TWI513443B - Cleaning robots - Google Patents
Cleaning robots Download PDFInfo
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- TWI513443B TWI513443B TW101134541A TW101134541A TWI513443B TW I513443 B TWI513443 B TW I513443B TW 101134541 A TW101134541 A TW 101134541A TW 101134541 A TW101134541 A TW 101134541A TW I513443 B TWI513443 B TW I513443B
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- electric blower
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Description
本發明係關於在地板上自走之清掃機器人。The present invention relates to a cleaning robot that walks on the floor.
先前之清掃機器人揭示於專利文獻1。該清掃機器人之俯視時大致圓形之本體框體於地板上自走而進行清掃。此時，為清掃桌子等之下方，本體框體需形成為高度低之薄型。於本體框體中設置自底面突出之驅動輪及從動輪。從動輪相對於驅動輪配置於清掃時之行進方向之前方。The previous cleaning robot is disclosed in Patent Document 1. The body frame of the substantially circular shape of the cleaning robot is self-propelled on the floor for cleaning. At this time, in order to clean the table or the like, the main body frame needs to be formed into a low profile. A driving wheel and a driven wheel protruding from the bottom surface are disposed in the body frame. The driven wheel is disposed in front of the traveling direction of the cleaning wheel with respect to the driving wheel.
於作為清掃時之行進方向之前方的本體框體之前部之下表面開有吸入口，於後部之周面開有排氣口。於本體框體內將具有電動送風機及集塵部之吸塵部配置於驅動輪之後方。電動送風機產生自吸入口吸入之吸入氣流，集塵部捕集吸入氣流中所含之塵埃。A suction port is formed on the lower surface of the front portion of the main body frame before the traveling direction as the cleaning direction, and an exhaust port is formed on the circumferential surface of the rear portion. A dust collecting portion having an electric blower and a dust collecting portion is disposed behind the driving wheel in the main body casing. The electric blower generates a suction airflow sucked from the suction port, and the dust collecting portion traps the dust contained in the suction airflow.
吸入口與集塵部之間及集塵部與排氣口之間藉由管道連結，電動送風機配置於管道內。此時，由於集塵部係裝卸自如地配置，故介由襯墊將氣流之流入口及流出口密接於管道。The electric blower is disposed in the duct between the suction port and the dust collecting portion and between the dust collecting portion and the exhaust port by a pipe. At this time, since the dust collecting portion is detachably disposed, the flow inlet and the outlet of the air flow are in close contact with the duct through the gasket.
又，於本體框體內，具有對電動送風機及驅動輪等之各部供給電力之電池及控制電路，且設置控制各部之控制基板。Further, in the main body casing, a battery and a control circuit for supplying electric power to each of the electric blower and the drive wheel are provided, and a control board for controlling each unit is provided.
上述構成之清掃機器人中，當開始清掃作業時，使驅動輪及電動送風機驅動。本體框體藉由驅動輪及從動輪之旋轉而於室內之地板上前後自走，並藉由電動送風機之驅動 將含有塵埃之氣流自配置於前部之吸入口吸入。氣流中所含之塵埃由配置於本體框體之後部之集塵部收集，並將除去塵埃後之氣流通過電動送風機自排氣口向後方排放。藉此進行地板之清掃，並將集塵部拆卸以丟棄堆積於集塵部之塵埃。In the cleaning robot configured as described above, the drive wheel and the electric blower are driven when the cleaning operation is started. The main body frame is self-propelled on the floor of the room by the rotation of the driving wheel and the driven wheel, and is driven by the electric blower The air containing dust is sucked from the suction port disposed at the front. The dust contained in the airflow is collected by the dust collecting portion disposed at the rear of the main body casing, and the airflow after the dust is removed is discharged to the rear through the electric blower from the exhaust port. The floor is cleaned and the dust collecting portion is removed to discard the dust deposited on the dust collecting portion.
[專利文獻1]日本特開2007-167617號公報(第6頁-第10頁，圖2)[Patent Document 1] Japanese Laid-Open Patent Publication No. 2007-167617 (page 6 - page 10, Fig. 2)
配置於本體框體內之電動送風機重量較量，且集塵部會因塵埃之堆積而重量增加。因此，根據於驅動輪之後方配置有電動送風機及集塵部之上述先前之清掃機器人，驅動輪之後方會變得比前方重。此時，若本體框體後退而在下樓階梯等之階差前突然停止，則重心會向後方移動，而有因驅動輪更後方之重量導致本體框體自階差落下而破損之虞。又，塵埃一旦於集塵部堆積，則驅動輪更後方之重量進而增加，因而使得本體框體更容易自階差落下。The weight of the electric blower disposed in the body frame is increased, and the dust collecting portion is increased in weight due to accumulation of dust. Therefore, according to the above-described cleaning robot in which the electric blower and the dust collecting portion are disposed behind the driving wheel, the driving wheel becomes heavier than the front. At this time, if the main body frame retreats and suddenly stops before the step of the lower stairs or the like, the center of gravity moves backward, and the main body frame is broken due to the weight of the rear side of the driving wheel. Further, once the dust is deposited in the dust collecting portion, the weight of the rear side of the driving wheel is further increased, so that the main body casing is more likely to fall from the step.
驅動輪之前方之重量變得比後方重之情形亦相同，於本體框體前進時，有自下樓階梯等之階差落下之虞。The weight of the front side of the driving wheel becomes the same as that of the rear side. When the main body frame advances, there is a step from the step of the stairs down the stairs.
又，根據上述先前之清掃機器人，於本體框體之前部設置吸入口，且於後部設置電動送風機及排氣口。因此，在本體框體內於前後延長形成連通吸入口與排氣口之氣流之 通路。又，控制基板相對於集塵部分散配置於左右方向或前後方向，使得連接電動送風機或驅動輪等之電氣組件或複數個控制基板之配線增長。因此，有使本體框體大型化之問題。Further, according to the above-described cleaning robot, a suction port is provided in front of the main body casing, and an electric blower and an exhaust port are provided in the rear portion. Therefore, in the body frame, the airflow connecting the suction port and the exhaust port is formed in the front and rear. path. Further, the control substrate is disposed in the left-right direction or the front-rear direction with respect to the dust collecting portion, so that the wiring for connecting an electric component such as an electric blower or a driving wheel or a plurality of control substrates is increased. Therefore, there is a problem that the main body casing is enlarged.
又，若在因襯墊之劣化等而產生微小之氣流洩漏的狀態下繼續使用，則含有塵埃之氣流於控制基板上流通，而於控制基板上堆積塵埃。由此亦造成控制電路故障而導致清掃機器人之可靠性降低之問題。In addition, when the micro airflow is leaked due to deterioration of the spacer or the like, the dust-containing airflow flows through the control substrate to deposit dust on the control substrate. This also causes a problem that the control circuit is broken and the reliability of the cleaning robot is lowered.
本發明之目的在於提供一種可防止自階差落下之清掃機器人。又，本發明之目的在於提供一種謀求小型化且可提高可靠性之清掃機器人。It is an object of the present invention to provide a cleaning robot that can prevent a step from falling. Moreover, an object of the present invention is to provide a cleaning robot that can be downsized and can improve reliability.
為達成上述目的，本發明之特徵為具備：本體框體，其開有吸入口及排氣口；一對驅動輪，其具有水平之旋轉軸，使上述本體框體自走；電動送風機，其配置於上述本體框體內；集塵部，其配置於上述旋轉軸上，且收集藉由上述電動送風機之驅動而自上述吸入口吸入之氣流之塵埃；及電池，其對各部供給電力；且相對於上述集塵部於一側配置上述電動送風機，且於另一側配置上述電池。In order to achieve the above object, the present invention provides a main body frame having a suction port and an exhaust port; a pair of driving wheels having a horizontal rotating shaft for self-propelled body frame; and an electric blower; a dust collecting portion disposed on the rotating shaft and collecting dust of a gas stream sucked from the suction port by driving the electric blower; and a battery that supplies electric power to each portion; The electric blower is disposed on one side of the dust collecting portion, and the battery is disposed on the other side.
