Radar protection assembly and sweeping robot

Abstract

The radar protection assembly comprises an upper shell, a radome and a plurality of connecting crankshafts, the connecting crankshafts are provided with first hinge sections and second hinge sections, the axes of the first hinge sections and the second hinge sections are arranged in the same direction, and the first hinge sections and the second hinge sections are staggered in the radial direction and are hinged to the upper shell and the radome respectively. The connecting crankshafts can move horizontally in the axial direction relative to at least one of the upper shell and the radome, and the connecting crankshafts are arranged in the same direction. The two axial sides of the radome are provided with guide slopes facing the side away from the upper shell, the distance between the guide slopes and the upper shell is gradually decreased in the edge direction, and the upper shell is provided with limiting parts making contact with the guide slopes. The radome is provided with a pressing structure, and the pressing structure can press the collision detection button at the corresponding position when the radome moves towards the upper shell. According to the utility model, the radome and the upper shell are always kept in a parallel state under the limitation of the connecting crankshaft, so that the sensitivity of the sweeping robot for detecting the collision of obstacles in a radar area is ensured.

Description

Technical Field

[0001] The utility model relates to the field of household appliances, and particularly to a radar protection component and a floor cleaning robot including the radar protection component. Background Art

[0002] With the gradual maturity of floor cleaning robot technology, floor cleaning robots have become common household appliances in daily home scenarios. A floor cleaning robot generally includes a cleaning component, a radar device, and a traveling component disposed at the bottom of the robot. Among them, the radar device is an important structure for the floor cleaning robot to achieve the automatic navigation and cleaning function. It can scan the layout of the user's home and obstacles through laser (such as infrared light), so that the control module can determine the cleaning path of the floor cleaning robot according to the real-time road conditions.

[0003] With the iterative update of technology, a new generation of floor cleaning robots more commonly adopt a top-mounted radar design, that is, the radar device is disposed on the top of the floor cleaning robot. In this design, there is no other structure of the floor cleaning robot blocking around the radar device, and it can perform 360-degree non-blind-angle scanning of the surrounding environment, improving the positioning accuracy of the floor cleaning robot. In order to protect the precision components inside the radar device and maintain the stability of the position of the radar device, a radar cover needs to be provided on the top of the floor cleaning robot to withstand the impact effects such as obstacle impacts instead of the radar device.

[0004] To sense whether a collision occurs between the radar cover and an external object, a collision detection button is also provided on the floor cleaning robot. The radar cover is connected to the top of the floor cleaning robot through a guiding structure. When the radar cover is collided in any direction, under the guiding action of the guiding structure, the radar cover will move downward and press to trigger the collision detection button, thereby facilitating the control module of the floor cleaning robot to turn or move backward in time to avoid obstacles.

[0005] In the prior art, the guiding structure mainly includes two connection methods: a rotating shaft type and a sliding groove type. In the rotating shaft type design, the radar cover rotates around a straight shaft disposed at the front end of the radar cover, and the collision detection button is disposed at the tail of the radar cover. The radar cover presses to trigger the collision detection button during the rotation process; in the sliding groove type design, two groups of sliding grooves are disposed under the radar cover, and each group of sliding grooves is symmetrically distributed in the left-right direction. Two guiding rods are also fixed on the top of the floor cleaning robot. The sliding grooves of the radar cover move obliquely under the constraint of the guiding rods to trigger the collision detection button. However, these designs all have the problem of insensitive triggering. When the radar cover is collided in some directions, it is difficult to trigger the collision detection button.

[0006] Therefore, how to provide a radar protection component that can ensure the sensitivity of collision detection has become an urgent technical problem in this field. Summary of the Utility Model

[0007] The present utility model aims to solve one of the technical problems in the related art to a certain extent. For this purpose, the present utility model provides a radar protection component and a floor sweeping robot including the radar protection component, and the radar protection component can ensure the sensitivity of the floor sweeping robot to detect collisions in the radar area at its top.

[0008] To achieve the above object, as an aspect of the present utility model, there is provided a radar protection component for a floor sweeping robot, including an upper shell, a protection cover and a plurality of connecting crankshafts. The upper shell is used to be arranged on the top of the floor sweeping robot, and the inside of the protection cover is used to arrange a radar device. Among them,

[0009] The connecting crankshaft has a first hinged section and a second hinged section with the same axis direction and staggered radially. The first hinged section and the second hinged section are respectively hinged to the upper shell and the protection cover, and the connecting crankshaft can translate axially relative to at least one of the upper shell and the protection cover. The plurality of connecting crankshafts are arranged in the same direction;

[0010] Both sides of the protection cover along the axial direction have guiding inclined surfaces, the guiding inclined surfaces face away from the upper shell, and the distance between the guiding inclined surfaces and the upper shell gradually decreases along the direction towards the edge of the protection cover. The upper shell has a limiting part in contact with the guiding inclined surfaces;

[0011] The protection cover is provided with a pressing structure, and the pressing structure can press a collision detection button arranged at a corresponding position when the protection cover moves towards the upper shell.

[0012] Optionally, the connecting crankshaft includes at least one first hinged section, at least one second hinged section and at least one connecting section. The axis extending directions of the first hinged section and the second hinged section are the same and are distributed axially staggered. The connecting section is connected between the first hinged section and the second hinged section adjacent in the axial position.

[0013] Optionally, the upper shell has a plurality of first hinged parts, and the first hinged section is hinged to the first hinged part; the protection cover has a plurality of second hinged parts, and the second hinged section is hinged to the second hinged part; the connecting crankshaft can translate axially relative to at least one of the first hinged part and the second hinged part.

[0014] Optionally, the connecting crankshaft further includes a connecting section connected between the first hinged section and the second hinged section adjacent in the axial position. The first hinged section is arranged in pairs on both sides of the second hinged section in the axial direction. The upper shell has multiple pairs of first hinged parts, and the multiple pairs of first hinged parts are hinged to the multiple pairs of first hinged sections; the protection cover has a plurality of second hinged parts, and the second hinged section is hinged to at least one of the second hinged parts;

[0015] The distance between each pair of the first hinge parts is greater than the axial distance between the first hinge segments, and / or the length of the second hinge segment is greater than the maximum axial dimension of the second hinge parts to which the second hinge segment is connected.

