Anti-collision cleaning robot

Abstract

The utility model provides an anti-collision cleaning robot. The anti-collision cleaning robot comprises a robot body, an anti-collision shell, an elastic buffering piece and a collision sensor. The anti-collision shell at least covers part of the outer wall of the robot body, and a buffering gap exists between the anti-collision shell and the robot body. The elastic buffer part is connected with at least one of the anti-collision shell and the robot body and is used for relieving the impact of the anti-collision shell on the robot body when the buffer gap is compressed; the collision sensor is arranged on the robot body and used for sending a control signal to the robot body when the buffer gap is compressed to a preset degree; the anti-collision shell is provided with an anti-disengaging part, and the anti-disengaging part is used for being connected with the robot body in a clamped mode when the anti-collision shell is far away from the robot body to a preset position so as to limit disengaging of the anti-collision shell and the robot body. According to the anti-collision device, the impact of the anti-collision shell on the robot body can be relieved through the elastic buffering piece, the robot body can be controlled to stop after collision occurs, and the whole device has good anti-collision capacity.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to an anti-collision cleaning robot. Background Art

[0002] A cleaning robot is a type of robot that can automatically or semi-automatically complete various cleaning tasks, such as floor cleaning and window cleaning. The emergence of cleaning robots has greatly reduced the effort people put into housework and provided people with a more comfortable home experience.

[0003] Cleaning robots typically operate in domestic environments, so collisions with objects such as furniture and walls are unavoidable, resulting in damage. Existing cleaning robots are prone to damage due to collisions, as they lack structural anti-collision designs. Furthermore, existing cleaning robots are unable to change their trajectory in a timely manner, making it difficult to minimize the damage.

[0004] Based on this, it is necessary to propose a solution to solve the problems existing in the above-mentioned prior art. Utility Model Content

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an anti-collision cleaning robot, and the specific technical solution is as follows:

[0006] The utility model provides an anti-collision cleaning robot, comprising: a robot body, an anti-collision shell, an elastic buffer and a collision sensor;

[0007] The anti-collision shell at least covers a portion of the outer wall of the robot body, and a buffer gap exists between the anti-collision shell and the outer wall of the robot body;

[0008] The elastic buffer is fixedly connected to at least one of the anti-collision shell and the robot body, and the elastic buffer is at least partially located in the buffer gap, and is used to reduce the impact of the anti-collision shell on the robot body by its own compression when the buffer gap is compressed; the collision sensor is provided on the robot body, and is used to send a control signal to the robot body to change the motion trajectory when the buffer gap is compressed to a preset degree;

[0009] The anti-collision shell has an anti-slip portion, which is used to engage with the robot body when the anti-collision shell moves away from the robot body to a preset position, so as to limit the anti-collision shell from being separated from the robot body.

[0010] In a specific embodiment, one end of the elastic buffer is fixedly connected to the robot body, and the other end abuts against the anti-collision shell through the buffer gap;

[0011] The elastic buffer is provided with a shielding portion, and the collision sensor includes a photoelectric sensor. The shielding portion is used to trigger the photoelectric sensor when the buffer gap is compressed to a preset degree, so that the photoelectric sensor sends the control signal to the robot body.

[0012] In a specific embodiment, a mounting groove is provided on the outer wall of the robot body, and the elastic buffer and the photoelectric sensor are both provided in the mounting groove; the elastic buffer includes an elastic portion and abutting portion; one end of the elastic portion abuts the bottom of the mounting groove, and the other end is connected to the abutting portion, and part of the abutting portion is exposed from the mounting groove and abuts against the anti-collision shell through the buffer gap; the shielding portion is connected to the abutting portion.

[0013] In a specific embodiment, the photoelectric sensor includes a slot-type photoelectric sensor, and the shielding portion is embedded in a groove of the slot-type photoelectric sensor.

[0014] In a specific embodiment, a docking groove is provided on a side of the anti-collision shell facing the robot body, and the docking groove abuts against and surrounds a portion of the elastic buffer member located in the buffer gap.

[0015] In a specific embodiment, a guide groove is provided on the robot body, and the anti-slip portion includes a connecting plate extending into the guide groove; the guide groove cooperates with the connecting plate to guide the movement direction of the anti-collision shell when the buffer gap is compressed; the connecting plate is used to engage with the robot body when the anti-collision shell moves away from the robot body to a preset position.

[0016] In a specific embodiment, a clamping portion is formed on the connecting plate, a clamping groove is formed on the groove wall of the guide groove, and the clamping portion is embedded in the clamping groove for clamping engagement with the groove wall of the clamping groove.

