Automatic door structure of sweeping robot

Abstract

The utility model relates to the technical field of accessories of floor mopping robots, and particularly discloses an automatic door structure of a floor mopping robot, which comprises a charging bin main body, an upper door plate is rotatably mounted in the in-out direction of the floor mopping robot of the charging bin main body, and a lower door plate is movably connected below the upper door plate. A driving assembly is installed on the right side in the charging bin body, a left side fixing support is fixedly installed on the left side in the charging bin body, connecting rod assemblies are arranged at the joints of the left side fixing support and the lower door plate and the joints of the driving assembly and the lower door plate, and connecting supports hinged to the bottom of the lower door plate are arranged at the power output ends of the connecting rod assemblies. Through cooperation of multiple groups of sensors, the PCB can control the driving plate to control the driving assembly to work, so that the lower door plate is turned over, a user does not need to additionally transform existing furniture, and whether a pet enters or a sweeping robot is judged through the infrared detection sensor in the middle, so that the pet is prevented from being clamped when the lower door plate is closed.

Description

TECHNICAL FIELD

[0001] The utility model relates to a sweeper robot accessory technical field especially is a sweeper robot automatic door structure. BACKGROUND

[0002] The sweeper robot is a kind of intelligent household electrical appliances that can clean ground by brushing and vacuuming, and the existing sweeper robot is provided with water inlet and outlet for the convenience of use, and the water inlet and outlet device is integrated in charging bin, and the front bin is provided with opening for the sweeper robot to enter and exit.

[0003] In order to facilitate the sweeper robot water inlet and outlet to combine the current house planning, most users will place the sweeper robot in balcony or bathroom, and these areas mostly have water inlet and outlet, which is convenient for the sweeper robot to use water, but directly placing it in the balcony or bathroom area may kick the charging bin of the sweeper robot when family members are active, so the charging bin is placed in the cabinet in the corresponding area, such as the balcony cabinet or washstand, which can avoid the sweeper robot from being touched when family members walk and also maintain the beauty of the room.

[0004] Therefore, in order to facilitate the sweeper robot to normally enter and exit when working, a hole is generally formed in the front end of the cabinet, but the cabinet is in a long-term open state, and dust is easily accumulated inside. At present, most users solve this problem by modifying the cabinet where the sweeper robot is located. The sweeper robot enters and exits the position with an upturned door. In order to achieve the effect of automatic opening and closing of the door, an infrared sensing device is installed on the side of the cabinet. When the sweeper robot moves outward and gradually approaches the infrared sensing device, the upturned door rotates to open. When the sweeper robot returns to its original position and passes through the infrared sensing device, the upturned door closes.

[0005] However, for families with pets, when the sweeper robot is working, the front end of the charging bin is in an open state, and pets are easily driven by curiosity to enter the charging bin. Since only one set of infrared sensing device is provided, it cannot be determined whether it is a sweeper robot or a living creature that enters. This will cause the pet to enter, and the infrared sensing device of the upturned door will sense the object approaching and directly close the upturned door. However, when the pet enters, it will not move directly in the direction of the charging bin like the sweeper robot. Therefore, the upturned door is easy to pinch the pet when it rotates to close. SUMMARY

[0006] The utility model aims at providing a sweeper robot automatic door structure, which can cooperate with multiple sensors, realize the control of the PCB control driving board on the driving assembly, and realize the overturning of the lower door plate, without the need for users to modify existing furniture. The infrared detection sensor in the middle part can determine whether it is a pet or a sweeper robot, so as to avoid pinching the pet when the lower door plate closes, thereby solving the problems in the above background technology.

[0007] To achieve the above object, the utility model provides following technical scheme: a kind of automatic door structure of floor cleaning robot, the charging bin main part is rotatably installed with upper door in the access direction of floor cleaning robot of charging bin main part, the lower side of the upper door is movably connected with lower door, the right side inside of the charging bin main part is installed with drive assembly, and the left side inside of charging bin main part is fixedly installed with left side fixed support, the connecting place of left side fixed support and drive assembly with lower door is all provided with connecting rod assembly, the power output end of the connecting rod assembly is provided with the connecting support articulated in the bottom of lower door, the bottom of the charging bin main part is welded with charging bin bottom plate;

[0008] The drive assembly includes a right side fixed support fixed to the right side inside of the charging bin main part, the right side fixed support and the left side fixed support are installed with a first infrared photoelectric sensor and a second infrared photoelectric sensor on the side close to the vertical center line of the charging bin main part, and the first infrared photoelectric sensor is located at the front end of the second infrared photoelectric sensor, an infrared detection sensor is also fixedly installed at the middle of the right side fixed support, and a pressure sensor is fixedly installed at the front end inside of the right side fixed support.

