JPS62292124A - Self-propelling cleaner - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION 3. Detailed Description of the Invention Field of Industrial Application The present invention relates to a self-propelled vacuum cleaner that is equipped with a cleaning function and a moving function and that cleans a floor surface.

Prior Art 2/-7 Conventionally, vacuum cleaners have been developed in which a moving function is added to vacuum cleaners to improve operability during cleaning.

Particularly recently, by installing microcomputers and various sensors on these machines, they are able to perform cleaning while making decisions on their own regarding the movement of the cleaning area. So-called self-propelled self-propelled vacuum cleaners are also being developed.

In this type of self-propelled vacuum cleaner, the direction of movement is determined by, for example, connecting a rotary encoder to the left and right running wheels to measure the travel distance from the number of rotations of the running wheels. Usually, obstacles are avoided using distance sensors or the like. Additionally, some devices are equipped with a gyro sensor such as a gas rate gyro in order to more reliably measure the direction of movement. In addition, some devices are equipped with an electric blower that sucks up dirt from the floor, and a rotary brush that sweeps the floor to improve the cleaning ability.

Problems to be Solved by the Invention Generally, such self-propelled vacuum cleaners are developed for the purpose of automatically cleaning large areas such as gymnasiums, hotel lobbies, and hallways. It goes without saying that cleaning can be done more efficiently by making the cleaning width as wide as possible. Therefore, conventionally, as shown in FIG.
A rotating brush 2.2' and a brush drive unit 3.3', which rotate in the directions of arrows A and A', are attached to the front side of the main body 1 to guide dust from the sides of the main body 1 to the suction nozzle 4, thereby increasing the cleaning width. There is something that is expanded. However, in an attempt to further widen the cleaning width, if the diameter of the rotating brush 2.2' is increased so that it protrudes beyond the outer circumferential surface of the main body 1, it may get caught on uneven walls or cause significant friction with the floor while moving. At the same time, there was a problem in that the straightness of the vehicle was deteriorated, and at the same time, it was not possible to change direction smoothly.

SUMMARY OF THE INVENTION Therefore, the present invention provides a self-propelled vacuum cleaner that can clean over a wide cleaning range without deteriorating the straightness and direction change performance of the rotating brush.

Means for Solving the Problems The technical means of the present invention for solving the above-mentioned problems is that a rotary brush is provided at the bottom of the main body to sweep the floor by rotating and can move forward and backward from the side of the main body.

action The effect of this technical means is as follows.

In other words, in a large area with no walls or obstacles on the sides of the main body, the rotating brush can be moved while protruding from the side of the main body, making the cleaning width narrower. Furthermore, when there is a protrusion or obstacle on the side of the main body, such as near a wall, or when changing direction in a corner of a room, the rotating brush can be moved back into the main body, so there is no reduction in movement performance.

Example Embodiments of the present invention will be described below based on the accompanying drawings.

In Figures 1 and 2, 5 is the main body of the self-propelled vacuum cleaner;
Running wheels 6R are located inside the main body on the left and right lower surfaces of the main body 5,
6L is provided. These running wheels 6B and 6L are each driven by a drive motor 7 consisting of a servo motor, a pulse motor, etc.
Connected to R and 7L. 8 is an auxiliary wheel rotatably attached to the bottom surface of the main body 5. 9R and 9L are rotating brushes provided on both sides of the front lower part 6 of the main body 5, and the respective rotating shafts 9
R' and 9L' are mounted and supported by arms 10R and 10L. In addition, the arm 10R210L is equipped with a drive unit (
(not shown) is provided.

Furthermore, the arms 10R and 10L are attached so as to be slidable in the directions of arrows B and C, and the rotary brushes 9B and 9L can be moved forward and backward from the side surface of the main body 6. In addition, in this installation, the arms 10R and 10L are biased in the direction of arrow B by a spring not shown in the figure, and normally, in the installation, the arms 10R and 10L protrude from the side of the main body 6. . Reference numeral 11 denotes an electric blower that generates an air suction force for sucking dust from the floor surface, and 12 is a filter disposed on the suction side of the electric blower, which is located in the dust collecting chamber 13. This dust collection chamber 13 is connected via a hose 14 to a suction nozzle 16 provided below the main body 5. Reference numeral 16 represents a power source such as a lead-acid battery or dry cell battery, and reference numeral 17 represents a movement control circuit that controls driving motors 7R and 7L to control travel and steering.

6,,,-.

The operation of the self-propelled vacuum cleaner configured as above will be described below.

