JP2016073396A - Self propelled dust collection robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To have excellent usability with longer continuous use time, and to acquire stability during travelling.SOLUTION: In a body part 2 which has a circular box-shape in a plan view, a self-propelled dust collection robot 1 includes: a pair of batteries 3, 3; left and right motors for rotationally driving with the batteries 3, 3 as a power supply respectively; a pair of left and right wheels capable of rotating in normal and reverse directions singly by each motor; a motor for dust collection arranged between the batteries 3, 3; and a dust collection box 7 for storing the dust collected by a main brush provided at a front part. The batteries 3, 3 are arranged in bilateral symmetry with a center line in the frontward/backward direction being the center.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a self-propelled dust collecting robot that includes a rotationally driven wheel and cleans a floor while self-propelled.

  2. Description of the Related Art Conventionally, there is known a sweeper that collects dust on a floor surface and cleans itself while rotating a wheel with a built-in motor to self-propel. For example, as disclosed in Patent Document 1, this sweeper is provided with a rotating brush that is rotated by a motor drive in front of a suction port, and dust on the floor surface is collected by the rotating brush.

Japanese Utility Model Publication No. 5-88472

  A self-propelled dust collecting robot including such a sweeper has a built-in rechargeable battery (battery) to obtain a power source. However, since only one battery is usually installed, the continuous use time is shortened. The frequency of charging was increasing. Further, depending on the arrangement of the battery, the center of gravity may be biased, and stability during traveling may not be obtained.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a self-propelled dust collecting robot that has a long continuous use time, is excellent in usability, and can obtain stability during running.

In order to achieve the above object, the invention described in claim 1 includes a main body part, a dust collecting part provided in the main body part, and a plurality of batteries arranged inside the main body part. It is a feature.
In order to achieve the above object, the invention described in claim 2 includes a main body part, a dust collecting part provided in the main body part, a battery disposed in the main body part, and a caster provided in a lower part of the main body part. And a caster is arranged directly under the battery.
The term “below” as used herein refers to the case where the entire caster fits within the outer shape of the battery in plan view, as well as the position of the caster in plan view as long as the load of the main body applied to the center of the battery can be supported. A case where part or all of the battery protrudes from the outer shape of the battery is also included.
According to a third aspect of the present invention, in the configuration of the second aspect, the battery accommodates a plurality of cells inside the case, and two batteries are arranged at the rear part or the front part of the main body part. Or two are arrange | positioned at the front part.
The invention according to claim 4 is characterized in that, in the configuration of claim 2 or 3, a notch portion in which the bottom surface of the rear portion is higher than the bottom surface of the front portion of the main body portion is formed in the rear portion of the main body portion. To do.
According to a fifth aspect of the present invention, in the configuration of any one of the first to fourth aspects, the dust collecting unit includes a dust collecting motor, and the battery is disposed on the left and right sides of the dust collecting motor. It is what.
In order to achieve the above-mentioned object, the invention described in claim 6 includes a main body part, a dust collecting part provided in the main body part, a battery disposed inside the main body part, and a plurality of parts provided in the lower part of the main body part. And a caster.

According to the present invention, continuous use for a long time is possible, and the charging frequency is reduced. Also, stability during running can be obtained.
According to the third aspect of the invention, in addition to the above effects, the number is suitable for weight and balance during travel.
According to the invention of claim 4, in addition to the above-described effects, the formation of the notch portion allows the front portion of the main body portion to be lifted and transported without causing the rear portion to interfere with the floor surface, which is convenient for transport. Become.
According to the fifth aspect of the present invention, in addition to the above effects, a well-balanced arrangement is possible even with a dust collection motor.

