CN213665072U

CN213665072U - Robot cleaner

Info

Publication number: CN213665072U
Application number: CN202021625200.3U
Authority: CN
Inventors: 杉野祐大
Original assignee: Makita Corp
Current assignee: Makita Corp
Priority date: 2019-09-10
Filing date: 2020-08-07
Publication date: 2021-07-13
Anticipated expiration: 2030-08-07
Also published as: DE202020105172U1; JP2021040898A

Abstract

The utility model provides a robot cleaner, it can detect the collision between outstanding part and the object. The robot cleaner includes: a main body having a suction port; a damper that is movable in a state of being opposed to at least a part of a side surface of the main body; a protruding member protruding toward a position above a top surface of the main body; and an interlocking mechanism which interlocks the bumper with the protruding member.

Description

Robot cleaner

Technical Field

The utility model relates to a robot dust catcher.

Background

In the technical field of robot cleaners, there are known: a robot cleaner for home use and a robot cleaner for business use. Commercial robotic cleaners are used for: factories, stores, and offices. Patent document 1 discloses a method of: a stand cleaning device for a stadium or the like.

Prior patent literature

Patent document

Patent document 1: japanese examined patent publication No. 05-082275

SUMMERY OF THE UTILITY MODEL

There are an uncertain number of people in a commercial establishment. When a robot cleaner performs a cleaning operation while autonomously traveling in a commercial facility, it is necessary to make the surroundings aware of the presence of the robot cleaner. In order to make the surroundings aware of the presence of the robot cleaner, a protruding member such as a probe may be provided in the robot cleaner. During the cleaning operation, the protruding member may collide with an object around the robot cleaner. Accordingly, there is a strong desire for: a technique capable of detecting a collision between a protruding member and an object.

An object of the utility model is to, can detect the collision between protruding part and the object.

According to the utility model discloses, a robot cleaner is provided, this robot cleaner has: a main body having a suction port; and a bumper that is movable in a state of facing at least a part of a side surface of the main body, wherein the robot cleaner includes: a protruding member protruding toward a position above a top surface of the main body; and an interlocking mechanism that interlocks the bumper with the protruding member.

According to the utility model discloses, can detect the collision between salient component and the object.

Drawings

Fig. 1 is a perspective view of the robot cleaner according to embodiment 1 as viewed from the front left.

Fig. 2 is a perspective view of the robot cleaner according to embodiment 1 as viewed from the left rear side.

Fig. 3 is a perspective view of the robot cleaner according to embodiment 1 as viewed from below.

Fig. 4 is a block diagram showing the robot cleaner according to embodiment 1.

Fig. 5 is a perspective view showing the link mechanism according to embodiment 1.

Fig. 6 is an exploded perspective view showing the link mechanism according to embodiment 1.

Fig. 7 is a diagram schematically showing the operation of the protruding member according to embodiment 1.

Fig. 8 is a diagram schematically showing the link mechanism according to embodiment 1.

Fig. 9 is a diagram schematically showing the link mechanism according to embodiment 1.

Fig. 10 is a perspective view showing the link mechanism according to embodiment 1.

Fig. 11 is a diagram schematically showing the link mechanism according to embodiment 2.

Fig. 12 is a diagram schematically showing the link mechanism according to embodiment 3.

Description of the reference numerals

1 … robot cleaner; 2 … a main body; 2a … top surface; 2B … bottom surface; 2C … side surfaces; 3 … buffer; 3F … front surface; 4 … protruding parts; 5 … linkage mechanism; 5B … linkage mechanism; 5C … linkage; 6 … battery mounting part; 7 … caster wheels; 8 … rollers; 9 … wheels; 9D … wheel motor; 10 … suction fan; 10D … suction motor; 11 … main brush; 11a … rod part; 11B … brush; 11D … main brush motor; 12 … side brush; 12a … circular plate member; 12B … brush; 12D … side brush motor; 13 … an object sensor; 14 … fall prevention sensor; 15 … component sensors; 16 … interface means; 16a … operating part; 16B … display section; a 16C … light emitting portion; 17 … a controller; 18 … a housing; 18a … upper housing; 18B … lower housing; an 18C … bezel; 18D … bottom panel; 19 … suction inlet; 20 … recess; 21 … storage part; 31 … external electronic devices; 32 … warning light; 33 … billboard; 41 … holding member; 42 … holding member; 43 … guide member; 44 … support portion; 51 … movable member; 51B … movable member; 52 … linkage member; 53 … securing element; 511 … arm parts; 511C … center section; 511L … left shoulder; 511R … right shoulder; 512 … convex portions; 513 … a rotating part; 513L … left turn; 513R … right turn section; 521 … linkage part; 521L … left plate portion; 521Le … rear end; 521M … opening; 521R … right plate part; 521Re … rear end; 521U … upper plate portion; 522 … wall portion; 522B … rear surface; 522F … front surface; 522L … left wall portion; 522R … right wall portion; 523 … bottom plate part; 524 …; AX … rotating shaft; a BT … battery; CX … rotary shaft; FL … cleans the target surface.

Detailed Description

Embodiments according to the present application will be described below with reference to the drawings, but the present application is not limited thereto. The constituent elements of the embodiments described below can be combined as appropriate. In addition, some of the components may not be used.

In the present embodiment, the positional relationship of each portion will be described using terms of "left", "right", "front", "rear", "upper" and "lower". These terms represent relative positions or directions with reference to the center of the robot cleaner.

[ embodiment 1 ]

< robot cleaner >

Embodiment 1 will be explained. Fig. 1 is a perspective view of a robot cleaner 1 according to the present embodiment as viewed from the front left. Fig. 2 is a perspective view of the robot cleaner 1 according to the present embodiment as viewed from the left rear side. Fig. 3 is a perspective view of the robot cleaner 1 according to the present embodiment as viewed from below. Fig. 4 is a block diagram showing the robot cleaner 1 according to the present embodiment.

