JP2011045694A - Self-propelled cleaning robot equipped with side brush device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled cleaning robot equipped with side brush devices which provides smooth floor surface cleaning without damaging the side brush devices or the like even if a side brush contacts an obstacle on a wall surface or the like. <P>SOLUTION: The side brush devices 30L, 30R provided at a robot body 2 equipped with a travel device include side brush support devices 31L, 31R with the base ends supported in a swingable manner on the lower surface of the robot body 2 and extended forward and with the end parts supporting side brushes 47L, 47R rotationally driven by side brush motors, and annular rotation bumpers 62 coaxial with the side brushes 47L, 47R. When the rotation bumpers 62 contact the obstacle during cleaning work, the rotation bumpers 62 are pressed by the obstacle to guide the side brush devices 30L, 30R in a separating direction from the obstacle. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a self-propelled cleaning robot, and more particularly to a self-propelled cleaning robot provided with a side brush device for cleaning a floor surface and the like.

  In recent years, self-propelled cleaning robots having an autonomous traveling function and a floor surface cleaning function have been developed.

  For example, Patent Document 1 discloses a self-propelled cleaning robot that cleans this type of floor surface. The cleaning robot of Patent Document 1 has left and right drive wheels and casters that are driven by a motor on the lower surface of the robot body so that autonomous traveling is possible, and various sensors that detect obstacles such as wall surfaces and directions. And a control unit for controlling the operation of the motor based on the output of each sensor. The lower surface of the robot body is provided with a cylindrical power brush that is driven to rotate by a power brush motor so that the floor surface can be cleaned, and a dust box suction port for sucking and storing dust. A side brush device provided with a frustoconical side brush that is rotationally driven by a side brush motor is provided at the tip of the two side brush support devices that extend while extending.

  Then, while traveling with the driving wheel that is driven to rotate according to a preset program, the left and right dusts are swept inward by the rotating side brush, and the dust swept by the rotating power brush is drawn from the suction port into the dust box. To suck.

JP 2000-342496 A

  In the cleaning robot of Patent Document 1, for example, when cleaning along the wall, the side robot brushes along the wall while maintaining the separation distance between the wall and the cleaning robot based on the detection of the sensor. Clean the floor. However, since the side brush is provided at the tip of the side brush support device extending from the robot body, the cleaning robot may be too close to the wall during the cleaning operation, and the side brush support device or the side brush may contact the wall surface. .

  In particular, for example, as shown in the plan view of FIG. 18, when a pull-in portion 102 is formed on the wall surface 101 to protrude from the wall surface 101 into a rectangular shape by the step portions 102 a and 102 b and the wall portion 102 c and attach the door 105, While the cleaning robot 110 travels while maintaining a predetermined separation distance L along the wall surface 101, the floor surface G is cleaned by the side brush 113 supported by the tip of the side brush support device 112 protruding from the robot body 111. However, there is a concern that the retracting portion 102 meanders toward the wall portion 102 c of the retracting portion 102 and the side brush 113 contacts the stepped portion 102 b of the retracting portion 102.

  Thus, there is a concern that the side brush or the side brush support device that supports the side brush may be damaged when the side brush contacts an obstacle such as a stepped portion of the wall surface. Moreover, there is a possibility that the floor cleaning by the smooth cleaning robot may be hindered. However, if floor cleaning is performed with some margin from the wall, uncleaned parts will be left.

  Accordingly, an object of the present invention made in view of such a point is to provide a side brush device that does not cause damage to the side brush device or the like even when the side brush device comes into contact with an obstacle, and that enables smooth floor surface cleaning. To provide a self-propelled cleaning robot.

  A self-propelled cleaning robot provided with the side brush device according to claim 1 for solving the above-mentioned problems is provided on the bottom surface of the robot body provided with the traveling device and supported by the lower surface of the robot body. And a side brush device having a side brush that is supported by the tip of the side brush support device protruding forward and forward and that is driven to rotate to sweep the dust on the floor surface inward in the width direction of the robot body. In the traveling cleaning robot, the side brush support device is supported by the lower part of the robot body so as to be swingable in the vertical direction and the width direction, and extends forward, and is rotated by a side brush motor at the tip part. A swing support member for supporting the side brush, and between the swing support member and the side brush, an outer diameter of a tip of the brush material of the side brush. Characterized by comprising a rotary bumper device having substantially parallel to the rotatable rotating bumper and robot running surface with larger diameter than the distal outer diameter of the small diameter a and swing support member.

  According to this, when the rotary bumper provided at the tip of the swing support member protruding from the robot body comes into contact with the obstacle during the cleaning operation, the rotary bumper is pressed against the obstacle and rotated. The side brush device is guided away from the obstacle by the bumper. Thereby, a contact with a side brush apparatus and an obstruction is avoided, and a cleaning operation can be continued smoothly. In addition, by making the rotary bumper smaller than the outer diameter of the tip of the brush material of the side brush and larger than the outer diameter of the tip of the swing support member, it is possible to ensure the floor surface close to the obstacle by the side brush. However, the contact between the swinging member and the obstacle is avoided, and damage to the swinging support member and the side brush device such as the side brush motor and the side brush supported at the tip of the swinging support member can be prevented.

  According to a second aspect of the present invention, in the self-propelled cleaning robot provided with the side brush device of the first aspect, the rotary bumper is disposed so as to be rotatable coaxially with the side brush rotation center axis. Features.

  According to this, by arranging the rotary bumper so as to be rotatable coaxially with the side brush rotation center axis, the operation and effect of claim 1 can be efficiently executed.

  According to a third aspect of the present invention, in the self-propelled cleaning robot including the side brush device according to the first aspect, the rotary bumper is rotatably disposed coaxially with the rotation center axis of the side brush, A contact sensor for detecting contact with an obstacle is provided on the surface, and the traveling device is controlled when the contact sensor detects contact between the rotary bumper and the obstacle.

  According to this, the side brush device is provided with a contact sensor that detects contact with an obstacle on the outer peripheral surface of the rotating bumper, and the contact sensor detects the contact between the rotating bumper and the obstacle, thereby controlling the traveling device. Can be guided in a direction away from the obstacle, and the contact between the side brush device and the obstacle can be avoided more reliably.

  According to a fourth aspect of the present invention, in the self-propelled cleaning robot provided with the side brush device of the third aspect, when the contact between the rotating bumper and the obstacle is detected by the contact sensor, the traveling by the traveling device is performed. A travel control means for stopping the vehicle is provided.

  According to this, a contact sensor that detects contact with an obstacle is provided on the outer peripheral surface of the rotating bumper, and when the contact sensor detects contact between the rotating bumper and the obstacle, the traveling by the traveling device is stopped, Damage and breakage of the side brush device such as a brush can be suppressed.

  According to a fifth aspect of the present invention, in the self-propelled cleaning robot provided with the side brush device according to the third aspect, the traveling device is driven by left and right drive motors provided on the left and right with respect to the traveling direction. Drive wheels, and at least one side brush device on the left and right of the direction of travel, and when the contact sensor of the one side brush device detects contact, the number of rotations of the drive motor on one side is The number of rotations of the drive motor is larger than that of the drive motor.

  According to this, when the outer peripheral surface of the rotating bumper comes into contact with the obstacle, the cleaning robot turns in a direction in which the rotating bumper moves away from the obstacle, and the rotating bumper is guided in a direction away from the obstacle, and the side brush Contact between the device and the obstacle is avoided, and the cleaning operation can be continued.

