JP2003310509A - Mobile cleaner - Google Patents

Mobile cleaner

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Publication number
JP2003310509A
JP2003310509A JP2002120202A JP2002120202A JP2003310509A JP 2003310509 A JP2003310509 A JP 2003310509A JP 2002120202 A JP2002120202 A JP 2002120202A JP 2002120202 A JP2002120202 A JP 2002120202A JP 2003310509 A JP2003310509 A JP 2003310509A
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JP
Japan
Prior art keywords
self
suction
portion
front edge
suction unit
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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.)
Pending
Application number
JP2002120202A
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Japanese (ja)
Inventor
Minoru Arai
Saku Egawa
Atsushi Koseki
Taiji Tajima
Ikuo Takeuchi
篤志 小関
索 柄川
泰治 田島
郁雄 竹内
穣 荒井
Original Assignee
Hitachi Ltd
株式会社日立製作所
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Application filed by Hitachi Ltd, 株式会社日立製作所 filed Critical Hitachi Ltd
Priority to JP2002120202A priority Critical patent/JP2003310509A/en
Publication of JP2003310509A publication Critical patent/JP2003310509A/en
Application status is Pending legal-status Critical

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Abstract

PROBLEM TO BE SOLVED: To provide a mobile cleaner in which spaces by the side of walls and corners of walls are cleaned without omission.
SOLUTION: In the mobile cleaner provided with a main body, a driving means for moving the main body, a suction port and a suction port driving means for relatively movably connecting the suction port and the main body, when moving the main body straight, the suction port is positioned approximately in the middle in front of the main body and at a standard location where the front edge of the suction port is approximately orthogonal with the straight moving direction and when turning the main body near the surface of the wall, the suction port is moved to make the front edge of the suction port opposed to the turning direction touch or proximate to the surface of the wall.
COPYRIGHT: (C)2004,JPO

Description

【発明の詳細な説明】 【0001】 【発明の属する技術分野】本発明は、自走して清掃を行なう自走式掃除機に関する。 BACKGROUND OF THE INVENTION [0001] [Technical Field of the Invention The present invention relates to self-propelled cleaner performs cleaning and self-propelled. 【0002】 【従来の技術】自走して清掃を行なう自走式掃除機、あるいは掃除ロボットの従来の技術として、例えば、特開平7−88453号公報には、ロボット本体の進行方向を変更するステアリング装置と、側壁に対して接近、及び離間する方向に往復移動可能に設けられ、掃除機構が装備されたスライド装置と、側壁から受ける接触力を検出する接触力検出器と、検出された力に基づいてスライド装置とステアリング装置を制御する掃除ロボットが開示されている。 [0002] As a conventional technique of the prior art self-propelled cleaner performs cleaning and self-propelled or cleaning robot, for example, Japanese Patent Laid-Open No. 7-88453, to change the traveling direction of the robot body a steering device, close to the side walls, and reciprocally movably provided in a direction away, a slide device for cleaning mechanism is equipped with a contact force detector for detecting the contact force received from the sidewall, detected force cleaning robot for controlling the slider unit and steering system based on is disclosed. 【0003】 【発明が解決しようとする課題】床面と壁が交差する壁際の部分と、床面と2つの壁面が交差する隅の部分には、ゴミがたまりやすいため、自走式掃除機には、それらの場所を漏れなく掃除することが求められる。 [0003] and the wall of the portion where the [invention will is an object to solve the] floor and the wall to cross, for the corner of the portion where the floor surface and the two wall surfaces intersect, easy to accumulate dust, self-propelled vacuum cleaner the, it is clean without omission those places are required. 迅速に壁際と隅を清掃するためには、ゴミを吸引する吸口部を壁際に沿わせつつ、壁に沿って自走でき、さらに、隅に到達したときに、その場で旋回して、交差する壁面に沿って自走できることが望ましい。 To quickly clean the the wall and corners, while along the the wall of the mouthpiece portion for sucking the dust, can self-propelled along the wall, further, when reaching the corner, turning on the spot, crossing it is desirable to be self-propelled along the wall surface to be. 【0004】しかし、従来の技術では、掃除機構が壁につかえるため、隅まで到達した時に、その場で旋回することができず、一旦後退してから旋回するなど、後退・ [0004] However, in the prior art, for the cleaning mechanism can be used on the wall, when you reach the corner, it can not be turning on the spot, such as turning from once retreat, retreat,
