Self-adaptive control module of cleaning robot

Abstract

The self-adaptive control module of the cleaning robot comprises a main body internal mechanism and anti-collision mechanisms, the anti-collision mechanisms are arranged on the periphery of the outer side of the main body internal mechanism, a cleaning brush is arranged at the bottom end of the main body internal mechanism, and each anti-collision mechanism comprises a shell, a first rubber block and a second rubber block. First rubber blocks are arranged on the periphery of the outer side of the top end of the shell, and second rubber blocks are arranged at the bottom ends of the first rubber blocks. According to the self-adaptive control module of the cleaning robot, the two sets of rubber blocks are fixed to the periphery of the outer side of the shell, the two sets of rubber blocks are made of rubber, the outermost diameter of the two sets of rubber blocks is larger than the outermost diameter of the shell, and through protection of the two sets of rubber blocks, collision force is effectively buffered; the module assembly and the bottom plate are clamped in the protection box, and the module assembly is fixed in the protection box through the additionally arranged protection box, so that a dual-protection effect is achieved, and damage caused by shaking due to collision of the module assembly is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to an adaptive control module of a cleaning robot. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, more and more household appliances are moving towards intelligence. For example, in recent years, more and more families have seen the emergence of sweeping robots, which can automatically clean the floor without any control. As the usage rate of sweeping robots continues to increase, manufacturers are also constantly improving and innovating existing sweeping robots.

[0003] After all, the sweeping robots on the market are imitation artificial intelligence. The perception of objects and directions is achieved through the positioning system, detection system, etc. equipped with the sweeping robot itself. Therefore, the user experience brought about by the quality of the detection system varies greatly. The sweeping robot often collides with furniture, walls, etc. when cleaning. Not only the sweeping robot is easily damaged for a long time, but also the furniture. Utility Model Content

[0004] The purpose of the utility model is to provide an adaptive control module of a cleaning robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an adaptive control module of a cleaning robot, comprising an internal mechanism of a main body and an anti-collision mechanism, the anti-collision mechanism is arranged around the outer side of the internal mechanism of the main body, and a cleaning brush is arranged at the bottom end of the internal mechanism of the main body, the anti-collision mechanism comprises an outer shell, a first rubber block and a second rubber block, the first rubber block is arranged around the outer side of the top end of the outer shell, and the second rubber block is arranged at the bottom end of the first rubber block.

[0006] Furthermore, the internal mechanism of the main body and the anti-collision mechanism are in close contact with each other, and the anti-collision mechanism is wrapped around the outside of the internal mechanism of the main body.

[0007] Furthermore, two groups of cleaning brushes are arranged at the bottom end of the internal mechanism of the main body, and the internal mechanism of the main body and the cleaning brushes are electrically connected.

[0008] Furthermore, two groups of rubber blocks are fitted around the outer side of the shell, and the inner diameter of each group of rubber blocks is consistent with the outer diameter of the shell.

[0009] Furthermore, a walking control module mechanism is arranged inside the bottom end of the internal mechanism of the main body, and the internal mechanism of the main body includes a base, a driving wheel, a universal wheel and a collision sensor, a driving wheel is arranged inside the base, a universal wheel is arranged inside one side of the base, and a collision sensor is arranged inside the other side of the base.

[0010] Furthermore, two sets of driving wheels are arranged inside the base, and the walking control module mechanism is connected to the collision sensor.

[0011] Furthermore, the walking control module mechanism includes a protective box, a clamping groove, a module assembly and a base plate, and the interior of the protective box is provided with a clamping groove, the top end of the protective box is provided with a module assembly, and the bottom end of the module assembly is provided with a base plate.

[0012] Furthermore, the bottom plate forms a snap-fit ​​structure with the clamping groove through two groups of protrusions at the bottom end, and the clamping groove is an elastic clamping groove.

[0013] Compared with the prior art, the beneficial effect of the utility model is that the outermost diameter of the two groups of rubber blocks is larger than the outermost diameter of the outer shell. The two groups of rubber blocks are used to protect and effectively buffer the collision force, thereby preventing the sweeping robot and furniture from being damaged due to collision. Moreover, the two groups of rubber blocks are wrapped around the sweeping robot to achieve all-round protection and higher safety.

[0014] The sweeping robot can be controlled to move backward or turn, thereby controlling the running direction and speed of the smart sweeping robot to avoid obstacles on the floor in front and achieve the purpose of self-walking until the entire sweeping robot crosses the obstacle and continues to move, which greatly improves the passability of the sweeping robot, can achieve cleaning in a larger range, and effectively ensures the cleaning efficiency of the sweeping robot.

