Radar anti-collision structure and intelligent sweeping robot

Abstract

The utility model discloses a radar anti-collision structure and an intelligent floor sweeping robot, and relates to the technical field of floor sweeping robots, the radar anti-collision structure comprises an upper cover assembly, a through radar groove is formed in the middle of the upper cover assembly, a radar body is located in the radar groove, and the sensing end of the radar body protrudes out of the surface of the upper cover assembly; the radar cover is arranged outside the radar body in a covering mode, one side of the radar cover is rotationally connected into the radar groove through a rotating piece, and the other side of the radar cover is movably arranged in the radar groove through an elastic piece; the trigger assembly is arranged on the upper cover assembly and comprises a trigger panel and a trigger switch arranged on the radome, a gap exists between the trigger panel and the trigger switch, and when the radome is impacted by external force, the trigger switch makes contact with the trigger panel and is triggered. By adopting the technical scheme, the whole structure is simple, the production cost and the assembly difficulty are reduced, and the maintenance cost is lower.

Description

Technical Field

[0001] The utility model relates to the technical field of sweeping robots, and in particular to a radar anti-collision structure and an intelligent sweeping robot. Background Art

[0002] With the development of social economy and the improvement of living standards, home cleaning has gradually entered the era of intelligence. Smart sweeping robots are widely loved by people because of their intelligent features that can automatically walk and clean the floor according to the spatial layout.

[0003] In order to navigate during the sweeping and cleaning operation, the current intelligent sweeping and cleaning robots are usually equipped with radars on their top shells, and the radars are generally set up with protrusions relative to the top shell. At the same time, in order to meet the needs of small household scenes, intelligent sweeping and cleaning robots are usually designed to be as small and low as possible. Some furniture usually has a gap with the bottom surface, which causes the intelligent sweeping and cleaning robot to move part of the body into the gap between the furniture and the ground during the sweeping and cleaning operation. This causes the radar to collide with the bottom of the furniture in some scenes, thereby damaging the radar structure. Therefore, installing an anti-collision structure on the radar has become a standard configuration for intelligent sweeping robots.

[0004] For example, a Chinese utility model patent with the publication number CN217488556U discloses a cleaning robot, which includes a base, a radar cover, a radar, a sensor bracket, a plurality of side anti-collision sensors and two upper anti-collision sensors, wherein the radar is fixed on the base, the radar cover is movably connected to the base and the cover is arranged on the radar, the two upper anti-collision sensors are arranged at the front edge of the sensor bracket and the rear edge of the sensor bracket respectively, the sensing surface of the upper anti-collision sensor faces the upper side of the cleaning robot, and the plurality of side anti-collision sensors are arranged at intervals at the two side edges of the sensor bracket, and the sensing surface of the side anti-collision sensor faces the side of the cleaning robot. That is, when CN217488556U is in use, the cleaning robot can detect obstacles in multiple upper and side positions through the plurality of upper anti-collision sensors and the plurality of side anti-collision sensors arranged on the sensor bracket, so that the cleaning robot can avoid obstacles, avoid collision between the cleaning robot and indoor objects of the user, and thus avoid damage to the radar.

[0005] However, the cleaning robot in the related art needs to be equipped with multiple anti-collision sensors to detect obstacles so that the cleaning robot can avoid obstacles in time. The overall structure is relatively complex, the production cost is high, and the assembly is difficult. In addition, since the sensor is a relatively sophisticated electronic component, once it is damaged, it must be replaced to ensure the normal use of the cleaning robot, which further increases the maintenance cost.

[0006] Therefore, the present application proposes a radar anti-collision structure and an intelligent sweeping robot to solve the above problems. Utility Model Content

[0007] The purpose of the utility model is to address the phenomenon that the cleaning robot in the prior art needs to be equipped with multiple anti-collision sensors to detect obstacles so that the cleaning robot can avoid obstacles in time, the overall structure is relatively complex, the production cost is high, the assembly is difficult, and because the sensor is a relatively compact electronic component, it must be replaced once damaged, which increases the maintenance cost. The utility model provides a radar anti-collision structure and an intelligent sweeping robot.

[0008] The technical solution adopted by a radar structure provided by the utility model is:

[0009] A radar anti-collision structure, comprising:

[0010] The upper cover assembly has a radar slot extending through the middle thereof;

[0011] A radar body is fixedly disposed in the radar slot, and a sensing end of the radar body protrudes from the surface of the upper cover assembly;

[0012] A radome, which is arranged outside the radar body, one side of the radome is rotatably connected to the radar slot via a rotating member, and the other side of the radome is movably arranged in the radar slot via an elastic member; and

[0013] A trigger component is arranged on the upper cover assembly, and includes a trigger panel and a trigger switch arranged on the radome. There is a gap between the trigger panel and the trigger switch, and when the radome is hit by an external force, the trigger switch contacts the trigger panel and is triggered.