[0016] Optionally, the second hinge part includes at least one first buckle and at least one second buckle. The first buckle and the second buckle are respectively arranged on opposite sides of the second hinge segment, and the ends of the first buckle and the second buckle away from the protective cover are both bent along the side close to the corresponding second hinge segment.

[0017] Optionally, the first buckle and the second buckle are axially staggered.

[0018] Optionally, the protective cover further has a plurality of upper cushion blocks, which are corresponding to the positions of the first buckle and the second buckle, and are used for contacting the surface of the second hinge segment facing the protective cover.

[0019] Optionally, the second hinge parts are arranged in pairs, and the second hinge parts hinged to the same second hinge segment are axially spaced apart.

[0020] Optionally, the radar protection assembly further includes at least one elastic reset part, which is arranged between the upper shell and the protective cover. The elastic reset part can drive the protective cover to move in a direction away from the upper shell through elastic force, so as to keep both of the limiting parts on both sides in contact with the corresponding guiding inclined surfaces.

[0021] Optionally, the elastic reset part includes a guiding part and a spring. One end of the guiding part is fixed on one of the upper shell and the protective cover, and the other end of the guiding part extends along the side facing the other one of the upper shell and the protective cover. The spring is sleeved on the guiding part.

[0022] Optionally, the radar protection assembly includes a plurality of the elastic reset parts, and the positions of the elastic reset parts correspond to the positions of the guiding inclined surfaces.

[0023] Optionally, the elastic reset part further includes a limiting frame, which is arranged around the outside of the spring and at least partially located between the spring and the guiding inclined surface.

[0024] Optionally, when both of the limiting parts on both sides are in contact with the corresponding guiding inclined surfaces, the projection positions of the first hinge segment and the second hinge segment on the top plane of the upper shell are staggered.

[0025] Optionally, when the limiting portions on both sides are in contact with the corresponding guiding inclined surfaces, an angle between the connecting section between the first hinge section and the second hinge section and the top plane of the upper shell is 40° to 60°.

[0026] Optionally, when the limiting portions on both sides are in contact with the corresponding guiding inclined surfaces, an angle between the connecting section between the first hinge section and the second hinge section and the top plane of the upper shell is 55°.

[0027] Optionally, the upper shell has a positioning groove on one side facing the protective cover, and the positioning groove has the limiting portions on the side walls on both sides along the axial direction.

[0028] Optionally, the limiting portion has a guiding slope facing one side of the bottom of the positioning groove, the angle of the guiding slope corresponds to the angle of the guiding slope, and the guiding slopes can fit each other.

[0029] Optionally, the included angle between the guiding slope and the bottom of the positioning groove is 35° to 55°.

[0030] Optionally, the included angle between the guiding slope and the bottom of the positioning groove is 45°.

[0031] Optionally, the limiting portion includes a limiting inclined plate, a reinforcing vertical plate and at least one guide reinforcing rib, the bottom end of the limiting inclined plate is connected to the side wall of the positioning groove, the bottom end of the reinforcing vertical plate is connected to the top end of the limiting inclined plate, and the guide reinforcing rib is perpendicular to the limiting inclined plate and the reinforcing vertical plate, and is connected between the side wall of the positioning groove and the limiting inclined plate and the reinforcing vertical plate.

[0032] Optionally, when the limiting portions on both sides are in contact with the corresponding guide slopes, the projection positions of the first hinged section and the second hinged section on the top plane of the upper shell are staggered, and the edge of the protective cover located on the side of the first hinged section away from the second hinged section is in contact with the side wall of the positioning groove.

[0033] Optionally, the upper shell has a plurality of hinge accommodating grooves, the first hinge section is arranged in the hinge accommodating groove, one end of the first hinge part is connected to the side wall on one side of the hinge accommodating groove, the other end of the first hinge part extends to the other side of the hinge accommodating groove and bends toward the bottom of the hinge accommodating groove, and the first hinge section is located between the first hinge part and the bottom of the hinge accommodating groove.

[0034] Optionally, a reinforcing rib is further provided on the first hinge portion, and the reinforcing rib is connected between the top surface of the first hinge portion and the upper shell.

[0035] Optionally, a lower pad is provided at the bottom of the hinge accommodating groove, the lower pad corresponds to the position of the first hinge portion, and is used to contact the surface of the first hinge section facing the bottom of the hinge accommodating groove.

[0036] Optionally, the protective cover comprises a bottom plate, a top cover and a plurality of connecting parts, the bottom plate is arranged opposite to the top cover, the plurality of connecting parts are connected between the bottom plate and the top cover, and a plurality of radar detection windows are formed between the plurality of connecting parts, and the bottom plate has a radar avoidance hole connected to the space defined by the top cover and the plurality of connecting parts;

[0037] The first hinge section is hingedly connected to the base plate, a plurality of positioning pins are arranged on the upper shell, a plurality of positioning holes are arranged on the base plate, the positioning holes are sleeved on the pin rods of the positioning pins, the pin heads of the positioning pins are located on the side of the base plate away from the upper shell, the aperture of the positioning holes is larger than the outer diameter of the pin rod of the positioning pin, and the size of the pin head of the positioning pin is larger than the aperture of the positioning holes.

[0038] Optionally, the guiding inclined surfaces are located on both side edges of the bottom plate along the axial direction.

[0039] Optionally, a guide bevel is provided along the axial edge of the bottom plate, and a surface of the guide bevel facing away from the upper shell is formed as the guide bevel.

[0040] Optionally, the bottom plate further has an annular boss surrounding the positioning hole, and the annular boss is located between the nail head of the positioning nail and the bottom of the positioning groove.

[0041] Optionally, the projection shape of the positioning groove on the plane where the top surface of the upper shell is located is a rectangle, and a pair of positioning pins are arranged diagonally in the positioning groove.

[0042] Optionally, the positioning nail includes a positioning cylinder, a nail head disk and a fixing screw, the nail head disk is fixed to the top of the positioning cylinder by the fixing screw, and the nail head disk forms the nail head of the positioning nail, and the positioning cylinder forms the nail rod of the positioning nail.

