger the collision switch in a timely manner to transmit information to control the rotation direction of the floor cleaning robot when the floor cleaning robot is collided in any direction. Only two trigger assemblies are used to realize the response to the impact forces in any direction that the floor cleaning robot may receive during the cleaning process, significantly reducing the product cost and the space occupation; in addition, the elastic reset member of the impact plate reset assembly is in interference fit with the impact plate, ensuring the accurate position of the impact plate on the machine shell, and in addition to the first elastic restoring force provided by the impact plate reset assembly, by providing a guiding inclined surface that cooperates with the elastic reset member of the impact plate reset assembly inside the impact plate, a second elastic restoring force for resetting the impact plate is added, effectively improving the reset efficiency and reset quality of the impact plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solution of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Figure 1 is a schematic structural diagram of a collision system applied to a floor cleaning robot in an embodiment of the present invention;

[0027] Figure 2 is Figure 1 a partial enlarged schematic view of part A in

[0028] Figure 3 is a schematic structural diagram of a trigger component in an embodiment of the present invention;

[0029] Figure 4 is a schematic structural diagram of a bumper reset component in an embodiment of the present invention;

[0030] Figure 5 is a cross-sectional view of a bumper reset component in an embodiment of the present invention;

[0031] Figure 6 is another schematic structural diagram of a collision system applied to a floor cleaning robot in an embodiment of the present invention;

[0032] Figure 7 is a schematic structural diagram of the cooperation between an elastic reset member and a guiding inclined surface in an embodiment of the present invention.

[0033] Among them, the reference numerals in the figure correspond to: 1 - housing, 2 - bumper, 21 - guiding groove, 211 - first guiding portion, 212 - second guiding portion, 22 - guiding inclined surface, 3 - collision switch, 31 - swing rod, 32 - pulley, 4 - bumper reset component, 41 - upper housing, 42 - lower housing, 421 - limiting post, 43 - push rod, 431 - base, 432 - ejector rod, 44 - elastic member. Detailed implementation manners

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0035] Embodiment:

[0036] This embodiment provides a collision system applied to a floor cleaning robot, as Figure 1 , Figure 2 andFigure 3 As shown, the collision system includes:

[0037] A collision plate 2, which is arranged around the outer side of the housing 1 of the floor sweeping robot. At least two guiding grooves 21 are symmetrically arranged on the inner side of the collision plate 2 facing the moving direction of the floor sweeping robot. The guiding grooves 21 include a first guiding portion 211 extending in a first direction and a second guiding portion 212 extending in a second direction. The first direction is perpendicular to the moving direction of the floor sweeping robot, and the included angle between the second direction and the first direction is greater than 90°;

[0038] A triggering assembly. At least two triggering assemblies are symmetrically arranged on one side of the housing 1 and are respectively opposite to the guiding grooves 21. The triggering assembly includes a collision switch 3 and a swing rod 31 connected to the collision switch 3. A pulley 32 is arranged at one end of the swing rod 31 away from the collision switch 3. The pulley 32 is accommodated in the guiding groove 21 and can slide along the first direction and the second direction in response to the acting force of the collision plate 2, so as to drive the swing rod 31 to trigger the collision switch 3;

[0039] A collision plate resetting assembly 4. A plurality of collision plate resetting assemblies 4 are arranged at intervals along the circumferential direction of the housing 1. The collision plate resetting assembly 4 includes an elastic resetting member. The elastic resetting member protrudes out of the outer side of the housing 1 to contact the collision plate 2. The collision plate resetting assembly 4 is used to provide a first elastic restoring force for resetting the collision plate 2 after it is displaced by collision.

[0040] For the floor sweeping robot collision system adopting the above structure, the triggering assembly and the collision plate resetting assembly 4 are respectively and independently arranged, and are matched through the symmetrically arranged triggering assembly and the guiding grooves 21. The pulley 32 of the triggering assembly can slide along the first direction and the second direction in response to the acting force of the collision plate 2 to trigger the collision switch 3. This enables the collision system to trigger the collision switch 3 in time to transmit information to control the rotation direction of the floor sweeping robot when the floor sweeping robot is collided in any direction, and the plurality of collision plate resetting assemblies 4 arranged along the circumferential direction of the housing 1 ensure that the collision plate 2 and the pulley 32 of the triggering assembly are reset in time, realizing that while ensuring that the floor sweeping robot can trigger the collision switch 3 in time and the collision plate 2 can be accurately reset when collided at any angle, it solves the problems of large space occupation, low space utilization rate and high cost caused by the modular design of the collision plate 2 reset structure and the triggering structure.