It is a perspective view from the upper part of a self-propelled dust collecting robot. It is a perspective view from the lower part of a self-propelled dust collecting robot. It is a bottom view of a self-propelled dust collecting robot. It is a center longitudinal cross-sectional view of a self-propelled dust collecting robot. It is a perspective view of the self-propelled dust collection robot which opened the lid. It is a perspective view of the self-propelled dust collection robot which opened the lid (battery removal state). It is a longitudinal cross-sectional view of a battery part. It is a perspective view of a battery. It is explanatory drawing which shows the state which lifts and conveys a front end. It is a perspective view from the lower part of the self-propelled dust collecting robot of the example of change. It is a bottom view of the self-propelled dust collecting robot of the example of change. It is a center longitudinal cross-sectional view of the self-propelled dust collecting robot of the example of a change. It is a longitudinal cross-sectional view of the battery part of the self-propelled dust collecting robot of the example of a change. It is a perspective view in the state where the lid of the self-propelled dust collecting robot of the example of change was opened. It is a perspective view of a dust collection box.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 is a perspective view from above showing an example of a self-propelled dust collecting robot, FIG. 2 is a perspective view from below, FIG. 3 is a bottom view, FIG. 4 is a central longitudinal sectional view, and FIG. FIG. A self-propelled dust collecting robot (hereinafter simply referred to as “dust collecting robot”) 1 includes a left and right battery 3 and a left and right battery 3 that are driven to rotate in a box-like main body 2 having a circular plan view. Motors 4, 4, a pair of left and right wheels 5, 5 that can be rotated independently by each motor 4, a dust collection motor 6 between the batteries 3, 3, and a dust collection box 7. The lower portions of 5 and 5 are projected downward from the bottom surface of the main body 2. The dust collection motor 6 and the dust collection box 7 serve as a dust collection unit.

The main body 2 includes a lower housing 8 formed from the bottom surface to the back surface, and an upper housing 9 formed from the top surface to the side surface. A sensor cover 10 is mounted on the front peripheral surface of the main body 2 so as to have a sensor 10a for detecting a front obstacle in a non-contact manner, and to turn on a switch (not shown) that retreats by contact with the obstacle. It has been.
A bottom cover 11 having a horizontally long rectangular suction port 12 is screwed to the lower housing 8 at the front lower portion of the main body 2, and the suction port 12 is provided on the lower housing 8 and rearward. It communicates with a dust collecting passage 13 that rises obliquely upward. In the dust collecting path 13, a main brush 14 is provided that is composed of a rotating shaft 15 in the left-right direction and a plurality of brushes 16, 16. The main brush 14 projects the brush 16 downward from the suction port 12 and is rotated in the direction of the arrow in FIG. 4 by a motor (not shown).

A pair of side brushes 17 and 17 are provided on the left and right sides of the suction port 12. The side brush 17 guides dust to the suction port 12 with a rotating inner region overlapping the suction port 12 in a plan view at the lower end of a rotating shaft 18 that passes through the bottom cover 11 and is supported in the vertical direction. A disk-shaped brush base 19 in which two brushes 20, 20... Are radially connected is connected, and is rotated in the direction of arrow A in FIG.
The dust collection box 7 is divided into two parts, a lower main body 7a and a lid 7b that closes the upper surface of the main body 7a. The space between the main body 7a and the lid 7b is sealed with a sealing material 7c. The dust collection box 7 is detachably set in a housing portion 8 a formed in the center of the lower housing 8 so that the front inlet 21 formed in the main body 7 a communicates with the outlet of the dust collection passage 13. ing. Here, the convex portions 8b and 8b are formed at the bottom of the housing portion 8a, and the concave portions 7d and 7d are formed at the bottom of the main body 7a. Is prevented.
The dust collection box 7 includes a filter box 22 including a filter 23 that can be attached to and detached from the upper surface. A motor box 24 is provided in a communication state behind the filter box 22, and a dust collection motor 6 including a suction fan 26 at the front end of the output shaft 25 is accommodated in the motor box 24. In the center of the rear surface of the lower housing 8, exhaust ports 27, 27... Communicating with the inside of the motor box 24 are formed.

  And the mounting parts 28 and 28 of the battery 3 are formed in the right and left of the motor box 24 behind the accommodating part 8a, as shown in FIGS. The mounting portion 28 has a bottomed hole shape with an open upper surface, and is disposed at a symmetrical position with respect to the center line in the front-rear direction of the main body portion 2. On the other hand, on the bottom surface of the lower housing 8, a notch 29 having a bottom surface higher than the front portion is formed at the center of the rear portion, and a rotatable caster 30 is provided immediately below each mounting portion 28 in the notch 29. Each is provided. Therefore, the casters 30 and 30 are also arranged at symmetrical positions with respect to the center line in the front-rear direction of the main body 2.

