JP3356170B1 - Cleaning robot - Google Patents

Abstract

A cleaning robot having a self-propelled function is provided, which provides a method of a main body configuration in which inspection and replacement of each part are simplified and maintenance is improved. SOLUTION: An electric blower 24 for generating a suction wind, a dust collection chamber 30 for collecting dust, a suction unit having a suction port 27 for sucking dust, a traveling means 58 having a driving function, and a power supply battery 49. A lower frame 21 in which the electric blower 24 is provided above and the suction portion 27 is provided below; and at least one of the electric blower 24, the dust collection chamber 30, and the battery 49 which is provided above the lower frame 21. It consists of a middle frame 22 having one below and an upper frame 23 that covers both the middle frame 22 and the lower frame 21 to form an outer shell of the main body 20. And improved maintainability.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning robot provided with an electric blower, a dust collection chamber, a suction section having a suction port, a traveling device for self-propelling a main body, and a battery.

[0002]

2. Description of the Related Art Conventionally, this kind of cleaning robot is disclosed in
-252203. Hereinafter, FIG.
8, the configuration will be described.

In FIG. 18, reference numeral 1 denotes a main body of a cleaning robot, and reference numeral 2 denotes a traveling roller provided on the left and right front of the main body 1. The traveling roller is driven independently by a traveling drive motor 3 on the left and right sides. 4 is the body 1
Is a slave wheel rotatably attached to the rear of the vehicle. As described above, the traveling roller 2, the traveling drive motor 3, and the driven wheel 4 constitute traveling means for causing the main body 1 to travel by itself. The running means are all integrally attached to the bottom of the main body 1. Reference numeral 5 denotes an electric blower, 6 denotes a dust collection chamber, and 7 denotes a filter formed of a paper bag provided therein.

[0004] Reference numeral 8 denotes a suction portion provided in front of the bottom of the main body 1 and has a rotary brush (not shown) for scraping dust on the floor surface. The suction part 8 is connected to the dust collecting chamber 6 via the connecting pipe 9 and the telescopic hose 10, and the dust on the floor is sucked by the electric blower 5 and collected in the filter 7. The suction part 8 is attached to the main body 1 by a suspension lever 11 so as to be vertically movable. Reference numeral 12 denotes a distance measuring sensor including an ultrasonic sensor and the like provided around the main body 1, and an obstacle detecting device that detects an obstacle by measuring a distance to an object in front of, right, left, and right of, and behind the main body 1. Is composed. 13 is a bumper made of an elastic body attached around the body 1. Reference numeral 14 denotes a travel control device for controlling the travel of the main body 1, which controls the travel motor 2 based on data from a position recognition means (not shown) such as a gyro or the like and an obstacle detection device. It controls operations such as retreating, turning, and stopping. An operation unit 15 operates the main body 1 through an operation panel 16 provided with various switches and indicators such as an LED and a buzzer. Reference numeral 17 denotes a main body handle used for manual cleaning or movement between places. Reference numeral 18 denotes a battery storage chamber which stores a battery (not shown) which is composed of a storage battery and supplies electric power to the entire main body, and is connected to a charging terminal 19.

[0005]

However, in the above-mentioned conventional configuration, all the components are directly attached to the main body 1, and it is necessary to disassemble the main body 1 at every inspection and replacement.

An object of the present invention is to solve the above-mentioned conventional problems, and an object of the present invention is to provide a cleaning robot which can easily inspect and replace each part and has excellent maintainability.

[0007]