When this self-propelled cleaner is placed in the cleaning area, the main body 6 starts to move in the direction of the arrow as the running wheels 6R, 6L are driven by the drive motors 7R, 7L. At this time, the drive motors 7R, 7L are activated via the movement control circuit 17 by signals from an obstacle detection device, a position detection device, etc., which are not shown in the figure.
The robot moves throughout the cleaning area by repeatedly moving straight, stopping, and changing directions. Electric blower 11 while moving
At the same time as is started, the rotating brushes 9R and 9L rotate,
This rotation guides the dust around the left and right sides of the main body 5 to the suction nozzle 15, and the electric blower 12 collects the dust from the suction nozzle 15 through the hose 14 into the dust collection chamber 13 for cleaning.

In a wide place where there are no walls or obstacles on the sides of the main body 6, the rotating brush 9 can be used, for example, as shown in FIG.
As shown in the figure, the arm 10 slides from the main body 6 in the direction of arrow B under the force of the spring, and protrudes more than before, so it can be mounted over a wide range of rotations 71 and -7 at the tip of the rotating brush 9. Cleaning will take place. For example, the wall 18 like the rotating brush 9L in FIG.
When it moves while sweeping and hits the convex part 19 of the wall 18, as a reaction, the mounting arm 10L retreats toward the main body δ side, and the rotating brush 9 and the mounting arm catch on the convex part 19, causing the main body 6 to move.
There is no chance that the vehicle will move in an unexpected direction instead of going straight. ! ! For example, when attempting to change direction in a corner of a room sandwiched between walls, there is a small possibility that the rotating brush 9 and the mounting arm 10L will get caught on the wall and the direction cannot be changed. You can move everything smoothly.

Next, other embodiments of the present invention will be described.

FIG. 3 shows another embodiment, in which 20 is the main body, 21
R, 21L are left and right running wheels, 22R, 22L are drive motors connected to the respective running wheels 21 R, 21L, 23
24 is an auxiliary wheel, and 24 is a suction nozzle, which function in the same manner as in the first embodiment. In this embodiment, the rotating brush 25
R and 25L are mounted on arms 26R and 26L,
In this attachment, the arms 26R and 26L are rotatably attached to fulcrums 27R and 27L within the main body 20, respectively.

In addition, the arms 26R and 26L are mounted by springs not shown in the figure, respectively, and are biased in the direction of arrow D', and normally the rotating brushes 25R and 25L and the arms 26R and 26L are mounted outside the main body 2o. It protrudes from the side surface and can be cleaned over a wide cleaning width from the tip of the rotating brush 25H to the tip of the rotating brush 25L. Also,
Similar to the first embodiment, when the rotating brushes 25R and 25L hit the wall while moving along an uneven wall or changing direction in the corner of a room, the reaction force causes the arms 26R and 126L to be attached as indicated by the arrows E and E, respectively. ' Rotate backward in the direction of
It is housed inside and can be moved smoothly without getting caught on walls.

In addition, in both the first and second embodiments described above, the installation is simply done by biasing the arm with a spring so that it protrudes from the main body, and when the rotating brush hits the example, the arm is housed in the main body by the reaction force. However, for example, when the rotating brush hits something, another actuator may detect this and move the rotating brush in the direction inside the main body. When changing direction, the installation may be configured so that the arm is always housed inside the main body so that it does not get caught on the wall, etc. In short, in a wide space where there are no obstacles on the side of the main body, the rotating flange should be installed in the direction away from the side of the main body. The rotating brush and the mounting may be configured so that when the arm hits an obstacle or wall, it is moved back toward the main body.

Effects of the Invention As described above, the present invention is provided with a rotating brush that rotates to sweep the floor surface at the bottom of the main body, and this rotating brush is also provided so that it can move forward and backward from the side of the main body, thereby increasing the cleaning width and improving the cleaning efficiency. To provide a self-propelled vacuum cleaner which can smoothly move within a cleaning area without deteriorating movement performance even if there are obstacles.

[Brief explanation of drawings]

FIG. 1 is a plan view of a self-propelled vacuum cleaner according to an embodiment of the present invention, FIG. 2 is a side sectional view of the same self-propelled vacuum cleaner, and FIG. Plan view of self-propelled vacuum cleaner, 4th
The figure is a plan view of a conventional self-propelled vacuum cleaner. 6.20・old・・main body, 9.25・old・・rotating brush,
10.26... Installation is done by arm, 15, 24...
-Song/Suction nozzle, 27...Fulcrum.

Claims (3)

[Claims] (1) Equipped with a drive device that moves the main body, a steering device and power source that change the direction of movement, and a rotating brush that is installed at the bottom of the main body as a cleaning means and rotates to sweep the floor surface. A self-propelled vacuum cleaner that can move forward and backward. (2) The mounting arm that supports the rotating shaft of the rotating brush,
A self-propelled vacuum cleaner according to claim 1, wherein the self-propelled vacuum cleaner is slidably attached to the inside and outside of the main body. (3) The mounting arm that supports the rotating shaft of the rotating brush,
The self-propelled vacuum cleaner according to claim 1, wherein the self-propelled vacuum cleaner is rotatably attached to a fulcrum within the main body.