  According to a sixth aspect of the present invention, in the self-propelled cleaning robot having the side brush device according to the first or second aspect, the rotary bumper device is fixed to a swing support member about the same axis as the side brush rotation center axis. A disc-shaped base, and an annularly supported slidable axially on the outer periphery of the base so as to be rotatable about the side brush rotation center axis, and having a diameter smaller than the outer diameter of the tip of the brush material of the side brush, and A rotary bumper having an outer peripheral surface larger in diameter than the outer diameter of the tip end portion of the swing support member is provided.

  According to this, on the outer periphery of the disc-shaped base fixed to the swing support member about the same axis as the side brush rotation center axis, the rotation bumper is pivoted so as to rotate about the side brush rotation center axis. Slidably support in the direction, so that dust does not enter the gap between the outer periphery of the base that comes into sliding contact with the rotating bumper, or the intrusion of dust etc. is greatly suppressed and rotated by dust etc. The cleaning operation can be smoothly continued without hindering the rotation operation of the bumper. For example, when a bearing member such as a ball bearing is interposed between the outer periphery of the base portion and the rotating bumper and the rotating bumper is supported on the base portion, dust or the like enters the bearing member such as the ball bearing and the rotating bumper There is a concern that rotation may be hindered and the maintenance frequency increases.

  According to a seventh aspect of the present invention, in the self-propelled cleaning robot provided with the side brush device of the sixth aspect, the base portion includes an annularly projecting support portion extending along an outer periphery, and the rotating bumper is It is characterized by comprising a clamping part for clamping the support part in the axial direction with a gap along the inner peripheral surface.

  According to this, the support portion formed so as to be annularly continuous along the outer periphery of the base portion is covered with the sandwiching portion of the rotating bumper, and the sandwiching portion formed on the rotating bumper is slidably fitted. Since the rotating bumper rotates, dust or the like does not enter into the gap between the support portion formed on the base and the sandwiching portion of the rotating bumper, or the intrusion of dust or the like is greatly suppressed. The cleaning operation can be smoothly continued without hindering the rotation operation of the rotary bumper.

  The invention according to claim 8 is the self-propelled cleaning robot provided with the side brush device according to claim 7, wherein the rotary bumper includes a bumper body in which the clamping portion can be detachably assembled from the support portion of the base portion, and A holding member is provided.

  According to this, the rotating bumper is constituted by the bumper body and the holding member that can be detachably assembled from the support portion of the base, and the rotating bumper is disassembled into the bumper body and the holding member by disassembling the rotating bumper. The support portion 72 is detachable from the base portion, and the support portion 72 is sandwiched from the axial direction with a gap by assembling the bumper body and the holding member, so that the rotating bumper can be easily attached to the base portion. Accordingly, maintenance such as dust removal and replacement of the rotating bumper can be easily performed.

  According to the present invention, when the rotary bumper provided at the tip of the swing support member protruding from the robot main body comes into contact with an obstacle during the cleaning operation of the cleaning robot, the side brush device is removed from the obstacle by the rotary bumper. By guiding in the direction of separation, the contact between the side brush device and the obstacle is avoided, and the cleaning operation can be continued smoothly. Furthermore, it is possible to prevent the side brush device such as the side brush motor and the side brush supported by the swing bumper and the swing support member and the tip of the swing support member from being damaged.

It is a front view which shows the outline of the self-propelled cleaning robot provided with the side brush apparatus in 1st Embodiment. It is a side view which shows the outline of the self-propelled cleaning robot provided with the side brush apparatus. It is a top view which shows the outline of the self-propelled cleaning robot provided with the side brush apparatus. It is a block diagram which shows the circuit structure of the cleaning part. It is a principal part front view of the cleaning robot which shows the outline of a side brush support apparatus and a side brush. It is a principal part side view which shows the outline | summary of a side brush support apparatus and a side brush. It is the VII part enlarged view of FIG. It is a principal part top view of FIG. It is a schematic explanatory drawing which shows typically the action | operation of a cleaning robot. It is operation | movement explanatory drawing which shows a side brush apparatus typically. It is operation | movement explanatory drawing which shows typically the action | operation of a cleaning robot. It is operation | movement explanatory drawing which shows typically the action | operation of a cleaning robot. It is a flowchart of a contact avoidance operation | movement. It is operation | movement explanatory drawing which shows typically the action | operation of a cleaning robot. It is a partial cross section side view which shows the outline | summary of the side brush support apparatus of 2nd Embodiment. It is the XVI section enlarged view of FIG. It is a principal part disassembled perspective view of the side brush in FIG. It is operation | movement explanatory drawing of the self-propelled cleaning robot provided with the conventional side brass apparatus.

  Hereinafter, an embodiment of a self-propelled cleaning robot provided with a side brush device according to the present invention will be described with reference to the drawings.

(First embodiment)
A first embodiment will be described with reference to FIGS.

  1, 2, 3, and 4 are a schematic front view, a side view, a plan view, and a block diagram showing a circuit configuration of a self-propelled cleaning robot provided with a side brush device of the present invention.

  The cleaning robot 1 includes a bumper 3 made of an elastic member along the lower front surface of the robot body 2, and has a traveling device 10 and a cleaning device 20 disposed on the lower surface of the robot body 2.

  The traveling device 10 is provided on the left and right of the center position in the front-rear direction of the lower surface of the robot main body 2 and on the front and rear surfaces of the lower surface of the robot main body 2, and according to the traveling of the cleaning robot 1. A swingable front caster 12 and a rear caster 13 are provided. The left and right drive wheels 11L and 11R are respectively connected to drive motors 14L and 14R via reduction gears (not shown), and motor drivers are provided corresponding to the drive motors 14L and 14R, respectively. This motor driver controls the operation of the drive motors 14L and 14R based on a command signal from the cleaning unit controller 21 also serving as a travel control means. The traveling steering of the cleaning robot 1 is performed based on a difference in rotational speed between the left and right drive wheels 11L and 11R, and the direction change is performed by rotating the left and right drive wheels 11L and 11R in reverse directions.

  In addition, obstacle sensors 15a and 15b for detecting obstacles in the front and left and right directions are provided at the front position of the robot body 2, and the azimuth sensors and the drive motors 14L and 14R are self-propelled. A distance sensor for measuring the travel distance of the cleaning robot 1 is provided. The detection signals from these distance sensors, obstacle sensors 15a and 15b, distance sensors, and direction sensors are sent to the cleaning unit controller 21.

  The cleaning unit controller 21 relates to a driving motor based on the presence or absence of obstacles detected by the obstacle sensors 15a and 15b, the travel distance calculated based on the detection signal from the distance sensor, the azimuth detected by the direction sensor, and the like. The command signal and the command signal related to the control of the cleaning device 20 are generated. A command signal related to the drive motor is given to the left and right motor drivers, and the motor driver controls the drive of the drive motors 14L and 14R.

