JP5243879B2 - Side brush support device for cleaning robot - Google Patents

Description

  The present invention relates to a side brush support device for a cleaning robot that cleans floor surfaces and the like.

  In recent years, a cleaning robot having an autonomous running function and a floor surface cleaning function has been developed.

  For example, Patent Document 1 discloses a cleaning robot for cleaning this type of floor surface. The cleaning robot of Patent Document 1 includes 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 sensors that detect obstacles, directions, and the like. A microcomputer for controlling the operation of the motor using the output of 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. On the other hand, a frustum-shaped side brush that is rotated by a side brush motor is provided on the two arm portions that extend.

  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.

  Patent Document 2 discloses a cleaning robot that detects obstacles on the floor surface, steps on the floor surface, and the like during traveling, and controls the rotation and height of side brushes and power brushes based on the detection. ing.

JP 2000-342496 A JP 2006-209644 A

  However, in Patent Document 1, since the side brush is provided at the tip of the arm portion that extends from the robot body, the cleaning robot is too close to the wall when cleaning the wall or the like with the side brush. May collide with obstacles and walls. Similarly, in Cited Document 2, since the side brush protrudes from the robot body and is supported by the robot body, the cleaning robot is too close to the wall when the side brush is used to clean the wall, and the side brush is an obstacle. Or may collide with the wall.

  When the side brush collides with an obstacle or a wall surface, there is a concern that the side brush or the arm portion that supports the side brush or the side brush support portion of the robot body may be damaged. Moreover, there is a possibility that the floor cleaning by the smooth cleaning robot may be hindered. For this reason, if floor cleaning is performed with a certain margin from the wall, uncleaning or the like will be caused.

  Therefore, the object of the present invention made in view of such a point is to prevent the side brush and its supporting device from being damaged even if the cleaning robot is too close to the wall or the like and the side brush collides with an obstacle or a wall surface. Another object of the present invention is to provide a side brush support device for a cleaning robot that can obtain a clean floor surface.

The invention of a side brush support device for a cleaning robot according to claim 1 , which achieves the above object, is provided on the lower surface of the robot body provided with a traveling portion, outward in the width direction and forward from the robot body via the side brush support device. In the side brush support device for a cleaning robot, the base end of the cleaning robot includes a cleaning unit that has a side brush that is driven to rotate and sweeps dust on the floor surface inward in the width direction of the robot body. A lifting / lowering swinging member supported on the lower surface of the robot body so as to be swingable in the vertical direction via the first swinging shaft, and a base portion of the lifting / lowering swinging member via the second swinging shaft. A first swing member that is swingably connected in the width direction and extends forward, and an outer swing end and an inner swing end of the first swing member with respect to the lifting / lowering swing member, First swing to restrict to the retracted position A material brush end restricting means, and a side brush motor at the tip end of the first swing member, the base end of which is connected to the width of the first swing member via the third swing shaft so as to be swingable in the width direction and extends forward. A second oscillating member that supports a side brush motor cover that holds the side brush that is rotationally driven by the first oscillating member, and an oscillating end on the outer side and the inner side of the second oscillating member relative to the first oscillating member A second swinging member swinging end restricting means for restricting the use position and the storage position; a lifting / lowering pulling line for suspending the first swinging member from above; A lifting traction actuator that swings up and down between a use position in which the lowering is lowered and a retracted position that is pulled up, a retracting operation towing line having a tip connected to the side brush motor cover, and the retracting operation towing line To the position A retractable traction actuator that allows the oscillating member to oscillate while pulling to the retracted position and holding the side brush motor cover in the retracted position, and moves the retractable traction actuator to the use position The side brush that contacts the floor surface at the use position of the first rocking member by allowing the second rocking member to swing by being extended and the lifting traction actuator to lift and lower the pulling rope to the use position. The first oscillating member and the second oscillating member are urged outward in the width direction by the reaction force from the floor surface accompanying the rotation of the hoist, while the elevating traction actuator pulls the traction rope to the retracted position. Storage operation by retracting traction actuator Towing the retracting rope to the retracted position, the side brush is stored below the robot body while being lifted from the floor. Features.

