JP2014018620A - Self-propelled vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner capable of performing efficient cleaning with less cleaning omission on a floor surface.SOLUTION: A self-propelled vacuum cleaner includes: a main body having drive wheels and moving on a floor surface by the rolling movement of the drive wheels; a first side surface and a second side surface that are formed of flat surfaces constituting the side surfaces of the main body; a first dust suction port arranged in the bottom surface of the main body and formed to allow a longitudinal direction to be in parallel with one of the two flat surfaces; a second dust suction port formed to allow a longitudinal direction to be in parallel with the other one of the two flat surfaces; a first rotary brush arranged inside the first dust suction port; and a second rotary brush arranged inside the second dust suction port. The first side surface and the second side surface are arranged to allow the vertex angle formed by the mutual surfaces to be about 90°. The drive wheels are configured to be rolling-movable in a direction to be in parallel with a bisector of a vertex angle to be formed by the first side surface and the second side surface.

Description

  The present invention relates to a self-propelled cleaner that performs cleaning by running on a floor as a cleaning surface.

A conventional self-propelled cleaner includes a dust suction port and a rotating brush provided at the dust suction port near the center of the bottom surface of the circular main body, and a side brush near the bottom outer periphery of the main body. By rotating the side brush substantially horizontally and dusting outside the outer periphery of the main body into the center side of the main body, dust near the wall surface is sucked (for example, see Patent Document 1).
In addition, another conventional self-propelled cleaner has a rectangular shape in front of the main body, and includes a rotating brush provided in the dust suction port and the dust suction port in the vicinity of the front end of the bottom surface of the main body. The rotation axis of the rotating brush and the rotation axis of the drive wheel are parallel, and the main body is moved so that the right side surface or the left side surface in front of the main body is along the wall surface. Reference 2).
In addition, another conventional self-propelled cleaner has a configuration in which a suction nozzle having a right-angled tip is accommodated in the front left of the bottom of the circular main body. By moving the main body so that the side surface of the suction nozzle protruding from the outer periphery of the main body follows the wall surface, dust near the wall surface is sucked (for example, see Patent Document 3).

Japanese Patent No. 4838978 Special table 2010-526594 Japanese Patent No. 4190318

The conventional self-propelled cleaner has a problem that the side brush does not reach a narrow space such as a corner of the floor surface, resulting in cleaning leakage.
Also, in the conventional self-propelled cleaner, the direction of the rotating brush and suction nozzle relative to the moving direction of the main body is constant, and the main body moving direction is changed when cleaning a narrow space such as a corner of the floor surface. Since it is necessary to repeat moving forward and backward, there was a problem that cleaning efficiency was poor.

  The present invention has been made in order to solve the above-described problems, and provides a self-propelled cleaner with less floor leakage. The present invention also provides a self-propelled cleaner with excellent cleaning efficiency.

  In order to solve the above-described problems, a self-propelled electric vacuum cleaner includes a driving wheel, a main body that moves on the floor by rolling the driving wheel, and a plane that constitutes a side surface of the main body. The first and second side surfaces, the first dust suction port provided on the bottom surface of the main body and formed so that the longitudinal direction is parallel to one of the two planes, and the other of the two planes A second dust suction port formed to be parallel to the longitudinal direction, a first rotating brush provided in the first dust suction port, and a second rotating brush provided in the second dust suction port And the first side surface and the second side surface are arranged so that an apex angle formed between the first side surface and the second side surface is about 90 °, and the drive wheel is formed by the first side surface and the second side surface. What is necessary is just to comprise so that rolling is possible in the direction parallel to the bisector of a vertical angle.

  According to the present invention, the conventional self-propelled cleaning device is provided with the control means for controlling the dust suction port angle changing means so that the angle of the dust suction port in the longitudinal direction with respect to the rolling direction of the drive wheel is optimized. It is possible to reach the dust suction port at a location that could not be reached by the machine, and the cleaning leakage can be reduced.

The bottom view of the self-propelled cleaner concerning Embodiment 1 of the present invention. The top view of the self-propelled cleaner concerning Embodiment 1 of the present invention. The left view of the self-propelled cleaner concerning Embodiment 1 of the present invention. Sectional drawing in the Ba-Bb line | wire of FIG. The top view containing the partial cross section in the state which removed the dust collecting part cover etc. of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The top view including a partial cross section in the state which removed the dust collecting part of the self-propelled cleaner concerning Embodiment 1 of the present invention. Sectional drawing of the Ba-Bb line | wire described in FIG. 1 of the state which removed the dust collection part, the universal connection part, etc. of the self-propelled cleaner concerning Embodiment 1 of this invention. Sectional drawing in the Da-Db line | wire of FIG. It is a top view including the partial cross section in the state which removed the dust collecting part cover etc. of the self-propelled cleaner concerning Embodiment 1 of the present invention, and the outer shell part is in the central part from the state shown in FIG. The figure which shows the state rotated 45 degrees counterclockwise with respect. It is a top view including the partial cross section of the state which removed the dust collecting part cover etc. of the self-propelled cleaner concerning Embodiment 1 of the present invention, and the outer shell part is from the state shown in FIG. The figure which shows the state rotated 45 degrees clockwise. Sectional drawing in the Ea-Eb line | wire described in FIG. 1 of the state which is contacting or adjoining the wall surface of the self-propelled cleaner which concerns on Embodiment 1 of this invention. Sectional drawing in the Ba-Bb line | wire described in FIG. 1 of the state which moves on the carpet of the self-propelled cleaner concerning Embodiment 1 of this invention The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. The figure which shows the bottom view of the self-propelled cleaner which concerns on Embodiment 2 of this invention. The figure which shows the bottom view of the self-propelled cleaner which concerns on Embodiment 3 of this invention. The figure which shows the perspective view of the self-propelled cleaner which concerns on Embodiment 4 of this invention. The figure which shows the perspective view of the modification of the self-propelled cleaner concerning Embodiment 4 of this invention. The figure which shows the perspective view of the modification of the self-propelled cleaner concerning Embodiment 4 of this invention.

Hereinafter, the self-propelled cleaner of the present invention will be described with reference to the drawings.
In addition, in each figure, the same code | symbol is attached | subjected to the same member and the same part. In addition, the illustration of the fine structures such as bearings and support members is omitted as appropriate. In addition, overlapping descriptions are simplified or omitted as appropriate.

Embodiment 1 FIG.
The schematic structure of the self-propelled cleaner according to the first embodiment will be described below.
(Outline structure)
FIG. 1 is a diagram illustrating a bottom view of the self-propelled cleaner according to the first embodiment.
As shown in FIG. 1, the self-propelled cleaner according to the first embodiment includes a main body 1 having an outer shape surrounded by an arc R having a center angle A of 270 ° and two tangent lines S extending from both ends of the arc. Have. The main body 1 has a central portion 2 and an outer shell portion 3 that are divided by a circle concentric with the arc R.
The outer shell portion 3 has a right angle portion 4 and an arc portion 5. The outer shell 3 is rotatable around the central portion 2 within a total range of 90 °, 45 ° clockwise and 45 ° counterclockwise from the state shown in FIG. The right angle portion 4 is supported by the outer shell portion 3 so as to be movable up and down.

A pair of drive wheels 6 a and 6 b are provided inside the central portion 2. The drive wheels 6a and 6b protrude from the drive wheel openings 7a and 7b provided symmetrically on the bottom surface of the central portion 2 with the center line Ba-Bb interposed therebetween so that the lower surfaces are in contact with the floor surface.
The drive wheels 6a and 6b are independently driven by drive wheel motors 8a and 8b, which will be described later, and the rotational force of the drive wheel motors 8a and 8b is transmitted through gear portions 9a and 9b connecting a plurality of gears. The central portion 2 is provided with a follower wheel 10 that can change its direction in the middle rear of the drive wheels 6 a and 6 b, and the main body 1 is supported by the drive wheels 6 a and 6 b and the follower wheel 10.

The right angle portion 4 has a right suction port 11a serving as a first dust suction port and a left suction port 11b serving as a second dust suction port in front of the bottom surface, and dust is generated by a negative pressure generated by a blower 34 described later. Aspirate.
The right suction port 11a and the left suction port 11b are formed in a rectangular shape, and the longitudinal direction of the opening is arranged in parallel to the right side surface 24a and the left side surface 24b constituting the right angle portion 4, respectively. That is, the right suction port 11a and the left suction port 11b are arranged such that the longitudinal directions intersect with each other at an angle of about 90 °.