The robot cleaner 1 performs a cleaning operation while autonomously traveling on the cleaning target surface FL. The cleaning operation includes: the dust present on the cleaning target surface FL is collected. As shown in fig. 1, 2, 3, and 4, the robot cleaner 1 includes: the vehicle body 2, the bumper 3, the projecting member 4, the link mechanism 5, the battery mounting portion 6, the caster 7, the roller 8, the wheel 9, the suction fan 10, the main brush 11, the side brush 12, the object sensor 13, the fall prevention sensor 14, the component sensor 15, the interface device 16, and the controller 17.

The main body 2 has a top surface 2A, a bottom surface 2B facing the cleaning target surface FL, and a side surface 2C connecting a peripheral portion of the top surface 2A and a peripheral portion of the bottom surface 2B. The outer shape of the body 2 is substantially circular in a plane parallel to the top surface 2A.

The main body 2 includes: a housing 18 having an interior space. The housing 18 includes: an upper case 18A, a lower case 18B disposed below the upper case 18A, a cover plate 18C attached to the upper case 18A so as to be openable and closable, and a bottom plate 18D attached to the lower case 11B. The lower case 18B is connected to the upper case 18A. The top surfaces 2A are respectively disposed: an upper housing 18A and a cover plate 18C. The bottom surface 2B is disposed on the lower case 18B and the bottom plate 18D, respectively.

The buffer 3 is movable in a state of facing at least a part of the side surface 2C. The damper 3 is movably supported by the main body 2. The bumper 3 is opposed to the front of the side surface 2C. The buffer 3 has: a rear surface opposed to the side surface 2C, and a front surface 3F facing in the opposite direction of the rear surface. The damper 3 is movable at least in the front-rear direction. The damper 3 can move not only in the front-rear direction but also in an oblique direction about a central axis orthogonal to the bottom surface 2B.

The bumper 3 moves relative to the main body 2 when colliding with an object existing around the robot cleaner 1, and cushions an impact acting on the main body 2.

The bumper 3 functions as a collision sensor that detects whether or not the bumper 3 collides with an object. By moving the bumper 3 relative to the main body 2, the collision between the bumper 3 and the object can be detected.

The projecting member 4 projects upward from the top surface 2A of the main body 2. The protruding member 4 is: a rod-shaped member extending in the vertical direction.

The protruding member 4 is provided with: and a holding member 41 for holding the warning lamp 32. The protruding member 4 is provided with: and a holding member 42 for holding the signboard 33. The holding member 41 is disposed: the upper end of the protruding part 4. The holding member 42 is disposed: and a position lower than the holding member 41.

The interlocking mechanism 5 interlocks the damper 3 with the protruding member 4. An external force may act on the protruding member 4 due to collision between the protruding member 4 and an object around the robot cleaner 1. The interlocking mechanism 5 operates the damper 3 when the projecting member 4 is operated by an external force. The link mechanism 5 includes: a movable member 51 provided to the main body 2 and supporting the protruding member 4, and an interlocking member 52 provided to the damper 3 and interlocking with the damper 3 and the protruding member 4, respectively.

The battery mounting portion 6 supports the battery BT. The battery BT is mounted on the battery mounting portion 6. The battery mounting portion 6 is provided at least in part of the outer surface of the main body 2. A recess is provided at the rear of the upper housing 18A. The battery mounting portion 6 is provided inside the recess of the upper case 18A. Two battery mounting portions 6 are provided.

The battery BT supplies electric power to the electric devices mounted on the robot cleaner 1 in a state of being mounted on the battery mounting portion 6. The battery BT is: a general-purpose battery that can be used as a power source for various electrical devices. The battery BT can be used as a power source of the electric power tool. The battery BT can also be used as a power source for electric devices other than the electric power tool. The battery BT can be used as a power source of a cleaner different from the robot cleaner 1 according to the present embodiment. The battery BT comprises: a lithium ion secondary battery. The battery BT is: rechargeable accumulator. The battery mounting portion 6 includes: the structure is the same as that of the battery mounting part of the electric tool.

The user of the robot cleaner 1 can implement: the work of attaching the battery BT to the battery attachment portion 6, and the work of detaching the battery BT from the battery attachment portion 6. The battery mounting portion 6 includes: the battery terminal includes a guide member that guides the attached battery BT, and a main body terminal that is connected to a battery terminal provided in the battery BT. The user can mount the battery BT to the battery mount portion 6 by inserting the battery BT into the battery mount portion 6 from above. The battery BT is inserted into the battery mounting portion 6 while being guided by the guide member. When the battery BT is mounted to the battery mount portion 6, the battery terminals of the battery BT are electrically connected to the main body terminals of the battery mount portion 6. The user of the robot cleaner 1 can remove the battery BT from the battery mounting portion 6 by moving the battery BT upward.

The caster 7 and the roller 8 movably support the main body 2. The caster 7 and the roller 8 are rotatably supported by the main body 2. Two casters 7 are provided at the rear of the bottom surface 2B. A caster 7 is provided at the left portion of the main body 2. The other caster 7 is provided at the right portion of the main body 2. The roller 8 is provided with one in the front of the bottom surface 2B.

The wheels 9 movably support the main body 2. As shown in fig. 3, the wheel 9 rotates about the rotation axis AX. The rotation axis AX extends in the left-right direction. The wheels 9 are provided in two. One wheel 9 is provided at the left portion of the main body 2. The other wheel 9 is provided at the right portion of the main body 2.

At least a part of the wheel 9 protrudes downward from the bottom surface 2B. The wheel 9 supports the main body 2 such that the bottom surface 2B and the cleaning target surface FL face each other with a gap therebetween.