根據該構成，本體框體藉由一對驅動輪之驅動而進退。在配置於兩驅動輪之旋轉軸之上方之集塵部之例如前方配置電動送風機，於後方配置電池。藉此將本體框體之重量分配於驅動輪之前後。藉由電動送風機之驅動而自吸入口吸入含有地板之塵埃之氣流，並由集塵部收集。於集塵部 除去塵埃後之氣流通過配置於集塵部之前方之電動送風機，自排氣口排出。本體框體前進時及後退時，若在下階梯等階差前突然停止，則重心會向前後移動。此時，由於本體框體之重量分配於驅動輪之前後，故防止本體框體之落下。又，由於集塵部配置於驅動輪之旋轉軸之上方，故即使因集塵而重量增加，仍可維持本體框體之重量平衡。According to this configuration, the main body casing is advanced and retracted by the driving of the pair of driving wheels. An electric blower is disposed, for example, in front of a dust collecting portion disposed above a rotating shaft of the two driving wheels, and a battery is disposed behind. Thereby, the weight of the body frame is distributed before and after the driving wheel. The air containing the dust of the floor is sucked from the suction port by the driving of the electric blower, and is collected by the dust collecting portion. In the dust collection department The airflow after the dust is removed is discharged from the exhaust port through the electric blower disposed in front of the dust collecting portion. When the main body frame advances and retreats, if it suddenly stops before the step or the like, the center of gravity moves forward and backward. At this time, since the weight of the main body frame is distributed before the driving wheel, the body frame is prevented from falling. Moreover, since the dust collecting portion is disposed above the rotating shaft of the driving wheel, the weight balance of the main body casing can be maintained even if the weight is increased due to dust collection.
又，本發明之特徵為在上述構成之清掃機器人中，上述旋轉軸配置於上述本體框體之中心線上。根據該構成，本體框體之重量相對於中心線分配於前後。Further, according to the present invention, in the cleaning robot configured as described above, the rotating shaft is disposed on a center line of the main body casing. According to this configuration, the weight of the main body frame is distributed to the front and rear with respect to the center line.
又，本發明之特徵為在上述構成之清掃機器人中，具備設置於配置在上述驅動輪之前方之上述吸入口之旋轉刷，與配置於上述驅動輪之後方之後輪，上述旋轉刷、上述驅動輪及上述後輪接地而於地板上自走。根據該構成，地板之塵埃藉由旋轉刷之旋轉被揚起並引導至吸入口。本體框體若於前進時突然停止，則本體框體之重心向前方移動，旋轉刷變形而使本體框體前傾。此時，由於本體框體之重量分配於前後，故恢復至原本之姿勢。Further, the cleaning robot according to the above aspect of the invention includes the rotating brush provided in the suction port disposed in front of the driving wheel, and the rear wheel disposed behind the driving wheel, the rotating brush and the driving The wheel and the rear wheel are grounded and walk on the floor. According to this configuration, the dust of the floor is raised by the rotation of the rotating brush and guided to the suction port. When the main body frame suddenly stops during advancement, the center of gravity of the main body frame moves forward, and the rotating brush deforms to tilt the main body frame forward. At this time, since the weight of the main body frame is distributed before and after, the original posture is restored.
又，本發明之特徵為在上述構成之清掃機器人中，具備控制各部之控制基板，且將上述控制基板相對於上述集塵部配置於與上述電池相同之側。根據該構成，相對於驅動輪於一側配置重量較大之電動送風機，於另一側配置電池及控制基板。Further, according to the present invention, the cleaning robot having the above configuration includes a control board that controls each unit, and the control board is disposed on the same side as the battery with respect to the dust collecting unit. According to this configuration, the electric blower having a large weight is disposed on one side of the drive wheel, and the battery and the control board are disposed on the other side.
又，本發明之特徵為在上述構成之清掃機器人中，具有連通上述吸入口與上述集塵部之間及上述集塵部與上述排 氣口之間之氣流路，且將上述氣流路相對於上述集塵部配置於一側。Further, according to the present invention, in the cleaning robot of the above configuration, the cleaning robot and the dust collecting portion and the dust collecting portion and the row are connected An air flow path between the air ports, and the air flow path is disposed on one side with respect to the dust collecting portion.
根據該構成，本體框體藉由配置於較集塵部例如更後方之控制基板之控制，而於地板上自走並進行清掃。藉由電動送風機之驅動，將氣流自於較集塵部更前方開口之吸入口吸入氣流路，且經由集塵部而自於本體框體之前部開口之排氣口排出。According to this configuration, the main body casing is self-propelled and cleaned on the floor by the control of the control substrate disposed behind the dust collecting portion, for example. By the driving of the electric blower, the airflow is sucked into the airflow path from the suction port that is opened earlier than the dust collecting portion, and is discharged from the exhaust port that is opened at the front of the main body casing via the dust collecting portion.
又，本發明之特徵為具備：本體框體，其於下表面開有吸入口，於上表面開有排氣口，且於地板上自走；電動送風機，其配置於上述本體框體內；集塵部，其收集藉由上述電動送風機之驅動而自上述吸入口吸入之氣流之塵埃；氣流路，其連通上述吸入口與上述集塵部之間及上述集塵部與上述排氣口之間；及控制基板，其控制各部；且相對於上述集塵部於一側配置上述氣流路，且於另一側配置上述控制基板。Further, the present invention is characterized in that it includes a main body casing having a suction port on a lower surface, an exhaust port on the upper surface, and a self-propelled on the floor, and an electric blower disposed in the main body casing; a dust portion that collects dust of a gas stream sucked from the suction port by the driving of the electric blower; an air flow path that communicates between the suction port and the dust collecting portion and between the dust collecting portion and the exhaust port And a control substrate that controls each portion; and the air flow path is disposed on one side of the dust collecting portion, and the control substrate is disposed on the other side.
根據該構成，本體框體藉由配置於較集塵部例如更後方之控制基板之控制，而於地板上自走並驅動電動送風機。藉由電動送風機之驅動，將含有地板之塵埃之氣流自較集塵部更前方開口之吸入口吸入氣流路。由配置於吸入口之後方之集塵部收集氣流中所含之塵埃。於集塵部除去塵埃後之氣流通過配置於集塵部之前方之電動送風機，自於本體框體之前部開口之排氣口排出。According to this configuration, the main body casing is self-propelled on the floor and drives the electric blower by the control of the control substrate disposed behind the dust collecting portion, for example. By the driving of the electric blower, the airflow containing the dust of the floor is sucked into the airflow path from the suction port which is opened earlier than the dust collecting portion. The dust contained in the airflow is collected by the dust collecting portion disposed behind the suction port. The airflow after the dust is removed from the dust collecting portion is discharged from the exhaust port opened in the front portion of the main body casing through the electric blower disposed in front of the dust collecting portion.
又，本發明之特徵為在上述構成之清掃機器人中，設有裝卸自如地收納上述集塵部、且於一方向延伸而將上述本 體框體內隔間之集塵室，在上述集塵室之於長度方向延伸之壁面導出供氣流流入之第1吸氣路及供氣流流出之第2吸氣路，並封閉上述集塵室之其他壁面。Further, according to the present invention, in the cleaning robot of the above configuration, the dust collecting portion is detachably housed and extends in one direction to a dust collecting chamber in the body compartment of the body frame, and a first suction path through which the airflow flows and a second intake path through which the airflow flows out are led out from the wall surface extending in the longitudinal direction of the dust collecting chamber, and the dust collecting chamber is closed Other walls.
