CN209595653U - Sweeping robot with buffer layer - Google Patents

Abstract

The utility model relates to a kind of sweeping robots with buffer layer, belong to sweeping robot technical field, solve the problems, such as damaged in collision in the existing sweeping robot walking process with LDS component.The sweeping robot, including sweeping robot ontology and LDS component, LDS component include upper cover, and the outside wall surface of upper cover, which is equipped with, hits buffer layer.Sweeping robot provided by the utility model can effectively prevent the damaged in collision with LDS component.

Description

Sweeping robot with buffer layer

Technical field

The utility model relates to sweeping robot technical field more particularly to a kind of sweeping robots with buffer layer.

Background technique

Existing sweeping robot is when carrying out cleaning to ground, since ambient enviroment is complex, so at it It when moving around, often collides with the barrier of surrounding, to be damaged to robot.So in order to avoid sweeping the floor The collision of robot and peripheral obstacle, existing solution are often installed directly around sweeping robot ontology anti- Plate is hit, when the barrier of sweeping robot and surrounding collides, Crashworthy plate can play preferable buffer function, and pass Information is passed to control centre, controls sweeping robot rotation direction.

However, the shape, structure of sweeping robot is increasingly with the development of robot technology and the increase of its function Diversification.When the existing sweeping robot walking with LDS component (laser ranging system), sweeping robot bodies top is equipped with LDS component, if the barrier that sweeping robot encounters at this time is just above sweeping robot ontology and is lower than LDS component highest point Position when, sweeping robot ontology can not perceive the presence of the barrier, so that LDS component is easy to impinge upon obstacle On object, LDS component is caused to be damaged.

Utility model content

In view of above-mentioned analysis, the utility model is intended to provide a kind of sweeping robot with buffer layer, to solve The problem of being easy to happen damage in the existing sweeping robot walking process with LDS component.

The purpose of this utility model is mainly achieved through the following technical solutions:

A kind of sweeping robot with buffer layer, including sweeping robot ontology and LDS component, LDS component includes upper Lid, the outside wall surface of upper cover, which is equipped with, hits buffer layer.

Further, buffer layer is hit to be wrapped in the outside wall surface of upper cover.

Further, upper cover is arranged in buffer layer front side wall surface and/or rear side wall surface are hit；The front side wall surface of upper cover with Direction of advance and direction of retreat when rear side wall surface is respectively this body running of sweeping robot.

Further, buffer layer is hit to be detachably connected with upper cover.

Further, hitting buffer layer is buffer bar, and the outer peripheral surface of upper cover is equipped with the groove for installing fixed buffer bar.

Further, groove is arranged along the periphery surface helix of upper cover；It is set alternatively, groove is parallel with upper cover vertical centerline It sets.

Further, the quantity of buffer bar has multiple, and the end of buffer bar is uniformly arranged on the edge of upper cover.

Further, hitting buffer layer is anticollision ring, and anticollision ring is sheathed on the outer wall of upper cover.

Further, the height of anticollision ring is more than or equal to the thickness of upper cover.

Further, it hits buffer layer and is equipped with pre-buffering component.

Compared with prior art, the utility model at least has the following beneficial effects:

Sweeping robot provided by the utility model with buffer layer, sweeping robot bodies top are equipped with LDS component, Buffer layer is hit in the outside setting of upper cover, when LDS component and barrier collide, hit buffer layer can reduce barrier with Impact force between LDS component, reduces LDS component and collides the risk of damage, and the operation for improving sweeping robot is steady It is qualitative.

It in the utility model, can also be combined with each other between above-mentioned each technical solution, to realize more preferably combination sides Case.Other feature and advantage of the utility model will illustrate in the following description, also, certain advantages can be from specification It becomes apparent, or is understood and implementing the utility model.The purpose of this utility model and other advantages can pass through It is achieved and obtained in specifically noted content in bright book, claims and attached drawing.