  According to the present invention, the first lifting member is lowered and swung by the lifting traction actuator to the use position, and the retracting traction actuator is moved to the second position by the storage traction actuator. When the side brush is brought into contact with the floor surface while allowing the member to swing, the second swinging member and the first swinging member swing due to the reaction force from the floor surface accompanying the rotation of the side member. The swinging member swinging restricting means and the second swinging member swinging restricting means are held at the use position and a good cleaning operation is performed with the side brush.

  Also, when the side brush comes into contact with the wall or an obstacle during cleaning work and an external force acts on the side brush, it resists the urging force from the floor surface acting on the side brush to the width direction outward side due to the reaction force. Thus, the second swing support member swings inward in the width direction, the side brush retracts from the wall surface, etc., and returns when no external force is applied, so excessive force is applied to the side brush and the side brush support device, etc. This prevents the side brush and the side brush support device from being damaged. As a result, the cleaning operation can be performed with the cleaning robot brought close to the wall without considering the damage of the side brush and the side brush support device, and a good cleaning operation can be secured.

  On the other hand, the side brush is pulled up from the floor by pulling the lifting / lowering pulling rope to the retracted position by the lifting / lowering pulling actuator, and the first swinging is performed by pulling the retracting pulling retractor to the retracted position by the retracting pulling actuator. The member and the second swing member swing to the storage position, and the side brush and the like are held at the storage position.

  In addition, the lifting and retracting retracting ropes are flexible and easy to route, and the space for placing the lifting and retracting retracting actuators can be easily secured, thus ensuring the freedom of design. . Further, since the first swing member and the second swing member are urged outward in the width direction by the reaction force from the floor surface accompanying the rotation of the side brush, the first swing member and the second swing member are An actuator such as a cylinder mechanism that swings in the width direction is unnecessary, and simplification of the configuration and operation control can be obtained.

According to a second aspect of the present invention, in the side brush support device for a cleaning robot according to the first aspect , the elevating traction actuator is a traction actuator having a retractable traction actuator.

  According to the present invention, the lifting traction actuator and the retracting traction actuator are constituted by a single actuator, and the structure and control can be simplified.

According to a third aspect of the present invention, in the side brush support device for a cleaning robot according to the first or second aspect of the present invention, a side brush bumper made of an elastic member that covers the peripheral wall of the side brush motor cover is provided.

  According to this invention, since the side brush motor cover is covered with the side brush bumper made of an elastic member, it is possible to prevent the obstacle from being damaged even if it comes into contact with the obstacle. In particular, the damage given to the human body when coming into contact with the human body is suppressed, and safety can be ensured.

According to a fourth aspect of the present invention, in the cleaning brush side brush support device according to any one of the first to third aspects, the tip of the retracting operation retracting line is replaced with a second brush member instead of the side brush motor cover. It is connected.

  In the present invention, the tip of the retracting operation retracting rope is connected to the second swing member instead of the side brush motor cover.

  According to the present invention, the side brush is supported at the tip of the swing support member that is swingably attached to the lower surface of the robot body, and the swing support member is used by the reaction force from the floor surface as the side brush rotates. The side brush is held at the use position by swinging and holding in the position, and a good cleaning operation by the side brush can be secured. On the other hand, for example, when the side brush is too close to the wall and comes into contact with the wall surface or an obstacle, the swing support member that supports the side brush swings due to the external force, and the side brush support device is excessively moved from the wall surface or the obstacle. Can prevent the impact force from being applied and can prevent the side brush and the side brush support device from being damaged.

  Embodiments of a side brush support device for a cleaning robot according to the present invention will be described below with reference to the drawings.

  An embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is a front view showing an outline of the cleaning robot 1, FIG. 2 is a side view showing the outline of the cleaning robot 1, FIG. 3 is a plan view showing an outline of the cleaning robot 1 in a use state in which a side brush protrudes, and FIG. It is a bottom view which shows the outline of the cleaning robot 1, and shows the use state of a side brush by a continuous line, and shows a storing state by a virtual line. In FIG. 1 and FIG. 2, the side brush support device for supporting the side brush is omitted. Further, in FIG. 4, the side brush is shown by a broken line in order to clarify the drawing.