As shown in fig. 4, the wheel 9 is connected to a wheel motor 9D. The wheel motor 9D generates: the power driving the wheel 9 to rotate. The wheel motor 9D is driven by electric power supplied from the battery BT. The wheel motor 9D is disposed in the internal space of the housing 18. The wheel motors 9D are provided in two. A wheel motor 9D generates: and a power for rotating a wheel 9 provided at the left portion of the main body 2. The other wheel motor 9D generates: and a power for rotating a wheel 9 provided on the right portion of the main body 2. The wheel 9 is rotated by driving of a wheel motor 9D. The robot cleaner 1 autonomously travels by rotating the wheels 9.

The wheel motor 9D can change the rotation direction of the wheel 9. The robot cleaner 1 moves forward by rotating the wheels 9 in one direction. The robot cleaner 1 moves backward by rotating the wheels 9 in the other direction. The two wheel motors 9D can be driven with different driving amounts. The robot cleaner 1 is driven by the two wheel motors 9D at different driving amounts to turn.

As shown in fig. 3, the main body 2 has a suction port 19 in the bottom surface 2B. Suction port 19 is provided in bottom plate 18D. The suction port 19 is for sucking dust on the cleaning target surface FL. The suction port 19 faces the cleaning target surface FL. The suction port 19 is provided in front of the bottom surface 2B. The suction port 19 is: a rectangular shape longer in the left-right direction.

Suction fan 10 generates suction force at suction port 19. As shown in fig. 2, the suction fan 10 is disposed in the internal space of the casing 18. The suction fan 10 rotates to generate a suction force at the suction port 19. Since the suction force is generated in the suction port 19, the dust present on the cleaning target surface FL is sucked into the suction port 19.

As shown in fig. 4, the suction fan 10 is connected to a suction motor 10D. The suction motor 10D generates: the power for rotating the suction fan 10. The suction motor 10D is driven by electric power supplied from the battery BT. The suction motor 10D is disposed in the internal space of the casing 18. The suction motor 10D is driven to rotate the suction fan 10, thereby generating a suction force at the suction port 19.

As shown in fig. 3, the main brush 11 is disposed in the suction port 19. The main brush 11 is rotatably supported by the main body 2. The rotation axis of the main brush 11 extends in the left-right direction. The main brush 11 faces the cleaning target surface FL. The main brush 11 extends in the left-right direction. The main brush 11 has: a rod part 11A extending along the left and right direction and a plurality of brushes 11B connected with the outer surface of the rod part 11A. The left and right end portions of the rod member 11A are rotatably supported by the main body 2. The rod member 11A is supported by the main body 2 so that at least a part of the brush 11B protrudes downward from the bottom surface 2B. In a state where the wheel 9 is disposed on the cleaning surface FL, at least a part of the main brush 11 is in contact with the cleaning surface FL. By the rotation of the main brush 11, dust present on the cleaning target surface FL is lifted and sucked from the suction port 19.

As shown in fig. 4, the main brush 11 is coupled to a main brush motor 11D. The main brush motor 11D generates: the power for rotating the main brush 11. The main brush motor 11D is driven by electric power supplied from the battery BT. The main brush motor 11D is disposed in the internal space of the housing 18. The main brush 11 is rotated by driving the main brush motor 11D.

As shown in fig. 3, the side brush 12 is disposed in front of the bottom surface 2B. The side brush 12 is rotatably supported by the main body 2. The rotation shaft of the side brush 12 extends in the vertical direction. The side brush 12 faces the cleaning target surface FL. At least a part of the side brush 12 is disposed: further forward than the main body 2. The side brushes 12 are provided in two. One side brush 12 is provided with: and is positioned further to the left than the suction port 19. The other side brush 12 is provided with: and is positioned further to the right than suction port 19. The side brush 12 has: a disk member 12A, and a plurality of brushes 12B radially connected to the disk member 12A. The disk member 12A is rotatably supported by the main body 2. The disk member 12A is supported by the main body 2 such that at least a part of the brush 12B protrudes outward from the side surface 2C. In a state where the wheel 9 is disposed on the cleaning target surface FL, at least a part of the side brush 12 is in contact with the cleaning target surface FL.

As shown in fig. 4, the side brush 12 is coupled to a side brush motor 12D. The side brush motor 12D generates: the power for rotating the side brush 12. The side brush motor 12D is driven by electric power supplied from the battery BT. The side brush motor 12D is disposed in the internal space of the housing 18. The side brush 12 is rotated by driving the side brush motor 12D. By the rotation of the side brush 12, dust on the cleaning target surface FL existing around the main body 2 moves to the suction port.

The object sensor 13 is used to detect: an object existing at least in a part of the circumference of the robot cleaner 1. The object sensor 13 is disposed in the front of the main body 2. The object sensors 13 are provided in plurality at intervals on the side surface 2C of the main body 2. The object sensor 13 detects an object in a non-contact manner. The object sensor 13 detects an object by emitting an energy wave. As the energy wave, there can be exemplified: laser, radio, and ultrasound. As the object sensor 13, there can be exemplified: a laser Sensor (LIDAR: Light Detection and Ranging) that detects an object by emitting laser Light, a RADAR Sensor (RADAR: Radio Detection and Ranging) that detects an object by emitting Radio waves, and an Ultrasonic Sensor (Ultrasonic Sensor) that detects an object by emitting Ultrasonic waves.

The drop prevention sensor 14 detects the presence or absence of the cleaning target surface FL. The drop prevention sensor 14 is disposed on the bottom surface 2B. A plurality of drop prevention sensors 14 are disposed at intervals in the peripheral portion of the bottom surface 2B. The drop prevention sensor 14 can detect in a non-contact manner: whether or not the cleaning target surface FL is present at a position facing the bottom surface 2B. The drop prevention sensor 14 is used to detect: the distance between the bottom surface 2B and the cleaning target surface FL. The drop prevention sensor 14 detects the distance to the cleaning target surface FL by emitting an energy wave downward. As the drop prevention sensor 14, there can be exemplified: laser sensors, radar sensors, and ultrasonic sensors.