The right suction port 11a and the left suction port 11b are provided with a first rotating brush 12a and a second rotating brush 12b, respectively. These rotary brushes 12a and 12b are composed of rotary brush shafts 13a and 13b that are rotatably supported by bearings 14 and bristle brushes 15 planted on the rotary brush shafts 13a and 13b.
The rotary brushes 12a and 12b are driven by a rotary brush motor 50 described later. The bristle brush 15 forms a plurality of rows and is implanted in a spiral shape. The length of the bristle brush 15 is set to a length that protrudes from the outer periphery of the right-angled portion 4.
The rotating brush shafts 13a and 13b are also provided so as to be parallel to the longitudinal direction of the right suction port 11a and the left suction port 11b, respectively.

  Each of the right suction port 11a and the left suction port 11b is provided with dust receivers 16a and 16b made of a sheet-like elastic member, a bristle brush row, or a cloth on the center side of the main body. The length of the dust receivers 16a and 16b in the vertical direction is set to a length at which the tip contacts the floor surface. The dust receivers 16a and 16b prevent dust removed from the floor surface by the rotating brushes 12a and 12b from passing behind the right suction port 11a and the left suction port 11b, and are sucked by the right suction port 11a and the left suction port 11b. Guide you to be.

A tip brush 17 that rotates horizontally is provided at the tip of the right-angled portion 4. The tip brush 17 includes a tip brush shaft 18 and three bristle brushes 19 having different lengths planted at the lower end of the tip brush shaft 18.
The bristle brush 19 is flocked obliquely downward at the lower end of the tip brush shaft 18 and spreads and rotates in the horizontal direction when contacting the floor surface. The bristle brush 19 that spreads in the horizontal direction in contact with the floor surface protrudes from the outer periphery of the right-angled portion 4, scrapes dust outside the main body 1, and the right suction port 11 a or the left suction port on the brush rotation direction side. 11b.
Moreover, since the bristle brush 19 is comprised by several length, it is possible to clean the floor surface which contacts.

The right angle portion 4 has a central suction port 20 that is a third dust suction port behind the tip brush 17. The central suction port 20 is located at an intermediate portion between the right suction port 11a that is the first dust suction port and the left suction port 11b that is the second dust suction port, and cannot be removed by the tip brush 17. Aspirate the dust.
The central suction port 20 communicates with the right suction port 11a and the left suction port 11b inside the right-angled portion 4, and sucks dust by a negative pressure generated by a blower 34 described later. A dust receiver 21 is provided behind the central suction port 20.
The length of the dust receiver 21 in the vertical direction is set to a length at which the tip contacts the floor surface. The dust receiver 21 prevents the dust from passing behind the central suction port 20 and guides it to be sucked by the central suction port 20.

A pair of left and right front step detection sensors 22a and 22b that detect a concave step when the main body 1 moves forward and a pair of left and right rear step detection sensors 23a and 23b that detect a concave step when moving backward are provided on the outer periphery of the bottom surface of the arc portion 5. Provided.
Each level difference detection sensor includes a light emitting unit that emits infrared light and a light receiving unit, and detects the depth of the concave step by receiving the infrared light emitted from the light emitting unit and reflected on the floor surface by the light receiving unit. A control unit (not shown) changes the moving direction of the main body 1 when a concave step having a predetermined depth or more is detected.
Each step detection sensor is not limited to a light emitting unit that emits infrared light and a light receiving unit, and may be another sensor such as a contact switch or an ultrasonic transceiver.

The interval between the drive wheel 6a and the drive wheel 6b is set narrower than the interval between the main body rear side end of the rotary brush 12a and the main body rear side end of the rotary brush 12b.
By configuring in this way, when the drive wheels 6a and 6b roll in the forward direction with the rotary brushes 12a and 12b facing forward, the floor surface of the drive wheels 6a and 6b cleaned by the rotary brushes 12a and 12b is removed. Since it passes, it can prevent that dust adheres to the drive wheels 6a and 6b.

FIG. 2 is a plan view of the self-propelled cleaner according to the first embodiment. FIG. 3 is a left side view of the self-propelled cleaner according to the first embodiment.
As shown in FIGS. 2 and 3, the right angle portion 4 has a planar right side surface 24 a that serves as a first side surface of the main body 1 and a planar left side surface 24 b that serves as a second side surface. The angle at which the right side surface 24a and the left side surface 24b intersect (including the apex angle formed by straight lines parallel to the right side surface 24a and the left side surface 24b) is about 90 °.
That is, the right side surface 24a and the left side surface 24b are arranged such that the apex angle formed by the surfaces is about 90 ° (substantially right angle). Moreover, the joint part of two side surfaces is formed roundly.
Further, the drive wheels 6a and 6b are configured to be able to roll in a direction parallel to the bisector of the apex angle formed by the first side surface and the second side surface.

The right side surface 24a and the left side surface 24b are provided with two right side surface proximity sensors 25a and 26a and two left side surface proximity sensors 25b and 26b that are spaced apart from each other by a predetermined distance. Each proximity sensor 25a, 26a, 25b, and 26b includes a light emitting unit that emits infrared light and a light receiving unit, and the light receiving unit receives the infrared light that is emitted and reflected from the light emitting unit.
A control unit (not shown) detects the distance to the wall or obstacle from the signals of the proximity sensors. Moreover, a control part (not shown) detects the angle of the wall surface and obstacle with respect to the right side surface 24a and the left side surface 24b by comparing the distance output of two proximity sensors in the same plane.

A right proximity sensor 27a, a left proximity sensor 27b, a right rear proximity sensor 28a, a left rear proximity sensor 28b, and a rear proximity sensor 29 are provided on the left, right, left, right, and rear of the side surface of the arc portion 5. .
Each proximity sensor includes a light emitting unit and a light receiving unit that emit infrared rays, and the light receiving unit receives infrared rays that are emitted from the light emitting unit and reflected. A control unit (not shown) detects the distance between the side and rear of the main body 1 and the wall surface and obstacles.
Each proximity sensor is not limited to a light emitting unit that emits infrared light and a light receiving unit, and may be another sensor such as a contact switch or an ultrasonic transmitter / receiver.

The arc part 5 has an operation display part 30 at the rear of the upper surface. The operation display unit 30 is provided with a plurality of operation buttons 31 and a display unit 32 for switching functions such as a power source and an operation mode.
In addition, a dust collector cover 33 is provided on the upper surface of the main body 1 so as to cover the right angle portion 4 and the arc portion 5. The dust collector cover 33 opens and closes by rotating around the fulcrum when the dust collector 37 described later is attached to and detached from the main body 1.

Below, the structure of the dust collection part of the self-propelled cleaner which concerns on Embodiment 1 is demonstrated.
(Dust collector structure)
4 is a cross-sectional view of the self-propelled cleaner according to the first embodiment, taken along line Ba-Bb described in FIG. 1.
As shown in FIG. 4, a blower 34 is provided at the center of the arc portion 5. The blower 34 has a fan 35 composed of a plurality of rotating blades that rotate horizontally, and generates negative pressure by rotating the fan 35. The air flows from the upper side in the axial direction of the fan 35 due to the negative pressure generated by the fan 35, and is discharged from the exhaust duct 36 provided in the radial direction of the fan 35.

A detachable dust collecting portion 37 is provided on the upper portion of the blower 34. The dust collector 37 is configured in a cylindrical shape, and has a dust collector lid 38 provided with an opening on the blower 34 side. The dust collector lid 38 can be opened and closed with the hinge 39 as a fulcrum.
The opening is provided with a filter 40 that separates dust from the dust-containing air sucked from the suction ports and allows only air to pass through. In addition, a lattice 41 is provided at the opening of the blower 34 to prevent foreign matter from entering when the dust collecting portion 37 is removed.

A ring-shaped seal member 42 that ensures the airtightness of the dust collector 37 and the blower 34 is provided at the opening of the dust collector lid 38. The seal member 42 is made of a material in which an elastic member such as rubber or elastomer resin is blended with a fluororesin having lubricity, and has a V-shaped cross section.
The opening of the dust collector lid 38 and the opening of the blower 34 are in contact with different surfaces forming the V-shape of the seal member 42. By comprising in this way, the dust collection part 37 and the air blower 34 can be slid in a horizontal direction, ensuring airtightness.