[0014] Preferably, the rotating member includes a rotating shaft arranged on one side of the radar cover, and an arc-shaped groove connected to the radar groove is opened on the upper cover assembly, and both ends of the rotating shaft are respectively rotatably connected to two opposite inner walls of the arc-shaped groove.

[0015] Preferably, there are two groups of elastic members, which are symmetrically arranged at two ends of the side of the radome away from the rotating member, and the two groups of elastic members cooperate to provide elastic force to the radome so that the radome can rebound and reset after being hit.

[0016] Preferably, the elastic member includes an elastic arm arranged on the bottom side of the radome, the elastic arm and the radome are integrally formed, the elastic arm has a first arc-shaped groove and a second arc-shaped groove, the opening directions of the first arc-shaped groove and the second arc-shaped groove are opposite, the opening of the second arc-shaped groove faces the bottom wall of the radar groove, and the second arc-shaped groove is located on the outside of the elastic arm.

[0017] Preferably, an abutment portion for abutting against a bottom wall of the radar slot is provided at one end of the elastic arm away from the radar cover.

[0018] Preferably, the elastic arm is made of virgin plastic.

[0019] Preferably, a limiting member for limiting the position of the elastic arm is provided on the radome, so that the elastic arm can be deformed within a limited area through the limiting member.

[0020] Preferably, the limiting component includes a step hole opened on the radome, a limit screw arranged in the step hole, and a limit stud vertically arranged in the radar slot and cooperating with the limit screw. The step hole passes through the radome, the step hole and the limit stud are arranged opposite to each other, and the bottom end of the limit screw passes through the step hole and is threadedly connected to the limit stud.

[0021] Preferably, the radar cover includes a base plate and a cover body, the size of the base plate is adapted to the radar slot, the rotating part and the elastic part are both arranged on the base plate, the cover body is provided with a plurality of vertical grooves connected to the interior of the cover body, and the sensing end of the radar body is located in the cover body.

[0022] The utility model also provides an intelligent sweeping robot, comprising a robot body and the radar anti-collision structure as described above.

[0023] After adopting the above technical solution, the beneficial effects of the utility model are:

[0024] When the radome of the present application is hit from the front / rear / left / right side, a force is applied to the radome. At this time, the impact force is decomposed into a downward force through the rotating part provided on the radome as a fulcrum, causing the elastic part to deform. That is, at this time, one side of the radome is pressed down, so that the trigger switch contacts and triggers the trigger panel, thereby driving the intelligent sweeping robot to move in the opposite direction of the impact point, achieving the effect of avoiding obstacles. At the same time, the elastic part can rebound quickly after deformation, so that the radome can rebound and reset in time after being hit, so that the radar body can work normally. The overall structure is simple, which reduces the production cost and assembly difficulty, has low maintenance cost, and has a good market promotion prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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 these drawings without paying creative labor.

[0026] Figure 1 It is a schematic diagram of the overall structure of this embodiment;

[0027] Figure 2 yes Figure 1 A partial cross-sectional view of

[0028] Figure 3 yes Figure 2 A magnified view of part A;

[0029] Figure 4 is a partial exploded view of this embodiment;

[0030] Figure 5 yes Figure 4 A partial display diagram of

[0031] Figure 6 yes Figure 5 Another perspective of the display diagram;

[0032] Figure 7 It is a schematic diagram used to reflect the positional relationship between the robot body and the radome.

[0033] Explanation of the accompanying drawings: 1. Upper cover assembly; 11. Radar slot; 12. Arc-shaped groove; 2. Radar body; 3. Radar cover; 31. Base; 32. Cover body; 4. Trigger assembly; 41. Trigger panel; 42. Trigger switch; 5. Rotating shaft; 6. Elastic arm; 61. First opening; 62. Second opening; 63. Abutment portion; 7. Limiting member; 71. Step hole; 72. Limiting screw; 100. Robot body. DETAILED DESCRIPTION

[0034] The following will be combined with the attached embodiment of the present utility model Figure 1-7 , 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 them. 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.

[0035] It should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "back", "side", "circumferential" and the like in the present invention indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. In addition, the words "first", "second" and the like are only used to distinguish multiple components or structures with the same or similar structures, and do not represent any special limitation on the setting order or connection relationship.

[0036] This embodiment relates to a radar anti-collision structure for protecting the radar body 2 on the intelligent sweeping robot. Figures 1 to 7 The radar anti-collision structure includes an upper cover assembly 1, a radar body 2, a radar cover 3, and a trigger assembly 4, wherein the upper cover assembly 1 is fixedly arranged on the top surface of the intelligent cleaning robot, a radar slot 11 is provided in the middle of the upper cover assembly 1, the radar body 2 is fixedly arranged in the radar slot 11, and the sensing end of the radar body 2 protrudes from the surface of the upper cover assembly 1. The radar cover 3 is arranged outside the radar body 2, and one side of the radar cover 3 is rotatably connected to the radar slot 11 through a rotating member, and the other side of the radar cover 3 is movably arranged in the radar slot 11 through an elastic member.

