JP2008284050A - Self-propelled apparatus - Google Patents

Self-propelled apparatus Download PDF

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Publication number
JP2008284050A
JP2008284050A JP2007130092A JP2007130092A JP2008284050A JP 2008284050 A JP2008284050 A JP 2008284050A JP 2007130092 A JP2007130092 A JP 2007130092A JP 2007130092 A JP2007130092 A JP 2007130092A JP 2008284050 A JP2008284050 A JP 2008284050A
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Japan
Prior art keywords
bumper
gap
self
concealment
main body
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JP2007130092A
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Japanese (ja)
Inventor
Hiroaki Kurihara
裕明 栗原
Kazunori Kurimoto
和典 栗本
Tadashi Nakatani
直史 中谷
Izumi Yamaura
泉 山浦
Osamu Eguchi
修 江口
Kazuhiro Kuroyama
和宏 黒山
Masakazu Onda
雅一 恩田
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Panasonic Corp
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Panasonic Corp
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Priority to JP2007130092A priority Critical patent/JP2008284050A/en
Publication of JP2008284050A publication Critical patent/JP2008284050A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled apparatus which prevents the intrusion of foreign matters into a gap between an apparatus body and a bumper to accurately operate the bumper, and always detecting an obstacle. <P>SOLUTION: The self-propelled apparatus includes an apparatus body 3, a driving portion 4 for automatically propelling the apparatus body 3, a bumper 5 movably disposed to the apparatus body 3 across a gap A, and gap covers 6 for gaps B between both ends of the bumper 5 and the apparatus body 3. The presence of the gap covers 6 prevents the intrusion of the foreign matter from the gaps B between both ends of the bumper 5 and the apparatus body 3, accurate operation of the bumper is obtained, and the obstacle is always detected. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、床面の清掃、部屋内の巡回監視、あるいはその他の作業などを自動的に行う自走式機器に関するものである。   The present invention relates to a self-propelled device that automatically performs floor cleaning, patrol monitoring in a room, or other operations.

従来、この種の自走式機器としては、機器本体の前面にバンパーを可動となるよう隙間を設けて配置し、バンパーの動作を検知することで障害物を検知して回避を行っているものが知られている（例えば、特許文献１参照）。
特開２００６−７２５０２号公報 Conventionally, as this kind of self-propelled equipment, a bumper is placed in front of the equipment body so that it can move, and a bumper is detected to detect obstacles and avoid it Is known (see, for example, Patent Document 1).
JP 2006-7502 A

しかしながら、前記従来の構成では、特に、異物が入り込みやすいバンパーの両端と機器本体との隙間対策がなされておらず、この隙間から異物が入り込んでバンパーが動作しなくなり、障害物検知が行われなくなるという課題を有していた。   However, in the above-described conventional configuration, no measures are taken particularly for the gap between the both ends of the bumper where the foreign object easily enters and the device main body, and the foreign substance enters through this gap, the bumper does not operate, and the obstacle detection is not performed. It had the problem that.

本発明は、前記従来の課題を解決するもので、機器本体とバンパーとの間の隙間へ異物が入り込むことをなくし、確実なバンパー動作を得て、常に障害物検知が行える自走式機器を提供することを目的とする。   The present invention solves the above-described conventional problems, and eliminates the entry of foreign matter into the gap between the device main body and the bumper, obtains a reliable bumper operation, and provides a self-propelled device that can always detect an obstacle. The purpose is to provide.

前記従来の課題を解決するために、本発明の自走式機器は、バンパーの両端と機器本体との隙間に隙間隠しを設けたものである。   In order to solve the above-mentioned conventional problems, the self-propelled device of the present invention is provided with a gap concealment in the gap between both ends of the bumper and the device main body.

これによって、隙間隠しの存在で、バンパーの両端と機器本体との隙間から異物が入り込むことがなくなり、確実なバンパー動作を得て、常に障害物検知が行えるものである。   Accordingly, foreign matter does not enter through the gap between the both ends of the bumper and the device main body due to the presence of the gap concealment, and a reliable bumper operation can be obtained and obstacle detection can always be performed.

本発明の自走式機器は、機器本体とバンパーとの間の隙間へ異物が入り込むことをなくし、確実なバンパー動作を得て、常に障害物検知が行えるものである。   The self-propelled device of the present invention eliminates the entry of foreign matter into the gap between the device body and the bumper, obtains a reliable bumper operation, and can always detect an obstacle.

