Cleaning robot

Abstract

We provide a cleaning robot that can accurately detect externally applied forces. [Solution] The cleaning robot A1 comprises a linear slide 8B, a biasing member 8A, a first switch 8C, and a main body 1 including a front bumper 8. The linear slide 8B includes a fixed member 82 and a movable member 81 that moves back and forth relative to the fixed member 82. The movable member 81 is attached to the front bumper 8. The biasing member 8A biases the front bumper 8 forward. The first switch 8C is configured to be activated when the front bumper 8 is pushed backward, causing the movable member 81 to move backward.

Claims

1. It is a cleaning robot, The cleaning robot comprises a main body including a front bumper, and a first sensing system. The first sensing system includes a linear slide, a first biasing member, and a first switch. The linear slide includes a fixed member and a movable member that moves forward and backward in the driving direction relative to the fixed member. The movable member is attached to the front bumper, The first biasing member biases the front bumper forward in the driving direction, A cleaning robot in which the first switch is activated when the front bumper is pushed rearward in the driving direction, causing the movable member to move rearward.

2. The system further comprises a second sensing system including a second switch, a second shaft, and a second spring. The main body includes a side bumper provided with a pressing portion, The second switch is fixed to the front bumper, The side bumper is connected to the front bumper via the second shaft, The second spring biases the side bumper outward in a left-right direction intersecting the drive direction, The cleaning robot according to claim 1, wherein the second switch is configured to be activated when the side bumper is pressed, by the pressing portion moving inward in the left-right direction.

3. The system further includes a first restricting plate provided near the first switch, The above-mentioned first switch includes a first pressure-sensitive switch and a first switch case on which the above-mentioned first pressure-sensitive switch is mounted. The first restricting plate includes a portion that protrudes from the first switch case toward the movable member in the driving direction, A cleaning robot according to claim 1 or 2.

4. The side bumper includes a pair of rotating arms that are separated vertically and intersect the driving direction and the left-right direction, and a connecting portion that connects the pair of rotating arms. The cleaning robot according to claim 2, wherein each of the pair of rotating arms has a hole into which the second shaft is inserted.

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