  The battery 3 attached to the attachment portion 28 is an 18V lithium ion battery used as a power source for the electric tool, and as shown in FIG. The cells are held by a cell holder and are connected in series by a lead plate that connects between different electrodes. On the upper surface of the case 31, a coupling part 32 having a pair of rails 33, 33 in the longitudinal direction is formed on the left and right, and a slit with a positive and negative terminal facing between the rails 33, 33 in the coupling part 32. 34 and 34 are provided in parallel with the rail 33. A communication connector 35 is provided between the slits 34 and 34. Further, a coupling hook 36 is provided on one end side in the longitudinal direction of the coupling portion 32 so as to protrude upwardly and can be arbitrarily pulled into the case 31 by a button 37 integral with the hook 36. Yes.

  Further, in the case 31, in addition to the cells, a fuse and a thermistor for detecting the temperature of the cells are provided, and these are electrically connected to a control circuit board provided in the coupling portion 32. The control circuit board is equipped with control elements such as microcomputers and FETs. The control circuit board detects the temperature, voltage, and current of the cell, and when an abnormality occurs during discharge, the FET is operated to discharge. Is supposed to stop. The cell temperature information can be output to the outside via the connector 35.

  Therefore, the mounting portion 28 of the battery 3 has the same structure as the mounting portion provided in the electric tool. That is, a pair of guide rails 38, 38 as an engaging portion with which the rails 33, 33 of the coupling portion 32 are fitted from the outside are formed upward on the inner surface in the radial direction of the main body portion 2 in the mounting portion 28. Thus, the battery 3 can be inserted from above. Between the guide rails 38, 38, a terminal block 39 provided with positive and negative terminal plates 40, 40 inserted into the slits 34, 34 of the coupling portion 32 in the inserted state of the battery 3 is provided upward. In addition, a recessed portion 41 with which the hook 36 can be engaged is provided above the terminal block 39.

Further, the mounting portion 28 is formed such that the inner surface including the guide rail 38 and the terminal block 39 is inclined from the front-rear direction so as to be along the tangential direction of the main body portion 2, and in the mounted state of the battery 3, each coupling portion 32 is the main body. It is set so as to face the center of the part 2. Since the battery 3 is tilted and attached in a radial manner in this manner, the batteries 3 and 3 can be arranged on the outermost side along the outer shape of the main body 2, and no useless space is generated outside the battery 3.
Furthermore, since the batteries 3 and 3 are arranged in a balanced manner on the left and right with respect to the center line in the front-rear direction of the main body 2, even if there are two batteries 3, there is no bias in the center of gravity. In particular, since the casters 30 and 30 are located directly below the batteries 3 and 3 to which the casters 30 and 30 are attached, the running stability is good, and the straightness does not deteriorate even if one of the batteries 3 is not attached. As shown in FIG. 9, if the front end of the main body 2 is lifted with one hand and the casters 30 and 30 are grounded, the entire body can be transported without being lifted. At this time, the notch 29 prevents interference between the rear portion of the main body 2 and the floor surface.

The upper housing 9 is provided with a cover 42 for opening and removing the dust collection box 7 and the batteries 3 and 3 by opening the housing 8 a and the mounting portions 28 and 28. The lid body 42 is bent downward from the rear end edge of the upper plate portion 43 and the upper plate portion 43 covering the area including the left and right mounting portions 28, 28 from the housing portion 8 a, and excludes the motor box 24. And the rear plate portion 44 covering the rear portion of the upper housing 9 including the rear of the mounting portions 28, 28, and the front end 43a (FIG. 4) of the upper plate portion 43 is inserted and locked to the front upper end of the accommodating portion 8a. By opening and closing around 43a, the accommodating portion 8a and the mounting portion 28 can be simultaneously opened and closed. A notch 44a for preventing interference with the motor box 24 is formed in the center of the rear plate portion 44, and a lower end of the rear plate portion 44 is locked to the lower housing 8 at a closed position (not shown). Is provided.
Here, as shown in FIG. 7, the overall height H of the main body 2 is larger than the total height H1 of the attached battery 3 and the height H2 of the casters 30. The battery 3 does not protrude from the upper surface of the main body 2. When the height H is smaller than the total height H1 of the battery 3 and the height H2 of the caster 30, the positions of the battery 3 and the caster 30 may be shifted.