FIG. 5 is a diagram showing a plan view including a partial cross section of the self-propelled cleaner according to the first embodiment in a state in which the dust collecting unit cover 33 and the like are removed.
A suction air passage 43 and a universal coupling portion 44 communicating with the dust collecting portion 37 are connected to the right suction port 11 a, the left suction port 11 b, and the central suction port 20. The dust-containing air sucked from the right suction port 11a, the left suction port 11b, and the central suction port 20 due to the negative pressure generated by the blower 34 merges in the suction air passage 43 and is collected via the universal connection portion 44. 37 is aspirated.
Dust is collected in the dust collecting portion 37 by the filter 40 from the sucked dust-containing air. Only the air filtered by the filter 40 is sucked into the blower 34. In addition, the universal connection part 44 is a bellows structure comprised by elastic members, such as rubber | gum and an elastomer resin, and ensures airtightness, when the suction air path 43 and the dust collection part 37 adjoin and separate.

FIG. 6 is a diagram illustrating a plan view including a partial cross section of the self-propelled cleaner according to the first embodiment with the dust collection part 37 removed. 7 is a cross-sectional view of the self-propelled cleaner according to the first embodiment, taken along the line Ba-Bb shown in FIG. 1, with the dust collecting portion 37 and the universal connecting portion 44 removed. FIG.
As shown in FIGS. 6 and 7, the dust collecting portion 37, the universal connecting portion 44, and the like can be separated and removed from the main body 1 by opening the dust collecting portion cover 33 (FIG. 6 shows the dust collecting portion 37. Only shows the removed state.) The dust collecting portion cover 38 can be opened with the hinge portion 39 as a fulcrum, and the filter 40 can be separated and removed.
An annular seal member (not shown) is provided on the contact surface between the dust collector lid 38 and the dust collector 37 to ensure airtightness. Further, the dust collecting portion lid 38 is provided with a locking claw (not shown), and engages with the dust collecting portion 37 to keep the dust collecting portion lid 38 closed.

Below, arrangement | positioning of the electric system of the self-propelled cleaner which concerns on Embodiment 1 is demonstrated.
(Electric system layout)
As shown in FIGS. 4 and 5, an assembled battery 46 in which a plurality of cylindrical storage batteries 45 are integrated and stored in a resin case is provided at the rear of the arc portion 5. The plurality of storage batteries 45 are arranged in an arc shape along the outer shape of the arc portion 5. By arranging the storage batteries 45 in an arc shape, the main body 1 can be reduced in size.

  An electric circuit board 47 is provided in the central portion 2, and electric parts such as a control circuit and a sensor are mounted on the electric circuit board 47. A plurality of main body exhaust ports 48 are provided on the rear side surface of the arc portion 5. The exhaust air exhausted from the blower 37 passes through the central portion 2 and the arc portion 5, cools the electric parts of the electric circuit board 47 and the heating elements such as the storage battery 45, and is exhausted from the main body exhaust port 48. .

The structure of each drive system of the self-propelled cleaner according to the first embodiment will be described below.
(Rotating brush drive system)
FIG. 8 is a cross-sectional view of the self-propelled cleaner according to the first embodiment, taken along line Da-Db shown in FIG. 1.
As shown in FIGS. 5 and 8, the rotating brush shafts 13a and 13b extend to the distal end side of the right-angled portion 4, and bevel gears 49a and 49b are provided at the distal ends. The bevel gears 49a and 49b are orthogonal to each other so that their gear portions mesh with each other. A rotary brush motor 50 is provided on the upper portion of the rotary brush 12a. On the rotating shaft of the rotary brush motor 50, a helical gear 51 and a bevel gear 52 are provided.
The helical gear 51 transmits the rotational force of the rotary brush motor 50 to the helical gear 54 disposed on the extension of the rotary brush shaft 13 via the transmission gear 53.

When the rotary brush motor 50 rotates, a rotational force is transmitted to the palm gear 54, and the rotary brush shaft 13a rotates. The rotating brush 12a attached to the rotating brush shaft 13a rotates in a direction from the outside of the main body 1 toward the center side when the bristle brush 15 contacts the floor surface F. When the bevel gear 49a is rotated by the rotation of the rotating brush shaft 13a, the meshing bevel gear 49b is rotated and the rotating brush shaft 13b is rotated.
That is, the rotating brush shaft 13a and the rotating brush shaft 13b rotate in synchronization. The rotating brush 12b attached to the rotating brush shaft 13b rotates in the direction from the outside of the main body 1 toward the center side of the main body 1 when the bristle brush 15 contacts the floor surface F, similarly to the rotating brush 12a.

  A bevel gear 55 is provided on the tip brush shaft 18. The bevel gear 55 is disposed orthogonally so as to mesh with the bevel gear 52. When the bevel gear 52 is rotated by the rotation of the rotary brush motor 50, the bevel gear 55 to be engaged is rotated. As a result, the tip brush shaft 18 rotates and the tip brush 17 rotates horizontally with respect to the floor surface F in the clockwise direction.

(Outer shell drive system)
As shown in FIGS. 4 and 5, the outer shell portion 3 is rotatably connected to the central portion 2. The central portion 2 is disposed inside the outer shell portion 3, and a plurality of columnar rolling members 56 are provided at a connection portion with the outer shell portion 3. The rotatable angle of the outer shell portion 3 with respect to the central portion 2 is 90 °, and the outer shell portion 3 is 45 ° around the central portion 2 clockwise and counterclockwise with respect to the state shown in FIG. Rotate in the range.

  An angle adjustment motor 57 and a pinion gear 58 that transmits the rotational force of the angle adjustment motor 57 are provided at the rear of the arc portion 5. A rack gear 59 is provided in the central portion 2. The rack gear 59 meshes with the pinion gear 58, and the rotational force of the angle adjustment motor 57 is transmitted via the pinion gear 58. The control unit (not shown) rotates the outer shell 3 with respect to the central portion 2 by rotating the angle adjusting motor 57 during the operation of the main body 1.

  The arc portion 5 is provided with an angle detection sensor (not shown) that detects the position of the rack gear 59 and detects the rotation angle of the outer shell portion 3. A control unit (not shown) controls the rotation angle of the outer shell 3 based on a signal from the angle detection sensor.

FIG. 9 is a diagram showing a plan view including a partial cross section of the self-propelled cleaner according to the first embodiment with the dust collecting part cover 33 and the like removed, and is out of the state shown in FIG. It is a figure which shows the state which the shell part 3 rotated 45 degrees counterclockwise with respect to the center part 2. FIG.
In the state shown in FIG. 5, when a control unit (not shown) rotates the angle adjustment motor 57 counterclockwise, the pinion gear 58 rotates counterclockwise while rolling the gear portion of the rack gear 59 that meshes. The rack gear 59 moves to the right.
As the pinion gear 58 moves, the outer shell portion 3 to which the angle adjusting motor 57 is fixed rotates counterclockwise with respect to the central portion 2. When the outer shell portion 3 rotates 45 ° counterclockwise with respect to the central portion 2, an angle detection sensor (not shown) detects this and outputs a signal to the control portion (not shown). The control unit (not shown) receives the signal and stops the angle adjustment motor 57.

At this time, the axis Ga-Gb of the drive wheels 6a and 6b is perpendicular to the rotating brush shaft 13b. In this state, the left side surface 24b can be brought into contact with the wall surface H, and the main body 1 is moved along the wall surface H while rotating the rotary brush 12b, thereby continuously cleaning the floor surface F near the wall. Is possible.
Further, since the rotating brush 12a is perpendicular to the moving direction of the main body 1, the area corresponding to the width of the rotating brush 12a can be simultaneously cleaned from the wall surface H, and the cleaning efficiency of the floor surface F near the wall can be further improved. It is possible to improve.

FIG. 10 is a diagram showing a plan view including a partial cross section of the self-propelled cleaner according to the first embodiment with the dust collecting part cover 33 and the like removed, and is out of the state shown in FIG. It is a figure which shows the state which the shell part 3 rotated 45 degrees clockwise with respect to the center part 2. FIG.
In the state shown in FIG. 5, when the control unit (not shown) rotates the angle adjustment motor 57 clockwise, the pinion gear 58 rotates clockwise and the rack gear 59 rotates while rolling the gear portion of the meshing rack gear 59. Move to the left.
As the pinion gear 58 moves, the outer shell portion 3 to which the angle adjustment motor 57 is fixed rotates clockwise with respect to the central portion 2.
When the outer shell 3 rotates 45 ° clockwise relative to the central portion 2, an angle detection sensor (not shown) detects this and outputs a signal to the control unit (not shown). The control unit (not shown) receives the signal and stops the angle adjustment motor 57.