[0043] Optionally, the radar protection component includes a pair of connecting crankshafts, and the two connecting crankshafts are respectively arranged near two side edges of the positioning groove.

[0044] Optionally, the pressing structure includes a socket, a pressing block and an elastic member, the pressing block has a first accommodating groove on the side facing the protective cover, the elastic member is arranged in the first accommodating groove, and can drive the pressing block to move in a direction away from the protective cover through elastic force, the socket is fixedly arranged on the protective cover, and can limit the maximum distance between the pressing block and the protective cover.

[0045] Optionally, one side of the pressing block facing away from the protective cover has a pressing surface, on which a sliding pressing piece is arranged, and the sliding pressing piece is made of polytetrafluoroethylene.

[0046] Optionally, the card seat is sleeved in the first accommodating groove, and one side of the card seat facing the upper shell has a second accommodating groove, the elastic member is arranged in the second accommodating groove, the outer side of the card seat has a buckle, the pressing block is provided with a clamping groove on the inner wall of the first accommodating groove, the buckle is arranged in the clamping groove, and can be in contact with the side wall of the clamping groove when the pressing block moves to the maximum distance along the direction away from the protective cover.

[0047] Optionally, the upper shell has a collision detection button avoidance opening penetrating along the thickness direction of the upper shell, and the position of the pressing block corresponds to the position of the collision detection button avoidance opening.

[0048] As the second aspect of the present invention, a floor sweeping robot is provided, including a housing, a cleaning assembly, a radar device, a collision detection button, a traveling wheel assembly, and the radar protection assembly provided by the embodiment of the present invention. The cleaning assembly is arranged in the housing, the traveling wheel assembly is arranged on the housing and can drive the housing to move, the collision detection button and the radar protection assembly are both arranged on the top of the housing, and the radar device is arranged inside the radar protection assembly.

[0049] In the radar protection assembly and the floor sweeping robot provided by the present invention, the upper shell of the radar protection assembly and the radar cover are connected to each other through a plurality of connecting crank shafts arranged in the same direction. Thus, when the radar cover and the upper shell move relative to each other, a plurality of connecting crank shafts between the two swing synchronously. Any two connecting crank shafts, the radar cover and the upper shell can be equivalently regarded as a parallelogram structure. Thus, the radar cover and the upper shell, which are the top and bottom sides of the parallelogram, always remain parallel to each other, and the connecting crank shaft can axially slide relative to at least one of the upper shell and the radar cover. Thus, the radar cover can not only move back and forth relative to the upper shell as the connecting crank shaft rotates, but also move in the left and right directions. Thus, when the radar cover is collided in various directions, it can horizontally shift in the opposite direction relative to the upper shell;

[0050] Moreover, the left and right sides of the radar cover have guiding inclined surfaces extending obliquely downward, and the upper shell has a limiting portion in contact therewith. Thus, when the radar cover is collided by objects on the left and right sides, the radar cover will shift in the other direction and be pressed down under the guiding action of the cooperation between the limiting portion on the other side and the guiding inclined surface, so that the pressing structure descends and presses the collision detection button; when the radar cover is collided by objects in the front and back directions, such as Figures 3 to 4As shown in the figure, when the connecting crankshaft rotates around the hinge point, the angle between the connecting crankshaft and the upper shell and the radome decreases, and the upper shell and the radome approach each other, so that the pressing structure can also descend and press the collision detection button.

[0051] In the radar protection assembly provided by the present utility model, when the radome is laterally collided, under the action of the connecting crankshaft, the guiding inclined plane and the limiting part, the radome descends, so that the pressing structure presses down the collision detection button, realizing the collision detection function of the sweeping robot. Moreover, under the limiting action of multiple connecting crankshafts arranged at intervals, the radome and the upper shell always remain in a parallel state with each other. Therefore, no matter which side of the radome is collided, the whole radome will shift in the same direction and descend by the same height, improving the coordination of the impact force feedback from different directions of the radome to the pressing structure and the collision detection button. There will be no situation in the prior art that it is not easy to trigger when the front end of the radome is impacted, it is easy to trigger when the rear end is impacted, or the collision detection button in the middle is insensitive when the left and right sides are impacted, ensuring the sensitivity of the sweeping robot to detect the collision of the obstacle in the top radar area and improving the user experience. Brief Description of the Drawings

[0052] The present utility model will be further described below with reference to the drawings:

[0053] Figure 1 is a schematic cross-sectional structure diagram of the radar protection assembly provided by an embodiment of the present utility model;

[0054] Figure 2 is a schematic cross-sectional structure diagram of the radar protection assembly provided by an embodiment of the present utility model;

[0055] Figure 3 is a schematic diagram of a connection state between the radome and the upper shell in the radar protection assembly provided by an embodiment of the present utility model;

[0056] Figure 4 is a schematic diagram of another connection state between the radome and the upper shell in the radar protection assembly provided by an embodiment of the present utility model;

[0057] Figure 5 is a schematic diagram of the bottom structure of the radome in the radar protection assembly provided by an embodiment of the present utility model;

[0058] Figure 6 is a schematic diagram of the connection relationship between the radome and the connecting crankshaft in the radar protection assembly provided by an embodiment of the present utility model;

[0059] Figure 7 is a schematic diagram of the top structure of the upper shell in the radar protection assembly provided by an embodiment of the present utility model;

[0060] Figure 8It is a partial structural schematic diagram of the top of the upper shell in the radar protection component provided by the embodiment of the present utility model;

[0061] Figure 9 It is a cross-sectional structural schematic diagram of the radar protection component provided by the embodiment of the present utility model.

