EP2762050B1 - Reinigungsroboter - Google Patents

Reinigungsroboter Download PDF

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Publication number
EP2762050B1
EP2762050B1 EP12837316.4A EP12837316A EP2762050B1 EP 2762050 B1 EP2762050 B1 EP 2762050B1 EP 12837316 A EP12837316 A EP 12837316A EP 2762050 B1 EP2762050 B1 EP 2762050B1
Authority
EP
European Patent Office
Prior art keywords
dust collection
disposed
main body
body housing
opening
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP12837316.4A
Other languages
English (en)
French (fr)
Other versions
EP2762050A4 (de
EP2762050A1 (de
Inventor
Yasuhiro Oka
Jitsuo Sakamoto
Kenichiro Inoue
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sharp Corp
Original Assignee
Sharp Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2011214458A external-priority patent/JP5160676B1/ja
Priority claimed from JP2011214461A external-priority patent/JP5160677B1/ja
Application filed by Sharp Corp filed Critical Sharp Corp
Publication of EP2762050A1 publication Critical patent/EP2762050A1/de
Publication of EP2762050A4 publication Critical patent/EP2762050A4/de
Application granted granted Critical
Publication of EP2762050B1 publication Critical patent/EP2762050B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present invention relates to a cleaning robot that moves by itself on a floor surface.
  • a conventional cleaning robot is disclosed in a patent document 1.
  • a main body housing which has a circular shape when viewed from top, moves by itself on a floor surface to perform cleaning.
  • the main body housing is formed to have a thin shape that is low in height.
  • the main body housing is provided with a drive wheel and a driven wheel that protrude from a bottom surface.
  • the driven wheel is disposed in front of the drive wheel in a traveling direction during a cleaning time.
  • a dust suction portion which has an electric fan and a dust collection portion, is disposed behind the drive wheel in the main body housing. The electric fan generates a suction air flow that is sucked from the suction opening, and the dust collection portion collects dust contained in the suction air flow.
  • the suction opening and the dust collection portion are connected with each other by a duct, the dust collection portion and the air exhaling opening are connected by the duct, and the electric fan is disposed in the duct.
  • the dust collection portion is disposed in a freely mountable and demountable manner; accordingly, an air flow-in opening and an air flow-out opening are in tight contact with the duct via a packing.
  • the main body housing is provided therein with a battery that supplies electric power to each portion of the electric fan, the drive wheel and the like, and with a control board that has a control circuit to control each portion.
  • the drive wheel and the electric fan are driven.
  • the main body housing moves by itself on a floor surface because of rotation of the drive wheel and driven wheel, and an air flow containing dust is sucked from the suction opening disposed in the front portion because of the driving of the electric fan.
  • the dust contained in the air flow is collected by the dust collection portion, and the air flow, from which the dust is removed, passes through the electric fan to be exhaled backward from the air exhaling opening. In this way, the floor surface is cleaned, the dust collection portion is removed, and the dust accumulated in the dust collection portion is dumped.
  • EP1849391 relates to a robot cleaning system that is capable of moving a first dust collector mounted in a robot cleaner to a docking station to remove dust collected in the first dust collector.
  • the robot cleaning system includes a robot cleaner having an opening, though which a first dust collector to collect suctioned dust is carried in and out of the robot cleaner, a docking station, to which the robot cleaner is docked to remove the dust collected in the first dust collector, and a collector moving unit to move the first dust collector to the docking station.
  • US2006/0032013 relates to a brush assembly of a cleaner including a driving motor mounted at a cleaner main body, for generating a rotary force; a brush rotatably disposed at a suction opening formed at the cleaner main body; and a driving force transfer device installed between the driving motor and the brush, rotating the brush by transferring a rotary force of the driving motor to the brush, and protecting the driving motor by preventing transfer of a load generated at the brush to the driving motor.