At this time, the central axis Ga-Gb of the drive wheels 6a and 6b is perpendicular to the rotating brush shaft 13a. In this state, the right side surface 24a can be brought into contact with the wall surface I, and the main body 1 is moved along the wall surface I while rotating the rotating brush 12a, thereby continuously cleaning the floor surface F near the wall. Is possible.
Further, since the rotating brush 12b is perpendicular to the moving direction of the main body 1, the area corresponding to the width of the rotating brush 12b from the wall surface I can be cleaned at the same time, and the cleaning efficiency of the floor surface F near the wall can be improved. It is possible to improve.

11 is a cross-sectional view of the self-propelled cleaner according to the first embodiment, taken along line Ea-Eb described in FIG.
As shown in FIG. 11, the right side surface 24 a of the main body 1 is in contact with the wall surface I. The position of the rotary brush shaft 13a and the length of the bristle brush 15 are set so that the bristle brush 15 of the rotary brush 12a protrudes outside the right side surface 24a. Further, the bristle brush 15 reaches the corner of the floor surface F in a state where the right side surface 24a is in contact with the wall surface I. By comprising in this way, it can clean reliably to the wall side.

(Driving system of driving wheels)
As shown in FIGS. 4 and 5, drive wheel motors 8a and 8b are connected to the pair of drive wheels 6a and 6b via gear portions 9a and 9b, respectively, thereby constituting an integrated drive unit. The pair of drive wheels 6a and 6b is rotatably supported by a hinge portion (not shown) provided on the rear side of the main body.
The drive unit receives a force in a direction in which the drive wheels 6a and 6b protrude from the drive wheel openings 7a and 7b by a spring (not shown). When the main body 1 is lifted from the floor surface F, the drive unit receives a force from the spring, so that the amount of protrusion of the drive wheels 6a and 6b from the drive wheel openings 7a and 7b increases.

  Each drive wheel unit is provided with a drive wheel ground sensor (not shown) that detects displacement. The control unit (not shown) recognizes the contact state between the drive wheels 6a and 6b and the floor surface F by monitoring the output of the drive wheel ground sensor.

Below, operation | movement of the right-angled part of the self-propelled cleaner which concerns on Embodiment 1 is demonstrated.
(Operation of right angle part)
As shown in FIG. 4, the right angle portion 4 is supported by the outer shell portion 3 so as to be vertically movable. The outer shell portion 3 is provided with a plurality of guides 60, and the right angle portion 4 moves up and down along the guides 60. Further, the right angle portion 4 has an inclined surface at the tip of the bottom surface, and when the right angle portion 4 reaches the convex step, the inclined surface receives a force from the convex step and moves the right angle portion 4 upward.

A displacement amount detection sensor 61 that detects the amount of vertical displacement of the right angle portion 4 is provided behind the right angle portion 4. The displacement detection sensor 61 includes an infrared light emitting unit and a light receiving unit.
The control unit (not shown) detects the displacement of the right-angled portion 4 by detecting the reflected infrared light emitted to the boundary portion with the light receiving unit. The control unit (not shown) controls the drive wheels 6a and 6b so as to get over the right-angled part 4 when it gets on the convex step.
In addition, when it falls to the concave step, the driving wheels 6a, 6b are stopped and then reversed so that the escape operation from the concave step is performed.

12 is a diagram illustrating a cross-sectional view of the self-propelled cleaner according to the first embodiment, taken along the line Ba-Bb illustrated in FIG. 1, in a state of moving on the carpet.
As shown in FIG. 12, when the main body 1 moves on the carpet J in which soft hairs are implanted, the driving wheels 6a and 6b and the driven wheel 10 support the weight of the main body 1 with a small contact area. Sink inside.
On the other hand, since the right-angled part 4 has a large contact area with the carpet J, it does not sink into the carpet J, but is stable in contact with the surface of the carpet J. Thus, when the main body 1 moves on the carpet J, the right angle portion 4 moves upward with respect to the drive wheels 6 a and 6 b and the outer shell portion 3.
With such a configuration, dust on the carpet J can be cleaned even in a state of moving on the carpet J. Further, since the rotary brushes 12a and 12b are provided in the dust suction port, the bristle brush 15 enters the carpet J, and the dust that has entered the carpet J can be scraped out and cleaned.

Hereinafter, the operation of the self-propelled cleaner according to the first embodiment will be described.
(Operation of self-propelled vacuum cleaner)
13 to 33 are diagrams illustrating the operation of the self-propelled cleaner according to the first embodiment.
13 to 33, a broken line indicates a state before the main body 1 is operated. When the operator sets the cleaning operation of the main body 1, the control unit (not shown) operates the blower 34 and starts suction from the right suction port 11 a, the left suction port 11 b, and the central suction port 20.
Further, the control unit (not shown) operates the rotary brush motor 50 to rotate the rotary brushes 12a and 12b and the tip brush 17. The control unit (not shown) drives the drive wheel motors 8a and 8b based on a predetermined operation algorithm to move the main body 1.
13 to 33 show the case where the wall surface L is on the right side with respect to the wall surface K when the floor surface F is viewed from above, but the case where the wall surface L is on the left side with respect to the wall surface K. But it is possible to operate similarly.

  FIG. 13 shows a state in which the main body 1 moves obliquely toward the wall surface K. At this time, the main body 1 is located about 30 cm away from the wall surface K, and the right side proximity sensors 25a and 26a and the left side proximity sensors 25b and 26b do not detect proximity to the wall K. Each proximity sensor may be set to detect proximity when the distance from the wall surface K is 20 cm or less.

FIG. 14 shows a state in which the main body 1 goes straight and is close to the wall surface K up to about 10 cm. At this time, the front left side proximity sensor 25b, the rear left side proximity sensor 26b, and the front right side proximity sensor 25a detect the proximity to the wall K.
The control unit (not shown) recognizes from the signals of these three proximity sensors that the front left side proximity sensor 25b is closest. Further, the control unit (not shown) recognizes that the left side surface 24b is inclined with respect to the wall surface K from the difference in distance output between the front left side surface proximity sensor 25b and the rear left side surface proximity sensor 26b. To do.

FIG. 15 shows a state in which the main body 1 makes the left side surface 24 b contact the wall surface K. After recognizing that the left side surface 24b is inclined with respect to the wall surface K at the time of FIG. 14, the control unit (not shown) moves the main body 1 while turning in the right direction while moving the left side surface on the front side. The distance outputs of the proximity sensor 25b and the rear left side proximity sensor 26b are compared.
Then, the control unit (not shown) rolls the drive wheels 6a and 6b so that the distance output difference between the proximity sensors is 0 and the proximity sensors detect contact, and the left side surface 24b is moved to the wall surface K. Contact.
At this time, the left rotating brush 12b brings the bristle brush 15 into contact with the floor surface F near the wall, and scrapes off dust on the floor surface F near the wall. And dust is attracted | sucked from the left inlet 11b.

  FIG. 16 shows a state in which the rolling directions of the drive wheels 6a and 6b are parallel to the wall surface K. The control unit (not shown) moves the main body 1 along the wall surface K in the state of FIG. 15, that is, the left side surface 24b is in contact with the wall surface K. The central portion 2 and the outer shell portion 3 are rotated so as to be parallel to the wall surface K.

At this time, the control unit (not shown) rolls the right drive wheel 6a in the negative direction (rolls in the backward direction) and rolls the left drive wheel 6b in the positive direction (rolls in the forward direction). As a result, the central part 2 is rotated clockwise.
At the same time, the angle adjusting motor 57 is rotated counterclockwise, and the outer shell 3 is rotated counterclockwise with respect to the central portion 2. Here, the rolling direction of the drive wheels 6a, 6b is changed while the left side surface 24b is in contact with the wall surface K by making the central part 2 and the outer shell part 3 rotate at the same speed. can do.
Here, the belief rotation refers to a movement in which only the central portion 2 rotates while the main body 1 remains at substantially the same position on the floor surface F. That is, the movement of the main body 1 does not move on the floor surface F but changes its direction while staying at the same position.