根據該構成，自吸入口吸入之氣流於自集塵室之例如前壁導出之第1吸氣路中流通，並流入集塵部。於集塵部除去塵埃後之氣流於自集塵室之前壁導出之第2吸氣路中流通，且被引導至電動送風機。According to this configuration, the airflow sucked from the suction port flows through the first intake passage that is led out from the front wall of the dust collecting chamber, for example, and flows into the dust collecting portion. The airflow after the dust is removed from the dust collecting portion flows through the second intake passage that is led out from the front wall of the dust collecting chamber, and is guided to the electric blower.
又，本發明之特徵為在上述構成之清掃機器人中，上述集塵部包含：集塵容器，其開有氣流之流入口，使塵埃堆積；上部蓋體，其開關上述集塵容器之上表面，且開有氣流之流出口；及過濾器，其配置於上述上部蓋體之下表面且捕集塵埃。Further, according to the present invention, in the cleaning robot of the above aspect, the dust collecting portion includes: a dust collecting container having an air flow inlet to accumulate dust; and an upper cover body that switches the upper surface of the dust collecting container And an outlet for the flow of the air; and a filter disposed on the lower surface of the upper cover and collecting dust.
根據該構成，自吸入口吸入之氣流經由流入口流入集塵容器，塵埃於集塵容器內堆積且被過濾器捕集。除去塵埃後之氣流經由設置於上部蓋體之流出口流出。集塵容器內之塵埃係自本體框體拆卸集塵部並打開上部蓋體而予以丟棄。According to this configuration, the airflow sucked from the suction port flows into the dust collecting container through the inflow port, and the dust is deposited in the dust collecting container and collected by the filter. The airflow after the dust is removed flows out through the outlet provided to the upper cover. The dust in the dust collecting container is removed from the body frame by the dust collecting portion, and the upper cover is opened and discarded.
又，本發明之特徵為在上述構成之清掃機器人中，上述流入口及上述流出口之開口面包含傾斜面，於該開口面之周緣配置有襯墊。根據該構成，若安裝集塵部，則流入口及流出口與集塵室之壁面之間藉由襯墊密閉。此時，由於流入口及流出口之開口面包含傾斜面，故可防止集塵部裝卸時之襯墊與集塵室之壁面之滑動。Further, in the cleaning robot of the above configuration, the opening surface of the inflow port and the outflow port includes an inclined surface, and a spacer is disposed on a periphery of the opening surface. According to this configuration, when the dust collecting portion is attached, the inlet and the outlet are sealed to the wall surface of the dust collecting chamber by a gasket. At this time, since the opening surface of the inflow port and the outflow port includes the inclined surface, it is possible to prevent the sliding of the gasket and the wall surface of the dust collecting chamber when the dust collecting portion is attached or detached.
根據本發明，由於相對於配置於驅動輪之旋轉軸之上方之集塵部於一側配置電動送風機，於另一側配置電池，故本體框體之重量平衡分配於驅動輪之前後。藉此，當進退之本體框體在階差前突然停止因而使重心向前後移動時，可保持姿勢而防止本體框體落下。又，即使集塵部之重量因集塵而增大，仍可維持本體框體之重量平衡，從而更確實地防止本體框體之落下。According to the invention, since the electric blower is disposed on one side with respect to the dust collecting portion disposed above the rotating shaft of the driving wheel, and the battery is disposed on the other side, the weight balance of the main body frame is distributed before and after the driving wheel. Thereby, when the body frame that advances and retreats suddenly stops before the step and thus moves the center of gravity forward and backward, the posture can be maintained to prevent the body frame from falling. Further, even if the weight of the dust collecting portion is increased by the dust collecting, the weight balance of the main body casing can be maintained, and the falling of the main body casing can be more reliably prevented.
又，根據本發明，由於相對於集塵部於一側配置氣流路，於另一側配置控制基板，故氣流路及控制基板集中配置。藉此，可縮短氣流路且削減配線等，從而謀求本體框體之小型化。又，由於氣流路與控制基板隔開，故氣流洩漏時，可降低塵埃對控制基板之附著，從而減少控制電路之故障。Moreover, according to the present invention, since the air flow path is disposed on one side of the dust collecting portion and the control substrate is disposed on the other side, the air flow path and the control substrate are collectively arranged. As a result, the air flow path can be shortened, and wiring and the like can be reduced, and the size of the main body casing can be reduced. Moreover, since the air flow path is separated from the control substrate, when the air flow leaks, the adhesion of the dust to the control substrate can be reduced, thereby reducing the failure of the control circuit.
以下，參照本發明之實施形態進行說明。圖1係顯示一實施形態之清掃機器人之立體圖。清掃機器人1具有藉由電池14驅動驅動輪29(均參照圖2)而自走之俯視圓形之本體框體2。於本體框體2之上表面設置有於取放集塵部30(參照圖2)時開關之蓋部3。Hereinafter, an embodiment of the present invention will be described. Fig. 1 is a perspective view showing a cleaning robot of an embodiment. The cleaning robot 1 has a circular body frame 2 that is self-propelled by the battery 14 driving the drive wheels 29 (both referring to FIG. 2). A cover portion 3 for opening and closing the dust collecting portion 30 (see FIG. 2) is provided on the upper surface of the main body casing 2.
圖2、圖3係顯示清掃機器人1之側視剖面圖及仰視圖。於本體框體2配置有自底面突出而以水平之旋轉軸29a旋轉之一對驅動輪29。驅動輪29之旋轉軸29a配置於本體框體2之中心線C上。驅動輪29之兩輪若於相同方向旋轉，則本體框體2進退，若於相反方向旋轉，則本體框體2繞著中心 線C旋轉。2 and 3 are a side cross-sectional view and a bottom view showing the cleaning robot 1. The main body casing 2 is disposed with a pair of driving wheels 29 that protrude from the bottom surface and rotate with a horizontal rotating shaft 29a. The rotation shaft 29a of the drive wheel 29 is disposed on the center line C of the body casing 2. If the two wheels of the driving wheel 29 rotate in the same direction, the main body frame 2 advances and retreats, and if rotated in the opposite direction, the main body frame 2 surrounds the center. Line C rotates.
進行清掃時作為移動方向之前方之本體框體2之前部於下表面設置吸入口6。吸入口6藉由凹設於本體框體2之底面之凹部8之開放面面向地板F而形成。於凹部8配置以水平之旋轉軸旋轉之旋轉刷9，而於凹部8之兩側方配置以垂直之旋轉軸旋轉之側刷10。At the time of cleaning, the suction port 6 is provided on the lower surface of the front portion of the main body casing 2 as the moving direction. The suction port 6 is formed by the open surface of the recess 8 recessed in the bottom surface of the main body casing 2 facing the floor F. A rotating brush 9 that rotates with a horizontal axis of rotation is disposed in the recessed portion 8, and a side brush 10 that rotates on a vertical axis of rotation is disposed on both sides of the recessed portion 8.
於凹部8之前方設置輥形狀之前輪27。於本體框體2之後端設置包含萬向車輪之後輪26。如後所述，本體框體2相對於配置於中心之驅動輪29於前後方向分配重量，前輪27與地板F隔開，旋轉刷9、驅動輪29及後輪26接地而於地板F進行清掃。因此，可將前方之塵埃引導至吸入口6而不會被前輪遮擋進路。前輪27接地於進路上出現之階差，使本體框體2容易越過階差。A roll shape front wheel 27 is provided in front of the recess 8. A rear wheel 26 including a universal wheel is disposed at a rear end of the body casing 2. As will be described later, the main body casing 2 distributes weight in the front-rear direction with respect to the drive wheel 29 disposed at the center, the front wheel 27 is spaced apart from the floor F, and the rotating brush 9, the drive wheel 29, and the rear wheel 26 are grounded and cleaned on the floor F. . Therefore, the dust in front can be guided to the suction port 6 without being blocked by the front wheel. The front wheel 27 is grounded to the step difference appearing on the road, so that the body frame 2 easily crosses the step.