前進・旋回を複雑に組み合わせた走行を行なう必要があった。 It was necessary to carry out the running of complex combination of forward and turning. 【0005】このため、掃除に時間がかかったり、走行制御の誤差が大きくなるという問題があった。 [0005] For this reason, there is a problem that it takes time to clean, error of the travel control is increased. 【0006】そこで本発明の目的は、壁際と壁の隅を漏れなく迅速に掃除できる自走式掃除機を提供することにある。 [0006] It is therefore an object of the present invention is to provide a self-propelled vacuum cleaner that can be quickly cleaned without omission the corner of the wall and the wall. 【0007】 【課題を解決するための手段】上記の目的を達成するために本発明の特徴とするところは、本体と、本体を移動させる駆動手段と、吸口部と、吸口部と本体を相対的に移動可能に接続する吸口部移動手段と、を備える自走式掃除機において、吸口部移動手段は、本体が直進する時に、吸口部を本体の前方略中央に位置させ、かつ、吸口部の前縁を直進移動の方向と略直交させる標準配置に、 [0007] It is a feature of the present invention in order to achieve the above object means to provide a process, relative a body, a drive means for moving the body, and a mouthpiece portion, the mouthpiece and body in self-propelled cleaner comprises a suction unit moving means, the for transferable connected mouthpiece portion moving means when the body is straight, it is positioned a mouthpiece portion forwardly substantially central of the body, and, mouthpiece portion the standard arrangement to substantially perpendicular to the direction of linear movement of the front edge of,
前記吸口部を配置させ、かつ、本体が壁面の近傍において旋回する時に、旋回方向と逆側の吸口部前縁端部を壁面に接触あるいは近接させるように吸口部を移動させることにある。 Is arranged the suction unit, and, when the body is pivoted in the vicinity of the wall surface is to cause the suction portion front edge of the turning direction and opposite movement of the mouthpiece portion into contact with or close to the wall. 【0008】 【発明の実施の形態】本発明の自走式掃除機の構造を図1、図2に示す。 [0008] Figure 1, Figure 2 shows the structure of the self-propelled cleaner of the embodiment of the present invention. 【0009】図1は、本発明の自走式掃除機の第1の実施例の上面図、図2は側面図である。 [0009] Figure 1 is a top view of a first embodiment of a self-propelled cleaner of the present invention, FIG 2 is a side view. 図では、カバー1 In the figure, cover 1
9は断面を表示している。 9 are viewing the cross-section. 【0010】自走式掃除機1は、本体2と、吸口部3 [0010] The self-propelled cleaner 1 includes a main body 2, the mouthpiece section 3
と、吸口部移動手段であるリンク機構4を備えている。 When, and a link mechanism 4 is suction unit moving means. 【0011】本体2は、ベース5と、左右の車輪6a、 [0011] The main body 2 includes a base 5, the left and right wheels 6a,
6bを備えている。 It has a 6b. ベース5の上には、車輪を駆動するモータ7a,7bと、ゴミを吸引する集塵機8と、システムの動作を制御する制御装置9と、システムに電力を供給する電池10を備えている。 On the base 5 includes a motor 7a, 7b to drive the wheels, and dust collector 8 for sucking dust, and a control unit 9 for controlling the operation of the system, and a battery 10 for supplying power to the system. 【0012】リンク機構4は、ベース5に設けられた回転対偶である関節21,22と、吸口部3に設けられた関節23,24と、関節21と23を結ぶリンク25 [0012] link mechanism 4 includes a joint 21, 22 is a turning pair provided in the base 5, the joint 23, 24 provided in the suction unit 3, the link 25 connecting the joint 21 and 23
と、関節22と24を結ぶリンク26と、リンク機構4 When a link 26 connecting the 24 joint 22, the link mechanism 4
を中立状態に引き戻すばね27、28を備えている。 The has a spring 27 to pull back to the neutral state. ここで、関節21,22間の距離が、関節23,24間の距離よりも大きくなるように関節を配置している。 Here, the distance between the joints 21 and 22 are arranged joints to be greater than the distance between the joints 23 and 24. 【0013】自走式掃除機1は、モータ7a,7bにより、車輪6a,6bを駆動することにより自走し、集塵機8により、吸口部3からゴミを吸引して掃除を行なう。 [0013] self-propelled cleaner 1 comprises a motor 7a, the 7b, and self-propelled by drive wheels 6a, a 6b, the dust collector 8 performs cleaning by sucking dust from the suction unit 3. 車輪6a,6bを両方とも前側に等しい速度で回転させると、本体2は直進し、車輪6a,6bを異なる速度で回転させると、本体2は旋回する。 When the wheels 6a, rotated at equal to front speed both 6b, body 2 is straight, is rotated wheel 6a, and 6b at different speeds, the body 2 is pivoted. 特に、車輪6 In particular, the wheels 6