FIG. 17 shows a state in which the main body 1 is moving along the wall surface K. The control unit (not shown) is in the state shown in FIG. 16, that is, in a state where the left side surface 24b is in contact with the wall surface K and the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface K. Roll 6b in the forward direction (roll in the forward direction).
The main body 1 moves along the wall surface K by a distance corresponding to substantially the entire length of the main body 1 while the left side surface 24b is in contact with the wall surface K. By moving in this way, the left rotating brush 12b brings the bristle brush 15 into contact with the floor surface F near the wall and presses it against the boundary between the floor surface F and the wall surface K, and dust on the floor surface F near the wall. Can be scraped and collected.

FIG. 18 shows a state in which the main body 1 is moving in the direction of returning along the wall surface K. The control unit (not shown) rolls the drive wheels 6a and 6b in the negative direction in the state shown in FIG. 17, that is, in a state where the main body 1 moves along the wall surface K by a distance corresponding to substantially the entire length of the main body 1. (Rolls backward). The main body 1 moves in the direction of returning along the wall surface K by a distance corresponding to substantially half of the entire length of the main body 1 while bringing the left side surface 24b into contact with the wall surface K.
In particular, when cleaning along the wall surface, the main body 1 moves while repeating forward and backward in this way, so that the left rotating brush 12b brings the bristle brush 15 into contact with the floor surface F near the wall, and dust The suction port 11 can be more reliably collected by scraping out the water.

  19 and 20 show a state in which the main body 1 moves while repeating forward and backward movements and cleans along the wall surface K. FIG. FIG. 19 shows a state of moving forward, and FIG. 20 shows a state of moving backward.

  FIG. 21 shows a state in which the main body 1 moves along the wall surface K and reaches the corner M. The control unit (not shown) is in the state shown in FIG. 20, that is, in a state where the left side surface 24b is in contact with the wall surface K and the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface K. Roll 6b in the forward direction (roll in the forward direction).

When the main body 1 approaches the wall L, the front right side proximity sensor 25a and the rear right side proximity sensor 26a simultaneously detect the proximity to the wall L. At this time, the control unit (not shown) recognizes the angle of the right side surface 24a with respect to the wall surface L by comparing the distance outputs of the front right side proximity sensor 25a and the rear right side proximity sensor 26a.
The control unit (not shown) can recognize that the wall surface L is perpendicular to the wall surface K when both proximity sensors have the same distance output. When recognizing that the wall surface L is not perpendicular to the wall surface K, the control unit (not shown) outputs a signal that warns that there is a possibility of cleaning leakage. Further, the operation algorithm is switched according to the angle between the wall surface K and the wall surface L, and the cleaning is continued.

When the main body 1 reaches the corner M, the control unit (not shown) stops driving the drive wheels 6a and 6b with the right side surface 24a in contact with the wall surface L. Then, it stays at the corner M for a predetermined time.
At this time, in addition to the left side 24b side, the right side 24a side of the suction port 11 is also along the wall surface, and dust-containing air is sucked along three boundary portions formed by the wall surface K, the wall surface L, and the floor surface F. The dust accumulated on the floor surface F around the corner M is collected. The time for staying at the corner M is preferably about 2 to 3 seconds.
Thus, by staying at the corner M for a predetermined time, the dust at the corner M can be collected more reliably.

22 and 23 show a state in which the periphery of the corner M is cleaned by moving backward and forward after the main body 1 reaches the corner M. The control unit (not shown) rolls the drive wheels 6a and 6b in the negative direction (rolls in the backward direction) in the state shown in FIG. It rolls in the direction (rolls in the forward direction), and reciprocates along the wall surface K by a distance corresponding to substantially half of the entire length of the main body 1.
In this way, by reciprocating along the wall surface K, it is possible to more reliably collect dust adhering to the periphery of the corner M by the rotating brushes 12a and 12b and the tip brush 17.

FIG. 24 shows a state in which the rolling direction of the drive wheels 6 a and 6 b is set to 45 ° with respect to the wall surface K and the wall surface L with the main body 1 reaching the corner M.
The control unit (not shown) rotates the central part 2 by 45 ° counterclockwise in the state shown in FIG. 23, that is, with the right side surface 24 a in contact with the wall surface L and the left side surface 24 b in contact with the wall surface K. At the same time, the outer shell 3 is rotated 45 ° clockwise.

At this time, the control unit (not shown) rolls the right driving wheel 6a in the positive direction (rolls in the forward direction), and rolls the left driving wheel 6b in the negative direction (rolls in the backward direction). As a result, the central part 2 is rotated counterclockwise.
At the same time, the angle adjusting motor 44 is rotated clockwise, and the outer shell 3 is rotated clockwise with respect to the central portion 2. Here, the rolling direction of the drive wheels 6a and 6b is changed while the right side surface 24a is in contact with the wall surface L by making the central part 2 and the outer shell part 3 have the same rotational speed. can do. That is, the rolling direction of the drive wheels 6a and 6b can be changed with the main body 1 held at the corner M.

25 and 26 show a state in which the main body 1 moves backward and forward after changing the rolling direction of the drive wheels 6a and 6b to clean the periphery of the corner M.
The control unit (not shown) moves the drive wheels 6a and 6b in the negative direction in the state shown in FIG. 24, that is, in a state where the rolling direction of the drive wheels 6a and 6b is 45 ° with respect to the wall surfaces K and L. (Rolling in the backward direction) and then rolling in the forward direction (rolling in the forward direction), and reciprocates a distance corresponding to substantially half of the entire length of the main body 1. In this way, by performing the reciprocating operation in a different direction after the reciprocating operation along the wall surface K, the rotating brushes 12a and 12b and the tip brush 17 can more reliably collect dust attached to the periphery of the corner M. can do.

  FIG. 27 shows a state in which the rolling directions of the drive wheels 6 a and 6 b are parallel to the wall surface L. The control unit (not shown) rotates the central part 2 counterclockwise so that the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface L with the right side surface 24a in contact with the wall surface L. At the same time, the outer shell 3 is rotated 45 ° clockwise.

At this time, the control unit (not shown) rolls the right driving wheel 6a in the positive direction (rolls in the forward direction), and rolls the left driving wheel 6b in the negative direction (rolls in the backward direction). As a result, the central part 2 is rotated counterclockwise.
At the same time, the angle adjusting motor 44 is rotated clockwise, and the outer shell 3 is rotated clockwise with respect to the central portion 2. Here, the rolling direction of the drive wheels 6a and 6b is changed while the right side surface 24a is in contact with the wall surface L by making the central part 2 and the outer shell part 3 have the same rotational speed. can do.
That is, the rolling direction of the drive wheels 6a and 6b can be changed with the main body 1 held at the corner M.

28 and 29 show a state in which the periphery of the corner M is cleaned by repeatedly moving backward and forward after changing the rolling direction of the drive wheels 6a and 6b. The control unit (not shown) rolls the drive wheels 6a and 6b in the negative direction (reverse direction) in the state shown in FIG. 27, that is, in a state where the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface L. And then reciprocate a distance corresponding to approximately half of the entire length of the main body 1.
In this way, by performing reciprocating motions in different directions after reciprocating motion along the wall surface K in a plurality of directions, dust adhering to the periphery of the corner M is collected by the rotating brushes 12a and 12b and the tip brush 17. Can be made more reliable.

FIG. 30 shows a state in which the main body 1 has moved along the wall surface L in a direction away from the corner M. The control unit (not shown) is in the state shown in FIG. 29, that is, in a state where the right side surface 24a is in contact with the wall surface L and the rolling direction of the driving wheels 6a and 6b is parallel to the wall surface L. Roll 6b.
The main body 1 moves along the wall surface L while bringing the right side surface 24a into contact with the wall surface L. At this time, since the suction port 11 is located rearward with respect to the drive wheels 6a and 6b, the drive wheels 6a and 6b move on the floor surface F that has not been cleaned.
Therefore, the control unit (not shown) temporarily stops the main body 1 after moving the main body 1 from the corner M along the wall surface L by about 50 cm, and the suction port 11 is moved to the drive wheels 6a and 6b by the following procedure. The positional relationship between the suction port 11 and the drive wheels 6a and 6b is changed so as to be positioned forward.

FIG. 31 shows a state in which the main body 1 moves along the wall surface L and returns to the corner M side. In the state of FIG. 30, the control unit (not shown) moves the main body 1 toward the corner M side to a position where the outer shell portion 3 sufficiently passes through the range cleaned by the suction port 11 on the left side 24 b side. To do.
This is an operation for preventing the floor surface F that becomes a cleaning leak from being generated due to a change in the positional relationship between the suction port 11 and the drive wheels 6a and 6b.