  In the dust collecting robot 1 configured as described above, the brush 16 of the main brush 14 and the brush 20 of the side brush 17 are respectively connected to the floor surface when the battery 3 is mounted on the mounting portion 28 and set on the floor surface. Abut. Here, when an operation switch (not shown) provided on the upper surface of the upper housing 9 is pressed, the motors 4 and 4 are driven to rotate the wheels 5 and 5, and the controller 45 in the main body 2 (FIGS. 4 and 7). Drive on the floor according to the program set in. At the same time, the main brush 14 and the side brush 17 are rotated, and the dust collecting motor 6 is also driven to rotate the suction fan 26. Therefore, the dust on the floor surface is scraped up to the dust collection path 13 side by the rotating main brush 14 and is sucked from the suction port 12 by the suction force of the suction fan 26, and is collected behind the dust collection path 13. It is sent to the dust box 7. Large dust is stored in the dust collection box 7 as it is, but small dust is captured by the filter 23 as the sucked outside air passes through the filter 23 and is discharged from the exhaust port 27 through the motor box 24. . At the same time, the side brushes 17, 17 bring outside dust to the main brush 14 side, so that the dust collection range is widened and dust can be collected up to the corner of the wall.

  The batteries 3 and 3 are used as power sources one by one in turn, and the remaining capacity of the battery 3 is displayed by a display unit provided on the operation panel. Therefore, when the remaining capacity of one battery 3 runs out first, the lid body 42 is opened, the battery 3 is removed from the mounting portion 28, and can be charged by an external charger. In this case, it can be driven only by the other battery 3, but since the casters 30, 30 are provided symmetrically as described above, even if the center of gravity of the main body 2 is biased by one battery 3, Stable traveling is possible by the left and right casters 30 and 30.

Thus, according to the dust collection robot 1 of the said form, since the battery 3 for electric tools can be used as a power supply, it is not necessary to prepare a different battery for every model, versatility is obtained, and cost and management are reduced. It does not take time.
In particular, here, the battery 3 has a case 31, a cell built in the case 31, a terminal for discharging, and a control circuit board built in the case 31 for monitoring discharge abnormality, thereby improving reliability. This makes it possible to use an excellent power source.
Further, the main body 2 is provided with a lid 42 that can expose the dust collection box 7 and the batteries 3 and 3 at the same time, so that the dust box 7 and the batteries 3 and 3 can be operated by operating one lid 42. It can be taken in and out and has excellent handleability.

Further, the battery 3 is provided with a pair of rails 33, 33 for coupling to the electric tool, and a guide rail 38, to which the rails 33, 33 can be coupled in the vertical direction, is mounted on the mounting portion 28 of the main body 2. By forming 38, the battery 3 can be easily mounted from above.
In particular, since the guide rail 38 is provided toward the outer side in the radial direction of the main body 2 in plan view, the battery 3 can be disposed on the outermost side along the outer shape of the main body 2, and a wasteful space is provided outside the battery 3. The space in the main body 2 can be effectively used.

Then, by providing two batteries 3, continuous use for a long time is possible, and the charging frequency is reduced.
In particular, since the caster 30 is disposed directly under the battery 3, the operational stability is improved. Further, since two batteries 3 and two casters 30 are arranged on the left and right, the number is suitable for weight and balance during traveling.
Further, since the batteries 3 and 3 are arranged on the left and right sides with the dust collection motor 6 interposed therebetween, a well-balanced arrangement is possible even with the dust collection motor 6.
On the other hand, since the notch 29 is formed in the rear part of the main body 2 so that the bottom surface of the rear part is higher than the bottom surface of the front part of the main body part 2, the front part of the main body part 2 is lifted as described above. Therefore, the rear part does not interfere with the floor surface during transportation, and transportation is convenient.