  • PLT1 JP-A-2007-167617 (pages 6 to 10, Fig. 2 )
  • the electric fan disposed in the main body housing has a heavy weight, and the dust collection portion becomes heavy in weight because of the accumulation of dust. Because of this, according to the conventional cleaning robot that disposes the electric fan and the dust collection portion behind the drive wheel, the weight becomes heavier in the portion behind the drive wheel than in the portion in front of the drive wheel.
  • the main body housing moves backward and stops suddenly before a step of a downward stairway and the like, there is a risk that a center of gravity shifts backward; and the main body housing falls from the step to be broken because of the weight behind the drive wheel.
  • dust accumulates in the dust collection portion, the weight behind the drive wheel becomes further heavier; accordingly, the main body housing becomes more likely to fall from the step.
  • the main body housing is provided with the suction opening through the front portion and with the electric fan and air exhaling opening in the back portion. Because of this, an air flow path, which connects the suction opening and the air exhaling opening with each other, is formed to extend long in the main body housing.
  • the control board is dispersed and disposed in a left-right direction and a back-forth direction with respect to the dust collection portion, and a wiring, which connects electric components such as the electric fan, the drive wheel and the like and a plurality of the control boards, becomes long. Accordingly, there is a problem that the main body housing becomes large.
  • the electric fan is disposed on one side and the battery is disposed on the other side with respect to the dust collection portion that is disposed over the rotary shaft of the drive wheels; accordingly, the weight of the main body housing is balanced and distributed in front of and behind the drive wheels.
  • the main body housing moving forward and backward stops suddenly before a step and the center of gravity shifts back and forth it is possible to keep the attitude and prevent the fall of the main body housing.
  • the weight balance of the main body housing 2 is kept, so that it is possible to prevent more surely the fall of the main body housing.
  • the air flow path is disposed on one side and the control board is disposed on the other side with respect to the dust collection portion; the air flow path and the control board are gathered and disposed. In this way, it is possible to shorten the air flow path and achieve the small size of the main body housing by reducing wirings and the like. Besides, the air flow path is far from the control board; accordingly, even if the air flow leaks, it is possible to reduce the adhering of the dust to the control board and reduce the malfunction of the control circuit.
  • FIG. 1 is a perspective view showing a cleaning robot according to the embodiment of the present invention.
  • a cleaning robot 1 has a main body housing 2 which has a circular shape when viewed from top and drives drive wheels 29 (see Fig. 2 as to both) by means of a battery 14 to move by itself.
  • An upper surface of the main body housing 2 is provided with a lid portion 3 that is opened and closed when a dust collection portion 30 (see Fig. 2 ) is put in and taken out.
  • Fig. 2 and Fig. 3 show a side sectional view and a bottom view of the cleaning robot 1, respectively.
  • the main body housing 2 is provided with a pair of drive wheels 29 that protrude from a bottom surface and rotate on a horizontal rotary shaft 29a.
  • the rotary shaft 29a of the drive wheels 29 is disposed on a center line C of the main body housing 2.
  • a suction opening 6 is disposed through a front portion of the main body housing 2 that is situated in front in a traveling direction when cleaning is performed.
  • the suction opening 6 is formed to oppose a floor surface F by means of an open surface of a recessed portion 8 that is formed to be recessed on the bottom surface of the main body housing 2.
  • a rotary brush 9, which rotates on a horizontal rotary shaft, is disposed in the recessed portion 8, and side brushes 10, which rotate on a vertical rotary shaft, are disposed on both sides of the recessed portion 8, respectively.
  • a roller-shaped front wheel 27 is disposed in front of the recessed portion 8.
  • a rear end of the main body housing 2 is provided with a rear wheel 26 that includes a universal wheel.
  • the main body housing 2 disperses a weight in a back-forth direction with respect to the drive wheels 29 disposed at the center; the front wheel 27 goes away from the floor surface F, while the rotary brush 9, the drive wheels 29 and the rear wheel 26 contact the floor surface F to perform the cleaning. Because of this, dust present in front in the traveling path can be guided to the suction opening 6 without being blocked by the front wheel 27.
