Front collision buffering structure and self-moving robot

Abstract

The utility model discloses a front collision buffering structure and a self-moving robot. The front collision buffering structure comprises an inductive switch, a triggering piece and a buffering piece. Wherein the inductive switch is arranged in a containing cavity of the robot body, the trigger part is rotationally connected to the robot body, one end of the trigger part is in inductive fit with the inductive switch, and the other end of the trigger part extends out of the containing cavity and is used for being in collision fit with the front collision body so as to trigger the inductive switch in a linkage mode; the buffering piece is arranged on the front collision side of the robot body and used for buffering the impact force of the front collision body on the triggering piece. Through the arrangement, the problem that the anti-collision performance of the self-moving type cleaning equipment is reduced due to the fact that the elastic piece at the front collision position cannot buffer large impact force is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to a front collision buffer structure and a self-moving robot. Background Art

[0002] The common self-moving cleaning equipment on the market usually has an anti-collision sensing structure at the front of the lower shell. In the related art, most of the anti-collision sensing structures rely on elastic sheets at the front collision position to play a certain buffering role.

[0003] However, in the actual cleaning process, the self-mobile cleaning equipment often collides with obstacles at too fast a speed, and the elastic sheet is sometimes unable to buffer the large impact force. Other structures hit in front will directly collide with the anti-collision sensing structure, causing damage to the sensing switch and switch driving rod of the anti-collision sensing structure, resulting in failure of the anti-collision sensing structure and a decrease in the anti-collision performance of the self-mobile cleaning equipment. Utility Model Content

[0004] The utility model mainly provides a front collision buffer structure to solve the problem that the elastic sheet at the front collision position cannot buffer the large impact force, resulting in the reduction of the anti-collision performance of the self-movable cleaning equipment.

[0005] To achieve the above-mentioned purpose, the utility model proposes a front collision buffer structure, which includes a sensing switch, a trigger member and a buffer member; wherein:

[0006] The induction switch is arranged in the accommodating cavity of the robot body, the trigger member is rotatably connected to the robot body, one end of the trigger member is inductively matched with the induction switch, and the other end extends out of the accommodating cavity to collide with the front collision body to trigger the induction switch in a linkage manner;

[0007] The buffer member is arranged on the front collision side of the robot body, and is used for buffering the impact force of the front collision body on the trigger member.

[0008] In some embodiments of the utility model, the buffer member is provided with an elastic protrusion on one side facing the front impact body, the trigger member has a collision portion that collides with the front impact body, and the collision portion has a first position and a second position;

[0009] In the first position, the collision portion is arranged closer to the front collision body than the elastic protrusion; in the second position, the collision portion and the elastic protrusion collide with the front collision body together.

[0010] In some embodiments of the utility model, the front collision side has an installation opening, the buffer component is arranged at the installation opening, the buffer component is provided with a sealing portion, the sealing portion is used to seal the installation opening, and the sealing portion is provided with an avoidance gap for the trigger component to extend out of the accommodating cavity.

[0011] In some embodiments of the present invention, the robot body is provided with a fixing portion, and the buffer component is provided with an assembly portion, and the fixing portion is adapted to be installed with the assembly portion to fix the buffer component.

[0012] In some embodiments of the present invention, the fixing portion includes two mounting posts, the assembling portion includes two assembling grooves, and the two mounting posts are plugged into and matched with the two assembling grooves in a one-to-one correspondence.

[0013] In some embodiments of the utility model, the front collision buffer structure also includes an elastic reset member, one end of the elastic reset member abuts against the robot body, and the other end abuts against an end of the trigger member away from the sensing switch. When the front collision body releases the pressure on the trigger member, the elastic reset member is used to provide a restoring force for the trigger member to reset the trigger member.

[0014] In some embodiments of the utility model, the robot body is provided with a positioning portion, the elastic reset member is sleeved on the positioning portion, the trigger member is rotatably connected to the positioning portion, the front collision buffer structure also includes a limit member, the limit member is used to limit the trigger member from being separated from the positioning portion, and the buffer member is crimped to the limit member.

[0015] In some embodiments of the utility model, the trigger member is provided with a sleeve hole, and the trigger member is sleeved on the positioning part through the sleeve hole. The positioning part is provided with a screw hole, and the limiting member has a connecting part and a limiting part. The connecting part is plugged into the screw hole, and the limiting part is used to limit the trigger member from being separated from the positioning part.

