JP2557808Y2 - Cleaning robot - Google Patents

Description

[Detailed description of the invention]

[0001]

The present invention relates to a cleaning robot,
In particular, the present invention relates to a mechanism for preventing a power cord of the cleaning robot from hindering the traveling of the cleaning robot.

[0002]

2. Description of the Related Art Conventionally, a so-called self-propelled self-propelled cleaning robot equipped with a moving mechanism and a control circuit including various sensors, a microcomputer, etc., performs cleaning while judging the movement of a cleaning place by itself. Is considered.

[0003] This type of cleaning robot is divided into two types: one supplied with power from a battery built in the main body, and the other supplied with power from a power cord connected to a commercial power supply. Products using a battery (for example, Japanese Patent Application Laid-Open No. 62-167527)
Has problems such as an increase in body weight, an increase in shape, an insufficient power, and a short working time. In general, power is supplied from a power cord to reduce the size, weight, and working time. (For example, Japanese Patent Application Laid-Open No. Sho 62-17)
0219, 63-181727).

In a cleaning robot that travels on its own by receiving power supply from a power cord, when the cleaning robot performs a run that changes its direction, the power cord becomes entangled or wheels of the moving mechanism get on. There was a problem that hindered autonomous navigation. In order to solve such a problem, the conventional cleaning robot is provided with a power cord blocking mechanism for eliminating a power cord in a main body. 7 and 8
As shown in FIG. 2, the power cord blocking mechanism 38 of the conventional cleaning robot 37 includes a mounting block 41 having a space 40 fixed to the cleaning robot main body 39 and a mounting block 4.
1 and a sliding member 44 having a flange 43 engaged through the hole 42, and a spring member 45 having one end fixed to the mounting block 41 and the other end fixed to the sliding member 44. .

Next, the operation will be described. As shown in FIGS. 9A to 9C, when the power cord 46 tries to enter the inside of the cleaning robot main body 39, the sliding member 44 prevents the power cord blocking mechanism 38 from operating. ,
When there is an obstacle 48 on the floor 47, the sliding member 44 slides upward 49 against the force of the spring member 45 by the driving force of the cleaning robot 37, and the cleaning robot 37 moves downward 50 toward the obstacle 48. When heading, the sliding member 44 slides upward 49 due to the weight of the cleaning robot 37.

[0006]

In the power cord blocking mechanism 38 of the conventional cleaning robot 37, FIG.
As shown in (F), the power cord 46 bites into the mounting block 41 due to the tension of the power cord 46 and damages the power cord 46, or the sliding member 44 is twisted by twisting the hole 42 of the mounting block 41 and the sliding member 44. 44 did not move or return, and thus could not perform its power cord blocking function.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a power cord blocking mechanism for a cleaning robot which does not bite the power cord into the power cord blocking mechanism and does not cause trouble such as prying in the power cord blocking mechanism. .

[0008]

SUMMARY OF THE INVENTION Accordingly, in order to achieve the above-mentioned object, a first aspect of the present invention is a power cord blocking mechanism for traveling while being supplied with power through a power cord and for preventing a running trouble due to the power cord. In the self-propelled cleaning robot provided, the power cord blocking mechanism includes a shaft supported between support plates that are formed so as to hang down from the bottom of the side surface of the cleaning robot body, the shaft penetrating both ends, and A first U-shaped swing fixing member, a first spring member for urging the swing fixing member about a shaft in a predetermined rotation direction, and a swing fixing member through which the shaft penetrates. A swinging member disposed between both ends and having a tip end formed in a plow shape, and a swing fixing member which is formed by swinging the swinging member with a biasing force against a biasing force of a first spring member about a shaft; The second to lock It is obtained by a Ne member.

