JP5892098B2 - Self-propelled vacuum cleaner - Google Patents

Description

  The present invention relates to a self-propelled cleaner.

Conventionally, as a self-propelled cleaner that cleans by running on the floor as a cleaning surface, a dust suction port and a rotating brush provided at the dust suction port near the center of the bottom of the circular main body, A side brush provided near the outer periphery of the bottom surface of the main unit.The side brush is rotated almost horizontally and the dust outside the outer periphery of the main unit is swept into the center of the main unit to suck the dust near the wall. (For example, refer to Patent Document 1).
In addition, the front of the main body is rectangular, and a rotating brush provided at the dust suction port and the dust suction port is provided near the front end of the bottom surface of the main body. The rotating shaft of the rotating brush and the rotating shaft of the drive wheel are parallel to each other. A device that sucks dust near the wall surface by moving the main body so that the right side surface or the left side surface follows the wall surface is also known in the art (see, for example, Patent Document 2).
Furthermore, a suction nozzle with a right-angled tip can be stored in the left front of the bottom of the circular main body, and the side of the suction nozzle protruding from the outer periphery of the main body moves along the wall so that it is close to the wall. A device that sucks dust is also known in the art (see, for example, Patent Document 3).

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

  However, in the conventional self-propelled cleaner as shown in Patent Document 1 to Patent Document 3, the side brush does not reach a narrow space such as a corner of the floor surface, resulting in cleaning leakage. Also, the direction of the rotating brush and suction nozzle relative to the moving direction of the main body is constant, and it is necessary to repeat moving forward and backward by changing the moving direction of the main body when cleaning a narrow space such as a corner of the floor surface. Therefore, the cleaning efficiency is poor.

  Furthermore, in a conventional self-propelled cleaner provided with a dust suction port at the bottom end of the main body, if the gap between the lower end of the opening surface of the suction port and the floor surface is reduced in order to improve the suction performance, it can be overcome. There is a problem that the height of the level difference on the floor surface that can be made is reduced by that amount, that is, the step-over performance is lowered.

  The present invention has been made to solve such a problem, and can improve the performance of overcoming the level difference of the floor without sacrificing the suction performance of the dust on the floor by the suction port. Get a running vacuum cleaner.

  In the self-propelled cleaner according to the present invention, there is a drive wheel, a main body that moves on the floor surface by rolling of the drive wheel, and a dust that is provided on the bottom surface of the main body and is on the floor surface. An inclined surface that is provided on a side different from the suction port on the bottom surface of the main body and is formed such that the distance from the floor surface increases toward the outer periphery of the main body, Step detecting means for detecting a convex step on the floor that prevents movement of the main body in a state where the side provided with the suction port is directed in the moving direction, and the moving direction of the main body by the step detecting means And a control means for moving the main body so that the side on which the inclined surface is provided is directed in the advancing direction of the main body when a convex step is detected.

  In the self-propelled cleaner according to the present invention, there is an effect that the performance of overcoming the level difference on the floor surface can be improved without sacrificing the suction performance for dust on the floor surface by the suction port.

It is a bottom view of the self-propelled cleaner according to the first embodiment. 3 is a plan view of the self-propelled cleaner according to Embodiment 1. FIG. 1 is a left side view of a self-propelled cleaner according to Embodiment 1. FIG. It is sectional drawing in the Ba-Bb line | wire of FIG. It is a top view including the partial cross section in the state where the dust collecting part cover etc. of the self-propelled cleaner concerning Embodiment 1 were removed. It is a top view including a partial cross section in the state which removed the dust collecting part of the self-propelled cleaner concerning Embodiment 1. It is sectional drawing in 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. FIG. It is sectional drawing in the Da-Db line | wire of FIG. 2 is a perspective view of a rotating brush unit of the self-propelled cleaner according to Embodiment 1. FIG. 2 is a perspective view of a rotating brush unit of the self-propelled cleaner according to Embodiment 1. FIG. 3 is a perspective view of a bearing fixing member of the self-propelled cleaner according to Embodiment 1. FIG. 2 is a perspective view of a rotating brush unit of the self-propelled cleaner according to Embodiment 1. FIG. 2 is a perspective view of a rotating brush unit of the self-propelled cleaner according to Embodiment 1. FIG. 2 is a perspective view of a rotating brush unit of the self-propelled cleaner according to Embodiment 1. FIG. FIG. 6 is a plan view including a partial cross section of the self-propelled cleaner according to the first embodiment with a dust collector cover and the like removed, wherein the outer shell portion is opposite to the center portion from the state shown in FIG. 5. It is a figure which shows the state rotated 45 degrees clockwise. It is a top view including a partial cross section of the state which removed the dust collecting part cover etc. of the self-propelled cleaner concerning Embodiment 1, and an outer shell part is clockwise with respect to a central part from the state shown in FIG. It is a figure which shows the state rotated 45 degrees. It is 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. FIG. It is the cross section 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. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG.

  A self-propelled cleaner according to 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. The overlapping description will be simplified or omitted as appropriate.

