JP2016039993A - Self-propelled vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner which prevents failure as well as a decrease in cleaning efficiency.SOLUTION: A self-propelled vacuum cleaner comprises: a self-propelled housing having a suction port on the undersurface; and a side brush provided on the bottom face of the housing so as to be rotatable around a shaft center perpendicular to the bottom face of the housing. A recess is formed at a side brush attachment position in the bottom face of the housing and a rotary shaft is protruded from the recess. The side brush includes: a brush base having a cylindrical part and attached detachably to the rotary shaft by fitting the cylindrical part into the rotary shaft; and a brush bundle provided in the brush base. The recess is formed in a size which stores up to the outer peripheral part of the brush base. A gap having an S-shaped, U-shaped, or L-shaped cross-sectional shape is formed between the recess of the housing and the brush base attached to the rotary shaft and over the entire circumference of the periphery of the rotary shaft.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a self-propelled cleaner. More specifically, the present invention relates to a self-propelled cleaner provided with a side brush on the bottom surface of a housing.

  As a self-propelled cleaner for cleaning dust such as a floor surface, Patent Document 1 includes a self-propelled casing having a suction port on a lower surface, a main brush provided rotatably on the suction port, There has been proposed a self-propelled cleaner provided with a pair of left and right side brushes provided to be rotatable forward of the main brush on the lower surface of the housing.

  The side brush of the self-propelled cleaner includes a support bracket that is attached to the rotating shaft of the side brush motor. The support bracket has a columnar attachment portion attached to the rotating shaft of the side brush motor, a substantially disc-shaped support plate in which the brush hairs are implanted, and a tapered outer peripheral surface provided on the lower surface of the support plate. It is comprised from the auxiliary member. The mounting portion, the support plate, and the auxiliary member are integrally formed by resin molding. The bristle is planted so as to extend in an annular shape and obliquely downward with respect to the tapered surface formed at the peripheral edge of the support plate. As for an auxiliary member, the said taper outer peripheral surface is arrange | positioned along the direction where a bristle extends.

  During the cleaning operation of the self-propelled cleaner, the side brush is driven by the side brush motor and rotates in the horizontal direction. At this time, when the bristle is bent inward by fitting the bristle into the concave portion of the floor surface, the bristle comes into contact with the tapered outer peripheral surface of the auxiliary member. When a force that further causes the brush hair to bend inward is applied, the brush hair is bounced off to the opposite side (outside of the auxiliary member) due to the elasticity of the brush hair. As a result, it is possible to prevent the brush bristle from having large wrinkles and to maintain the dust sweeping ability of the bristle.

JP 2006-280506 A

In the side brush of the self-propelled cleaner, the upper surface of the support plate of the support bracket is a flat surface, and the bottom surface of the cleaner body to which the side brush is attached is also a flat surface. Such ultra fine fibers are easy to enter. A representative example of this ultrafine fiber is hair (particularly long hair).
Therefore, during the cleaning operation of the self-propelled vacuum cleaner, the hair that has entered the flat gap between the side brush support bracket and the bottom surface of the vacuum cleaner body wraps around the rotating mounting part, and the number of hairs wrapped around the mounting part If this increases, rotation of the side brush is hindered. As a result, there arises a problem that an excessive load is applied to the side brush motor to cause a failure or a shortened life, and the cleaning efficiency is lowered.

  The present invention has been made in view of the above circumstances, and provides a self-propelled cleaner that prevents a failure and a decrease in cleaning efficiency.

Thus, according to the present invention, a self-propelled housing having a suction port on the lower surface and a side brush provided on the bottom surface of the housing so as to be rotatable about an axis perpendicular to the bottom surface of the housing are provided. A concave portion is formed at the side brush mounting position on the bottom surface of the housing, and a rotation shaft projects from the concave portion. The side brush has a tubular portion, and the rotational shaft is disposed on the tubular portion. It has a brush base that is fitted and detachably attached, and a brush bundle provided on the brush base, and the recess is sized to be accommodated up to the outer periphery of the brush base. A gap having a S-shaped, U-shaped or L-shaped cross section is formed between the concave portion of the housing and the brush base attached to the rotating shaft and over the entire circumference around the rotating shaft. A self-propelled vacuum cleaner is provided.

The self-propelled cleaner of the present invention may be configured as follows.
(1) The clearance gap between the bottom face of a housing | casing and the brush base attached to the rotating shaft may be formed over the perimeter of the periphery of a rotating shaft.

(2) At least one of the first annular convex portion and the first annular concave portion is provided concentrically with the axis of the rotation shaft at the side brush mounting position on the bottom surface of the housing,
Is the second annular recess close to the surface of the brush base that faces the bottom surface of the housing so as to fit the first annular protrusion, and the side wall portion inside or outside the first annular protrusion? Or at least one may be provided among the 2nd annular convex parts which adjoin so that it may fit in the 1st annular concave part.