於前輪27之前方設置檢測地板F之地板檢測感測器18。於兩驅動輪29之前方設置相同之地板檢測感測器19。若於進路上出現下階梯等之階差，則藉由地板檢測感測器18之檢測使驅動輪29停止。又，地板檢測感測器18產生異常時，藉由地板檢測感測器19之檢測使驅動輪29停止。A floor detecting sensor 18 for detecting the floor F is provided in front of the front wheel 27. The same floor detecting sensor 19 is disposed in front of the two driving wheels 29. If a step of the lower step or the like occurs on the entry path, the drive wheel 29 is stopped by the detection of the floor detecting sensor 18. Further, when the floor detecting sensor 18 generates an abnormality, the driving wheel 29 is stopped by the detection of the floor detecting sensor 19.
於本體框體2之周面之後端設置進行電池14之充電之充電端子4。本體框體2自走並返回至設置於室內之充電座40，其充電端子4接於設置於充電座40之端子部41而將電池14充電。連接於商用電源之充電座40通常沿著室內之側壁S設置。A charging terminal 4 for charging the battery 14 is provided at a rear end of the peripheral surface of the main body casing 2. The main body casing 2 is self-propelled and returned to the charging stand 40 installed in the room, and the charging terminal 4 is connected to the terminal portion 41 provided in the charging stand 40 to charge the battery 14. The charging stand 40 connected to the commercial power source is usually disposed along the side wall S of the room.
於本體框體2內配置收集塵埃之集塵部30。集塵部30配 置於驅動輪29之旋轉軸29a上，收納在設置於本體框體2之集塵室39內。集塵室39包含覆蓋四方之周面及底面之隔離室，以將本體框體2內隔間的方式於左右方向延伸而形成。集塵室39之各壁面除了於長度方向延伸之前壁外其餘皆封閉。於集塵室39之前壁導出與凹部8連通之第1吸氣路11，及配置於凹部8之上方且與後述之馬達單元20連通之第2吸氣路12。A dust collecting portion 30 for collecting dust is disposed in the main body casing 2. Dust collection unit 30 It is placed on the rotating shaft 29a of the drive wheel 29 and housed in the dust collecting chamber 39 provided in the main body casing 2. The dust collection chamber 39 includes an isolation chamber that covers the circumferential surface and the bottom surface of the four sides, and is formed by extending the partition inside the main body casing 2 in the left-right direction. The walls of the dust collecting chamber 39 are closed except for the wall extending before the length direction. A first intake passage 11 that communicates with the recessed portion 8 and a second intake passage 12 that is disposed above the recessed portion 8 and that communicates with a motor unit 20, which will be described later, is led out from the front wall of the dust collecting chamber 39.
集塵部30配置於本體框體2之中心線C上，如圖4所示，可打開本體框體2之蓋部3進行取放。集塵部30於有底筒狀之集塵容器31之上表面安裝具有過濾器33之上部蓋體32。上部蓋體32藉由可動之扣止部32a而扣止於集塵容器31，藉由扣止部32a之操作而開關集塵容器31之上表面。藉此，可丟棄堆積於集塵容器31之塵埃。The dust collecting portion 30 is disposed on the center line C of the main body casing 2, and as shown in FIG. 4, the lid portion 3 of the main body casing 2 can be opened for picking up and discharging. The dust collecting portion 30 is provided with a top cover 32 having a filter 33 on the upper surface of the bottomed cylindrical dust collecting container 31. The upper cover 32 is fastened to the dust collecting container 31 by the movable locking portion 32a, and the upper surface of the dust collecting container 31 is opened and closed by the operation of the locking portion 32a. Thereby, the dust accumulated in the dust collecting container 31 can be discarded.
在集塵容器31之周面上於前端開有流入口34a而導出與第1吸氣路11連通之流入路34。於集塵容器31內設置連接於流入路34並藉由撓曲向下方引導氣流之流入部34b。藉此，可將較大之塵埃或較重之塵埃容易積存於集塵容器31之底部。在上部蓋體32之周面上於前端開有流出口35a，導出與第2吸氣路12連通之流出路35。An inflow path 34a is formed at the front end of the dust collecting container 31, and an inflow path 34 that communicates with the first intake path 11 is led out. An inflow portion 34b that is connected to the inflow passage 34 and guides the airflow downward by deflection is provided in the dust collecting container 31. Thereby, larger dust or heavier dust can be easily accumulated in the bottom of the dust collecting container 31. An outflow port 35a is opened at the front end on the circumferential surface of the upper lid body 32, and an outflow path 35 that communicates with the second intake passage 12 is led out.
於流入口34a及流出口35a之周圍設置密接於集塵室39之前壁之襯墊(未圖示)。藉此，將收納集塵部30之集塵室39內密閉。流入口34a之開口面、流出口35a之開口面及集塵室39之前壁形成為傾斜面，從而可防止因取放集塵部30時之滑動而導致襯墊劣化。A gasket (not shown) that is in close contact with the wall before the dust collecting chamber 39 is provided around the inflow port 34a and the outflow port 35a. Thereby, the inside of the dust collecting chamber 39 which accommodates the dust collecting part 30 is sealed. The opening surface of the inflow port 34a, the opening surface of the outflow port 35a, and the front wall of the dust collecting chamber 39 are formed as inclined surfaces, thereby preventing deterioration of the pad due to sliding when the dust collecting portion 30 is picked up.
於本體框體2內之集塵室39之後方之上部配置控制基板15。控制基板15設置有控制清掃機器人1之各部之控制電路。於集塵室39之後方之下部配置裝卸自如之電池14。電池14經由充電端子4自充電座40充電，對控制基板15、驅動輪29、旋轉刷9、側刷10及電動送風機22等各部供給電力。The control board 15 is disposed above the dust collecting chamber 39 in the main body casing 2. The control board 15 is provided with a control circuit that controls each unit of the cleaning robot 1. A detachable battery 14 is disposed below the dust collecting chamber 39. The battery 14 is charged from the charging stand 40 via the charging terminal 4, and supplies electric power to each of the control board 15, the drive wheel 29, the rotating brush 9, the side brush 10, and the electric blower 22.
於本體框體2之前部配置馬達單元20。圖5、圖6、圖7、圖8係分別顯示馬達單元20之立體圖、俯視圖、前視圖及側視圖。馬達單元20具備樹脂成形品之殼體21及收納於殼體21內之電動送風機22。電動送風機22係由以馬達外殼22a覆蓋之渦輪風扇形成。The motor unit 20 is disposed in front of the main body casing 2. 5, 6, 7, and 8 show a perspective view, a plan view, a front view, and a side view of the motor unit 20, respectively. The motor unit 20 includes a casing 21 of a resin molded product and an electric blower 22 housed in the casing 21 . The electric blower 22 is formed by a turbo fan covered with a motor casing 22a.
在電動送風機22之馬達外殼22a上於軸向之一端開有吸氣口(未圖示)，而於周面之2個部位開有排氣口(未圖示)。於殼體21之正面與馬達外殼22a之兩側方對象設置開口部23。於殼體21之電動送風機22之兩側方設置分別與馬達外殼22a之各排氣口連通之第1排氣路24a及第2排氣路24b。第1、第2排氣路24a、24b與設置於本體框體2之上表面之排氣口7(參照圖2)連通。An intake port (not shown) is formed in one end of the motor casing 22a of the electric blower 22 in the axial direction, and an exhaust port (not shown) is provided at two locations on the circumferential surface. An opening portion 23 is provided on the front surface of the casing 21 and the both sides of the motor casing 22a. The first exhaust passage 24a and the second exhaust passage 24b that communicate with the respective exhaust ports of the motor casing 22a are provided on both sides of the electric blower 22 of the casing 21. The first and second exhaust passages 24a and 24b communicate with an exhaust port 7 (see FIG. 2) provided on the upper surface of the main body casing 2.