第１の発明は、機器本体と、前記機器本体に配置され機器本体を自走させる駆動部と、前記機器本体の前面側に機器本体に対し可動となるよう隙間を設けて配置されるバンパーと、前記バンパーの両端と機器本体との隙間に設けた隙間隠しとを備えた自走式機器とすることにより、隙間隠しの存在で、バンパーの両端と機器本体との隙間から異物が入り込むことがなくなり、確実なバンパー動作を得て、常に障害物検知が行えるものである。   A first invention includes a device main body, a drive unit that is disposed in the device main body and causes the device main body to self-run, and a bumper that is disposed on the front side of the device main body with a gap so as to be movable with respect to the device main body. By using a self-propelled device provided with a gap concealment provided in the gap between both ends of the bumper and the device body, foreign matter can enter from the gap between the bumper both ends and the device body due to the presence of the gap concealment. This eliminates the need for reliable bumper operation and always detects obstacles.

第２の発明は、特に、第１の発明において、隙間隠しは機器本体に設け、バンパーの可動時に押されて動作する構成としたことにより、バンパーと隙間隠しが接触するため、より確実に機器本体とバンパーの隙間を覆うことができる。   In the second invention, in particular, in the first invention, the gap concealment is provided in the apparatus main body, and is configured to operate by being pushed when the bumper is moved. Can cover the gap between the main body and the bumper.

第３の発明は、特に、第２の発明において、バンパーには可動時に隙間隠しを押し込むための押し込み部を有する構成としたことにより、バンパー動作時に隙間隠しを動作させやすくできる。   In the third aspect of the invention, in particular, in the second aspect of the invention, the bumper has a pushing portion for pushing the gap concealment when it is movable, so that the gap concealment can be easily operated during the bumper operation.

第４の発明は、特に、第２または第３の発明において、隙間隠しは機器本体に対して回転自在に設け、バンパーに押され回転動作する構成としたことにより、容易に隙間隠しを平行移動させ隙間隠し動作をさせることができる。   In the fourth aspect of the invention, in particular, in the second or third aspect of the invention, the gap concealment is provided so as to be rotatable with respect to the main body of the apparatus, and the gap concealment is easily moved in parallel by being pushed by the bumper. The gap can be hidden.

第５の発明は、特に、第１〜第４のいずれか１つの発明において、隙間隠しは弾性体で構成された隙間隠し変形部を有する構成としたことにより、バンパーの隙間隠しと向かい合う箇所の形状によって隙間隠しが変形するため、より確実に機器本体とバンパーの隙間を覆うことができる。   In the fifth aspect of the invention, in particular, in any one of the first to fourth aspects of the invention, the gap concealment is configured to have a gap concealment deformed portion formed of an elastic body, so that the portion facing the gap concealment of the bumper is provided. Since the gap concealment is deformed depending on the shape, the gap between the device main body and the bumper can be covered more reliably.

第６の発明は、特に、第１の発明において、隙間隠しはバンパーと機器本体の両方に回転自在に設けたことにより、より確実に機器本体とバンパーの隙間を覆うことができる。   In the sixth invention, in particular, in the first invention, the gap concealment is provided rotatably on both the bumper and the apparatus main body, so that the gap between the apparatus main body and the bumper can be covered more reliably.

第７の発明は、特に、第６の発明において、隙間隠しはバンパーの動きに連動して動作する動作連動機構を有する構成としたことにより、バンパーが動作した際に動作連動機構を介して隙間隠しを確実に動作できる。   In a seventh aspect of the invention, in particular, in the sixth aspect of the invention, the gap concealment has an operation interlocking mechanism that operates in conjunction with the movement of the bumper. It can work reliably.

第８の発明は、特に、第１〜第７のいずれか１つの発明において、隙間隠しはバンパーと機器本体との隙間を隠す隠し部をバンパーと非接触状態に構成したことにより、バンパー動作に伴いバンパーと隙間隠しの隠し部に摺動などが生じて傷が生じてしまうことがない。   In an eighth aspect of the invention, in particular, in any one of the first to seventh aspects of the invention, the concealment of the gap is configured so that the concealment portion that conceals the gap between the bumper and the device body is in a non-contact state with the bumper. As a result, the bumper and the concealed portion where the gap is concealed are not slid to cause damage.