The component sensor 15 is used to detect: and a dividing member provided on the cleaning target surface FL. The cleaning target range is defined by the dividing member. The user of the robot cleaner 1 disposes the partitioning member at an arbitrary position on the cleaning target surface FL. The component sensor 15 is disposed on the bottom surface 2B. A plurality of component sensors 15 are disposed at intervals in front of the bottom surface 2B. The component sensors 15 are disposed on the left and right sides of the roller 8, respectively. The two component sensors 15 are arranged in the left-right direction. As the dividing means, there can be exemplified: magnetic strips comprising magnetic material, and reflective strips comprising reflective material. As the component sensor 15, there can be exemplified: a magnetic sensor capable of detecting a magnetic strip, and an infrared sensor capable of detecting a reflective strip.

The interface device 16 is disposed at the rear of the cover plate 18C. The interface device 16 has: a plurality of operation units 16A and a plurality of display units 16B for the user of the robot cleaner 1 to operate. As the interface device 16, there can be exemplified: a power button. As the display unit 16B, for example, there can be illustrated: a remaining battery BT display unit. Further, at the front of the upper case 18A, there are provided: including a light emitting portion 16C such as a light emitting diode.

Further, at the rear of the cover plate 18C, there are provided: a housing unit 21 capable of housing the external electronic device 31. As the external electronic device 31, there can be exemplified: and a sound output device.

The controller 17 comprises a computer system. The controller 17 controls: a wheel motor 9D, a suction motor 10D, a main brush motor 11D, and a side brush motor 12D.

When it is determined that the bumper 3 collides with the object based on the movement of the bumper 3, the controller 17 controls the wheel motor 9D so that the robot cleaner 1 does not move forward toward the object. The controller 17 changes, for example, the advancing direction of the robot cleaner 1 so that the robot cleaner 1 does not advance toward the object. Further, the controller 17 may stop the travel of the robot cleaner 1.

When determining that an object is present in at least a part of the periphery of the robot cleaner 1 based on the detection signal of the object sensor 13, the controller 17 controls the wheel motor 9D so that the robot cleaner 1 does not come into contact with the object. The controller 17 changes, for example, the forward direction of the robot cleaner 1 so that the robot cleaner 1 does not contact an object. Further, the controller 17 may stop the travel of the robot cleaner 1 so that the robot cleaner 1 does not contact an object. Further, the controller 17 may change the traveling direction of the robot cleaner 1 or stop the travel of the robot cleaner 1 after the robot cleaner 1 comes into contact with an object.

When the controller 17 determines that the bottom surface 2B is separated from the cleaning target surface FL by a predetermined distance or more based on the detection signal of the drop prevention sensor 14, it determines that: the cleaning target surface FL is not present at a position facing the bottom surface 2B. When it is determined that the cleaning target surface FL is not present at the position facing the bottom surface 2B, the controller 17 controls the wheel motor 9D to stop the travel of the robot cleaner 1. For example, when the boundary of the cleaning target surface FL is connected to a step that falls downward, the drop prevention sensor 14 detects the step. The controller 17 stops the travel of the robot cleaner 1 when it is determined that there is a step based on the detection signal of the drop prevention sensor 14. This can suppress: a situation where the robot cleaner 1 falls below a step.

The controller 17 controls the wheel motor 9D based on the detection signal of the component sensor 15 so that the robot cleaner 1 does not exceed the divided components. This can suppress: the robot cleaner 1 moves to the outside of the cleaning target range. The robot cleaner 1 can perform cleaning within a range of a cleaning target.

[ linkage mechanism ]

Fig. 5 is a perspective view showing the link mechanism 5 according to the present embodiment. Fig. 6 is an exploded perspective view showing the link mechanism 5 according to the present embodiment. The interlocking mechanism 5 interlocks the protruding members 4 of the damper 3. The interlocking mechanism 5 operates the damper 3 when the projecting member 4 is operated by an external force.

As shown in fig. 5 and 6, the link mechanism 5 includes: a movable member 51 provided to the main body 2 and supporting the protruding member 4, and an interlocking member 52 provided to the damper 3 and interlocking with the damper 3 and the protruding member 4, respectively.

As shown in fig. 6, the movable member 51 is attachable to and detachable from the main body 2. The interlocking member 52 is attachable to and detachable from the damper 3. The protruding member 4 is attachable to and detachable from the movable member 51.

The movable member 51 is movable relative to the main body 2. In the present embodiment, the movable member 51 is rotatably coupled to the main body 2. The movable member 51 is rotatably coupled to: the upper portion of the upper housing 18A. The movable member 51 is disposed in the front-rear direction, which is the moving direction of the damper 3, in: a position between the bumper 3 and the center of the body 2.

The rotation axis CX of the movable member 51 extends in the left-right direction. The left end and the right end of the movable member 51 are rotatably coupled to the upper case 18A, respectively.

In the present embodiment, the movable member 51 includes: a handle for a user of the robot cleaner 1 to hold. When the protruding member 4 is detached from the movable member 51 in a state where the movable member 51 is coupled to the main body 2, the movable member 51 can function as a handle. When the movable member 51 functions as a handle, the interlocking member 52 can be detached from the damper 3. The user of the robot cleaner 1 can hold the movable member 51 and lift the robot cleaner 1. A user of the robot cleaner 1 can carry the robot cleaner 1.

The movable member 51 includes: an arm 511, a projection 512 projecting from the arm 511, and a rotating part 513 coupled to the main body 2.

The arm portion 511 includes: a center portion 511C extending in the left-right direction, a left shoulder portion 511L extending leftward and rearward from a left portion of the center portion 511C, and a right shoulder portion 511R extending rightward and rearward from a right portion of the center portion 511C.

The rotating portion 513 includes: a left turning part 513L disposed on the left side of the left shoulder 511L, and a right turning part 513R disposed on the right side of the right shoulder 511R. The left rotating portion 513L and the right rotating portion 513R are each coupled to the upper case 18A so as to be rotatable about the rotation axis CX.

The convex portion 512 protrudes upward from the central portion 511C. The convex portion 512 is provided at the center of the arm portion 511 in the left-right direction. The projection 512 has a cylindrical shape.