因此，第1、第2排氣路24a、24b及第2吸氣路12(參照圖2)構成連通集塵部30與排氣口7之氣流路。又，第1吸氣路11(參照圖2)構成連通吸入口6與集塵部30之氣流路。Therefore, the first and second exhaust passages 24a and 24b and the second intake passage 12 (see FIG. 2) constitute an air flow path that connects the dust collecting portion 30 and the exhaust port 7. Further, the first intake passage 11 (see FIG. 2) constitutes an air flow path that communicates between the suction port 6 and the dust collecting portion 30.
藉此，包含電動送風機22之氣流路集中於集塵室39之前方而配置於本體框體2之前部，從而可縮短氣流路。又，控制基板15及電池14集中於集塵室39之後方而配置於本體 框體2之後部，從而可削減配線等。因此，可謀求本體框體2之小型化。又，由於氣流之流路與控制基板15隔開，故可在氣流洩漏時減少塵埃對控制基板15之附著，減少控制電路之故障。Thereby, the air flow path including the electric blower 22 is concentrated in front of the dust collecting chamber 39 and disposed in front of the main body casing 2, whereby the air flow path can be shortened. Moreover, the control board 15 and the battery 14 are concentrated in the back of the dust collecting chamber 39, and are disposed on the main body. The rear portion of the casing 2 can reduce wiring and the like. Therefore, the size of the main body casing 2 can be reduced. Further, since the flow path of the air flow is spaced apart from the control board 15, the adhesion of the dust to the control board 15 can be reduced when the air flow leaks, and the failure of the control circuit can be reduced.
又，由於將重量較大之電動送風機22及電池14分散配置於驅動輪29之旋轉軸29a之前後，故相對於通過本體框體2之中心線C之旋轉軸29a於本體框體2之前後方向平衡分配重量。因此，旋轉刷9、驅動輪29及後輪26接地而使本體框體2進退，可防止當旋轉刷9或後輪26因階梯等而離開接地面時本體框體2之落下。Further, since the electric blower 22 and the battery 14 having a large weight are dispersed and disposed in front of the rotating shaft 29a of the driving wheel 29, the rotating shaft 29a passing through the center line C of the main body casing 2 is before and after the main body casing 2. The direction balance distributes the weight. Therefore, the rotating brush 9, the driving wheel 29, and the rear wheel 26 are grounded to advance and retreat the main body casing 2, and it is possible to prevent the main body casing 2 from falling when the rotating brush 9 or the rear wheel 26 leaves the grounding surface due to a step or the like.
由於集塵部30配置於中心線C上，故即使因塵埃之收集及丟棄導致集塵部30之重量產生變化，仍可維持本體框體2之重量平衡。再者，由於電動送風機22之重量較大，故可藉由將控制基板15及電池14配置於驅動輪29之旋轉軸29a之後方，而取得更良好之重量平衡。Since the dust collecting portion 30 is disposed on the center line C, the weight balance of the main body casing 2 can be maintained even if the weight of the dust collecting portion 30 changes due to dust collection and disposal. Further, since the weight of the electric blower 22 is large, the control board 15 and the battery 14 can be disposed behind the rotating shaft 29a of the drive wheel 29, thereby achieving a better weight balance.
於第1排氣路24a上配置具有一對電極28a之離子產生裝置28。對電極28a施加包含交流波形或脈衝波形之電壓，使藉由電極28a之電暈放電生成之離子被釋放至第1排氣路24a。An ion generating device 28 having a pair of electrodes 28a is disposed on the first exhaust passage 24a. A voltage including an alternating current waveform or a pulse waveform is applied to the electrode 28a, and ions generated by corona discharge of the electrode 28a are released to the first exhaust passage 24a.
對其中一電極28a施加正電壓，使電暈放電產生之氫離子與空氣中之水分鍵結而產生主要包含H+ (H2 O)m之正離子。對另一個電極28a施加負電壓，使電暈放電產生之氧離子與空氣中之水分鍵結而產生主要包含O2 - (H2 O)n之負離子。此處，m、n為任意之自然數。H+ (H2 O)m及O2 - (H2 O)n凝 聚於空氣中之浮游菌或臭味成分之表面而將該等包圍。A positive voltage is applied to one of the electrodes 28a to cause hydrogen ions generated by the corona discharge to bond with moisture in the air to generate positive ions mainly containing H + (H 2 O) m. A negative voltage is applied to the other electrode 28a to cause the oxygen ions generated by the corona discharge to bond with the moisture in the air to generate an anion mainly containing O 2 - (H 2 O) n . Here, m and n are arbitrary natural numbers. H + (H 2 O) m and O 2 - (H 2 O) n are surrounded by the surface of the floating bacteria or odor components in the air.
且，如式(1)~(3)所示，藉由碰撞，於微生物等之表面上凝聚生成活性種即[．OH](羥自由基)或H2 O2 (過氧化氫)，從而破壞浮游菌或臭味成分。此處，m'、n'為任意之自然數。因此，可藉由產生正離子及負離子並自排氣口7(參照圖2)送出，而進行室內之除菌及除臭。Further, as shown in the formulas (1) to (3), an active species is formed by agglomeration on the surface of microorganisms or the like by collision [. OH] (hydroxyl radical) or H 2 O 2 (hydrogen peroxide), thereby destroying the floating bacteria or odor components. Here, m' and n' are arbitrary natural numbers. Therefore, it is possible to perform sterilization and deodorization in the room by generating positive ions and negative ions and sending them out from the exhaust port 7 (see FIG. 2).
H+ (H2 O)m+O2 - (H2 O)n → ．OH+1/2O2 +(m+n)H2 O………(1)H + (H 2 O)m+O 2 - (H 2 O)n → . OH+1/2O 2 +(m+n)H 2 O......(1)
H+ (H2 O)m+H+ (H2 O)m'+O2 - (H2 O)n+O2 - (H2 O)n' → 2．OH+O2 +(m+m'+n+n')H2 O………(2)H + (H 2 O)m+H + (H 2 O)m'+O 2 - (H 2 O)n+O 2 - (H 2 O)n' → 2. OH+O 2 +(m+m'+n+n')H 2 O......(2)
H+ (H2 O)m+H+ (H2 O)m'+O2 - (H2 O)n+O2 - (H2 O)n' → H2 O2 +O2 +(m+m'+n+n')H2 O………(3)H + (H 2 O)m+H + (H 2 O)m'+O 2 - (H 2 O)n+O 2 - (H 2 O)n' → H 2 O 2 +O 2 +(m +m'+n+n')H 2 O.........(3)
又，於第1排氣路24a之下部設置將正面開口之回流口25。回流口25藉由於殼體21之正面突出之突出部25a覆蓋上方，使開口面形成為沿著凹部8(參照圖2)之壁面之曲面。藉此回流口25經由設置於凹部8之壁面之孔部(未圖示)臨向凹部8內，而將在第1排氣路24a中流通之包含離子之氣流之一部分引導至吸氣側。Further, a return port 25 having a front surface opening is provided in a lower portion of the first exhaust passage 24a. The return port 25 is covered by the protruding portion 25a protruding from the front surface of the casing 21, and the opening surface is formed as a curved surface along the wall surface of the recess 8 (refer to FIG. 2). Thereby, the return port 25 is directed into the recess 8 via a hole portion (not shown) provided in the wall surface of the recess 8, and a part of the air stream containing ions flowing through the first exhaust passage 24a is guided to the intake side.