Embodiment 1 FIG.
The schematic structure of the self-propelled cleaner according to Embodiment 1 of the present invention will be described below.
(Outline structure)
FIG. 1 is a bottom view of the self-propelled cleaner according to the first embodiment of the present invention. As shown in FIG. 1, the self-propelled cleaner according to the first embodiment of the present invention has 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. The main body 1 is included. 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-angled part 4 is a region surrounded by two tangent lines S and two radii of the arc R. Both of these two radii pass through the contact point between the tangent S and the arc R. The right angle portion 4 is supported by the outer shell portion 3 so as to be movable up and down. The arc portion 5 is an area surrounded by the two radii and the arc R described above.

  A pair of drive wheels 6 a and 6 b are provided inside the central portion 2. The drive wheels 6a and 6b protrude downward from the drive wheel openings 7a and 7b provided on the bottom surface of the central portion 2, and are provided on the floor so as to be able to be grounded. The drive wheel openings 7a and 7b are arranged on the bottom surface of the central portion 2 so as to be symmetric with respect to the center line Ba-Bb.

  The drive wheels 6a and 6b are independently driven by drive wheel motors 8a and 8b described later. The rotational force of the drive wheel motors 8a and 8b is transmitted to the drive wheels 6a and 6b through gear portions 9a and 9b connecting a plurality of gears. The center portion 2 is provided with a follower wheel 10 that can change its direction in the middle rear of the drive wheels 6a and 6b. The main body 1 is supported on the floor surface by the drive wheels 6 a and 6 b and the driven wheel 10.

  The right angle portion 4 is provided with 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 the dust can be attracted | sucked from the right inlet 11a and the left inlet 11b with the negative pressure which the air blower 34 mentioned later generate | occur | produces. The right suction port 11a and the left suction port 11b each have a rectangular shape. The longitudinal directions of the rectangular openings of the right suction port 11a and the left suction port 11b are 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 °.

  A first rotary brush 12a and a second rotary brush 12b are provided at the right suction port 11a and the left suction port 11b, respectively. That is, a pair of rotating brushes is provided on the right angle portion 4 of the main body 1.

  The second rotating brush 12b is longer than the first rotating brush 12a. And the 2nd rotary brush 12b is arrange | positioned so that it may overlap on the extension of the rotating shaft direction of the edge part of the front end side of the right angle part 4 of the 1st rotary brush 12a. That is, the second rotating brush 12b, which is the other rotating brush, is positioned in the rotation axis direction of the first rotating brush 12a, which is one rotating brush.

  The rotary brushes 12a and 12b are composed of rotary brush shafts 13a and 13b rotatably supported by bearings 14 (14a, 14b, 14c and 14d), and bristle brushes 15 planted on the rotary brush shafts 13a and 13b. Is done. The first rotating brush 12a is pivotally supported by bearings 14 (14a, 14b) at both ends of the rotating brush shaft 13a. The second rotating brush 12b is pivotally supported by a bearing 14 (14c, 14d) at one end and an intermediate portion of the rotating brush shaft 13b.

  The bearings 14 (14 b, 14 c) of the rotary brush 12 a and the rotary brush 12 b positioned on the front end side of the right angle portion 4 are fixed to the right suction port 11 a and the left suction port 11 b by a bearing fixing member 17, respectively. The straight line extending in the rotation axis direction of the first rotating brush 12a and the straight line extending in the rotation axis direction of the second rotating brush 12b are orthogonal to each other.

  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 on the rotating brush shafts 13a and 13b, 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 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 on the center side of the main body. The dust receivers 16a and 16b are made of, for example, a sheet-like elastic member, a bristle brush row, or a cloth. 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.

  The second rotating brush 12b is located on the bottom surface of the tip of the right-angled portion 4. The dust scraped by the bristle brush 15 on the distal end side of the right-angled part 4 with respect to the bearing fixing member 17 of the second rotating brush 12b is sent out to the first rotating brush 12a side. Then, it is sucked into the right suction port 11a by the first rotating brush 12a.

  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 peripheral portion of the bottom surface of the arc portion 5. Is provided. Each level difference detection sensor includes a light emitting unit that emits infrared light and a light receiving unit. Each step detection sensor detects the depth of the concave step by receiving the infrared light emitted from the light emitting unit and reflected by the floor surface by the light receiving unit.

  A control unit (not shown) included in the main body 1 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 FIG. 2, the right-angled portion 4 has a planar right side surface 24 a serving as a first side surface of the main body 1 and a planar left side surface 24 b serving 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 so that the apex angle formed by the surfaces is about 90 ° (substantially right angle). 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, 26b includes a light emitting unit that emits infrared rays and a light receiving unit that can receive infrared rays. Each proximity sensor 25a, 26a, 25b, 26b receives the infrared rays emitted from the respective light emitting portions and reflected by the respective light receiving portions.

  A control unit (not shown) detects the distance from the main body 1 to a wall or an obstacle based on the signals of the proximity sensors. The control unit (not shown) detects the angle of the wall surface or obstacle with respect to each of the right side surface 24a and the left side surface 24b by comparing the distance outputs of two proximity sensors on the same plane.