[0017] In a specific embodiment, an anti-collision bar is further provided on a side of the anti-collision shell away from the robot body.

[0018] In a specific embodiment, two anti-collision shells are included, and the two anti-collision shells are located on different sides of the forward direction of the robot body, and the two anti-collision shells are connected to the robot body through different elastic buffer parts; the collision sensors are respectively arranged on different sides of the forward direction of the robot body.

[0019] In a specific embodiment, the two anti-collision shells are respectively connected to the robot body through two elastic buffers, and the four elastic buffers are respectively located at the four corners of the robot body; and a collision sensor is respectively provided at the four corners of the robot body.

[0020] The utility model has at least the following beneficial effects:

[0021] The utility model discloses a collision-proof cleaning robot. On the one hand, based on the configuration of the collision-proof shell and the elastic buffer, when a collision occurs, the collision-proof shell can directly withstand the impact, and the elastic buffer can reduce the impact of the collision-proof shell on the robot body, thereby realizing collision protection for the robot body. On the other hand, based on the configuration of the collision sensor, when a collision occurs, the robot body can sense the occurrence of the collision, thereby minimizing the severity of the collision by changing the original motion trajectory. The device of the utility model has good collision-proof ability, good reliability and good user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 This is a schematic diagram of the structure when the anti-collision shell is separated from the robot body;

[0025] Figure 3 This is a schematic diagram of the structure when the elastic buffer is separated from the robot body;

[0026] Figure 4 for Figure 3 Detail A in

[0027] Figure 5 It is a structural diagram of the anti-collision shell;

[0028] Figure 6 A schematic diagram of the engagement between the engaging portion and the engaging groove;

[0029] Figure 7 It is a structural diagram of the matching between the shielding part and the collision sensor.

[0030] Reference numerals:

[0031] 1-Robot body; 11-Mounting slot; 111-Bracket; 12-Guide slot; 121-Snap-fit ​​slot; 2-Anti-collision shell; 21-Docking slot; 3-Elastic buffer; 31-Elastic part; 32-Abutment part; 33-Shielding part; 4-Buffer gap; 5-Anti-slip part; 51-Connecting plate; 52-Snap-fit ​​part; 6-Anti-collision strip; 7-Collision sensor. DETAILED DESCRIPTION

[0032] Various embodiments of the present invention will be described more fully below. The present invention can have various embodiments, and modifications and variations can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but rather that the present invention should be construed to encompass all modifications, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0033] Hereinafter, the terms "include" or "may include" used in various embodiments of the present invention indicate the presence of disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0034] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0035] The expressions (such as "first", "second", etc.) used in the various embodiments of the present invention may modify the various components in the various embodiments, but may not limit the corresponding components. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used to distinguish one element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present invention, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0036] It should be noted that, in this utility model, unless otherwise specified or defined, terms such as "installation," "connection," and "fixation" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0037] Please refer to Figures 1 to 7 The utility model provides an anti-collision cleaning robot, which includes: a robot body 1, an anti-collision shell 2, an elastic buffer 3 and a collision sensor 7.

[0038] Specifically, the anti-collision shell 2 covers at least a portion of the outer wall of the robot body 1 , and a buffer gap 4 exists between the anti-collision shell 2 and the outer wall of the robot body 1 .

[0039] Elastic buffer 3 is fixedly connected to at least one of anti-collision housing 2 and robot body 1. At least a portion of elastic buffer 3 is located within buffer gap 4. When buffer gap 4 is compressed, elastic buffer 3 is configured to reduce the impact of anti-collision housing 2 on robot body 1 by compressing itself. A collision sensor 7 is provided on robot body 1 and is configured to send a control signal to robot body 1 to change its motion trajectory when buffer gap 4 is compressed to a predetermined level.

[0040] Reference Figure 5 The anti-collision shell 2 also has an anti-detachment portion 5, which is used to engage with the robot body 1 when the anti-collision shell 2 moves away from the robot body 1 to a preset position to limit the anti-collision shell 2 from detaching from the robot body 1.