  • the front wheel 27 moves onto a step that appears on the traveling path, so that the main body housing 2 can easily go over the step.
  • a floor surface detection sensor 18 for detecting the floor surface F is disposed in front of the front wheel 27. Similar floor surface detection sensors 19 are disposed in front of both drive wheels 29. If a step of a downward stairway or the like appears in the traveling path, the drive wheels 29 are stopped because of detection by the floor surface detection sensor 18. Besides, if the floor surface detection sensor 18 malfunctions, the drive wheels 29 are stopped because of detection by the floor surface detection sensors 19.
  • a rear end of a circumferential surface of the main body housing 2 is provided with a charge terminal 4 for charging the battery 14.
  • the main body housing 2 moves by itself to return to a charge stand 40 installed in a room, and the charge terminal 4 comes into contact with a terminal portion 41 disposed on the charge stand 40 to charge the battery 14.
  • the charge stand 40 connected to commercial power supply is usually installed along a side wall S of the room.
  • the main body housing 2 is provided therein with the dust collection portion 30 that collects dust.
  • the dust collection portion 30 is disposed on the rotary shaft 29a of the drive wheels 29 and housed in a dust collection chamber 39 that is disposed in the main body housing 2.
  • the dust collection chamber 39 includes an isolated chamber whose circumferential surfaces in four directions and bottom surface are covered, and is formed to extend in a left-right direction to partition an inside of the main body housing 2. Wall surfaces of the dust collection chamber 39 are closed except for a front wall that extends in a longitudinal direction.
  • the dust collection chamber 39 is provided, through the front wall thereof, with a first air inhaling path 11 that communicates with the recessed portion 8 and a second air inhaling path 12 that is disposed over the recessed portion 8 and communicates with a motor unit 20 described later.
  • the dust collection portion 30 is disposed on the center line C of the main body housing 2, and can be put into and taken out with the lid portion 3 of the main body housing 2 opened as shown in Fig. 4 .
  • the dust collection portion 30 is provided with an upper cover 32 that has a filter 33 on an upper surface of a bottomed cylindrical dust collection vessel 31.
  • the upper cover 32 engages with the dust collection vessel 31 by means of a movable engagement portion 32a, opens and closes an upper surface of the dust collection vessel 31 by means of operation of the engagement portion 32a. In this way, it is possible to dump the dust accumulated in the dust collection vessel 31.
  • the dust collection vessel 31 is provided, through a circumferential surface thereof, with a flow-in path 34 whose tip end is equipped with a flow-in opening 34a to communicate with the first air inhaling path 11.
  • the dust collection vessel 31 is provided therein with a flow-in portion 34b that communicates with the flow-in path 34 to guide an air flow downward by means of a bend. In this way, it is possible to make large dust and heavy-weight dust easily accumulate in a bottom portion of the dust collection vessel 31.
  • the upper cover 32 is provided, through a circumferential surface thereof, with a flow-out path 35 whose tip end is equipped with a flow-out opening 35a to communicate with the second air inhaling path 12.
  • the flow-in opening 34a and the flow-out opening 35a are provided therearound with a packing (not shown) which comes into tight contact with the front wall of the dust collection chamber 39. In this way, the dust collection chamber 39 housing the dust collection portion 30 is tightly closed.
  • the opening surface of the flow-in opening 34a, the opening surface of the flow-out opening 35a, and the front wall of the dust collection chamber 39 are each formed to have an inclined surface, so that it is possible to prevent the packing from being deteriorated by sliding when the dust collection portion 30 is put in and taken out.
  • a control board 15 is disposed in an upper portion behind the dust collection chamber 39 in the main body housing 2.
  • the control board 15 is provided with a control circuit that controls each portion of the cleaning robot 1.
  • the battery 14 freely mountable and demountable is disposed in a lower portion behind the dust collection chamber 39.