The movable member 51 is movable within a predetermined movable range. The movable member 51 rotates about the rotation axis CX so that the distal end portion of the movable member 51 turns in the vertical direction. The front end of the movable member 51 includes the front end of the center portion 511C. The movable member 51 rotates around the rotation axis CX so that the center portion 511C rotates in the vertical direction. The central portion 511C is turned in the vertical direction, and the projection 512 is turned in the vertical direction.

In the following description, the movable range of the movable member 51 is referred to as a rotation range as appropriate. The movable member 51 rotates within a predetermined rotation range. In the following description, the lower end position of the rotation range is referred to as an initial position as appropriate.

On the top surface of the upper case 18A are provided: a recess 20 for disposing the arm 511. In a state where the movable member 51 is disposed at the initial position of the pivotal range, the arm 511 is disposed at a position inside the recess 20. When the movable member 51 is rotated upward from the initial position, at least a part of the arm portion 511 is disposed at a position outside the recess 20.

The protruding member 4 is cylindrical. An opening is provided at the lower end of the protruding member 4. The projection 512 is inserted into the projecting member 4 from the opening at the lower end of the projecting member 4. By disposing the projection 512 inside the projecting member 4, the projecting member 4 is supported by the movable member 51. In a state where the movable member 51 is disposed at the initial position of the rotation range, the protruding member 4 is supported by the movable member 51 so as to extend in the vertical direction.

As described above, the movable member 51 is disposed in the front-rear direction, which is the moving direction of the damper 3, at: a position between the bumper 3 and the center of the body 2. The protruding member 4 is supported by the movable member 51, and is also disposed in the front-rear direction: a position between the bumper 3 and the center of the body 2.

The link mechanism 5 includes: and a fixing member 53 for fixing the protruding member 4 and the projection 512. The fixing member 53 is disposed: a part of the periphery of the lower part of the protruding member 4 and a part of the periphery of the convex part 512. The fixing member 53 is fitted into the protruding member 4 and the projection 512, respectively. The fixing member 53 is fitted into the protruding member 4 and the protruding portion 512, and the protruding member 4 and the protruding portion 512 are fixed. Further, the fixing member 53 may be omitted.

At least a part of the link member 52 is disposed: the upper position of the buffer 3. The link member 52 has: a connection portion 524 connected to the buffer 3; an interlocking part 521 interlocked with the protruding member 4; a wall portion 522 which is disposed adjacent to the interlocking portion 521 and protrudes above the top surface 2A of the main body 2; and a bottom plate portion 523 connected to a lower end portion of the interlocking portion 521.

The linkage 521 is disposed: at least a part of the circumference of the protruding part 4. The interlocking portion 521 can be in contact with at least a part of the protruding member 4. The interlocking part 521 is movable relative to the protruding member 4 in a state of being in contact with the protruding member 4.

The center position of the interlocking part 521 substantially coincides with the center position of the convex part 512 in the left-right direction. The linkage 521 is disposed: is located above the movable member 51.

The interlocking section 521 includes: an upper plate portion 521U, a left plate portion 521L, and a right plate portion 521R.

The top surface of the upper plate portion 521U is substantially parallel to the top surface 2A of the main body 2. The upper plate portion 521U has: an opening 521M for disposing the projecting member 4. The center position of the opening 521M substantially coincides with the center position of the convex portion 512 in the left-right direction. The diameter of the opening 521M is larger than the outer diameter of the protruding member 4.

The left plate portion 521L is disposed: the left position of the upper plate portion 521U. The left end of the upper plate 521U is connected to the upper end of the left plate 521L. The rear end portion 521Le of the left plate portion 521L is inclined rearward and upward.

The right plate portion 521R is disposed: the right position of the upper plate portion 521U. The right end of the upper plate 521U is connected to the upper end of the right plate 521R. The rear end 521Re of the right plate 521R is inclined rearward and upward.

The left plate portion 521L and the right plate portion 521R are arranged in the left-right direction. The left plate portion 521L and the right plate portion 521R face each other with a gap therebetween. The distance between the left plate portion 521L and the right plate portion 521R is larger than the outer diameter of the protruding member 4.

In a state where the protruding member 4 is supported by the movable member 51, at least a part of the protruding member 4 is disposed: the inner side position of the opening 521M. In a state where the protruding member 4 is supported by the movable member 51, at least a part of the protruding member 4 is disposed: a position between the left plate portion 521L and the right plate portion 521R.

Wall portion 522 is configured to: surrounding a portion of the top surface 2A of the body 2. The wall portion 522 has: a rear surface 522B toward the center side of the top surface 2A; and a front surface 522F facing in the opposite direction of the rear surface 522B. The interlocking portion 521 is disposed at the center portion of the wall portion 522 in the left-right direction. The wall portion 522 includes: a left wall portion 522L disposed leftward from the interlocking portion 521, and a right wall portion 522R disposed rightward from the interlocking portion 521.

The bottom plate portion 523 is coupled to the rear surface 522B of the wall portion 522. The bottom plate portion 523 is configured to: surrounding a portion of the top surface 2A of the body 2. The lower end of the left plate 521L is connected to the top surface of the bottom plate 523. The lower end of the right plate portion 521R is connected to the top surface of the bottom plate portion 523.

The interlocking portion 521, the wall portion 522, and the bottom plate portion 523 are integrally formed. The upper plate portion 521U is disposed: and is located further upward than the wall portion 522. At least a part of the front end portion of the left plate portion 521L is coupled to the rear surface 522B of the wall portion 522. At least a part of the left plate portion 521L is disposed: and is located further upward than the wall portion 522. The lower end of the left plate 521L is connected to the top surface of the bottom plate 523. At least a part of the front end portion of the right plate portion 521R is coupled to the rear surface 522B of the wall portion 522. At least a part of the right plate portion 521R is disposed: and is located further upward than the wall portion 522. The lower end of the right plate portion 521R is connected to the top surface of the bottom plate portion 523.