[0016] To achieve the above-mentioned purpose, the utility model provides a self-moving robot, the self-moving robot comprising a robot body, a front collision body and the front collision buffer structure;

[0017] The front collision body is installed on the front collision side of the robot body and is arranged with a gap between the front collision side and the front collision buffer structure. The front collision buffer structure is installed on the robot body.

[0018] In some embodiments of the present invention, there are two front collision buffer structures, one of which is arranged at one side of the front end of the robot body, and the other is arranged at the other side of the front end of the robot body.

[0019] The beneficial effect of the utility model is that, different from the prior art, the front collision buffer structure disclosed by the utility model uses a buffer member to play a buffering role when the trigger member is collided with the front collision body. It is configured in this way to buffer the impact force of the front collision body on the trigger member, which can not only effectively avoid the trigger member from breaking, rupture or damage, thereby extending the service life of the trigger member, but also ensure the sensitivity of the trigger coordination between the induction switch and the trigger member, thereby greatly improving the reliability of the anti-collision performance of the self-moving robot, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, 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 utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0021] Figure 1 This is a schematic structural diagram of an embodiment of the self-moving robot of the utility model;

[0022] Figure 2 It is a structural schematic diagram of a front impact buffer structure of an embodiment of the utility model from one perspective;

[0023] Figure 3 It is a partial structural schematic diagram of a front impact buffer structure and a bottom shell of an embodiment of the utility model;

[0024] Figure 4 It is a schematic diagram of a partial explosion structure of a front impact buffer structure and a bottom shell of an embodiment of the utility model;

[0025] Figure 5 It is a structural schematic diagram of another perspective of an embodiment of the front impact buffer structure of the utility model;

[0026] Figure 6 This is a structural schematic diagram of an embodiment of a buffer member of the utility model;

[0027] Figure 7 It is a structural schematic diagram of an embodiment of the front impact buffer structure of the utility model before a collision;

[0028] Figure 8 It is a structural schematic diagram of an embodiment of the front impact buffer structure of the utility model when a collision occurs.

[0029] Description of Figure Numbers:

[0030] 100. Self-propelled robot; 10. Robot body; 101. Front collision side; 102. Bottom shell; 1021. Installation port; 1022. Accommodating groove; 1023. Threaded hole; 1024. Positioning pin; 1025. Matching notch; 1026. Fixing part; 1027. Positioning part; 103. Middle shell; 104. Cover; 20. Front collision body; 30. Front collision buffer structure; 1. Induction switch; 11. Induction body; 12. Assembly body; 121. Positioning hole; 122. Assembly hole; 2. Trigger; 21. Trigger part; 22. Collision part; 23. Sleeve hole; 3. Buffer; 31. Elastic protrusion; 32. Sealing part; 321. Avoidance notch; 33. Crimping part; 34. Assembly part; 4. Elastic reset part; 5. Limiting member; 51. Connecting part; 52. Limiting part.

[0031] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0033] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In addition, in the present utility model, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0035] The utility model proposes a front collision buffer structure, referring to Figure 1 The front collision buffer structure 30 is applied to a self-moving robot 100. The self-moving robot 100 may be a cleaning device, such as a sweeper, a scrubber, or a sweeping and mopping robot. The self-moving robot 100 may also be other terminal devices that can move by themselves.

[0036] For the sake of convenience, the self-moving robot 100 may be a sweeper, which is only an example and does not limit the self-moving robot 100. The self-moving robot 100 may include a robot body 10 and a front impact body 20, the robot body 10 has a front impact side 101, the front impact body 20 is installed on the front impact side 101 of the robot body 10, and the front impact body 20 and the front impact side 101 are clearance-matched, that is, there is a gap between the front impact body 20 and the front impact side 101.

[0037] Reference Figures 1 to 8 The front collision buffer structure 30 includes a sensing switch 1, a trigger 2 and a buffer 3. The sensing switch 1 is arranged in a housing cavity (not shown in the figure) of the robot body 10, and the trigger 2 is rotatably connected to the robot body 10. One end of the trigger 2 is inductively matched with the sensing switch 1, and the other end extends out of the housing cavity, and is used to collide with the front collision body 20 to trigger the sensing switch 1. The buffer 3 is arranged on the front collision side 101 of the robot body 10, and is used to buffer the impact force of the front collision body 20 on the trigger 2.