  • the battery 14 is charged by the charge stand 40 via the charge terminal 4 and supplies electric power to each portion of the control board 15, the drive wheels 29, the rotary brush 9, the side brushes 10, the electric fan 22 and the like.
  • the motor unit 20 is disposed in the front portion of the main body housing 2.
  • Fig. 5, Fig. 6 , Fig. 7 and Fig. 8 show a perspective view, top view, front view, and side view of the motor unit 20, respectively.
  • the motor unit 20 includes a housing 21 formed of a resin and the electric fan 22 housed in the housing 21.
  • the electric fan 22 is formed of a turbo-fan that is covered by a motor case 22a.
  • the motor case 22a of the electric fan 22 is provided, through one end in a shaft direction thereof, with an air inhaling opening (not shown) and provided, through a circumferential surface thereof, with two air exhaling openings (not shown).
  • the housing 21 is provided, through a front surface thereof, with an opening portion 23 that opposes the air inhaling opening of the motor case 22a.
  • the electric fan 22 of the housing 21 is provided, on both sides thereof, with a first air exhaling path 24a and a second air exhaling path 24b that communicate with the air exhaling openings of the motor case 22a, respectively.
  • the first and second air exhaling paths 24a, 24b communicate with an air exhaling opening 7 (see Fig. 2 ) provided through the upper surface of the main body housing 2.
  • first and second air exhaling paths 24a, 24b and the second air inhaling path 12 compose air flow paths that connect the dust collection portion 30 and the air exhaling opening 7 with each other.
  • first air inhaling path 11 composes an air flow path that connects the suction opening 6 and the dust collection portion 30 with each other.
  • the air flow paths including the electric fan 22 are gathered in front of the dust collection chamber 39 and disposed in the front portion of the main body housing 2, so that it is possible to shorten the air flow paths.
  • the control board 15 and the battery 14 are gathered behind the dust collection chamber 39 and disposed in the rear portion of the main body housing 2, so that it is possible to reduce wirings and the like. Accordingly, it is possible to achieve the small size of the main body housing 2.
  • the air flow paths are far from the control board 15; accordingly, even if the air flow leaks, it is possible to alleviate the dust adhering to the control board 15 and to reduce the malfunction of the control circuit.
  • the heavy-weight electric fan 22 and battery 14 are dispersed and disposed in front of and behind the rotary shaft 29a of the drive wheels 29; accordingly, the weight is balanced and distributed in a back-forth direction of the main body housing 2 with respect to the rotary shaft 29a that passes the center line C of the main body housing 2. Because of this, the rotary brush 9, the drive wheels 29 and the rear wheel 26 contact the floor surface and the main body housing 2 moves forward and backward; and even if the rotary brush 9 or the rear wheel 26 loses its foothold because of a step or the like, it is possible to prevent a fall of the main body housing 2.
  • the dust collection portion 30 is disposed on the center line C; accordingly, even if the weight of the dust collection portion 30 changes because of the collecting and dumping of dust, it is possible to keep the weight balance of the main body housing 2. In the meantime, the weight of the electric fan 22 is large; accordingly, it is possible to achieve a better weight balance by disposing the control board 15 and the battery 14 behind the rotary shaft 29a of the drive wheels 29.
  • the first air exhaling path 24a is provided with an ion generation apparatus 28 that has a pair of electrodes 28a.
  • a voltage having an a.c. waveform or an impulse waveform is applied to the electrodes 28a, and ions generated by a corona discharge from the electrodes 28a are emitted into the first air exhaling path 24a.
  • a positive voltage is applied to one electrode 28a, so that hydrogen ions due to the corona discharge combine with moisture in the air to generate positive ions formed mainly of H + (H 2 O) m .
  • a negative voltage is applied to the other electrode 28a, so that oxygen ions due to the corona discharge combine with moisture in the air to generate negative ions formed mainly of O 2 - (H 2 O) n .