a,6bを逆向きに等しい速度で回転させると、本体2 a, is rotated at a speed equal to 6b in the opposite direction, the main body 2
はその場旋回を行なう。 It is carried out in-situ turning. 【0014】ここで、その場旋回とは、左右の車輪を逆向きに等速度で回転させることにより、最小のスペースで方向転換を行なう旋回であり、旋回中心は、左右の車輪を結ぶ線分の中点になる。 [0014] Here, the line segment from the place pivoted by rotating at a constant speed the left and right wheels in the opposite direction, a pivot for performing turning with minimum space, the turning center, connecting the left and right wheels It becomes the midpoint. ここでは、本体2を円筒形に形成しており、上方から見た時、本体2の中心と旋回中心が一致する。 Here, forms a main body 2 in a cylindrical, when viewed from above, the center and the turning center of the main body 2 coincide. また、本体2の直径は、吸口部3の幅よりも小さくしている。 The diameter of the body 2 is smaller than the width of the suction unit 3. 【0015】以下、本発明の自走式掃除機の壁際および隅の走行について説明する。 [0015] In the following, a description will be given of traveling the wall and corner of the self-propelled vacuum cleaner of the present invention. 【0016】図3は、本発明の自走式掃除機の走行の方法を説明するための上方から見た模式図である。 [0016] Figure 3 is a schematic view from above for illustrating a method of driving a self-propelled cleaner of the present invention. 【0017】まず、図3(a)に示すように、自走式掃除機1は、本体2を壁12に近接させ、かつ、吸口部3 [0017] First, as shown in FIG. 3 (a), the self-propelled cleaner 1 is brought close to the body 2 to the wall 12, and suction unit 3
の左側面31を壁12に接触させながら直進走行する。 Straight travels while the left side 31 in contact with the wall 12.
なお、図では、見やすさのため、壁との間に隙間を設けて表示している。 In the figure, the visibility, displaying a gap is provided between the walls. この時は、吸口部3には大きな接触力が加わらないので、吸口部3はリンク機構4とばね2 At this time, since the suction unit 3 large contact force is not applied, suction unit 3 is the link mechanism 4 and the spring 2
7,28により、概ね標準配置に位置する。 By 7, 28, generally located in the standard arrangement. ここで、標準配置とは、吸口部3が、本体2の前部中央に配置され、かつ、前縁32が本体2の直進の方向、すなわち、 Here, the standard arrangement, suction unit 3 is disposed on the front center of the main body 2, and the direction of the leading edge 32 of the main body 2 straight, i.e.,
車輪6a,6bの転がる方向に直交する配置である。 Wheels 6a, an arrangement which is perpendicular to the direction of rolling of 6b. 【0018】ただし、実際には、壁12により押されるため、標準配置より、左前縁端部33が若干後ろにずれた姿勢になる。 [0018] However, in practice, because they are pushed by the wall 12, than the standard arrangement, the posture of the left front edge portion 33 is slightly shifted backward. このため、自走式掃除機1は、吸口部3 For this reason, self-propelled cleaner 1, mouthpiece section 3
の左前縁端部33を壁12に接触させた状態で走行する。 Traveling of the left front edge portion 33 in a state in contact with the wall 12. 【0019】上記の走行を継続すると、図3(b)に示すように、自走式掃除機1は、壁12と壁13の隅14 [0019] With continued running of the, as shown in FIG. 3 (b), the self-propelled cleaner 1, the corner of the wall 12 and the wall 13 14
に到達する。 To reach. これにより、壁12の壁際の掃除が完了する。 As a result, the cleaning of the wall of the wall 12 is completed. 【0020】次に、壁13に沿って掃除を行なうために、自走式掃除機1は方向転換を行なう。 Next, in order to carry out cleaning along the wall 13, the self-propelled cleaner 1 performs the turning. ここで、もし吸口部3が本体2に対して固定されているとすると、左前縁端部33や、本体2が壁13にぶつかるため、本体2をその場旋回させることができない。 Here, if the suction unit 3 is assumed to be fixed to the main body 2, and the left front edge portion 33, the body 2 is for hitting the wall 13, it is not possible to place the turning body 2. また、車輪6 In addition, the wheels 6
a,6bを結ぶ線が壁12と交差する点を中心に旋回を行なえば、吸口部3と壁13の干渉を避けられるが、その場合は、本体2が壁12と干渉する。 a, by performing a pivoting about the point at which a line connecting 6b intersects the wall 12, but avoids the interference of the suction unit 3 and the wall 13, in that case, the main body 2 interferes with the wall 12. このため、方向転換を行なうためには、本体2を一旦後退させ、前進・ Therefore, in order to perform turning, once it retracts the main body 2, forward and