[0038] Based on the above-mentioned scheme, the buffer member 3 plays a buffering role when the trigger member 2 is collided with the front collision body 20, that is, the buffer member 3 can well buffer the impact force of the front collision body 20 on the trigger member 2, and effectively avoid the front collision body 20 causing a large impact on the trigger member 2 when a collision occurs. Such a setting can not only effectively avoid the trigger member 2 from breaking, rupture or damage, so that the trigger member 2 can normally link and trigger the sensing switch 1 to ensure the timely responsiveness of the anti-collision sensing, but also ensure the sensitivity of the triggering coordination between the sensing switch 1 and the trigger member 2, thereby greatly improving the reliability of the anti-collision performance of the self-moving robot 100, thereby improving the user experience.

[0039] In addition, the buffer member 3 can not only buffer the impact force of the front collision body 20 on the trigger member 2, thereby effectively extending the service life of the trigger member 2, but also buffer the impact of the front collision body 20 on the shell structure of the robot body 10, thereby avoiding damage to the shell structure of the robot body 10, thereby improving the performance of the self-moving robot 100.

[0040] Among them, one end of the trigger member 2 is formed with a trigger part 21 that is inductively matched with the inductive switch 1, and the other end of the trigger member 2 is formed with a collision part 22 that is collided with the front collision body 20. When the collision part 22 collides with the front collision body 20, the trigger part 21 moves away from the inductive switch 1, that is, it leaves the sensing range of the inductive switch 1, so as to trigger the inductive switch 1 in a linkage manner, so that the inductive switch 1 generates a collision signal. The inductive switch 1 is also electrically connected to the control board of the robot body 10 so that the generated collision signal can be sent to the control board. The control board receives the collision signal and makes corresponding control instructions according to the collision signal, such as a stop instruction, a left turn instruction, a right turn instruction or a back-up instruction, so that the robot body 10 can avoid obstacles, thereby improving the anti-collision performance of the self-moving robot 100.

[0041] When the collision portion 22 no longer collides with the front collision body 20 , the trigger portion 21 gradually returns to its original position, that is, the trigger portion 21 approaches the induction switch 1 to trigger the induction cooperation with the induction switch 1 .

[0042] The robot body 10 may include a bottom shell 102, a middle shell 103 and a face cover 104, which are assembled from bottom to top, and the bottom shell 102, the middle shell 103 and the face cover 104 are enclosed together to form a receiving cavity. The bottom shell 102, the middle shell 103 and the face cover 104 all have a front side arranged in the walking direction, thereby forming a front collision side 101 of the robot body 10. The circumferential side wall of the bottom shell 102 is provided with an installation port 1021 connected to the receiving cavity, and the bottom shell 102 is also provided with a receiving groove 1022 for installing the induction switch 1.

[0043] The inductive switch 1 includes an inductive body 11 and an assembly 12. The inductive body 11 is electrically connected to the control board. The assembly 12 and the inductive body 11 can be fixed by integral injection molding. The inductive body 11 is arranged in the receiving groove 1022, and the assembly 12 covers the notch of the receiving groove 1022. The bottom shell 102 is also provided with a threaded hole 1023 and a positioning pin 1024 located at the edge of the receiving groove 1022. The assembly 12 is provided with a positioning hole 121 and an assembly hole 122 arranged at intervals. The positioning hole 121 is positioned and installed with the positioning pin 1024. The assembly hole 122 is arranged correspondingly with the threaded hole 1023. The assembly hole 122 is threadedly matched with the threaded hole 1023 by a screw to be fixed on the bottom shell 102.

[0044] The two opposite groove walls of the accommodating groove 1022 are further penetrated by matching notches 1025 , and the matching notches 1025 are for the triggering part 21 to pass through, so that the triggering part 21 can trigger the induction matching with the induction body 11 .

[0045] The induction switch 1 may be a non-contact induction switch, such as a photoelectric induction switch, a displacement induction switch, etc.; the induction switch 1 may also be a contact induction switch, such as a capacitive trigger induction switch, a resistive touch induction switch, a mechanical contact induction switch, etc. It is understandable that the induction switch 1 may also be other forms of induction devices or structural parts, as long as it can be linked with the trigger part 2 to trigger the generation of a collision signal and provide an anti-collision sensing function for the self-moving robot 100, and no specific limitation is made here.

[0046] Continue to refer to Figures 1 to 8 The buffer member 3 is provided with an elastic protrusion 31 on one side facing the front impact body 20, and the trigger member 2 has a collision portion 22 for collision with the front impact body 20, and the collision portion 22 has a first position and a second position. In the first position, the collision portion 22 is arranged closer to the front impact body 20 than the elastic protrusion 31; in the second position, the collision portion 22 and the elastic protrusion 31 collide with the front impact body 20 together.