  A right proximity sensor 27 a, a left proximity sensor 27 b, a right rear proximity sensor 28 a, a left rear proximity sensor 28 b, 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 that emits infrared rays and a light receiving unit that can receive infrared rays. Each proximity sensor receives the infrared rays emitted from the respective light emitting units and reflected by the respective light receiving units. A control unit (not shown) detects the distance between the side and rear of the main body 1 and the wall surface and obstacles based on signals from these proximity sensors. 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 provided at the rear of the upper surface, that is, at a position near the rear end of the upper surface. The operation display unit 30 is provided with a plurality of operation buttons 31 including a power button and buttons for switching functions such as an operation mode and a display unit 32. 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 collecting unit cover 33 is opened and closed by rotating the rear end of the dust collecting unit cover 33 as a fulcrum when a dust collecting unit 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 Embodiment 1 taken along the 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 horizontally rotating blades. The blower 34 generates a 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. The inflowing air is discharged from an 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. The cross section of the seal member 42 is V-shaped. 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 plan view including a partial cross-section showing a state in which the dust collector cover 33 and the like are removed from the self-propelled cleaner according to the first embodiment. 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 11a and the left suction port 11b. The dust-containing air sucked from the right suction port 11 a and the left suction port 11 b by the negative pressure generated by the blower 34 merges in the suction air passage 43 and is sucked to the dust collecting portion 37 via the universal connection portion 44.

  The sucked dust-containing air is filtered when passing through the filter 40, and dust contained in the air is removed. The dust removed from the dust-containing air by the filter 40 is collected in the dust collecting portion 37. 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 plan view including a partial cross-section showing a state in which the dust collector 37 is removed from the self-propelled cleaner according to the first embodiment. 7 is a cross-sectional view taken along the line Ba-Bb shown in FIG. 1, showing the self-propelled cleaner according to the first embodiment with the dust collecting portion 37 and the universal connecting portion 44 removed. It is.

  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. On the electric circuit board 47, electric parts such as a control circuit and a sensor are mounted. A plurality of main body exhaust ports 48 are provided on the rear side surface of the arc portion 5. Exhaust air discharged from the blower 34 passes through the central portion 2 and the arc portion 5, cools the electric components of the electric circuit board 47, the heating elements such as the storage battery 45, and is discharged 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)
8 is a cross-sectional view of the self-propelled cleaner according to the first embodiment, taken along the line Da-Db described in FIG. 1, and FIG. 9 is a rear perspective view of the rotating brush unit installed at the right angle portion 4. 10 is a left perspective view of the rotary brush unit, FIG. 11 is a right perspective view of the rotary brush unit, FIG. 12 is a perspective view of the bearing fixing member 17, FIG. 13 is a bottom perspective view of the rotary brush unit, and FIG. It is a bottom side perspective view in the state where the bearing fixing member 17 of this was removed. 10, 11, 13, and 14 are diagrams in which the bristle brush 15 of the rotating brush shafts 13 a and 13 b is omitted.

  As shown in FIGS. 5, 8, 9, and 10, the rotating brush unit 100 is a structure that rotatably supports the rotating brush 12a and the rotating brush 12b. The rotating brush accommodating portion 101a and the rotating brush accommodating portion 101b constituting the rotating brush unit 100 are arranged at right angles and accommodate the rotating brush 12a and the rotating brush 12b. Drive transmission portions 102a and 102b are provided at the right end of the rotating brush housing portion 101a and the left end of the rotating brush housing portion 101b, respectively.

  Bearings 14a and 14b are fitted to both ends of the rotating brush shaft 13a. The rotating brush shaft 13a is supported by a drive transmission portion 102a and a bearing fixing member 103 via these bearings 14a and 14b. The bearing fixing member 103 hangs down from the upper surface at a position close to the drive transmission portion 102a from the end corresponding to the apex of the right-angled portion 4 of the rotating brush accommodating portion 101a, and engages the bearing 14b of the rotating brush shaft 13a. The rotating brush shaft 13a is configured to be shorter than the rotating brush shaft 13b, and is disposed such that the cylindrical surface of the rotating brush shaft 13b overlaps the axial extension of the rotating brush shaft 13a.

  The rotating brush shaft 13b is divided into two shafts, and bearings 14c and 14d are fitted to the end portions of the divided portion and the longer shaft, respectively. The rotating brush shaft 13a and the rotating brush shaft 13b are both rotatably supported by the rotating brush unit 100 with the bearing fixing member 104 supporting the lower sides of the bearings 14b and 14c.

  As shown in FIG. 11, the bearing fixing member 104 has two support portions 105a and 105b separated at right angles, and supports the bearing 14b of the rotating brush shaft 13a and the bearing 14c of the rotating brush shaft 13b, respectively. The bearing fixing member 104 includes engaging portions 106a and 106b that engage with the rotating brush accommodating portions 101a and 101b, and a fitting portion 107 that is rotatably fitted to the rotating brush unit 100. The bearing fixing member 104 rotates around the support shaft 108 of the rotating brush unit 100 with which the fitting portion 107 is fitted. Then, the engaging portions 106a and 106b are fitted into the concave engaging portions 109a and 109b provided in the rotary brush accommodating portions 101a and 101b, respectively.