In order to achieve the above object, the present invention provides an electric blower for generating a suction wind, a dust collection chamber for collecting dust, a suction unit having a suction port for sucking dust, Traveling means having a driving function, a power supply battery, a control circuit unit for processing output signals from each functional component, etc., and a lower frame body provided with the electric blower and the battery above and the suction unit below. A middle frame body disposed above the lower frame body and having the electric blower and the battery below the control circuit section above; and the control circuit section provided above the middle frame body.
In a cleaning robot comprising an upper frame body that covers and fixes to the lower frame body to form a body outline ,
It is configured to be applied to the middle frame and the lower frame, and the lower frame, the middle frame, and the upper frame are respectively separable so that only the upper frame is separated from the lower frame.
It is a cleaning robot with a disassembled configuration, with improved assembling and disassembling properties and improved maintainability.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention according to claim 1 of the present invention provides an electric blower for generating a suction wind, a dust collection chamber for collecting dust, a suction unit having a suction port for sucking dust, and a drive unit. a traveling means having a function, and a power supply battery, and a control circuit section which performs processing of output signals from the respective functional components, and a lower frame member of the suction portion of the battery and the electric blower upwardly provided below , Disposed above the lower frame, the middle frame having the electric blower and the battery below the control circuit unit above,
In the cleaning robot comprising an upper frame to form the body shell and fixed to the lower frame covers the control circuit section provided above the middle frame body, the connection, the middle frame
The lower frame, the middle frame, and the upper frame are separable from each other .
A configuration in which only the upper frame can be removed from the lower frame with
The cleaning robot has improved assembly and disassembly and improved maintenance. In addition, the control circuit is arranged on the upper surface of the middle frame and is covered with the upper frame, so that inspection and replacement can be performed simply by separating the upper frame, thereby improving maintainability of the control circuit.

[0009] The upper frame body has an output from each functional component.
No control circuit for processing force signals, etc.
It has a configuration in which no connection is made to the frame.
It improves the solution and the assemblability.

According to a second aspect of the present invention, the running means comprises a running roller and a running drive motor for driving the running roller, wherein the running means is detachably attached to a lower frame. This enhances the maintainability of the means.

According to a third aspect of the present invention, the upper frame is detachably attached to the lower frame, and the traveling means is detachable from the lower frame at a location different from the upper frame. Thus, the upper frame and the traveling means can be independently separated from each other, and the maintenance work can be reduced without being affected by the parts.

According to a fourth aspect of the present invention, a projection for holding the main body and the floor surface is formed on the rear surface of the upper frame when the main body is overturned rearward. The workability when separating the traveling means and the suction part is improved.

[0013] Further, the maintainability of the traveling means and the suction section is improved.

According to a fifth aspect of the present invention, there is provided a power supply circuit for storing a power supply battery in a battery storage chamber formed by a middle frame and a lower frame and supplying power to an electric blower or the like. It is arranged in the battery compartment, and the power circuit can be inspected and replaced by simply removing the middle frame, which improves the maintainability of the power circuit.

According to a sixth aspect of the present invention, the traveling drive motor is configured to be separable from the traveling means only by removing a screw, thereby facilitating replacement of the traveling drive motor.

According to a seventh aspect of the present invention, the suction portion has a detachable rotary brush and a brush driving motor for driving the rotary brush above the rotary brush, and a brush above the suction port. An opening larger than the outer shape of the driving motor is provided, and the opening is covered with a detachable cover body to form a storage chamber for the brush driving motor. The rotating brush and the cover are removed to facilitate replacement of the driving motor.

According to an eighth aspect of the present invention, a brush cover for covering a belt connecting a rotating brush and a brush driving motor for driving the rotating brush is provided on a bottom surface of the suction portion. Attached with a buckle that slides in the direction of travel of the main body to release the lock.The buckle does not loosen during normal running, and the brush cover can be easily removed at the time of replacement, making it easy to attach and remove the rotating brush. .

According to a ninth aspect of the present invention, a dust collection case is accommodated in a dust collection chamber, and a dust suction port communicating the suction port and the dust collection chamber is formed on a handle side of the dust collection case. When the dust is discarded, the dust is not easily spilled.

According to a tenth aspect of the present invention, there is provided a dust detecting unit comprising a light receiving and a light emitting diode for detecting dust passing through a suction passage communicating the suction port and the dust collecting chamber.
The light-receiving and light-emitting diode surfaces can be cleaned even from outside the dust collection chamber because they are arranged near the dust suction port.

According to an eleventh aspect of the present invention, a dust collection case is housed in a dust collection chamber, and the dust collection case and the upper frame are formed in a transparent body. It can be monitored and you can know when the garbage is dumped.

[0021]

An embodiment of the present invention will be described below with reference to the drawings.

The construction of the main body of the cleaning robot according to the embodiment of the present invention will be described with reference to FIGS.