[0047] Such arrangement can ensure that when the front collision body 20 collides with an obstacle, the collision portion 22 of the trigger member 2 collides with the front collision body 20 first, so as to ensure that when a collision occurs, the trigger member 2 can promptly link the trigger sensing switch 1 to generate a collision signal, and the anti-collision sensing response is timely, so that when the self-moving robot 100 collides with an obstacle, it can immediately perform a corresponding obstacle avoidance action, thereby quickly avoiding the obstacle.

[0048] At the same time, the elastic protrusion 31 collides with the front collision body 20 together with the collision part 22. The elastic protrusion 31 itself has good elasticity, so that the elastic protrusion 31 can buffer the impact force of the front collision body 20 on the collision part 22, and effectively avoid the collision part 22 from being broken, snapped and damaged, so as to ensure the sensitivity of the triggering induction of the trigger member 2 and the induction switch 1, and then ensure the sensitivity of the anti-collision induction of the self-moving robot 100, thereby improving the user experience.

[0049] The elastic protrusion 31 may be arranged in a convex shape, a convex column shape or a wave shape, so that the elastic protrusion 31 can better buffer the impact force of the front collision body 20 on the trigger member 2 .

[0050] The buffer 3 is arranged in a long strip shape, and the buffer 3 can be curved, arc-shaped or straight to be mounted on the bottom shell 102. The buffer 3 can be made of silicone, rubber, or other materials with good elastic properties, as long as the buffer 3 can have good buffering performance, and there is no specific limitation on this.

[0051] Continue to refer to Figures 1 to 8, the front collision side 101 has an installation opening 1021, that is, the installation opening 1021 is formed on the circumferential side wall of the bottom shell 102. The buffer 3 is arranged at the installation opening 1021, and the bottom shell 102 and the middle shell 103 cooperate to press the buffer 3 at the installation opening 1021, and to a certain extent, the buffer 3 is well fixed. The buffer 3 is provided with a sealing portion 32, and the sealing portion 32 is used to seal the installation opening 1021. The sealing portion 32 is provided with an avoidance notch 321 for the trigger member 2 to extend out of the accommodating cavity, that is, for the collision portion 22 to extend out of the accommodating cavity. Among them, the sealing portion 32 and the elastic protrusion 31 can be integrally formed.

[0052] In the past, most sweepers installed electronic components at the lower shell, which left an installation gap, causing dust or liquid to easily enter the lower shell through the gap. Over time, this would affect the performance of the internal electronic components, and in severe cases, could cause a short circuit in the internal electronic components.

[0053] In the embodiment of the present application, the avoidance notch 321 is used to ensure that the collision portion 22 can be extended out of the accommodating cavity. On the premise that the collision portion 22 can collide and cooperate with the front collision body 20 normally, the sealing portion 32 is used to well seal the mounting opening 1021, thereby effectively preventing dust and liquid from entering the accommodating cavity. On the one hand, it is ensured that the electronic components inside the self-moving robot 100 are not affected by the humid environment, so that the sensing switch 1 can work normally, ensure the anti-collision sensing sensitivity of the self-moving robot 100, and improve the anti-collision performance of the self-moving robot 100; on the other hand, the accommodating cavity can be made cleaner, which is convenient for later maintenance and cleaning.

[0054] Continue to refer to Figures 1 to 8 The robot body 10 is provided with a fixing portion 1026, and the buffer 3 is provided with an assembly portion 34, and the fixing portion 1026 and the assembly portion 34 are adapted to be installed to fix the buffer 3. When the buffer 3 collides with the front collision body 20, since the buffer 3 needs to withstand a large impact of the front collision body 20, the fixing portion 1026 and the assembly portion 34 are fixedly matched, so that the buffer 3 is not easy to shift, which helps to improve the abutment stability of the buffer 3 and the front collision body 20, so as to better buffer the impact force of the front collision body 20 on the trigger member 2, and improve the reliability of protecting the trigger member 2.

[0055] The fixing portion 1026 includes two mounting posts, both of which can be integrally formed on the bottom shell 102. Both mounting posts are arranged at the mounting opening 1021 and are arranged at intervals, which also facilitates the collision portion 22 from extending out of the accommodating cavity. The assembly portion 34 includes two assembly grooves, one of which is distributed at one end of the sealing portion 32, and the other of which is distributed at the other end of the sealing portion 32. The two mounting posts are plugged into the two assembly grooves in a one-to-one correspondence.