  At this time, the support portion 105a fixes the bearing 14a fitted to the bearing fixing member 103 by supporting it from below. Further, the support portion 105a is fitted to a support portion (not shown) that hangs down from the upper surface at a position close to the drive transmission portion 102b from the end corresponding to the apex of the right-angled portion 4 of the rotary brush accommodating portion 101b. The bearing 14b is fixed by supporting it from below.

  A rotary brush motor 50 is provided on the upper portion of the rotary brush housing portion 101b. The power of the rotary brush motor 50 is transmitted to the drive transmission unit 102b. The drive transmission unit 102b rotates the rotary brush drive shaft 110b connected to the rotary brush shaft 13b and rotates the power transmission shaft 111b. One end of the power transmission shaft 111b is pivotally supported by the drive transmission portion 102b, and the other end is pivotally supported by a bearing 112b provided on the upper portion of the rotating brush accommodating portion 101b. A bevel gear 113b is provided at the tip of the power transmission shaft 111b.

  A power transmission shaft 111a, a bearing 112a, and a bevel gear 113a that are paired with a power transmission shaft 111b, a bearing 112b, and a bevel gear 113b, respectively, are provided on the upper portion of the rotating brush housing 101a. Are provided symmetrically. The bevel gear 113a is arranged to mesh with the bevel gear 113b at a right angle. The rotation of the bevel gear 113b is transmitted to the bevel gear 113a after converting the rotation axis by 90 °. The drive transmission unit 102a transmits the power transmitted to the power transmission shaft 111a to the rotating brush shaft 13a.

  When the rotating brush motor 50 rotates, the rotating brush drive shaft 110b rotates and the rotating brush shaft 13b rotates. The rotating brush 12b attached to the rotating brush shaft 13b 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 113b is rotated by the rotation of the power transmission shaft 111b, the meshed bevel gear 113a is rotated, and the power is transmitted by the power transmission shaft 111a to rotate the rotary brush drive shaft 110a. That is, the rotating brush shaft 13b and the rotating brush shaft 13a rotate in synchronization. Similar to the rotating brush 12b, the rotating brush 12a attached to the rotating brush shaft 13a rotates in the direction from the outside of the main body 1 toward the center of the main body 1 when the bristle brush 15 contacts the floor surface F.

  The rotating brush accommodating portions 101a and 101b are provided with openings 114a and 114b, respectively. The openings 114 a and 114 b communicate with the suction air passage 43 inside the rotary brush unit 100. Dust taken into the right suction port 11 a and the left suction port 11 b is sucked from the openings 114 a and 114 b and collected by the dust collecting portion 37 through the suction air passage 43.

  When removing the rotating brush shafts 13a and 13b from the rotating brush unit 100, the bearing fixing member 104 is pulled down as shown in FIG. When the engaging portions 106a and 106b are disengaged from the concave engaging portions 109a and 109b, the bearing fixing member 104 rotates about the support shaft 108, and the fitting of the bearings 14b and 14c with the support portions 105a and 105b is released. The rotating brush shafts 13a and 13b can be removed.

  FIGS. 13 and 14 are perspective views of the state where the covers of the drive transmission portions 102a and 102b are removed. As shown in FIG. 13, the gear 116 inserted into the rotating brush motor shaft 115 meshes with the gear 117. A gear 119 fitted on the same shaft 118 as the gear 117 meshes with the gear 120. The gear 120 meshes with the gear 121 to rotate the power transmission shaft 111b. The gear 123 fitted on the same shaft 122 as the gear 120 meshes with the gear 124 to rotate the rotating brush drive shaft 110b.

  As shown in FIG. 14, the gear 125 inserted into the drive transmission shaft 111 a meshes with the gear 126. The gear 128 fitted on the same shaft 127 as the gear 126 meshes with the gear 129 to rotate the rotating brush drive shaft 110a. In this way, by configuring a plurality of gears having different diameters, the rotational speed of the rotary brush motor 50 can be reduced and the rotary brushes 12a and 12b can be rotated at an appropriate speed. Further, two rotating brushes arranged orthogonally can be rotated synchronously by one motor.

(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 part 3 with respect to the central part 2 is 90 °, and the outer shell part 3 is 45 ° around the central part 2 clockwise and counterclockwise with respect to the state shown in FIG. Rotate in 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. The control unit (not shown) controls the rotation angle of the outer shell 3 based on the signal from the angle detection sensor.

  FIG. 15 is a plan view including a partial cross section of the self-propelled cleaner according to the first embodiment with the dust collecting unit cover 33 and the like removed, from which the outer shell 3 is removed from the state shown in FIG. It is a figure which shows the state 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 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.

  16 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 collector cover 33 and the like removed, and from the state shown in FIG. FIG. 3 is a diagram showing a state in which the part 3 is rotated 45 ° clockwise with respect to the central part 2. 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 3 to which the angle adjusting 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.