  As shown in FIG. 4, the cleaning device 20 includes the cleaning unit controller 21, a cylindrical power brush 23 disposed under the cleaning robot 1 and driven to rotate by a power brush motor 22, and behind the power brush 23. A dust box (not shown) in which the suction port 24 is opened, side brush support devices 31L and 31R disposed on the left and right front portions of the robot body 2, and left and right ends of the side brush support devices 31L and 31R are supported on the left and right sides, respectively. Side brush devices 30L and 30R having side brushes 47L and 47R that are rotationally driven by side brush motors 46L and 46R are provided, and the dust box sucks dust and the like from the suction port 24 by a blower that is rotationally driven by the blower motor 25. Dust sucked from 24 in the dust box Stores.

  And while driving on the floor surface by driving wheels 11L and 11R that are rotationally driven according to a preset program, the rotating power brush 23 sweeps up dust on the floor surface and, if necessary, side brushes 47L and 47R. As a result, dust outside the cleaning area of the power brush 23 is swept into the cleaning area of the power brushes 47L and 47R. The dust swept up by the power brush 23 and the dust swept up by the side brushes 47L and 47R are sucked into the dust box from the suction port 24.

  Next, the side brush devices 30L and 30R will be described with reference to FIGS. The left and right side brush devices 30L and 30R have the same configuration, and the left side brush device 30L will be mainly described.

  5 is a front view of the main part of the cleaning robot 1 showing an outline of the side brush device 30L, FIG. 6 is a side view of the main part, FIG. 7 is an enlarged view of the VII part of FIG. 6, and FIG. It is.

  As shown in FIGS. 5 to 8, the frame 5 is disposed below the robot body 2. The frame 5 is formed in a substantially lattice shape by a plurality of vertical frames 6 extending in the front-rear direction and a plurality of horizontal frames 7 extending in the width direction, and the left and right driving wheels 11L, 11R and the front and rear casters are formed on the frame 5. The traveling devices 10 such as 12, 13 are mounted or supported. Further, the cleaning device controller 21, the power brush 23, the dust box, and the cleaning devices 20 such as the side brush devices 30L and 30R are mounted or supported.

  The side brush device 30L includes a side brush support device 31L and a frustoconical side brush 47L that is rotationally driven by a side brush motor 46L supported at the tip of the side brush support device 31L.

  The side brush support device 31L moves the base end portion up and down by the first swing shaft 32 extending in the width direction on the mounting bracket 8 attached to the end portion of the horizontal frame 7 of the frame 5 at the front portion of the robot body 2. A shaft-like lifting / lowering swinging member 33 extending in the forward direction and supported so as to be swingable in the direction, and a second swinging shaft 33 supported by the lifting / lowering swinging member 33 so as to be swingable in the width direction via the second swinging shaft 35. There is provided a swing support member having a first swing member 36 and a second swing member 41 supported by the first swing member 36 via a third swing shaft 40 so as to be swingable in the width direction.

  A shaft-like lifting / lowering swinging member 33 extending in the forward direction while supporting the base end portion so as to be swingable in the vertical direction by the first swinging shaft 32 is a downward swinging end restricting means supported by the horizontal frame 7. When the stopper bolt 34 is in contact with the up-and-down swing member 33, the lower moving end is adjusted.

  The first swinging member 36 has a base 37 that is supported by the lifting / lowering swinging member 33 so that its upper end is swingable in the width direction via the second swinging shaft 35, and a lower end of the base 37. The arm portion 38 has a rectangular cross-sectional shape extending obliquely forward so as to gradually move outward in the width direction as the proximal end is coupled to the front and moves forward. Further, a swing restriction bracket 39a that protrudes inward in the width direction from the base 37 is provided, and a stopper bolt 39b is provided at the tip of the swing restriction bracket 39a.

  The stopper bolt 39b abuts against the widthwise inner stopper 39c or the widthwise outer stopper 39d provided on the frame 5 to restrict the widthwise rocking end of the first rocking member 36 to the retracted position or the use position. First swing member swing end regulating means 39 is formed.

  A second rocking member 41 is supported at the tip of the arm portion 38 of the first rocking member 36 via a third rocking shaft 40 extending in the vertical direction so as to be rockable in the width direction. The second rocking member 41 has a top surface 41A and a bottom surface 41B serving as base ends at the upper end and the lower end of the mounting portion 41C serving as the distal end, and the lower surface and the lower surface of the upper surface portion 38A of the arm portion 38 of the first rocking member 36. The section 38 </ b> B extends along the upper surface of the portion 38 </ b> B and is connected to the third swing shaft 40 so as to be rotatable.

  Furthermore, the upper surface 41A and the lower surface 41B of the second oscillating member 41 pass through a stopper groove 42A that opens in a circular hole centered on the third oscillating shaft 40 and the stopper groove 42A so as to be movable. The second oscillating member oscillating end regulating means 42 constituted by a stopper shaft 42 </ b> B spanning between the upper surface portion 38 </ b> A and the lower surface portion 38 </ b> B of the arm portion 38 is provided at both ends. When the second swing member 41 swings outward in the width direction with respect to the arm portion 38 of the first swing member 36 around the third swing shaft 40, the outer end of the stopper groove 42A is the stopper shaft 42B. The second swinging member 41 is restricted to the use position where the second swinging member 41 swings outward, and when the second swinging member 41 swings inward in the width direction, the inner side of the stopper groove 42A. The end is in contact with the stopper shaft 42B, and is restricted to the retracted position that becomes the inwardly swinging end of the second swinging member 41 with respect to the first swinging member 36.

  The side brush motor cover 45 attached to the attachment portion 41C of the second swinging portion 41 has a rectangular top surface 45A, an attachment surface wall 45B bent downward from each peripheral edge of the top surface 45A, and a front surface facing the attachment surface wall 45B. The mounting surface wall 45 </ b> B is attached to the mounting portion 41 </ b> C of the second oscillating portion 41.

  A side brush motor 46L having a rotating shaft 46a extending substantially in the vertical direction is held in the side brush motor cover 45, and the side brush 47L is attached to the tip of the rotating shaft 46a of the side brush motor 46L. The side brush 47L includes a disc-shaped base 47A attached to the tip of the rotation shaft 46a and a linear brush material 47B planted in a truncated cone shape on the lower surface of the base 47A. As shown in FIG. 7, the side brush 47L is provided in such a manner that it is inclined at a predetermined angle forward in the traveling direction of the cleaning robot 1 in the grounded state, and the front portion of the side brush 47L is grounded. The side brush 47L is moved in the direction in which the front side in the traveling direction, which is grounded by the side brush motor 46L as indicated by an arrow R in FIG. It rotates in the direction of sweeping inward.

  A side brush bumper 48 formed in a U-shape is provided by an elastic material such as urethane foam covering the front and side outer circumferences of the peripheral wall 45C of the side brush motor cover 45. Between the side brush motor cover 45 and the side brush bumper 48, an impact detection sensor (not shown) composed of a piezoelectric element or the like for detecting the impact when a preset external force, that is, an impact load acts on the side brush bumper 48, is provided. Provide. When the impact sensor detects an impact greater than a predetermined value, the operation of the traveling device 10 and the cleaning device 20 is stopped.

  A use position where the side brush 47L is grounded to the floor surface G and a side brush moving means 50 which moves up from the floor surface G and moves to the retracted position are provided.

  The side brush moving means 50 is a cylinder motor 51 that is a traction actuator that is mounted on the frame 5 and has a lifting traction actuator that pulls and feeds the first traction cable 52 and a storage traction actuator that pulls and feeds the second traction cable 55. The first traction cable 52 and the second traction cable 55 are pulled and fed between the use position and the retracted position by the extension and contraction of the shaft portion 51a of the cylinder motor 51.

