Pushing shovel device and cleaning robot

Abstract

The application relates to a pushing shovel device and a cleaning robot, which are applied in the field of cleaning robots and comprise a mounting frame arranged on a shell of the cleaning robot, a pushing shovel and a yawing frame rotatably connected to the mounting frame, a rotating wheel rotatably connected to the yawing frame, the rotating wheel being arranged on the ground, a monitoring mechanism for detecting whether the rotating wheel rotates being arranged on the mounting frame, and an adjusting mechanism for adjusting the position of the pushing shovel according to monitoring information obtained by the monitoring mechanism being arranged on the mounting frame. The application has the technical effect that: during the movement of the cleaning robot, the rotating wheel is arranged on the ground and advances synchronously with the cleaning robot, whether the rotating wheel rotates is detected through the monitoring mechanism, the pushing shovel is sensed in real time according to the monitoring information obtained by the monitoring mechanism, when the pushing shovel cannot continue to advance because the pushing shovel collides with an obstacle during the movement of the cleaning robot, the adjusting mechanism is started to timely adjust the position of the pushing shovel, the possibility of the cleaning robot being stuck is reduced, and garbage concentration and cleaning efficiency are improved.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a pusher device and a cleaning robot. Background Technology

[0002] A cleaning robot is a specialized cleaning device that is electrically powered and integrates sweeping and dust collection functions.

[0003] The cleaning robot consists of a shell with a pusher mounted on it. As the cleaning robot moves, the pusher at the front of the machine pushes the garbage on the ground forward for subsequent collection and processing.

[0004] When the sweeping robot encounters an obstacle during its movement, the tracks or wheels on the robot's chassis are prone to slipping, causing the sweeping robot to stop moving forward. As a result, the garbage cannot be effectively collected and cleaned, affecting the overall cleaning efficiency. Summary of the Invention

[0005] To address the problem that when the pusher of a cleaning robot encounters obstacles during movement, the tracks or wheels on the robot's chassis easily slip, causing the pusher to stall and preventing effective collection and cleaning of debris, thus affecting overall cleaning efficiency, this application provides a pusher device with the following technical solution: It includes a mounting frame mounted on the shell of the cleaning robot, a pusher and a swaying frame rotatably connected to the mounting frame, a rotating wheel rotatably connected to the swaying frame, the rotating wheel being mounted on the ground, a monitoring mechanism for detecting whether the rotating wheel is rotating, and an adjustment mechanism for adjusting the pusher position based on the monitoring information obtained from the monitoring mechanism.

[0006] In one specific implementation, the monitoring mechanism includes a connecting frame mounted on a mounting bracket, a swaying frame rotatably connected to the connecting frame, and a proximity switch mounted on the swaying frame, the detection end of which corresponds to the spoke plate of the rotating wheel.

[0007] In one specific implementation scheme, the connecting frame is equipped with a detection mechanism for detecting ground flatness, and the adjustment mechanism adjusts the position of the pusher based on the monitoring information obtained by the monitoring mechanism and the ground flatness information obtained by the detection mechanism.

[0008] In one specific implementation, the detection mechanism includes a mounting shaft mounted on a connecting frame, a swing frame rotatably connected to the mounting shaft, an angle encoder mounted on the mounting shaft, a lever of the angle encoder mounted on the swing frame, and the lever of the angle encoder corresponding to the detection end of the angle encoder.

[0009] In one specific implementation scheme, the adjustment mechanism includes a drive arm rotatably connected to the mounting frame, a connecting shaft on the drive arm, an adjustment hole on the sway frame, the connecting shaft passing through the adjustment hole, and a height adjustment unit that controls the lifting and lowering of the pusher according to the monitoring information obtained by the monitoring mechanism and an angle adjustment unit that controls the sway angle of the pusher according to the monitoring information obtained by the monitoring mechanism.

[0010] In one specific implementation, the height adjustment unit includes a first drive cylinder rotatably connected to the mounting frame, a first back rib rotatably connected to the drive arm on the surface of the pusher facing the mounting frame, a first connecting shaft at the output end of the first drive cylinder, the first connecting shaft being rotatably connected to the drive arm and located between the first back rib and the connecting shaft.