[0015] The module assembly and the bottom plate are clamped together inside the protective box, and the module assembly is fixed inside the protective box through the added protective box, which plays a double protection role, avoids the module assembly from collision and shaking and causing damage, and effectively prolongs the service life of the module assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0017] Figure 2 It is a schematic diagram of the internal structure of the main body of the utility model;

[0018] Figure 3 It is a three-dimensional structural diagram of the walking control module mechanism of the utility model.

[0019] In the figure: 1. Internal structure of the main body; 101. Base; 102. Driving wheel; 103. Universal wheel; 104. Collision sensor; 2. Anti-collision mechanism; 201. Shell; 202. First rubber block; 203. Second rubber block; 3. Cleaning brush; 4. Travel control module mechanism; 401. Protective box; 402. Clamping groove; 403. Module assembly; 404. Bottom plate. DETAILED DESCRIPTION

[0020] like Figure 1-2 As shown, an adaptive control module of a cleaning robot includes an internal mechanism 1 of a main body and an anti-collision mechanism 2. The anti-collision mechanism 2 is arranged around the outer side of the internal mechanism 1 of the main body, and a cleaning brush 3 is arranged at the bottom end of the internal mechanism 1 of the main body. The anti-collision mechanism 2 includes a shell 201, a first rubber block 202 and a second rubber block 203. The first rubber block 202 is arranged around the outer side of the top of the shell 201, and the second rubber block 203 is arranged at the bottom end of the first rubber block 202. The internal mechanism 1 of the main body fits with the anti-collision mechanism 2, and the anti-collision mechanism 2 is wrapped around the outside of the internal mechanism 1 of the main body. The bottom end of the internal mechanism 1 of the main body is provided with a cleaning brush 3. Two groups of cleaning brushes 3 are provided, and the internal mechanism 1 of the main body and the cleaning brush 3 are electrically connected. Two groups of rubber blocks are fitted around the outer side of the shell 201, and the inner diameter of each group of rubber blocks is consistent with the outer diameter of the shell 201. Two groups of rubber blocks are fixed around the outer side of the shell 201. The material of the two groups of rubber blocks is rubber material, and the outermost diameter of the two groups of rubber blocks is larger than the outermost diameter of the shell 201. The two groups of rubber blocks are used for protection, which effectively buffers the collision force and avoids damage to the sweeping robot and furniture due to collision. The two groups of rubber blocks are wrapped around the sweeping robot to achieve all-round protection and safety. The bottom end of the main body internal mechanism 1 is provided with a walking control module mechanism 4, and the main body internal mechanism 1 includes a base 101, a driving wheel 102, a universal wheel 103 and a collision sensor 104. The base 101 is provided with a driving wheel 102, and one side of the base 101 is provided with a universal wheel 103, and the other side of the base 101 is provided with a collision sensor 104. Two sets of driving wheels 102 are provided inside the base 101, and the walking control module mechanism 4 is connected to the collision sensor 104. Two sets of driving wheels 102 are provided inside the two sides of the base 101, and one side of the base 101 is provided with a universal wheel 103. A group of universal wheels 103 are provided at the side end, and a group of collision sensors 104 are provided inside the front end of the base 101. The collision sensor 104 is connected to the walking control module mechanism 4. The walking control module mechanism 4 controls the steering of the two groups of driving wheels 102, so that the sweeping machine moves backward or turns, thereby controlling the running direction and speed of the intelligent sweeping machine to avoid obstacles on the floor in front and achieve the purpose of self-walking until the entire sweeping robot crosses the obstacles and continues to move, which greatly improves the passability of the sweeping robot, can achieve cleaning in a larger range, and effectively ensures the cleaning efficiency of the sweeping robot.

[0021] like Figure 3 As shown, an adaptive control module of a cleaning robot, the walking control module mechanism 4 includes a protective box 401, a clamping groove 402, a module component 403 and a bottom plate 404, and the protective box 401 is provided with a clamping groove 402 inside, the top of the protective box 401 is provided with a module component 403, and the bottom of the module component 403 is provided with a bottom plate 404, the bottom plate 404 forms a snap-fit ​​structure with the clamping groove 402 through two groups of protrusions at the bottom, and the clamping groove 402 is an elastic clamping groove, the protective box 401 is provided with two groups of clamping grooves 402 inside, and the clamping groove 402 is provided with four groups of springs The module assembly 403 and the base plate 404 are fixed as one body, and the two groups of protrusions arranged at the bottom of the base plate 404 correspond to the positions of the two groups of clamping grooves 402. Take the module assembly 403 and align the two groups of protrusions at the bottom of the base plate 404 with the clamping grooves 402 and press them, so that the module assembly 403 and the base plate 404 are clamped inside the protective box 401. The module assembly 403 is fixed inside the protective box 401 by the added protective box 401, which plays a double protection role, avoids the module assembly 403 from being damaged by collision and shaking, and effectively prolongs the service life of the module assembly 403.