(3) A first annular convex portion and a first annular concave portion are provided concentrically with the axis of the rotation shaft at the side brush mounting position on the bottom surface of the housing,
A second annular concave portion adjacent to the first annular convex portion and a second annular convex portion adjacent to the first annular convex portion on a surface of the brush base facing the bottom surface of the housing. And at least one of them may be provided.

(4) A first annular convex portion is provided concentrically with the axis of the rotation shaft at the side brush mounting position on the bottom surface of the housing,
A second annular convex portion close to the inner or outer side wall portion of the first annular convex portion may be provided on a surface of the brush base that faces the bottom surface of the housing.

(5) The recessed part may be formed in the side brush attachment position in the bottom face of a housing | casing.

  According to the self-propelled cleaner of the present invention, during the cleaning operation, the hair on the floor surface is scraped by the rotating side brush, and at that time, even if the tip of the hair may enter the opening of the gap, Since the cross-sectional shape of the gap is bent into an S shape, a U shape, or an L shape, it is difficult for the tip of the hair to pass through the gap. As a result, hair is wound around the rotation shaft and the rotation of the side brush is prevented, so that an excessive load is prevented from being applied to the motor that rotationally drives the side brush, and a reduction in cleaning efficiency is prevented. This effect is most effective in the order of the S-shaped gap in cross-sectional shape, followed by the U-shaped gap and the L-shaped gap. This effect can be obtained not only for hair but also for ultrafine fibers such as animal hair and yarn fiber waste.

In addition, according to the configuration (1), since the gap having the S-shaped, U-shaped or L-shaped cross section is formed over the entire circumference around the rotation shaft, the hair tip into the gap from any direction. Can be reliably prevented.
Further, according to the configurations (2) to (4), a gap having a S-shaped, U-shaped or L-shaped cross section is formed between the bottom surface of the housing and the brush base attached to the rotating shaft. be able to.

Further, according to the configuration (5), the tip of the ultrafine fiber such as hair enters between the concave portion of the side brush mounting position on the bottom surface of the housing and the portion housed in the concave portion of the brush base of the side brush. A difficult to bend gap is formed.

It is a perspective view of the self-propelled cleaner concerning an embodiment of the present invention. It is AA arrow sectional drawing of the self-propelled cleaner shown by FIG. It is the perspective view seen from the bottom face side of the self-propelled cleaner shown in FIG. FIG. 3 is a view corresponding to FIG. 2, showing a state where the lid of the housing is opened and the dust collecting unit is taken out. It is a block diagram which shows the electrical structure of the self-propelled cleaner shown by FIG. FIG. 4 is a view corresponding to FIG. 3 showing a state where a side brush is removed. It is a perspective view which shows Embodiment 1 of a side brush. It is a schematic sectional drawing which shows the attachment structure of the side brush of Embodiment 1. It is a schematic sectional drawing which shows the side brush of Embodiment 2, and its attachment structure. It is a schematic sectional drawing which shows the side brush of Embodiment 3, and its attachment structure. It is a schematic sectional drawing which shows the side brush of Embodiment 4, and its attachment structure. It is a schematic sectional drawing which shows the side brush of Embodiment 5, and its attachment structure.

(Embodiment 1)
FIG. 1 is a perspective view of a self-propelled cleaner according to an embodiment of the present invention, FIG. 2 is a cross-sectional view of the self-propelled cleaner shown in FIG. 4 is a perspective view seen from the bottom side of the self-propelled cleaner shown in FIG. 4, FIG. 4 is a view corresponding to FIG. 2 showing a state where the lid of the housing is opened and the dust collecting part is taken out, FIG. It is a block diagram which shows the electrical structure of the self-propelled cleaner shown by FIG. Hereinafter, the “self-propelled cleaner” may be referred to as a “cleaning robot”.

The cleaning robot (self-propelled cleaner) 1 according to the present invention sucks air containing dust on the floor and exhausts the air from which the dust is removed while self-propelled on the floor where it is installed. It is a cleaning robot that cleans the floor surface.
The cleaning robot 1 includes a disk-shaped casing 2, and a rotating brush 9, a side brush 10, a dust collection box 30, an electric blower 22, a pair of driving wheels 29, and a rear wheel 26 are provided inside and outside the casing 2. Components such as a front wheel 27 and a control unit including various sensors are provided.
In this cleaning robot 1, the portion where the front wheel 27 is disposed is the front portion, the portion where the rear wheel 26 is disposed is the rear portion, and the portion where the dust collection box 30 is disposed is the intermediate portion.

  The housing 2 opens and closes when the dust collection box 30 is taken in and out of the housing 2 and the bottom plate 2a having a suction port 6 formed at a position near the boundary with the intermediate portion in the front portion. A top plate 2b having a lid portion 3 at an intermediate portion, and a bottom plate 2a and a side plate 2c having an annular shape in plan view provided along the outer periphery of the top plate 2b are provided. The bottom plate 2a is formed with a plurality of holes for projecting the lower portions of the front wheel 27, the pair of drive wheels 29 and the rear wheel 26 from the inside of the housing 2 to the outside, and the boundary between the front portion and the middle portion of the top plate 2b. An exhaust port 7 is formed in the vicinity. In addition, the side plate 2c is divided into two in the front and rear directions, and the front side portion of the side plate functions as a bumper.

