Collision triggering obstacle avoidance mechanism of sweeper

Abstract

The utility model relates to the field of sweeping machines, and discloses a sweeping machine collision triggering obstacle avoidance mechanism which comprises a machine body and a front shell movably arranged on the machine body, the front shell is arranged on the front side of the machine body, an elastic piece is arranged between the machine body and the front shell, and the front shell horizontally moves backwards towards one side of the machine body when colliding with an external obstacle. The elastic piece is used for driving the front shell in the backward moving state to move forwards and reset, a collision sensing device is arranged between the front shell and the machine body and comprises a convex rib and an optical coupling element corresponding to the convex rib, and the optical coupling element is provided with an induction part used for inducting the convex rib. The collision triggering obstacle avoidance mechanism of the sweeper is simple in structure and low in production cost; when the front shell is collided, the collision signal can be detected through the collision sensing device, so that the machine body is controlled to carry out displacement obstacle avoidance, and obstacle avoidance work on obstacles such as glass can be reliably completed.

Description

Technical Field

[0001] The utility model relates to the field of sweeping machines, and in particular to a collision-triggered obstacle avoidance mechanism for sweeping machines. Background Art

[0002] A sweeping robot is a household cleaning appliance that is popular among people because it can automatically clean the floor in the room, saving time and energy for housework. The existing sweeping robots are equipped with collision avoidance mechanisms on the sides. Simple collision avoidance mechanisms are directly composed of infrared detectors. The infrared detectors can detect obstacles in front and then feed back signals to the control system of the sweeping robot. The control system controls the robot to turn or retreat to avoid obstacles. However, the disadvantage of infrared detectors is that they can only be used for objects with large volume and strong reflective ability. They cannot effectively detect obstacles such as small tables and glass, and the accuracy is poor. In addition, some existing sweeping robots have complex obstacle avoidance structures and high production costs. Utility Model Content

[0003] 1. Technical issues to be resolved

[0004] The problem to be solved by the utility model is to provide a collision-triggered obstacle avoidance mechanism for a sweeping machine, which has a simple structure and low production cost. When a collision occurs to the front shell, a collision signal can be detected by a collision sensor device, thereby controlling the machine body to move to avoid obstacles, and can reliably complete the obstacle avoidance work for obstacles such as glass.

[0005] (II) Technical solution

[0006] In order to solve the technical problem, the utility model provides a collision-triggered obstacle avoidance mechanism for a sweeping machine, comprising: a machine body and a front shell body movably arranged on the machine body, the front shell body being placed on the front side of the machine body, an elastic member being arranged between the machine body and the front shell body, and the front shell body horizontally moves backward toward one side of the machine body when colliding with an external obstacle, the elastic member being used to drive the front shell body in the backward moving state to move forward and reset, a collision sensing device being arranged between the front shell body and the machine body, the collision sensing device comprising a convex rib and an optical coupling element corresponding to the convex rib, a sensing part for sensing the convex rib being arranged on the optical coupling element, the convex rib being arranged on the front shell body, and the optical coupling element being arranged on the machine body; the collision-triggered obstacle avoidance mechanism for a sweeping machine of the utility model has a simple structure and a low production cost; when the front shell body collides, the collision signal can be detected by the collision sensing device, thereby controlling the machine body to perform displacement obstacle avoidance, and can reliably complete the obstacle avoidance work for obstacles such as glass.

[0007] Furthermore, the optical coupling element is a through-beam photoelectric sensor, the optical coupling element includes a transmitting end and a receiving end, and the sensing part is formed between the transmitting end and the receiving end.

[0008] Furthermore, the optical coupling element is a slot-type photoelectric sensor, and the sensing portion is a groove arranged on the optical coupling element.

[0009] Furthermore, the machine body is disc-shaped, the front shell is arc-shaped, and the side end surface of the convex rib is provided with reinforcing ribs.

[0010] Furthermore, the elastic member is a torsion spring, the elastic member is arranged on the body, one of the legs of the elastic member abuts against the body, and the other leg of the elastic member abuts against the front shell.

[0011] Furthermore, a limiting guide column is arranged on the machine body, and a limiting sliding groove corresponding to the limiting guide column is arranged on the front shell body.