Detailed description of the invention

Attached drawing is only used for showing the purpose of specific embodiment, and is not considered as limitations of the present invention, entire In attached drawing, identical reference symbol indicates identical component.

Fig. 1 is the top view of the sweeping robot in embodiment with buffer layer；

Fig. 2 is the main view of the sweeping robot in embodiment with buffer layer；

Fig. 3 is the positional diagram of the sweeping robot and barrier in embodiment with buffer layer.

Appended drawing reference:

1, sweeping robot ontology；2, LDS component；3, anticollision ring；4, barrier.

Specific embodiment

Specifically describe the preferred embodiment of the utility model with reference to the accompanying drawing, wherein attached drawing constitutes the application one Point, and be used to illustrate the principles of the present invention together with the embodiments of the present invention, it is not intended to limit the utility model Range.For each part position relations of clear statement sweeping robot, the word "front", "rear" of expression positional relationship is done as follows Agreement: with sweeping robot direction of advance for " preceding ", direction of retreat is " rear ".

One specific embodiment of the utility model discloses a kind of sweeping the floor with buffer layer as shown in Figure 1 to Figure 2 Robot, including sweeping robot ontology 1 and LDS component 2, LDS component 2 include upper cover, and the outside wall surface of upper cover, which is equipped with to hit, to be delayed Rush layer.Preferably, it hits buffer layer to be wrapped in the outside wall surface of upper cover, alternatively, hitting the front side wall that upper cover is arranged in buffer layer Face and/or rear side wall surface, the front side wall surface and rear side wall surface of upper cover are respectively direction of advance when sweeping robot ontology 1 works With direction of retreat.It is further preferred that hitting buffer layer is buffer bar, buffer bar has certain thickness and width, and extremely It is few that buffer bar is set on the upper cover side wall of sweeping robot direction of advance and direction of retreat, or in sweeping robot advance side There is buffer bar covering on the upper cover side wall with direction of retreat；Alternatively, hitting buffer layer is anticollision ring 3, anticollision ring 3 is sheathed on The outer wall of lid.When LDS component 2 and barrier 4 collide, hitting buffer layer can be reduced between barrier 4 and LDS component 2 Impact force, avoid LDS component 2 from damaging under shock.

For the ease of installation and replacement, hitting buffer layer with upper cover is to be detachably connected, the shock buffer layer installation of this structure It is more convenient, and the shock buffer layer of damage can be replaced in time.

In view of the mounting stability of buffer bar, the outer peripheral surface of upper cover is equipped with the groove for installing fixed buffer bar.It is recessed Slot is arranged along the periphery surface helix of upper cover；Alternatively, groove is arranged in parallel with upper cover vertical centerline, buffer bar is fixed on recessed In slot, the cross section of buffer bar is round or rectangle, and the diameter of buffer bar or height are greater than the depth of groove, this structure Shock buffer layer it is easy for installation, and the accident for effectively preventing buffer bar falls off.

For Promoting Layered Buffer effect, the quantity of buffer bar has multiple, and the end of buffer bar is uniformly arranged on the edge of upper cover. Illustratively, buffer bar is arranged in a crossed manner reticulates structure, and the end of buffer bar can exceed the edge upper surface of upper cover, can guarantee Anticollision within the scope of 360 °, the setting of buffer bar length are advisable with not influencing LDS work.

In the present embodiment, if shock buffer layer is anticollision ring 3, the height of anticollision ring 3 is more than or equal to the thickness of upper cover, preferably Ground, the height of anticollision ring 3 are greater than the thickness of upper cover, anticollision ring 3 can ensure on the upper lid of LDS component 2 beyond the part of upper cover, The collision of lower surface and barrier 4 is not damaged, and anticollision effect is more preferable, when setting, the lower end of anticollision ring 3 and the following table of upper cover Face maintains an equal level, otherwise the anti-setting broken would interfere with the normal work of LDS component 2 no more than upper cover lower surface, and anti-breaks Upper end can exceed the upper surface of upper cover.