以下、本発明の実施の形態について、図面を参照しながら説明する。なお、この実施の形態によって本発明が限定されるものではない。   Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

（実施の形態１）
図１、図２は、本発明の実施の形態１における自走式機器を示している。 (Embodiment 1)
1 and 2 show a self-propelled device according to Embodiment 1 of the present invention.

図１に示すように、本実施の形態における自走式機器は、自走式の機器本体３と、機器本体３の底面に配置され機器本体３を自走させる、一対の車輪とこれを駆動するモータからなる駆動部４と、機器本体３の前面側に機器本体３に対し水平方向に可動となるよう隙間Ａを設けて配置されるバンパー５と、バンパー５の両端と機器本体３との隙間Ｂにそれぞれ設けた隙間隠し６とを備えている。   As shown in FIG. 1, the self-propelled device in the present embodiment is a self-propelled device main body 3, a pair of wheels that are disposed on the bottom surface of the device main body 3 and cause the device main body 3 to self-drive and drive this A drive unit 4 composed of a motor to be operated, a bumper 5 disposed on the front side of the device body 3 with a gap A so as to be movable in the horizontal direction with respect to the device body 3, both ends of the bumper 5, and the device body 3 A gap concealment 6 provided in each of the gaps B is provided.

隙間Ａ、Ｂは、バンパー５が可動するための空間を確保するためのものである。隙間隠し６は、バンパー５の両端と機器本体３との隙間Ｂを覆うように配置されている。   The gaps A and B are for securing a space for the bumper 5 to move. The gap concealment 6 is arranged so as to cover the gap B between the both ends of the bumper 5 and the device main body 3.

図２に示すように、隙間隠し６は、隙間隠し動作部８と隙間隠し動作バネ９と隙間隠し動作レール（案内部）１０から構成されている。バンパー５が前後方向に動作しても左右方向に動作しても隙間隠し動作部８が隙間隠し動作レール１０方向に動作するようになっている。また、バンパー５の両端内側には押し込み部７を設けており、隙間隠し動作部８の押し込み部７と接触する箇所には傾斜部８ａを設けている。   As shown in FIG. 2, the gap concealment 6 includes a gap concealment operation part 8, a gap concealment operation spring 9, and a gap concealment operation rail (guide part) 10. Regardless of whether the bumper 5 operates in the front-rear direction or in the left-right direction, the gap concealment operating unit 8 operates in the direction of the gap concealment operation rail 10. In addition, a pushing portion 7 is provided inside the both ends of the bumper 5, and an inclined portion 8 a is provided at a location where the pushing portion 7 of the gap concealing operation portion 8 comes into contact.

図２（ａ）の通常の状態からバンパー５が障害物に当たると、図２（ｂ）のようにバンパー５は押し込まれ、隙間隠し６も隙間隠し動作レール１０に沿って押し込まれる。また、隙間隠し動作バネ９は隙間隠し動作部８によって縮められる。   When the bumper 5 hits an obstacle from the normal state of FIG. 2A, the bumper 5 is pushed in as shown in FIG. 2B, and the gap concealment 6 is also pushed along the gap concealment operation rail 10. Further, the gap hiding operation spring 9 is contracted by the gap hiding operation portion 8.

以上のように構成された自走式機器について、以下その動作、作用を説明する。   About the self-propelled apparatus comprised as mentioned above, the operation | movement and an effect | action are demonstrated below.

まず、自走式機器を起動すると、駆動部４が駆動され機器本体３が移動する。続いて、機器本体３が作業中に障害物に当たるとバンパー５が押される。バンパー５の動作に伴ってバンパー５に設けた押し込み部７が隙間隠し動作部８の傾斜部８ａを押す。バンパー５が左右方向に動作した場合に隙間隠し動作部８はそのままバンパー５とともに移動する。バンパー５が前後方向に動作した場合にも隙間隠し動作部８は傾斜部８ａによって、バンパー５の動作方向とは異なり隙間隠し動作レール１０方向へと押し込まれる。隙間隠し動作部８が押し込まれる際、隙間隠し動作バネ９が隙間隠し動作部８により縮められる。   First, when the self-propelled device is activated, the drive unit 4 is driven and the device main body 3 moves. Subsequently, the bumper 5 is pushed when the device body 3 hits an obstacle during work. As the bumper 5 moves, the pushing portion 7 provided on the bumper 5 pushes the inclined portion 8 a of the gap concealing operation portion 8. When the bumper 5 moves in the left-right direction, the gap concealment operation unit 8 moves with the bumper 5 as it is. Even when the bumper 5 is moved in the front-rear direction, the gap concealment operating portion 8 is pushed by the inclined portion 8 a toward the gap concealment operation rail 10, unlike the operation direction of the bumper 5. When the gap concealment operation unit 8 is pushed in, the gap concealment operation spring 9 is contracted by the gap concealment operation unit 8.