  Here, when the main body 1 is moved along the right side surface 24a along the wall surface, an area where the bristle brush 15 does not contact is formed on the lower floor surface of the bearing 14c of the rotating brush 12b. However, since the bristle brush 15 generated between the rotating brush 12a and the rotating brush 12b when the left side surface 24b is along the wall surface can be configured to be narrower than the region that does not contact the floor surface, as shown in FIG. In addition, the cleaning performance in which the main body 1 is moved along the right side surface 24a along the wall surface is higher than the cleaning operation in which the main body 1 is moved along the right side surface 24a along the wall surface.

  In this way, the main body 1 is placed so that the left side surface 24b, which is the portion where the second rotary brush 12b, which is configured longer than the first rotary brush 12a, is provided, is forward or backward with respect to the moving direction. By moving, a wider area can be cleaned from the rotating brush. In addition, although the case where the main body 1 is moved along the wall surface has been described, it is needless to say that the same effect can be achieved when the main body 1 is not moved along the wall surface.

  17 is a cross-sectional view taken along line Ea-Eb described in FIG. 1 in a state where the self-propelled cleaner according to Embodiment 1 is in contact with or close to a wall surface. As shown in FIG. 17, 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 13b and the length of the bristle brush 15 are set so that the bristle brush 15 of the rotary brush 12b 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 amount of protrusion of the drive wheels 6a and 6b from the drive wheel openings 7a and 7b increases due to the force received from the spring.

  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. When the right angle portion 4 of the main body 1 reaches the convex step, the rotating brush 12b receives a force from the convex step, and the right angle portion 4 to which the rotary brush unit 100 is fixed moves 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 part and a light receiving part capable of receiving infrared light. 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 the right-angled portion 4 falls into the concave step, the control unit (not shown) controls the drive wheels 6a and 6b to stop and reverse so that the escape operation from the concave step is performed.

  18 is a cross-sectional view taken along line Ba-Bb shown in FIG. 1, showing a state where the self-propelled cleaner according to Embodiment 1 moves on the carpet. As shown in FIG. 18, when the main body 1 moves on the carpet J in which soft hairs are implanted, the driving wheels 6 a and 6 b and the driven wheel 10 support the weight of the main body 1 with a narrow 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)
19 to 39 are diagrams illustrating the operation of the self-propelled cleaner according to the first embodiment. 19 to 39, a broken line indicates a state before the main body 1 operates. 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. 19 to 39 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. 19 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. 20 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. 21 shows a state in which the main body 1 has the left side surface 24 b in contact with 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. 20, the control unit (not shown) moves the main body 1 while turning it 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 both proximity sensors is 0 and both proximity sensors detect contact, and the left side surface 24b is moved. Contact the wall K. 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. 22 shows a state in which the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface K. In the state shown in FIG. 21, that is, the left side surface 24b is in contact with the wall surface K, the control unit (not shown) moves the drive wheels 6a and 6b in the direction of the wall surface in order to move the main body 1 along the wall surface K. The central portion 2 and the outer shell portion 3 are rotated so as to be parallel to 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. 23 shows a state in which the main body 1 is moving along the wall surface K. The control unit (not shown) operates in the state shown in FIG. 22, that is, in the state where the left side 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. 6a and 6b roll 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. 24 shows a state where the main body 1 is moving in the direction of returning along the wall surface K. The control unit (not shown) rolls (retracts) the drive wheels 6a and 6b in the negative direction in the state shown in FIG. Roll in the direction). 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.

  25 and 26 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. 25 shows the state of moving forward, and FIG. 26 shows the state of moving backward. FIG. 27 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) operates in the state shown in FIG. 26, that is, in a state where the left side 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 6a and 6b roll 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 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.

  28 and 29 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 of FIG. 27, that is, the state where the main body 1 reaches the corner M, and then in the positive direction. Rolls (rolls in the forward direction) and reciprocates along the wall K for a distance corresponding to approximately 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. 30 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 45 ° counterclockwise in the state shown in FIG. 29, that is, with the right side surface 24a in contact with the wall surface L and the left side surface 24b in contact with the wall surface K. 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. At this time, 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 rotate at the same 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.

  31 and 32 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 controller (not shown) rotates the drive wheels 6a and 6b in the negative direction in the state shown in FIG. It moves (rolls in the backward direction), then rolls in the positive direction (rolls 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. 33 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 57 is rotated clockwise, and the outer shell 3 is rotated clockwise with respect to the central portion 2. At this time, 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 rotate at the same 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.

  34 and 35 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 (rolls in the backward direction) in the state shown in FIG. 33, that is, in the state where the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface L. And then rolls back in the forward direction (rolls 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 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. 36 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 configured so that the driving wheel 6a, 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, as shown in FIG. 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. 37 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 shown in FIG. 36, the control unit (not shown) moves the main body 1 toward the corner M side until the outer shell portion 3 sufficiently passes through the area cleaned by the suction port 11 on the left side 24b 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. 38 shows a state in which the positional relationship between the rotating brushes 12a and 12b and the driving wheels 6a and 6b is changed so that the rotating brushes 12a and 12b are positioned in front of the driving wheels 6a and 6b. The control unit (not shown) starts from the state shown in FIG. 37, that is, the outer shell 3 is rotated 45 ° clockwise relative to the central portion 2, and the outer shell 3 is rotated counterclockwise relative to the central portion 2. The outer shell 3 is rotated until it is rotated by 45 °.