  Further, as shown in FIG. 4, the housing 2 has a front storage chamber R <b> 1 that stores the motor unit 20, the electric blower 22, the ion generator 25 (see FIG. 5), and the like in the front portion. It has an intermediate storage chamber R2 for storing the dust collection box 30 in the part, and a rear storage chamber R3 for storing the control board 15, battery 14, charging terminal 4 and the like of the control part in the rear part, and the front part and the intermediate part. A suction passage 11 and an exhaust passage 12 are provided in the vicinity of the boundary. The suction path 11 communicates the suction port 6 and the intermediate storage chamber R2, and the exhaust path 12 communicates the intermediate storage chamber R2 and the front storage chamber R1. Each of the storage chambers R1, R2, R3, the suction path 11 and the exhaust path 12 is partitioned by a partition wall 39 provided inside the housing 2 and constituting these spaces.

The pair of drive wheels 29 are fixed to a pair of rotation shafts that intersect at right angles with the center line C passing through the center of the case 2 that is circular in plan view. When the pair of drive wheels 29 rotate in the same direction, the case 2 As the drive wheel 29 advances and retreats and the drive wheels 29 rotate in the opposite direction, the housing 2 rotates around the center line C.
The pair of rotating shafts are coupled so that rotational force can be obtained individually from a pair of motors (not shown), and each motor is fixed to the bottom plate 2a of the housing directly or via a suspension mechanism.

The front wheel 27 is made of a roller, contacts the step appearing on the path, and the bottom of the bottom plate 2a of the housing 2 so that the drive wheel 29 is slightly lifted from the floor F where the driving wheel 29 contacts the ground so that the housing 2 can easily get over the step. It is provided in the part so that rotation is possible.
The rear wheel 26 is a free wheel, and is rotatably provided on a part of the bottom plate 2a of the housing 2 so as to be in contact with the floor surface F to which the driving wheel 29 is grounded.
In this way, the pair of driving wheels 29 is arranged in the middle in the front-rear direction with respect to the housing 2, the front wheels 27 are lifted from the floor surface F, and the weight of the cleaning robot 1 can be supported by the pair of driving wheels 29 and the rear wheels 26. Thus, the weight is distributed to the housing 2 in the front-rear direction. Thereby, the dust in front of the course can be guided to the suction port 6 without being blocked by the front wheel 27.

  The suction port 6 is an open surface of the concave portion 8 formed on the bottom surface of the housing 2 (the lower surface of the bottom plate 2a) so as to face the floor surface F. A rotating brush 9 that rotates about a first axis parallel to the bottom surface of the housing 2 is provided in the recessed portion 8, and a second rotation perpendicular to the bottom surface of the housing 2 is provided on the left and right sides of the recessed portion 8. A side brush 10 that rotates about an axis is provided. The rotating brush 9 is formed by implanting a brush spirally on the outer peripheral surface of a roller that is a rotating shaft. The side brush 10 is formed by providing a brush bundle radially at the lower end of the rotating shaft. The rotating shaft of the rotating brush 9 and the rotating shaft of the pair of side brushes 10 are pivotally attached to a part of the bottom plate 2a of the housing 2 and include a motor unit 20 provided in the vicinity thereof, a pulley, a belt, and the like. They are independently connected via a transmission mechanism. The side brush 10 and its mounting structure will be described in detail later.

  As shown in FIG. 3, a floor surface detection sensor 13 for detecting the floor surface F is disposed between the bottom surface of the housing 2 and the front wheel 27, and a similar floor is disposed in front of the side portions of the left and right drive wheels 29. A surface detection sensor 19 is arranged. When the downstairs are detected by the floor surface detection sensor 13, the detection signal is transmitted to the control unit, and the control unit controls the drive wheels 29 to stop. Further, when the floor detection sensor 13 breaks down, the floor detection sensor 19 can detect the descending stair and stop both driving wheels 29, so that the cleaning robot 1 is prevented from falling to the descending stair. . Further, when the floor surface detection sensor 19 detects the descending staircase, the detection signal may be transmitted to the control unit, and the control unit may control the drive wheel 29 to travel avoiding the descending staircase.

The control board 15 is provided with a control circuit that controls each element of the cleaning robot 1 such as the driving wheel 29, the rotating brush 9, the side brush 10, and the electric blower 22.
A charging terminal 4 for charging the battery 14 is provided at the rear end of the side plate 2 c of the housing 2. The cleaning robot 1 that cleans the room while traveling by itself returns to the charging stand 40 installed in the room. Thereby, the charging terminal 4 contacts the terminal part 41 provided in the charging stand 40, and the battery 14 is charged. The charging stand 40 connected to a commercial power source (outlet) is usually installed along the side wall S in the room.
The battery 14 is charged from the charging stand 40 via the charging terminal 4 and supplies power to each element such as the control board 15, the drive wheel 29, the rotating brush 9, the side brush 10, the electric blower 22, and various sensors.