機器本体３が障害物を回避すると、バンパー５は初期位置に戻る。隙間隠し動作部８も押し込まれる際に縮められた隙間隠し動作バネ９によって元の位置に戻ろうとするため、バンパー５と隙間隠し６は接触したまま移動する。このため、機器本体３とバンパー５の間の隙間は常に覆われており、隙間に異物が入り込むことはない。また、隙間隠し動作部８とバンパー５は接触しているため、隙間隠し動作部８が初期位置に戻るよう隙間隠し動作バネ９から加えられている力がバンパー５の動作を助ける。   When the device body 3 avoids the obstacle, the bumper 5 returns to the initial position. The bumper 5 and the gap concealment 6 move in contact with each other because the gap concealment operation unit 8 tries to return to the original position by the gap concealment operation spring 9 which is contracted when the gap concealment operation unit 8 is pushed. For this reason, the clearance gap between the apparatus main body 3 and the bumper 5 is always covered, and a foreign material does not enter into the clearance gap. Further, since the gap concealing operation part 8 and the bumper 5 are in contact with each other, the force applied from the gap concealing operation spring 9 helps the operation of the bumper 5 so that the gap concealing operation part 8 returns to the initial position.

バンパー５が初期状態にある場合から障害物により押し込まれ、再び元の初期位置に戻るまでバンパー５と隙間隠し６は常に接しているためバンパー５と機器本体３の間の隙間に異物が入り込むことはない。   Since the bumper 5 and the gap concealment 6 are always in contact with each other until the bumper 5 is pushed in by an obstacle after the bumper 5 is in the initial state and returns to the original initial position again, foreign matter enters the gap between the bumper 5 and the device body 3. There is no.

このように、本実施の形態では、隙間隠し６の存在で、バンパー５の両端と機器本体３との隙間から異物が入り込むことがなくなり、確実なバンパー動作を得て、常に障害物検知が行えるものである。   As described above, in the present embodiment, the presence of the gap concealment 6 prevents foreign matter from entering through the gap between the both ends of the bumper 5 and the device main body 3, and a reliable bumper operation can be obtained and obstacle detection can always be performed. Is.

（実施の形態２）
図３は、本発明の実施の形態２における自走式機器の隙間隠し部分を示している。自走式機器の構成については実施の形態１と同じであるのでその説明を省略する。 (Embodiment 2)
FIG. 3 shows a gap hidden portion of the self-propelled device according to the second embodiment of the present invention. Since the configuration of the self-propelled device is the same as that of the first embodiment, the description thereof is omitted.

図に示すように、本実施の形態における自走式機器の隙間隠し６は、一端を回転軸１１により機器本体３に回動自在に取り付けており、回転軸１１には隙間隠し回転バネ１２が設けられ、隙間隠し６の他端をバンパー５の端部側へ付勢している。また、隙間隠し６の他端を構成する先端部分はゴムなどの弾性体で構成された隙間隠し変形部１３となっている。   As shown in the figure, the gap concealment 6 of the self-propelled device according to the present embodiment is rotatably attached to the device body 3 at one end by a rotation shaft 11, and the rotation shaft 11 has a gap concealment rotary spring 12. It is provided, and the other end of the gap concealment 6 is urged toward the end of the bumper 5. Moreover, the front-end | tip part which comprises the other end of the gap concealment 6 is the gap concealment deformation | transformation part 13 comprised with elastic bodies, such as rubber | gum.