  • m, n are each an arbitrary natural number.
  • H + (H 2 O) m and O 2 - (H 2 O) n condensate on surfaces of floating germs and odor components in the air to capture them.
  • [ ⁇ OH] hydroxyl radical
  • H 2 O 2 hydrogen peroxide
  • m', n' are each an arbitrary natural number. Accordingly, by generating the positive ions and negative ions and sending them out from the air exhaling opening 7 (see Fig. 2 ), it is possible to perform the germ removal and deodorization of the room.
  • a lower portion of the first air exhaling path 24a is provided with a return opening 25 whose front surface is opened.
  • An upper portion of the return opening 25 is covered by a protrusion portion 25a that protrudes from the front surface of the housing 21, and an opening surface is formed to be a curved surface along a wall surface of the recessed portion 8 (see Fig. 2 ).
  • the return opening 25 is opened to the recessed portion 8 via a hole portion (not shown) disposed through the wall surface of the recessed portion 8, so that a portion of the air flow, which flows in the first air exhaling path 24a and contains ions, is guided to the air inhaling side.
  • the electric fan 22, the ion generation apparatus 28, the drive wheels 29, the rotary brush 9, and the side brushes 10 are driven.
  • the rotary brush 9, the drive wheels 29, and the rear wheel 26 contact the floor surface F and the main body housing 2 moves by itself in a predetermined cleaning area, so that the air flow containing dust on the floor surface F is sucked from the suction opening 6.
  • the dust on the floor surface F is stirred up and guided into the recessed portion 8 because of rotation of the rotary brush 9.
  • dust on both sides of the suction opening 6 is guided into the suction opening 6 because of rotation of the side brushes 10.
  • the air flow sucked from the suction opening 6 flows backward in the first air inhaling path 11 as indicated by an arrow A1 and flows into the dust collection portion 30 via the flow-in opening 34a.
  • the air flow flowing into the dust collection portion 30 has the dust collected by the filter 33 and flows out from the dust collection portion 30 via the flow-out opening 35a. In this way, the dust is collected and accumulated in the dust collection vessel 31.
  • the air flow flowing out from the dust collection portion 30 flows forward in the second air inhaling path 12 as indicated by an arrow A2 and flows into the electric fan 22 of the motor unit 20 via the opening portion 23.
  • the air flow passing through the electric fan 22 flows into the first air exhaling path 24a and the second air exhaling path 24b, and the air flow flowing in the first air exhaling path 24a contains ions.
  • the air flow containing the ions is exhaled upward and backward in an oblique direction as indicated by an arrow A3 from the air exhaling opening 7 disposed through the upper surface of the main body housing 2.
  • the room is cleaned, and the ions contained in the exhaled air from the main body housing 2 moving by itself spread throughout the room to perform the germ removal and deodorization of the room.
  • the air flow is exhaled upward from the air exhaling opening 7; accordingly, it is possible to prevent the dust on the floor surface F from being stirred up and to improve a cleanliness degree of the room.
  • a portion of the air flow flowing in the first air exhaling path 24a is guided to the recessed portion 8 via the return opening 25 as indicated by an arrow A4. Because of this, the air flow guided from the suction opening 6 to the first air inhaling path 11 contains ions. In this way, it is possible to perform the germ removal and deodorization of the dust collection vessel 31 and filter 33 of the dust collection portion 30.
  • the drive wheels 29 are stopped. And, both drive wheels 29 rotate in directions opposite to each other, and the main body housing 2 rotates about the center line C to change its direction. In this way, it is possible to make the main body housing 2 move by itself in the entire cleaning area and move by itself avoiding the obstacle. In the meantime, it is also possible to make the main body housing 2 move backward by rotating backward both drive wheels 29 that are rotating forward so far.
  • the center of gravity shifts back and forth.
  • the weight of the main body housing 2 is balanced and distributed in front of and behind the drive wheels 29; accordingly, the fall of the main body housing 2 is prevented.