  In the above embodiment, the suction fan 26 is rotated by the dust collecting motor 6 to generate a suction force so as to suck in the dust. However, such a motor and fan are eliminated, and the main brush 14 and the side brush 17 are removed. Dust may be collected only by rotation. Further, the main brush is not limited to the one having the left and right direction as the rotation axis, and a mode in which the main brush rotates about the vertical direction (including inclination such as a forward tilt posture) can also be adopted.

10 to 13 show an example in which a suction fan is not used, but the same components as those in the previous embodiment are denoted by the same reference numerals and redundant description is omitted.
In the dust collection robot 1 </ b> A, the front portion of the dust collection box 50 in the lower housing 8 rises upward along the front wall of the dust collection box 50, and the upper end reaches the receiving port 51 on the front surface of the dust collection box 50. A guide portion 53 is provided at the upper end of the rising portion 52 and is inclined downward as it goes forward. The front end of the guide portion 53 is formed in a V-shape in a plan view with the center positioned on the rear side of the left and right ends, so that dust can be easily carried on the guide portion 53.

  On the other hand, a support plate 54 parallel to the guide portion 53 is attached in the main body portion 2 above the guide portion 53, and a dust collection box is provided between the support plate 54 and the guide portion 53 from the lower surface of the main body portion 2. An inclined dust collecting passage 55 connected to 50 receiving ports 51 is formed. A pair of main brushes 56 and 56 are provided on the left and right sides of the guide portion 53. The main brush 56 includes a drive unit 57 having a drive motor 58 and a speed reducer 59 that decelerates rotation of the motor shaft, and a plurality of brushes on the outer periphery of the rotary shaft 60 that protrudes downward from the speed reducer 59. A disk-shaped brush base 61 in which 62, 62,... Are implanted in a conical shape is connected. Here, the drive unit 57 is assembled on the upper side of the support plate 54, and the brush base 61 is located below the support plate 54. A drive pulley 63 is coaxially coupled to the rotary shaft 60 below the brush base 61.

By assembling the support plate 54 thus inclined, each main brush 56 is in a forward inclined posture in which the brush base 61 is parallel to the guide portion 53. Further, the left and right main brushes 56 are arranged at intervals in which the brushes 62 overlap with each other on the guide portion 53 in a plan view, and the brushes 62 protrude obliquely downward from the dust collection passage 55. Both the main brushes 56 and 56 rotate in directions opposite to each other as indicated by arrows in FIG.
Further, side brushes 17 and 17 are provided on the bottom cover 11 on both outer sides of the main brushes 56 and 56. The rotating shaft 18 of the side brush 17 is provided with a driven pulley (not shown) on the upper side of the bottom cover 11, and a belt (not shown) stretched between the driving pulley 63 provided on the rotating shaft 60 of the main brush 56. Thus, the rotation of the rotary shaft 60 can be transmitted to the rotary shaft 18.

  The dust collection box 50 has a box shape with an open upper surface, and the storage portion 64 is formed long backward so as to be adjacent to the inner side of the mounting portions 28, 28 because there is no motor for dust collection, and the rear portion is mounted. In accordance with the inclination of the portions 28, 28, as shown in FIG. 14, the center in the left-right direction has a mountain shape that protrudes most backward. Therefore, the dust collection box 50 also has a shape in which the rear end portion 65 protrudes in a mountain shape in accordance with the housing portion 64 as shown in FIG. Thereby, when the dust collecting box 50 is removed and the accumulated dust is discarded, it can be discharged from the tip without being scattered if it is collected at the rear end portion 65 of the mountain shape. Reference numeral 66 denotes a handle provided continuously on the upper side of the dust collection box 50.

  In the dust collecting robot 1A configured as described above, when set on the floor surface, the main brushes 56, 56 in the forward tilted posture are inclined at an acute angle with respect to the floor surface, and the front of the dust collecting path 55 is moved forward. Each of the brushes 62 projecting toward the floor comes into contact with the floor surface. When the operation switch is pressed here, the motors 4 and 4 are driven to rotate the wheels 5 and 5 and travel on the floor according to the program. At the same time, the motor 58 of the drive unit 57 is also driven to rotate the main brushes 56, and the side brushes 17 are rotated in the same direction via the belt. Therefore, the dust on the floor surface is mainly collected by the main brush 56 toward the central guide portion 53 and scraped up and stored in the dust collection box 50 behind the guide portion 53.