The dust collection box 30 is usually stored in the intermediate storage chamber R2 above the axis of the rotation shaft of the drive wheels 29 in the housing 2, and the dust collected in the dust collection box 30 is collected. When discarding, as shown in FIG. 4, the lid 3 of the housing 2 can be opened and the dust collection box 30 can be taken in and out.
The dust collection box 30 includes a dust collection container 31 having an opening, a filter unit 33 that covers the opening of the dust collection container 31, and a cover unit 32 that covers the filter 33 and the opening of the dust collection container 31. ing. The cover part 32 and the filter part 33 are pivotally supported by the opening edge of the front side of the dust collecting container 31 so that rotation is possible.
In the state where the dust collection box 30 is stored in the intermediate storage chamber R <b> 2 of the casing 2, the inflow path 34 that communicates with the suction path 11 of the casing 2 and the casing 2 are disposed at the front portion of the side wall of the dust collection container 31. An exhaust passage 35 communicating with the exhaust passage 12 is provided.

  As shown in FIG. 5, the control unit for controlling the operation of the entire cleaning robot 1 includes a control board 15 having a control circuit composed of a CPU 15a and other electronic components (not shown), and a storage unit for storing a travel map 18a. 18, a motor driver 22a for driving the electric blower 22, a motor driver 51a for driving the traveling motor 51 of the drive wheel 29, a louver 17 rotatably provided near the exhaust port 7 in the housing 2, and A control unit 17a for driving it, an odor sensor 52 and its control unit 52a, a humidity sensor 53 and its control unit 53a, a human sensor 54 and its control unit 54a, a contact sensor 55 and its control unit 55a, etc. Composed.

The CPU 15a is a central processing unit and transmits control signals individually to the motor drivers 22a and 51a and the control unit 17a based on the program data stored in advance in the storage unit 18, and the electric blower 22, the traveling motor 51, and the louver. 17 is driven and controlled, and a series of cleaning operation and ion emission operation are performed.
Further, the CPU 15a accepts a condition setting related to the operation of the cleaning robot 1 by the user from an operation panel (not shown) and stores it in the storage unit 18. The storage unit 18 can store a travel map 18 a around the installation location of the cleaning robot 1. The travel map 18a is information related to travel such as the travel route and travel speed of the cleaning robot 1, and is stored in advance in the storage unit 18 by the user or automatically recorded during the cleaning operation by the cleaning robot 1 itself. Can do.

  The odor sensor 52 detects odor around the outside of the housing 2. As the odor sensor 52, for example, a semiconductor type or catalytic combustion type odor sensor can be used. In order to detect the odor around the outside of the cleaning robot 1, for example, the odor sensor 52 is arranged in a state of being exposed to the outside from the side plate 2c or the top plate 2b of the housing 2. The CPU 15a is connected to the odor sensor 52 via the control unit 52a, and obtains odor information around the outside of the housing 2 based on an output signal from the odor sensor 52.

  The humidity sensor 53 detects the humidity around the outside of the housing 2. As the humidity sensor 53, for example, a capacitance type or electric resistance type humidity sensor using a polymer moisture sensitive material can be used. In order to detect the relative humidity around the outside of the cleaning robot 1, for example, the humidity sensor 53 is arranged in a state of being exposed to the outside from the side plate 2c or the top plate 2b of the housing 2. The CPU 15a is connected to the humidity sensor 53 via the control unit 53a, and obtains humidity information around the outside of the housing 2 based on an output signal from the humidity sensor 53.

In the travel map 18a, a location where an odor above a predetermined threshold at a location where the cleaning robot 1 is installed and a location where the humidity is higher than the predetermined threshold may be stored in advance as specific locations. In this way, the CPU 15a can determine that this specific location is a location determined based on the surrounding environment of the housing 2. That is, like the odor sensor 52 and the humidity sensor 53, the travel map 18a serves as an environment detection device that detects the surrounding environment of the housing 2.

  As the human sensor 54, for example, a human sensor that detects the presence of a person using infrared rays, ultrasonic waves, visible light, or the like can be used. In order to detect the presence of a person around the outside of the cleaning robot 1, for example, the human sensor 54 is disposed in a state of being exposed to the outside from the side plate 2c or the top plate 2b of the housing 2. The CPU 15a is connected to the human sensor 54 through the control unit 54a, and obtains presence information of people around the outside of the housing 2 based on an output signal from the human sensor 54.

  The contact sensor 55 is disposed, for example, at the front portion of the side plate 2c of the housing 2 in order to detect that the cleaning robot 1 has come into contact with an obstacle during traveling. The CPU 15a is connected to the contact sensor 55 via the control unit 55a, and obtains presence information of obstacles around the outside of the housing 2 based on an output signal from the contact sensor 55.