[0041] Preferably, in this embodiment, as Figure 3 shown, the collision switch 3 is a swing rod 31 type microswitch, and the collision triggering is more sensitive.

[0042] Exemplarily, in practical applications, as Figure 1As shown, when the bumper 2 is subjected to a force (such as F1 - F5) on the left side of the floor cleaning robot, the pulley 32 of the trigger assembly on the left side of the floor cleaning robot slides along the first guiding portion 211 and / or the second guiding portion 212 of the guiding groove 21 that matches it, driving the swing rod 31 to trigger the micro switch on the left side; when the bumper 2 is subjected to a force (such as F6 - F 10 ) on the right side of the floor cleaning robot, the pulley 32 of the trigger assembly on the right side of the floor cleaning robot slides along the first guiding portion 211 and / or the second guiding portion 212 of the guiding groove 21 that matches it, driving the swing rod 31 to trigger the micro switch on the right side; and when the bumper 2 is subjected to a force in the directly front direction of the floor cleaning robot (i.e., the force between F5 and F6), the micro switches of the trigger assemblies on both sides of the floor cleaning robot may both be triggered or one of them may be triggered. In this embodiment, only two trigger assemblies can be used to achieve the response to the impact force in any direction that the floor cleaning robot may receive during the normal cleaning process. Compared with the traditional optocoupler structure, at least 4 PCB boards can be saved, the product cost can be significantly reduced, and the occupation of the longitudinal space can be greatly reduced.

[0043] In a possible implementation, as Figure 4 and Figure 5 shown, the bumper reset assembly 4 further includes an upper shell 41 and a lower shell 42. The upper shell 41 and the lower shell 42 are assembled to form a receiving cavity. The top of the upper shell 41 has a mating hole communicating with the receiving cavity. The elastic reset member is disposed in the receiving cavity. The elastic reset member includes a push rod 43 and an elastic member 44. One end of the push rod 43 facing the elastic member 44 abuts against the elastic member 44 and can move along the receiving cavity under the telescopic force of the elastic member 44. The end of the push rod 43 away from the elastic member 44 protrudes out of the upper shell 41 through the mating hole and contacts the bumper 2.

[0044] Specifically, the push rod 43 includes a base 431 and a top rod 432. The base 431 abuts against the elastic member 44. One end of the top rod 432 is connected to the base 431, and the other end protrudes out of the upper shell 41 through the mating hole and contacts the bumper 2. The outer diameter dimension of the base 431 is larger than the inner diameter dimension of the mating hole to prevent the push rod 43 and the elastic member 44 from coming out.

[0045] Preferably, in this embodiment, the push rod 43 is perpendicular to the bumper 2. In other possible implementation manners, the push rod 43 may also be inclined relative to the bumper 2.

[0046] In a possible implementation, the elastic member 44 is a spring. The base 431 of the push rod 43 is sleeved on the spring and can move along the accommodation cavity under the action of the telescopic force of the spring. The lower housing 42 is provided with a limiting post 421 extending from the bottom of the lower housing 42 towards the center of the accommodation cavity. The spring is sleeved on the limiting post 421 to improve the telescopic stability of the spring, thereby ensuring the stability of the striker plate reset assembly 4.

[0047] In other possible implementations, the elastic member 44 can also be made of other materials or have other structures, as long as it can drive the push rod 43 to move along the accommodation cavity, buffer the collision force received by the striker plate 2, and drive the striker plate 2 to reset.

[0048] In a possible implementation, the number of the striker plate reset assemblies 4 is at least four. Preferably, as Figure 1 and Figure 6 shown, it includes at least two first-direction striker plate reset assemblies and two second-direction striker plate reset assemblies. The two first-direction striker plate reset assemblies are symmetrically arranged on one side of the housing 1 facing the moving direction of the sweeping robot, and the two second-direction striker plate reset assemblies are respectively symmetrically arranged on the opposite sides of the housing 1 parallel to the moving direction of the sweeping robot. With the above arrangement of the four striker plate reset assemblies 4, it is ensured that the striker plate 2 can be perfectly reset when being collided at any angle. Of course, in other possible implementations, considering the shape, size, etc. of the sweeping robot, in order to meet the ground cleaning requirements, different position settings and quantity settings of the striker plate reset assemblies 4 from the above scheme can also be adopted, which will not be elaborated here.

