Outward-turning automatic door structure of sweeping robot

Abstract

The utility model discloses an outward-turning automatic door structure of a sweeping robot, which mainly comprises a main / auxiliary connecting rod mechanism, a driving motor, a PCB (Printed Circuit Board) driving control board and an infrared induction sensor, a lower door plate is fixedly connected with a connecting bracket, the connecting bracket is respectively hinged with the main and auxiliary connecting rod mechanisms, the main connecting rod mechanism is fixedly connected with the driving motor through a driving shaft, and the driving motor is fixedly connected with the driving motor through a driving shaft. The driving motor outputs torque to drive the main connecting rod mechanism to rotate, and the auxiliary connecting rod mechanism is driven to act, so that the door plate is overturned outwards, the lower door plate is overturned outwards by 90 degrees quickly, meanwhile, normal outward opening use of the upper door plate is not affected in the opening state, and the door plate can be opened and closed through accurate fine adjustment on programmable software programming and hardware driving control. When the door is opened, hovering at any angle can be kept, rotation blocking and immediate stopping are set by detecting the current change of the driving motor, a hand clamping prevention safety mechanism is achieved, and even in the environment without intelligent network connection, automatic opening can be achieved when the household sweeping robot leaves the bin, and the lower door plate can be intelligently closed when the household sweeping robot returns to the bin for charging.

Description

Technical Field

[0001] The utility model belongs to the field of smart home, and specifically relates to an outward-folding automatic door structure of a sweeping robot. Background Art

[0002] The mainstream storage doors of household sweeping robots on the market are manually opened and closed or electrically flipped, which will interfere with the outward opening of the upper door panel and are not smart or beautiful enough; or they require partial removal of the internal vertical panels and door panels, resulting in slow door opening time or requiring intelligent network control, and the installation is relatively complicated. Utility Model Content

[0003] In response to the problems existing in the above-mentioned prior art, the utility model provides an outward-folding automatic door structure for a sweeping robot. The outward-folding automatic door structure can be modularized, has practical functions, is easy to install, and can be automatically opened and closed even in an environment without an intelligent network connection, thus having greater applicability.

[0004] In order to solve the above-mentioned technical problems, the utility model provides an outward-flipping automatic door structure of a sweeping robot, comprising a door main body, an upper door panel is provided at the upper front end of the door main body, and an outward-flipping door mechanism is provided at the lower front end of the door main body; the outward-flipping door mechanism comprises a lower door panel, a secondary connecting rod mechanism, a main connecting rod mechanism, a driving motor, a plurality of infrared sensors and a PCB driving control board; the lower door panel is connected to the secondary connecting rod mechanism and the main connecting rod mechanism through a connecting bracket, the secondary connecting rod mechanism is arranged on the left side inside the door main body through a left fixing plate, the main connecting rod mechanism is arranged at the output end of the driving motor, the driving motor is arranged on the right side inside the door main body through a right fixing plate, and the PCB driving control board is electrically connected to the driving motor and the infrared sensor.

[0005] Furthermore, the main connecting rod mechanism includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod. The connecting bracket is provided with two hinge holes which are hinged to the first connecting rod and the second connecting rod respectively. The two holes of the third connecting rod are hinged to the first connecting rod and the fourth connecting rod respectively. The fourth connecting rod is hinged to the second connecting rod. The fourth connecting rod is fixedly arranged at the output end of the driving motor.

[0006] Furthermore, the secondary connecting rod mechanism has the same structure as the main connecting rod mechanism, and the fourth connecting rod of the secondary connecting rod mechanism is hingedly arranged on the left fixed plate.

[0007] Furthermore, the right fixing plate is further provided with a mechanical limit switch electrically connected to the PCB drive control board when the lower door panel is in the closed position.

[0008] Furthermore, there are two infrared sensors, one is set near the inner side of the door body, and the other is set near the lower door panel. The infrared sensor set near the inner side of the door body is used to detect whether the sweeping robot is in the charging position, and the infrared sensor set near the lower door panel is used to judge the entry and exit movements of the sweeping robot.