[0012] Furthermore, the machine body includes a main shell and a circuit board arranged in the main shell, and the optical coupling element is electrically connected to the circuit board.

[0013] Furthermore, a limiting block is arranged on the front shell body, and a limiting groove corresponding to the limiting block is arranged on the body, and the limiting block is slidably placed in the limiting groove.

[0014] Furthermore, a buffer block is fixedly provided on a side of the front shell away from the machine body.

[0015] Furthermore, the buffer block is in an arc shape and is made of rubber or silicone material.

[0016] (III) Beneficial effects

[0017] The utility model discloses a collision-triggered obstacle avoidance mechanism for a sweeping machine, which has a simple structure and low production cost. When a collision occurs to the front shell, a collision signal can be detected by a collision sensor device, thereby controlling the machine body to move to avoid obstacles, and can reliably complete the obstacle avoidance work for obstacles such as glass. The optical coupling element is a slot-type photoelectric sensor, which has a fast response speed and sensitive obstacle avoidance sensing. It is a contactless sensing type, will not damage the elements, and has a long service life. A limiting guide column is arranged on the machine body, and a limiting slide groove corresponding to the limiting guide column is arranged on the front shell, so that the front shell can slide smoothly and steadily in the front and rear directions. A buffer block is fixedly arranged on the side of the front shell away from the machine body to avoid damage to the front shell when it collides with an obstacle. The buffer block is made of rubber or silicone material and has a good buffering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of the collision-triggered obstacle avoidance mechanism of the sweeper of the utility model;

[0019] Figure 2 It is an exploded view of the collision-triggered obstacle avoidance mechanism of the sweeper of the utility model;

[0020] Figure 3 for Figure 2 Enlarged view of part A in the middle;

[0021] Figure 4 It is a structural schematic diagram of the front housing of the collision-triggered obstacle avoidance mechanism of the sweeper of the utility model;

[0022] Figure 5 for Figure 4 Enlarged view of middle part B;

[0023] Figure 6 This is a structural schematic diagram of the circuit board of the collision-triggered obstacle avoidance mechanism of the sweeper of the utility model;

[0024] Figure 7 for Figure 6 Enlarged view of the middle C part;

[0025] Figure 8 This is a schematic diagram of the structure of the bottom of the collision-triggered obstacle avoidance mechanism of the sweeper of the utility model;

[0026] Fig. 9 for Figure 8 Enlarged view of the middle D part;

[0027] The corresponding component names of the various figure marks in the figure are: 1 is the body, 11 is the main shell, 12 is the circuit board, 101 is the limiting guide column, 1011 is the limiting groove, 102 is the limiting groove, 2 is the front shell, 201 is the limiting slide groove, 202 is the limiting block, 2021 is the limiting protrusion, 3 is the elastic part, 4 is the convex rib, 401 is the reinforcing rib, 5 is the optical coupling element, 501 is the sensing part, 502 is the transmitting end, 503 is the receiving end, 6 is the buffer block, 7 is the mounting column, 8 is the through groove, 9 is the first guide inclined surface, and 10 is the second guide inclined surface. DETAILED DESCRIPTION

[0028] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0029] See also Figure 1-Figure 9The utility model provides a collision-triggered obstacle avoidance mechanism for a sweeping machine, comprising: a machine body 1 and a front shell 2 movably arranged on the machine body 1, the front shell 2 being placed at the front side of the machine body 1, the front side direction being the direction in which the sweeping machine body moves straight ahead; an elastic member 3 is arranged between the machine body 1 and the front shell 2, and when the front shell 2 collides with an external obstacle, it moves horizontally backward to one side of the machine body 1, and the backward movement direction is opposite to the front side direction, and the elastic member 3 is used to drive the front shell 2 in the backward movement state to move forward and reset, and the reset is flexible and reliable to use. In addition, the elastic member 3 is arranged so that when the front shell 2 collides, a part of the impact force can be converted into the elastic potential energy of the elastic member, so that it has a certain buffering property, thereby reducing the risk of damage to the front shell 2 caused by collision; a collision sensor device is arranged between the front shell 2 and the machine body 1, and the collision sensor device includes a convex rib 4 and an optical coupling element 5 corresponding to the convex rib 4, and the side end surface of the convex rib 4 is provided with There are reinforcing ribs 401. In this embodiment, the side end surfaces on both sides of the convex rib 4 are provided with reinforcing ribs 401 to increase the structural strength of the convex rib 4 and prevent deformation. The optical coupling element 5 is provided with a sensing part 501 for sensing the convex rib 4. The convex rib 4 is provided on the front shell 2, and the optical coupling element 5 is provided on the body 1. When the front shell 2 collides, the front shell 2 moves backward, driving the convex rib 4 to move to the sensing part 501 for sensing. At this time, the optical coupling element 5 transmits the sensed collision signal to the circuit board for control on the body, and controls the body to move backward, turn, and other obstacle avoidance driving routes through a preset program. The collision-triggered obstacle avoidance mechanism of the sweeper of the utility model has a simple structure and low production cost. When the front shell collides, the collision signal can be detected by the collision sensor device, thereby controlling the body to move to avoid obstacles, and can reliably complete the obstacle avoidance work of obstacles such as glass.