  In the cleaning robot 1 configured as described above, the electric blower 22, the ion generator 25, the drive wheel 29, the rotating brush 9, and the side brush 10 are driven by a cleaning operation command. As a result, in a state where the rotary brush 9, the side brush 10, the drive wheel 29 and the rear wheel 26 are in contact with the floor surface F, the casing 2 self-propells within a predetermined range and removes dust on the floor surface F from the suction port 6. Inhale air containing. At this time, the dust on the floor surface F is scraped up by the rotation of the rotating brush 9 and guided to the suction port 6. Further, the dust on the side of the suction port 6 is guided to the suction port 6 by the rotation of the side brush 10.

  Air containing dust sucked into the housing 2 from the suction port 6 passes through the suction passage 11 of the housing 2 and the inflow passage 34 of the dust collection box 30 as indicated by an arrow A1 in FIG. It flows into the dust collecting container 31. The airflow that has flowed into the dust collecting container 31 passes through the filter portion 33, flows into the space 50 between the filter portion 33 and the cover portion 32, and is discharged to the exhaust passage 12 of the housing 2 through the discharge passage 35. Is done. At this time, the dust contained in the airflow in the dust collecting container 31 is captured by the filter unit 33, so that the dust accumulates in the dust collecting container 31.

The airflow flowing into the exhaust passage 12 of the housing 2 from the dust collection box 30 flows into the front storage chamber R1 as shown by the arrow A2 in FIG. 2, and flows through the first exhaust passage and the second exhaust passage (not shown). . The airflow flowing through the first exhaust path includes ions (plasma cluster ions) released by the ion generator 25. Then, as shown by an arrow A3 in FIG. 2, an airflow containing ions is exhausted obliquely upward at the rear from the exhaust port 7 provided on the upper surface of the housing 2. Thereby, cleaning on the floor surface F is performed, and indoor sterilization and deodorization are performed by ions contained in the exhaust of the cleaning robot 1. At this time, exhaust is performed obliquely upward from the exhaust port 7 to the rear, so that the dust on the floor surface F is prevented from being rolled up, and the cleanliness of the room can be improved.
Although not shown, a part of the airflow flowing through the first exhaust path may be guided to the recess 8. In this way, since ions are included in the airflow guided from the suction port 6 to the suction path 11, the inside of the dust collection container 31 of the dust collection box 30 and the filter unit 33 can be sterilized and deodorized.

  Further, the cleaning robot 1 turns around the center line C by rotating the left and right drive wheels 29 forward in the same direction, moving forward, moving backward in the same direction, moving backward, and rotating in opposite directions. For example, when the cleaning robot 1 reaches the periphery of the cleaning area and collides with an obstacle on the course, the driving wheel 29 stops and the left and right driving wheels 29 rotate in opposite directions to change their directions. Thereby, the cleaning robot 1 can be self-propelled while avoiding obstacles in the entire installation place or the entire desired range.

In addition, the cleaning robot 1 is grounded at three points of the left and right drive wheels 29 and the rear wheel 26, and the weight is distributed in such a balance that the rear wheel 26 does not lift from the floor F even if it stops suddenly during forward movement. Yes. Therefore, it is prevented that the cleaning robot 1 suddenly stops in front of the descending stairs while moving forward, and thereby the cleaning robot 1 is tilted forward and falls to the descending stairs. The drive wheels 29 are formed by fitting rubber tires having grooves into the wheels so that they do not slip even when suddenly stopped.
Further, since the dust collection box 30 is disposed above the rotation shaft of the drive wheel 29, the weight balance of the cleaning robot 1 is maintained even if the weight increases due to dust collection.

The cleaning robot 1 can execute a unique operation based on information obtained from the odor sensor 52, the humidity sensor 53, the travel map 18a, and the human sensor 54, which are environment detection devices. For example, the cleaning robot 1 can stay for a certain period of time at a specific location determined based on the surrounding environment detected by the environment detection device, and can release an airflow including ions from the exhaust port 7.
The cleaning robot 1 returns to the charging stand 40 when cleaning is completed. Thereby, the charging terminal 4 contacts the terminal part 41 and the battery 14 is charged.

  Moreover, the cleaning robot 1 can drive the electric blower 22 and the ion generator 25 in a state of returning to the charging stand 40. As a result, an airflow containing ions is released obliquely upward from the exhaust port 7, and the airflow containing ions rises along the side wall S and circulates along the indoor ceiling wall and the opposite side wall. As a result, ions spread throughout the room, and the sterilization effect and deodorization effect can be improved. Thus, the cleaning robot 1 can also perform the ion emission operation alone.

  An operation unit is provided on the upper surface of the cleaning robot 1, and a cleaning operation and an ion emission operation can be executed by the operation unit. In addition, a receiving unit may be provided in the housing 2 and a transmitter that transmits a command signal to the receiving unit may be provided so that the remote controller can be operated. In addition, a command signal may be transmitted to the cleaning robot 1 from a mobile phone called a smartphone via an Internet line and a router provided in the room so that it can be remotely operated.