  • the dust collection portion 30 is disposed over the rotary shaft 29a of the drive wheels 29; accordingly, even if the weight becomes large because of the dust collection, the weight balance of the main body housing 2 is kept.
  • the main body housing 2 moves by itself and returns to the charge stand 40. In this way, the charge terminals 4 come into contact with the terminal portions 41 to charge the battery 14.
  • the main body housing 2 when the main body housing 2 is in the return state, it is possible, by setting, to drive the electric fan 22 and the ion generation apparatus 28 during the charge and after the charge ends. In this way, the air flow containing the ions is sent out upward and backward from the air exhaling opening 7.
  • the charge terminals 4 are disposed at the rear end of the main body housing 2; accordingly, the air flow containing the ions flows toward the charge stand 40 and ascends along the side wall S. This air flow flows along a ceiling wall and side walls opposite to each other of the room. Accordingly, the ions spread throughout the room and can improve the germ removal and deodorization effects.
  • the electric fan 22 is disposed on one side and the battery 14 is disposed on the other side with respect to the dust collection portion 30 that is disposed over the rotary shaft 29a of the drive wheels 29; accordingly, the weight of the main body housing 2 is balanced and distributed in front of and behind the drive wheels 29.
  • the weight of the main body housing 2 is balanced and distributed in front of and behind the drive wheels 29.
  • the weight balance of the main body housing 2 is kept, so that it is possible to prevent more surely the fall of the main body housing 2 from the step.
  • the rotary shaft 29a of the drive wheels 29 may be deviated from the center line C of the main body housing 2 and disposed; however, it is more desirable that the rotary shaft 29a is disposed on the center line C as in the present embodiment. In this way, the weight of the main body housing 2 is balanced and distributed in front of and behind the center, so that it is possible to prevent more surely the fall of the main body housing 2 from the step.
  • the rotary shaft 9 disposed at the suction opening formed in front of the drive wheels 29, the rear wheel 26 disposed behind the drive wheels 29, and the drive wheels 29 contact the floor surface and the main body housing 2 move by itself on the floor surface F; accordingly, the dust in front in the traveling path can be guided to the suction opening 6 without being blocked.
  • the main body housing 2 moves forward and stops suddenly, the center of gravity of the main body housing 2 shifts forward, and the rotary brush 9 is deformed, so that the main body housing 2 is inclined forward.
  • the weight of the main body housing 2 is distributed back and forth; accordingly, the main body housing 2 returns to the original attitude. Accordingly, even if the main body housing 2 loses its foothold in front of the suction opening 6 and is easily inclined forward at the sudden stop, it is possible to prevent the fall from the step.
  • control board 15 is disposed on the same side as the battery 14 with respect to the dust collection portion 30; accordingly, by disposing the heavy-weight electric fan 22 in front and disposing the control board 15 and the battery 14 behind, it is possible to obtain a better weight balance in front of and behind the drive wheels 29. Accordingly, it is possible to prevent more surely the fall of the main body housing 2 from the step.
  • the air flow paths (first and second air inhaling paths 11, 12 and first and second air exhaling paths 24a, 24b) are disposed in front of the dust collection portion 30, and the control board 15 is disposed behind the dust collection portion 30. Because of this, the air flow paths and the control board 15 are gathered and disposed. In this way, it is possible to shorten the air flow paths and achieve the small size of the main body housing 2 by reducing the wirings and the like. Besides, the air flow paths are far from the control board 15; accordingly, even if the air flow leaks, it is possible to alleviate the dust adhering to the control board 15 and to reduce the malfunction of the control circuit.
  • the dust collection chamber 39 extends in one direction to partition the inside of the main body housing 2a; accordingly, it is possible to easily isolate the air flow paths from the control board 15.