[0030] See also Figure 1 , Figure 2 , Figure 6 and Figure 7 The optical coupling element 5 is a through-beam photoelectric sensor. The optical coupling element 5 includes a transmitting end 502 and a receiving end 503. The receiving end 503 is used to receive the light emitted by the transmitting end 502. The positions of the transmitting end 502 and the receiving end 503 can be interchanged. The sensing part 501 is formed between the transmitting end 502 and the receiving end 503, so that when the convex rib 4 is located at the sensing part 501, it can block the light emitted by the transmitting end 502 to the receiving end 503 to generate an electrical signal, which is the collision signal. The optical coupling element 5 is a slot-type through-beam photoelectric sensor with fast response speed, sensitive obstacle avoidance sensing, and contactless sensing, which will not damage the components and has a long service life. The sensing part 501 is a groove set on the optical coupling element 5.

[0031] See also Figure 1-Figure 3The body 1 is disc-shaped, the front shell 2 is arc-shaped, and the structure is compact and neat; the elastic member 3 is a torsion spring, and the elastic member 3 is arranged on the body 1, one of the legs of the elastic member 3 is against the body 1, and the other leg of the elastic member 3 is against the front shell 2, and the reset is flexible. The body 1 is provided with a mounting column 7 for the elastic member 3.

[0032] See also Figure 1-Figure 5 A limiting guide post 101 is provided on the body 1, and the limiting guide post 101 is cylindrical; a limiting slide groove 201 corresponding to the limiting guide post 101 is provided on the front shell 2, and the limiting slide groove 201 is U-shaped. The limiting guide post 101 is slidably placed in the limiting slide groove 201, so that the front shell 2 can slide smoothly and steadily along the front and rear directions.

[0033] See also Figure 2 , Figure 3 , Figure 6 and Figure 7 The body 1 includes a main shell 11 and a circuit board 12 arranged in the main shell 11. The main shell 11 is provided with a through slot 8 corresponding to the sensing part 501, so that the convex rib 4 can pass through the through slot 8 and be inserted into the sensing part 501. The optical coupling element 5 is electrically connected to the circuit board 12. In this embodiment, two optical coupling elements 5 are provided on the circuit board 12, and two convex ribs 4 are provided and correspond to the optical coupling elements 5 one by one.

[0034] See also Figure 4 , Figure 8 and Fig. 9 A limiting block 202 is provided on the front shell body 2, and a limiting groove 102 corresponding to the limiting block 202 is provided on the body 1. The limiting block 202 is slidably placed in the limiting groove 102 to further ensure the stability of the front shell body 2 sliding forward and backward. A first guide slope 9 is provided on the limiting block 202, and a second guide slope 10 corresponding to the first guide slope is provided on the body 1, so as to facilitate the limiting block 202 to be introduced into the limiting groove 102; a limiting protrusion 2021 is provided on the limiting block 202, and a limiting groove 1011 corresponding to the limiting protrusion 2021 is provided on the body 1. The limiting protrusion 2021 and the limiting groove 1011 are used to limit the limit position of the front shell body 2 when it moves forward.

[0035] See also Figure 1 A buffer block 6 is fixedly provided on the side of the front shell 2 away from the body 1 to prevent damage to the front shell 2 when it collides with an obstacle; the buffer block 6 is arc-shaped, and the buffer block 6 is made of rubber or silicone material, and has a good buffering effect; the buffer block 6 can be fixed to the front shell 2 by bolts or glue.