上述構成之清掃機器人1中，當收到清掃作業之指示時，則驅動電動送風機22、離子產生裝置28、驅動輪29、旋轉刷9及側刷10。藉此，本體框體2以其旋轉刷9、驅動輪29及後輪26接地於地板F而在特定之清掃範圍內自走，將地板F之含有塵埃之氣流自吸入口6吸入。此時，藉由旋轉刷9之旋轉，地板F上之塵埃被揚起並引導至凹部8內。又，藉由側刷10之旋轉將吸入口6之側方之塵埃引導至吸 入口6。In the cleaning robot 1 having the above configuration, when an instruction to clean the operation is received, the electric blower 22, the ion generating device 28, the drive wheel 29, the rotating brush 9, and the side brush 10 are driven. Thereby, the main body casing 2 is grounded by the rotating brush 9, the drive wheel 29, and the rear wheel 26 to the floor F, and self-propelled within a specific cleaning range, and the dust-containing airflow of the floor F is sucked from the suction port 6. At this time, the dust on the floor F is lifted up and guided into the recess 8 by the rotation of the rotary brush 9. Moreover, the dust on the side of the suction port 6 is guided to the suction by the rotation of the side brush 10. Entrance 6.
自吸入口6吸入之氣流如箭頭A1所示，於第1吸氣路11中向後方流通，經由流入口34a流入至集塵部30。流入集塵部30之氣流藉由過濾器33捕集塵埃後，經由流出口35a自集塵部30流出。藉此，塵埃集中堆積於集塵容器31內。自集塵部30流出之氣流如箭頭A2所示，於第2吸氣路12中向前方流通，經由開口部23流入馬達單元20之電動送風機22。The airflow sucked in from the suction port 6 flows backward in the first intake passage 11 as indicated by an arrow A1, and flows into the dust collecting portion 30 via the inflow port 34a. The airflow that has flowed into the dust collecting portion 30 collects dust by the filter 33, and then flows out from the dust collecting portion 30 via the outflow port 35a. Thereby, dust is concentrated and accumulated in the dust collecting container 31. The airflow flowing out of the dust collecting portion 30 flows forward in the second intake passage 12 as indicated by an arrow A2, and flows into the electric blower 22 of the motor unit 20 through the opening portion 23.
通過電動送風機22之氣流於第1排氣路24a及第2排氣路24b中流通，且於第1排氣路24a中流通之氣流含有離子。且，如箭頭A3所示，自設置於本體框體2之上表面之排氣口7向後上方於傾斜方向排出含有離子之氣流。藉此，進行室內之清掃之同時，使自走之本體框體2之排氣中所含之離子散佈於室內，進行室內之除菌或除臭。此時，由於自排氣口7向上方排氣，故可防止地板F之塵埃揚起，從而提高室內之清潔度。The airflow of the electric blower 22 flows through the first exhaust passage 24a and the second exhaust passage 24b, and the airflow flowing through the first exhaust passage 24a contains ions. Further, as indicated by an arrow A3, the exhaust port 7 provided on the upper surface of the main body casing 2 discharges the air stream containing ions in the oblique direction rearward and upward. Thereby, the indoors are cleaned, and the ions contained in the exhaust gas of the self-propelled main body casing 2 are dispersed in the room to perform sterilization or deodorization in the room. At this time, since the air is exhausted upward from the exhaust port 7, the dust of the floor F can be prevented from rising, thereby improving the cleanliness of the room.
於第1排氣路24a中流通之氣流之一部分如箭頭A4所示，經由回流口25被引導至凹部8。因此，自吸入口6被引導至第1吸氣路11之氣流內含有離子。藉此，可進行集塵部30之集塵容器31或過濾器33之除菌及除臭。A portion of the airflow flowing through the first exhaust passage 24a is guided to the recess 8 via the return port 25 as indicated by an arrow A4. Therefore, ions are introduced into the airflow from the suction port 6 to the first intake passage 11. Thereby, sterilization and deodorization of the dust collecting container 31 or the filter 33 of the dust collecting part 30 can be performed.
又，若本體框體2到達至清掃區域之周緣之情形，或碰撞到進路上之障礙物，則驅動輪29停止。且，驅動輪29之兩輪相互朝相反方向旋轉，使本體框體2以中心線C為中心旋轉而改變方向。藉此，可使本體框體2於清掃區域整體 自走，且避開障礙物自走。另，亦可使驅動輪29之兩輪相對於前進時反轉，使本體框體2後退。Further, when the main body casing 2 reaches the periphery of the cleaning area or collides with an obstacle on the road, the drive wheels 29 are stopped. Further, the two wheels of the drive wheel 29 rotate in opposite directions to each other, and the body casing 2 is rotated about the center line C to change the direction. Thereby, the main body frame 2 can be disposed in the entire cleaning area. Self-propelled and avoid obstacles. Alternatively, the two wheels of the drive wheel 29 may be reversed with respect to the forward movement, and the main body casing 2 may be retracted.
本體框體2前進時及後退時若於下階梯等階差前突然停止，則重心會向前後移動。此時，由於本體框體2之重量平衡分配於驅動輪29之前後，故可防止本體框體2之落下。又，由於集塵部30配置於驅動輪29之旋轉軸29a之上方，故即使因集塵而使重量增大，仍可維持本體框體2之重量平衡。When the main body casing 2 is suddenly stopped before the step or the like, the center of gravity moves forward and backward. At this time, since the weight balance of the main body casing 2 is distributed before the driving wheels 29, the falling of the main body casing 2 can be prevented. Further, since the dust collecting portion 30 is disposed above the rotating shaft 29a of the drive wheel 29, the weight balance of the main body casing 2 can be maintained even if the weight is increased by the dust collecting.
若清掃結束，則本體框體2自走返回至充電座40。藉此，充電端子4接觸於端子部41而將電池14充電。When the cleaning is completed, the main body casing 2 is returned to the charging stand 40 by itself. Thereby, the charging terminal 4 is in contact with the terminal portion 41 to charge the battery 14.
又，根據設定，可在本體框體2之返回狀態下，於電池14之充電中或充電結束後，驅動電動送風機22及離子產生裝置28。藉此，自排氣口7向後上方送出含有離子之氣流。由於充電端子4設置於本體框體2之後端，故含有離子之氣流於充電座40之方向流通並沿著側壁S上升。該氣流沿著室內之天花板及對向之側壁流通。因此，離子可遍佈於室內整體，從而提高除菌效果或除臭效果。Further, according to the setting, the electric blower 22 and the ion generating device 28 can be driven during or after the charging of the battery 14 in the return state of the main body casing 2. Thereby, the gas stream containing ions is sent from the exhaust port 7 to the upper rear side. Since the charging terminal 4 is provided at the rear end of the main body casing 2, the air stream containing ions flows in the direction of the charging stand 40 and rises along the side wall S. The airflow circulates along the ceiling of the room and the opposite side walls. Therefore, the ions can be distributed throughout the room, thereby improving the sterilization effect or the deodorizing effect.
根據本實施形態，由於相對於配置於驅動輪29之旋轉軸29a之上方之集塵部30於一側配置電動送風機22，於另一側配置電池14，故本體框體2之重量於驅動輪29之前後平衡分配。藉此，進退之本體框體2於階差前突然停止而重心向前後移動時，可保持姿勢防止本體框體2之落下。又，即使集塵部30之重量因集塵而增大，仍可維持本體框體2之重量平衡，從而更確實地防止本體框體2於階差落 下。According to the present embodiment, since the electric blower 22 is disposed on one side of the dust collecting portion 30 disposed above the rotating shaft 29a of the driving wheel 29, and the battery 14 is disposed on the other side, the weight of the main body casing 2 is applied to the driving wheel. Balance before and after 29 distribution. Thereby, the body frame 2 that advances and retracts suddenly stops before the step and the center of gravity moves forward and backward, and the posture can be maintained to prevent the body frame 2 from falling. Further, even if the weight of the dust collecting portion 30 is increased by the dust collecting, the weight balance of the main body casing 2 can be maintained, thereby more reliably preventing the main body casing 2 from falling on the step. under.