[0009] Preferably, the pressure detection probe on the pressure sensor is located at the front end of the pressure sensor, a reed is welded at the front end of the pressure sensor, and the position of the reed is matched with the position of the pressure detection probe of the pressure sensor.

[0010] Preferably, a PCB control driving board is also installed in the right side fixed support through a screw, and a servo motor is installed below the PCB control driving board and fixed in the right side fixed support.

[0011] Preferably, the servo motor is electrically connected with the PCB control driving board, and the PCB control driving board is electrically connected with the first infrared photoelectric sensor, the second infrared photoelectric sensor, the infrared detection sensor and the pressure sensor.

[0012] Preferably, the connecting rod assembly includes a first connecting rod and a second connecting rod articulated with the connecting support, the second connecting rod is located below the first connecting rod, the other end of the second connecting rod is articulated with a fourth connecting rod, and the other end of the fourth connecting rod is articulated with a third connecting rod.

[0013] Preferably, the two ends of the third connecting rod are articulated with the first connecting rod and the fourth connecting rod respectively, and a hexagonal hole is formed at the middle of the fourth connecting rod.

[0014] Preferably, the connecting rod assembly further includes a transmission worm gear fixedly connected with the fourth connecting rod, and a transmission worm is meshingly connected below the transmission worm gear, and the transmission worm is fixedly connected with the power output end of the servo motor.

[0015] Compared with the prior art, the utility model has the advantages of

[0016] Through the drive assembly, through many groups of sensors cooperation, can realize PCB control drive board control drive assembly work, thereby realizing the turnover of the lower door plate, without the user additionally transforming existing furniture, and through the infrared detection sensor in the middle to judge whether the pet or the floor cleaning robot is entered, so as to avoid the pet being clamped when the lower door plate is closed. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the drawings needed in the specific embodiment or the prior art description will be briefly introduced as follows, and obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 It is the overall structure view of the utility model;

[0019] Figure 2 It is the structure schematic view of the upper door plate of the utility model;

[0020] Figure 3 It is the internal structure schematic view of the right side fixed support of the utility model;

[0021] Figure 4 It is the structure schematic view of the connecting rod assembly of the utility model;

[0022] Figure 5 It is the structure schematic view of the reed of the utility model.

[0023] BRIEF DESCRIPTION OF DRAWINGS

[0024] 1, charging warehouse main part;2, upper door plate;3, left side fixed support;4, drive assembly;401, right side fixed support;402, first infrared photoelectric sensor;403, second infrared photoelectric sensor;404, infrared detection sensor;405, reed;406, servo motor;407, pressure sensor;408, PCB control drive board;5, lower door plate;6, charging warehouse bottom plate;7, connecting rod assembly;701, transmission worm;702, transmission worm wheel;703, first connecting rod;704, second connecting rod;705, third connecting rod;706, fourth connecting rod;8, connecting support. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0026] The utility model provides a technical scheme:

[0027] Please refer to Figures 1 to 5 A kind of automatic door structure of floor cleaning robot, including charging bin main body 1, the direction of entry and exit of floor cleaning robot of charging bin main body 1 is rotatably installed with upper door plate 2, and the lower side of upper door plate 2 is movably connected with lower door plate 5, and the right side inside charging bin main body 1 is installed with drive assembly 4, and the left side inside charging bin main body 1 is fixedly installed with left fixed support 3, and the connecting place of left fixed support 3 and drive assembly 4 with lower door plate 5 is all provided with connecting rod assembly 7, and the power output end of connecting rod assembly 7 is provided with connecting bracket 8 articulated at the bottom of lower door plate 5, and the bottom of charging bin main body 1 is welded with charging bin bottom plate 6;

[0028] Drive assembly 4 includes the right side fixed support 401 fixed in the right side inside charging bin main body 1, and the side close to the vertical center line of charging bin main body 1 of right side fixed support 401 and left fixed support 3 is all installed with first infrared photoelectric sensor 402 and second infrared photoelectric sensor 403, and first infrared photoelectric sensor 402 is located at the front end of second infrared photoelectric sensor 403, and the middle part of right side fixed support 401 is also fixedly installed with infrared detection sensor 404, and the front end inside right side fixed support 401 is fixedly installed with pressure sensor 407.