[0062] Explanation of reference numerals:

[0063] Upper shell 100; positioning groove 101; hinge receiving groove 102; collision detection button avoidance opening 103; first hinge portion 110; lower cushion block 111; limiting portion 120; limiting inclined plate 121; strengthening vertical plate 122; guiding strengthening rib 123; guiding inclined surface a2; positioning nail 130; positioning cylinder 131; nail head plate 132; fixing screw 133; radome 200; bottom plate 201; top cover 202; connecting portion 203; second hinge portion 210; first buckle 211; second buckle 212; upper cushion block 213; guiding inclined plate 220; positioning hole 230; annular boss 231; connecting crankshaft 300; first hinge section 310; second hinge section 320; connecting section 330; guiding inclined surface a1; pressing structure 400; card seat 410; pressing block 420; elastic member 430; sliding pressing piece 440; elastic reset portion 500; guiding portion 510; spring 520; limiting frame 530; top cover 10. Detailed implementation manners

[0064] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. Based on the embodiments in the implementation manners, it is intended to explain the present utility model and should not be construed as a limitation to the present utility model.

[0065] As used in this specification, the phrase "in one embodiment" or "example" or "instance" means that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed in the present utility model. The appearance of the phrase "in one embodiment" at various positions in the specification does not necessarily refer to the same embodiment.

[0066] In the rotating shaft type design, the radome rotates around a straight shaft provided at the front end of the radome, and the collision detection button is provided at the tail of the radome. When the radome rotates, it presses down to trigger the collision detection button. However, in order to trigger the switch during side collisions of 180 degrees left and right, a large bevel angle is usually formed at the head of the radome, and a downward component force is generated when receiving side force to trigger the collision detection button. However, the force applied to the collision detection button by this component force is too small, resulting in difficult triggering;

[0067] In the chute design, there are two groups of chutes arranged symmetrically in the left - right direction under the radome. There are also two guide rods fixed on the top of the floor - cleaning robot. The chutes of the radome move obliquely under the constraint of the guide rods to trigger the collision - detection button. However, due to the inability to set constraints in the chute structure, the left and right sides of the radome cannot move in coordination. When the left side of the radome is pressed down, the right side does not move. The distance pressed down at the middle position in this state is half of the normal distance, and the collision - detection button is set at the middle position. Therefore, it is difficult to trigger the collision - detection button when the side of the radome collides.

[0068] To solve the above - mentioned technical problems, as an aspect of the present utility model, there is provided a radar protection assembly for a floor - cleaning robot. As shown in Figures 1 to 4 、 Figure 9 , the radar protection assembly includes an upper shell 100, a radome 200, and a plurality of connecting crankshafts 300. The upper shell 100 is used to be arranged on the top of the floor - cleaning robot, and the inside of the radome 200 is used to arrange a radar device. Among them,

[0069] The connecting crankshaft 300 has a first hinged section 310 and a second hinged section 320 with the same - axis arrangement and staggered in the radial direction. The first hinged section 310 and the second hinged section 320 are respectively hinged to the upper shell 100 and the radome 200, and the connecting crankshaft 300 can translate axially (i.e., Figures 1 to 4 、 Figure 9 the direction perpendicular to the paper surface in

[0070] The two sides of the radome 200 along the axial direction have guiding inclined surfaces a1, the guiding inclined surfaces a1 face away from the upper shell 100, and the distance between the guiding inclined surfaces a1 and the upper shell 100 gradually decreases along the direction towards the edge of the radome 200. The upper shell 100 has a limiting portion 120 in contact with the guiding inclined surface a1;

[0071] The radome 200 is provided with a pressing structure 400, and the pressing structure 400 can press a collision - detection button arranged at a corresponding position when the radome 200 moves towards the upper shell 100.

[0072] Optionally, in the radar protection assembly provided by the present utility model, the axial direction of the connecting crankshaft 300 can be the left - right direction when the floor - cleaning robot moves straight forward, and the interval direction of the plurality of connecting crankshafts 300 can be the front - back direction when the floor - cleaning robot moves straight forward. In the normal working state of the floor - cleaning robot, the radome 200 is located above the upper shell 100. For the convenience of understanding, hereinafter, the axial direction of the connecting crankshaft 300 is referred to as the left - right direction. Correspondingly, the interval direction of the plurality of connecting crankshafts 300 (i.e., Figures 1 to 4 、 Figure 9The direction from left to right (in the left-right direction in the figure) is called the front-back direction, the direction in which the radome 200 is away from the upper housing 100 is called the upper direction, and the direction in which the radome 200 is close to the upper housing 100 is called the lower direction.

[0073] In the radar protection assembly provided by the present utility model, the upper housing 100 and the radome 200 are connected to each other through a plurality of connecting crankshafts 300 arranged in the same direction. Thus, when the radome 200 and the upper housing 100 move relative to each other, as Figure 3 、 Figure 4 shown, a plurality of connecting crankshafts 300 between the two swing synchronously. Any two connecting crankshafts 300, the radome 200 and the upper housing 100 can be equivalently regarded as a parallelogram structure (the radome 200 is the top side, the upper housing 100 is the bottom side, and the connecting crankshafts 300 are the side sides). Thus, the radome 200 and the upper housing 100, which are the top side and the bottom side of the parallelogram, always remain in a parallel state with each other, and the connecting crankshaft 300 can slide axially relative to at least one of the upper housing 100 and the radome 200. Thus, the radome 200 can not only move back and forth relative to the upper housing 100 as the connecting crankshaft 300 rotates, but also move in the left-right direction. Thus, when the radome 200 is collided in various directions, it can horizontally shift relative to the upper housing 100 in the opposite direction;

[0074] Moreover, the left and right sides of the radome 200 have guide slopes a1 extending obliquely downward, and the upper housing 100 has a limiting portion 120 in contact therewith. Thus, when the radome 200 is collided by objects on the left and right sides, the radome 200 will shift in the other direction and press down under the guiding action of the cooperation between the limiting portion 120 on the other side and the guide slope a1, so that the pressing structure 400 descends and presses the collision detection button; when the radome 200 is collided by objects in the front-back direction, as Figures 3 to 4 shown, the connecting crankshaft 300 rotates around the hinge joint, the angle between the connecting crankshaft 300, the upper housing 100 and the radome 200 decreases, and the upper housing 100 and the radome 200 approach each other. Thus, the pressing structure 400 can also be descended and the collision detection button can be pressed.