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

  The traveling unit 10 includes a pair of drive wheels 11a and 11b driven by drive motors on both sides of the lower surface of the robot body 2 and casters 12a and 12b disposed in the front and rear, and motor drivers corresponding to the respective drive motors. Is provided. The motor driver controls the operation of the drive motor based on a command signal from the control device.

  Further, an obstacle sensor 13a for detecting a front obstacle and obstacle sensors 13b and 13c for detecting a side obstacle are provided on the front side of the robot body 2, and the direction sensor and the rotation shaft of each drive motor are cleaned. A distance sensor for measuring the travel distance of the robot 1 is provided. The detection signals from these distance sensors, the obstacle sensors 13a to 13c, the distance sensor, and the direction sensor are sent to the control unit.

  The control unit includes a command signal related to the drive motor based on the presence / absence of the obstacle detected by the obstacle sensors 13a to 13c, the travel distance calculated based on the detection signal from the distance sensor, the azimuth detected by the direction sensor, and the like. A command signal related to the control of the cleaning unit is generated.

  Command signals relating to the drive motor are given to the left and right motor drivers, and the motor driver controls the drive of the drive motor. Then, for example, the drive motor is controlled so that the cleaning robot 1 travels along a predetermined route indicated by arrows D1 to D11 in a predetermined cleaning region 61 as shown in FIG. Moreover, the command signal regarding control of the cleaning part is sent to the cleaning part controller. The generation of the command signal related to the drive motor and the command signal related to the control of the cleaning unit 20 in the control unit is not directly related to the present invention, and thus detailed description thereof is omitted.

  The cleaning unit 20 includes a cleaning unit controller 21 shown in FIG. 6, a cylindrical power brush 23 that is rotated by a power brush motor 22 at the lower part of the cleaning robot 1, and a suction port 24 that opens behind the power brush 23. A dust box serving as a mechanism, and a frustoconical side brush 47 supported by side brush support devices 31 disposed on the front left and right of the robot body 2 and driven to rotate by a side brush motor 46 are provided. The dust box is sucked by a blower that is rotationally driven by a blower motor 25, and dust or the like sucked from the suction port 24 is stored in the dust box.

  And while traveling with the drive wheels 11a and 11b that are rotationally driven according to a preset program, the rotating power brush 23 sweeps up dust on the floor surface, and the side brush 47 uses the power brush 23 as necessary. The dust outside the cleaning area is swept into the inside, that is, the cleaning area of the power brush 23. The dust swept up by the power brush 23 and the dust swept up by the side brush 47 are sucked into the dust box from the suction port 24.

  Next, the side brush support device 31 and the side brush 47 will be described with reference to FIGS. The left and right side brush support devices 31 and the side brush 47 have the same configuration, and only the left side brush support device 31 and the side brush 47 will be described.

  7 is a front view of the main part of the cleaning robot 1 showing an outline of the side brush support device 31 and the side brush 47, FIG. 8 is a plan view of the main part, FIG. 9 is an enlarged view of part A of FIG. 8, and FIG. FIG. 11 is an enlarged view of part B.

  As shown in FIGS. 7 to 11, 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 drive wheels 11a, 11b, casters 12a, 12b, The traveling devices 10 such as the obstacle sensors 13a to 13c and the direction sensor are mounted or supported. In addition, the cleaning device 20 such as the side brush 47 supported by the cleaning unit controller 21, the power brush 23, the dust box, and the side brush support device 31 is mounted or supported.

  The side brush support device 31 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.

  The shaft-like lifting / lowering swinging member 33 whose base end portion is supported by the first swinging shaft 32 so as to be swingable in the vertical direction, and the stopper bolt 34 as the lower swinging end restricting means is lifted / lowered. The lower moving end is adjusted by contacting the swing member 33.

  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 having a rectangular cross-section having an upper surface portion 38A, a lower surface portion 38B, and both side surface portions 38C extending obliquely forward so as to gradually move outward in the width direction as the base end is coupled to the front and the front end. Have. 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.