FIG. 32 shows a state in which the positional relationship between the rotary brushes 12a and 12b and the drive wheels 6a and 6b is changed so that the rotary brushes 12a and 12b are positioned in front of the drive wheels 6a and 6b. The control unit (not shown) is counterclockwise from the state shown in FIG. 31, that is, from the state where the outer shell 3 is rotated 45 ° clockwise relative to the central portion 2. The outer shell 3 is rotated until it is rotated 45 ° around.
At the same time, the right driving wheel 6a rolls in the positive direction (rolls in the forward direction), and the left driving wheel 6b rolls in the negative direction (rolls in the backward direction). Rotate 180 ° counterclockwise. This behavior, in the same location as the position of the main body 1 in FIG. 31, the rotary brush 12a, 12b of the drive wheels 6a, forward than 6b, i.e. can be placed on the side away from the corner portion M.
Moreover, it can respond to the cleaning in the next corner that appears after further movement along the wall surface L. The rotation of the outer shell 3 and the central rotation of the central portion 2 may not be simultaneous, but simultaneous rotation is necessary for changing the positional relationship between the rotating brushes 12a and 12b and the drive wheels 6a and 6b. This is preferable because it saves time.

  FIG. 33 shows a state in which the main body 1 has moved along the wall surface L in a direction away from the corner M. The control unit (not shown) is in the state shown in FIG. 32, that is, in a state where the left side surface 24 b is in contact with the wall surface L and the rolling direction of the driving wheels 6 a and 6 b is parallel to the wall surface L. Roll 6b. The main body 1 moves along the wall surface L in the direction away from the corner M while bringing the left side surface 24b into contact with the wall surface L. By moving in this way, the main body 1 can scrape and collect the dust on the floor surface F near the wall.

  The self-propelled cleaner according to the first embodiment is operated so that the right side surface 24a and the left side surface 24b are in contact with the wall surface when cleaning the floor surface F near the wall, but is several mm from the wall surface. You may operate | move in the state which released | separated and was brought into close proximity. By operating in this way, the floor surface F near the wall can be cleaned without damaging the wall surface.

  Moreover, you may provide the buffer member with high sliding performance comprised with raw materials, such as a fluororesin, in each of the right side surface 24a and the left side surface 24b. With this configuration, it is possible to prevent the wall surface from being damaged when the right side surface 24a and the left side surface 24b are brought into contact with the wall surface.

In addition, the self-propelled cleaner according to the first embodiment includes a plurality of dust suction ports at right angles of the outer shell, but is not limited to such a form.
For example, it goes without saying that the same effect as that of the self-propelled cleaner according to the first embodiment can be obtained even if the outer shell portion has one dust suction port. As in the self-propelled cleaner according to the first embodiment, the outer shell 3 is provided with a side surface parallel to the wall surface or a corner portion corresponding to the wall surface crossing angle of the corner floor surface. Since the suction port can be brought close to the floor surface or the corner floor surface, cleaning leakage can be further reduced.
Moreover, since a plurality of dust inlets having different longitudinal directions are provided as in the self-propelled cleaner according to the first embodiment, a plurality of locations can be cleaned at the same time, thereby further improving the cleaning efficiency. It becomes possible.

Further, the self-propelled cleaner according to the first embodiment is such that the outer shell portion rotates within a range of ± 45 ° with respect to the central portion, but is not limited to such a form.
For example, it goes without saying that the same effect as that of the self-propelled cleaner according to the first embodiment can be obtained even when the outer shell portion is rotated 360 ° with respect to the central portion. Like the self-propelled cleaner according to the first embodiment, by limiting the range in which the outer shell portion rotates, a storage battery or the like can be provided behind the dust collecting portion, and the self-propelled cleaner is downsized. It becomes possible to do.

In addition, the self-propelled cleaner according to the first embodiment includes two drive wheels on a straight line passing through the center of rotation at the center, but is not limited to such a form.
For example, it is needless to say that the same effect as that of the self-propelled cleaner according to the first embodiment can be obtained even with a mechanism that rotates the center part apart from the drive wheels that move in the center part. .
Like the self-propelled cleaner according to the first embodiment, a mechanism for moving the central portion and a mechanism for rotating the central portion by providing two drive wheels on a straight line passing through the rotation center of the central portion The self-propelled cleaner can be reduced in size.

In addition, the self-propelled cleaner according to the first embodiment is provided with a rotating brush and a dust receiver at the dust suction port, but is not limited to such a form.
For example, it is needless to say that the same effect as that of the first embodiment can be obtained even if the dust suction port has nothing, only one of the rotating brush and the dust receiver, or other members. Yes.
As in the self-propelled cleaner according to the first embodiment, by providing the dust suction port with the rotating brush and the dust receiver, the dust on the floor surface, particularly the dust on the floor surface near the wall can be reliably cleaned. Can be further reduced.
Further, as in the self-propelled cleaner according to the first embodiment, by providing the dust suction port with the rotating brush, the carpet can be cleaned, and cleaning leakage can be further reduced.

Further, the self-propelled cleaner according to the first embodiment is supported by the right-angled portion so as to be vertically movable on the outer shell portion, but is not limited to such a configuration.
For example, it goes without saying that the same effect as in the first embodiment can be obtained even when the right-angled portion is fixed or the bottom surface of the right-angled portion is inclined so that the front becomes higher.
Like the self-propelled cleaner according to the first embodiment, it is possible to surely get over the convex step by moving the right-angled portion up and down. Moreover, like the self-propelled cleaner according to the first embodiment, by moving the right-angled portion up and down, it is possible to clean the carpet, and it is possible to further reduce cleaning leakage.

In addition, the self-propelled cleaner according to the first embodiment is configured such that the bristle brush 19 of the tip brush 17 is composed of three bristle brushes having different lengths planted on the lower end portion of the tip brush shaft 18. However, the bristle brush 19 may be constituted by a single bristle brush.
In that case, the bristle brush 19 is planted at the lower end portion of the tip brush shaft 18 so that the tip side of the bristle brush spreads, and the length of the outer bristle brush is longer than the length of the inner bristle brush. Good to be done.
With such a configuration, the dust scraping effect on the floor surface F is improved, and the hair, yarn, and the like are prevented from being entangled with the bristle brush 19.

In addition, the self-propelled cleaner according to the first embodiment includes the driven wheel 10 on the bottom surface of the main body 1, but the driven wheel 10 may not be provided. In that case, since the bristle brush 15 of the rotating brushes 12a and 12b contacts the floor surface F and supports the front of the main body 1, the main body 1 is supported horizontally with respect to the floor surface F.
Further, instead of the driven wheel 10, a cushion member having high slidability may be provided. In that case, when the front of the main body 1 is lifted, the cushion member is brought into contact with the floor surface F and the bottom surface of the main body 1 is prevented from being damaged.

  Further, the self-propelled cleaner according to the first embodiment is configured such that the air blower 34 and the dust collecting portion 37 are horizontal in a state where the air passage between the air blower 34 and the dust collecting portion 37 is secured by the seal member 42. Although configured to be slidable in the direction, both the blower 34 and the dust collecting portion 37 may be provided in the outer shell portion 3. In that case, when the outer shell portion 3 rotates with respect to the central portion 2, the exhaust duct 36 of the blower 34 is configured not to interfere with the drive wheel motors 8a, 8b and the like.

  In addition, the self-propelled cleaner according to the first embodiment is configured such that the right angle portion 4 is movable up and down along the plurality of guides 60 provided in the outer shell portion 3. However, it may be configured to be rotatable in the vertical direction around a part of the right-angled portion 4.

As described above, the self-propelled cleaner according to the first embodiment controls the dust suction port angle changing means so that the angle of the dust suction port in the longitudinal direction with respect to the rolling direction of the drive wheel is optimized. By providing the means, it becomes possible to reach the dust suction port into a narrow space such as a corner of the floor surrounded by the wall, and the cleaning leakage can be reduced.
Further, the self-propelled cleaner according to the first embodiment includes control means for controlling the dust suction port angle changing means so that the angle of the dust suction port in the longitudinal direction with respect to the rolling direction of the drive wheel is optimized. Accordingly, when cleaning a narrow space such as a corner of the floor surface, it is not necessary to repeat the change of the moving direction of the main body and the forward and backward movement, and the cleaning efficiency can be improved.