これにより、図３（ａ）のように、通常は隙間隠し６が隙間隠し回転バネ１２によって回転し、隙間隠し変形部１３がバンパー５に押し当てられ、隙間隠し変形部１３はバンパー５と接触している箇所で変形している。バンパー５が押し込まれると、図３（ｂ）のような状態になる。   Accordingly, as shown in FIG. 3A, the gap concealment 6 is normally rotated by the gap concealment rotary spring 12, and the gap concealment deformation portion 13 is pressed against the bumper 5, and the gap concealment deformation portion 13 contacts the bumper 5. It is deformed in the part that is. When the bumper 5 is pushed in, the state shown in FIG.

以上のように構成された自走式機器について、以下その動作、作用を説明する。   About the self-propelled apparatus comprised as mentioned above, the operation | movement and an effect | action are demonstrated below.

まず、機器本体３が作業中に障害物に当たるとバンパー５が押される。バンパー５が前後方向に動作した場合には、バンパー５は隙間隠し６をほとんど押し込むことなく隙間隠し６の表面を滑りつつ進む。   First, when the apparatus main body 3 hits an obstacle during work, the bumper 5 is pushed. When the bumper 5 moves in the front-rear direction, the bumper 5 advances while sliding on the surface of the gap concealment 6 with almost no depression of the gap concealment 6.

バンパー５が左右方向に動作した場合には、バンパー５は隙間隠し６を押し込む。隙間隠し６は回転軸１１を中心に回転することで、バンパー５と同時に動作するが、隙間隠し変形部１３がバンパー５に押されてさらに変形するため、バンパー５の移動量に対し隙間隠し６は少ない移動量しか移動しない。また、隙間隠し変形部１３がバンパー５に押され変形するため、バンパー５と隙間隠し６は密着しており、隙間に異物が入り込むことはない。   When the bumper 5 moves in the left-right direction, the bumper 5 pushes in the gap concealment 6. The gap concealment 6 operates simultaneously with the bumper 5 by rotating around the rotating shaft 11. However, since the gap concealment deforming portion 13 is further deformed by being pushed by the bumper 5, the gap concealment 6 with respect to the movement amount of the bumper 5. Moves only a small amount of movement. Further, since the gap concealment deforming portion 13 is pushed and deformed by the bumper 5, the bumper 5 and the gap concealment 6 are in close contact with each other, and no foreign matter enters the gap.

続いて、機器本体３が障害物を回避すると、バンパー５は初期位置に戻る。隙間隠し６も押し込まれる際に縮められた隙間隠し回転バネ１２によって元の位置に戻ろうとするため、バンパー５と隙間隠し６は接触したまま移動する。このため、機器本体３とバンパー５の間の隙間は常に覆われており、隙間に異物が入り込むことはない。   Subsequently, when the device body 3 avoids the obstacle, the bumper 5 returns to the initial position. The bumper 5 and the gap concealment 6 are moved while in contact with each other because the gap concealment 6 is also pushed into the original position by the gap concealment rotary spring 12 contracted. For this reason, the clearance gap between the apparatus main body 3 and the bumper 5 is always covered, and a foreign material does not enter into the clearance gap.

またバンパー５が押し込まれた際、バンパー５によってより変形させられた隙間隠し変形部１３も元の形状に戻ろうとする。   Further, when the bumper 5 is pushed in, the gap concealing deformed portion 13 further deformed by the bumper 5 also tries to return to the original shape.

隙間隠し６とバンパー５は接触しているため、隙間隠し６が初期位置に戻るよう隙間隠し回転バネ１２から加えられている力がバンパー５の動作を助ける。また、隙間隠し変形部１３が元の形状に戻ろうとする力もバンパー５の動作を助けるよう働く。   Since the gap concealment 6 and the bumper 5 are in contact with each other, the force applied from the gap concealment rotary spring 12 helps the operation of the bumper 5 so that the gap concealment 6 returns to the initial position. Further, the force with which the gap concealment deforming portion 13 tries to return to the original shape also works to assist the operation of the bumper 5.

このように、本実施の形態では、バンパー５が初期状態にある場合から障害物により押し込まれ、再び元の初期位置に戻るまでバンパー５と隙間隠し６は常に接しているため、バンパー５と機器本体３の間の隙間に異物が入り込むことはない。   As described above, in the present embodiment, the bumper 5 and the gap concealment 6 are always in contact with each other until the bumper 5 is pushed by an obstacle from the initial state and returns to the original initial position again. Foreign matter does not enter the gap between the main bodies 3.