  The second oscillating member 41 is moved in the width direction via a third oscillating shaft 40 extending in the vertical direction at the top end portion of the upper surface portion 38A and the lower surface portion 38B protruding at the distal end of the arm portion 38 of the first oscillating member 36. To swing freely. 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 upper surface portions 38A and 41A and the lower surface portion 38B of the arm portions 38 of the first rocking member 36 and the second rocking member 41 that are substantially U-shaped in cross section and extend along the upper surface of the portion 38B. 41B is rotatably connected by a third swing shaft 40.

  Furthermore, a stopper groove 42A that opens in a circular hole centering around the third swing shaft 40 and a stopper groove 42A that penetrates the upper surface portion 41A and the lower surface portion 41B of the second swing member 41, respectively, movably penetrate the stopper groove 42A. 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 42Aa of the stopper groove 42A is the stopper shaft. The second swinging member 41 is regulated to the use position that becomes the swinging end of the second swinging member 41 to the outside with respect to the arm portion 38 of the first swinging member 36 by contacting with 42B. When the inner end 42Ab of the stopper groove 42A abuts against the stopper shaft 42B when swinging inward in the width direction with respect to the arm portion 38 of the member 36, the inside of the second swinging member 41 with respect to the first swinging member 36 is reached. It restricts to the storage position which becomes the rocking end to the direction.

  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 wall 45C has a box-like shape with open peripheral walls such as both side walls 45D and 45E installed between the side edges of the mounting surface wall 45B and the front wall 45C. It attaches to the attachment part 41C.

  A side brush motor 46 having a rotating shaft 46a extending substantially vertically is held in the side brush motor cover 45, and a side brush 47 is attached to the tip of the rotating shaft 46a of the side brush motor 46. The side brush 47 includes a disc-shaped base 47A attached to the tip of the rotating shaft 46a and a linear brush material 47B planted in a truncated cone shape on the lower surface of the base 47A. The side brush 47 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 a grounded state, and the front portion of the side brush 47 is grounded. The side brush 47 is driven by the side brush motor 46 in the direction in which the front side in the traveling direction, which is grounded as indicated by an arrow R in FIGS. 10 and 11, moves from the outer side in the vehicle width direction to the inner side, that is, dust or the like. Rotates in a direction that sweeps from the outside to the inside.

  A side brush bumper 48 formed in an U shape by an elastic material such as urethane foam covering the outer periphery of the front wall 45C of the side brush motor cover 45 from the outer periphery of both side walls 45D and 45E is provided. The side brush bumper 48 has an outer shape that covers the outer surface of the front wall 45C and the side walls 45D and 45E of the side brush motor cover 45 and covers at least the base 47A of the side brush 47 from above in a plan view.

  Further, an impact detection (not shown) comprising a piezoelectric element or the like for detecting an impact when a preset external force, that is, an impact load is applied to the side brush bumper 48, is provided between the side brush motor cover 45 and the side brush bumper 48. Provide a sensor. 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.

  Next, the use position where the side brush 47 is grounded to the floor surface G and the side brush moving means 50 that moves up from the floor surface G and moves to the retracted position will be described.

  The side brush moving means 50 pulls a lifting traction actuator that pulls and unwinds a first traction cable 52 that is mounted on the frame 5 and serves as a lifting traction cable that will be described later, and a second traction cable 55 that serves as a retracting traction cable. And a cylinder motor 51 that is a traction actuator that also serves as a retractable traction actuator, and the first traction cable 52 and the second traction cable 55 are moved to a use position and a storage position by extension and contraction of the shaft portion 51a of the cylinder motor 51. Tow and pay out between.

  The first traction cable 52 has flexibility, a base end connected to a shaft portion 51a of the cylinder motor 51 via a clevis 53a, and a tip end disposed in the lower part of the frame 5 extending in the front-rear direction. The cable guide 53b and the side brush support device 31 are guided inward in the width direction and above the cable guide 53c extending in the vertical direction in the frame 5 and inclined inward in the width direction and from above. While hanging down, the vicinity of the base end of the arm portion 38 of the first swing member 36 is suspended through the clevis 53d.

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

  On the other hand, when the first traction cable 52 is drawn out to the use position by the cylinder motor 51, the side brush support device 31 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 volt | bolt 34, and is regulated by the use position which is the downward rocking | fluctuation end of the side brush support apparatus 31. Further, when the side brush 47 comes into contact with the floor G when the first traction cable 52 is extended to the use position, the traction cable 52 slightly bends without the elevating swing member 33 coming into contact with the stopper bolt 34, and the side brush 47 grounding states can be maintained.