[0022] Working principle: First, two sets of rubber blocks are fixed around the outer side of the shell 201. The material of the two sets of rubber blocks is rubber material, and the outermost diameter of the two sets of rubber blocks is larger than the outermost diameter of the shell 201. The two sets of rubber blocks are used to protect and effectively buffer the collision force. Then the collision sensor 104 used in the device is ATI SR-48, through the collision sensor 104, it can detect the collision in time and take corresponding actions, which can prevent the robot from damaging furniture, walls and other objects. The collision sensor 104 and the walking control module mechanism 4 are electrically connected by lines. The signal is transmitted to the walking control module mechanism 4 through the collision sensor 104. The walking control module mechanism 4 is equivalent to a controller. The walking control module mechanism 4 makes a corresponding response and avoids in time. The walking control module mechanism 4 controls the steering of the two sets of driving wheels 102, so that the sweeping machine moves backward or turns, thereby controlling the running direction and speed of the intelligent sweeping machine to avoid obstacles on the floor in front and achieve the purpose of self-walking until the entire sweeping robot crosses the obstacle and continues to move. Finally, the module assembly 403 is picked up and the two sets of protrusions at the bottom of the bottom plate 404 are aligned with the clamping groove 402 and pressed, so that the module assembly 403 and the bottom plate 404 are clamped inside the protective box 401, and the module assembly 403 is fixed inside the protective box 401 through the added protective box 401, which plays a double protection role.

Claims

1. An adaptive control module of a cleaning robot, comprising a main body internal mechanism (1) and an anti-collision mechanism (2), characterized in that: An anti-collision mechanism (2) is arranged around the outer side of the main body internal mechanism (1), and a cleaning brush (3) is arranged at the bottom end of the main body internal mechanism (1); the anti-collision mechanism (2) comprises an outer shell (201), a first rubber block (202) and a second rubber block (203); the first rubber block (202) is arranged around the outer side of the top end of the outer shell (201), and the second rubber block (203) is arranged at the bottom end of the first rubber block (202).

2. The adaptive control module of a cleaning robot according to claim 1, characterized in that: The main body internal mechanism (1) and the anti-collision mechanism (2) are in close contact with each other, and the anti-collision mechanism (2) is wrapped around the outside of the main body internal mechanism (1).

3. The adaptive control module of a cleaning robot according to claim 1, characterized in that: Two groups of cleaning brushes (3) are arranged at the bottom end of the main body internal mechanism (1), and the main body internal mechanism (1) and the cleaning brushes (3) are electrically connected.

4. The adaptive control module of a cleaning robot according to claim 1, characterized in that: Two groups of rubber blocks are fitted around the outer side of the housing (201), and the inner diameter of each group of rubber blocks is consistent with the outer diameter of the housing (201).

5. The adaptive control module of a cleaning robot according to claim 1, characterized in that: A walking control module mechanism (4) is arranged inside the bottom end of the main body internal mechanism (1), and the main body internal mechanism (1) comprises a base (101), a driving wheel (102), a universal wheel (103) and a collision sensor (104); the driving wheel (102) is arranged inside the base (101), the universal wheel (103) is arranged inside one side of the base (101), and the collision sensor (104) is arranged inside the other side of the base (101).

6. The adaptive control module of a cleaning robot according to claim 5, characterized in that: Two sets of driving wheels (102) are arranged inside the base (101), and the travel control module mechanism (4) is connected to the collision sensor (104).

7. The adaptive control module of a cleaning robot according to claim 5, characterized in that: The walking control module mechanism (4) comprises a protective box (401), a clamping groove (402), a module assembly (403) and a bottom plate (404), wherein the protective box (401) is provided with a clamping groove (402) inside, the top end of the protective box (401) is provided with a module assembly (403), and the bottom end of the module assembly (403) is provided with a bottom plate (404).

8. The adaptive control module of a cleaning robot according to claim 7, characterized in that: The bottom plate (404) forms a snap-fit ​​structure with the clamping groove (402) through two groups of protrusions at the bottom end, and the clamping groove (402) is an elastic clamping groove.

Images