[0011] In one specific implementation, the angle adjustment unit includes a second drive cylinder rotatably connected to the mounting frame, the pusher has a second back rib on its surface facing the mounting frame, the output end of the second drive cylinder has a second coupling shaft, and the second coupling shaft is rotatably connected to the second back rib.

[0012] In one specific implementation, the pusher is rotatably connected to a crash roller, the crash roller extending from the side of the pusher along its length.

[0013] In one specific implementation, the pusher is detachably connected to an extension frame via a connecting unit.

[0014] In one specific implementation, a cleaning robot includes the aforementioned pusher device.

[0015] In summary, this application has the following beneficial technical effects: During the movement of the sweeping robot, the rotating wheel is mounted on the ground and moves forward synchronously with the sweeping robot. The monitoring mechanism detects whether the rotating wheel is rotating and senses the obstruction status of the pusher in real time based on the monitoring information obtained by the monitoring mechanism. When the pusher encounters an obstacle and cannot continue to move forward during the movement of the sweeping robot, the adjustment mechanism is activated to adjust the position of the pusher in time, reducing the possibility of the sweeping robot getting stuck and improving the efficiency of garbage collection and cleaning. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the application scenario structure of an embodiment of this application.

[0018] Figure 3 This is a schematic diagram illustrating the structure of the drive arm in the embodiments of this application.

[0019] Reference numerals: 1. Mounting frame; 2. Pusher; 3. Swing frame; 4. Rotary wheel; 5. Connecting frame; 6. Proximity switch; 7. Wheel spoke plate; 8. Drive arm; 9. Connecting shaft; 10. Adjustment hole; 11. First drive cylinder; 12. First back rib; 13. First connecting shaft; 14. Second drive cylinder; 15. Second back rib; 16. Anti-collision roller; 17. Extension frame; 18. Second connecting shaft; 19. Housing; 20. Track; 21. Cleaning robot; 22. Automatic navigator. Detailed Implementation

[0020] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0021] This application discloses a pusher device.

[0022] Reference Figure 1 and Figure 2 The pusher device includes a mounting frame 1 mounted on the housing 19 of the sweeping robot 21. The sweeping robot 21 can be an autonomous material cleaning robot. In this embodiment, a tracked 20-type dust-pushing robot is used as an example. In the prior art, an automatic navigator 22 is installed on the housing 19 of the tracked 20-type dust-pushing robot. The automatic navigator 22 is connected to the control system inside the housing 19 to control the movement and turning of the sweeping robot 21. The mounting frame 1 is bolted to the front end of the housing 19 of the sweeping robot 21. A pusher 2 and a swing frame 3 are rotatably connected to the mounting frame 1. A wheel 4 is rotatably connected to the swing frame 3. The wheel 4 is mounted on the ground and located between the mounting frame 1 and the pusher 2. The mounting frame 1 is provided with a monitoring mechanism to detect whether the wheel 4 is rotating. The mounting frame 1 is also provided with an adjustment mechanism to adjust the position of the pusher 2 according to the monitoring information obtained by the monitoring mechanism.

[0023] Therefore, during the movement of the sweeping robot 21, the rotating wheel 4 is mounted on the ground and moves forward synchronously with the sweeping robot 21. The monitoring mechanism detects whether the rotating wheel 4 is rotating and senses the obstruction status of the pusher 2 in real time based on the monitoring information obtained by the monitoring mechanism. When the pusher 2 encounters an obstacle and cannot continue to move forward during the movement of the sweeping robot 21, the monitoring mechanism sends the obtained monitoring information to the control system. The control system activates the adjustment mechanism to adjust the position of the pusher 2 in a timely manner, reducing the possibility of the sweeping robot 21 getting stuck and improving the efficiency of garbage collection and cleaning.