  • the first and second air inhaling paths 11, 12 are disposed through the front wall of the dust collection chamber 39 that extends in the longitudinal direction, while the other wall surfaces are closed. In this way, even if an air flow leak occurs through the flow-in opening 34a and flow-out opening 35a, the dust is confined in the dust collection chamber 39. Accordingly, it is possible to further prevent adhering of the dust to the control board 15.
  • the dust collection vessel 31 is provided with the flow-in opening 34a, and the upper cover 32 having the filter 33 is provided with the flow-out opening 35a; accordingly, by opening the upper cover 32, it is possible to easily dump the dust accumulated in the dust collection vessel 31.
  • the opening surfaces of the flow-in opening 34a and flow-out opening 35a are formed to have the inclined surface, and the packing is disposed on the circumferential rims of the opening surfaces; accordingly, it is possible to prevent the packing from being deteriorated by the sliding when the dust collection portion 30 is put in and taken out.
  • the electric fan 22 is disposed in front of the dust collection portion 30, and the battery 14 and the control board 15 are disposed behind the dust collection portion 30; however, the electric fan 22 may be disposed on one side and the battery 14 and the control board 15 may be disposed on the other side with respect to the dust collection portion 30.
  • the air flow paths are disposed in front of the dust collection portion 30 and the control board 15 is disposed behind the dust collection portion 30; however, the air flow paths may be disposed on one side and the control board 15 may be disposed on the other side with respect to the dust collection portion 30.
  • the present invention is usable for a cleaning robot that moves by itself on a floor surface.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Cleaning In General (AREA)
  • Manipulator (AREA)

Claims (7)

  1. Staubsaugerroboter (1), Folgendes umfassend:
    ein Hauptteilgehäuse (2), das mit einer Saugöffnung (6) und einer Luftauslassöffnung versehen ist,
    eine drehende Bürste, die an der Saugöffnung angeordnet ist,
    ein elektrisches Gebläse (22), das in dem Hauptteilgehäuse (2) angeordnet ist,
    wobei ein Paar Antriebsräder (29), die eine horizontale Drehwelle (29a) aufweisen, auf einer Mittellinie des Hauptteilgehäuses (2) angeordnet sind und es dem Hauptteilgehäuse (2) ermöglichen, sich selbständig zubewegen,
    ein Hinterrad (26), das hinter dem Paar Antriebsräder (29) angeordnet ist, wobei die drehende Bürste (9), das Paar Antriebsräder (29) und das Hinterrad (26) derart in Kontakt mit einer Bodenoberfläche stehen, dass sich das Hauptteilgehäuse (2) selbständig auf einer Bodenoberfläche bewegt,
    einen Staubsammelabschnitt (30), der auf der Drehwelle (29a) angeordnet ist und Staub aus einem Luftstrom sammelt, der wegen des Antriebs des elektrischen Gebläses (22) von der Saugöffnung (6) angesaugt wird,
    eine Batterie (14), die jeden Abschnitt mit elektrischem Strom versorgt, und
    eine Steuerplatine (15), die jeden Abschnitt steuert, wobei
    das elektrische Gebläse (22) in einer Vorwärts-Rückwärts-Richtung an einer Seite des Staubsammelabschnitts (30) angeordnet ist und die Batterie (14) sowie die Steuerplatine (15) in der Vorwärts-Rückwärts-Richtung an der anderen Seite des Staubsammelabschnitts (30) angeordnet sind und
    die Saugöffnung (6) vor den Antriebsrädern (29) angeordnet ist.
  2. Staubsaugerroboter (1) nach Anspruch 1, ferner ein Vorderrad (27) umfassend, das vor den Antriebsrädern (29) angeordnet ist, wobei
    sich das Hauptteilgehäuse (2) in einem Zustand selbständig bewegt, in dem sich das Vorderrad (27) von einer Bodenoberfläche (F) entfernt und die Antriebsräder (29) und das Hinterrad (26) in Kontakt mit der Bodenoberfläche (F) stehen.