[0075] In the radar protection component provided by the present utility model, when the radome 200 is subjected to a lateral collision, it can descend under the action of the connecting crankshaft 300, the guiding inclined surface a1, and the limiting portion 120, causing the pressing structure 400 to press down the collision detection button, thereby realizing the collision detection function of the sweeping robot. Moreover, under the restrictive action of multiple connecting crankshafts 300 arranged at intervals, the radome 200 and the upper shell 100 always remain in a parallel state with each other. Therefore, no matter which side of the radome 200 is collided, the entire radome 200 will shift in the same direction and descend by the same height, improving the coordination of the radome 200 in feeding the impact force to the pressing structure 400 and the collision detection button when being impacted from different directions. There will be no situation in the prior art where the front end of the radome 200 is not easily triggered when impacted, the rear end is easily triggered when impacted, or the collision detection button in the middle is insensitive when the left and right sides are impacted, ensuring the sensitivity of the sweeping robot to detect collisions in the radar area at its top and improving the user experience.

[0076] As an alternative embodiment of the present utility model, as Figure 6 , Figure 8 shown, the connecting crankshaft 300 includes at least one first hinge segment 310, at least one second hinge segment 320, and at least one connecting segment 330. The axial extension directions of the first hinge segment 310 and the second hinge segment 320 are the same and are axially staggered. The connecting segment 330 is connected between the first hinge segment 310 and the second hinge segment 320 adjacent in the axial position.

[0077] As an alternative embodiment of the present utility model, as Figure 5 , Figure 6 shown, the upper shell 100 has multiple first hinge portions 110, and the first hinge segment 310 is hingedly connected to the first hinge portion 110; the radome 200 has multiple second hinge portions 210, and the second hinge segment 320 is hingedly connected to the second hinge portion 210; the connecting crankshaft 300 can translate axially relative to at least one of the first hinge portion 110 and the second hinge portion 210.

[0078] As an alternative embodiment of the present utility model, as Figure 6 , Figure 8 shown, the connecting crankshaft 300 further includes a connecting segment 330 connected between the first hinge segment 310 and the second hinge segment 320 adjacent in the axial position. The first hinge segment 310 is arranged in pairs on both sides of the second hinge segment 320 in the axial direction. The upper shell 100 has multiple pairs of first hinge portions 110, and the multiple pairs of first hinge portions 110 are hingedly connected to the multiple pairs of first hinge segments 310; the radome 200 has multiple second hinge portions 210, and the second hinge segment 320 is hingedly connected to at least one second hinge portion 210;

[0079] The distance between each pair of first hinge portions 110 is greater than the axial distance between the first hinge segments 310, and / or the length of the second hinge segment 320 is greater than the maximum axial dimension of the second hinge portion 210 to which the second hinge segment 320 is connected.

[0080] That is, the distance between the first hinge portions 110 is greater than the axial distance between the first hinge segments 310, so that the connecting segment 330 and the second hinge segment 320 can slide back and forth between the first hinge portions 110, or the length of the second hinge segment 320 is greater than the axial length of the second hinge portion 210, so that the second hinge portion 210 can slide back and forth between the connecting segments 330 at both ends of the second hinge segment 320, or both situations exist simultaneously.

[0081] As an alternative embodiment of the present invention, as Figure 5 、 Figure 6 shown, the second hinge portion 210 includes at least one first buckle 211 and at least one second buckle 212. The first buckle 211 and the second buckle 212 are respectively arranged on opposite sides of the second hinge segment 320, and the ends of the first buckle 211 and the second buckle 212 away from the radome 200 are both bent along the side close to the corresponding second hinge segment 320.

[0082] As an alternative embodiment of the present invention, as Figure 5 、 Figure 6 shown, the first buckle 211 and the second buckle 212 are axially offset.

[0083] As an alternative embodiment of the present invention, as Figure 5 、 Figure 6 shown, the radome 200 also has a plurality of upper cushion blocks 213. The upper cushion blocks 213 correspond to the positions of the first buckle 211 and the second buckle 212, and are used to contact the surface of the second hinge segment 320 facing the radome 200.

[0084] As an alternative embodiment of the present invention, as Figure 5 、 Figure 6 shown, the second hinge portions 210 are arranged in pairs, and the second hinge portions 210 hinged to the same second hinge segment 320 are axially spaced apart.

[0085] As an alternative embodiment of the present invention, as Figure 1 、 Figure 2 、 Figure 5 、 Figure 6As shown, the radar protection component further includes at least one elastic reset part 500. The elastic reset part 500 is arranged between the upper shell 100 and the radome 200. The elastic reset part 500 can drive the radome 200 to move in a direction away from the upper shell 100 through elastic force, so as to keep the limiting parts 120 on both sides in contact with the corresponding guiding inclined surfaces a1.

[0086] As an alternative embodiment of the present utility model, as Figure 1 , Figure 2 , Figure 5 , Figure 6 shown, the elastic reset part 500 includes a guiding part 510 and a spring 520. One end of the guiding part 510 is fixed to one of the upper shell 100 and the radome 200, and the other end of the guiding part 510 extends along the side of the other of the upper shell 100 and the radome 200. The spring 520 is sleeved on the guiding part 510.

[0087] Optionally, the guiding part 510 is arranged on the radome 200 and is integrally formed with the radome 200.

[0088] As an alternative embodiment of the present utility model, as Figure 5 , Figure 6 shown, the radar protection component includes a plurality of elastic reset parts 500, and the positions of the elastic reset parts 500 correspond to the positions of the guiding inclined surfaces a1.

[0089] As an alternative embodiment of the present utility model, as Figure 5 , Figure 6 shown, the elastic reset part 500 further includes a limiting frame 530. The limiting frame 530 is arranged around the outside of the spring 520 and at least partially located between the spring 520 and the guiding inclined surface a1.

[0090] As a preferred embodiment of the present utility model, when the limiting parts 120 on both sides are in contact with the corresponding guiding inclined surfaces a1, that is, when the radome 200 is in the initial position without any collision, the projection positions of the first hinge segment 310 and the second hinge segment 320 on the top plane of the upper shell 100 are staggered (that is, horizontally staggered in the front-back direction).