[0009] The utility model discloses an automatic outward-flipping door structure for a sweeping robot. The main structure is divided into a main / auxiliary connecting rod mechanism, a driving motor, a PCB driving control board, and an infrared sensing sensor. The lower door panel is fixedly connected to the connecting bracket, and the connecting bracket is hinged to the main and auxiliary connecting rod mechanisms respectively. The main connecting rod mechanism is fixedly connected to the driving motor through a driving shaft. The driving motor outputs torque to drive the main connecting rod mechanism to rotate, and the auxiliary connecting rod mechanism is driven to enable the door panel to flip outward. Not only can the lower door panel be quickly flipped outward 90 degrees, but it also does not affect the normal outward opening of the upper door panel when it is in the open state. Through programmable software programming and precise fine-tuning of hardware drive control, the door can be kept hovering at any angle when opening. By detecting the change in the driving motor current, the door can be stopped when it is blocked. It has an anti-finger pinching safety mechanism. Even in an environment without intelligent networking, the household sweeping robot can be automatically opened when leaving the warehouse and the lower door panel can be intelligently closed when returning to the warehouse for charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is the structural assembly diagram of the automatic outward-folding door of the sweeping robot;

[0011] Figure 2 This is a schematic diagram of the structure of the outward-turning automatic door;

[0012] Figure 3 for Figure 2 AA cross-sectional structural diagram;

[0013] Figure 4 for Figure 2 Schematic diagram of the BB cross-sectional structure. DETAILED DESCRIPTION

[0014] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of the components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". The subsequent description of the specification is a preferred embodiment of the present invention, but the description is for the purpose of illustrating the general principles of the present invention, and is not intended to limit the scope of the present invention. The scope of protection of the present invention shall be determined as defined by the attached claims.

[0015] The following is a further detailed description of the present invention in conjunction with the accompanying drawings. The directional terms such as "upper", "lower", "left" and "right" described in the specification are only for better understanding and description, but are not intended to be specific limitations of the present invention.

[0016] Example

[0017] like Figure 1-4 As shown, a sweeping robot outward-flipping automatic door structure includes a door body 11, an upper door panel 12 is provided at the upper front end of the door body 11, and an outward-flipping door mechanism is provided at the lower front end of the door body 11; the outward-flipping door mechanism includes a lower door panel 1, a secondary connecting rod mechanism 3, a main connecting rod mechanism 4, a drive motor 7, several infrared sensors 8 and a PCB drive control board 9; the lower door panel 1 is connected to the secondary connecting rod mechanism 3 and the main connecting rod mechanism 4 through a connecting bracket 5, the secondary connecting rod mechanism 3 is arranged on the left side inside the door body 11 through the left fixing plate 2, the main connecting rod mechanism 4 is arranged at the output end of the drive motor 7, the drive motor 7 is arranged on the right side inside the door body 11 through the right fixing plate 10, and the PCB drive control board 9 is electrically connected to the drive motor 7 and the infrared sensor 8.

[0018] When in use, the driving motor 7 outputs torque to drive the main connecting rod mechanism 4 to rotate, and the secondary connecting rod mechanism 3 is driven to move, so that the lower door panel 1 is flipped outward, which not only enables the lower door panel 1 to flip outward 90 degrees quickly, but also does not affect the normal outward opening of the upper door panel 12 when it is in the open state. Through programmable software programming and precise fine-tuning of the drive control board 9, it can maintain hovering at any angle when opening the door, and set the stop when stalled by detecting the current change of the driving motor 7. It has an anti-pinch safety mechanism, and the infrared sensor 8 intelligently detects the status of the sweeping robot. Even in an environment without intelligent networking, the household sweeping robot can automatically start when leaving the warehouse and intelligently close the lower door panel 1 when returning to the warehouse for charging.

[0019] Preferably, Figure 2 As shown, the main link mechanism 4 includes a first link 4a, a second link 4b, a third link 4c, and a fourth link 4d. The connecting bracket 5 is provided with two hinge holes, which are respectively hinged to the first link 4a and the second link 4b. The third link 4c has two holes, which are respectively hinged to the first link 4a and the fourth link 4d. The fourth link 4d is hinged to the second link 4b. The fourth link 4d is fixed to the output end of the drive motor 7. During operation, the drive motor 7 outputs torque to drive the fourth link 4d to rotate, and then the lower door panel 1 is flipped outward through the linkage mechanism.