  As described above, even in the dust collecting robot 1A of the above-described modified example that does not use the dust collecting motor, the battery 3 for the electric tool can be used as a power source. The cost and management effort are not required.

In addition, in common with the said form and modification, the number of batteries is not restricted to two, If it can arrange | position with good balance on right and left, three or more can also be used. Further, the present invention can be applied even to a type in which the traveling direction is reversed, that is, a self-propelled dust collecting robot in which the battery and the caster are in the front part of the main body and the suction port is in the rear part of the main body. is there.
Also, the battery configuration and the mounting structure to the mounting part can be inserted from the rear rather than from the top, the engaging part such as a guide rail is provided not on the inner surface in the radial direction but on the inner surface in the radial direction, It can be appropriately changed, such as being provided on the inner surface along the direction. Furthermore, it can also be set as the structure where terminals contact by simple insertion instead of engagement with a rail and a guide rail.
The battery is not limited to portable electric tools that drive tip tools such as driver drills, circular saws, grinders, impact drivers, etc., but also electric devices such as lights, lanterns, cameras, radios, and sensors that do not use a motor, Even if it is used for clothes such as cleaners, blowers, tank type dust collectors for casters, and heating jackets, etc.

On the other hand, the number of casters is not limited to two, and three or more casters can be used, and it is not necessary to fit within the outer shape of the battery in a plan view as in the above embodiment. It can also arrange | position so that a part or all may protrude from.
Further, the lid is not limited to a structure that opens and closes the dust collection box and the battery at the same time, and separate lids may be provided for the dust collection box and the battery.
Furthermore, in order to make it easier to carry by lifting the front part of the main body part, a hole or recess for hooking a finger is provided on the lower surface of the main body part, or a gripping part such as a band or a handle is provided on the upper surface of the main body part. You can also

  1, 1A ... Self-propelled dust collecting robot 2. Main body part 3. Battery 4. Motor 5. Wheel 6 ... Dust collecting motor 7, 50 ... Dust collection box 8 .. Lower housing, 8a, 64 .. Housing, 8 .... Upper housing, 9 .... Upper housing, 12 .... Suction port, 13, 55 ... Dust collection path, 14, 56 ... Main brush, 15, 18 ··· Rotating shaft, 17 · · Side brush, 24 · · Motor box, 26 · · Suction fan, 27 · · Exhaust port · · · Mounting part, 30 · · Casters, 31 · · Case, 32 · · .. Connection part, 33 .. Rail, 38 .. Guide rail, 39 .. Terminal block, 40 .. Terminal plate, 42 .... Lid, 43 ... Upper plate part, 44 ... Rear plate part, 45 ... Controller, 53 ... Guide unit, 57 ... Drive unit.

Claims (6)

The main body,
A dust collector provided in the main body;
A plurality of batteries disposed inside the main body,
A self-propelled dust collecting robot comprising: The main body,
A dust collector provided in the main body;
A battery disposed inside the main body,
A caster provided at a lower portion of the main body,
A self-propelled dust collecting robot, wherein the caster is disposed directly under the battery.   The battery accommodates a plurality of cells in a case and is arranged in two at the rear part or the front part of the main body part, and the two casters are also arranged at the rear part or the front part of the main body part. The self-propelled dust collecting robot according to claim 2.   The self-propelled dust collecting robot according to claim 2 or 3, wherein a notch portion is formed in a rear portion of the main body portion so that a bottom surface of the rear portion is higher than a bottom surface of the front portion of the main body portion.   The self-propelled dust collecting device according to any one of claims 1 to 4, wherein the dust collecting unit includes a dust collecting motor, and the battery is disposed on the left and right sides of the dust collecting motor. robot. The main body,
A dust collector provided in the main body;
A battery disposed inside the main body,
A plurality of casters provided at a lower portion of the main body,
A self-propelled dust collecting robot comprising:

Images