[0037] The trigger component 4 is arranged on the upper cover assembly 1, including a trigger panel 41 and a trigger switch 42 arranged on the radome 3. When the trigger panel 41 and the intelligent sweeping robot are in the initial state (that is, when the radome 3 is not subjected to external impact), there is a gap between the trigger panel 41 and the trigger switch 42. When the radome 3 is hit by external force, the trigger switch 42 and the trigger panel 41 are triggered and triggered.

[0038] It can be understood that when hit from the front / rear / left / right side, the radome 3 is subjected to force to prevent the radar body 2 from being damaged by the impact. At this time, the rotating part on the radome 3 is used as a fulcrum to decompose the impact force into a downward force, causing the elastic part to deform. That is, at this time, one side of the radome 3 is pressed down relative to the radar slot 11, so that the trigger switch 42 contacts and triggers the trigger panel 41, thereby causing the intelligent sweeping robot to move in the opposite direction of the impact point to avoid obstacles. At the same time, the elastic part can rebound quickly after deformation, that is, the radome 3 can rebound and reset in time after being hit, thereby ensuring the normal operation of the radar body 2.

[0039] Furthermore, the rotating part includes a rotating shaft 5 arranged on one side of the radar cover 3, and an arc-shaped groove 12 connected to the radar groove 11 is opened on the upper cover assembly 1. The rotating shaft 5 is adapted to the size of the arc-shaped groove 12, and the two ends of the rotating shaft 5 are respectively rotatably connected to the two opposite inner walls of the arc-shaped groove 12.

[0040] That is, through the cooperation between the rotating shaft 5 and the arc-shaped groove 12, the rotational connection between the radar cover 3 and the upper cover assembly 1 is realized, so that when the radar cover 3 is impacted, it can cooperate with the elastic member to decompose the impact force into a downward force, so that the trigger panel 41 contacts and triggers the trigger switch 42, so that the intelligent sweeping robot can avoid obstacles.

[0041] Furthermore, in this embodiment, there are two groups of elastic members, which are symmetrically arranged at the two ends of the side of the radar cover 3 away from the rotating part, and the two groups of elastic members cooperate to provide elastic force to the radar cover 3 so that the radar cover 3 can quickly rebound and reset after being hit.

[0042] Specifically, the elastic member includes an elastic arm 6 arranged on the bottom side of the radar cover 3, the elastic arm 6 is integrally formed with the radar cover 3, the elastic arm 6 has a first arc-shaped groove and a second arc-shaped groove, the openings of the first arc-shaped groove and the second arc-shaped groove are opposite, the opening of the first arc-shaped groove faces the top of the radar slot 11, the opening of the second arc-shaped groove faces the bottom wall of the radar slot 11, and the second arc-shaped groove is located on the outside of the elastic arm 6.

[0043] Furthermore, an abutting portion 63 for abutting against the bottom wall of the radar slot 11 is provided at one end of the elastic arm 6 away from the radar cover 3 .

[0044] Through the above-mentioned arrangement, the elastic arm 6 can provide stable support for the radome 3, so that the radome 3 can stably protect the radar body 2. At the same time, when subjected to external impact, the rotating shaft 5 cooperates with the elastic arm 6 to decompose the impact force into a downward force, causing the elastic arm 6 to deform, thereby causing the radome 3 to move downward relative to the radar slot 11 and trigger the trigger assembly 4. At the same time, it can also provide elastic force to the radome 3, so that the radome 3 can quickly rebound and reset.

[0045] In addition, in this embodiment, the elastic arm 6 is made of virgin plastic material. The virgin plastic material is relatively stable and can stably provide elastic force to the radome 3, thereby ensuring the stability of the radome 3. Moreover, the virgin plastic material is relatively easy to obtain, which can further reduce the production cost.

[0046] Furthermore, a limiting member 7 for limiting the elastic arm 6 is provided on the radome 3, so that the elastic arm 6 is deformed in a limited area through the limiting member 7, thereby allowing the radome 3 to move up and down relative to the radome 3 within a certain range.

[0047] Specifically, the limiting component 7 includes a step hole 71 opened on the radar cover 3, a limit screw 72 arranged in the step hole 71, and a limit stud vertically arranged in the radar slot 11 and cooperating with the limit screw 72, wherein the step hole 71 passes through the radar cover 3, the step hole 71 and the limit stud are arranged opposite to each other, and the bottom end of the limit screw 72 passes through the step hole 71 and is threadedly connected to the limit stud.