（実施の形態３）
図４は、本発明の実施の形態３における自走式機器の隙間隠し部分を示している。自走式機器の構成については実施の形態１と同じであるのでその説明を省略する。 (Embodiment 3)
FIG. 4 shows a gap hidden portion of the self-propelled device according to the third embodiment of the present invention. Since the configuration of the self-propelled device is the same as that of the first embodiment, the description thereof is omitted.

図に示すように、本実施の形態における自走式機器の隙間隠し６は、略Ｖ字形状をした動作連動機構１４と、バンパー５と機器本体３との隙間を隠す隠し部１５とから構成されている。動作連動機構１４は略Ｖ字形状の腕構造を有しており、一端には隠し部１５を取り付けている。また、動作連動機構１４の他端はバンパー５の裏面に回転可能に固定されている。また、動作連動機構１４の屈曲部は機器本体３に対し回転可能に固定されている。そして、動作連動機構１４と機器本体３の固定位置は、動作連動機構１４とバンパー５との固定位置よりも機器本体３の前側（図では上方側）に位置している。   As shown in the figure, the gap concealment 6 of the self-propelled device in the present embodiment is composed of a substantially V-shaped motion interlocking mechanism 14 and a concealing portion 15 that conceals the gap between the bumper 5 and the device body 3. Has been. The motion interlocking mechanism 14 has a substantially V-shaped arm structure, and a hidden portion 15 is attached to one end. Further, the other end of the operation interlocking mechanism 14 is rotatably fixed to the back surface of the bumper 5. Further, the bent portion of the operation interlocking mechanism 14 is fixed to the device main body 3 so as to be rotatable. And the fixed position of the operation | movement interlocking mechanism 14 and the apparatus main body 3 is located in the front side (upper side in the figure) of the apparatus main body 3 rather than the fixing position of the operation | movement interlocking mechanism 14 and the bumper 5. FIG.

さらに、隠し部１５はバンパー５とも機器本体３とも接触しない非接触状態に構成されており、機器本体３には隠し部１５が動作する軌跡に沿って壁面１６が設けられている。   Further, the hidden portion 15 is configured in a non-contact state in which neither the bumper 5 nor the device main body 3 is in contact, and the device main body 3 is provided with a wall surface 16 along a locus along which the hidden portion 15 operates.

図４（ａ）は、バンパー５が押し込まれていない通常状態であり、図４（ｂ）は、バンパー５が押し込まれた時の状態を示している。   FIG. 4A shows a normal state where the bumper 5 is not pushed in, and FIG. 4B shows a state when the bumper 5 is pushed.

以上のように構成された自走式機器について、以下その動作、作用を説明する。   About the self-propelled apparatus comprised as mentioned above, the operation | movement and an effect | action are demonstrated below.

まず、自走式機器が作業中に障害物に当たるとバンパー５が押される。バンパー５と動作連動機構１４は固定されているため、バンパー５の動作に伴って動作連動機構１４も動作する。動作連動機構１４は同時に機器本体３と隠し部１５とも接続されているため、隠し部１５は機器本体３に対して常に一定の軌跡上に乗って動作する（図４（ｂ）の状態）。   First, when the self-propelled device hits an obstacle during work, the bumper 5 is pushed. Since the bumper 5 and the operation interlocking mechanism 14 are fixed, the operation interlocking mechanism 14 also operates as the bumper 5 operates. Since the operation interlocking mechanism 14 is simultaneously connected to the device main body 3 and the concealing portion 15, the concealing portion 15 always operates on a fixed locus with respect to the device main body 3 (state shown in FIG. 4B).

隠し部１５が機器本体３に対して常に一定の軌跡上に乗って動作するため、隠し部１５と壁面１６の間隔が狭くても、隠し部１５と壁面１６が接触することはない。   Since the hidden portion 15 always operates on a fixed locus with respect to the device body 3, the hidden portion 15 and the wall surface 16 do not come into contact with each other even if the distance between the hidden portion 15 and the wall surface 16 is narrow.