[0056] Such a configuration is not only convenient for installation, but also for disassembly, and it is easy to replace the buffer component 3. In addition, the buffer component 3 is made of silicone material, and the assembly portion 34 is a groove structure, which helps to enhance the friction with the mounting column and improve the stability of the buffer component 3 installed on the bottom shell 102. This helps to further buffer the impact force of the front collision body 20 and improve the protection effect on the trigger component 2.

[0057] It is understandable that the fixing portion 1026 may also be two fixing columns, two fixing blocks or other vertical structures, and the assembly portion 34 may also be an assembly hole 122, a blind hole or other structures.

[0058] Continue to refer to Figures 1 to 8 The front collision buffer structure 30 also includes an elastic reset member 4, one end of which abuts against the robot body 10, and the other end abuts against the end of the trigger member 2 away from the sensing switch 1. When the front collision body 20 releases the pressure on the trigger member 2, the elastic reset member 4 is used to provide a restoring force for the trigger member 2 to reset the trigger member 2.

[0059] When the front impact body 20 releases the pressure on the collision part 22, that is, when the front impact body 20 no longer collides with the collision part 22 and the buffer member 3, the collision part 22 automatically switches from the second position to the first position under the action of the elastic reset member 4, so that the trigger member 2 can be reset. Such a configuration, on the one hand, can well realize the automatic reset function of the front impact buffer structure 30, and on the other hand, the elastic reset member 4 can also well protect the trigger member 2, avoid the trigger member 2 and the front impact body 20 from having an excessively severe hard collision, and effectively reduce the possibility of damage to the trigger member 2.

[0060] One end of the elastic reset member 4 abuts against the bottom shell 102, and the other end can abut against the side of the collision part 22 away from the front collision body 20, or can be inserted into the collision part 22. The elastic reset member 4 can be a torsion spring, one end of which abuts against the bottom shell 102, and the other end is extended from bottom to top, so that it is convenient to abut against the trigger member 2. The elastic reset member 4 can also be a torsion spring or other elastic structural member with a restoring force to provide a reset for the trigger member 2, as long as it can ensure that the trigger member 2 can automatically reset after being compressed, and no specific limitation is made here.

[0061] It can be understood that a limiting protrusion is provided on the side of the collision part 22 facing away from the front collision body 20, a hook protrusion is provided on the bottom shell 102, and the two ends of the elastic reset member 4 can be arranged in a circular ring, one end of the elastic reset member 4 is limitedly matched with the hook protrusion, and the other end is limitedly matched with the limiting protrusion. This can well enhance the abutment stability between the elastic reset member 4 and the bottom shell 102 and the trigger member 2, so that the elastic reset member 4 can stably provide restoring force for the trigger member 2, so as to improve the stability and effect of the reset of the trigger member 2.

[0062] Continue to refer to Figures 1 to 8 The robot body 10 is provided with a positioning portion 1027, that is, the positioning portion 1027 is formed on the bottom shell 102, and the positioning portion 1027 is arranged adjacent to the mounting opening 1021. The elastic reset member 4 is sleeved on the positioning portion 1027, and the trigger member 2 is rotatably connected to the positioning portion 1027. The front collision buffer structure 30 also includes a limiter 5, and the limiter 5 is used to limit the trigger member 2 from being separated from the positioning portion 1027, and the buffer member 3 is crimped to the limiter 5. Under the action of the limiter 5, the trigger member 2 and the elastic reset member 4 are limited during the rotation process, so that it is not easy for the trigger member 2 to be separated from the positioning portion 1027, so as to ensure the smoothness of the rotation of the trigger member 2, which is helpful to improve the anti-collision sensitivity of the self-moving robot 100.

[0063] The buffer member 3 is also provided with a crimping portion 33 integrally formed with the sealing portion 32, the crimping portion 33 is provided at the avoidance notch 321, and is used to press the stopper 5, so that the overall stability of the front impact buffer structure 30 can be improved. The positioning portion 1027 can be a positioning column or a positioning pin.

[0064] The trigger member 2 is provided with a sleeve hole 23, and the trigger member 2 is sleeved on the positioning portion 1027 through the sleeve hole 23. The positioning portion 1027 is provided with a screw hole. The limiting member 5 has a connecting portion 51 and a limiting portion 52. The connecting portion 51 is plugged into the screw hole, and the limiting portion 52 is used to limit the trigger member 2 from being separated from the positioning portion 1027. Such a configuration has a simple assembly relationship, convenient installation, and a high degree of compactness between the structures, so as to better limit the trigger member 2.