  The first traction cable 52 has a flexible cable guide and side brush that are connected to the shaft portion 51a of the cylinder motor 51 and have a distal end extending in the front-rear direction at the lower portion of the frame 5. The first swinging is carried out by the cable guide disposed in the width direction inward and above the support device 31 so as to extend in the vertical direction on the frame 5 so as to hang down inward in the width direction and from above. The vicinity of the proximal end of the arm portion 38 of the member 36 is suspended.

  When the first traction cable 52 is pulled to the retracted position by the cylinder motor 51, the side brush support device 31L swings upward about the first swing shaft 32, and the lift swing member 33 contacts the stopper bolt 34. As a result, the upward swing of the side brush support device 31 is restricted, and the first swing member 36 swings inward in the width direction around the second swing shaft 35 to stop the stopper bolt of the swing restriction bracket 39a. 39b abuts against the width direction stopper 39c and restricts to the retracted position where the first rocking member 36 becomes the widthwise inner rocking end.

  On the other hand, when the first traction cable 52 is extended to the use position by the cylinder motor 51, the side brush support device 31L suspended by the first traction cable 52 swings downward about the first swing shaft 32. And the raising / lowering rocking | swiveling member 33 contact | abuts to the stopper bolt 34, and regulates the side brush support apparatus 31L to a use position. Further, when the side brush 47L comes into contact with the floor G when the first traction cable 52 is extended to the use position, the traction cable 52 is slightly bent without the lift swing member 33 coming into contact with the stopper bolt 34, and the side brush 47 L grounding state can be maintained.

  As shown in FIGS. 5 to 8, a rotary bumper device 60 is provided between the side brush motor cover 45 and the side brush 47L. The rotary bumper device 60 is fixed to the lower surface of the side brush motor cover 45 through a bracket (not shown) and the like, and is a substantially horizontal disc-shaped base 61 that faces the floor surface that becomes the cleaning surface and the robot traveling surface. An annular rotary bumper 62 is provided on the outer periphery of 61 so as to be able to rotate substantially horizontally around the rotation axis 46a of the side brush motor 46L, that is, coaxially with the rotation center axis of the side brush 47L.

  The rotary bumper 62 rotatably supported coaxially with the rotation shaft 46a of the side brush motor 46L has an outer diameter of the side brush bumper 48 whose outer peripheral surface 62a is the tip of the swing support member and the side brush 47L. It is formed with a diameter larger than the outer diameter of the base 47A and smaller than the outer diameter of the tip end of the brush material 47B of the side brush 47L. It protrudes toward the direction. Further, a spring 63 serving as a rotation bumper position urging means for urging the rotation bumper 62 to the normal position is stretched between the side brush bumper 48 and the rotation bumper 62.

  In this way, by making the rotary bumper 62 smaller in diameter than the outer diameter of the tip of the brush material 47B of the side brush 47L and larger in diameter than the outer diameter of the side brush bumper 48, the rotation of the side brush 47L from the outer peripheral surface 62a of the rotary bumper 62 is increased. The tip of the brush material 47B protrudes outward, and the area of the floor G close to the obstacle can be cleaned without being affected by the rotary bumper 62.

  A left contact sensor 64L including an inner contact sensor 64La and an outer contact sensor 64Lb is provided at the front portion of the outer peripheral surface 62a of the rotary bumper 62. The inner contact sensor 64La is composed of a tape-like piezoelectric element or the like that continues inward from the outer position to the center in the width direction slightly from the center in the width direction of the rotary bumper 62 at the normal position. The outer peripheral surface 62a is constituted by a tape-like piezoelectric element or the like that continues outward in the width direction from a position that is slightly spaced from the outer end of the inner contact sensor 64La.

  When the inner contact sensor 64La contacts an obstacle or the like and detects contact, the detection signal is sent to the cleaning unit controller 21, and the cleaning unit controller 21 drives the drive motor on the left side from the rotational speed of the right drive motor 14R. Control is performed so that the rotational speed of 14L increases, that is, switching to the right-turning running state. As the cleaning robot 1 turns, contact of the inner contact sensor 64La with an obstacle or the like is avoided, and when the outer contact sensor 64Lb comes into contact with an obstacle or the like following the completion of the contact detection, the detection signal is sent to the cleaning unit controller 21. The left drive motor 14L and the right drive motor 14R are controlled in a normal cleaning state in which the rotation speeds are the same.

  On the other hand, when the contact detection by the inner contact sensor 64La reaches a predetermined time, the left and right drive motors 14L and 14R are stopped and the power brush motor 22, the blower motor 25, the side brush motors 46L and 46R, etc. are overloaded. To protect these motors.

  Similarly, a rotating bumper device 60 is also provided in the right side brush device 30R. Similarly, the rotary bumper device 60 also has a disk-like base 61 fixed to the lower surface of the side brush motor cover 45 via a bracket or the like, and a bearing on the base 61 so as to be coaxial with the rotation axis of the side brush motor 46R. A rotary bumper 62 is rotatably provided. Further, a spring 63 serving as a rotating bumper position urging means for urging the rotation of the rotating bumper 62 to the normal position is stretched between the side brush bumper 48 and the rotating bumper 62.

  A right contact sensor 64R including an inner contact sensor 64Ra and an outer contact sensor 64Rb is disposed at the front portion of the outer peripheral surface 62a of the rotary bumper 62. The inner contact sensor 64Ra is continuously arranged inward from the position slightly outside the center in the width direction of the rotary bumper 62 to the inside in the width direction, and the outer contact sensor 64Rb is arranged on the outer peripheral surface 62a of the rotary bumper 62. It arrange | positions continuously in the width direction outward from the position which separates a little clearance gap from the outer side edge of.

  When the inner contact sensor 64Ra comes into contact with an obstacle or the like and detects contact, the detection signal is sent to the cleaning unit controller 21. The cleaning unit controller 21 causes the control unit to control the right side of the rotational speed of the left driving motor 14L. The rotational speed of the drive motor 14R is largely controlled, that is, switched to the left turn running state. As the cleaning robot 1 turns, contact of an obstacle or the like of the inner contact sensor 46Ra is avoided, and when the outer contact sensor 64Rb contacts an obstacle or the like following the end of the contact detection, the detection signal is sent to the cleaning unit controller 21. It is controlled to a normal cleaning state in which the rotation speeds of the left and right drive motors 14L and 14R are the same.

  On the other hand, when the contact detection by the inner contact sensor 64Ra reaches a predetermined time set in advance, the left and right drive motors 14L and 14R are stopped and the power brush motor 22, the side brush motors 46L and 46R, the blower motor and the like are stopped.

  Next, an operation of the cleaning robot 1 including the left and right side brush devices 30L and 30R configured as described above will be described.

  FIG. 9 is a schematic explanatory view schematically showing the operation of the cleaning robot 1, and FIG. 10 is an operation explanatory view schematically showing the side brush device 30L.

  In normal cleaning, the cleaning robot 1 rotates a power brush while traveling on a predetermined system path in a cleaning area by drive wheels 11R and 11L that are rotationally driven by left and right drive motors 14L and 14R according to a preset program. 23, the dust on the floor surface G is swept up, and dust outside the cleaning area of the power brush 23 is swept into the cleaning area of the power brush 23 by the side brushes 47L and 47R as necessary. When the side brushes 47L and 47R for sucking and storing the dust swept up by the nozzle 23 and the dust swept by the side brushes 47L and 47R into the dust box from the suction port 24 are not required, the side brush motors 46L and 46R are used. With the rotational drive of the side brushes 47L and 47R stopped, Doburashi 47L, moves to the storing position 47R.