In the second aspect of the present invention, a fixing member provided at the bottom of the side surface of the cleaning robot body, a columnar supporting member having a flange at a tip end fixed to the fixing member, and movable to the supporting member A substantially cylindrical rotating member having a freely locked bottom portion and an open end slightly smaller than the diameter of the spherical member housed therein; and a spherical member disposed inside the rotating member in a direction toward the open end. And a third spring member biasing the power cord guide mechanism.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS.

Power cord blocking mechanism 2 of cleaning robot 1
The cleaning robot body 5 is provided on each side 4 of the cleaning robot 1.
A mounting plate 6 fixed to the mounting plate 6, a shaft 7 supported at both ends by the mounting plate 6, a swinging member 9 swinging around the shaft 7 and having a projection 8 near the floor 3, 7 to re-engage with the swing member 9 via the spring member 10 and prevent the swing member 9 from swinging in the biasing direction 11 by the spring member 10. And the mounting plate 6 and the rocking fixed member 13 are engaged, and the rocking fixed member 13 is urged around the shaft 7 in the direction opposite to the urging direction 11 of the spring material 10. Spring member 14
It is composed of As shown in FIG. 4, the power cord guide mechanism 15 is disposed between the spherical member 16, a spring member 17 for urging the spherical member 16 toward the floor 3, and the spring member 17 and the spherical member 16. A holding member 18 for holding the spherical member 16, a smooth member surrounding the spherical member 16, the spring member 17, and the holding member 18 to smoothly hold the spherical member 16 at one end 19 and firmly engage with the ball bearing 21 at the other end 20 A rotating member 24 having a rotating member 23 having a surface 22 has one end engaged with the ball bearing 21 of the rotating member 24 engaged with the spring member 17 and the other end attached to the cleaning robot body 5. And a support member 26 which engages with the fixing member 25.

Next, the operation will be described. FIG. 5 (A),
As shown in (B), when the power cord 27 attempts to enter the inside of the cleaning robot body 5, the power cord 27
Is moved upward 28 by the projection 8 of the swinging member 9.
Further, when the power cord 27 comes near the cleaning robot main body 5, the power cord 27 is blocked by the swing member 9. Power cord 27
When the pressures 29 and 30 are strong, as shown in FIGS. 5C and 5D, the movement of the power cord 27 stops when the force is balanced with the spring member 10 or the spring member 14, respectively. The behavior of the power cord 27 described above is as shown in FIG. 6A, and the behavior of the normal power cord 27 is as shown in FIG.
In this case, the power cord 27 is smoothly guided by the rotating structure 24 or the spherical member 16 of the power cord guide mechanism 15 at this time.

Next, the operation of the power cord blocking mechanism 2 when there is an obstacle 31 on the floor 3 is shown in FIGS. FIGS. 5E and 5F show a state where the swinging member 9a on one side surface 4a of the cleaning robot 1 is on the way over the obstacle 31, and the spring material is moved by the cleaning robot 1 traveling in the arrow direction 32. Swinging member 9a against the urging force of
Is rotated about the shaft 7 in the direction of the arrow 33,
The swing member 9a rides on the obstacle 31. FIG. 5 (G) shows that after one of the rocking members 9a rides on the obstacle 31, the cleaning robot 1 travels in the direction of the arrow 32 and the other side 4
The swinging member 9b of FIG. 3b also shows a state of riding on the obstacle 31, and the swinging member 9b is rotated around the shaft 7 in the arrow direction 34 against the urging force of the spring member 14 to move the obstacle 31. Get on. In this way, the cleaning robot 1 can continue running over the obstacle 31.