[0091] That is, in the embodiment of the present utility model, when the radome 200 is in the initial position, the connecting crankshaft 300 is inclined to one side. It can be understood that in actual application, the connecting crankshaft 300 is inclined backward in the initial state. Since it is very rare for the radar to be impacted from the rear during the operation of the sweeping robot, in the embodiment of the present utility model, the connecting crankshaft 300 is directly designed to be inclined backward in the initial state, so as to further improve the smoothness of the rotation action of the connecting crankshaft 300, and further improve the smoothness of the translation action of the radome 200.

[0092] As an alternative embodiment of the present utility model, when the limiting portions 120 on both sides are in contact with the corresponding guiding inclined surfaces a1, that is, when the radome 200 is in the initial position without any collision, the included angle between the connecting section 330 between the first hinged section 310 and the second hinged section 320 and the top plane of the upper shell 100 is 40° to 60°.

[0093] Optionally, when the radome 200 is in the initial position, the included angle between the connecting section 330 between the first hinged section 310 and the second hinged section 320 and the top plane of the upper shell 100 is 55°.

[0094] As an alternative embodiment of the present utility model, as Figure 1 、 Figure 2 、 Figure 7 、 Figure 8 shown, the side of the upper shell 100 facing the radome 200 has a positioning groove 101. As Figure 2 、 Figure 7 、 Figure 8 shown, the limiting portions 120 are provided on the side walls on both axial sides of the positioning groove 101.

[0095] Optionally, the first hinge portion 110 is provided at the bottom of the positioning groove 101.

[0096] To improve the smoothness of the downward movement of the radome 200 under the guiding action of the guiding inclined surface a2 and the limiting portion 120, as a preferred embodiment of the present utility model, as Figure 2 shown, the limiting portion 120 has a guiding inclined surface a2 facing the bottom of the positioning groove 101. The angle of the guiding inclined surface a2 corresponds to the angle of the guiding inclined surface a1, and the guiding inclined surface a2 can be mutually attached to the guiding inclined surface a1.

[0097] As an alternative embodiment of the present utility model, the included angle between the guiding inclined surface a2 and the bottom of the positioning groove 101 is 35° to 55°.

[0098] As an alternative embodiment of the present utility model, the included angle between the guiding inclined surface a2 and the bottom of the positioning groove 101 is 45°.

[0099] As an alternative embodiment of the present utility model, as Figure 2 、 Figure 7 、 Figure 8As shown, the limiting portion 120 includes a limiting inclined plate 121, a reinforcing vertical plate 122 and at least one guiding reinforcing rib 123. The bottom end of the limiting inclined plate 121 is connected to the side wall of the positioning groove 101, and the bottom end of the reinforcing vertical plate 122 is connected to the top of the limiting inclined plate 121. The guiding reinforcing rib 123 is perpendicular to the limiting inclined plate 121 and the reinforcing vertical plate 122, and is connected between the side wall of the positioning groove 101 and the limiting inclined plate 121 and the reinforcing vertical plate 122.

[0100] In order to improve the stability of the initial position of the radome 200, as a preferred embodiment of the present invention, Figure 1 , Figure 3 , Figure 4 As shown, when the radome 200 is in the initial position, the projection positions of the first hinged section 310 and the second hinged section 320 on the top plane of the upper shell 100 are staggered (i.e., staggered front and back in the horizontal direction), and the edge of the radome 200 located on the side of the first hinged section 310 away from the second hinged section 320 contacts the side wall of the positioning groove 101.

[0101] In an embodiment of the utility model, when the radome 200 is in the initial position, the front end of the radome 200 maintains contact with the front end side wall of the positioning groove 101 of the upper shell 100, so that the initial maximum lifting height of the radome 200 is limited by the side wall of the positioning groove 101, thereby ensuring the stability of the initial position of the radome 200.

[0102] As an optional implementation of the present invention, Figure 1 , Figure 2 , Figure 8 As shown, the upper shell 100 has a plurality of hinge receiving grooves 102, the first hinge section 310 is arranged in the hinge receiving groove 102, one end of the first hinge portion 110 is connected to the side wall of one side of the hinge receiving groove 102, the other end of the first hinge portion 110 extends to the other side of the hinge receiving groove 102 and bends toward the bottom of the hinge receiving groove 102, and the first hinge section 310 is located between the first hinge portion 110 and the bottom of the hinge receiving groove 102.

[0103] Alternatively, if Figure 1 , Figure 2 , Figure 8 As shown, the hinged receiving groove 102 is located at the bottom of the positioning groove 101 .

[0104] As an optional implementation of the present invention, a reinforcing rib is further provided on the first hinge portion 110 , and the reinforcing rib is connected between the top surface of the first hinge portion 110 and the upper shell 100 .

[0105] As an optional implementation of the present utility model, Figure 8As shown, a lower cushion block 111 is provided at the bottom of the hinge receiving groove 102. The lower cushion block 111 corresponds to the position of the first hinge portion 110 and is used to contact the surface of the first hinge segment 310 on the side facing the bottom of the hinge receiving groove 102.

[0106] As an alternative embodiment of the present invention, as Figure 5 , Figure 6 shown, the radome 200 includes a bottom plate 201, a top cover 202 and a plurality of connecting portions 203. The bottom plate 201 and the top cover 202 are arranged opposite to each other. The plurality of connecting portions 203 are connected between the bottom plate 201 and the top cover 202, and a plurality of radar detection windows are formed between the plurality of connecting portions 203. The bottom plate 201 has a radar avoidance hole communicating with the space defined by the top cover 202 and the plurality of connecting portions 203. The first hinge segment 310 is hingedly connected to the bottom plate 201.

[0107] The present invention does not specifically limit the setting position of the guiding inclined surface a1, as long as it can form an effective guiding and limiting relationship with the limiting portions 120 on both sides. For example, optionally, the guiding inclined surface a1 can be directly located on the two side edges of the bottom plate 201 along the axial direction.

[0108] Or, as an alternative embodiment of the present invention, as Figure 2 , Figure 5 , Figure 6 shown, a guiding inclined plate 220 is provided at the edge of the bottom plate 201 along the axial direction. The surface of the guiding inclined plate 220 facing away from the upper shell 100 forms the guiding inclined surface a1.