  The movement operation of the side brush device 30L to the retracted position of the side brush 47L is performed by pulling the first traction cable 52 and the second traction cable 55 from the use position to the retracted position by the cylinder motor 51, and the first brush of the side brush support device 31L. The swing member 36 swings upward about the first swing shaft 32 and is pulled up, swings about the second swing shaft 35 and is pulled inward in the width direction. As a result, the side brush support device 31L swings upward about the first swing shaft 32, the side brush 47L moves away from the grounding position, that is, the floor G, and the lift swing member 33 abuts against the stopper bolt 34. Ascending swing is regulated. Further, the first swing member 36 swings inward in the width direction around the second swing shaft 35 by the pulling inward in the width direction by the first pull cable 52 and is provided on the swing restriction bracket 39a. The stopper bolt 39b comes into contact with the widthwise inner stopper 39c and is regulated at the retracted position inward in the width direction of the first swing member 36.

  On the other hand, as the second traction cable 55 is pulled to the retracted position, the inner end in the vehicle width direction of the side brush motor cover 45 is pulled, and the second oscillating member 41 is centered on the third oscillating shaft 40. The inner end of the stopper groove 42A formed in the upper surface portion 41A and the lower surface portion 41B swings to the swing end that contacts the stopper shaft 42B and stops at the retracted position.

  As a result, the side brush 47L held by the side brush support device 31L moves away from the grounding position, and almost the entire range of the side brush motor cover 45 is stored on the lower surface of the robot body 2.

  Also in the side brush device 30R, the side brush 47R is separated from the ground position by the same operation, and the side brush motor cover 45 is almost entirely stored in the lower surface of the robot body 2.

  On the other hand, when cleaning the floor G using the side brushes 47L and 47R, the cylinder motor 51 of the side brush moving means 50 of the side brush device 30L feeds the first traction cable 52 and the second traction cable 55 to the use position. As the first traction cable 52 is fed out, it swings downward by the weight of the side brush support device 31L, side brush motor 46L, side brush 47L, etc. around the first swing shaft 32 and moves forward of the side brush 47L. The portion contacts the floor surface G, and swinging of the first swinging member 36 around the second swinging shaft 35 is allowed. On the other hand, as the second traction cable 55 is extended, the second swing member 41 is allowed to swing around the third swing shaft 40. Also in the side brush device 30R, the front portion of the side brush 47R moves to a use position where the side brush device 30R contacts the floor surface G by the same operation.

  Thus, when the side brush 47L is rotationally driven in a state in which the front portion of the side brush 47L is in contact with the floor G with a predetermined ground load due to the weight of the side brush support device 31L and the side brush 47L, the rotating side brush 47L is rotated. Each side brush motor cover 45 that supports the side brush motor 46L is urged outward in the width direction along with the reaction force from the floor surface G acting on the second swing member 41, and the second swing member 41 causes the third swing shaft 40 to move. The second rocking member with respect to the first rocking member 36 is rocked outward in the width direction as a center and the outer ends of the stopper grooves 42A formed in the upper surface portion 41A and the upper surface portion 41B abut against the stopper shaft 42B. The relative swing of 41 is restricted. The second swinging member 41 and the first swinging member 36 are integrally formed by the urging outward of the side brush motor cover 45 in the width direction due to the reaction force from the floor G acting on the side brush 47L. 2 A stopper bolt 39b provided on a swing restricting bracket 39a that swings outward in the width direction around the swing shaft 35 and is connected to the first swing member 36 and swings is formed on the outer stopper 39d in the width direction. The rocking of the first rocking member 36 is restricted by contacting. Accordingly, the first swing member 36 and the second swing member 41 are prevented from swinging outward in the width direction, and the side brush 47L is held in the normal use position.

  Similarly, in the side brush device 30R, the reaction force from the floor surface G acting on the rotating side brush 47R is driven by rotating the side brush 47R in a state where the front portion of the side brush 47R is in contact with the floor surface G. Accordingly, the side brush 47R is held at the normal use position.

  While the side brush 47 is held in the normal use position in the normal use position, the power brush 23 is rotated on the floor G with the rotating power brush 23 while autonomously running by the drive wheels 11L and 11R that are driven to rotate according to a preset program. The side brushes 47L and 47R sweep the dust outside the cleaning area of the power brush 23 to the inside, that is, the cleaning area of the power brush 23, and the dust and the side brush swept up by the power brush 23. The dust swept by 47L and 47R is sucked into the dust box from the suction port 24.

  Here, when cleaning the wall along the wall surface, which is a straight obstacle, the traveling robot 1 is set at a predetermined distance from the wall surface based on detection of the wall surface by the obstacle sensors 15a, 15b, etc. The vehicle travels along the wall surface 101 separated by L. Then, dust on the wall is swept into the cleaning area of the power brush 23 by the rotation of the side brush 47L.

  Further, the cleaning robot 1 is too close to the wall, and the side brush 47L or the rotating bumper 62 comes into contact with the wall surface or an obstacle, and the floor G acting on the side brush 47L rotating with respect to the side brush 47L or the rotating bumper 62 is used. When an external force equal to or greater than the urging force to the outer side in the width direction due to the reaction force is applied, the side brush 47L and the rotary bumper 62 are cleaned around the third swing shaft 40 together with the side brush motor cover 45 and the second swing member 41. The robot 1 rotates inward in the width direction.

  When the force applied to the side brush 47L or the rotating bumper 62, that is, the external force, becomes smaller than the urging force from the floor surface G acting on the rotating side brush 47 to the outer side in the width direction by the reaction force, it acts on the rotating side brush 47L. By the reaction force from the floor surface G to be moved, the side brush motor cover 45 and the second swinging member 41 are swung around the third swinging shaft 40 until the outer end of the stopper groove 42A comes into contact with the stopper shaft 42B. Return to the use position.

  Therefore, even if the side brush 47L or the rotary bumper 62 contacts the wall surface or other obstacles, excessive force is prevented from being applied to the side brush 47L or the rotary bumper 62, and the side brush 47L or the rotary bumper 62 is supported. Damage to the side brush support device 31L is reliably avoided. Further, damage to the wall surface and obstacles caused by the contact of the side brush 47L and the side brush bumper 48 can be prevented.

  As a result, the cleaning operation can be performed in a state where the cleaning robot 1 is brought near the wall without considering the damage of the side brush 47L, the side brush support device 31 and the like, and a good cleaning state can be secured.

  On the other hand, for example, as schematically shown in FIG. 11, a rectangular shape is formed by stepped portions 102 a and 102 b and a wall portion 102 c formed by bending the wall portion 101 so that the pull-in portion 102 of the door 105 is substantially orthogonal to the wall surface 101. The cleaning robot 1 that runs while maintaining a predetermined separation distance L from the wall surface 101 based on the detection of the wall surface 101 by the obstacle sensors 15a, 15b, etc. There is a concern that the side brush device 30L meandering toward the wall 102c side of the portion 102 and protruding from the robot body 2 may come into contact with the stepped portion 102b.