後退・旋回を組み合わせた、複雑な移動を行なう必要があり、方向転換に時間がかかる。 Combining backward-turning, it is necessary to perform a complicated movement, take time to turnaround. また、複雑な移動を行なうと、車輪のスリップが多く発生するため、車輪の回転により、本体2の位置を検出する際の検出誤差が大きくなる。 Further, when a complex movement, for the wheel slip frequently occur, by rotation of the wheel, the detection error in detecting the position of the body 2 increases. 位置検出の誤差が大きくなると、走行経路と計画とのずれが大きくなるため、掃除漏れが生じるなどの問題が生じる。 When the error of position detection is increased, since the displacement of the travel route and planned increases, problems such as cleaning leakage occurs occurs. また、壁添い走行を行なうことにより、 Further, by performing the walls Soi travel,
部屋を認識する方法を用いる場合、部屋の形状・大きさの検出誤差が大きくなる。 When using the method of recognizing a room, the detection error of the shape and size of the room is large. 【0021】しかし、本発明の自走式掃除機では、吸口部3を隅に突き当てている図3(b)の状態から、その場旋回を行なうことが可能である。 [0021] However, in the self-propelled cleaner of the present invention, from the state shown in FIG. 3 (b), which abut against the suction unit 3 in the corner, it is possible to perform in situ turning. この状態で、本体2 In this state, the main body 2
をその場旋回させると、左前縁端部33が壁13により、本体2の後方に向かって押される。 The when the in situ turning, by the left front edge portion 33 is a wall 13, pushed toward the rear of the main body 2. すると、吸口部3は、台形のリンク機構4とばね27,28で支持されているため、吸口部3は、半時計回りに回転しつつ、右側に動く。 Then, suction unit 3, because it is supported by the trapezoidal link mechanism 4 and the spring 27, suction unit 3, while rotating counterclockwise, moving to the right. これにより、左前縁端部33は、壁に食い込むことなく、壁に沿って動く。 Thus, the left front edge portion 33 without biting into the wall, move along the wall. 【0022】図3(c)は、吸口部3が本体2に対して、最も大きく移動した状態を示している。 [0022] FIG. 3 (c) shows a state where the suction unit 3 to the main body 2 and moves the largest. この状態では、左前縁端部33が基準円34の中に入る。 In this state, the left front edge portion 33 enters into the reference circle 34. ここで基準円34は、中心がその場旋回の中心、すなわち本体2 Here reference circle 34 is centered center of the spot turning, or body 2
の中心と等しく、標準状態における中心から吸口部3の前縁までの距離Aに半径が一致する円、すなわち、標準状態における吸口部3の前縁に接する円である。 Equal to the center of the circle of radius distance A from the center in the standard state to the front edge of the suction unit 3 coincide, i.e., a circle in contact with the front edge of the suction unit 3 in the standard state. 【0023】図3(c)に示す状態を越えて、本体2が旋回すると、旋回に応じて、吸口部3は、ばね27、2 [0023] Beyond the state shown in FIG. 3 (c), when the main body 2 is pivoted, in accordance with the turning, suction unit 3, the spring 27,2
8の力により、標準位置に向けて戻り、図3(d)に示すように90度の旋回が終了する。 The 8 force, back toward the standard position, the turning of 90 degrees as shown in FIG. 3 (d) ends. 旋回が終了すると、 When the turning is completed,
壁13に沿って直進走行する。 Straight running along the wall 13. 【0024】上記により、壁際および隅を、漏れなく迅速に掃除することが可能になる。 [0024] by the above-mentioned, the the wall and corner, it becomes possible to quickly cleaned without omission. 【0025】上記のような走行が可能になるためには、 [0025] In order to travel, such as described above is possible,
以下の条件が必要である。 The following conditions are required. (1)リンク機構2が、吸口部3の前縁端部を基準円の内部まで移動させられる可動範囲を有すること。 (1) the link mechanism 2, to have a movable range that is moving the front edge to the inside of the base circle of the suction unit 3. これは、図3(c)の状態を通過するために必要となる。 This is required to pass the state of FIG. 3 (c). (2)本体が、上から見て、基準円、すなわち、その場旋回の中心を中心とし、標準配置における吸口部3の前縁に接する円内に納まること。 (2) body, as viewed from above, the reference circle, i.e., about the center of the spot turning, that fall within the circle in contact with the front edge of the suction unit 3 in the standard configuration. この条件は、その場旋回をした時に、本体2が壁にぶつからないために要求される。 This condition, when the place swirl is required to the main body 2 is not hit the wall. 本体2は、必ずしも円筒形である必要はないが、障害物との干渉を避けるためには、本実施例のように円筒形であることが望ましい。 Body 2 is not necessarily be cylindrical, in order to avoid interference with the obstacle is desirably cylindrical as in this embodiment. (3)標準配置における、吸口部3の前縁と、その場旋回の中心の距離が、吸口部3の幅の半分に一致する、すなわち、基準円の直径が吸口部3の幅と一致すること。 (3) in the standard arrangement, the front edge of the suction unit 3, the distance between the center of the spot turning corresponds to half the width of the suction unit 3, i.e., the diameter of the reference circle coincides with the width of the suction unit 3 about.