また、動作連動機構１４と機器本体３の固定位置は、動作連動機構１４とバンパー５との固定位置よりも機器本体３の前側に位置しているため、バンパー５が前方から押された場合も左方から押された場合も隠し部１５は同じ方向に回転するように動作する。   In addition, since the fixing position of the motion interlocking mechanism 14 and the device main body 3 is located on the front side of the device main body 3 with respect to the fixing position of the motion interlocking mechanism 14 and the bumper 5, the bumper 5 may be pushed from the front. Even when pressed from the left, the hidden portion 15 operates to rotate in the same direction.

隠し部１５はバンパー５と接触していないため、隠し部１５に摺動などによって傷が生じることはない。   Since the hidden portion 15 is not in contact with the bumper 5, the hidden portion 15 is not damaged by sliding or the like.

続いて、機器本体３が障害物を回避すると、バンパー５は初期位置に戻る。バンパー５と動作連動機構１４は回動自在であるため、バンパー５が初期位置に戻るとともに隙間隠し６も初期位置に戻る。   Subsequently, when the device body 3 avoids the obstacle, the bumper 5 returns to the initial position. Since the bumper 5 and the operation interlocking mechanism 14 are rotatable, the bumper 5 returns to the initial position and the gap concealment 6 also returns to the initial position.

このように、本実施の形態では、隙間隠し６はバンパー５と機器本体３の両方に回転自在に設けたことにより、より確実に機器本体３とバンパー５の隙間を覆うことができる。   As described above, in the present embodiment, the gap concealment 6 is provided rotatably on both the bumper 5 and the apparatus main body 3, so that the gap between the apparatus main body 3 and the bumper 5 can be covered more reliably.

また、隙間隠し６はバンパー５の動きに連動して動作する動作連動機構１４を有する構成としたことにより、バンパー５が動作した際に動作連動機構１４を介して隙間隠し６を確実に動作できる。   Further, since the gap concealment 6 has an operation interlocking mechanism 14 that operates in conjunction with the movement of the bumper 5, the gap concealment 6 can be reliably operated via the operation interlocking mechanism 14 when the bumper 5 operates. .

さらに、隙間隠し６はバンパー５と機器本体３との隙間を隠す隠し部１５をバンパー５と非接触状態に構成したことにより、バンパー動作に伴いバンパー５と隙間隠し６の隠し部１５に摺動などが生じて傷が生じてしまうことがないものである。   Furthermore, the gap concealment 6 slides on the bumper 5 and the concealment part 15 of the concealment concealment 6 in accordance with the bumper operation by configuring the concealment part 15 that conceals the gap between the bumper 5 and the device body 3 so as not to contact the bumper 5. And the like are not damaged.

なお、上記した各実施の形態１〜３における構成は、必要に応じて適宜組み合わせて使用することができるものであり、実施の形態そのものの構成に限られるものではない。   Note that the configurations in the first to third embodiments described above can be used in appropriate combinations as needed, and are not limited to the configurations of the embodiments themselves.

以上のように、本発明にかかる自走式機器は、機器本体とバンパーとの間の隙間へ異物が入り込むことをなくし、確実なバンパー動作を得て、常に障害物検知が行えるものであるので、床面の清掃、部屋内の巡回監視、あるいはその他の作業などを自動的に行う自走式機器全般に適用できる。   As described above, the self-propelled device according to the present invention eliminates the entry of foreign matter into the gap between the device body and the bumper, obtains a reliable bumper operation, and can always detect an obstacle. It can be applied to all types of self-propelled devices that automatically perform floor cleaning, patrol monitoring in the room, or other work.

本発明の実施の形態１における自走式機器の平面図The top view of the self-propelled apparatus in Embodiment 1 of this invention （ａ）同自走式機器の通常時における隙間隠し部分の構成図（ｂ）同自走式機器のバンパー押し込み時における隙間隠し部分の構成図(A) Configuration diagram of the concealed portion of the self-propelled device during normal operation (b) Configuration diagram of the concealed portion of the self-propelled device when the bumper is pushed in （ａ）本発明の実施の形態２における自走式機器の通常時における隙間隠し部分の構成図（ｂ）同自走式機器のバンパー押し込み時における隙間隠し部分の構成図(A) Configuration diagram of the gap concealment portion during normal operation of the self-propelled device according to Embodiment 2 of the present invention (b) Configuration diagram of the gap concealment portion when the bumper is pushed in the self-propelled device （ａ）本発明の実施の形態３における自走式機器の通常時における隙間隠し部分の構成図（ｂ）同自走式機器のバンパー押し込み時における隙間隠し部分の構成図(A) Configuration diagram of the gap concealment portion during normal operation of the self-propelled device according to Embodiment 3 of the present invention (b) Configuration diagram of the gap concealment portion when the bumper is pushed in the self-propelled device