[0029] The pressure detection probe on pressure sensor 407 is located at the front end of pressure sensor 407, and spring leaf 405 is welded at the front end of pressure sensor 407, and spring leaf 405 is adapted to the position of the pressure detection probe of pressure sensor 407, and the inside of right side fixed support 401 is also installed with PCB control drive board 408 by screw, and the lower side of PCB control drive board 408 is installed with servo motor 406 fixed in the inside of right side fixed support 401, servo motor 406 is electrically connected with PCB control drive board 408, and PCB control drive board 408 is electrically connected with first infrared photoelectric sensor 402, second infrared photoelectric sensor 403, infrared detection sensor 404 and pressure sensor 407.

[0030] By adopting the above technical scheme, it needs to be particularly noted that the first infrared photoelectric sensor 402 and the second infrared photoelectric sensor 403 on the left fixing support 3 and the right fixing support 401 each include a group of infrared emitters and a group of infrared receivers, the height of which is matched with the height of the sweeping robot and is located at one half of the height of the sweeping robot, which can ensure detection of the sweeping robot, and the principle is that the infrared emitter sends an infrared signal to the corresponding infrared receiver, when the corresponding infrared receiver cannot receive the infrared signal, it indicates that there is an article between them, and when the corresponding infrared receiver can receive the infrared signal, it indicates that there is no article between them, when there is an article between the first infrared photoelectric sensor 402 and the second infrared photoelectric sensor 403 inside the charging bin body 1, the infrared signal will be blocked, and vice versa when the sweeping robot leaves the charging bin body 1, the infrared emitter sends an infrared signal to the corresponding infrared receiver, and the infrared receiver can receive the infrared signal;

[0031] At the same time, it needs to be particularly noted that the infrared detection sensor 404 utilizes the principle that all objects with a temperature higher than 0k emit infrared energy at all times, because different objects absorb and contain different thermal energy, the thermal infrared energy radiated outward is naturally different, by using an infrared detector, the infrared radiation energy of the measured target can be converted into an electrical signal, after a series of processing such as amplification and conversion, the temperature of the object can be accurately determined, and it can be judged whether an object or a pet enters, the infrared detection sensor 404 sends a signal to the inside of the charging bin body 1, and when an animal enters, a signal can be sent to the PCB control driving board 408;

[0032] The PCB control driving board 408, the first infrared photoelectric sensor 402, the second infrared photoelectric sensor 403, the infrared detection sensor 404 and the pressure sensor 407 are configured to realize data transmission, and the PCB control driving board 408 is connected with the servo motor 406, so that the PCB control driving board 408 can control the servo motor 406 to work;

[0033] Based on the above principle, since the first infrared photoelectric sensor 402 and the second infrared photoelectric sensor 403 are respectively located on the two sides of the charging bin body 1, and the second infrared photoelectric sensor 403 is located on the side close to the entrance and exit of the sweeping robot, when the sweeping robot leaves the charging bin body 1, the first infrared photoelectric sensor 402 and the second infrared photoelectric sensor 403 send signals, when the first infrared photoelectric sensor 402 receives a feedback signal, it indicates that the sweeping robot starts to move, at this time, the PCB control driving board 408 controls the servo motor 406 to work, and the lower door plate 5 is opened upward;

[0034] After the sweeping robot leaves the charging bin body 1, if an object enters the charging bin body 1, and the second infrared photoelectric sensor 403 cannot receive a feedback signal, it indicates that there is an object between the second infrared photoelectric sensor 403, at this time the infrared detection sensor 404 works to detect the entering object, once the infrared detection sensor 404 detects that the entering object is a living object, the PCB control driving board 408 will not send a signal to the servo motor 406, and the servo motor 406 is always in the closed state, so that the lower door plate 5 cannot rotate downward to close, on the contrary, when the infrared detection sensor 404 detects that the entering object is not a living object, until the first infrared photoelectric sensor 402 cannot receive a feedback signal, it indicates that the sweeping robot is normally returned, at this time the PCB control driving board 408 controls the servo motor 406 to work, to realize the closing of the lower door plate 5, the lower door plate 5 moves to the direction close to the reed 405, when the reed 405 moves inward to press the pressure detection probe on the pressure sensor 407, the pressure detection probe on the pressure sensor 407 can detect the pressure value, at this time the PCB control driving board 408 controls the servo motor 406 to stop working, and the lower door plate 5 is closed to the position, it needs to be particularly noted that the pressure detection probe on the pressure sensor 407 penetrates through the front end of the right fixed support 401 and is exposed, to facilitate the mutual contact between the reed 405 and the pressure detection probe on the pressure sensor 407 when the reed 405 is pressed inward, through the driving assembly 4 and the cooperation of multiple sensors, the PCB control driving board 408 can control the driving assembly 4 to work, so as to realize the overturning of the lower door plate 5, without the need for users to additionally modify the existing furniture, and through the middle infrared detection sensor 404, it can be judged whether the entering object is a pet or a sweeping robot, so as to keep the door open state, avoid the mis-triggering of the closing door to cause the sweeping robot to be unable to normally return to the bin, and when the closing door moves, if a pet or a living object is detected, the driving assembly 4 will be controlled to stop moving, to realize the anti-pinch function, so as to avoid the pet being pinched when the lower door plate 5 is closed.