  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. With this operation, the rotating brushes 12a and 12b can be disposed on the front side of the drive wheels 6a and 6b, that is, on the side away from the corner M, at the same place as the position of the main body 1 in FIG.

  Further, it is possible to cope with cleaning at 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. 39 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. 38, that is, the left side surface 24 b is in contact with the wall surface L and the driving wheels 6 a and 6 b are in the rolling direction 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 and the floor surface at the corner, cleaning leakage can be further reduced. In addition, since a plurality of dust suction ports 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. Moreover, by providing the dust suction port with the rotating brush as in the self-propelled cleaner according to the first embodiment, it is possible to clean the carpet and further reduce the cleaning leakage.

  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 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.

  In addition, the self-propelled cleaner according to the first embodiment is configured to drive the rotary brushes 12a and 12b by one rotary brush motor 50, but there are two corresponding to each rotary brush. A rotating brush motor may be provided and controlled to rotate independently.

  As described above, the self-propelled cleaner according to the first embodiment of the present invention has 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 control means for controlling, it becomes possible to make the dust suction port reach a narrow space such as a corner of the floor surface 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.

(Configuration of inclined surface)
As described above, the self-propelled cleaner according to the first embodiment provides the right angle portion 4 so as to be vertically movable with respect to the outer shell portion 3. From the side). However, the movable range in the vertical direction with respect to the outer shell portion 3 of the right-angled portion 4 has a structural limit. For this reason, the height of the convex step that the main body 1 can get over from the right angle portion 4 side (that is, the front side of the main body 1) is limited.

  Therefore, in the self-propelled cleaner according to the first embodiment, the inclined surface 49 is provided at the outer peripheral end portion of the bottom surface of the arc portion 5, and the main body 1 gets over from the side of the right-angle portion 4 (that is, the front side of the main body 1). Convex steps that cannot be overcome are overcome from the arc portion 5 side (that is, the rear side of the main body 1).

  For this reason, for example, as shown in FIGS. 1, 3, 4, 8, 17, and 18, an even angle portion in the longitudinal section is notched at the outer peripheral end portion of the bottom surface of the arc portion 5. An inclined surface 49 formed as described above is provided. When the main body 1 is placed on the floor surface so that the bottom surface of the main body 1 faces downward, the inclined surface 49 becomes closer to the floor surface as it goes to the inner side of the main body 1 and from the floor surface toward the outer peripheral side. It is formed to be far away. The position of the boundary between the inclined surface 49 and the outer peripheral side surface is set so that the height from the floor surface to the boundary is equal to or higher than the height of the convex step that the main body 1 is supposed to get over.

  In addition, regarding the positional relationship between the suction ports 11 a and 11 b and the inclined surface 49, the inclined surface 49 is provided on a side different from the suction ports 11 a and 11 b on the bottom surface of the outer shell portion 3. Alternatively, the suction ports 11 a and 11 b and the inclined surface 49 are arranged on the bottom surface of the outer shell portion 3 so as not to overlap each other. More preferably, an inclined surface 49 is provided on the opposite side of the suction port as viewed from the central portion 2 (particularly, the drive wheels 6a and 6b).

The operation of overcoming the convex step of the self-propelled cleaner according to Embodiment 1 of the present invention will be described below.
(Operation over the convex step of the self-propelled vacuum cleaner)
40 to 47 are diagrams showing the operation of overcoming the convex step of the self-propelled cleaner according to the first embodiment of the present invention. 40 to 47 show a state in which a carpet N having a thickness of about 15 mm is laid on the floor surface F along one side along the wall surface K. FIG. 40 to 47, a broken line indicates a state before the main body 1 operates.

  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.

  FIG. 40 shows a state in which the rolling direction of the drive wheels 6 a and 6 b is parallel to the wall surface K when the main body 1 moves along the wall surface K. The main body 1 is in a state where the left side surface 24b is along the wall surface K. The control unit (not shown) is in a state where it is detected that the left side proximity sensors 25b and 26b are in contact with the wall surface K, and the main body 1 is moved upward in FIG.

  FIG. 41 shows a state in which the main body 1 moves along the wall surface K and the right side surface 24a reaches the carpet N. When the lower portion of the right side surface 24a reaches the carpet N, the travel of the main body 1 is hindered and the load current of the drive wheel motors 8a and 8b increases. At this time, since the right side proximity sensors 25a and 26a do not detect the proximity to the wall surface, the control unit (not shown) has the right side 24a blocked by an obstacle (convex step). recognize.

  That is, the control unit (not shown) has a convex shape on the floor surface that prevents the main body 1 from traveling based on the detection results of the side surface proximity sensors 25a, 25b, 26a, and 26b and the load currents of the drive wheel motors 8a and 8b. Detect steps. The function of executing the detection process in a control unit (not shown) constitutes a step detection means. The “convex step on the floor surface that hinders the travel of the main body 1” means that the main body 1 cannot get over in a state in which the side provided with the suction ports 11a and 11b is directed in the traveling direction. It can be rephrased as a level difference.