<Side brush and its mounting structure>
6 is a view corresponding to FIG. 3 showing a state where the side brush is removed, FIG. 7 is a perspective view showing Embodiment 1 of the side brush, and FIG. 8 is a schematic cross-sectional view showing the attachment structure of the side brush of Embodiment 1. FIG.
As shown in FIGS. 6 and 8, a recess 2 a ₁ for accommodating a brush base 10 a (described later) of the side brush 10 is formed at the side brush mounting position on the bottom surface of the housing 2 (the lower surface of the bottom plate 2 a). In addition, a rotating shaft 2a ₂ that can rotate about the second axis P protrudes from the recess 2a ₁ .
Further, in the recess 2a ₁ , an annular first annular convex portion 2a ₁₁ and a first annular concave portion 2a ₁₂ are concentrically formed with respect to the second axis P over the entire circumference around the rotation shaft 2a _2. Is provided.

The rotary shaft 2a ₂ has a cylindrical shape, and a female screw 2a ₂₁ is formed on the inner peripheral surface of the lower end hole.
A box 2a ₃ is provided on the upper surface (inner surface) of the bottom plate 2a of the housing 2, and a connecting shaft 2a ₄ is pivotally attached to the box 2a ₃ . Lower end of the connecting shaft 2a ₄ is inserted into the upper end side of the hole of the rotary shaft 2a _2, the connecting shaft 2a ₄ and the rotary shaft 2a ₂ are linked so as to rotate integrally. As described above, the rotational force of the motor for driving the rotating brush (not shown) is transmitted to the connecting shaft 2a ₄ via the power transmission mechanism including a pulley and a belt. In addition, the side brush 10 may be driven by a motor provided independently without rotating and sharing a motor for driving the rotary brush.

The side brush 10 includes a brush base 10a that is detachably attached to the rotary shaft 2a ₂ that is rotatably provided on a second axis P perpendicular to the bottom surface of the housing 2, and a radial shape on the brush base 10a. And a plurality of brush bundles 10b.
The brush base 10a has a central through hole 10ab ₁ and a cylindrical portion 10ab into which the tip of the rotary shaft 2a ₂ is fitted on the surface of the bottom surface of the housing 2 facing the recess 2a ₁ . further,
Brush base 10a is along the entire circumference of the periphery of a to the cylindrical portion 10ab recess 2a ₁ and the surface facing the bottom surface of the housing 2, the annular second annular recess 10a ₁ and the second annular projection 10a ₂ is provided. The second annular concave portion 10a ₁ and the second annular convex portion 10a ₂ are provided concentrically with respect to the second axis P of the central through hole 10ab ₁ . A plurality of recesses for implanting the plurality of brush bundles 10b are formed at equal intervals in the circumferential direction on the outer peripheral surface of the lower end of the brush base 10a.

The side brush 10 is attached to the housing 2 by inserting a male screw portion of a screw n through a washer through the center through hole 10ab ₁ and screwing the male screw portion into a female screw 2a ₂₁ of the rotary shaft 2a _2. . In this state, the first annular projection 2a ₁₁ is close to mate with the second annular recess 10a _1, second annular projection 10a ₂ is close to mate with the first annular recess 2a _12.
Thereby, the cross-sectional shape of the gap G between the brush base 10a of the side brush 10 and the bottom surface of the bottom plate 2a of the housing 2 is an S shape. That is, the outer peripheral gap portion having a U-shaped cross section formed between the second annular convex portion 10a ₂ of the brush base 10a and the first annular concave portion 2a ₁₂ of the concave portion 2a ₁ of the housing 2 and the concave portion 2a _1. A gap G ₁ having a S-shaped cross section is formed by a U-shaped inner circumferential side gap portion formed between the first annular convex portion 2a ₁₁ and the second annular concave portion 10a ₁ of the brush base 10a. Has been. As the width of the gap G _1, for example, about 0.1 to 1 mm. Hereinafter, “S-shape”, “U-shape”, and “L-shape” mean a cross-sectional shape.

During the cleaning operation by the cleaning robot 1, the hair on the floor surface F is scraped toward the rotating brush 9 by the rotating side brush 10, and at that time, the tip of the hair may enter the opening of the gap G ₁ . However, it is difficult for the tip of the hair to pass through the U-shaped outer peripheral gap between the second annular convex portion 10a ₂ of the brush base 10a and the first annular concave portion 2a ₁₂ of the concave portion 2a ₁ of the housing 2. It is. Further, even if the tip of the hair passes through the outer peripheral side gap portion, the inner peripheral side of the U-shaped between the second annular recess 10a ₁ of the first annular projection 2a ₁₁ and the brush base 10a of the recess 2a ₁ It is difficult for the tip of the hair to pass through the gap.