[0041] It is understandable that during actual use, when the side of the anti-collision shell 2 facing away from the robot body 1 collides with an external object, the anti-collision shell 2 will move toward the robot body 1, thereby compressing the buffer gap 4. During the compression of the buffer gap 4, the elastic buffer 3 will be squeezed by the anti-collision shell 2 and the robot body 1, thereby being compressed. The elastic restoring force generated by its own compression will cushion the impact force applied by the anti-collision shell 2 to the robot body 1, thereby minimizing the impact force on the robot body 1 and reducing the degree of damage to the robot body 1. In addition, when the buffer gap 4 is compressed to a preset degree, the collision sensor 7 can sense the movement of the anti-collision shell 2 toward the robot body 1, thereby determining that a collision has occurred, and then sending a control signal to the robot body 1, causing the robot body 1 to change its motion trajectory based on the control signal, such as stopping or turning, thereby further reducing the severity of the collision. After the collision, the elastic buffer 3 will push the anti-collision shell 2 to move away from the robot body 1 under the influence of the elastic restoring force. When the anti-collision shell 2 moves to the preset position, the anti-collision shell 2 is engaged with the robot body 1 through the anti-detachment part 5, thereby preventing the anti-collision shell 2 from detaching from the robot body 1.

[0042] Exemplarily, the preset position may be the position of the anti-collision shell 2 when the elastic buffer 3 pushes the anti-collision shell 2 to move away from the robot body 1 until it returns to the uncompressed state.

[0043] Alternatively, the elastic buffer 3 may have one end fixedly connected to the anti-collision housing 2 and the other end fixedly connected to the robot body 1. Alternatively, the elastic buffer 3 may have one end fixedly connected to the robot body 1 and the other end abutting the anti-collision housing 2. Alternatively, the elastic buffer 3 may have one end fixedly connected to the anti-collision housing 2 and the other end abutting the robot body 1.

[0044] For example, the anti-collision shell 2 can cover all side walls of the robot body 1, that is, the anti-collision shell 2 surrounds the robot body 1, thereby achieving multi-directional collision protection. In this embodiment, the number of anti-collision shells 2 can be multiple. For example, if the robot body 1 is rectangular, the number of anti-collision shells 2 can be four, each covering four different side walls of the robot body 1. Each of the four anti-collision shells 2 has an anti-slip portion 5 and is connected to the robot body 1 via different elastic buffers 3.

[0045] In a specific embodiment, please refer to Figure 1 and Figure 2, may include two anti-collision shells 2, both of which may be semi-enclosed structures, and the two anti-collision shells 2 are located on different sides of the robot body 1 in the forward direction, and the two anti-collision shells 2 are connected to the robot body 1 through different elastic buffers 3. In addition, the collision sensors 7 are respectively provided on different sides of the robot body 1 in the forward direction. It can be understood that since collisions are more likely to occur on both sides of the robot body 1 in the forward direction, this embodiment only provides anti-collision shells 2 and collision sensors 7 on both sides of the robot body 1 in the forward direction, thereby ensuring the anti-collision performance while taking into account the economy of the device.

[0046] Furthermore, the two anti-collision shells 2 can each be connected to the robot body 1 via two elastic buffers 3, and the four elastic buffers 3 are located at the four corners of the robot body 1. Each of the four corners of the robot body 1 is also provided with a collision sensor 7. Thus, by using two symmetrically distributed elastic buffers 3 on the same side to cooperate with each other, the buffering force provided is more uniform and the buffering effect is better; by using two symmetrically distributed collision sensors 7 on the same side to cooperate with each other, the accuracy of collision detection is higher.

[0047] In one embodiment, one end of the elastic buffer 3 is fixedly connected to the robot body 1, and the other end abuts the anti-collision housing 2 through the buffer gap 4. A shielding portion 33 is provided on the elastic buffer 3. The collision sensor 7 may be a photoelectric sensor. The shielding portion 33 is configured to trigger the photoelectric sensor when the buffer gap 4 is compressed to a predetermined level, thereby causing the photoelectric sensor to send a control signal to the robot body 1 to change its motion trajectory.

[0048] For details, please refer to Figure 3 and Figure 7 A mounting groove 11 may be provided on the outer wall of the robot body 1, and the elastic buffer 3 and the photoelectric sensor (refer to the mark of the collision sensor 7) are both provided in the mounting groove 11. The elastic buffer 3 may include an elastic portion 31 and an abutting portion 32. One end of the elastic portion 31 abuts the bottom of the mounting groove 11, and the other end is connected to the abutting portion 32. A portion of the abutting portion 32 is exposed from the mounting groove 11 and abuts against the anti-collision shell 2 through the buffer gap 4. The shielding portion 33 is connected to the abutting portion 32. When a collision occurs, the buffer gap 4 is compressed, and the shielding portion 33 moves along with the abutting portion 32, thereby shielding the photoelectric sensor or canceling the shielding of the photoelectric sensor, thereby triggering the photoelectric sensor.