[0048] It can be understood that the positioning and height limitation of the elastic arm 6 are achieved through the cooperation between the step hole 71, the limit screw 72 and the limit stud, so that the elastic arm 6 is deformed within the limited area, even if the radar cover 3 moves up and down within the limited area, thereby avoiding the collision between the radar cover 3 and the radar body 2 when it is hit.

[0049] Furthermore, the radar cover 3 includes a base plate and a cover body 32, wherein the size of the base plate is adapted to the radar slot 11, the rotating part and the elastic part are both arranged on the base plate, a vertical slot connected to the interior of the cover body 32 is opened on the cover body 32, and the sensing end of the radar body 2 is located in the cover body 32. Through the setting of the vertical slot, the radar body 2 can sense the outside world, so that the intelligent sweeping robot can work normally.

[0050] In addition, this embodiment also provides an intelligent sweeping robot, including a robot body 100 and the radar anti-collision structure as described above.

[0051] The above is only used to illustrate the technical solution of the utility model rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the utility model by ordinary technicians in this field should be included in the scope of the claims of the utility model as long as they do not depart from the spirit and scope of the technical solution of the utility model.

Claims

1. A radar anti-collision structure for protecting a radar body (2) on an intelligent sweeping robot, characterized in that: include: An upper cover assembly (1) is provided with a penetrating radar slot (11) in the middle thereof, a radar body (2) is located in the radar slot (11), and a sensing end of the radar body (2) protrudes from the surface of the upper cover assembly (1); A radar cover (3) is arranged outside the radar body (2), one side of the radar cover (3) is rotatably connected to the radar slot (11) through a rotating member, and the other side is movably arranged in the radar slot (11) through an elastic member; and A trigger component (4) is arranged on the upper cover assembly (1), comprising a trigger panel (41) and a trigger switch (42) arranged on the radome (3), wherein a gap exists between the trigger panel (41) and the trigger switch (42), and when the radome (3) is impacted by an external force, the trigger switch (42) contacts the trigger panel (41) and is triggered.

2. A radar anti-collision structure according to claim 1, characterized in that: The rotating member comprises a rotating shaft (5) arranged on one side of the radar cover (3); an arc-shaped groove (12) communicating with the radar groove (11) is provided on the upper cover assembly (1); and two ends of the rotating shaft (5) are respectively rotatably connected to two opposite inner walls of the arc-shaped groove (12).

3. The radar anti-collision structure according to claim 1, characterized in that: The number of the elastic members is two groups, and the two groups of the elastic members are symmetrically arranged at two ends of a side of the radome (3) away from the rotating member, and the two groups of the elastic members cooperate to provide elastic force to the radome (3), so that the radome (3) can rebound and return to its original position after the radome (3) is hit.

4. The radar anti-collision structure according to claim 1, characterized in that: The elastic member comprises an elastic arm (6) arranged on the bottom side of the radome (3), the elastic arm (6) being integrally formed with the radome (3), the elastic arm (6) having a first arc-shaped groove and a second arc-shaped groove, the opening directions of the first arc-shaped groove and the second arc-shaped groove being opposite, the opening of the second arc-shaped groove being toward the bottom wall of the radome slot (11), and the second arc-shaped groove being located on the outside of the elastic arm (6).

5. The radar anti-collision structure according to claim 4, characterized in that: An abutment portion (63) for abutting against the bottom wall of the radar slot (11) is provided at one end of the elastic arm (6) away from the radar cover (3).

6. The radar anti-collision structure according to claim 4, characterized in that: The elastic arm (6) is made of virgin plastic material.

7. The radar anti-collision structure according to claim 4, characterized in that: The radome (3) is provided with a limiting member (7) for limiting the position of the elastic arm (6), so that the elastic arm (6) is deformed within a limited area through the limiting member (7).

8. The radar anti-collision structure according to claim 7, characterized in that: The limiting component (7) comprises a stepped hole (71) provided on the radome (3), a limiting screw (72) provided in the stepped hole (71), and a limiting stud vertically provided in the radar slot (11) and cooperating with the limiting screw (72); the stepped hole (71) passes through the radome (3); the stepped hole (71) and the limiting stud are arranged opposite to each other; and the bottom end of the limiting screw (72) passes through the stepped hole (71) and is threadedly connected to the limiting stud.

9. The radar anti-collision structure according to claim 1, characterized in that: The radar cover (3) comprises a base plate and a cover body (32), the size of the base plate is adapted to the radar slot (11), the rotating member and the elastic member are both arranged on the base plate, the cover body (32) is provided with a plurality of vertical slots connected to the inside of the cover body (32), and the sensing end of the radar body (2) is located inside the cover body (32).

10. An intelligent sweeping robot, characterized in that: It comprises a robot body (100) and a radar anti-collision structure as claimed in any one of claims 1 to 9.

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