[0035] Specifically, as shown in Figure 3 and Figure 4 , the connecting rod assembly 7 includes a first connecting rod 703 and a second connecting rod 704 hinged to the connecting support 8, the second connecting rod 704 is located below the first connecting rod 703, the other end of the second connecting rod 704 is hinged to a fourth connecting rod 706, the other end of the fourth connecting rod 706 is hinged to a third connecting rod 705, the two ends of the third connecting rod 705 are respectively hinged to the first connecting rod 703 and the fourth connecting rod 706, and a hexagonal hole is formed in the middle of the fourth connecting rod 706, the connecting rod assembly 7 further includes a transmission worm gear 702 fixedly connected to the fourth connecting rod 706, and a transmission worm 701 meshingly connected below the transmission worm gear 702, the transmission worm 701 is fixedly connected to the power output end of the servo motor 406.

[0036] By adopting the above technical scheme, it needs to be specially noted that the connecting rod assembly 7 installed in the left fixed support 3 is an auxiliary connecting rod, and the transmission worm 701 and the transmission worm wheel 702 are not arranged, the connecting rod assembly 7 installed in the right fixed support 401 is a driving connecting rod, and can be driven to rotate by the servo motor 406, after the servo motor 406 receives the opening instruction sent by the PCB control driving board 408, the servo motor 406 can drive the transmission worm wheel 702 to rotate through the power output end, so as to drive the transmission worm wheel 702 to rotate synchronously through the transmission worm 701, and the transmission worm wheel 702 can drive the middle part of the fourth connecting rod 706 to rotate, the fourth connecting rod 706 is in L-shaped structure, when the fourth connecting rod 706 rotates, the first connecting rod 703 can be driven to rotate through the third connecting rod 705, and the other end of the fourth connecting rod 706 drives the second connecting rod 704 to rotate, so as to realize the 90° outward overturning of the lower door plate 5 through the connecting rod assembly 7, when the servo motor 406 receives the closing instruction sent by the PCB control driving board 408, the servo motor 406 reversely rotates, so as to realize the downward closing of the lower door plate 5.

[0037] Working principle: when the sweeping robot needs to leave the charging bin main body 1 to start working, the first infrared photoelectric sensor 402 and the second infrared photoelectric sensor 403 send signals, when the first infrared photoelectric sensor 402 receives the feedback signal, it means that the sweeping robot starts to move, at this time, the PCB control driving board 408 controls the servo motor 406 to work, after the servo motor 406 receives the opening instruction sent by the PCB control driving board 408, the servo motor 406 can drive the transmission worm wheel 702 to rotate through the power output end, so as to drive the transmission worm wheel 702 to rotate synchronously through the transmission worm 701, and the transmission worm wheel 702 can drive the middle part of the fourth connecting rod 706 to rotate, the fourth connecting rod 706 is in L-shaped structure, when the fourth connecting rod 706 rotates, the first connecting rod 703 can be driven to rotate through the third connecting rod 705, and the other end of the fourth connecting rod 706 drives the second connecting rod 704 to rotate, so as to realize the 90° outward overturning of the lower door plate 5 through the connecting rod assembly 7, the lower door plate 5 is opened upward;