Embodiment 2.
The structure of the self-propelled cleaner according to the second embodiment will be described below. In addition, about the description which overlaps with the self-propelled cleaner which concerns on Embodiment 1, it simplified or abbreviate | omitted suitably.
FIG. 34 is a diagram illustrating a bottom view of the self-propelled cleaner according to the second embodiment.
As shown in FIG. 34, in the self-propelled cleaner according to the second embodiment, a wiping cleaning sheet 49 is provided between both front and rear wheels 6a and 6b on the bottom surface of the main body 1. The wiping cleaning sheet 49 is made of a fiber material such as a non-woven fabric, and is detachable from the bottom surface of the main body 1. The wipe cleaning sheet 49 contacts the floor surface E when the main body 1 moves on the floor surface E. The wiping cleaning sheet 49 is pressed against the floor surface F with such a pressure that the drive wheels 6a and 6b do not idle on the floor surface F. A cushion material (not shown) such as foamed resin is provided between the wiping cleaning sheet 49 and the bottom surface of the main body 1, and the wiping cleaning sheet 49 is pressed against the floor surface F with uniform pressure.

Further, the wiping cleaning sheet 49 is provided between the drive wheels 6 a and 6 b and at a position overlapping the position of the center of gravity X of the main body 1. When the pressure from the wiping cleaning sheet 49 to the floor surface E is increased in a state where the wiping cleaning sheet 49 is provided at a position away from the center of gravity, the driving wheels 6a and 6b are liable to slip and reduce the cleaning effect of the floor surface E. However, when the pressure from the wiping cleaning sheet 49 to the floor surface E is increased in a state where the wiping cleaning sheet 49 is provided at a position overlapping the position of the center of gravity X of the main body 1, the wiping cleaning sheet 49 is more affected by the weight of the main body 1. By being pressed down, the drive wheels 6a and 6b can be prevented from idling and the cleaning effect of the floor surface E can be improved.
Moreover, since the wiping cleaning sheet 49 is provided over the front and rear of the drive wheels 6a and 6b, the dust on the floor E is suppressed from adhering to the drive wheels 6a and 6b.

Embodiment 3.
The structure of the self-propelled cleaner according to the third embodiment will be described below. In addition, about the description which overlaps with the self-propelled cleaner which concerns on Embodiment 1 and Embodiment 2, it simplified or abbreviate | omitted suitably.
FIG. 35 is a diagram illustrating a bottom view of the self-propelled cleaner according to the third embodiment.
As shown in FIG. 35, the self-propelled cleaner according to the third embodiment is provided with a wiping cleaning sheet 50 over substantially the entire surface excluding the drive wheel openings 7 a and 7 b on the bottom surface of the central portion 2. The wiping cleaning sheet 50 contacts the floor surface E when the main body 1 moves on the floor surface E.

The wiping cleaning sheet 50 is pressed against the floor E with a pressure that does not allow the drive wheels 6a and 6b to idle on the floor E. A cushion material (not shown) such as foamed resin is provided between the wiping cleaning sheet 50 and the bottom surface of the main body 1, and the wiping cleaning sheet 50 is pressed against the floor E with a uniform pressure.
The driven wheel 10 may not be provided on the bottom surface of the main body 1, and the main body 1 is horizontally supported by the wiping cleaning sheet 50 even when the driven wheel 10 is not provided.

  Since the wiping cleaning sheet 50 is disposed so as to cover substantially the entire surface of the bottom surface of the central portion 2 excluding the drive wheel openings 7a and 7b and also overlap the position of the center of gravity X of the main body 1, the wiping cleaning sheet 50 is disposed on the main body 1. 1 is further suppressed by the weight of 1, and the cleaning effect of the floor surface E can be enhanced. Moreover, since wiping and cleaning in a wide area is possible, the cleaning efficiency can be increased. Moreover, since the wiping cleaning sheet 50 is provided over the drive wheels 6a and 6b, the dust on the floor E is prevented from adhering to the drive wheels 6a and 6b.

Embodiment 4.
The structure of the self-propelled cleaner according to Embodiment 4 will be described below. In addition, about the description which overlaps with the self-propelled cleaner which concerns on Embodiment 1 thru | or Embodiment 3, it simplified or abbreviate | omitted suitably.
FIG. 36 is a perspective view of the self-propelled cleaner according to the fourth embodiment.
As shown in FIG. 36, the self-propelled cleaner according to the fourth embodiment is provided with a baseboard brush 53 on the upper surface of the right angle portion 4 of the main body 1. The baseboard brush 53 is detachably provided in fixing grooves 54a and 54b provided in the vicinity of the right side 18a and in the vicinity of the left side 18b on the upper surface of the right angle portion 4, respectively. The baseboard brush 53 can be adjusted in height when fixed.

The height of the baseboard provided in the lower part of the wall surface of the room is 6 cm, 7.5 cm, and 10 cm, so that it can correspond to these heights, for example, to support a baseboard of 5 cm to 12 cm, It is only necessary that the height of the baseboard brush 53 is adjustable.
Also, a plurality of baseboard brushes 53 corresponding to the mainstream baseboard height, for example, the baseboard brush 53 when the baseboard height is 6 cm and the baseboard height is 7.5 cm The baseboard brush 53 and the baseboard brush 53 when the baseboard height is 10 cm may be provided so as to be interchangeable.

A bristle brush 55 is provided at the tip of the baseboard brush 53 that is not inserted into the fixing grooves 54a and 54b. The bristle brush 55 is divided into a plurality of blocks and arranged in a row, and a predetermined interval is provided between each block. The bristle brush 55 is planted so that the tip is directed downward and toward the outside of the right side surface 18a and the left side surface 18b of the right angle portion 4.
By being configured in this way, when the main body 1 cleans along the wall surface, the bristle brush 55 comes into contact with the baseboard, and the dust accumulated or adhered on the baseboard is scraped off to the floor surface E. . And the dust scraped off by the floor E is collected by the suction inlet 11 of the main body 1 which moves while reciprocating along a wall surface.

Since it is comprised as mentioned above, it becomes possible to clean a baseboard simultaneously with the floor surface cleaning by the wall, and can clean a room efficiently.
In addition, the baseboard brush 53 is good to be comprised so that the bristle brush 55 may be provided to the position near the top part of the right angle part 4. FIG. By being configured in this way, it is possible to clean the baseboard at the corner L where the wall surface J and the wall surface K intersect.

FIG.37 and FIG.38 is a figure which shows the perspective view of the modification of the self-propelled cleaner which concerns on Embodiment 4. FIG. As shown in FIG. 37, a baseboard brush 56 may be provided on the top of the right angle portion 4. The baseboard brush 56 is detachably provided in a fixing groove 57 provided in the vicinity of the top of the upper surface of the right angle portion 4.
A bristle brush 58 is planted on the baseboard brush 56 so that the tip thereof faces downward and spreads radially outward of the main body 1 within a range of about 90 ° centering on the top. The baseboard brush 56 provided in the vicinity of the top and the baseboard brush 53 provided in the vicinity of the right side surface 18a and the left side surface 18b may or may not be shared.
Also, as shown in FIG. 38, the baseboard brush 56 provided at the top is rotationally driven by a motor (not shown) or the like so that the track of the tip of the bristle brush 58 passes through the upper surface of the baseboard while contacting it. You may do it.

As mentioned above, although the self-propelled cleaner concerning Embodiment 1 thru / or Embodiment 4 was explained, the present invention is not limited to explanation of each embodiment.
For example, each embodiment and each modification may be combined.
Further, the self-propelled cleaners according to the first to fourth embodiments rotate the angle adjusting motor 44 to obtain the second vertex angle formed by two planes, that is, the right side surface 18a and the left side surface 18b. Although the relative angle of the dividing line and the rolling direction of the drive wheels 6a and 6b is changed, the bisector of the apex angle and the rolling direction may be fixed in parallel.

The angle adjustment motor 44 may be controlled to be fixed in a parallel state, and the central portion 2 and the outer shell portion 3 may be fixed or integrated so as not to rotate. When the central portion 2 and the outer shell portion 3 are fixed or integrated so as not to rotate, a member for rotating the outer shell portion 3 such as an angle adjusting motor 44 and a gear accompanying the central portion 2 is provided. It is not necessary.
Even in such a case, by operating as shown in FIG. 25 and FIG. 26, the suction port 11 can reach a narrow space such as a corner of the floor surface, and cleaning leakage can be reduced. Moreover, it is also possible to clean the wall along the wall intermittently by repeating forward and backward movements.