[0024] Reference Figure 2 and Figure 3The monitoring mechanism includes a connecting frame 5 bolted to the mounting frame 1, a sway frame 3 rotatably connected to the connecting frame 5, and a proximity switch 6 mounted on the sway frame 3. The detection end of the proximity switch 6 corresponds to the position of the spoke plate 7 of the rotating wheel 4. Therefore, the proximity switch 6 feeds back the rotation or stationary state of the rotating wheel 4 to the control system through the spoke plate 7 inside the rotating wheel 4, and the control system compares the operating status of the cleaning robot 21. Specifically, when the wheel 4 is rotating normally, the spokes 7 will pass through the detection end of the proximity switch 6 at a certain frequency and regularly. The proximity switch 6 will therefore generate a periodic alternating "signal on - no signal", that is, an intermittent signal. When the control system receives the intermittent signal from the proximity switch 6, it means that the cleaning robot 21 is not slipping. Conversely, when the wheel 4 is stationary, the spokes 7 on the wheel 4 are continuously within or outside the detection range of the proximity switch 6. The control system will continuously receive a signal or continuously not receive a signal, instead of the periodic intermittent signal that occurs when the wheel 4 is rotating normally. The control system identifies this "abnormal" signal pattern through an algorithm, thereby determining that the wheel 4 is not rotating normally. This indicates that the cleaning robot 21 is slipping.

[0025] Reference Figure 2 and Figure 3 The connecting frame 5 is equipped with a detection mechanism for detecting ground flatness. The adjustment mechanism adjusts the position of the pusher 2 based on the monitoring information and ground flatness information obtained by the detection mechanism. The detection mechanism includes a mounting shaft installed on the connecting frame 5, a swing frame 3 rotatably connected to the mounting shaft, and an angle encoder installed on the mounting shaft. The lever of the angle encoder is installed on the swing frame 3, and the lever of the angle encoder corresponds to the detection end of the angle encoder. When the rotating wheel 4 passes over uneven ground, the rotating wheel 4 will change the relative angle between the swing frame 3 and the connecting frame 5 according to the undulation of the ground. The angle encoder monitors the position of the lever on the swing frame 3 in real time, thereby determining the swing angle of the swing frame 3 and feeding the signal back to the control system. The control system activates the adjustment mechanism to adjust the position of the pusher 2 in a timely manner.

[0026] Reference Figure 2 and Figure 3 The adjustment mechanism includes a drive arm 8 rotatably connected to the mounting frame 1, and a connecting shaft 9 mounted on the drive arm 8. In this embodiment, two drive arms 8 are used as an example, and the connecting shaft 9 is located between the two drive arms 8. The sway frame 3 has an adjustment hole 10, through which the connecting shaft 9 passes. The size of the adjustment hole 10 is larger than the diameter of the connecting shaft 9. The mounting frame 1 is equipped with a height adjustment unit that controls the lifting and lowering of the pusher 2 based on monitoring information obtained from the monitoring mechanism, and an angle adjustment unit that controls the sway angle of the pusher 2 based on monitoring information obtained from the monitoring mechanism.

[0027] Reference Figure 2and Figure 3 The height adjustment unit includes a first drive cylinder 11 rotatably connected to the mounting frame 1. A first back rib 12 rotatably connected to the drive arm 8 is provided on the surface of the pusher 2 facing the mounting frame 1. A first connecting shaft 13 is mounted on the output end of the first drive cylinder 11, and the first connecting shaft 13 is rotatably connected to the drive arm 8 and located between the first back rib 12 and the connecting shaft 9. The angle adjustment unit includes a second drive cylinder 14 rotatably connected to the mounting frame 1. A second back rib 15 is fixedly connected to the surface of the pusher 2 facing the mounting frame 1. A second connecting shaft 18 is mounted on the output end of the second drive cylinder 14, and the second connecting shaft 18 is rotatably connected to the second back rib 15. The first back rib 12 and the second back rib 15 can enhance the structural rigidity of the pusher 2.