[0038] After the sweeping robot leaves the charging bin body 1, if an object enters the charging bin body 1, and the second infrared photoelectric sensor 403 cannot receive the feedback signal, it indicates that there is an object between the second infrared photoelectric sensor 403, at this time, the infrared detection sensor 404 works to detect the entering object, once the infrared detection sensor 404 detects that the entering object is a living object, the PCB control driving board 408 will not send a signal to the servo motor 406, and the servo motor 406 is always in the closed state, so that the lower door plate 5 will not rotate downward to close, on the contrary, when the infrared detection sensor 404 detects that the entering object is not a living object, until the first infrared photoelectric sensor 402 cannot receive the feedback signal, it indicates that the sweeping robot is normally returned, at this time, the PCB control driving board 408 controls the servo motor 406 to work, when the servo motor 406 receives the closing instruction sent by the PCB control driving board 408, the servo motor 406 reverses to rotate, so as to realize that the lower door plate 5 closes downward, and the lower door plate 5 moves to the direction close to the reed 405, when the reed 405 moves inward to close to the pressure detection probe on the pressure sensor 407, the pressure detection probe on the pressure sensor 407 can detect the pressure value, at this time, the PCB control driving board 408 controls the servo motor 406 to stop working, and the lower door plate 5 is closed to the position.

[0039] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A sweeping robot automatic door structure comprising a charging cabin main body (1), characterized in that: The charging bin body (1) is rotatably installed with an upper door plate (2) in the direction of the robot cleaner, the lower end of the upper door plate (2) is movably connected with a lower door plate (5), the right side of the inside of the charging bin body (1) is installed with a driving assembly (4), and the left side of the inside of the charging bin body (1) is fixedly installed with a left fixed support (3), the connecting parts of the left fixed support (3) and the driving assembly (4) and the lower door plate (5) are all provided with a connecting rod assembly (7), the power output end of the connecting rod assembly (7) is provided with a connecting support (8) hinged to the bottom of the lower door plate (5), and the bottom of the charging bin body (1) is welded with a charging bin bottom plate (6). The driving assembly (4) comprises a right fixed support (401) fixedly installed on the right side of the inside of the charging bin body (1), the right fixed support (401) and the left fixed support (3) are both installed with a first infrared photoelectric sensor (402) and a second infrared photoelectric sensor (403) on the side close to the vertical center line of the charging bin body (1), the first infrared photoelectric sensor (402) is located at the front end of the second infrared photoelectric sensor (403), the middle part of the right fixed support (401) is further fixedly installed with an infrared detection sensor (404), and the front end of the inside of the right fixed support (401) is fixedly installed with a pressure sensor (407).

2. The automatic door structure of the robotic vacuum cleaner according to claim 1, wherein: The pressure detection probe on the pressure sensor (407) is located at the front end of the pressure sensor (407), the front end of the pressure sensor (407) is welded with a reed (405), and the position of the pressure detection probe of the pressure sensor (407) is matched with the reed (405).

3. The automatic door structure of a robotic vacuum cleaner according to claim 2, wherein: The inside of the right fixed support (401) is further installed with a PCB control driving board (408) through a screw, and the lower end of the PCB control driving board (408) is installed with a servo motor (406) fixedly installed in the inside of the right fixed support (401).

4. The automatic door structure of the robotic vacuum cleaner according to claim 3, wherein: The servo motor (406) is electrically connected with the PCB control driving board (408), and the PCB control driving board (408) is electrically connected with the first infrared photoelectric sensor (402), the second infrared photoelectric sensor (403), the infrared detection sensor (404) and the pressure sensor (407).

5. The automatic door structure of a robotic vacuum cleaner according to claim 4, wherein: The connecting rod assembly (7) comprises a first connecting rod (703) and a second connecting rod (704) hinged with the connecting support (8), the second connecting rod (704) is located below the first connecting rod (703), the other end of the second connecting rod (704) is hinged with a fourth connecting rod (706), and the other end of the fourth connecting rod (706) is hinged with a third connecting rod (705).

6. The automatic door structure of a robotic vacuum cleaner according to claim 5, wherein: The two ends of the third connecting rod (705) are respectively hinged with the first connecting rod (703) and the fourth connecting rod (706), and the middle part of the fourth connecting rod (706) is provided with a hexagonal hole.

7. The automatic door structure of a robotic vacuum cleaner according to claim 6, wherein: The connecting rod assembly (7) further comprises a transmission worm gear (702) fixedly connected with the fourth connecting rod (706), and a transmission worm (701) is meshingly connected below the transmission worm gear (702), and the transmission worm (701) is fixedly connected with the power output end of the servo motor (406).

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