[0109] To ensure the stability of the position of the radome 200, as a preferred embodiment of the present invention, as Figure 8 shown, a plurality of positioning pins 130 are provided on the upper shell 100. As Figure 5 , Figure 6 shown, the bottom plate 201 has a plurality of positioning holes 230. The positioning holes 230 are sleeved on the shanks of the positioning pins 130. The heads of the positioning pins 130 are located on the side of the bottom plate 201 facing away from the upper shell 100. The diameter of the positioning holes 230 is larger than the outer diameter of the shanks of the positioning pins 130, and the size of the heads of the positioning pins 130 is larger than the diameter of the positioning holes 230.

[0110] In the embodiment of the present invention, the positioning pins 130 can limit the movement range of the radome 200. When the radome 200 is impacted with a large force, the positioning pins 130 can contact the hole walls of the positioning holes 230 and absorb the excess stress, while improving the position stability of the radome 200, protecting other connecting components such as the connecting crankshaft 300, and thus ensuring the service life of the radar protection assembly.

[0111] As an alternative embodiment of the present invention, asFigure 5 , Figure 6 As shown in Figure 6 , the bottom plate 201 further has an annular boss 231 surrounding the positioning hole 230, and the annular boss 231 is located between the head of the positioning pin 130 and the bottom of the positioning groove 101.

[0112] As an alternative embodiment of the present utility model, as Figure 8 shown, the projection shape of the positioning groove 101 on the plane where the top surface of the upper shell 100 is located is rectangular, and a pair of positioning pins 130 are arranged diagonally in the positioning groove 101.

[0113] As an alternative embodiment of the present utility model, as Figure 8 shown, the positioning pin 130 includes a positioning cylinder 131, a nail head plate 132 and a fixing screw 133. The nail head plate 132 is fixed on the top of the positioning cylinder 131 by the fixing screw 133, and the nail head plate 132 forms the head of the positioning pin 130, and the positioning cylinder 131 forms the nail rod of the positioning pin 130.

[0114] As an alternative embodiment of the present utility model, as Figure 8 shown, the radar protection assembly includes a pair of connecting crankshafts 300, and the two connecting crankshafts 300 are respectively arranged near the two side edges of the positioning groove 101.

[0115] To ensure the stability of the internal structure of the sweeping robot, as a preferred embodiment of the present utility model, as Figure 6 , Figure 9 shown, the pressing structure 400 includes a card seat 410, a pressing block 420 and an elastic member 430. The pressing block 420 has a first accommodating groove on the side facing the radar cover 200. The elastic member 430 is arranged in the first accommodating groove and can drive the pressing block 420 to move in a direction away from the radar cover 200 through elastic force. The card seat 410 is fixedly arranged on the radar cover 200 and can limit the maximum distance between the pressing block 420 and the radar cover 200.

[0116] In the embodiment of the present utility model, the pressing structure 400 includes a card seat 410, a pressing block 420 and an elastic member 430 connected between the two. The elastic member 430 can keep the pressing block 420 in the lowest position away from the card seat 410 and the radar cover 200 through elastic force. Thus, when the radar cover 200 collides with an obstacle with a small force during the normal use of the sweeping robot, the pressing structure 400 as a whole descends with the radar cover 200 and presses down to trigger the collision detection button to realize collision detection;

[0117] When the top of the floor sweeping robot is struck by a falling object, or the side is violently collided, or the floor sweeping robot falls from the air, the radome 200 drives the pressing structure 400 to quickly approach the collision detection button. After the pressing structure 400 presses and triggers the collision detection button, the pressing block 420 abuts against the collision detection button and stops moving. The radome 200 continues to press down, and the elastic member 430 elastically deforms as the pressing structure 400 and the card seat 410 approach each other, and at the same time absorbs the kinetic energy of the downward pressure of the radome 200.

[0118] In the embodiment of the present invention, the pressing structure 400 can absorb the excess kinetic energy of the radome 200 during a violent collision, avoid transmitting the impact force to structures such as the collision detection button, ensure the stability of the internal structure of the floor sweeping robot, and extend the service life of the device.

[0119] As a preferred embodiment of the present utility model, as Figure 6 、 Figure 9 shown, the side of the pressing block 420 facing away from the radome 200 has a pressing surface, and a sliding pressing piece 440 is arranged on the pressing surface. The material of the sliding pressing piece 440 is polytetrafluoroethylene.

[0120] In the embodiment of the present utility model, a sliding pressing piece 440 made of polytetrafluoroethylene is arranged at the bottom of the pressing block 420, which can effectively reduce the friction between the pressing structure 400 and the collision detection button, ensure that the pressing block 420 mainly exerts a vertically downward acting force on the collision detection button, and further ensure the stability of the internal structure of the floor sweeping robot.

[0121] As an alternative embodiment of the present utility model, as Figure 9 shown, the card seat 410 is sleeved in the first accommodating groove, and the side of the card seat 410 facing the upper shell 100 has a second accommodating groove. The elastic member 430 is arranged in the second accommodating groove. The outer side of the card seat 410 has a buckle (not shown in the figure). The pressing block 420 is provided with a slot (not shown in the figure) on the inner wall of the first accommodating groove. The buckle is arranged in the slot and can abut against the side wall of the slot when the pressing block 420 moves to the maximum distance along the direction away from the radome 200.

[0122] As an alternative embodiment of the present utility model, as Figure 9 shown, the upper shell 100 has a collision detection button avoidance opening 103 penetrating along the thickness direction of the upper shell 100, and the position of the pressing block 420 corresponds to the position of the collision detection button avoidance opening 103.

[0123] As a second aspect of the present utility model, a floor sweeping robot is provided, which includes a housing, a cleaning assembly, a radar device, a collision detection button, a traveling wheel assembly, and the radar protection assembly provided by the embodiments of the present utility model. The cleaning assembly is arranged in the housing, the traveling wheel assembly is arranged on the housing and can drive the housing to move. The collision detection button and the radar protection assembly are both arranged on the top of the housing, and the radar device is arranged inside the radar protection assembly.