[0049] In this embodiment, when the striker plate 2 is in the reset state, the elastic reset member is in interference fit with the striker plate 2. Specifically, when the striker plate 2 is in the reset state, that is, when the striker plate 2 is not collided and is at the initial position, the push rod 43 abuts against the striker plate 2 with a certain interference amount. In this state, the elastic member 44 is compressed by the push rod 43 and is in a compressed state, and its compression amount is the interference amount. With the above structure, the push rod 43 and the striker plate 2 are in interference fit, ensuring the accurate position of the striker plate 2 on the housing 1.

[0050] Preferably, the interference amount between the elastic reset member disposed on one side of the housing 1 facing the moving direction of the floor sweeping robot and the bumper plate 2 is a first interference amount, and the interference amount between the elastic reset member disposed on one side of the housing 1 parallel to the moving direction of the floor sweeping robot and the bumper plate 2 is a second interference amount, and the second interference amount is greater than the first interference amount. That is, the interference amount between the push rod 43 of the second azimuth bumper plate reset assembly and the bumper plate 2 is greater than the interference amount between the push rod 43 of the first azimuth bumper plate reset assembly and the bumper plate 2. In this embodiment, the trigger assembly is disposed on one side of the housing 1 facing the moving direction of the floor sweeping robot, and because the included angle between the first guiding portion 211 and the second guiding portion 212 of the guiding groove 21 is greater than 90°, the pulley 32 of the trigger assembly slides along the first guiding portion 211 and the second guiding portion 212 in response to the acting force of the bumper plate 2 to drive the swing rod 31 to trigger the collision switch 3, which makes the response time of the trigger assembly to the side collision greater than the response time to the frontal collision. In this embodiment, by setting the interference amount between the push rod 43 of the second azimuth bumper plate reset assembly and the bumper plate 2 to be greater than the interference amount between the push rod 43 of the first azimuth bumper plate reset assembly and the bumper plate 2, the reset time required for the second azimuth bumper plate reset assembly to reset the bumper plate 2 is shortened, ensuring that the bumper plate 2 can be reset in time when receiving a side collision force.

[0051] Specifically, the first interference amount is 0 - 0.5 mm, and the second interference amount is 0.3 - 0.8 mm.

[0052] In a possible implementation manner, as Figure 7 shown, at least one guiding inclined surface 22 cooperating with the elastic reset member is disposed inside the bumper plate 2, and the guiding inclined surface 22 is located at the position where the bumper plate 2 contacts the elastic reset member. When the bumper plate 2 receives an impact force that causes the guiding inclined surface 22 to move towards the elastic reset member, the guiding inclined surface 22 can abut against the elastic reset member and apply a pressure to the elastic reset member, and the elastic reset member moves away from the bumper plate 2 along the guiding inclined surface 22; when the impact force disappears and the bumper plate 2 resets, the elastic reset member applies a thrust to the guiding inclined surface 22 and moves towards the bumper plate 2 along the guiding inclined surface 22 to provide a second elastic restoring force for resetting the bumper plate 2. By combining the first elastic restoring force provided by the bumper plate reset assembly 4 and the newly added second elastic restoring force due to the guiding inclined surface 22, it effectively helps the bumper plate 2 to reset in time and accurately. Specifically, the inclination angle a of the guiding inclined surface 22 is 5 - 60°.

[0053] Preferably, in this embodiment, the guiding inclined surface 22 is directly formed on the striking plate 2, which has good integrity, simple structure and is stable and reliable. In other possible embodiments, at least one guiding member cooperating with the elastic reset member is provided on the side of the striking plate 2 opposite to the casing 1, and the guiding inclined surface 22 is formed on the guiding member. The setting method of the guiding inclined surface 22 is more flexible and has stronger applicability.

[0054] In a possible embodiment, the number of the guiding inclined surfaces 22 is two, and the two guiding inclined surfaces 22 are symmetrically arranged at the positions where the striking plate 2 contacts the elastic reset members of the two first-direction striking plate reset components respectively, which helps the striking plate 2 to be reset in time and accurately when it is subjected to a side impact force. Exemplarily, in practical applications, when the striking plate 2 is subjected to a force F1 as shown in Figure 1 , during reset, the push rod 43 on the left side does positive work. Since the push rod 43 is in interference fit with the striking plate 2 in the initial state, that is, the push rod 43 on the right side after reset itself still has a pre-pressed interference amount, it causes that during reset, the push rod 43 on the left side not only needs to overcome the friction force, but also needs to overcome the negative work done by the pre-pressed interference amount of the push rod 43 on the right side itself. This makes the striking plate 2 often unable to be reset in time and accurately. By providing the guiding inclined surface 22 on the striking plate 2 corresponding to the push rod 43 in the first-direction striking plate reset component, that is, in the front, a new elastic restoring force to help the striking plate 2 to be reset is added, which helps the striking plate 2 to be reset in time and accurately.