  3. Staubsaugerroboter (1) nach einem der Ansprüche 1 bis 2, wobei
    die Batterie (14) und die Steuerplatine (15) im Verhältnis zum Staubsammelabschnitt (30) an derselben Seite angeordnet sind.
  4. Staubsaugerroboter (1) nach Anspruch 3, ferner Folgendes umfassend:
    einen Luftströmungsweg (34), der die Saugöffnung (6) mit dem Staubsammelabschnitt (30) verbindet und den Staubsammelabschnitt (30) mit der Luftauslassöffnung verbindet, wobei
    der Luftströmungsweg (34) im Verhältnis zum Staubsammelabschnitt (30) an einer Seite angeordnet ist.
  5. Staubsaugerroboter (1) nach Anspruch 1, ferner Folgendes umfassend:
    eine Staubsammelkammer (39), die den Staubsammelabschnitt (30) in einer frei montier- und demontierbaren Weise beherbergt und sich in einer Richtung erstreckt, um ein Inneres des Hauptteilgehäuses (2) zu unterteilen, wobei
    eine Wandoberfläche, die sich in einer Längsrichtung der Staubsammelkammer (39) erstreckt, mit einem ersten Lufteinlassweg, durch den der Luftstrom einströmt, und mit einem zweiten Lufteinlassweg versehen ist, durch den der Luftstrom ausströmt, und
    eine weitere Wandoberfläche der Staubsammelkammer (39) geschlossen ist.
  6. Staubsaugerroboter (1) nach Anspruch 5, wobei
    der Staubsammelabschnitt (30) Folgendes beinhaltet:
    ein Staubsammelgefäß (31), das mit einer Lufteinströmöffnung versehen ist und in dem sich der Staub ansammelt,
    eine obere Abdeckung, die eine Oberseite des Staubsammelgefäßes (31) öffnet und verschließt und mit einer Luftausströmöffnung versehen ist, und
    einen Filter (33), der auf einer Unterseite der oberen Abdeckung angeordnet ist und den Staub sammelt.
  7. Staubsaugerroboter (1) nach Anspruch 6, wobei
    Öffhungsoberflächen der Lufteinströmöffnung und der Luftausströmöffnung eine geneigte Fläche aufweisen und
    wobei auf umlaufenden Randlippen der Öffnungsoberflächen eine Dichtung angeordnet ist.
EP12837316.4A 2011-09-29 2012-08-30 Reinigungsroboter Active EP2762050B1 (de)

Applications Claiming Priority (3)

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JP2011214458A JP5160676B1 (ja) 2011-09-29 2011-09-29 掃除ロボット
JP2011214461A JP5160677B1 (ja) 2011-09-29 2011-09-29 掃除ロボット
PCT/JP2012/071945 WO2013047073A1 (ja) 2011-09-29 2012-08-30 掃除ロボット

Publications (3)

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EP2762050A1 EP2762050A1 (de) 2014-08-06
EP2762050A4 EP2762050A4 (de) 2015-09-09
EP2762050B1 true EP2762050B1 (de) 2019-10-02

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US (1) US20140201941A1 (de)
EP (1) EP2762050B1 (de)
KR (1) KR101536542B1 (de)
CN (1) CN103813742B (de)
SG (1) SG2014014997A (de)
TW (1) TWI513443B (de)
WO (1) WO2013047073A1 (de)

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Also Published As

Publication number Publication date
TWI513443B (zh) 2015-12-21
CN103813742A (zh) 2014-05-21
SG2014014997A (en) 2014-06-27
KR20140041905A (ko) 2014-04-04
US20140201941A1 (en) 2014-07-24
WO2013047073A1 (ja) 2013-04-04
KR101536542B1 (ko) 2015-07-13
CN103813742B (zh) 2017-10-13
EP2762050A4 (de) 2015-09-09
TW201318590A (zh) 2013-05-16
EP2762050A1 (de) 2014-08-06

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