これは、壁の隅において、本体を90度その場旋回させた時に、次の壁に沿って走行できる姿勢になるために要求される。 This, in the corner of the wall, when allowed to place the turning 90 degrees body is required to become a posture which can travel along the next wall. また、この条件が満たされると、壁から吸口部3の幅の距離の範囲を、隅の部分を含めて漏れなく掃除することができ、掃除の効率が高まる。 Also, when this condition is satisfied, the range of the distance of the width of the suction unit 3 from the wall, can be cleaned without omission, including corner portions, increasing the efficiency of the cleaning is. 【0026】なお、上記のうち(3)を満たしていない場合であっても、旋回と前進を組み合わせることにより、後退することなく、壁に沿って隅に入った状態から方向転換を行なうことも可能である。 [0026] Incidentally, even when not met among the (3), by combining the pivoted forward without retraction, also perform turning from the state entered the corner along the wall possible it is. ただし、この場合は、壁際は漏れなく掃除できるが、壁から吸口部3の幅の範囲には、一部掃除の漏れが生じ、後で再度その場所に来て掃除をする必要が生じる。 However, in this case, but the wall can be cleaned without omission, in the range of the width of the mouth portion 3 from the wall, it caused leakage of some cleaning is necessary to occur the cleaning come in later that location again. 【0027】次に、本発明に第2の実施例について説明する。 Next, a description will be given of a second embodiment of the present invention. 図4に、別の吸口部移動手段を備える自走式掃除機の例を示す。 Figure 4 shows an example of a self-propelled cleaner comprises another suction unit moving means. 上記の第一の実施例では、吸口部3を移動する手段として、台形の4節型のリンク機構4とばね27,28を用いているが、ここでは、その代わりに、 In the first embodiment described above, as a means for moving the suction unit 3, but using the link mechanism 4 and the spring 27, 28 of the four-bar type of trapezoid, here, instead,
より簡便な方法として、吸口部3の前縁部中央に軸41 As a simpler method, the front edge center of the suction unit 3 axes 41
を設けて、吸口部3を軸41の回りに回転可能に支持し、ばね42,43により、吸口部3を標準位置に引き戻す機構を用いる。 The provided, rotatably supports the mouthpiece portion 3 around the shaft 41, by a spring 42 and 43, using a mechanism to retract the suction unit 3 in the standard position. 【0028】この場合も、第1の実施例と同様に機能する。 [0028] In this case, it functions similarly to the first embodiment. だたし、第1の実施例の場合に比べて、吸口部3の左右端部の前後方向の動きが大きくなり、吸口部3と車輪6a,6bの最低距離が小さくなるため、機構設計の条件が厳しくなる。 It was I, as compared with the case of the first embodiment, the longitudinal direction of movement of the right and left ends of the suction unit 3 is increased, since the suction unit 3 and the wheel 6a, the minimum distance 6b decreases, mechanical design of the condition is severe. 【0029】次に、本発明に第3の実施例について説明する。 Next, a description will be given of a third embodiment of the present invention. 図5は、吸口部移動手段のさらに別の例を示す図である。 Figure 5 is a diagram illustrating still another example of a suction unit moving means. 【0030】ここでは、吸口部移動手段として、リンク機構51と、吸口部駆動手段である直動駆動機構52 [0030] Here, as mouthpiece portion moving means, the linear motion drive mechanism 52 and the link mechanism 51, a suction part driving means
と、両者を接続するばね53,54とを備えている。 When, and a spring 53 connecting the two. また、吸口部3の前縁端部に、接触センサ55,56を備えている。 Further, the front edge of the suction portion 3, and a contact sensor 55 and 56. 【0031】この機構は次のように動作する。 [0031] This mechanism operates in the following manner. 接触センサ55、56により、右または左の前縁端部と壁の接触が検知されると、制御装置9は、直動駆動機構52を動作させて、リンク機構51を動かし、接触が検知された前縁端部を壁から離す方向に吸口部3を動かす。 The contact sensor 55, the contact of the right or left of the front edge and the wall is detected, the control unit 9 operates the linear drive mechanism 52 to move the link mechanism 51, the contact is detected and the front edge moves the suction unit 3 in a direction away from the wall. これにより、第1の実施例と同様に、吸口部3は、壁に沿って動き、第1の実施例と同様に機能する。 Thus, as in the first embodiment, suction unit 3, moves along the wall, which functions similarly to the first embodiment. 【0032】なお、直動駆動機構52とリンク機構51 [0032] Incidentally, the linear motion drive mechanism 52 and the link mechanism 51