  Here, the step detection means of the control unit (not shown) is such that each side proximity sensor 25a, 25b, 26a, 26b that detects the wall surface in the traveling direction of the main body 1 does not detect the wall surface, and the driving wheel motor When the load currents 8a and 8b are equal to or greater than a predetermined value, a convex step on the floor surface that prevents the main body 1 from traveling in the traveling direction of the main body 1 is detected.

  In addition, a dedicated proximity sensor and / or contact sensor for detecting such a convex step is provided at the lower part of the outer shell 3, and the step detection means of the control unit (not shown) is used for the dedicated proximity sensor and / or You may make it detect the convex-shaped level | step difference on the floor surface which prevents driving | running | working of the main body 1 based on the signal of a contact sensor.

  Alternatively, the right side proximity sensors 25a and 26a and the left side proximity sensors 25b and 26b can detect a convex step that is higher than the height at which the main body 1 cannot get over from the side where the suction ports 11a and 11b are provided. You may comprise. In this case, specifically, for example, the detection direction of these side surface proximity sensors is changed to a diagonally downward direction.

  FIG. 42 shows a state in which the main body 1 has once retracted. When the control unit (not shown) determines that the right side surface 24a is blocked by the convex step and cannot continue running, the control unit (not shown) holds the main body 1 in a predetermined manner so that the main body 1 does not reach the carpet N even if the main body 1 rotates. Retreat by distance.

  FIG. 43 shows a state in which the main body 1 is rotated 180 ° in the right direction. The control unit (not shown) rotates the main body 1 and directs the arc portion 5 toward the carpet N.

  FIG. 44 shows a state in which the main body 1 climbs onto the carpet N from the arc portion 5 side. As described above, the bottom surface of the arc portion 5 is provided with the inclined surface 49. When the main body 1 moves forward with the arc portion 5 side directed in the traveling direction and approaches the boundary between the carpet N and the floor surface, the convex step formed on the boundary and the inclined surface of the bottom surface of the arc portion 5 are formed. Abut. In this state, when the main body 1 further advances to the carpet N side (step difference side), the main body 1 moves to escape above the step without being caught by the step due to the action of the inclined surface. Thus, the main body 1 can move over the convex step.

  Thus, when the outer shell part 3 reaches the step and cannot climb, the control unit (not shown) changes the direction of the main body 1 so as to climb from the arc part 5 side. That is, when a height difference that cannot be overcome from the right angle portion 4 side is reached, the control portion (not shown) switches the arc portion 5 side forward in the traveling direction. And a control part (not shown) rotates the drive wheels 6a and 6b until the main body 1 has completely climbed the carpet N, and moves the main body 1. FIG. At this time, when the level difference is not high enough to climb from the arc portion 5 side, the control unit (not shown) recognizes it as an obstacle that cannot pass through the level difference.

  FIG. 45 shows a state in which the main body 1 is rotated 180 ° in the left direction on the carpet N. In order to continue the movement along the wall surface K on the carpet N, the control unit (not shown) rotates the main body 1 to place the left side surface 24b along the wall surface K.

  FIG. 46 shows a state in which the main body 1 moves along the wall surface K and descends from the carpet N. When the main body 1 descends from the carpet N, that is, when it travels on a concave step, it can descend from the right angle portion 4 side.

  FIG. 47 shows a state in which the main body 1 has moved along the wall surface K in the reverse direction (downward in the figure). Due to the 180 ° belief rotation described with reference to FIG. 45, an area that cannot be cleaned near the wall on the carpet N is generated. Therefore, the control unit (not shown) stores the position of the area on the carpet N that could not be cleaned, and cleans the area by running the main body 1 from the opposite direction at an arbitrary time point thereafter. . Thereby, the uncleaned area | region by the wall can be eliminated.

  The control unit (not shown) may stop the rotating brushes 12a and 12b when the main body 1 climbs a step from the arc portion 5 side. When the main body 1 travels with the arc portion 5 side forward, the rotation direction of the rotating brushes 12a and 12b is a direction in which a force is applied to the floor surface in the direction opposite to the traveling direction of the main body 1. Therefore, by stopping the rotation of the rotating brushes 12a and 12b, an effect that the main body 1 can easily climb the step is obtained. Further, when climbing a carpet having a decoration tuft at the end, by stopping the rotary brushes 12a and 12b, an effect of preventing the tuft from being entangled with the rotating brushes 12a and 12b can be obtained.

  The self-propelled cleaner configured as described above has driving wheels, and a main body that moves on the floor surface when the driving wheels roll, and a dust that is provided on the bottom surface of the main body and is on the floor surface. The suction port is provided on the side different from the suction port on the bottom surface of the main body, the inclined surface is formed so that the distance from the floor surface increases toward the outer periphery of the main body, and the suction port is provided. A step detecting means for detecting a convex step on the floor that hinders the movement of the main body with the specified side directed in the traveling direction, and a convex step in the moving direction of the main body detected by the step detecting means And a control means for moving the main body with the inclined surface provided in the advancing direction of the main body.