[0020] More preferably, Figure 3As shown, the secondary connecting rod mechanism 3 has the same structure as the main connecting rod mechanism 4, and the fourth connecting rod of the secondary connecting rod mechanism 3 is hingedly arranged on the left fixed plate 2. By adopting the same structural method as the main connecting rod mechanism 4, the components are modularized for easy management and assembly.

[0021] More preferably, the right fixing plate 10 is further provided with a mechanical limit switch 6 electrically connected to the PCB drive control board 9 in the closed position of the lower door panel 1. When the door is closed, the lower door panel 1 hits the bottom mechanical limit switch 6 and triggers the drive motor 7 to stop rotating, ensuring that the door is closed in place.

[0022] More preferably, two infrared sensors 8 are provided, one is provided near the inner side of the door body 11, and the other is provided near the lower door panel 1. The infrared sensor 8 provided near the inner side of the door body 11 is used to detect whether the sweeping robot is in the charging position, and the infrared sensor 8 provided near the lower door panel 1 is used to judge the entry and exit movements of the sweeping robot.

[0023] The foregoing description shows and describes preferred embodiments of the present invention. However, as previously mentioned, it should be understood that the present invention is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Rather, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the present invention as taught herein or through the techniques or knowledge of the relevant art. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention are intended to be protected by the claims appended hereto.

Claims

1. A sweeping robot outward-turning automatic door structure, comprising a door body (11), an upper door panel (12) provided at the front upper end of the door body (11), and an outward-turning door mechanism provided at the front lower end of the door body (11); characterized in that: The outward-turning door mechanism comprises a lower door panel (1), a secondary connecting rod mechanism (3), a main connecting rod mechanism (4), a driving motor (7), a plurality of infrared sensors (8) and a PCB driving control board (9); the lower door panel (1) is connected to the secondary connecting rod mechanism (3) and the main connecting rod mechanism (4) via a connecting bracket (5); the secondary connecting rod mechanism (3) is arranged on the left side inside the door body (11) via a left fixing plate (2); the main connecting rod mechanism (4) is arranged at the output end of the driving motor (7); the driving motor (7) is arranged on the right side inside the door body (11) via a right fixing plate (10); and the PCB driving control board (9) is electrically connected to the driving motor (7) and the infrared sensor (8).

2. The outward-folding automatic door structure of a sweeping robot according to claim 1, characterized in that: The main connecting rod mechanism (4) comprises a first connecting rod (4a), a second connecting rod (4b), a third connecting rod (4c) and a fourth connecting rod (4d); the connecting bracket (5) is provided with two hinge holes respectively hinged to the first connecting rod (4a) and the second connecting rod (4b); the third connecting rod (4c) has two holes respectively hinged to the first connecting rod (4a) and the fourth connecting rod (4d); the fourth connecting rod (4d) is hinged to the second connecting rod (4b); and the fourth connecting rod (4d) is fixedly arranged at the output end of the driving motor (7).

3. The outward-flip automatic door structure of a sweeping robot according to claim 1 or 2, characterized in that: The auxiliary connecting rod mechanism (3) has the same structure as the main connecting rod mechanism (4), and the fourth connecting rod of the auxiliary connecting rod mechanism (3) is hingedly arranged on the left fixed plate (2).

4. The outward-folding automatic door structure of a sweeping robot according to claim 3, characterized in that: The right side fixing plate (10) is also provided with a mechanical limit switch (6) electrically connected to the PCB drive control board (9) when the lower door panel (1) is in the closed position.

5. The outward-flip automatic door structure of a sweeping robot according to claim 1, 2 or 4, characterized in that: Two infrared sensors (8) are provided, one is provided near the inner side of the door body (11), and the other is provided near the position of the lower door panel (1). The infrared sensor (8) provided near the inner side of the door body (11) is used to detect whether the sweeping robot is located at the charging position, and the infrared sensor (8) provided near the position of the lower door panel (1) is used to judge the entry and exit movement of the sweeping robot.

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