の間をばね53,54で接続しているので、壁に短い間隔で凹凸があって、直動駆動機構52が追随できない場合でも、吸口部3を壁に沿わせることができる。 Since between the connecting spring 53 and 54, there is uneven at short intervals on a wall, even if the linear drive mechanism 52 can not follow, can be along the suction unit 3 to the wall. 【0033】なお、接触センサ55,56の変わりに近接センサを用いることもできる。 [0033] It is also possible to use a proximity sensor instead of the contact sensor 55 and 56. この場合、吸口部3 In this case, the mouthpiece part 3
は、壁に接触せず、小さい一定の間隔を保つように吸口部3が移動する。 It does not contact the walls, the suction unit 3 to maintain a small regular intervals moves. 【0034】この機構を用いれば、吸口部駆動手段を用いず、ばねの力によって、吸口部を標準配置に引き戻す第1の実施例に比べて、コストが上昇するが、壁との接触力を小さくすることができ、吸口部3が床面の摩擦の影響を受けずに、安定して移動する。 [0034] By using this mechanism, without using the suction unit driving means, by the force of the spring, compared with the first embodiment to retract the suction unit to a standard arrangement, the cost is increased, the contact force between the wall It can be reduced, without being affected by the friction of the suction unit 3 the floor, to move stably. 【0035】また、ばね53,54の変位を測定するセンサを設ければ、吸口部3に働く力を検出することができ、検出した力に応じて直動駆動機構52を駆動すれば、吸口部3に仮想的なばね特性を与えることができる。 Further, by providing a sensor for measuring the displacement of the spring 53, it is possible to detect a force acting on the suction unit 3, by driving the linear drive mechanism 52 in accordance with the detected force, mouthpiece it can provide a virtual spring characteristics in part 3. 【0036】なお、第1または第2の実施例においても、ばね27,28またはばね42,43の変位を測定することにより、吸口部3に働く力を測定することができる。 [0036] Also in the first or second embodiment, by measuring the displacement of the spring 27, 28 or spring 43, it is possible to measure the force acting on the suction unit 3. 測定した力は、吸口部3を壁に接触させて走行する時の、走行制御に利用できる。 Measured force, when traveling by contacting the suction unit 3 in the wall, can be used for the driving control. 【0037】第1および第3の実施例では、台形の4節リンク機構を用いたが、その代わりに、左右のリンクが平行な、平行リンク機構を用いることもできる。 [0037] In the first and third embodiment uses a trapezoidal four bar linkage, can be used instead, left and right links are parallel, the parallel link mechanism. この場合も、第1および第3の実施例と同様に機能するが、台形リンクの場合に比べて、前後方向の動きが小さくるため、吸口部3を動かすための接触力が大きくなるので、 Again, although it functions similarly to the first and third embodiments, compared to the case of the trapezoidal link, longitudinal movement Chisakurutame, the contact force for moving the suction unit 3 is increased,
平行リンク機構は、吸口部駆動手段を有する第3の実施例の方が適している。 Parallel link mechanism, towards the third embodiment having a mouthpiece part driving means are suitable. 【0038】なお、上記において、直交する、距離が一致する、中心が一致する等の幾何学的条件を述べているが、実際の機構には、たわみが存在し、誤差を吸収できるので、これらは、必ずしも厳密に満たす必要はなく、 [0038] In the above, orthogonal, distance match, but describes a geometric condition such that the center is matched to the actual mechanism, the deflection is present, it is possible to absorb errors, these is, it is not always necessary to strictly meet,
ほぼ一致すればよい。 It should be almost the same. 【0039】 【発明の効果】本発明の自走式掃除機によれば、壁際と壁の隅を漏れなく迅速に掃除を行なうことができる。 [0039] According to the self-propelled cleaner of the present invention according to the present invention, it is possible to perform rapid cleaning without leakage corner of the wall and the wall.