[0028] Therefore, the first drive cylinder 11 is activated, which drives the first connecting shaft 13 at the output end of the first drive cylinder 11 to extend and retract. The first connecting shaft 13 acts on the drive arm 8, causing the end of the drive arm 8 away from the push shovel 2 to rotate around the mounting frame 1, thereby realizing the lifting and lowering of the push shovel 2. The second drive cylinder 14 is activated, which drives the second connecting shaft 18 at the output end of the second drive cylinder 14 to extend and retract. The second connecting shaft 18 acts on the second back rib 15 of the push shovel 2. Since the push shovel 2 is also rotatably connected to the drive arm 8, the push shovel 2 is thus able to deflect at an angle.

[0029] Reference Figure 2 and Figure 3 The pusher 2 is bolted to a bumper seat, and a bumper roller 16 is rotatably connected to the bumper seat. The bumper roller 16 extends out of the side of the pusher 2 along its length. In this embodiment, the number of bumper rollers 16 is set to two, and the pusher 2 is located between the two bumper rollers 16. When the cleaning robot 21 approaches the edge of the wall, the bumper roller 16 can control the distance from the edge of the pusher 2 to the edge of the wall, reducing the possibility of the pusher 2 damaging the cavity.

[0030] Reference Figure 2 and Figure 3An extension frame 17 is detachably connected to the pusher 2 via a connecting unit. In this embodiment, two extension frames 17 are provided, and the two extension frames 17 are installed on two sides along the length of the pusher 2. In this embodiment, the connecting unit includes mounting bolts that pass through the pusher 2 and the extension frame 17 in sequence. The mounting bolts are threaded with mounting nuts, and the end face of the mounting nuts facing the extension frame 17 abuts against the extension frame 17. The extension frame 17 is an optional structure for the pusher 2. When the site area is large and relatively open, the extension frame 17 can be connected to one or both sides of the main structure of the pusher 2 by bolting, welding, or plugging to improve cleaning efficiency. When the extension frame 17 is installed on the pusher 2, the operator removes the anti-collision seat and anti-collision roller 16 originally installed on the pusher 2 and bolts the anti-collision seat to the extension frame 17, so that part of the anti-collision roller 16 extends out of the side of the extension frame 17 along the length direction.

[0031] The implementation principle of this application embodiment is as follows: during the movement of the cleaning robot 21, the rotating wheel 4 is mounted on the ground and moves forward synchronously with the cleaning robot 21. When the wheel 4 is rotating normally, the spokes 7 will pass through the detection end of the proximity switch 6 at a certain frequency and regularly. The proximity switch 6 will therefore generate a periodic "signal-no signal" alternation, i.e., an intermittent signal. When the control system receives the intermittent signal from the proximity switch 6, it means that the cleaning robot 21 is not slipping. Conversely, when the wheel 4 is stationary, the spokes 7 on the wheel 4 are continuously within or outside the detection range of the proximity switch 6. The control system will continuously receive a signal or continuously not receive a signal, instead of the periodic intermittent signal that occurs when the wheel 4 is rotating normally. The control system identifies this "abnormal" signal pattern through an algorithm, thereby determining that the wheel 4 is not rotating normally. This indicates that the cleaning robot 21 is slipping. In addition, when the wheel 4 passes over uneven ground, the wheel 4 will change the relative angle between the swing frame 3 and the connecting frame 5 according to the undulation of the ground. The angle encoder monitors the position of the lever on the swing frame 3 in real time, thereby determining the swing angle of the swing frame 3 and feeding the signal back to the control system. The control system adjusts the mechanism based on the signals from the proximity switch 6 and the angle encoder. When the sweeping robot 21 slips, the first drive cylinder 11 is activated, causing the first connecting shaft 13 at the output end of the first drive cylinder 11 to extend and retract. The first connecting shaft 13 acts on the drive arm 8, causing the end of the drive arm 8 away from the pusher 2 to rotate around the mounting frame 1, thus raising and lowering the pusher 2. The second drive cylinder 14 is activated, causing the second connecting shaft 18 at the output end of the second drive cylinder 14 to extend and retract. The second connecting shaft 18 acts on the second back rib 15 of the pusher 2. Since the pusher 2 is also rotatably connected to the drive arm 8, the angle of the pusher 2 is deflected, enabling the sweeping robot 21 to automatically detect slippage faults. This allows the robot to control the pusher 2 to rise and fall, or to control the robot to move backward, turn, etc., so that the sweeping robot 21 can smoothly pass through obstacles, solving the problem of the track 20 slipping due to obstacles blocking the way, reducing the possibility of the sweeping robot 21 getting stuck. At the same time, through the detection mechanism, the sweeping robot 21 has the ability to automatically adapt to uneven ground, resulting in higher sweeping efficiency.