又，亦可將驅動輪29之旋轉軸29a自本體框體2之中心線C上偏移配置，但如本實施形態所示，較理想為將旋轉軸29a配置於中心線C上。藉此，本體框體2之重量可相對於中心於前後平衡分配，從而更確實地防止本體框體2於階差落下。Further, the rotation shaft 29a of the drive wheel 29 may be displaced from the center line C of the main body casing 2. However, as shown in the present embodiment, it is preferable that the rotation shaft 29a is disposed on the center line C. Thereby, the weight of the main body frame 2 can be balancedly distributed with respect to the center in front and rear, thereby more reliably preventing the body frame 2 from falling down in the step.
又，由於設置於驅動輪29之前方之吸入口6之旋轉刷9、配置於驅動輪29之後方之後輪26、及驅動輪29接地而於地板F上自走，故可不遮擋進路前方之塵埃而引導至吸入口6。又，若本體框體2前進並突然停止，則本體框體2之重心會向前方移動，旋轉刷9變形而使本體框體2前傾。此時，本體框體2由於重量分配於前後故返回至原來之姿勢。因此，由於在吸入口6之前方不接地，故即使是突然停止時容易前傾之本體框體2，仍可防止於階差落下。Further, since the rotating brush 9 provided in the suction port 6 before the driving wheel 29 is disposed behind the driving wheel 29, the rear wheel 26 and the driving wheel 29 are grounded and self-propelled on the floor F, so that the dust in front of the approach can be prevented from being blocked. And guided to the suction port 6. When the main body casing 2 advances and suddenly stops, the center of gravity of the main body casing 2 moves forward, and the rotating brush 9 is deformed to tilt the main body casing 2 forward. At this time, the main body casing 2 is returned to the original posture due to the weight distribution. Therefore, since the body casing 2 is not grounded before the suction port 6, even if the body casing 2 is easily tilted forward when it is suddenly stopped, the step can be prevented from falling.
又，由於將控制基板15相對於集塵部30配置於於電池14相同側，故將重量較大之電動送風機22配置於前方，而將控制基板15及電池14配置於後方，從而可相對於驅動輪29於前後取得更良好之重量平衡。因此，可更確實地防止本體框體2於階差落下。Moreover, since the control board 15 is disposed on the same side of the battery 14 as the dust collecting unit 30, the electric blower 22 having a large weight is disposed in the front, and the control board 15 and the battery 14 are disposed on the rear side, thereby being The drive wheel 29 achieves a better balance of weights before and after. Therefore, it is possible to more reliably prevent the body casing 2 from falling down in the step.
又，相對於集塵部30於前方配置氣流路(第1、第2吸氣路11、12、第1、第2排氣路24a、24b)，而於後方配置控制基板15。因此，氣流路及控制基板15集中配置。藉此，可縮短氣流路，且削減配線等，從而謀求本體框體2之小型化。又，由於氣流路與控制基板15隔開，故氣流洩漏時 可減少塵埃對控制基板15之附著，從而減少控制電路之故障。Moreover, the air flow path (the first and second intake passages 11 and 12, the first and second exhaust passages 24a and 24b) is disposed in front of the dust collecting portion 30, and the control board 15 is disposed rearward. Therefore, the air flow path and the control board 15 are collectively arranged. Thereby, the air flow path can be shortened, and wiring and the like can be reduced, and the main body casing 2 can be downsized. Moreover, since the air flow path is spaced apart from the control substrate 15, the airflow leaks. The adhesion of dust to the control substrate 15 can be reduced, thereby reducing malfunction of the control circuit.
又，由於集塵室39於一方向延伸而將本體框體2a內隔間，故可容易地隔離氣流路於控制基板15。又，於集塵室39之於長度方向延伸之前壁導出第1、第2吸氣路11、12，而集塵室39之其他壁面封閉。藉此，即使於流入口34a或流出口35a產生氣流洩漏，亦可將塵埃擋在集塵室39之內部。因此，可進而減少塵埃對控制基板15之附著。Moreover, since the dust collecting chamber 39 extends in one direction and the inside of the main body casing 2a is partitioned, the air flow path can be easily isolated from the control board 15. Further, before the dust collecting chamber 39 extends in the longitudinal direction, the first and second intake passages 11 and 12 are led out, and the other wall surfaces of the dust collecting chamber 39 are closed. Thereby, even if air leakage occurs in the inflow port 34a or the outflow port 35a, the dust can be blocked inside the dust collecting chamber 39. Therefore, the adhesion of dust to the control substrate 15 can be further reduced.
又，由於在集塵容器31上開有流入口34a，且在具有過濾器33之上部蓋體32開有流出口35a，故可藉由上部蓋體32之開關，而容易地丟棄堆積於集塵容器31內之塵埃。Further, since the flow inlet 34a is opened in the dust collecting container 31, and the flow opening 35a is opened in the upper cover body 32 having the filter 33, it can be easily discarded and accumulated in the set by the opening and closing of the upper cover 32. Dust in the dust container 31.
又，由於流入口34a及流出口35a之開口面由傾斜面形成，且於該開口面之周緣配置有襯墊，故可防止取放集塵部30時之滑動導致襯墊劣化。Further, since the opening faces of the inflow port 34a and the outflow port 35a are formed by the inclined surface, and the spacer is disposed on the periphery of the opening surface, it is possible to prevent the pad from deteriorating due to the sliding when the dust collecting portion 30 is picked up and lowered.
在本實施形態中，於集塵部30之前方配置電動送風機22，而於後方配置電池14或控制基板15，但只要相對於集塵部30於一側配置電動送風機22，於另一側配置電池14或控制基板15即可。In the present embodiment, the electric blower 22 is disposed in front of the dust collecting portion 30, and the battery 14 or the control substrate 15 is disposed in the rear. However, the electric blower 22 is disposed on one side of the dust collecting portion 30, and is disposed on the other side. The battery 14 or the control substrate 15 may be used.
又，於集塵部30之前方配置氣流路，而於後方配置控制基板15，但只要相對於集塵部30於一側配置氣流路，於另一側配置控制基板15即可。In addition, the air flow path is disposed in front of the dust collecting portion 30, and the control board 15 is disposed in the rear side. However, the control board 15 may be disposed on the other side as long as the air flow path is disposed on one side of the dust collecting unit 30.
根據本發明，可利用在於地板上自走之清掃機器人。According to the present invention, a cleaning robot that is self-propelled on the floor can be utilized.