  For this reason, even when the suction port is arranged closer to the floor surface, it is possible to get over the step from the inclined surface formed on the side where the suction port is not provided, and the floor surface by the suction port Without sacrificing the suction performance with respect to the upper dust, the performance over the level difference on the floor surface can be improved.

  In addition, by arranging the suction port and the inclined surface on the bottom surface of the main body so as to be opposite to each other with respect to the driving wheel, the inclined surface, the driving wheel, and the suction port in that order when overcoming the step. Since it passes over the step, it is possible to overcome the step more reliably.

  In addition, the shape of the main body when the upper surface is projected onto the floor surface is a shape surrounded by a circular arc and two tangents passing through both ends of the circular arc, and the suction port is defined by the two By providing two parallel to each of these two tangents at a position close to the tangent, and moving the main body along the wall with one of these two suction ports parallel to the wall The dust on the floor near the wall can be reliably cleaned.

  Further, based on the detection result of the sensor that detects the wall surface existing in the traveling direction of the main body and the load of the motor of the driving wheel, by detecting a convex step on the floor surface that hinders the movement of the main body, The convex step can be detected by effectively using the detection result of the sensor for avoiding the collision.

  The self-propelled cleaner according to the first embodiment described above rotates the angle adjusting motor 57 to bisect the apex angle formed by two planes, that is, the right side surface 24a and the left side surface 24b. The relative angle in the rolling direction of the line and the drive wheels 6a and 6b is changed, but the bisector of the apex angle and the rolling direction may be fixed in parallel.

  The angle adjustment motor 57 may be controlled and fixed in a parallel state, or the central portion 2 and the outer shell portion 3 may be fixed or integrated so as not to rotate. When the central part 2 and the outer shell part 3 are fixed or integrated in a non-rotatable manner, a member for rotating the outer shell part 3 such as the angle adjusting motor 57 and its associated gear relative to the central part 2 is provided. It is not necessary. Even in such a case, by operating as shown in FIGS. 31 and 32, 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, 20 Central suction port , 21 Dust receiver, 49 Inclined surface, 100 Rotating brush unit, 101a Rotating brush accommodating portion, 101b Rotating brush accommodating portion, 102a Drive transmitting portion, 102b Drive transmitting portion, 103 Bearing fixing member, 104 Bearing fixing member, 105a Supporting portion, 105b support portion, 106a engagement portion, 106b engagement portion, 107 fitting portion, 108 support shaft, 109a concave engagement portion, 109b concave engagement portion, 110a rotary brush drive shaft, 110b rotary brush drive shaft, 111a power transmission Shaft, 111b power transmission shaft, 112a bearing, 112b bearing, 113a bevel gear, 113 Bevel gear, 114a opening, 114b opening, 115 rotating brush motor shaft, 116 gear, 117 gear, 118 shaft, 119 gear, 120 gear, 121 gear, 122 shaft, 123 gear, 124 gear, 125 gear, 126 gear 127 axis, 128 gear, 129 gear.

Claims (7)

A main body having a drive wheel and moving on the floor by rolling the drive wheel;
A suction port provided on the bottom surface of the main body for sucking dust on the floor;
An inclined surface provided on a side different from the suction port on the bottom surface of the main body, and formed so that a distance from the floor surface increases toward the outer periphery of the main body;
A level difference detecting means for detecting a convex level difference on the floor surface that prevents movement of the main body in a state in which the side provided with the suction port is directed in the traveling direction;
Control means for moving the main body so that the side on which the inclined surface is provided faces the moving direction of the main body when a convex step is detected in the moving direction of the main body by the step detecting means. A self-propelled vacuum cleaner characterized by   The self-propelled cleaner according to claim 1, wherein the suction port and the inclined surface are disposed so as to be opposite to each other with respect to the drive wheel. The main body has a shape when an upper surface is projected onto the floor surface, and is surrounded by an arc and two tangents passing through both ends of the arc.
The suction port is disposed at a position near the two tangents on the bottom surface of the main body,
The self-propelled cleaner according to claim 2, wherein the inclined surface is disposed at a position near the arc on the bottom surface of the main body. Two suction ports are provided in parallel to each of the two tangent lines,
The self-propelled cleaner according to claim 3, wherein the control means moves the main body along the wall in a state where one of the two suction ports is parallel to the wall surface. Provided at the suction port, comprising a rotating brush for scraping off dust on the floor surface,
The control means includes
When a convex step is detected in the advancing direction of the main body by the step detecting means, the side where the inclined surface is provided is directed toward the advancing direction of the main body in a state where the rotating brush is stopped. The self-propelled cleaner according to any one of claims 1 to 4, wherein the main body is moved.   In the case where a convex step is detected in the advancing direction of the main body by the step detecting means, the control means retreats the main body by a predetermined distance, and then the side on which the inclined surface is provided is The self-propelled cleaner according to any one of claims 1 to 5, wherein the main body is advanced toward a moving direction of the main body. A sensor for detecting a wall surface present in the traveling direction of the main body;
The said level | step difference detection means detects the convex level | step difference on the said floor surface which prevents the movement of the said main body based on the detection result of the said sensor, and the load of the motor of the said driving wheel. The self-propelled cleaner according to any one of claims 6.

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