Therefore, according to the present invention, hair is wound around the rotation shaft 2a ₂ and rotation of the side brush 10 is prevented, so that an excessive load is prevented from being applied to the motor that rotationally drives the side brush 10, and cleaning efficiency is improved. Reduction is prevented. At this time, since a gap having a S-shaped, U-shaped or L-shaped cross section is formed around the entire circumference of the rotating shaft, it is possible to reliably prevent the hair tip from entering the gap from any direction. Can do. This effect can be obtained not only for hair but also for ultrafine fibers such as animal hair and yarn fiber waste.
In addition, between the recess 2a _{1 on} the bottom surface of the housing 2 and the cylindrical portion 10ab housed in the recess 2a ₁ of the brush base 10a of the side brush 10, the tip of the ultrafine fiber such as hair is bent so that it does not easily enter. A gap is formed.

(Embodiment 2)
FIG. 9 is a schematic cross-sectional view showing the side brush and the mounting structure thereof according to the second embodiment. In FIG. 9, the same elements as those in FIG. 8 are denoted by the same reference numerals.
In the first embodiment, the case where the S-shaped gap G ₁ is provided between the brush base 10 a of the side brush 10 and the recess 2 a _{1 of the} housing 2 is illustrated, but one U as in the second embodiment is illustrated. Only the letter-shaped gap G ₂ may be provided.
In the embodiment 2, the first annular projection 2a ₂₁ of the recess 2a ₁ annular bottom plate 2a of the housing 2 are provided, an annular proximity to mate with the first annular projection 2a ₂₁ second An annular recess 110a ₁ is provided over the entire circumference of the brush base 110a of the side brush 110, thereby forming a U-shaped gap G ₂ . In the second embodiment, other configurations are the same as those in the first embodiment.
Thus, even if _one U-shaped gap G ₂ is provided between the brush base 110 a of the side brush 110 and the recess 2 a _{1 of the} housing 2, the same effect as in the first embodiment can be obtained.

(Embodiment 3)
FIG. 10 is a schematic cross-sectional view showing the side brush and its mounting structure of the third embodiment. In FIG. 10, the same elements as those in FIG. 8 are denoted by the same reference numerals.
In the case of the third embodiment, an annular first annular recess 2a ₃₂ is provided over the entire circumference of the recess 2a ₁ of the bottom plate 2a of the housing 2, and a circle adjacent to the first annular recess 2a _{32 so as} to fit therewith. An annular second annular projection 210a ₂ is provided on the brush base 210a of the side brush 210 over the entire circumference, thereby forming a U-shaped gap G ₃ . In the third embodiment, other configurations are the same as those in the first embodiment.
Thus, even if _one U-shaped gap G ₃ is provided between the brush base 210 a of the side brush 210 and the recess 2 a _{1 of the} housing 2, the same effect as in the first embodiment can be obtained.
The difference between the third embodiment and the second embodiment is that the concavo-convex relationship is reversed. That is, according to the second embodiment, the first annular convex portion 2a ₂₁ is different from the first annular concave portion 2a ₃₂ of the third embodiment provided in the concave portion 2a ₁ of the housing 2. Further, with respect to the second annular projection 210a ₂ of the side brush side similarly embodiment 3, a second annular recess 110a ₁ according to the second embodiment.

(Embodiment 4)
FIG. 11 is a schematic cross-sectional view showing the side brush and its mounting structure according to the fourth embodiment. In FIG. 11, the same elements as those in FIG. 8 are denoted by the same reference numerals.
In the case of the fourth embodiment, an annular first annular convex portion 2a ₄₁ is provided over the entire circumference of the concave portion 2a ₁ of the bottom plate 2a of the housing 2 and is close to fit with the first annular convex portion 2a _41. the second annular recess 310a ₁ of annular shape is provided over the entire circumference to the brush base 310a of the side brush 310, the gap G ₄ of the L-shape is formed. In the fourth embodiment, other configurations are the same as those in the first embodiment.
Thus, even if _one L-shaped gap G ₄ is provided between the brush base 310 a of the side brush 310 and the recess 2 a _{1 of the} housing 2, the same effect as in the first embodiment can be obtained.

(Embodiment 5)
FIG. 12 is a schematic cross-sectional view showing the side brush and its mounting structure of the fifth embodiment. In FIG. 12, the same elements as those in FIG. 8 are denoted by the same reference numerals.
In the case of the fifth embodiment, an annular first annular convex portion 2a ₅₁ is provided over the entire circumference in the concave portion 2a ₁ of the bottom plate 2a of the housing 2, and the outer side wall portion of the first annular convex portion 2a ₄₁ is provided. An adjacent annular second annular convex portion 410a ₂ is provided on the brush base 410a of the side brush 410 over the entire circumference, thereby forming an L-shaped gap G ₅ . In the fifth embodiment, other configurations are the same as those in the first embodiment.
Thus, even if _one L-shaped gap G ₅ is provided between the brush base 410 a of the side brush 410 and the recess 2 a _{1 of the} housing 2, the same effect as in the first embodiment can be obtained.
In addition, although illustration is omitted, you may comprise so that the 2nd annular convex part of a side brush may adjoin to the side wall part inside the 1st annular convex part of a housing | casing.
The fifth embodiment is different from the fourth embodiment in that the unevenness relationship is reversed. That is, the relationship between the second embodiment and the third embodiment coincides.