[0049] For example, the photoelectric sensor may be Figure 7 In the slot-type photoelectric sensor shown, the shielding portion 33 is embedded in the groove of the slot-type photoelectric sensor.

[0050] In other embodiments, the installation groove 11 may be omitted so that the elastic portion 31 directly abuts against the outer wall of the robot body 1 . In this case, both the elastic portion 31 and the abutting portion 32 are located in the buffer gap 4 .

[0051] For example, the elastic portion 31 may be a spring, and the abutting portion 32 may be a flexible sleeve, such as a rubber sleeve, a silicone sleeve, etc. The shielding portion 33 and the abutting portion 32 may be integrally formed.

[0052] For further information, please refer to Figure 4 , a protrusion 111 may also be provided on the groove wall of the mounting groove 11, and the protrusion 111 is interference fit with the side wall of the abutment portion 32. It can be understood that when the anti-collision shell 2 is hit and pushes the abutment portion 32 toward the robot body, the abutment portion 32 will rub against the protrusion 111, thereby providing a certain resistance to the movement of the anti-collision shell 2, thereby further improving the buffering effect. Exemplarily, the protrusion 111 may include a plurality of ridges distributed along the annular direction on the groove wall of the mounting groove 11, and the extension direction of the ridges is the same as the compression direction of the elastic portion 31. Optionally, the number of ridges and the spacing between adjacent ridges can be set according to the actual friction force requirements, and are not specifically limited here.

[0053] In a specific embodiment, please refer to Figure 5 The side of the anti-collision housing 2 facing the robot body 1 is provided with a docking groove 21. The docking groove 21 abuts and surrounds the portion of the elastic buffer 3 located in the buffer gap 4, thereby making the abutment between the anti-collision housing 2 and the elastic buffer 3 more stable. Optionally, the docking groove 21 and the anti-collision housing 2 can be integrally formed or separately connected.

[0054] In the embodiment where the elastic buffer 3 includes the elastic portion 31 and the abutting portion 32 , the shape of the docking groove 21 is adapted to the abutting portion 32 , and the docking groove 21 abuts against and surrounds the abutting portion 32 .

[0055] In a specific embodiment, please refer to Figure 3 The robot body 1 is provided with a guide groove 12, and the anti-slip portion 5 includes a connecting plate 51 extending into the guide groove 12. In actual use, the guide groove 12 cooperates with the connecting plate 51 to guide the movement direction of the anti-collision shell 2 when the buffer gap 4 is compressed. Specifically, when the buffer gap 4 is compressed, the anti-collision shell 2 moves toward the robot body. At this time, the connecting plate 51 will further penetrate into the guide groove 12. The guide groove 12 restricts the connecting plate 51 to move only along its depth direction, thereby limiting the overall movement direction of the anti-collision shell 2.

[0056] The connecting plate 51 is further used for engaging with the robot body 1 when the anti-collision shell 2 moves away from the robot body 1 to a preset position.

[0057] For details, please refer to Figure 5 and Figure 6 A snap-fitting portion 52 is formed on the connecting plate 51, and a snap-fitting groove 121 is formed on the groove wall of the guide groove 12. The snap-fitting portion 52 is embedded in the snap-fitting groove 121 and is used to snap-fit ​​with the groove wall of the snap-fitting groove 121. In actual use, under normal circumstances, the snap-fitting portion 52 snaps into engagement with the groove wall of the snap-fitting groove 121 on the side close to the anti-collision shell 2. When a collision occurs, the connecting plate 51 penetrates deeper into the guide groove 12, and the snap-fitting portion 52 moves toward the groove wall on the other side of the snap-fitting groove 121. During this process, the snap-fitting portion 52 does not affect the movement of the anti-collision shell 2. When the collision ends, the anti-collision shell 2 moves away from the robot body 1 to a preset position under the influence of the elastic buffer 3. At this time, the snap-fitting portion 52 returns to its original position and snaps into engagement with the groove wall of the snap-fitting groove 121 again, thereby preventing the anti-collision shell 2 from separating from the robot body 1.

[0058] In a specific embodiment, please refer to Figure 1 , an anti-collision bar 6 is further provided on the side of the anti-collision shell 2 away from the robot body 1. Preferably, the anti-collision bar 6 is provided below the side wall of the anti-collision shell 2.