[0036] The utility model discloses a collision-triggered obstacle avoidance mechanism for a sweeping machine. A buffer block is fixedly arranged on the side of the front shell away from the machine body to prevent the front shell from being damaged when colliding with an obstacle. The buffer block is made of rubber or silicone material and has a good buffering effect. The structure is simple and the production cost is low. When the front shell collides, the collision signal can be detected by the collision sensor device, so as to control the machine body to move and avoid obstacles, and the obstacle avoidance work of obstacles such as glass can be reliably completed. The optical coupling element is a slot-type opposing photoelectric sensor with fast response speed and sensitive obstacle avoidance sensing. It is a contactless sensing type and will not damage the elements, so it has a long service life. A limiting guide column is arranged on the machine body, and a limiting slide groove corresponding to the limiting guide column is arranged on the front shell, so that the front shell can slide smoothly and steadily in the front and rear directions.

[0037] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A collision-triggered obstacle avoidance mechanism for a sweeping machine, characterized in that: include: A machine body (1) and a front shell (2) movably arranged on the machine body (1), the front shell (2) being arranged on the front side of the machine body (1), an elastic member (3) being arranged between the machine body (1) and the front shell (2), the front shell (2) moving horizontally backward toward one side of the machine body (1) when colliding with an external obstacle, the elastic member (3) being used to drive the front shell (2) in the backward moving state to move forward and reset, a collision sensing device being arranged between the front shell (2) and the machine body (1), the collision sensing device comprising a convex rib (4) and an optical coupling element (5) corresponding to the convex rib (4), the optical coupling element (5) being arranged on a sensing portion (501) for sensing the convex rib (4), the convex rib (4) being arranged on the front shell (2), and the optical coupling element (5) being arranged on the machine body (1).

2. The collision-triggered obstacle avoidance mechanism of the sweeper according to claim 1, characterized in that: The optical coupling element (5) is a beam-type photoelectric sensor, and the optical coupling element (5) comprises a transmitting end (502) and a receiving end (503), and the sensing part (501) is formed between the transmitting end (502) and the receiving end (503).

3. The collision-triggered obstacle avoidance mechanism of the sweeper according to claim 2, characterized in that: The optical coupling element (5) is a slot-type photoelectric sensor, and the sensing portion (501) is a groove arranged on the optical coupling element (5).

4. The collision-triggered obstacle avoidance mechanism of the sweeper according to claim 1, characterized in that: The machine body (1) is disc-shaped, the front housing (2) is arc-shaped, and the side end surface of the convex rib (4) is provided with a reinforcing rib (401).

5. The collision-triggered obstacle avoidance mechanism of the sweeper according to claim 1, characterized in that: The elastic member (3) is a torsion spring, and the elastic member (3) is arranged on the machine body (1). One of the legs of the elastic member (3) abuts against the machine body (1), and the other leg of the elastic member (3) abuts against the front shell (2).

6. The collision-triggered obstacle avoidance mechanism of the sweeper according to claim 5, characterized in that: A limiting guide column (101) is provided on the machine body (1), and a limiting sliding groove (201) corresponding to the limiting guide column (101) is provided on the front shell body (2).

7. The collision-triggered obstacle avoidance mechanism of the sweeper according to claim 1, characterized in that: The machine body (1) comprises a main housing (11) and a circuit board (12) arranged in the main housing (11), and the optical coupling element (5) is electrically connected to the circuit board (12).

8. The collision-triggered obstacle avoidance mechanism of a sweeper according to claim 1, characterized in that: A limiting block (202) is arranged on the front shell body (2), a limiting groove (102) corresponding to the limiting block (202) is arranged on the machine body (1), and the limiting block (202) is slidably placed in the limiting groove (102).

9. The collision-triggered obstacle avoidance mechanism of a sweeper according to any one of claims 1 to 8, characterized in that: A buffer block (6) is fixedly provided on a side of the front housing (2) away from the machine body (1).

10. The collision-triggered obstacle avoidance mechanism of the sweeper according to claim 9, characterized in that: The buffer block (6) is in an arc shape and is made of rubber or silicone material.

Images