1‧‧‧清掃機器人1‧‧‧ cleaning robot
2‧‧‧本體框體2‧‧‧ body frame
3‧‧‧蓋部3‧‧‧ Cover
4‧‧‧充電端子4‧‧‧Charging terminal
6‧‧‧吸入口6‧‧‧Inhalation
7‧‧‧排氣口7‧‧‧Exhaust port
8‧‧‧凹部8‧‧‧ recess
9‧‧‧旋轉刷9‧‧‧Rotary brush
10‧‧‧側刷10‧‧‧ side brush
11‧‧‧第1吸氣路11‧‧‧1st inspiratory road
12‧‧‧第2吸氣路12‧‧‧2nd inhalation path
14‧‧‧電池14‧‧‧Battery
15‧‧‧控制基板15‧‧‧Control substrate
18‧‧‧地板檢測感測器18‧‧‧Floor detection sensor
19‧‧‧地板檢測感測器19‧‧‧Floor detection sensor
20‧‧‧馬達單元20‧‧‧Motor unit
21‧‧‧殼體21‧‧‧ housing
22‧‧‧電動送風機22‧‧‧Electric blower
22a‧‧‧馬達外殼22a‧‧‧Motor housing
23‧‧‧開口部23‧‧‧ openings
24a‧‧‧第1排氣路24a‧‧‧1st exhaust road
24b‧‧‧第2排氣路24b‧‧‧2nd exhaust road
25‧‧‧回流口25‧‧‧Return port
25a‧‧‧突出部25a‧‧‧Protruding
26‧‧‧後輪26‧‧‧ Rear wheel
27‧‧‧前輪27‧‧‧ front wheel
28‧‧‧離子產生裝置28‧‧‧Ion generator
28a‧‧‧電極28a‧‧‧electrodes
29‧‧‧驅動輪29‧‧‧Drive wheel
30‧‧‧集塵部30‧‧‧Dust collection department
31‧‧‧集塵容器31‧‧‧dust container
32‧‧‧上部蓋體32‧‧‧Upper cover
32a‧‧‧扣止部32a‧‧‧Deduction Department
33‧‧‧過濾器33‧‧‧Filter
34‧‧‧流入路34‧‧‧Incoming road
34a‧‧‧流入口34a‧‧‧Inlet
34b‧‧‧流入部34b‧‧‧Inflows
35‧‧‧流出路35‧‧‧Outflow
35a‧‧‧流出口35a‧‧‧Export
39‧‧‧集塵室39‧‧‧dust room
40‧‧‧充電座40‧‧‧ charging stand
41‧‧‧端子部41‧‧‧ Terminals
F‧‧‧地板F‧‧‧Floor
S‧‧‧側壁S‧‧‧ side wall
圖1係顯示本發明之實施形態之清掃機器人之立體圖。Fig. 1 is a perspective view showing a cleaning robot according to an embodiment of the present invention.
圖2係顯示本發明之實施形態之清掃機器人之側視剖面圖。Fig. 2 is a side sectional view showing the cleaning robot according to the embodiment of the present invention.
圖3係顯示將本發明之實施形態之清掃機器人之仰視圖。Fig. 3 is a bottom plan view showing a cleaning robot according to an embodiment of the present invention.
圖4係顯示本發明之實施形態之清掃機器人拆卸集塵部之狀態的側視剖面圖。Fig. 4 is a side cross-sectional view showing a state in which the cleaning robot of the embodiment of the present invention removes the dust collecting portion.
圖5係顯示本發明之實施形態之清掃機器人之馬達單元的立體圖。Fig. 5 is a perspective view showing a motor unit of the cleaning robot according to the embodiment of the present invention.
圖6係顯示本發明之實施形態之清掃機器人之馬達單元的前視圖。Fig. 6 is a front elevational view showing the motor unit of the cleaning robot according to the embodiment of the present invention.
圖7係顯示本發明之實施形態之清掃機器人之馬達單元的俯視圖。Fig. 7 is a plan view showing a motor unit of the cleaning robot according to the embodiment of the present invention.
圖8係顯示本發明之實施形態之清掃機器人之馬達單元的側視圖。Fig. 8 is a side view showing a motor unit of the cleaning robot according to the embodiment of the present invention.
1‧‧‧清掃機器人1‧‧‧ cleaning robot
2‧‧‧本體框體2‧‧‧ body frame
3‧‧‧蓋部3‧‧‧ Cover
4‧‧‧充電端子4‧‧‧Charging terminal
6‧‧‧吸入口6‧‧‧Inhalation
7‧‧‧排氣口7‧‧‧Exhaust port
8‧‧‧凹部8‧‧‧ recess
9‧‧‧旋轉刷9‧‧‧Rotary brush
10‧‧‧側刷10‧‧‧ side brush
11‧‧‧第1吸氣路11‧‧‧1st inspiratory road
12‧‧‧第2吸氣路12‧‧‧2nd inhalation path
14‧‧‧電池14‧‧‧Battery
15‧‧‧控制基板15‧‧‧Control substrate
20‧‧‧馬達單元20‧‧‧Motor unit
21‧‧‧殼體21‧‧‧ housing
22‧‧‧電動送風機22‧‧‧Electric blower
26‧‧‧後輪26‧‧‧ Rear wheel
27‧‧‧前輪27‧‧‧ front wheel
29‧‧‧驅動輪29‧‧‧Drive wheel
30‧‧‧集塵部30‧‧‧Dust collection department
31‧‧‧集塵容器31‧‧‧dust container
32‧‧‧上部蓋體32‧‧‧Upper cover
33‧‧‧過濾器33‧‧‧Filter
34‧‧‧流入路34‧‧‧Incoming road
34b‧‧‧流入部34b‧‧‧Inflows
35‧‧‧流出路35‧‧‧Outflow
39‧‧‧集塵室39‧‧‧dust room
40‧‧‧充電座40‧‧‧ charging stand
41‧‧‧端子部41‧‧‧ Terminals
F‧‧‧地板F‧‧‧Floor
S‧‧‧側壁S‧‧‧ side wall
Claims (8)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011214458A JP5160676B1 (en) | 2011-09-29 | 2011-09-29 | Cleaning robot |
| JP2011214461A JP5160677B1 (en) | 2011-09-29 | 2011-09-29 | Cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201318590A TW201318590A (en) | 2013-05-16 |
| TWI513443B true TWI513443B (en) | 2015-12-21 |
Family
ID=47995121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW101134541A TWI513443B (en) | 2011-09-29 | 2012-09-20 | Cleaning robots |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US20140201941A1 (en) |
| EP (1) | EP2762050B1 (en) |
| KR (1) | KR101536542B1 (en) |
| CN (1) | CN103813742B (en) |
| SG (1) | SG2014014997A (en) |
| TW (1) | TWI513443B (en) |
| WO (1) | WO2013047073A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6546863B2 (en) * | 2016-02-17 | 2019-07-17 | 日立グローバルライフソリューションズ株式会社 | Electric vacuum cleaner |
| CN105982621B (en) * | 2016-04-14 | 2019-12-13 | 北京小米移动软件有限公司 | Automatic cleaning equipment's wind path structure and automatic cleaning equipment |
| EP4159101A3 (en) * | 2016-05-20 | 2023-06-07 | LG Electronics Inc. | Robot cleaner |
| JP6609538B2 (en) * | 2016-11-18 | 2019-11-20 | 日立グローバルライフソリューションズ株式会社 | Electric blower and vacuum cleaner having the same |
| CN108294693A (en) * | 2018-02-05 | 2018-07-20 | 南通明诺电动科技股份有限公司 | A kind of electric sweeping machine people |
| JP2019201880A (en) * | 2018-05-23 | 2019-11-28 | 株式会社マキタ | Robot dust collector |
| KR20210033109A (en) * | 2019-09-17 | 2021-03-26 | 엘지전자 주식회사 | Cleaner |
| USD1017154S1 (en) * | 2020-09-17 | 2024-03-05 | Irobot Corporation | Mobile cleaning robot |
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- 2012-08-30 US US14/239,344 patent/US20140201941A1/en not_active Abandoned
- 2012-08-30 KR KR1020147005047A patent/KR101536542B1/en active IP Right Grant
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103813742A (en) | 2014-05-21 |
| WO2013047073A1 (en) | 2013-04-04 |
| SG2014014997A (en) | 2014-06-27 |
| KR20140041905A (en) | 2014-04-04 |
| EP2762050A4 (en) | 2015-09-09 |
| EP2762050A1 (en) | 2014-08-06 |
| EP2762050B1 (en) | 2019-10-02 |
| TW201318590A (en) | 2013-05-16 |
| CN103813742B (en) | 2017-10-13 |
| KR101536542B1 (en) | 2015-07-13 |
| US20140201941A1 (en) | 2014-07-24 |
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| Date | Code | Title | Description |
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| MM4A | Annulment or lapse of patent due to non-payment of fees |