  Here, when the outer range from the center in the width direction of the rotating bumper 62 of the side brush device 30L comes into contact with the stepped portion 102b of the retracting portion 102 and the corner portion a of the wall surface 101, the rotating cleaning bumper 62 is moved by the traveling cleaning robot 1. Is applied to the corner a, and the rotary bumper 62 guides the side brush device 30L away from the wall surface 101 while rotating along the outer periphery of the base 61 provided at the tip of the side brush support device 31L. Contact between the brush device 30L and the wall surface 101 is avoided. Thereafter, the cleaning robot 1 again controls the normal cleaning that travels while maintaining a predetermined distance L from the wall surface 101 based on the detection of the wall surface 101 and the like by the obstacle sensors 15a and 15b.

  The cleaning robot 1 meanders greatly toward the wall 102c side of the retracting portion 102 at the retracting portion 102, and the left contact sensor 64L provided at the front portion of the rotating bumper 62 of the side brush device 30L protruding from the robot body 2 retracts. When contact is made with the step 102b of the part 102, a contact avoidance process of turning the cleaning robot 1 to avoid contact between the side brush device 30L and the step 102 of the retracting part 102 based on contact detection of the left contact sensor 64L. Execute.

  This contact avoidance process will be described with reference to a block diagram showing the circuit configuration shown in FIG. 4, an operation explanatory diagram shown in FIG. 12, and a flowchart of the contact avoidance operation shown in FIG.

  The cleaning robot 1 cleans the floor G while running along the wall surface 101 by drive wheels 11L and 11R that are rotationally driven according to a preset program, meandering to the wall 102c side of the retracting portion 102 As shown in FIG. 12A, the rotary bumper 62 provided at the tip of the side brush support device 31L protruding from the robot body 2 approaches the stepped portion 102b, and as shown in FIG. 12B, the side brush 47L is moved to the stepped portion 12b. When the inner sensor 64La attached to the rotary bumper 62 contacts the step 102b, the cleaning controller 21 determines whether or not the left contact sensor 64L or the right contact sensor 64R has detected (step S201). If there is a detection (in the case of Y), it is determined whether or not the detection is a detection by the left contact sensor 64L (step S202).

  If detected in step S202 (in the case of Y), the cleaning controller 21 sets the rotation speed of the left drive motor 14L to be larger than the rotation speed of the right drive motor 14R (step S203). As a result, the rotation speed of the left drive wheel 11L is greater than the rotation speed of the right drive wheel 11R, and the cleaning robot 1 is urged in the right turn state, that is, in the direction in which the rotary bumper 62 is pulled out from the step portion 102b.

  Determination of presence or absence of detection by the inner contact sensor 64La of the left contact sensor 64L and the inner contact sensor 64Ra of the right contact sensor 64R is started (step S204). If detected in step S204 (in the case of Y), the cleaning controller 21 starts a counter and counts the elapsed time T (step S205), and determines whether the elapsed time T exceeds a preset predetermined time T1 (step S205). Step S206).

  If it is determined in step S206 that the elapsed time T is within the predetermined time T1 (in the case of N), it is determined in step S204 whether detection is performed by the inner contact sensor 64La of the left contact sensor 64L and the inner contact sensor 64Ra of the right contact sensor 64R.

  On the other hand, in the cleaning robot 1 in which the rotary bumper 62 supported by the left side brush support device 31L is in contact with the stepped portion 102b, the rotation speed of the right drive wheel 11R is higher than the rotation speed of the left drive wheel 11L in step S203. The left side brush support device 31L swings toward the wall surface 101 as the cleaning robot 1 turns right as the cleaning robot 1 turns right, and the rotary bumper 62 is stepped as shown in FIG. The part 102b gradually moves in the direction of pulling out from the wall surface 101 side, that is, the step part 102b. When the rotary bumper 62 moves on the stepped portion 102b and the front end thereof exceeds the corner portion a between the stepped portion 102a and the wall surface 101, the inner contact sensor 64La is separated from the stepped portion 102a and is not detected in step S204 (N In this case, the front end of the rotary bumper 62 has come out of the corner a.

  If the determination in step S204 is N, the cleaning controller 61 starts determining whether or not there is detection by the outer contact sensor 64Lb of the left contact sensor 64L and the outer contact sensor 64Ra of the right contact sensor 64R (step S207). If there is a detection in step S207 (in the case of Y), the rotary bumper 62 moves along the step 102b as the cleaning robot 1 turns, and the outer contact sensor 64Lb contacts the corner a. If detected in step S207 (in the case of Y), the cleaning controller 21 starts a counter and counts the elapsed time T (step S208), and determines whether this elapsed time T exceeds a preset predetermined time T1 (step S209). ).

  When it is determined in step S209 that the elapsed time T is within the predetermined time T1 (in the case of N), in step S207, it is determined whether or not the outer contact sensor 64Lb of the left contact sensor 64L and the outer contact sensor 64Rb of the right contact sensor 64R are detected. To do.

  As the cleaning robot 1 turns to the right, the left side brush support device 31L swings and the rotary bumper 62 moves away from the step 102b and the corner a of the wall surface 101 as shown in FIG. When the brush 47L exits the corner portion a, the outer contact sensor 64Lb moves away from the corner portion a and is not detected in step S207 (becomes N). If there is no detection in step 207 (in the case of N), the routine returns to the normal cleaning control (step S210), and the side brush 47L escapes from the stepped portion 102b as shown in FIG. Execute.

  On the other hand, when it is determined in step S206 that the elapsed time T exceeds the preset predetermined time T1 (in the case of Y), the rotary bumper 62 comes into contact with the stepped portion 102b and the side brush device 30L can come out of the stepped portion 102b. In the cleaning control 21, the left and right drive motors 14L and 14R are stopped, and the power brush motor 22, the blower motor 25, and the side brush motors 46L and 46R are stopped (step S211). Cancel. This prevents wear due to overloading of the power brush motor 22, the blower motor 25, and the side brush motors 46L and 46R.

  Similarly, when it is determined in step S209 that the elapsed time T exceeds the preset predetermined time T1 (in the case of Y), the rotary bumper 62 contacts the step portion 102b and the side brush device 30L moves from the step portion 102b. The state where it cannot be removed continues, and the left and right drive motors 14L and 14R are stopped, and the power brush motor 22, the blower motor 25, and the side brush motors 46L and 46R are stopped (step S211), and the cleaning operation is stopped. . This prevents wear due to overloading of the power brush motor 22, the blower motor 25, and the side brush motors 46L and 46R.

  As a result, for example, as shown in FIGS. 14A and 14B, the rotational speed of the left drive motor 14L is set to be larger than the rotational speed of the right drive motor 14R, and the cleaning robot 1 is rotated clockwise. Even when the rotating bumper 62 is energized in the direction of being pulled out of the stepped portion 102b, the side brush 47L, the side brush support device 31L, etc. are not damaged, and the traveling cleaning robot 1 can be safely operated. Can be stopped.

  Also, when the rotary bumper 62 of the rotary bumper device 60 provided at the tip of the right side brush support device 31R protruding from the robot body 2 comes into contact with the stepped portion or the like during the cleaning of the floor G by the cleaning robot 1, the same as above. In step 202, it is determined that the left contact sensor is not detected (in the case of N), and in step S204, the cleaning controller 21 sets the rotation speed of the right drive motor 14R to a higher rotation speed of the left drive motor 14R. Hereinafter, although detailed explanation is omitted, each step is executed in the same manner as described above.