Reference numeral 20 denotes a main body composed of a lower frame 21, a middle frame 22, and an upper frame 23. The lower frame 21 holds an electric blower 24 on the center upper surface via a support front 25 and a support rear 26 made of an elastic body, and a suction portion 27 fixed to a front bottom surface by a suspension lever 28 so as to be vertically movable. . Middle frame 2
2 is integrally screwed to the lower frame 21 with a fastening boss 29, and holds the electric blower 24 via a support front 25 and a support rear 26 made of an elastic body. The lower frame 21 and the middle frame 22 are integrated to form a dust collection chamber 30 in the front and a battery storage chamber 31 in the rear to form partitions 32, 33, 34,
35 are provided. And an upper frame 23 forming an outer shell
Is screwed to the lower frame 21 integrally with a fastening boss 36 so as to cover both the lower frame 21 and the middle frame 22. 3
Reference numeral 7 denotes a bumper frame attached to the entire lower side of the lower frame 21 so as to be displaceable in the front-rear and left-right directions. Reference numeral 38 denotes a bumper made of an elastic body fixed to the bumper frame 37. On the upper surface of the middle frame 22, a control circuit unit 40 for processing output signals from each functional component covered with a metal case,
Status display section 41, liquid crystal display section 42 and main switch 43
And a charging terminal portion 46 in which the opening 44 is covered by a rotatable rear cover 45 is integrally fixed. The upper frame 23 has a display window 47 of the liquid crystal display section 42 on the upper surface, an opening (not shown) for taking out a dust collecting case 48 stored in the dust collecting chamber 30 on a side surface, and a battery storage chamber 31 on a rear surface. An opening 50 for taking out the battery 49 housed in the housing is formed. Reference numeral 51 denotes a distance measuring sensor including light receiving and light emitting LEDs provided around the main body 20, and an obstacle detecting device that detects an obstacle by measuring a distance to an object in front of, right, left, and right of, and behind the main body 20. Is composed. The distance measuring sensor 51 is fixed to the outer peripheral portions of the lower frame 21 and the middle frame 22 by screwing with a mounting plate 52. Reference numeral 53 denotes an operation handle of the main body 20 which is held between the upper frame 23 and the middle frame 22 and which can be taken in and out vertically. Reference numeral 54 denotes a protective cover for protecting the distance measuring sensor 55 disposed at the four corners of the upper surface of the main body 20, and is screwed to the upper frame 23. Reference numeral 56 denotes a battery cover that covers the opening 50 of the battery storage chamber 31, which is fixed vertically to the lower frame 21 and the upper frame 23. Reference numeral 57 denotes a power supply circuit unit that supplies power to the electric blower 24 and the like, and is stored below the battery 49 in the battery storage unit 31.

Next, the structure of the traveling means will be described with reference to FIGS.

The traveling means 58 includes a frame body 59 formed by bending a hard aluminum material, a traveling drive motor 61 directly connected to each of two traveling rollers 60 provided on the front left and right sides of the frame body 59, and a traveling roller 61. And a driven wheel 62 rotatably attached to a frame body 59 at the rear of the vehicle. An angle sensor 63a detects the rotation angle of the driven wheel 62. The running means 58 is fixed to the lower frame body 21 with screws by fastening bosses 63.

The operation of the above configuration will be described.

When assembling the main body, first, as shown in FIG. 6, the suction part 27 is fixed to the lower frame 21 together with the bumper 38 and the distance measuring sensor 51 by the suspension lever 28, and the running means 58 is screwed to the fastening boss 63. (Travel means 58
Can be fixed later).

Then, as shown in FIG. 7, the electric blower 24 is placed on the center upper surface (the dust collecting case 48 and the battery 49 may be inserted later). Then, as shown in FIG. 8, the middle frame body 22 in which the control circuit section 40 and the charging terminal section 46 are integrated on the upper surface is fixed with a fastening boss 29 with screws. Finally, the upper frame body 23 is screwed and fixed to the lower frame body 21 with the fastening bosses 36 with the middle frame body 22 interposed therebetween from above, thereby completing the assembly. At this time, the lower frame body 21 and the middle frame body 22 are assembled independently, an electric connector section (not shown) is provided, and both are integrated. Before assembling the main body 20, the lower frame 21 and the middle frame 22 can be prepared as units, and at this time, the middle frame 22 can be placed on the lower frame 21 and screwed from above. Therefore, it is possible to assemble in a stacked manner, so that the assembling property is good. For further disassembly, if only the upper frame body 23 is detached from the lower frame body 21, the control circuit section 40 and the charging terminal section 46 can be handled, so that maintenance can be improved. Since the traveling means 58 is independently screwed to the main body 20 with the fastening boss 63 of the lower frame 21, the maintenance of the traveling means 58 is improved and
7 can be reduced in maintenance work. Then, as shown in FIG. 9, a fastening boss 36 for screwing the upper frame 23 to the lower frame 21 and the traveling means 5 are provided.
Since the fastening bosses 63 for screwing the screws 8 to the lower frame 21 are formed at different locations on the lower frame 21, they can be disassembled independently of each other. Can be minimized. Furthermore, upper frame 2
3 is not provided with a connection portion, and the control circuit portion 40 is entirely provided with the lower frame 2
1. Since it is mounted only on the middle frame 22 and the frame 59, as shown in FIG. 8, the assembly and disassembly of the upper frame 23 is easy, and the connection work is easy.