  The second traction cable 55 has a flexible cable guide having a proximal end connected to the shaft portion 51a of the cylinder motor 51 via a clevis 56a and a distal end extending in the front-rear direction at the lower portion of the frame 5. The side brush motor cover 45 of the side brush motor cover 45 is guided by a cable guide 56c provided extending in the front-rear direction on the base portion 37 of the first swinging member 36b and the first swinging member 36. The attachment surface wall 45B is coupled to the vicinity of the inner end in the width direction via a clevis 56d.

  When the second traction cable 55 is pulled to the retracted position by the cylinder motor 51, the inner end in the vehicle width direction of the side brush motor cover 45 is pulled, and the third swing shaft as shown in phantom lines in FIGS. 40, the side brush motor cover 45 and the second swing member 41 swing to the swing end where the inner end 42Ab of the stopper groove 42A formed on the upper surface portion 41A and the lower surface portion 41B contacts the stopper shaft 42B. Move to stop at the storage position.

  On the other hand, when the second traction cable 55 is extended to the use position by the cylinder motor 51, the traction by the second traction cable 55 is released, and the side brush motor cover 45 and the second swinging member 41 are moved to the upper surface portion 41A and The outer end 42Aa or the inner end 42Ab of the stopper groove 42A formed in the lower surface portion 41B abuts on the stopper shaft 42B so that the swing end can swing within the range between the use position and the storage position.

  Next, the operation of the cleaning robot 1 including the side brush support device 31 and the side brush 47 configured as described above will be described.

  The cleaning robot 1 sweeps dust on the floor G with a rotating power brush 23 while traveling on a predetermined system path in the cleaning area by driving wheels 11a and 11b that are rotationally driven according to a preset program. If necessary, dust outside the cleaning area of the power brush 23 is swept by the side brush 47 into the inside, that is, the cleaning area of the power brush 23, and the dust swept up by the power brush 23 and the side brush 47 are swept away. Dust is sucked into the dust box from the suction port 24.

  When the side brush 47 is not required, the rotation of the side brush 47 by the side brush motor 46 is stopped, and the side brush 47 is held at the retracted position below the robot body 2 indicated by the phantom line in FIG.

  In the operation of moving the side brush 47 to the storage position, the cylinder motor 51 of the side brush moving means 50 pulls the first traction cable 52 and the second traction cable 55 from the use position to the storage position. When the first traction cable 52 is pulled by the cylinder motor 51 to the retracted position, the first oscillating member 36 of the side brush support device 31 to which the tip 52b of the first traction cable 52 is connected is centered on the first oscillating shaft 32. The second rocking shaft 35 is swung up and pulled inward in the width direction. As a result, the side brush support device 31 swings upward about the first swing shaft 32, the side brush 47 moves away from the grounding position, that is, the floor surface G, and the lift swing member 33 contacts 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 to which the tip of the second traction cable 55 is connected is pulled and the third swing shaft 40 is pulled. The second swing member 41 swings to the swing end where the inner end 42Ab of the stopper groove 42A formed in the upper surface portion 41A and the lower surface portion 41B contacts the stopper shaft 42B and stops at the retracted position. To do.

  As a result, the side brush 47 held by the side brush support device 31 is separated from the grounding position, and the side brush motor cover 45 is substantially stored on the lower surface of the robot body 2. Further, even when the side brush motor cover 45 is stored in a state where a part of the side brush motor cover 45 protrudes from the front part of the bumper 3, the front brush 45C and the side walls 45D and 45E of the side brush motor cover 45 are formed by the side brush bumper 48 made of an elastic member. Since it is covered, it is possible to prevent damage to the obstacle even if it comes into contact with the obstacle. In particular, the damage given to the human body when coming into contact with the human body is suppressed, and safety can be ensured.