[0055] In other possible embodiments, the two guiding inclined surfaces 22 are symmetrically arranged at the positions where the striking plate 2 contacts the elastic reset members of the two second-direction striking plate reset components respectively, which helps the striking plate 2 to be reset in time and accurately when it is subjected to a front impact force.

[0056] In other possible embodiments, the number of the guiding inclined surfaces 22 is the same as the number of the striking plate reset components 4, that is, a guiding inclined surface 22 is cooperatively provided at the triggering position of the elastic reset member of each striking plate reset component 4, which helps the striking plate 2 to be reset in time and accurately when it is subjected to impact forces in any direction.

[0057] Exemplarily, taking the collision on the left side of the sweeping robot as an example, combining the above content and Figure 1 、 Figure 2 and Figure 7 , the working process of the collision system in this embodiment is described as follows:

[0058] When the striking plate 2 is subjected to a force as shown in Figure 1When the force F1 acts, the collision plate 2 moves to the right under the action of the force F1. At the same time, the guiding inclined plane 22 located on the right in front of the collision plate 2 moves towards the push rod 43 of the first azimuth collision plate reset assembly on the right side of the machine housing 1 that cooperates with it. As the collision plate 2 moves, the push rod 43 of the second azimuth collision plate reset assembly on the left side of the machine housing 1 is compressed, buffering the force received by the collision plate. The guiding inclined plane 22 located on the right in front of the collision plate 2 abuts against the push rod 43 and applies a pressure to the push rod 43. The push rod 43 is compressed and moves along the guiding inclined plane 22 in a direction away from the collision plate. At the same time, the guiding groove 21 located on the left in front of the collision plate 2 applies a thrust to the pulley 32 accommodated therein, causing the pulley 32 to slide along the second guiding portion 212 of the guiding groove 21 in a direction away from the collision plate 2, thereby driving the swing rod 31 to press down, triggering the collision switch 3 located on the left side of the machine housing 1, transmitting information to the main controller, and the main controller controls the rotation direction of the sweeping robot, causing the sweeping robot to move away from the obstacle. When the force F1 disappears, the collision plate 2 enters the reset process; the specific reset process of the collision plate 2 is as follows: the elastic member 44 of the second azimuth collision plate reset assembly on the left side of the machine housing 1 that has been compressed releases elastic force, causing the push rod 43 to apply a thrust to the collision plate 2 in a direction opposite to the direction of the force F1, providing a first elastic restoring force for the collision plate 2 to reset. At the same time, the elastic member 44 of the first azimuth collision plate reset assembly on the right side of the machine housing 1 that has been compressed releases elastic force, causing the push rod 43 to apply a thrust to the guiding inclined plane 3 and move along the guiding inclined plane 3 in a direction towards the collision plate 2. In this process, a second elastic restoring force opposite to the direction of the force F1 is newly added to help the collision plate 2 reset. The collision plate 2 is reset under the combined action of the first elastic restoring force and the second elastic restoring force. At the same time, the pulley 32 of the trigger assembly located on the left side of the machine housing 1 slides along the second guiding portion 212 of the guiding groove 21 in a direction towards the collision plate 2, driving the swing rod 31 to release the collision switch 3, and the pulley 32 resets to the initial position in the guiding groove 21. Thus, the collision system has completed a complete collision response and collision plate reset process.

[0059] This embodiment also provides a sweeping robot, and the sweeping robot includes the above-mentioned collision system.

[0060] In the collision system and the sweeping robot provided in this embodiment, the trigger component and the bumper reset component are separately and independently arranged, which solves the problems of large space occupation, low space utilization rate and high cost caused by the modular design of the bumper reset structure and the trigger structure. Moreover, by matching the symmetrically arranged trigger component with the guide groove, the pulley of the trigger component can slide along the first direction and the second direction in response to the acting force of the bumper to trigger the collision switch. This enables the collision system to trigger the collision switch in a timely manner to transmit information and control the rotation direction of the sweeping robot when the sweeping robot is collided from any direction. Only two trigger components are used to achieve the response to the impact force from any direction that the sweeping robot may receive during the cleaning process, significantly reducing the product cost and the space occupation. In addition, the elastic reset member of the bumper reset component is in interference fit with the bumper, ensuring the accurate position of the bumper on the housing. Combining the first elastic restoring force provided by multiple bumper reset components arranged along the circumferential direction of the housing and the second elastic restoring force provided by the guide inclined plane arranged on the inner side of the bumper and cooperating with the elastic reset member of the bumper reset component effectively improves the bumper reset efficiency and the reset quality.