  DESCRIPTION OF SYMBOLS 1 Main body, 2 Center part, 3 Outer shell part, 4 Right angle part, 5 Arc part, 6 Driving wheel, 10 Driven wheel, 11a Right suction port, 11b Left suction port, 12 Rotating brush, 16 Dust receptacle, 17 Tip brush, 20 Central suction port, 21 Dust receiver.

Claims (39)

A drive wheel, and a main body that moves on the floor by rolling the drive wheel;
A first side surface and a second side surface comprising a plane constituting the side surface of the main body;
A first dust suction port provided on the bottom surface of the main body and formed so that the longitudinal direction is parallel to the first side surface, and the longitudinal direction is parallel to the second side surface A second dust suction port formed in the first dust suction port, a first rotary brush provided in the first dust suction port, and a second rotary brush provided in the second dust suction port,
The first side surface and the second side surface are arranged so that an apex angle formed by each other surface is about 90 °,
The drive wheel is capable of rolling in a direction parallel to a bisector of an apex angle formed by the first side surface and the second side surface.   The self-propelled cleaner according to claim 1, wherein the first rotating brush and the second rotating brush are driven by one driving source.   The self-propelled cleaner according to claim 1 or 2, wherein the rotating brush protrudes from an outer periphery of the main body.   The shape of the main body when the upper surface is projected in a direction perpendicular to the floor surface is a shape surrounded by an arc and two straight lines passing through both ends of the arc. A self-propelled vacuum cleaner as described in 1.   The self-propelled cleaner according to claim 4, wherein an angle formed by two straight lines passing through both ends of the arc is approximately 90 °.   The self-propelled cleaner according to claim 5, wherein the arc has a central angle of about 270 °.   In the drive wheel, a straight line when the rotation axis of the drive wheel is projected in a direction perpendicular to the floor surface is approximately the center of the arc in a shape when the upper surface is projected in a direction perpendicular to the floor surface. The self-propelled cleaner according to claim 1, wherein the self-propelled cleaner is passed.   The said main body has a front-end | tip rotary brush in the edge part of the said bottom face which passes along the center of the bottom face of the said main body, and is parallel to the rolling direction of the said driving wheel. The self-propelled vacuum cleaner described in Crab.   The self-propelled cleaner according to claim 8, wherein a rotation axis of the tip rotating brush is perpendicular to a bottom surface of the main body.   The self-propelled cleaner according to claim 8 or 9, wherein the tip rotating brush includes a plurality of brushes having different lengths.   The self-propelled cleaner according to any one of claims 8 to 10, wherein the tip rotating brush is driven by the same driving source as the first rotating brush and the second rotating brush. .   8. The inclined surface which becomes higher toward the top portion is provided in the vicinity of the top portion formed by the first side surface and the second side surface of the bottom surface of the main body. The self-propelled vacuum cleaner according to any one of the above.   The self-propelled cleaner according to claim 12, wherein a bristle brush row that contacts the floor surface is provided on the inclined surface.   14. A top portion formed by the first side surface and the second side surface of the main body is movable in the vertical direction or rotatable in the vertical direction with respect to the drive wheel. The self-propelled vacuum cleaner as described in any of the above.   Angle changing means for changing a relative angle in the rolling direction of the driving wheel and a bisector of an apex angle formed by the first side face and the second side face, and control means for controlling the angle changing means The self-propelled cleaner according to any one of claims 1 to 14, further comprising:   The control means is based on a state in which the bisector of the apex angle formed by the first side surface and the second side surface is parallel to the rolling direction of the driving wheel, and a range of the same angle in both the left and right directions. The self-propelled cleaner according to claim 15, wherein the relative angle is changed.   The control means has a range of 45 ° in both the left and right directions with reference to a state in which the bisector of the apex angle formed by the first side surface and the second side surface is parallel to the rolling direction of the drive wheel. The self-propelled cleaner according to claim 16, wherein the relative angle is changed.   The self-propelled type according to any one of claims 1 to 17, wherein the angle changing means changes a relative angle between an outer shell portion having the dust suction port and a central portion in which the driving wheel is incorporated. Vacuum cleaner.   The self-propelled cleaner according to claim 18, wherein the angle changing means applies power to any one of a power transmission portion provided in each of the outer shell portion and the central portion.   The self-propelled cleaner according to claim 18 or 19, wherein the angle changing means applies power to a power transmission portion provided in the outer shell portion. The center of rotation of the central part and the center of rotation of the outer shell part are the same,
In the state where the first side surface and the second side surface are in contact with or close to the wall surface, the control means is configured such that the positive direction of rolling of the drive wheel is the first side surface and the second side surface. The central portion is rotated in the direction approaching the formed vertical angle by the angle of the vertical angle, and the outer shell portion is rotated by the same angle in the opposite direction at the same speed with respect to the central portion of the central rotation. The self-propelled cleaner according to any one of claims 18 to 20, wherein the self-propelled cleaner is rotated at the same time to change the moving direction of the main body.   The control means, after changing the moving direction of the main body, rolls the driving wheel in a negative direction by a first predetermined distance, and moves the driving wheel in a positive direction by a second predetermined distance shorter than the first predetermined distance. The central part is rotated about 180 ° in the same direction with respect to the central rotation of the central part when the movement direction of the main body is changed, and the movement direction of the main body is changed. The outer shell portion is rotated by an angle of an apex angle formed by the first side surface and the second side surface in a direction opposite to the rotation of the outer shell portion at the time. The self-propelled vacuum cleaner described. The center of rotation of the central part and the center of rotation of the outer shell part are the same,
The control means rotates the central part at the same time, and simultaneously rotates the outer shell part by the same angle in the opposite direction at the same speed with respect to the central part of the central part, and the moving direction of the main body The self-propelled cleaner according to any one of claims 18 to 22, wherein the self-propelled cleaner is converted.   The outer shell has a dust inlet for third dust between the dust inlet for the first dust and the second dust inlet, and the longitudinal direction of the third dust inlet is the first for the first dust. The self-propelled cleaner according to any one of claims 1 to 23, wherein the self-propelled cleaner is formed so as to intersect the side surface and the second side surface at the same angle.   The self-propelled cleaner according to any one of claims 1 to 24, wherein the dust suction port has a dust receiver.   The self-propelled cleaner according to any one of claims 1 to 25, wherein the main body includes a sensor that detects a distance between a side surface and a wall surface and / or an angle between the side surface and the wall surface.   The self-propelled cleaner according to any one of claims 1 to 26, wherein the main body includes a sensor that detects a crossing angle between the wall surfaces.   The control means moves the main body along the wall surface in a state where any one of the first side surface and the second side surface is parallel to the wall surface and is in contact with or close to the wall surface. The self-propelled cleaner according to any one of claims 15 to 27.   29. The self-propelled cleaner according to claim 28, wherein the control means moves the main body forward and backward along the wall surface alternately and repeatedly.   30. The control unit according to any one of claims 1 to 29, wherein when the main body reaches a corner where the wall surface intersects with the wall surface, the control means alternately and repeatedly moves the main body backward and forward. Self-propelled vacuum cleaner.   A tip rotating brush drive unit that drives the tip rotating brush independently of the first rotating brush and the second rotating brush, and the control means reaches the corner where the main body intersects the wall surface. 31. The self-propelled cleaner according to any one of claims 8 to 10, or 12 to 30, wherein the tip rotating brush driving unit is driven.   32. The self-propelled cleaner according to claim 1, wherein a wiping cleaning sheet is detachably provided on a bottom surface of the main body, and the wiping cleaning sheet is provided between the drive wheels.   The self-propelled type according to any one of claims 1 to 32, wherein a wiping cleaning sheet is detachably provided on a bottom surface of the main body, and the wiping cleaning sheet is provided so as to overlap a center of gravity of the main body. Vacuum cleaner.   The wiping and cleaning sheet is detachably provided on the bottom surface of the main body, and at least a part of the wiping and cleaning sheet is disposed before and after the driving wheel in the rolling direction. A self-propelled vacuum cleaner as described in 1.   The self-propelled cleaner according to any one of claims 1 to 34, wherein the main body is provided with a brush above at least one of the first side surface and the second side surface. .   36. The self-propelled cleaner according to claim 35, wherein the brush is adjustable in height from the floor surface.   The self-propelled cleaner according to claim 35, wherein the brush is detachable from the main body.   The self-propelled cleaner according to any one of claims 1 to 37, wherein a heat generating member is disposed in the exhaust passage of the main body.   The self-propelled cleaner according to any one of claims 1 to 38, wherein the main body has a plurality of storage batteries built in along an outer shape of the main body.

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