It in order to further enhance buffering effect, hits buffer layer and is equipped with pre-buffering component, when LDS component 2 and barrier 4 are sent out When raw collision, barrier 4 collides with pre-buffering component first, therefore pre-buffering component is able to extend barrier 4 and LDS group Collision time between part 2 reduces impact pulse, reduces damage of the collision to sweeping robot.Preferably, pre-buffering component is Protrusion, protrusion have elasticity, and multiple protrusions, which are evenly distributed on, hits on buffer layer.

It in the present embodiment, hits buffer layer and is preferably made of elastic material, it is preferable that buffer bar is elastic rubber strip, is prevented Hitting ring 3 is rubber ring, and with the sweeping robot for hitting buffer layer made of elastic material, buffering and damping effect is more preferable, is extended The service life of LDS component 2, improves the operation stability of sweeping robot.

The sweeping robot with buffer layer of the present embodiment further includes the wheel for being set to 1 bottom of sweeping robot ontology Component and the controller moved for controlling sweeping robot, the top of sweeping robot ontology 1 are equipped with for installing LDS group The recessed portion of part 2, LDS component 2 are connected by the bottom of roll wheel assembly and recessed portion；Along sweeping robot direction of advance, recess The front side wall in portion is equipped with the first absorbent module, and the rear wall of recessed portion is equipped with trigger assembly；It is additionally provided with and is used in recessed portion Drive the reset assembly that LDS component 2 is mobile to the first absorbent module.LDS component 2 includes upper cover and cylinder, the diameter of recessed portion Diameter greater than cylinder and the diameter less than upper cover, the cylinder of LDS component 2 can be placed in recessed portion, and the bottom surface of recessed portion is set There is track, the cylinder bottom of LDS component 2 is equipped with roll wheel assembly, and LDS component 2 is moved in recessed portion by roll wheel assembly.Specifically , roll wheel assembly includes column, and column is connected by the lower surface of bolt and cylinder；Column two sides are equipped with idler wheel, idler wheel energy It is enough to be moved in the track for being set to recessed portion bottom.

In the present embodiment, under original state, the cylinder of LDS component 2 is contacted with the front side wall of recessed portion, is at this time LDS group The initial position of part 2, after LDS component 2 and barrier 4 collide, LDS component 2 is separated with the front side wall of recessed portion, to recessed The rear wall of concave portion is mobile, and the reset assembly that can be realized LDS component 2 recovery to initial position includes but do not limit following two Mode, first way, reset assembly are telescopic rod, and telescopic rod is set to the rear wall of recessed portion, the telescopic direction of telescopic rod with The longitudinal centre line of cylinder is vertical, by the elongation of telescopic rod, LDS component 2 is reset to initial position, is shunk with rear telescopic rod Restore reset condition.Preferably, the quantity of telescopic rod is two, specifically includes the first telescopic rod and the second telescopic rod, sets respectively The two sides up and down of trigger assembly are placed in, the movement of LDS component 2 can be made more steady, avoid damaging because of one of telescopic rod The reset for influencing LDS component 2, to improve the operation stability of sweeping robot.The second way, reset assembly are setting In the driving motor on roll wheel assembly, driving motor can drive roll wheel assembly to move LDS component 2 in recessed portion, when need When LDS component 2 being wanted to reset, controller controls driving motor driving roll wheel assembly movement, makes LDS component 2 by the rear side of recessed portion Wall is mobile to front side wall, until the cylinder of LDS component 2 is contacted with the front side wall of recessed portion.