[0124] In the floor sweeping robot provided by the present utility model, when the radar cover 200 of the radar protection assembly is subjected to a lateral collision, it can descend under the action of the connecting crankshaft 300, the guiding inclined surface a1 and the limiting portion 120, so that the pressing structure 400 presses down the collision detection button, realizing the collision detection function of the floor sweeping robot. Moreover, under the limiting action of the plurality of connecting crankshafts 300 arranged at intervals, the radar cover 200 and the upper shell 100 always remain in a parallel state with each other. Therefore, no matter which side of the radar cover 200 is collided, the whole radar cover 200 will shift in the same direction and descend by the same height, improving the coordination of the radar cover 200 in feeding back the impact force to the pressing structure 400 and the collision detection button when being impacted from different directions, ensuring the sensitivity of the floor sweeping robot to detect the collision of the obstacle in the radar area at its top, and improving the user experience.

[0125] Optionally, as Figure 1 , Figure 2 , Figure 9 shown, the upper shell 100 is located inside the housing, and there is an avoidance opening on the top cover 10 of the housing. The bottom of the radar cover 200 passes through the avoidance opening and is connected to the upper shell 100.

[0126] The above is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Those skilled in the art should understand that the present utility model includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present utility model will be included in the scope of the claims.

Claims

1. A radar protection component, characterized in that: It includes an upper shell, a protective cover and a plurality of connected crankshafts, wherein: The connecting crankshaft has a first hinge section and a second hinge section which are arranged in the same direction and staggered in the radial direction, the first hinge section and the second hinge section are respectively hingedly connected to the upper shell and the protective cover, and the connecting crankshaft can translate in the axial direction relative to at least one of the upper shell and the protective cover, and a plurality of the connecting crankshafts are arranged in the same direction; The protective cover has guiding slopes on both sides along the axial direction, the guiding slopes face away from the upper shell, and the distance between the guiding slopes and the upper shell gradually decreases along the direction toward the edge of the protective cover, and the upper shell has a limiting portion in contact with the guiding slopes; The protective cover is provided with a pressing structure, and the pressing structure can press a collision detection button arranged at a corresponding position when the protective cover moves toward the upper shell.

2. The radar protection assembly according to claim 1, characterized in that The connecting crankshaft further comprises a connecting section connected between the first articulated section and the second articulated section adjacent to each other in the axial direction, the first articulated sections are arranged in pairs on both sides of the second articulated section in the axial direction, the upper shell has a plurality of pairs of first articulated parts, and the plurality of pairs of the first articulated parts are articulatedly connected to the plurality of pairs of the first articulated sections; the protective cover has a plurality of second articulated parts, and the second articulated section is articulatedly connected to at least one of the second articulated parts; The distance between each pair of the first hinged parts is greater than the axial distance between the first hinged sections, and / or the length of the second hinged section is greater than the maximum axial dimension of the second hinged part connected to the second hinged section.

3. The radar protection assembly according to claim 1, characterized in that: The radar protection assembly also includes at least one elastic reset portion, which is arranged between the upper shell and the protective cover. The elastic reset portion can drive the protective cover to move in a direction away from the upper shell through elastic force to keep the limiting portions on both sides in contact with the corresponding guide slopes.

4. The radar protection assembly according to claim 3, characterized in that: When the limiting portions on both sides are in contact with the corresponding guiding inclined surfaces, the projection positions of the first hinge section and the second hinge section on the top plane of the upper shell are staggered.

5. The radar protection assembly according to claim 1, characterized in that: The upper shell has a positioning groove on one side facing the protective cover, and the side walls of the positioning groove on both sides along the axial direction have the limiting parts; The limiting portion has a guiding inclined surface facing one side of the bottom of the positioning groove, the angle of the guiding inclined surface corresponds to the angle of the guiding inclined surface, and the guiding inclined surface can be fitted with the guiding inclined surface.

6. The radar protection assembly according to claim 5, characterized in that When the limiting portions on both sides are in contact with the corresponding guide slopes, the projection positions of the first hinged section and the second hinged section on the top plane of the upper shell are staggered, and the edge of the protective cover located on the side of the first hinged section away from the second hinged section is in contact with the side wall of the positioning groove.

7. The radar protection assembly according to claim 1, characterized in that: The protective cover comprises a bottom plate, a top cover and a plurality of connecting parts, wherein the bottom plate is arranged opposite to the top cover, the plurality of connecting parts are connected between the bottom plate and the top cover, and a plurality of radar detection windows are formed between the plurality of connecting parts, and the bottom plate has a radar avoidance hole connected to the space defined by the top cover and the plurality of connecting parts; The first hinge section is hingedly connected to the base plate, a plurality of positioning pins are arranged on the upper shell, a plurality of positioning holes are arranged on the base plate, the positioning holes are sleeved on the pin rods of the positioning pins, the pin heads of the positioning pins are located on the side of the base plate away from the upper shell, the aperture of the positioning holes is larger than the outer diameter of the pin rod of the positioning pin, and the size of the pin head of the positioning pin is larger than the aperture of the positioning holes.

8. The radar protection assembly according to any one of claims 1 to 7, characterized in that The pressing structure includes a socket, a pressing block and an elastic member. The pressing block has a first accommodating groove on a side facing the protective cover. The elastic member is arranged in the first accommodating groove and can drive the pressing block to move in a direction away from the protective cover through elastic force. The socket is fixedly arranged on the protective cover and can limit the maximum distance between the pressing block and the protective cover.

9. The radar protection assembly according to claim 8, characterized in that The pressing block has a pressing surface on one side facing away from the protective cover, and a sliding pressing sheet is arranged on the pressing surface. The sliding pressing sheet is made of polytetrafluoroethylene.

10. A sweeping robot, characterized in that: The invention comprises a shell, a cleaning component, a radar device, a collision detection button, a traveling wheel component and the radar protection component according to any one of claims 1 to 9, wherein the cleaning component is arranged in the shell, the traveling wheel component is arranged on the shell and can drive the shell to move, the collision detection button and the radar protection component are both arranged on the top of the shell, and the radar device is arranged inside the radar protection component.

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