FIGS. 5H and 5I show the operation of the swinging members 9a and 9b when the wheel of the cleaning robot 1 climbs over the obstacle 31 and gets over it. When the occupant rides, the swing members 9a and 9b rise upward 35 together with the cleaning robot body 5 and swing members 9a and 9b.
b does not come into contact with the obstacle 31, and when it gets over, the swinging members 9a and 9b rotate around the shaft 7 against the urging force of the spring member 14, and the cleaning robot main body 5 can go downward 36. To

Here, the spring member 10 and the spring member 1
4, the biasing direction is the reverse direction as described above, and the biasing force is greater than the rotational moment around the shaft 7 due to the tension of the power cord 27 in the case of the spring member 10. In addition, the biasing force is set to be equal to or less than the driving force of the cleaning robot 1, and the biasing force is stronger than the biasing force of the spring member 14. On the other hand, the urging force of the spring member 14 is set to be as small as possible, and the swing member 9 only needs to be restored.

As described above, according to the present invention, the power cord on the floor can be smoothly guided by the power cord guide mechanism.
Also, in the event that the power cord is bent for some reason and attempts to enter the cleaning robot body, the power cord blocking mechanism can prevent this.

[0017]

As described above, according to the present invention, the power cord blocking mechanism for preventing the power cord from entering the cleaning robot body is a rotating type, and the shape of the swinging member that comes into contact with the power cord has no step. Because of the smoothness and the projections, twisting of movable parts and jamming of the power cord are less likely to occur, and damage to the power cord is less likely to occur, and the power cord intrusion prevention function is also highly reliable. Was. In addition, the power cord mechanism allows the power cords to be pressed smoothly, so that the running of the cleaning robot is not hindered.

[Brief description of the drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a rear view according to FIG. 1;

FIG. 3 is a detailed view of a power cord blocking mechanism according to FIG. 1;

FIG. 4 is a detailed view of a power cord guide mechanism according to FIG. 1;

FIG. 5 is an operation explanatory view of the power cord blocking mechanism according to FIG. 1;

FIG. 6 is an operation explanatory view of the power cord guide mechanism according to FIG. 1;

FIG. 7 is a side view showing a conventional example.

FIG. 8 is a detailed view of a power cord guide mechanism according to FIG. 7;

FIG. 9 is an operation explanatory view of the power cord guide mechanism according to FIG. 7;

[Explanation of symbols]

 Reference Signs List 1,37 Cleaning robot 2,38 Power cord blocking mechanism 3,47 Floor surface 4 Side surface of cleaning robot 5,39 Cleaning robot body 6 Mounting plate 7 Shaft 8 Projection 9 Swinging member 10 Second spring member (spring material) 12) One surface of the swing member 13 Swing fixing member 14 First spring member (spring member) 15 Power cord guide mechanism 16 Spherical member 17 Third spring member (spring member) 18 Holding member 21 Ball bearing 22 Smooth surface 23 Rotating member 24 Rotating structure 27, 46 Power cord 31, 48 Obstacle 41 Mounting block 42 Hole 44 Sliding member 45 Spring material

Claims (2)

(57) [Scope of request for utility model registration] The vehicle travels while being supplied with power through a power cord,
In addition, in a self-propelled cleaning robot having a power cord blocking mechanism for preventing running trouble due to the power cord, the power cord blocking mechanism is supported between support plates formed to be suspended from the bottom of the side surface of the cleaning robot body. A shaft, a substantially U-shaped oscillating fixing member disposed between the supporting plates, the shaft penetrating both ends, and a first urging means for urging the oscillating fixing member about the shaft in a predetermined rotational direction. The shaft member penetrates and is disposed between both ends of the swing fixing member,
A swing member having a tip end formed in a plow-like shape, and a second member for locking the swing member to the swing fixed member with a biasing force against the biasing force of the first spring member about the shaft. A cleaning robot comprising: a spring member; 2. A fixing member provided on the bottom of a side surface of the cleaning robot main body, a columnar supporting member having a flange at a tip end fixed to the fixing member, and movably locked by the supporting member. A substantially cylindrical rotating member having a bottom portion and an open end slightly smaller than the diameter of the spherical member housed therein; and a second member disposed inside the rotating member for urging the spherical member toward the open end. 3. The cleaning robot according to claim 1, further comprising a power cord guide mechanism including a third spring member.