Further, according to the embodiment of the present invention, the upper frame 23
Is a protective cover 54 having convex portions at the upper four corners.
Is fixed, and the main body 20 can be stably held in a state where the main body 20 is turned over to the floor surface rearward, so that the assembling and separating work of the traveling means 58 and the suction portion 27 can be easily performed. In this embodiment, the convex portions 54 are formed in four directions, but may be provided in two places at the upper rear side. As shown in FIGS. 1 and 8, the control circuit 40 is provided on the upper surface of the middle frame 22 and the power supply circuit 57 is provided in the battery storage chamber 31. Inspection and replacement can be performed only by removing one part of the cover 56, and maintenance of the control circuit unit 40, which is a component having a high frequency of failure, can be improved. In this embodiment, since the power supply circuit section 57 is housed in the battery housing chamber 31 together with the battery 49, cooling can be performed simultaneously by the exhaust air of the electric blower 24.

Next, a method of fixing the traveling drive motor 61 of the traveling means 58 according to the embodiment of the present invention will be described with reference to FIGS.
Description will be made using 0 and 11.

Each of the two traveling drive motors 61 is fastened and fixed to the frame body 59 with three screws, and the traveling roller 60 is provided with a drive shaft 64 so as not to rotate, and a bushing 65 integrally formed with the traveling roller 60 is provided. It is fixed with screws. 66 is a roller tire integrally formed with the traveling roller 60.

The operation of the above configuration will be described.

The traveling drive motor 61 is a small DC brush motor, which has a limited durability due to the life of the brush and needs to be replaced. According to the embodiment of the present invention, first, the traveling means 58 is connected to the main body. 20 and then all screws are removed, so that only the traveling drive motor 61 can be separated from the traveling means 58, without disassembling the main body 20,
It can be replaced without using a special tool. Since the bushing 65 prevents rotation between the drive shaft 64 and the traveling roller 60, the screw does not come loose during traveling.

In the above-described embodiment, one screw is fixed to the center of the drive shaft 64. However, if the outer shape of the bushing 65 is enlarged and the outer periphery of the bushing 65 is screwed at a plurality of points, the loosening of the screw can be further prevented. It can be surely.

Next, a specific structure of the suction portion 27 according to the embodiment of the present invention will be described with reference to FIGS. The same parts as those in the above embodiment are denoted by the same reference numerals, and description thereof will be omitted.

The suction part 27 has two rotating brushes 67, 68.
And a brush drive motor 69 for driving them are provided inside a Yuka nozzle shutter 71 provided with a suction port 70 having an opening below and a Yuka nozzle wafer 73 formed with a drive motor storage chamber 72. The drive motor storage chamber 72 has an opening 7 larger than the outer shape of the brush drive motor 69 on the suction port 70 side.
The cover 4 covers the opening 74, one of which is hooked into a cutout hole formed in the Yuka nozzleway 73, and the other is screwed and fixed to the Yuka nozzleway 73. 2
The middle and front rotating brushes 67 of the books directly suspend the belt 76 on the brush driving motor 69, and the rear rotating brush 68 suspends and connects the belt 77 with the front rotating brush 67. It is. And the belt 7
Brush cover 78 covering connection portions 6 and 77 from the bottom side
Is fixed to the Yuka Nozzle Cita 71 with a buckle 79. The buckle 79 is in the direction of arrow A in FIG.
The lock can be released when it is slid. Numerals 80 and 81 are raised cloths attached to the bottom surface of the Yuka nozzle shatter 71 to prevent the floor from being damaged.