[0059] In summary, the anti-collision cleaning robot of the present invention, on the one hand, is based on the setting of the anti-collision shell 2 and the elastic buffer 3, so that when a collision occurs, the anti-collision shell 2 can directly withstand the impact, and the elastic buffer 3 can slow down the impact of the anti-collision shell 2 on the robot body 1, thereby realizing collision protection for the robot body 1. On the other hand, based on the setting of the collision sensor 7, when a collision occurs, the robot body 1 can sense the occurrence of the collision, thereby reducing the severity of the collision to the greatest extent by changing the original motion trajectory. The device of the present invention has good anti-collision capability, good reliability and user experience.

[0060] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily necessary for implementing the present invention.

[0061] Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the implementation scenario description, or can be modified accordingly and located in one or more devices different from the implementation scenario. The modules in the above implementation scenario can be combined into one module or further split into multiple submodules.

[0062] The serial numbers of the above utility models are for description only and do not represent the advantages or disadvantages of the implementation scenarios.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An anti-collision cleaning robot, characterized in that: include: Robot body, anti-collision shell, elastic buffer and collision sensor; The anti-collision shell at least covers a portion of the outer wall of the robot body, and a buffer gap exists between the anti-collision shell and the outer wall of the robot body; The elastic buffer is fixedly connected to at least one of the anti-collision shell and the robot body, and the elastic buffer is at least partially located in the buffer gap, and is used to reduce the impact of the anti-collision shell on the robot body by its own compression when the buffer gap is compressed; the collision sensor is provided on the robot body, and is used to send a control signal to the robot body to change the motion trajectory when the buffer gap is compressed to a preset degree; The anti-collision shell has an anti-slip portion, which is used to engage with the robot body when the anti-collision shell moves away from the robot body to a preset position, so as to limit the anti-collision shell from being separated from the robot body.

2. The anti-collision cleaning robot according to claim 1, characterized in that: One end of the elastic buffer is fixedly connected to the robot body, and the other end abuts against the anti-collision shell through the buffer gap; The elastic buffer is provided with a shielding portion, and the collision sensor includes a photoelectric sensor. The shielding portion is used to trigger the photoelectric sensor when the buffer gap is compressed to a preset degree, so that the photoelectric sensor sends the control signal to the robot body.

3. The anti-collision cleaning robot according to claim 2, characterized in that: An installation groove is provided on the outer wall of the robot body, and the elastic buffer and the photoelectric sensor are both arranged in the installation groove; the elastic buffer includes an elastic part and a contact part; one end of the elastic part abuts the bottom of the installation groove, and the other end is connected to the abutment part, and part of the abutment part is exposed from the installation groove and abuts against the anti-collision shell through the buffer gap; the shielding part is connected to the abutment part.

4. The anti-collision cleaning robot according to claim 3, characterized in that: The photoelectric sensor comprises a slot-type photoelectric sensor, and the shielding portion is embedded in a groove of the slot-type photoelectric sensor.

5. The anti-collision cleaning robot according to claim 2, characterized in that: A docking groove is provided on a side of the anti-collision shell facing the robot body, and the docking groove abuts against and surrounds a portion of the elastic buffer component located in the buffer gap.

6. The anti-collision cleaning robot according to claim 1, characterized in that: A guide groove is provided on the robot body, and the anti-slip portion includes a connecting plate extending into the guide groove; the guide groove cooperates with the connecting plate to guide the movement direction of the anti-collision shell when the buffer gap is compressed; the connecting plate is used to engage with the robot body when the anti-collision shell moves away from the robot body to a preset position.

7. The anti-collision cleaning robot according to claim 6, characterized in that: A clamping portion is formed on the connecting plate, a clamping groove is formed on the groove wall of the guide groove, and the clamping portion is embedded in the clamping groove for clamping and cooperating with the groove wall of the clamping groove.

8. The anti-collision cleaning robot according to claim 1, characterized in that: An anti-collision bar is further provided on a side of the anti-collision shell away from the robot body.

9. The anti-collision cleaning robot according to claim 1, characterized in that: It comprises two anti-collision shells, which are located on different sides of the robot body in the forward direction, and are connected to the robot body through different elastic buffers; and the collision sensors are respectively arranged on different sides of the robot body in the forward direction.

10. The anti-collision cleaning robot according to claim 9, characterized in that: The two anti-collision shells are respectively connected to the robot body through two elastic buffer parts, and the four elastic buffer parts are respectively located at the four corners of the robot body; and one collision sensor is respectively provided at the four corners of the robot body.

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