  Therefore, during the cleaning operation by the self-propelled cleaning device 1, when the rotary bumper 62 disposed at the tip of the side brushes 47L, 47R or the side brush support devices 31L, 31R comes into contact with the wall surface or other obstacles, the contact is made. In this case, the traveling robot 1 is turned so that the side brush devices 30L and 30R such as the side brushes 47L and 47R and the side brush support devices 31L and 31R are separated from the obstacles from the wall surface and the obstacles, and the cleaning operation by the normal control is continued. can do.

  Further, it is possible to prevent an excessive force from being applied to the side brush devices 30L and 30R from an obstacle or the like, and it is possible to reliably avoid damage to the side brush devices 30L and 30R.

  In the above description, the case where a side brush or the like is in contact with the stepped portion 102b formed on the wall surface 101 has been described as an example. However, even when it comes into contact with other obstacles, damage to the side brush device or the like is prevented by the same operation. can do.

  According to the present embodiment, even if the side brush collides with an obstacle or a wall surface, the side brush device or the like is not damaged, and smooth floor cleaning can be obtained.

(Second Embodiment)
Next, a second embodiment will be described with reference to FIGS. The present embodiment is different from the first embodiment in the rotating bumper device, and other configurations are the same as those in the first embodiment, and the rotating bumper device will be mainly described. Note that a similar rotary bumper device is also provided in the side brush device 30R, but only the side brush device 30L will be described for the sake of simplicity. Also, in FIG. 15 to FIG. 17, the same reference numerals are given to the components corresponding to those in FIG. 1 to FIG.

  15 is a partial cross-sectional side view of the side brush support device showing an outline of the present embodiment, FIG. 16 is an enlarged view of the XVI portion of FIG. 15, and FIG. 17 is an exploded perspective view showing an outline of the rotary bumper device 70.

  The rotary bumper device 70 of the present embodiment is fixed to the lower surface of the side brush motor cover 45 via a bracket (not shown) and the like, and is substantially horizontal and faces the floor surface that becomes the cleaning surface and the robot traveling surface. A disk-shaped base 71 having an upper surface 71a and a lower surface 71b centered on the same axis as the rotation center axis, and is supported along the outer periphery of the base 71 so as to be rotatable substantially horizontally on the same axis as the rotation center axis of the side brush 47. An annular rotary bumper 75 is provided.

  As shown in FIGS. 16 and 17, on the outer periphery of the disk-shaped base portion 71, a cylindrical circumferential inner support surface 72 a that is coaxial with the rotation center axis extending downward from the upper surface 71 a of the base portion 71 is provided. An annular planar upper support surface 72b extending outward from the lower end edge of the surface 72a perpendicular to the rotation center axis, and a cylindrical circumferential surface coaxial with the rotation center axis extending downward from the outer periphery of the upper support surface 72b The outer support surface 72c of the outer periphery of the outer support surface 72c has an annular flat lower support surface 72d that extends inward from the lower end edge of the outer support surface 72c in a direction orthogonal to the rotation axis center line and continues to the lower surface 71b of the base 71. An annular support portion 72 protruding in shape is formed.

  The rotary bumper 75 is constituted by a bumper body 76 and a holding member 78 made of a resin excellent in self-lubricity, for example, MC nylon.

  The bumper body 76 has an annular shape including an upper surface 76a, a lower surface 76b, an outer peripheral surface 76c, and an inner peripheral surface 76d having the same plate thickness as the base 71. The inner peripheral surface 76d extends downward from the inner peripheral edge of the upper surface 76a and has a cylindrical inner surface that is coaxial with the rotation center axis that can be fitted to the inner support surface 72a of the base 71 with a gap. 80a and an annular flat surface having an outer diameter extending from the lower end edge of the inner sliding contact surface 80a to the outer side perpendicular to the rotation center axis is slightly larger than the outer diameter of the outer supporting surface 72c, and slides in the axial direction on the upper supporting surface 72b. A contactable upper slidable contact surface 80b, and a cylindrical inner surface that is coaxial with a rotation center axis extending downward from the outer peripheral edge of the upper slidable contact surface 80b and having a gap in the outer support surface 72c. It has an outer sliding contact surface 80c reaching the inner peripheral edge of 76b. Further, a plurality of through holes 77 reaching the lower surface 76b from the upper surface 76a are perforated at equal intervals along the outer peripheral surface 76c in the circumferential direction.

  The holding member 78 has an upper surface 78a and a lower surface 78b that can be in contact with the lower surface 76b of the rotary bumper body 76, and an outer peripheral surface 78c and an inner peripheral surface 78d having the same diameter as the outer peripheral surface 76c and the inner sliding contact surface 80a of the bumper main body 76, respectively. The upper surface 78a has the same diameter as the outer slidable contact surface 80c of the bumper body 76 and extends inwardly from the lower end edge of the annular outer slidable contact surface 80d and the outer slidable contact surface 80d. Thus, a lower slidable contact surface 80e is formed which has an annular flat shape reaching the upper end edge of the inner peripheral surface 78d and is slidable in the axial direction on the lower support surface 72d. Further, a plurality of screw holes 79 extending from the upper surface 78a to the lower surface 78b corresponding to the through holes 77 formed in the rotary bumper main body 76 are perforated at equal intervals along the outer peripheral surface 78c.

  The bumper main body 76 configured in this way is connected to the outer periphery of the base 71 from the upper surface 71a side of the base 71 to the inner support surface 72a, upper support surface 72b, and outer support surface 72c of the base 71, respectively. While the contact surface 80b and the outer sliding contact surface 80c are fitted to face each other, the upper surface 78a of the holding member 78 is brought into contact with the lower surface 76b of the bumper body 76 from the lower surface 76b side of the base 71 and the through holes 77 and the screws are mutually connected. The holes 79 are relatively positioned.

  In this state, bolts 81 are inserted from the through holes 77 of the bumper body 76 and screwed into the screw holes 79 of the holding member 78 to fasten the bumper body 76 and the holding member 78 as shown in FIGS. Thus, the rotary bumper 75 is formed.

  The rotary bumper 75 configured in this way is formed by an upper support surface 72 formed on the outer periphery of the base portion 71 by an upper slide contact surface 80b, an outer slide contact surface 80c, and a lower slide contact surface 80e. A ring-shaped sandwiching portion 80 is formed, and the support portion 72 formed along the outer periphery of the base portion 71 is sandwiched from above and below by the sandwiching portion 80, and the upper sliding contact surface 80b of the sandwiching portion 80 and the support portion The upper support surface 72b of 72 is opposed so as to be slidable in the axial direction with a gap a, and the lower slidable contact surface 80e and the lower support surface 72d are opposed to each other with a gap b so as to be slidable in the axial direction. To do. Further, the inner sliding contact surface 80a and the inner support surface 72a are opposed to each other with a gap c, and the outer sliding contact surfaces 80 and 80d and the outer support surface 72c are opposed to each other with a gap d.