[0061] The above-disclosed are only several preferred embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A collision system, applied to a floor cleaning robot, characterized in that, The collision system includes: A bumper (2) that surrounds the outside of the housing (1) of the floor cleaning robot. At least two guiding grooves (21) are symmetrically arranged on the inner side of the bumper (2) facing the moving direction of the floor cleaning robot. The guiding grooves (21) include a first guiding portion (211) extending in a first direction and a second guiding portion (212) extending in a second direction. The first direction is perpendicular to the moving direction of the floor cleaning robot, and the included angle between the second direction and the first direction is greater than 90°; A trigger assembly. At least two trigger assemblies are symmetrically arranged on one side of the housing (1) and are respectively opposite to the guiding grooves (21). The trigger assembly includes a collision switch (3) and a swing rod (31) connected to the collision switch (3). A pulley (32) is provided at one end of the swing rod (31) away from the collision switch (3). The pulley (32) is received in the guiding groove (21) and can slide along the first direction and the second direction in response to the force of the bumper (2), so as to drive the swing rod (31) to trigger the collision switch (3); A bumper reset assembly (4). A plurality of bumper reset assemblies (4) are arranged at intervals along the circumference of the housing (1). The bumper reset assembly (4) includes an elastic reset member that protrudes outside the housing (1) to contact the bumper (2).

2. The collision system according to claim 1, characterized in that When the bumper (2) is in the reset state, the elastic reset member is in interference fit with the bumper (2).

3. The collision system according to claim 2, wherein The interference amount between the elastic reset member arranged on one side of the housing (1) facing the moving direction of the floor cleaning robot and the bumper (2) is the first interference amount, and the interference amount between the elastic reset member arranged on one side of the housing (1) parallel to the moving direction of the floor cleaning robot and the bumper (2) is the second interference amount. The second interference amount is greater than the first interference amount.

4. The collision system according to claim 3, wherein The first interference amount is 0 - 0.5 mm, and the second interference amount is 0.3 - 0.8 mm.

5. The collision system according to claim 1, characterized in that The number of the bumper reset assemblies (4) is at least four, including at least two first azimuth bumper reset assemblies and two second azimuth bumper reset assemblies. The two first azimuth bumper reset assemblies are symmetrically arranged on one side of the housing (1) facing the moving direction of the floor cleaning robot, and the two second azimuth bumper reset assemblies are respectively symmetrically arranged on the opposite sides of the housing (1) parallel to the moving direction of the floor cleaning robot.

6. The collision system according to claim 1, characterized in that, The striker reset assembly (4) further includes an upper shell (41) and a lower shell (42). The upper shell (41) and the lower shell (42) are assembled to form a receiving cavity. The top of the upper shell (41) has a mating hole communicating with the receiving cavity. The elastic reset member is disposed in the receiving cavity. The elastic reset member includes a push rod (43) and an elastic member (44). One end of the push rod (43) facing the elastic member (44) abuts against the elastic member (44) and can move along the receiving cavity under the telescopic force of the elastic member (44). The end of the push rod (43) away from the elastic member (44) protrudes out of the upper shell (41) through the mating hole and contacts the striker (2).

7. The collision system according to claim 6, wherein The push rod (43) includes a base (421) and a top rod (432). The base (421) abuts against the elastic member (44). One end of the top rod (432) is connected to the base (421), and the other end protrudes out of the upper shell (41) through the mating hole and contacts the striker (2). The outer diameter of the base (421) is larger than the inner diameter of the mating hole.

8. The collision system according to any one of claims 1-7, characterized in that: At least one guiding inclined surface (22) cooperating with the elastic reset member is provided on the inner side of the striker (2). When the striker (2) is subjected to an impact force that causes the guiding inclined surface (22) to move towards the elastic reset member, the guiding inclined surface (22) can abut against the elastic reset member and apply a pressure to the elastic reset member. The elastic reset member moves along the guiding inclined surface (22) in a direction away from the striker (2). When the impact force disappears and the striker (2) resets, the elastic reset member applies a thrust to the guiding inclined surface (22) and moves along the guiding inclined surface (22) in a direction towards the striker (2) to provide a second elastic restoring force for resetting the striker (2).

9. The collision system according to claim 8, wherein: The inclination angle a of the guiding inclined surface (22) is 5 - 60°.

10. A floor cleaning robot, characterized in that: The floor cleaning robot includes the collision system according to any one of claims 1 - 9.

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