符号の説明Explanation of symbols

３ 機器本体
４ 駆動部
５ バンパー
６ 隙間隠し
７ 押し込み部
１１ 回転軸
１３ 隙間隠し変形部
１４ 動作連動機構
１５ 隠し部 DESCRIPTION OF SYMBOLS 3 Device main body 4 Drive part 5 Bumper 6 Gap concealment 7 Push-in part 11 Rotating shaft 13 Gap concealment deformation part 14 Operation interlocking mechanism 15 Concealment part

Claims (8)

機器本体と、前記機器本体に配置され機器本体を自走させる駆動部と、前記機器本体の前面側に機器本体に対し可動となるよう隙間を設けて配置されるバンパーと、前記バンパーの両端と機器本体との隙間に設けた隙間隠しとを備えた自走式機器。 A device main body, a drive unit disposed in the device main body and allowing the device main body to self-run, a bumper disposed on the front side of the device main body so as to be movable with respect to the device main body, and both ends of the bumper A self-propelled device with a gap concealment provided in the gap with the device body. 隙間隠しは機器本体に設け、バンパーの可動時に押されて動作する構成とした請求項１に記載の自走式機器。 The self-propelled device according to claim 1, wherein the gap concealment is provided in the device main body and is operated by being pushed when the bumper is movable. バンパーには可動時に隙間隠しを押し込むための押し込み部を有する構成とした請求項２に記載の自走式機器。 The self-propelled device according to claim 2, wherein the bumper has a pushing portion for pushing the gap concealment when movable. 隙間隠しは機器本体に対して回転自在に設け、バンパーに押され回転動作する構成とした請求項２または３に記載の自走式機器。 The self-propelled device according to claim 2 or 3, wherein the gap concealment is provided so as to be rotatable with respect to the device body and is configured to rotate by being pushed by a bumper. 隙間隠しは弾性体で構成された隙間隠し変形部を有する構成とした請求項１〜４のいずれか１項に記載の自走式機器。 The self-propelled device according to any one of claims 1 to 4, wherein the gap concealment includes a gap concealed deformable portion made of an elastic body. 隙間隠しはバンパーと機器本体の両方に回転自在に設けた請求項１に記載の自走式機器。 The self-propelled device according to claim 1, wherein the gap concealment is provided rotatably on both the bumper and the device main body. 隙間隠しはバンパーの動きに連動して動作する動作連動機構を有する構成とした請求項６に記載の自走式機器。 The self-propelled device according to claim 6, wherein the gap concealment includes an operation interlocking mechanism that operates in conjunction with the movement of the bumper. 隙間隠しはバンパーと機器本体との隙間を隠す隠し部をバンパーと非接触状態に構成した請求項１〜７のいずれか１項に記載の自走式機器。 The self-propelled device according to any one of claims 1 to 7, wherein the concealment portion is configured such that a concealing portion that conceals a gap between the bumper and the device main body is in a non-contact state with the bumper.
JP2007130092A 2007-05-16 2007-05-16 Self-propelled apparatus Pending JP2008284050A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
JP2007130092A JP2008284050A (en) 2007-05-16 2007-05-16 Self-propelled apparatus

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JP2008284050A true JP2008284050A (en) 2008-11-27

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Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022544244A (en) * 2019-09-30 2022-10-17 アイロボット・コーポレーション Vertical Sensing in Autonomous Cleaning Robots

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022544244A (en) * 2019-09-30 2022-10-17 アイロボット・コーポレーション Vertical Sensing in Autonomous Cleaning Robots
JP7322281B2 (en) 2019-09-30 2023-08-07 アイロボット・コーポレーション Vertical Sensing in Autonomous Cleaning Robots
US11793385B2 (en) 2019-09-30 2023-10-24 Irobot Corporation Vertical sensing in an autonomous cleaning robot
JP7408227B2 (en) 2019-09-30 2024-01-05 アイロボット・コーポレーション Vertical sensing in autonomous cleaning robots

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