  Accordingly, the sliding contact in the axial direction between the upper sliding contact surface 80b of the clamping unit 80 and the upper support surface 72b of the supporting unit 72 and the sliding contact in the axial direction between the lower sliding contact surface 80e and the lower supporting surface 72d are performed. The range of movement of the rotating bumper 75 relative to the base 71 is restricted in the axial direction, and the rotating bumper 75 is held along the outer periphery of the base 71 so as to be rotatable substantially horizontally on the same axis as the rotation center axis of the side brush 47.

  Further, the outer peripheral surfaces 76c and 78c of the bumper body 76 and the holding member 78 serve as contact surfaces with obstacles, and the outer peripheral surfaces 76c and 78c serve as the distal end portion of the swing support member. The front end and the side part range of the rotary bumper 62 are formed in front of the side brush bumper 48 in a plan view, which is larger than the outer diameter of the base 47A of the 47L and smaller than the outer diameter of the tip of the brush material 47B of the side brush 47L. And projecting laterally.

  By providing such a rotating bumper device 70, when the side brush 47L or the rotating bumper 75 comes into contact with the wall surface or other obstacles as in the first embodiment, the rotating bumper 75 presses against the obstacles. Then, the side brush device 30L is guided by the rotating bumper 57 in a direction away from the obstacle. Thereby, contact with side brush device 30L and an obstacle is avoided, and cleaning work can be continued smoothly. Further, the rotary bumper 75 is formed to have a diameter larger than the outer diameter of the side brush bumper 48 and the outer diameter of the base 47A of the side brush 47L and smaller than the outer diameter of the tip of the brush material 47B of the side brush 47L. It is possible to prevent the side brush motor 46L and the side brush device 30 from being damaged while ensuring the cleaning operation of the floor surface close to the obstacle by 47L.

  Further, the rotary damper device 70 is formed so as to be annularly continuous along the outer periphery of the base 71, the support 72 is covered by the clamp 80 of the rotary bumper 75, and the clamp 80 formed on the rotary bumper 75 is provided. Since the rotary bumper 75 is slidably fitted and rotated on the support portion 72 in a contact state, dust or the like is generated in the gap between the support portion 72 formed on the base 71 and the sandwiching portion 80 of the rotary bumper 75. The cleaning operation can be smoothly continued without intrusion or the invasion of dust or the like is significantly suppressed and the rotation operation is not hindered by the rotation bumper 75 due to dust or the like. For example, when a rotating bumper is supported by interposing a bearing member such as a ball bearing on the outer periphery of the base, dust or the like enters a gap between the outer race, inner race, and ball of the ball bearing and the rotating bumper rotates. There is a concern that the frequency of maintenance may increase.

  Further, the rotary bumper 75 is assembled so that the bumper main body 76 and the holding member 78 can be disassembled by bolts 81, and the upper sliding contact surface 80b on the side of the bumper main body 76 that forms the clamping portion 80 by disassembling and the holding member 78 side. The lower slidable contact surface 80e is separated and can be easily detached from the base 71, and the upper slidable contact surface 80b on the side of the bumper body 76 that forms the clamping portion 80 by assembling and the lower slidable surface on the holding member 78 side. The support portion 72 is sandwiched from the axial direction with a gap by the contact surface 80e and can be easily attached to the base portion 71, and maintenance such as dust removal and replacement of the rotating bumper 75 can be easily performed. Further, coupled with the fact that a bearing is not required and the configuration is simple, a reduction in manufacturing and maintenance costs can be expected.

DESCRIPTION OF SYMBOLS 1 Cleaning robot 2 Robot main body 10 Traveling device 11R, 11L Drive wheel 14R, 14L Drive motor 20 Cleaning device 21 Cleaning part controller 22 Power brush motor 23 Power brush 25 Blower motor 30R, 30L Side brush device 31R, 31L Side brush support device 36 First swing member 37 Base 41 Second swing member 41C Mounting portion 45 Side brush motor covers 46R, 46L Side brush motor 46a Rotating shaft 47R, 47L Side brush 47A Base 47B Brush material 48 Side brush bumper (of side brush support device) Tip)
60 Rotating bumper device 61 Base 62 Rotating bumper 62a Outer peripheral surface 63 Spring (Rotating bumper position biasing means)
64L Left contact sensor 64La Inner contact sensor 64Lb Outer contact sensor 64R Right contact sensor 64Ra Inner contact sensor 64Rb Outer contact sensor 70 Rotating bumper device 71 Base 72 Supporting portion 73 Rotating bumper 75 Rotating bumper 76 Bumper body 78 Holding member 80 Holding portion 81 Bolt 101 Wall surface (obstacle)
102 Pull-in part 102a, 102b Step part (obstacle)

Claims (8)

A robot body provided with a traveling device, and a floor surface which is supported by the lower surface of the robot body and supported by the front end portion of the side brush support device which protrudes outward in the width direction from the robot body and is rotated forward. In a self-propelled cleaning robot provided with a side brush device having a side brush that sweeps the dust inward in the width direction of the robot body,
In the side brush support device, a base portion is supported by a lower portion of a robot body so as to be swingable in a vertical direction and a width direction, and extends forward, and supports a side brush that is rotationally driven by a side brush motor at the tip portion. A swing support member;
Between the rocking support member and the side brush, the diameter of the brush material of the side brush is smaller than the outer diameter of the tip and larger than the outer diameter of the tip of the rocking support member, and can rotate substantially parallel to the robot traveling surface. A self-propelled cleaning robot provided with a side brush device, characterized in that a rotary bumper device having a rotating bumper is provided.   The self-propelled cleaning robot provided with the side brush device according to claim 1, wherein the rotary bumper is rotatably arranged coaxially with the side brush rotation center axis.   The rotating bumper is disposed rotatably on the same axis as the rotation center axis of the side brush, and includes a contact sensor that detects contact with an obstacle on an outer peripheral surface, and the contact sensor includes the rotating bumper and the obstacle. The self-propelled cleaning robot provided with the side brush device according to claim 1, wherein the traveling device is controlled when contact with the vehicle is detected.   The side brush device according to claim 3, further comprising a traveling control unit that stops traveling by the traveling device when the contact sensor detects contact between the rotating bumper and an obstacle. Self-propelled cleaning robot. The traveling device includes left and right drive wheels driven by left and right drive motors provided on the left and right with respect to the traveling direction,
When the side brush device is provided on at least one of the left and right sides with respect to the traveling direction, and the contact sensor of the one side brush device detects contact, the number of rotations of the driving motor on the one side is set to the rotation of the other driving motor. The self-propelled cleaning robot provided with the side brush device according to claim 3, wherein the self-propelled cleaning robot is larger than the number. The rotary bumper device includes a disk-shaped base fixed to a swing support member around the same axis as the side brush rotation center axis;
The tip end portion of the swing support member is an annular shape that is supported on the outer periphery of the base portion so as to be axially slidable around the rotation center axis of the side brush and is smaller in diameter than the brush member tip outer diameter of the side brush. The self-propelled cleaning robot provided with the side brush device according to claim 1, further comprising a rotary bumper having an outer peripheral surface having a diameter larger than an outer diameter. The base includes a support portion protruding in an annular shape extending along the outer periphery,
The self-propelled type provided with the side brush device according to claim 6, wherein the rotary bumper includes a holding part that holds the support part in the axial direction with a gap along an inner peripheral surface. Cleaning robot.   The self-propelled type provided with the side brush device according to claim 7, wherein the rotary bumper includes a bumper body and a holding member that can be detachably assembled from the support portion of the base portion. Cleaning robot.

Images