The operation of the above configuration will be described.

The brush driving motor 69 includes a rotating brush 67,
After the 68 is removed, the cover body 75 can be replaced from the suction port 70 side by removing the screw from the opening 74 and removing it from the opening 74, so that it is not necessary to separate the entire suction section 27 from the main body 20. Also, since only one of the two rotating brushes 67, 68 is connected to the brush driving motor 69 by a belt, the number of times the belt is removed when the rotating brushes 67, 68 are attached to and detached from the suction unit 27 can be reduced by one. . Further, the buckle 79 of the brush cover portion 78 is configured to be locked in the traveling direction of the main body 20, so that the buckle 79 does not come off during traveling, thereby increasing reliability. .

Next, the dust collecting case 48 according to the embodiment of the present invention.
Will be described with reference to FIGS.

The dust collecting case 48 accommodated in the dust collecting chamber 30 is provided integrally with the dust collecting case 48 so that it can be attached to and detached from the side of the main body 20, and is attached between the lower frame 21 and the middle frame 22. The connection pipe 83 and the telescopic hose 84 constitute a suction passage 85 from the suction part 27. The dust suction port 86 of the suction passage 85 provided in the dust collection case 48 is formed on the 82 side, and the connection pipe 83 is also formed at the opposite position.
Reference numeral 87 denotes a filter body in which a nonwoven fabric 88 is integrally formed with an elastic body, and is airtightly and detachably attached to the upper surface of the dust collecting case 48. Then, as shown in FIG. 1, the suction passage 85 from the suction part 27 is connected to the dust collecting case 48, the filter body 87.
, And communicates with the electric blower 24 through a suction passage 89 formed by the lower frame 21 and the middle frame 22. The connection pipe 83 has a light receiving LED 89, 9
A dust detection unit 91 made of 0 is formed and sends an output signal to the status display unit 41.

Further, the dust collecting case 48 is formed of a transparent body, and the upper frame 23 is also formed of a transparent body so that the front wall of the dust collecting chamber 30 is eliminated as shown in FIG.

The operation of the above configuration will be described.

Remove the dust inlet 86 from the dust collecting case 48
Since the dust collecting case 48 is formed on the side, when the dust collecting case 48 is taken out of the dust collecting chamber 30 and the garbage is discarded, dust is hardly spilled out of the dust collecting case 48, so that the usability is improved and it is also effective at the time of maintenance. In addition, the dust detection unit 91 can be cleaned by inserting a finger through an opening of the main body 20 (an opening formed by the middle frame 22 and the lower frame 21 in FIG. 16), so that dust passing through the suction passage 85 can be cleaned. This is to improve the maintenance of the receiving and emitting LEDs 89 and 90 which are contaminated.

Further, since the amount of dust accumulated in the dust collecting case 48 can be easily confirmed from outside the main body 20 at any time, the maintenance performance regarding waste disposal can be improved, and the upper frame 23 and the dust collecting case 48 have a double structure. This improves the strength resistance.

[0045]

According to the present invention, it is possible to provide a cleaning robot which can easily inspect and replace each component and is excellent in maintainability.

[Brief description of the drawings]

FIG. 1 is a central cross-sectional view illustrating an overall configuration of a cleaning robot according to an embodiment of the present invention.

FIG. 2 is an external perspective view of the same.

FIG. 3 is a perspective view showing the arrangement of the internal components.

FIG. 4 is a perspective rear view showing the arrangement of the internal components.

FIG. 5 is a side view showing the entire configuration of the traveling means.

FIG. 6 is a central sectional view showing an assembled state of the lower frame unit, the suction section, and the traveling means;

FIG. 7 is a central sectional view showing an assembled state in which the electric blower, the dust collecting case, and the battery are mounted in FIG. 6;

FIG. 8 is a central sectional view showing a state in which an upper frame is removed from the main body.

FIG. 9 is a rear view of the main body.

FIG. 10 is a sectional view showing a specific configuration of the traveling means.

FIG. 11 is an enlarged sectional view showing attachment of the traveling roller.

FIG. 12 is a sectional view showing a specific configuration of the suction unit.

FIG. 13 is a bottom view of the suction unit.

FIG. 14 is a front view showing a state where the dust collecting case is taken out.

FIG. 15 is a partial sectional view of the dust collecting case.