[0065] It is understandable that a rotating pin may be provided in the middle of the trigger member 2, the rotating pin is rotatably matched with the screw hole, and the limiting member 5 limits the trigger member 2 on the side away from the bottom shell 102. There are many ways to achieve the rotational connection between the trigger member 2 and the bottom shell 102, as long as it can ensure that the trigger member 2 can be stably rotatably connected to the bottom shell 102, and no specific limitation is made to this.

[0066] The utility model provides a self-moving robot, referring to Figures 1 to 8 The self-propelled robot 100 includes a robot body 10, a front collision body 20 and a front collision buffer structure 30. The front collision body 20 is installed on the front collision side 101 of the robot body 10 and is set with a gap with the front collision side 101. The front collision buffer structure 30 is installed on the robot body 10.

[0067] The specific structure of the front collision buffer structure 30 refers to the above-mentioned embodiment. Since the self-propelled robot 100 adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0068] Reference Figure 1There are two front collision buffer structures 30, one of which is arranged at one side of the front end of the robot body 10, and the other is arranged at the other side of the front end of the robot body 10. Such an arrangement can not only improve the omnidirectional collision avoidance performance of the self-propelled robot 100, but also enhance the user experience.

[0069] The above description is only an optional embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A front collision buffer structure, applied to a self-propelled robot, the self-propelled robot comprising a robot body and a front collision body, characterized in that: The front collision buffer structure includes a sensing switch, a trigger and a buffer; wherein, The induction switch is arranged in the accommodating cavity of the robot body, the trigger member is rotatably connected to the robot body, one end of the trigger member is inductively matched with the induction switch, and the other end extends out of the accommodating cavity to collide with the front collision body to trigger the induction switch in a linkage manner; The buffer member is arranged on the front collision side of the robot body, and is used for buffering the impact force of the front collision body on the trigger member.

2. The front impact buffer structure according to claim 1, characterized in that: The buffer member is provided with an elastic convex portion on one side facing the front impact body, the trigger member has a collision portion for colliding with the front impact body, and the collision portion has a first position and a second position; In the first position, the collision portion is arranged closer to the front collision body than the elastic protrusion; in the second position, the collision portion and the elastic protrusion collide with the front collision body together.

3. The front impact buffer structure according to claim 1, characterized in that: The front collision side has an installation opening, the buffer component is arranged at the installation opening, the buffer component is provided with a sealing portion, the sealing portion is used to seal the installation opening, and the sealing portion is provided with an avoidance gap for the trigger component to extend out of the accommodating cavity.

4. The front impact buffer structure according to claim 1, characterized in that: The robot body is provided with a fixing portion, and the buffer component is provided with an assembly portion, and the fixing portion is adapted to be installed with the assembly portion to fix the buffer component.

5. The front impact buffer structure according to claim 4, characterized in that: The fixing portion comprises two mounting posts, the assembling portion comprises two assembling grooves, and the two mounting posts are plugged and matched with the two assembling grooves in a one-to-one correspondence.

6. The front impact buffer structure according to claim 1, characterized in that: The front collision buffer structure also includes an elastic reset member, one end of which abuts against the robot body, and the other end abuts against an end of the trigger member away from the sensing switch. When the front collision body releases the pressure on the trigger member, the elastic reset member is used to provide a restoring force for the trigger member to reset the trigger member.

7. The front impact buffer structure according to claim 6, characterized in that: The robot body is provided with a positioning part, the elastic reset member is sleeved on the positioning part, the trigger member is rotatably connected to the positioning part, the front collision buffer structure also includes a limiter, the limiter is used to limit the trigger member from being separated from the positioning part, and the buffer member is crimped to the limiter.

8. The front impact buffer structure according to claim 7, characterized in that: The trigger member is provided with a sleeve hole, and the trigger member is sleeved on the positioning part through the sleeve hole. The positioning part is provided with a screw hole. The limiting member has a connecting part and a limiting part. The connecting part is plugged into the screw hole, and the limiting part is used to limit the trigger member from being separated from the positioning part.

9. A self-propelled robot, characterized in that: The self-propelled robot comprises a robot body, a front collision body and a front collision buffer structure according to any one of claims 1 to 8; The front collision body is installed on the front collision side of the robot body and is arranged with a gap between the front collision side and the front collision buffer structure. The front collision buffer structure is installed on the robot body.

10. The self-moving robot according to claim 9, characterized in that: There are two front collision buffer structures, one of which is arranged at one side of the front end of the robot body, and the other is arranged at the other side of the front end of the robot body.

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