【図面の簡単な説明】 【図1】本発明に係る自走式掃除機の第1実施例の上面図である。 BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a top view of a first embodiment of a self-propelled cleaner according to the present invention. 【図2】本発明に係る自走式掃除機の第1実施例の側面図である。 2 is a side view of a first embodiment of a self-propelled cleaner according to the present invention. 【図3】本発明に係る自走式掃除機の第1実施例の上面図である。 3 is a top view of a first embodiment of a self-propelled cleaner according to the present invention. 【図4】本発明に係る自走式掃除機の第2実施例の上面図である。 4 is a top view of a second embodiment of the self-propelled cleaner according to the present invention. 【図5】本発明に係る自走式掃除機の第3実施例の上面図である。 5 is a top view of a third embodiment of the self-propelled cleaner according to the present invention. 【符号の説明】 1…自走式掃除機、2…本体、3…吸口部、4…リンク機構、6a,6b…車輪、8…集塵機、9…制御装置、 [Description of Reference Numerals] 1 ... self-propelled cleaner, 2 ... main body, 3 ... suction portion, 4 ... link mechanism, 6a, 6b ... wheel, 8 ... dust collector, 9 ... control device,
12,13…壁、14…隅、27,28…ばね、34… 12 ... wall, 14 ... corner 27 ... spring, 34 ...
基準円、41…軸、52…直動機構駆動機構。 Reference circle, 41 ... shaft, 52 ... linear motion mechanism driving mechanism.

───────────────────────────────────────────────────── フロントページの続き (72)発明者 荒井 穣 茨城県土浦市神立町502番地 株式会社日 立製作所機械研究所内(72)発明者 小関 篤志 茨城県土浦市神立町502番地 株式会社日 立製作所機械研究所内(72)発明者 竹内 郁雄 茨城県土浦市神立町502番地 株式会社日 立製作所機械研究所内Fターム(参考) 3B057 DA00 ────────────────────────────────────────────────── ─── of the front page continued (72) inventor Minoru Arai Tsuchiura, Ibaraki Prefecture Kandatsu-cho, 502 address, Inc. Date falling Works machine in the Laboratory (72) inventor Atsushi Ozeki Tsuchiura, Ibaraki Prefecture Kandatsu-cho, 502 address, Inc. Date falling Works mechanical Engineering Research Laboratory within the (72) inventor Tsuchiura, Ibaraki Prefecture Kandatsu-cho address 502 Ikuo Takeuchi Co., Ltd. Date falling Mfg mechanical Engineering Research Laboratory within the F-term (reference) 3B057 DA00

Claims (1)

  1. 【特許請求の範囲】 【請求項1】本体と、前記本体に設けられ、前記本体を移動させる駆動手段と、吸口部と、前記吸口部と前記本体を相対的に移動可能に接続する吸口部移動手段と、を備える自走式掃除機において、 前記吸口部移動手段は、前記本体が直進する時に、前記吸口部を前記本体の前方略中央に位置させ、かつ、前記吸口部の前縁を前記直進移動の方向と略直交させる標準配置に、前記吸口部を配置させ、 かつ、前記吸口部移動手段は、前記本体が壁面の近傍において旋回する時に、旋回方向と逆側の前記吸口部の前縁端部を前記壁面に接触あるいは近接させるように前記吸口部を移動させることを特徴とする自走式掃除機。 And [claimed 1 main body, provided in the main body, and driving means for moving the body, suction unit and the suction unit and the suction unit for connecting the body relatively movable in self-propelled cleaner comprises a moving unit, wherein the suction portion moving means when the body is straight, the mouthpiece portion is positioned in front substantially middle of the body, and the front edge of the suction portion wherein the straight standard arrangement to substantially perpendicular to the direction of movement, the suction unit is arranged, and the mouthpiece portion moving means, said body when turning in the vicinity of the wall surface, the turning direction opposite to the side of the mouthpiece portion self-propelled cleaner, characterized in that to the front edge to move the suction portion into contact with or close to the wall surface. 【請求項2】請求項1に記載の自走式掃除機において、 前記本体は、直径が前記吸口部の幅以下の略円筒形であり、 前記吸口部移動手段は、前記吸口部の左右の前縁端部の一方を、前記標準位置における前記吸口の前縁に接する前記本体と同心の円筒空間の内部まで移動させる可動範囲を有する ことを特徴とする自走式掃除機。 