The coupling portion 524 is coupled to the upper end portion of the shock absorber 3. In the present embodiment, coupling portion 524 includes a lower end portion of wall portion 522. The link member 52 is coupled to the damper 3 at a coupling portion 524.

The movable member 51 is separated from the interlocking member 52. The interlocking member 52 is disposed: and a position further outside the range of rotation of the movable member 51. Even if the movable member 51 rotates, the movable member 51 and the interlocking member 52 do not contact each other. The movable member 51 can smoothly rotate.

The interlocking member 52 interlocks with the damper 3. Once the link member 52 moves, the damper 3 moves together with the link member 52. The damper 3 moves in the front-rear direction within a predetermined movement range. The damper 3 is disposed at the front end position of the movement range in a state where no external force acts on the damper 3. In a state where an external force acts on the damper 3, the damper 3 moves rearward toward the rear end position of the movement range. The state in which the external force acts on the damper 3 includes: a state where the object collides with the bumper 3, and a state where the object collides with the protruding member 4.

The protruding member 4 is disposed in a state of being separated from each of the left plate portion 521L and the right plate portion 521R: a position between the left plate portion 521L and the right plate portion 521R.

In each of the state where the movable member 51 is disposed at the initial position of the pivotal range and the state where the movable member 51 is pivoted, the projecting member 4 does not come into contact with the left plate portion 521L and the right plate portion 521R, respectively.

In each of the state where the movable member 51 is disposed at the initial position of the rotation range and the state where the movable member 51 rotates, the protruding member 4 does not come into contact with the wall portion 522 and the bottom plate portion 523.

[ operation of linkage mechanism ]

Fig. 7 is a diagram schematically showing the operation of the projecting member 4 according to the present embodiment. When the robot cleaner 1 performs a cleaning operation while autonomously traveling in a commercial facility, the protruding member 4 may collide with at least some objects present around the robot cleaner 1.

In the 1 st state where the protruding member 4 does not collide with the object, the movable member 51 is disposed at the initial position of the rotational range. In a state where the movable member 51 is disposed at the initial position of the rotational range, the protruding member 4 is supported by the movable member 51 so as to extend in the vertical direction, as shown by the broken line in fig. 7.

In the 2 nd state where the protruding member 4 collides with an object from the front, the protruding member 4 supported by the movable member 51 moves so as to tilt backward as shown by the solid line in fig. 7.

The 1 st state includes: the external force does not act on the protruding member 4. The 2 nd state includes: the external force acts on the protruding member 4. When the projecting member 4 changes from the 1 st state to the 2 nd state, the movable member 51 rotates together with the projecting member 4 from the initial position.

Fig. 8 and 9 are views schematically showing the link mechanism 5 according to the present embodiment, respectively. Fig. 8 shows: the movable member 51 is disposed in the link mechanism 5 at the initial position of the rotational range. Fig. 9 shows: the link mechanism 5 is rotated from the initial position of the movable member 51. Fig. 10 is a perspective view showing the link mechanism 5 according to the present embodiment. Fig. 10 shows: and an interlocking mechanism 5 when the movable member 51 rotates from the initial position of the rotation range. In the following description, the object does not directly collide with the bumper 3.

As shown in fig. 8, when the projecting member 4 is in the 1 st state, the movable member 51 is disposed at the initial position of the rotational range. That is, the movable member 51 (arm 511) is disposed at a position inside the recess 20. In a state where the movable member 51 is disposed at the initial position of the rotation range, the protruding member 4 is supported by the movable member 51 so as to extend in the vertical direction.

In a state where the projecting member 4 is in the 1 st state and the movable member 51 is disposed at the initial position, the projecting member 4 is separated from the interlocking portion 521. In a state where the protruding member 4 is in the 1 st state and the movable member 51 is disposed at the initial position, the protruding member 4 is disposed inside the opening 521M in a state of being separated from the inner surface of the opening 521M.

As shown in fig. 9 and 10, when the projecting member 4 changes from the 1 st state to the 2 nd state, the movable member 51 moves together with the projecting member 4 from the initial position. When the projecting member 4 is in the 2 nd state, the movable member 51 rotates upward, and the projecting member 4 moves so as to tilt backward.

When the movable member 51 is rotated while the protrusion member 4 is in the 2 nd state, the protrusion member 4 is in contact with the interlocking portion 521. In the state where the protruding member 4 is in the 2 nd state and the movable member 51 is rotated, the protruding member 4 is disposed at a position inside the opening 521M in a state of being in contact with the inner surface of the opening 521M.

When the protruding member 4 is in contact with the inner surface of the opening 521M of the interlocking portion 521, the protruding member 4 further moves so as to tilt backward, and the interlocking member 52 moves backward. Thus, the protrusion member 4 moves, and the interlocking member 52 moves.

The damper 3 is interlocked with the interlocking member 52. When the interlocking member 52 moves rearward, the damper 3 also moves rearward together with the interlocking member 52.

In the present embodiment, even when the projecting member 4 is changed from the 1 st state to the 2 nd state, the interlocking member 52 and the damper 3 do not move until the outer surface of the projecting member 4 comes into contact with the inner surface of the opening 521M. When the projecting member 4 is in the 2 nd state, the interlocking member 52 and the damper 3 move after the projecting member 4 comes into contact with the interlocking portion 521. In this way, in the present embodiment, the interlocking mechanism 5 operates the damper 3 after the protrusion member 4 operates. That is, the link mechanism 5 starts moving the damper 3 after the protrusion member 4 starts moving.

As described above, the bumper 3 functions as a collision sensor that detects whether or not the bumper 3 collides with an object. By moving the bumper 3 rearward, the collision between the protruding member 4 and the object can be detected.

