JP2021516111A - 拭きロボット - Google Patents
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- JP2021516111A JP2021516111A JP2020546875A JP2020546875A JP2021516111A JP 2021516111 A JP2021516111 A JP 2021516111A JP 2020546875 A JP2020546875 A JP 2020546875A JP 2020546875 A JP2020546875 A JP 2020546875A JP 2021516111 A JP2021516111 A JP 2021516111A
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- 230000007246 mechanism Effects 0.000 claims description 71
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Abstract
Description
窓拭き装置と地面拭き装置を含む拭きロボットであって、窓拭き装置は、窓清掃システムと、窓に吸着するように配置される吸着手段と、窓上を移動するように配置される第1走行手段とを含み、地面拭き装置は、地面清掃システムと、地面上を移動する第2走行手段とを含み、地面拭き装置の胴体は取付溝を有し、窓拭き装置配置は、取付溝に嵌入・離間可能なように配置される。
本実施例は、人力の代わりに地面、窓の清掃作業を行う拭きロボットを提供する。
Claims (18)
- 窓拭き装置と、地面拭き装置とを含む拭きロボットであって、
窓拭き装置は、窓清掃システムと、窓に吸着するように配置される吸着手段、窓上を移動するように配置される第1走行手段とを含み、
地面拭き装置は、地面清掃システムと、地面上を移動する第2走行手段とを含み、
地面拭き装置の胴体は、取付溝を有し、窓拭き装置は、取付溝に嵌入・離間可能なように配置されることを特徴とする、拭きロボット。 - 窓拭き装置は、動力出力手段をさらに含み、
地面拭き装置は、動力入力手段をさらに含み、
動力出力手段は、動力入力手段に接続されて動力入力手段を駆動し、動力入力手段は、第2走行手段に接続されて第2走行手段を駆動することにより、第2走行手段は窓拭き装置により駆動され、地面拭き装置を地面上で移動させることを特徴とする、請求項1に記載の拭きロボット。 - 窓清掃システムは、窓拭き装置の胴体の底部に設けられた第1セットの回転雑巾と、少なくとも1つの第1吐出ノズルとを含み、
胴体の内部には第1水タンクが設けられ、第1水タンクは、管路を介して第1吐出ノズルに接続されることを特徴とする、請求項1に記載の拭きロボット。 - 第1走行手段は、第1履帯走行機構と第2履帯走行機構とを含み、
第1履帯走行機構及び第2履帯走行機構は、それぞれ胴体の底部の両側に位置することを特徴とする、請求項2に記載の拭きロボット。 - 第2走行手段は、2以上の回転輪モジュールを含み、動力入力手段は、回転輪モジュールに接続されて回転輪モジュールを駆動することを特徴とする、請求項4に記載の拭きロボット。
- 回転輪モジュールは、回転輪本体と、回転輪フレームと、伝動機構とを含み、
伝動機構は、回転輪フレーム内に設けられ、
伝動機構の動力入力端は、動力入力軸を含み、
動力入力軸は、回転輪フレームから伸び出し、
伝動機構の動力出力端は、回転輪本体に支持されて接続され、回転輪本体を駆動することを特徴とする、請求項5に記載の拭きロボット。 - 動力出力手段は、それぞれ第1履帯走行機構及び第2履帯走行機構のそれぞれの履帯輪の中心軸から伸び出す出力端子を含み、
動力入力手段は、動力入力軸から形成され、動力入力軸の端面に接続溝が設けられ、
接続溝は、出力端子に適合し、出力端子が取り付けられるとともに、出力端子に伴って回転するように設けられることを特徴とする、請求項6に記載の拭きロボット。 - 動力入力軸は、回転輪フレームに移動可能に挿設され、
動力入力軸には、リターンスプリングが外嵌され、
リターンスプリングは、一端が動力入力軸に当接し、他端が回転輪フレームに当接し、窓拭き装置が取付溝に取り付けられている場合、リターンスプリングは、動力入力軸と出力端子とを弾性的にロックすることを特徴とする、請求項7に記載の拭きロボット。 - 伝動機構は、第1回転ギアと、第2回転ギアと、ラック伝動ベルトとを含み、
動力出力端は、動力出力軸を含み、
ラック伝動ベルトの両端は、それぞれ第1回転ギア及び第2回転ギアに噛み合い、
第1回転ギアは、動力入力軸に外嵌され、第2回転ギアは、動力出力軸に外嵌され、回転輪本体は、動力出力軸に外嵌されることを特徴とする、請求項6に記載の拭きロボット。 - 窓拭き装置と地面拭き装置との間に位置規制機構が設けられ、
位置規制機構は、窓拭き装置の胴体の底部外周に位置する複数のロック柱と、取付溝の溝壁外周に位置する複数の位置規制溝とを含み、
ロック柱は、位置規制溝内に適合し、窓拭き装置が水平方向に移動することを阻止することを特徴とする、請求項6に記載の拭きロボット。 - 出力端子及び動力入力軸は、導電特性を有するように配置されることを特徴とする、請求項7に記載の拭きロボット。
- 出力端子及び動力入力軸は、いずれも両者の間にケーブルが挿設されるための内部通孔を有することを特徴とする、請求項7に記載の拭きロボット。
- 窓拭き装置と地面拭き装置との間に突き上げ機構が設けられ、
突き上げ機構は、ロック機構がロックを解除するときに窓拭き装置を取付溝内から突き上げるように配置されることを特徴とする、請求項1に記載の拭きロボット。 - 突き上げ機構は、地面拭き装置に設けられ、取付座と、突き上げバネと、可動柱とを含み、
突き上げバネの両端は、それぞれ取付座及び可動柱に当接し、
取付座は、地面拭き装置の胴体の内部に固定され、
可動柱は、大直径部分と小直径部分を含み、
取付溝の底部には、地面拭き装置の胴体の内部に連通する通孔が設けられ、
通孔の孔径は、小直径部分の直径よりも大きく、大直径部分の直径よりも小さく、
小直径部分は、通孔内に挿設され、小直径部分の頭部は、窓拭き装置の胴体の底部に当接することを特徴とする、請求項13に記載の拭きロボット。 - 地面清掃システムは、地面拭き装置の胴体の底部に設けられたローラーブラシと、第2セット回転雑巾と、少なくとも1つの第2吐出ノズルとを含み、
地面拭き装置の胴体の内部にゴミボックス及び第2水タンクが設けられ、
第2水タンクは、管路を介して第2吐出ノズルに連通し、
ゴミボックスは、ローラーブラシに接続され、ローラーブラシからのゴミを受け入れて保存する請求項1に記載の拭きロボット。 - 窓清掃システムは、窓拭き装置の胴体の底部に設けられる第1固定雑巾をさらに含むことを特徴とする、請求項1に記載の拭きロボット。
- 地面清掃システムは、地面拭き装置の胴体の底部に設けられた第2固定雑巾をさらに含むことを特徴とする、請求項1に記載の拭きロボット。
- 地面拭き装置の胴体内に姿勢検出ユニット、圧力検出ユニット又は光電検出ユニットのうちの少なくとも1つが設けられ、
姿勢検出ユニット、圧力検出ユニット及び光電検出ユニットは、それぞれ窓拭き装置の地面拭き装置に対する位置状態を検出するように配置されることを特徴とする、請求項1に記載の拭きロボット。
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