The invention disclosed in this specification will be additionally described below.
(1) According to the present invention, a self-propelled housing having a suction port on the lower surface, and a side brush provided on the bottom surface of the housing so as to be rotatable about an axis perpendicular to the bottom surface of the housing. Prepared,
At the side brush mounting position on the bottom surface of the housing, a rotating shaft that rotates around the second axis is provided to protrude.
The side brush has a brush base that is detachably attached to the rotating shaft, and a brush bundle that is implanted in the brush base.
A self-propelled cleaner is provided in which a gap having a S-shaped, U-shaped, or L-shaped cross section is formed between a bottom surface of a housing and a brush base attached to a rotating shaft.
The self-propelled cleaner of the present invention may be configured as follows.
(2) The clearance gap between the bottom face of a housing | casing and the brush base attached to the rotating shaft may be formed over the perimeter of the surroundings of a rotating shaft.
(3) At least one of the first annular convex portion and the first annular concave portion is provided concentrically with the axis of the rotation shaft at the side brush mounting position on the bottom surface of the housing,
Is the second annular recess close to the surface of the brush base that faces the bottom surface of the housing so as to fit the first annular protrusion, and the side wall portion inside or outside the first annular protrusion? Or at least one may be provided among the 2nd annular convex parts which adjoin so that it may fit in the 1st annular concave part.
(4) A first annular convex portion and a first annular concave portion are provided concentrically with the axis of the rotation shaft at the side brush mounting position on the bottom surface of the housing,
A second annular concave portion adjacent to the first annular convex portion and a second annular convex portion adjacent to the first annular convex portion on a surface of the brush base facing the bottom surface of the housing. And at least one of them may be provided.
(5) A first annular convex portion is provided concentrically with the axis of the rotation shaft at the side brush mounting position on the bottom surface of the housing,
A second annular convex portion close to the inner or outer side wall portion of the first annular convex portion may be provided on a surface of the brush base that faces the bottom surface of the housing.
(6) The recessed part may be formed in the side brush attachment position in the bottom face of a housing | casing.
According to the self-propelled cleaner of the present invention, during the cleaning operation, the hair on the floor surface is scraped by the rotating side brush, and in that case, the tip of the hair may enter the opening of the gap, Since the cross-sectional shape of the gap is bent into an S shape, a U shape, or an L shape, it is difficult for the tip of the hair to pass through the gap. As a result, hair is wound around the rotation shaft and the rotation of the side brush is prevented, so that an excessive load is prevented from being applied to the motor that rotationally drives the side brush, and a reduction in cleaning efficiency is prevented. This effect is most effective in the order of the S-shaped gap in cross-sectional shape, followed by the U-shaped gap and the L-shaped gap. This effect can be obtained not only for hair but also for ultrafine fibers such as animal hair and yarn fiber waste.
Moreover, according to the said structure (2), since the clearance gap whose cross-sectional shape is S shape, U shape, or L shape is formed over the perimeter of the periphery of a rotating shaft, the hair tip to the clearance gap from all directions Can be reliably prevented.
Further, according to the configurations (3) to (5), the gap having the S-shaped, U-shaped or L-shaped cross section is formed between the bottom surface of the housing and the brush base attached to the rotating shaft. be able to.
Further, according to the configuration (6), the tip of the ultrafine fiber such as hair enters between the recess at the side brush mounting position on the bottom surface of the housing and the portion housed in the recess on the brush base of the side brush. A difficult to bend gap is formed.

2 Housing 2a ₁ Recess 2a ₁₁ , 2a ₂₁ , 2a ₄₁ , 2a ₅₁ First annular protrusion 2a ₁₂ , 2a ₃₂ First annular recess 2a ₂ Rotating shaft 6 Suction port 9 Rotating brush 10 Side brush 10a, 110a, 210a, 310a, 410a brush base 10b brush bundles 10a _1, 110a _1, 310a ₁ second annular recess 10a _2, 210a _2, 410a ₂ second annular protrusion 30 dust collecting box F floor _{G 1, G 2, G 3} , G _4, G ₅ clearance P second axis

Claims (1)

A self-propelled housing having a suction port on the lower surface, and a side brush provided on the bottom surface of the housing so as to be rotatable around an axis perpendicular to the bottom surface of the housing,
At the side brush mounting position on the bottom surface of the housing, a recess is formed, and a rotation shaft is provided protruding from the recess,
The side brush has a cylindrical portion, and includes a brush base that is detachably attached by fitting the rotation shaft into the cylindrical portion, and a brush bundle provided on the brush base.
The recess is formed in a size to be accommodated up to the outer periphery of the brush base,
A gap having a S-shaped, U-shaped or L-shaped cross section is formed between the recess of the housing and the brush base attached to the rotating shaft and over the entire circumference of the rotating shaft. A self-propelled vacuum cleaner.