When it is determined that the protruding member 4 collides with the object based on the movement of the bumper 3, the controller 17 controls the wheel motor 9D so that the robot cleaner 1 does not move forward toward the object. The controller 17 changes, for example, the direction of travel of the robot cleaner 1. Further, the controller 17 may stop the travel of the robot cleaner 1. That is, the controller 17 may change the advancing direction of the robot cleaner 1 or stop the robot cleaner 1 from advancing when the collision between the protruding member 4 and the object is detected.

[ Effect ]

As described above, according to the present embodiment, the buffer 3 and the projecting member 4 can be interlocked by the interlocking mechanism 5. When the protruding member 4 collides with at least a part of the objects existing around the robot cleaner 1, the bumper 3 moves. The controller 17 can determine, based on the movement of the buffer 3, that: the protruding part 4 collides with the object. According to the present embodiment, even if a special sensor for detecting a collision between the protruding member 4 and an object is not added to the robot cleaner 1, the collision between the protruding member 4 and the object can be detected by the movement of the bumper 3 interlocked with the protruding member 4. Since no special sensor is required, the collision between the protruding member 4 and the object can be detected without excessively increasing the cost of the robot cleaner 1. Further, since the collision between the protruding member 4 and the object can be detected, the controller 17 controls the wheel motor 9D so that the robot cleaner 1 does not move forward toward the object.

The link member 52 includes: a connecting portion 524 connected to the shock absorber 3, and an interlocking portion 521 interlocked with the protruding member 4. Thereby, the interlocking member 52 can be interlocked with the damper 3 and the projecting member 4, respectively. Therefore, when the projecting member 4 is changed from the 1 st state to the 2 nd state and the projecting member 4 is operated, the damper 3 can be operated together with the projecting member 4.

The protruding member 4 is supported by: a movable member 51 provided on the main body 2. That is, the protruding member 4 is supported by the main body 2 via the movable member 51. When the protruding member 4 is supported by the bumper 3, for example, the weight of the bumper 3 increases, and thus the bumper 3 may be difficult to move smoothly. Since the protruding member 4 is supported by the main body 2 via the movable member 51, the damper 3 can move smoothly. Therefore, the bumper 3 can be smoothly moved both in the case where the object directly collides with the bumper 3 and in the case where the object collides with the protruding member 4. Further, since the protruding member 4 is supported by the movable member 51, the protruding member 4 can also operate smoothly when the protruding member 4 collides with an object.

The linkage 521 is disposed: at least a part of the circumference of the protruding part 4. Thus, when the protruding member 4 moves, the interlocking portion 521 can interlock with the protruding member 4.

In the 1 st state where no external force acts on the protruding member 4, the movable member 51 is disposed at the initial position of the rotational range. In the 2 nd state where an external force acts on the projecting member 4, the movable member 51 moves together with the projecting member 4 from the initial position of the rotational range. By the movement of the protruding member 4, the interlocking member 52 moves. That is, in the 2 nd state where an external force acts on the protruding member 4 due to a collision with an object, when the protruding member 4 is operated, the interlocking mechanism 5 also operates the damper 3. When an external force is applied to the protruding member 4, the damper 3 operates, and when no external force is applied to the protruding member 4, the damper 3 does not operate. The controller 17 can detect the collision between the protruding member 4 and the object by the movement of the bumper 3.

In the 1 st state where no external force acts on the protrusion member 4, the protrusion member 4 is separated from the interlocking part 521. In the 1 st state, the weight of the protruding member 4 does not act on the bumper 3. Accordingly, the damper 3 can move smoothly. In the 2 nd state where an external force acts on the protrusion member 4, the protrusion member 4 is in contact with the interlocking portion 521. Thereby, the interlocking member 52 and the damper 3 can be interlocked with the protruding member 4.

In the present embodiment, the buffer 3 operates after the protrusion member 4 operates. That is, the external force acts on the protruding member 4 in the 1 st state, and the damper 3 does not operate until the protruding member 4 comes into contact with the inner surface of the opening 521M. After the protrusion member 4 starts to move, the buffer 3 also starts to move. That is, when the amount of movement of the projecting member 4 is small, the damper 3 does not operate. The buffer 3 operates only when the protrusion member 4 is moved so far as to come into contact with the inner surface of the opening 521M. Thus, the protruding member 4 is slightly operated, and thus, the change in the forward direction of the robot cleaner 1 and the stop of the travel of the robot cleaner 1 are not performed. Accordingly, the cleaning operation of the robot cleaner 1 can be smoothly performed.

The protruding member 4 is disposed in the front-rear direction, which is the moving direction of the damper 3, in: a position between the bumper 3 and the center of the body 2. Since the protruding member 4 is disposed at the front position of the main body 2, the bumper 3 can sufficiently detect the collision between the object and the protruding member 4 when the robot cleaner 1 moves forward.

The linkage 521 is disposed: is located above the movable member 51. Accordingly, when an external force acts on the protruding member 4, the movable member 51 and the interlocking part 521 can smoothly operate.

The wall portion 522 protects the top surface 2A of the main body 2. When the external electronic device 31 is disposed on the top surface 2A, the wall portion 522 can suppress: contact between an object and an external electronic device 31.

In addition, in the present embodiment, when the protrusion member 4 is in the 1 st state, the protrusion member 4 and the interlocking part 521 may be in contact. That is, when the protrusion member 4 is in the 1 st state, the outer surface of the protrusion member 4 and at least a portion of the inner surface of the opening 521M may be in contact. When the protrusion member 4 moves so as to tilt backward, the protrusion member 4 and the interlocking portion 521 move relatively in a state where the outer surface of the protrusion member 4 is in contact with the inner surface of the opening 521M, and the protrusion member 4 can move smoothly.

[ 2 nd embodiment ]

Embodiment 2 will be explained. In the following description, the same or equivalent constituent elements as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof will be omitted or simplified.

Fig. 11 is a diagram schematically showing the link mechanism 5B according to the present embodiment. The link mechanism 5B includes: a movable member 51B provided on the main body 2 and supporting the protruding member 4, and an interlocking member 52 provided on the damper 3 and interlocking with the damper 3 and the protruding member 4, respectively.