In view of the cylinder of LDS component 2 is when contacting trigger assembly, if hitting, pressure is excessive to will cause trigger assembly damage It is bad, therefore in order to extend the service life of trigger assembly and improve the work operation stability of sweeping robot, in recessed portion Rear wall is equipped with guard assembly, and trigger assembly can retract into guard assembly, and can automatically reset, and illustratively, prevents Protecting assembly is the stereoplasm tube that section is rectangle or annular, and trigger assembly is connected by the rear wall of elastic parts and recessed portion, bullet The property preferred spring of component.Under natural conditions, trigger assembly and spring are located in guard assembly cavity, and trigger assembly stretches out and prevents Protecting assembly, when LDS component 2 is contacted with barrier 4 to trigger assembly movement, when touching trigger assembly, trigger assembly issues touching It stretches, is effectively prevented from because shock causes trigger assembly to damage backward while touching signal, to extend making for trigger assembly With the service life, the operational reliability of sweeping robot is improved.Subsequent LDS component 2 resets, when LDS component 2 leaves guard assembly Afterwards, trigger assembly restores under the elastic force effect of elastic parts to initial position.Preferably, trigger assembly is pressure sensor.

In order to accelerate the reset speed of LDS component 2, the preceding damaged surface of cylinder is equipped with the second absorbent module, the second absorption Component can be mobile to the first absorbent module under the drive of reset assembly, and mutually adsorbs with the first absorbent module and realize LDS group The reset of part 2, it is preferable that the first absorbent module and the second absorbent module are electromagnet, the first absorbent module and the second absorption Component has certain attraction, and the absorbent module of this structure can accelerate the reset speed of LDS component 2, improves machine of sweeping the floor The operational flexibility of people.

In the present embodiment, the top of sweeping robot ontology 1 is also provided with the biography for detecting 4 height of peripheral obstacle Sensor.When sweeping robot ontology 1 determine can be with region between barriers to entry object 4 and ground when, sweeping robot ontology 1 Front end portion enters the region, and sensor emits retrieval light beam to the top of sweeping robot ontology 1, according to light beam decision bits The region whether is able to enter in the LDS component 2 on sweeping robot ontology 1.When judgement LDS component 2 cannot be introduced into the region When, controller sends to wheel assembly and retreats instruction, exits the region using sweeping robot ontology 1, avoids LDS component 2 and barrier Object 4 is hindered to collide.

In the present embodiment, the work step of the sweeping robot with buffer layer is as follows:

Step 1: for LDS component 2 when being in contact with barrier 4, LDS component 2 is opposite to sweeping robot direction of travel Direction is mobile, and LDS component 2 is separated with the first absorbent module, and the first absorbent module is divided LDS component 2 and the first absorbent module Controller is sent to from signal.When LDS component 2 and barrier 4 collide, barrier 4 and LDS can be reduced by hitting buffer layer Impact force between component 2 avoids LDS component 2 from damaging under shock.

Step 2: when LDS component 2 is in contact with trigger assembly, collision alarm is generated, trigger assembly sends out collision alarm It send to controller, controller issues backing signal to wheel assembly, drives 4 region of sweeping robot exiting obstacles object；Specifically, control Device processed issues backing signal to wheel assembly, retreats wheel assembly, is advanced with the opposite direction of the current direction of travel of sweeping robot, To exit 4 region of barrier.

Step 3: when sweeping robot retreats, controller detects that wheel assembly rotated backward after the stipulated time, such as turns round After the dynamic at least second, controller control reset assembly is detached from LDS component 2 with trigger assembly and contacts with the first absorbent module, the 2 reset signal of LDS component of generation is sent to controller by one absorbent module, and controller controls reset assembly and resets.If resetting Component is telescopic rod, after controller detects that wheel assembly rotates backward, after a period of time, preferably second after, it is flexible to two Bar issues stretching signal separates the cylinder of LDS component 2 with trigger assembly, directly so that telescopic rod pushes forward LDS component 2 It is resetted to LDS component 2；If reset assembly is driving motor, after controller detects that wheel assembly rotates backward, sent out to driving motor Run signal out, driving motor push forward LDS component 2, separate the cylinder of LDS component 2 with trigger assembly, until LDS Component 2 resets, and after LDS component 2 and the contact of the first absorbent module, generates 2 reset signal of LDS component, the first absorbent module will 2 reset signal of LDS component is simultaneously sent to controller, and controller controls telescopic rod after receiving reset signal or driving motor resets.