2. A self-propelled cleaner according to claim 1, wherein the body is substantially cylindrical is less than the width of the suction portion diameter, the suction portion moving means, of the left and right of the mouthpiece portion one of the front edge, self-propelled cleaner and having a movable range to move to the inside of the main body and concentric cylinder space adjacent to the front edge of the suction port in the standard position. 【請求項3】請求項1又は2に記載の自走式掃除機において、 前記吸口部移動手段は、前記吸口部の略中央部の前縁近傍に設けた回転対偶を備えることを特徴とする自走式掃除機。 3. A self-propelled cleaner according to claim 1 or 2, wherein the mouthpiece portion moving means, characterized in that it comprises a turning pair provided near the front edge of the substantially central portion of the mouthpiece portion self-propelled vacuum cleaner. 【請求項4】請求項1又は2に記載の自走式掃除機において、 前記吸口部移動手段は、前記本体に設けた第1および第2の回転対偶と、前記吸口部に設けた第3および第4の回転対偶と、前記第1の回転対偶と前記第3の回転対偶を接続する第1のリンクと、前記第2の回転対偶と前記第4の回転対偶を接続する第2のリンクを備えており、 前記第1の対偶と前記第2の対偶の距離は、前記第3の対偶と前記第4の対偶の距離よりも大きいことを特徴とする自走式掃除機。 4. A self-propelled cleaner according to claim 1 or 2, wherein the mouthpiece portion moving means includes first and second turning pair provided in the main body, a third provided on the suction unit and a fourth turning pair, wherein a first link connecting the first turning pair and the third rotation pair, a second link which connects the fourth turning pair and the second turning pair and wherein the first and the contraposition second distance kinematic pair, self-propelled cleaner being larger than the distance of the third kinematic pair and the fourth kinematic pair. 【請求項5】請求項1ないし4のいずれかに記載の自走式掃除機において、 前記吸口部移動手段は、前記吸口部に加わる力に応じて前記吸口部を移動させるばね機構を備えていることを特徴とする自走式掃除機。 5. A self-propelled cleaner according to any one of claims 1 to 4, wherein the suction portion moving means comprises a spring mechanism for moving the suction unit in response to a force exerted on the suction portion self-propelled vacuum cleaner, characterized in that there. 【請求項6】請求項1ないし5のいずれかに記載の自走式掃除機において、 前記吸口部移動手段は、 前記吸口部を移動させる吸口部駆動手段と、 前記吸口部の右側および左側の前縁端部に対する前記壁面の接触あるいは近接を検出する接触あるいは近接検出手段と、 前記接触あるいは近接検出手段により、前記吸口部の右側および左側の両方の前縁端部の壁面への接触あるいは近接を検出しない時に、前記吸口部を前記標準位置に近づける方向に移動させ、かつ、前記吸口部の右側および左側のいずれかの前縁端部の壁面への接触あるいは近接を検出した時に、壁面への接触あるいは近接が検出された前縁端部を前記壁面から離す方向に前記吸口部を移動させるように、前記駆動手段を制御する制御手段とを備えていることを特徴とする自 6. A self-propelled cleaning device according to any one of claims 1 to 5, wherein the suction portion moving means includes a suction unit driving means for moving the suction unit, the right and left of the mouthpiece portion a contact or proximity detection means for detecting contact or proximity of the wall surface with respect to front edge, by said contact or proximity detection means, contact or proximity to the wall surface of the front edge of both the right and left of the mouthpiece portion when detecting no, the mouthpiece portion is moved in a direction closer to the normal position, and, upon detecting the contact or proximity to the right and one of the wall surface of the front edge of the left side of the suction portion, the wall contact or edge before the proximity has been detected to move the suction portion in a direction away from said wall, self, characterized in that a control means for controlling the driving means 走式掃除機。 Hashishiki vacuum cleaner.
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