As in the above-described embodiment, the interlocking member 52 includes an interlocking portion 521, and the interlocking portion 521 is disposed: at least a part of the circumference of the protruding part 4. The interlocking part 521 has an opening 521M. When the protrusion member 4 is in the 1 st state, the outer surface of the protrusion member 4 is separated from the inner surface of the opening 521M.

In the present embodiment, the movable member 51B is slidably coupled to the main body 2. The movable member 51B can slide in the front-rear direction, which is the moving direction of the damper 3. The main body 2 has: the movable member 51B is supported by the guide member 43 slidable in the front-rear direction.

When the protruding member 4 collides with an object and the protruding member 4 receives a force directed rearward, the movable member 51B moves rearward together with the protruding member 4. When the protruding member 4 moves rearward, the outer surface of the protruding member 4 contacts at least a part of the inner surface of the opening 521M of the interlocking part 521. When the protruding member 4 is further moved rearward in a state where the protruding member 4 is in contact with the inner surface of the opening 521M of the interlocking portion 521, the interlocking member 52 is moved rearward. The buffer 3 is also moved rearward by the linkage member 52 moving rearward. By moving the damper 3 rearward, it is possible to detect: collision between the protruding part 4 and the object.

Further, in the present embodiment, when the protruding member 4 is in the 1 st state, the outer surface of the protruding member 4 may be in contact with at least a part of the inner surface of the opening 521M.

[ embodiment 3 ]

Embodiment 3 will be explained. In the following description, the same or equivalent constituent elements as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof will be omitted or simplified.

Fig. 12 is a diagram schematically showing the link mechanism 5C according to the present embodiment. The link mechanism 5C includes: and a support portion 44 provided on the bumper 3 and supporting the protruding member 4.

When the protruding member 4 collides with an object and the protruding member 4 receives a force directed rearward, the protruding member 4 moves rearward. When the protruding member 4 moves rearward, the damper 3 coupled to the protruding member 4 via the support portion 44 also moves rearward. By moving the damper 3 rearward, it is possible to detect: collision between the protruding part 4 and the object.

In the example shown in fig. 12, the projecting member 4 is not supported by the movable member 51. Accordingly, when the movable member 51 is a handle, the function of the handle can be exhibited.

Further, the support portion 44 may be omitted. The protruding member 4 may be provided to the bumper 3. The bumper 3 and the protrusion member 4 may be formed in one body. The bumper 3 and the protrusion member 4 may be a single member. Since the protruding member 4 protrudes upward from the top surface of the bumper 3, the bumper 3 can be interlocked with the protruding member 4 when the protruding member 4 collides with an object.

[ other embodiments ]

In the above-described embodiments 1 and 2, the interlocking member 52 may be formed integrally with the damper 3. The damper 3 and the link member 52 may be a single member. The link member 52 may also be considered as a part of the damper 3.

In the above embodiment, the movable member 51 is a handle. The movable member 51 may not be a handle.

In the above-described embodiment, the warning lamp 32 is held by the holding member 41. The holding member 41 may be configured to hold a light emitter for emitting light. As a light emitter. Can show by way of example: the warning lamp 32 described above. As the light emitter, there can be exemplified: fluorescent lamps, light bulbs, and light emitting diodes.

In the above-described embodiment, the notice board 33 is held by the holding member 42. The flat panel display may be held by the holding member 42, or the tablet personal computer may be held by the holding member 42.

Claims

1. A robot cleaner is provided, which comprises a main body,

the robot cleaner includes: a main body having a suction port; and a damper movable in a state of being opposed to at least a part of a side surface of the main body,

the robot cleaner includes:

a protruding member protruding toward a position above a top surface of the main body; and

an interlocking mechanism that interlocks the bumper with the protruding member.

2. The robot cleaner of claim 1,

the link mechanism has: an interlocking member provided to the damper,

the linkage member includes: a connecting portion connected to the damper, and an interlocking portion interlocked with the protruding member.

3. The robot cleaner of claim 2,

the link mechanism has: a movable member provided to the main body and supporting the protruding member,

the linkage part is configured to: at least a portion of the circumference of the protruding member.

4. The robot cleaner of claim 3,

the interlocking portion is capable of moving relative to the protruding member in a state of being in contact with the protruding member.

5. A robot cleaner according to claim 3 or 4,

when the protruding part is in the 1 st state, the movable part is arranged at the initial position of the movable range,

when the projecting member changes from the 1 st state to the 2 nd state, the movable member moves together with the projecting member from the initial position,

the movement of the protruding member causes the movement of the interlocking member.

6. The robot cleaner of claim 5,

when the protruding member is in the 1 st state, the protruding member is separated from the interlocking portion,

when the protruding member is in the 2 nd state, the protruding member contacts the interlocking part, so that the interlocking member moves.

7. The robot cleaner of claim 5,

the linkage mechanism starts the movement of the buffer after the protrusion member starts the movement.

8. The robot cleaner of claim 3,

the movable member is disposed in a moving direction of the damper: a position between the bumper and a center of the body.

9. The robot cleaner of claim 3,

the linkage part is configured to: and a position above the movable member.

10. The robot cleaner of claim 3,

the movable member is rotatably coupled to the main body.

11. The robot cleaner of claim 3,

the movable member is slidably coupled to the main body.

12. The robot cleaner of claim 2,

the linkage member includes a wall portion that,

the wall portion is disposed adjacent to the interlocking portion and protrudes upward from the top surface of the main body.

13. The robot cleaner of claim 2,

the linkage member is formed integrally with the damper.

14. The robot cleaner of claim 1,

the link gear includes: and a support portion provided to the shock absorber and supporting the protruding member.

15. A robot cleaner is provided, which comprises a main body,

it is characterized in that the preparation method is characterized in that,

the robot cleaner includes: and a protrusion member provided to the bumper and protruding upward from a top surface of the bumper.