[0032] This application also discloses a cleaning robot, including the pusher device described above.

[0033] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A pusher device, characterized in that: The system includes a mounting frame (1) mounted on the housing (19) of the cleaning robot (21). A pusher (2) and a swing frame (3) are rotatably connected to the mounting frame (1). A wheel (4) is rotatably connected to the swing frame (3). The wheel (4) is mounted on the ground. The mounting frame (1) is equipped with a monitoring mechanism to detect whether the wheel (4) is rotating. The mounting frame (1) is also equipped with an adjustment mechanism to adjust the position of the pusher (2) based on the monitoring information obtained by the monitoring mechanism.

2. The pusher device according to claim 1, characterized in that: The monitoring mechanism includes a connecting frame (5) set on the mounting frame (1), the sway frame (3) is rotatably connected to the connecting frame (5), the sway frame (3) is provided with a proximity switch (6), and the detection end of the proximity switch (6) corresponds to the spoke plate (7) of the rotating wheel (4).

3. The pusher device according to claim 2, characterized in that: The connecting frame (5) is equipped with a detection mechanism for detecting the flatness of the ground. The adjustment mechanism adjusts the position of the pusher (2) according to the monitoring information obtained by the monitoring mechanism and the flatness information obtained by the detection mechanism.

4. The pusher device according to claim 3, characterized in that: The detection mechanism includes a mounting shaft set on the connecting frame (5), the sway frame (3) is rotatably connected to the mounting shaft, the mounting shaft is provided with an angle encoder, the sway frame (3) is set on the sway frame (3), and the sway frame (3) corresponds to the detection end of the angle encoder.

5. The pusher device according to claim 1, characterized in that: The adjustment mechanism includes a drive arm (8) rotatably connected to the mounting frame (1), a connecting shaft (9) on the drive arm (8), an adjustment hole (10) on the sway frame (3), the connecting shaft (9) passing through the adjustment hole (10), and a height adjustment unit that controls the lifting and lowering of the pusher (2) according to the monitoring information obtained by the monitoring mechanism and an angle adjustment unit that controls the sway angle of the pusher (2) according to the monitoring information obtained by the monitoring mechanism.

6. The pusher device according to claim 5, characterized in that: The height adjustment unit includes a first drive cylinder (11) rotatably connected to the mounting frame (1). The pusher (2) has a first back rib (12) rotatably connected to the drive arm (8) on its surface facing the mounting frame (1). The output end of the first drive cylinder (11) has a first connecting shaft (13). The first connecting shaft (13) is rotatably connected to the drive arm (8) and is located between the first back rib (12) and the connecting shaft (9).

7. The pusher device according to claim 5, characterized in that: The angle adjustment unit includes a second drive cylinder (14) rotatably connected to the mounting frame (1). The pusher (2) has a second back rib (15) on its surface facing the mounting frame (1). The output end of the second drive cylinder (14) has a second connecting shaft (18), which is rotatably connected to the second back rib (15).

8. The pusher device according to claim 1, characterized in that: The pusher (2) is rotatably connected to a collision-resistant roller (16), which extends out of the side of the pusher (2) along its length.

9. The pusher device according to claim 1, characterized in that: An extension frame (17) is detachably connected to the pusher (2) via a connecting unit.

10. A cleaning robot, characterized in that: Includes the pusher device as described in any one of claims 1 to 9.

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