In step 2, after controller receives separation signal, reduce-speed sign, controller control wheel group are sent to wheel assembly Part slows down, and reduces the current travel speed of sweeping robot；After deceleration reaches the stipulated time, preferably after deceleration second, if touching It sends out component and does not send collision alarm to controller, controller then sends driving signal to reset assembly, and reset assembly drives LDS Component 2 is mobile to the first absorbent module, until LDS component 2 is contacted with absorbent module, the first absorbent module is by the LDS group of generation 2 reset signal of part is sent to controller, and controller controls reset assembly and resets, and controls sweeping robot and restore travel speed.

Compared with prior art, sweeping robot provided in this embodiment is equipped with LDS group at the top of sweeping robot ontology 1 Part 2, when the barrier 4 of LDS component 2 and front collides, hitting buffer layer can be reduced between barrier 4 and LDS component 2 Impact force, avoid LDS component 2 from damaging under shock, Fig. 3 shows the position of sweeping robot and barrier with buffer layer Set relation schematic diagram.LDS component 2 can move in the recessed portion that the top of sweeping robot ontology 1 is arranged, along machine of sweeping the floor People's direction of advance, the front side wall of recessed portion are equipped with the first absorbent module, and the rear wall of recessed portion is equipped with trigger assembly, recess The reset assembly for driving LDS component 2 mobile to the first absorbent module is additionally provided in portion, the design of this structure can make sweeper Device people makes corresponding movement when LDS component 2 and the undetected barrier 4 of sweeping robot collide to exit this 4 region of barrier, and then be damaged after avoiding LDS component 2 from colliding with barrier 4, improve the operation of sweeper people Reliability extends the service life of LDS component.In addition, the top of sweeping robot ontology 1 is additionally provided with for hindering around detecting The sensor for hindering 4 height of object effectively prevents LDS component 2 and collides with barrier 4, reduces LDS component 2 and touch The bad risk of damage.

The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in Change or replacement, should be covered within the scope of the utility model.

Claims (10)

1. a kind of sweeping robot with buffer layer, including sweeping robot ontology and LDS component, the LDS component include Upper cover, which is characterized in that the outside wall surface of the upper cover, which is equipped with, hits buffer layer.

2. the sweeping robot according to claim 1 with buffer layer, which is characterized in that the shock buffer layer package In the outside wall surface of the upper cover.

3. the sweeping robot according to claim 1 with buffer layer, which is characterized in that the shock buffer layer setting In the front side wall surface and/or rear side wall surface of the upper cover；

Direction of advance when the front side wall surface and rear side wall surface of the upper cover are respectively described this body running of sweeping robot is with after Move back direction.

4. the sweeping robot according to claim 2 or 3 with buffer layer, which is characterized in that the shock buffer layer It is detachably connected with the upper cover.

5. the sweeping robot according to claim 4 with buffer layer, which is characterized in that the shock buffer layer is slow Item is rushed, the outer peripheral surface of the upper cover is equipped with the groove for installing the fixed buffer bar.

6. the sweeping robot according to claim 5 with buffer layer, which is characterized in that the groove is along the upper cover Periphery surface helix setting；Alternatively, the groove is arranged in parallel with the upper cover vertical centerline.

7. the sweeping robot according to claim 5 with buffer layer, which is characterized in that the quantity of the buffer bar has Multiple, the end of the buffer bar is uniformly arranged on the edge of the upper cover.

8. the sweeping robot according to claim 4 with buffer layer, which is characterized in that the shock buffer layer is anti- Ring is hit, the anticollision ring is sheathed on the outer wall of the upper cover.

9. the sweeping robot according to claim 8 with buffer layer, which is characterized in that the height of the anticollision ring is big In the thickness for being equal to the upper cover.

10. the sweeping robot according to claim 1 with buffer layer, which is characterized in that the shock buffer layer is set There is pre-buffering component.