FIG. 16 is a partial side view showing a configuration of the dust collecting case, a suction passage, and a suction portion.

FIG. 17 is a rear view showing a configuration of the dust collecting case, a suction passage, and a suction unit.

FIG. 18 is a central sectional view showing the entire structure of the related art.

[Explanation of symbols]

 Reference Signs List 20 main body 21 lower frame 22 middle frame 23 upper frame 24 electric blower 27 suction unit 30 dust collection chamber 31 battery storage room 40 control circuit unit 49 battery 58 running means 70 suction port 85 suction passage

Continued on the front page (51) Int.Cl. ⁷ Identification code FI A47L 9/02 A47L 9/02 Z 9/04 9/04 A 9/10 9/10 A 11/202 11/202 B08B 13/00 B08B 13 / 00 (72) Inventor Hiroshi Mori 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. (72) Inventor Hiroyuki Kayama 1006 Okadoma Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Invention Mitsuki Hono 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture (72) Inside Matsushita Electric Industrial Co., Ltd. (72) Inventor Masayo Hashi 1006 Kadoma Kazuma, Kadoma City, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. 1006 Kadoma, Kadoma City Matsushita Electric Industrial Co., Ltd. (56) References JP-A-3-106319 (JP, A) JP-A-10-314086 (JP, A) JP-A-1-91824 (JP, A) JP-A-7-95940 (JP, A) JP 5-55330 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) A47L 9/00-9/32 A47L 11 / 202 B08B 13/00

Claims (11)

(57) [Claims] 1. An electric blower for generating a suction wind, a dust collection chamber for collecting dust, a suction unit having a suction port for sucking dust, a traveling unit having a driving function, a power supply battery, and each function A control circuit unit for processing output signals from components, a lower frame body provided with the electric blower and the battery above and the suction unit provided below, and an electric blower arranged above the lower frame body; And a middle frame having the control circuit section above the battery below, and the control circuit section provided above the middle frame body
In a cleaning robot comprising an upper frame body that covers and fixes to the lower frame body to form a body outline ,
It is configured to be applied to the middle frame and the lower frame, and the lower frame, the middle frame, and the upper frame are respectively separable so that only the upper frame is separated from the lower frame.
A cleaning robot with a nested configuration . 2. The cleaning robot according to claim 1, wherein the traveling means comprises a traveling roller and a traveling drive motor for driving the traveling roller, and the traveling means is detachably attached to the lower frame. 3. The cleaning robot according to claim 1, wherein the upper frame is detachably attached to the lower frame, and the traveling means is detachable from the lower frame at a location different from the upper frame. . When the wherein the main body has been allowed to fall backwards, cleaning robot according to any one of claims 1 to 3, a convex portion is formed on the rear surface of the upper frame for holding the said body and the floor surface . 5. The power supply battery is housed in a battery housing formed by a middle frame and a lower frame, and a power supply circuit for supplying power to an electric blower or the like is arranged in the battery housing.
5. The cleaning robot according to any one of 4 . 6. The cleaning robot according to claim 2, wherein the traveling drive motor is configured to be separable from the traveling means only by removing a screw. 7. The suction unit has a detachable rotary brush and a brush drive motor for driving the rotary brush above the rotary brush, and an opening larger than the outer shape of the brush drive motor is provided above the suction port. 2. A cleaning robot according to claim 1, wherein said opening is covered with a detachable cover body to form a storage chamber for a brush drive motor. 8. A brush cover for covering a belt connecting a rotary brush and a brush driving motor for driving the rotary brush is provided on a bottom surface of the suction unit, and the brush cover is slid in a traveling direction of the main body to lock. claim 1 or 7, wherein the cleaning robot mounted in release to buckle. 9. The cleaning robot according to claim 1, wherein a dust collection case is housed in the dust collection chamber, and a dust suction port communicating the suction port and the dust collection chamber is formed on a handle side of the dust collection case. 10. The cleaning robot according to claim 9 , wherein a dust detection unit comprising a light receiving and a light emitting diode for detecting dust passing through a suction passage communicating the suction port and the dust collection chamber is disposed near the dust suction port. 11. accommodating a dust collection case to the dust collecting chamber, according to claim 1-10 for the dust collecting case and the upper frame body formed in the transparent body
A cleaning robot according to any one of the preceding claims.