  On the other hand, when cleaning the floor G using the side brush 47, the cylinder motor 51 of the side brush moving means 50 feeds the first traction cable 52 and the second traction cable 55 to the use position. As the first traction cable 52 is unwound, the traction of the first traction cable 52 in the upward and widthwise directions is released, and the side brush support device 31 and the side brush motor 46 are centered on the first swing shaft 32. And the side brush 47 swings downward by its own weight so that the front portion of the side brush 47 contacts the floor surface G, and the first swing member 36 swings around the second swing shaft 35. Permissible.

  On the other hand, with the extension of the second traction cable 55, the traction of the side brush motor cover 45 by the second traction cable 55 is released, and the second swing member 41 is allowed to swing around the third swing shaft 40. Is done.

  Thus, when the side brush 47 is rotationally driven in a state where the front portion of the side brush 47 is in contact with the floor surface G with a preset ground load due to the weight of the side brush support device 31 and the side brush 47, the rotating side brush 47 is rotated. The side brush motor cover 45 that supports the side brush motor 46 is urged outward in the width direction with the reaction force from the floor surface G acting on the second swing member 41 coupled to the side brush motor cover 45. Oscillates outward in the width direction about the third oscillating shaft 40, and the outer end 42Aa of the stopper groove 42A formed in the upper surface portion 41A and the upper surface portion 41B abuts against the stopper shaft 42B to make the first oscillating shaft. The relative swing of the second swing member 41 with respect to the moving member 36 is restricted. The second swinging member 41 and the first swinging member 36 are integrated with each other by urging the side brush motor cover 45 outward in the width direction due to the reaction force from the floor G acting on the side brush 47. 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.

  As a result, the first swing member 36 and the second swing member 41 are prevented from swinging outward in the width direction, and the side brush 47 is held in the normal use position.

  While the side brush 47 is autonomously driven by the drive wheels 11a and 11b that are rotationally driven in accordance with a program set in the normal use position in the normal use position, the rotating power brush 23 sweeps up dust on the floor G. The dust outside the cleaning area of the power brush 23 is swept by the side brush 47 to the inside, that is, the cleaning area of the power brush 23, and the dust swept up by the power brush 23 and the dust swept away by the side brush 47 are removed. Suction from the suction port 24 into the dust box.

  Further, since the side brush 47 rotates in a state where the front portion of the side brush 47 is in contact with the floor surface G by the ground load due to its own weight, such as the side brush support device 31, the side brush motor 46, and the side brush 47, the floor brush G Even when dust or earth and sand are firmly attached, the side brush 47 is not pushed up by the dust or earth and sand that are firmly attached, and the dust and earth and sand adhering to the side brush 47 are also swept away from the floor surface. It can be cleaned well with no leftovers.

  When cleaning the wall, the traveling robot 1 travels with the wall approaching. The dust on the wall is swept into the cleaning area of the power brush 23 by the rotation of the side brush 47. When the cleaning robot 1 is too close to the wall and the side brush 47 or the side brush bumper 48 comes into contact with the wall surface or an obstacle, it is counteracted from the floor surface acting on the side brush 47 rotating with respect to the side brush 47 or the side brush bumper 48. When an external force equal to or greater than the urging force in the width direction outward due to the force is applied, the side brush 47 and the side brush bumper 48 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 47 or the side brush bumper 48, that is, the external force becomes smaller than the urging force from the floor surface acting on the rotating side brush 47 to the width direction outward side by the reaction force, the side brush 47 and the side brush bumper 48, the outer end 42Aa of the stopper groove 42A is centered on the third swing shaft 40 together with the side brush motor cover 45 and the second swing member 41 by reaction force from the floor surface G acting on the rotating side brush 47. It swings until it comes into contact with the shaft 42B and returns to the normal use position.

  That is, the side brush 47 or the side brush bumper 48 corresponds to the force applied to the side brush 47 or the side brush bumper 48 from the outside in the width direction, and the third swing together with the side brush motor cover 45 and the second swing member 41. It is swung in the width direction around the shaft 40.

  Therefore, even if the side brush 47 or the side brush bumper 48 contacts the wall surface or an obstacle, an excessive force is prevented from being applied to the side brush 47 or the side brush bumper 48, and the side brush 47 or the side brush 47 is supported. Damage to the side brush support device 31 is reliably avoided. Further, damage to the wall surface and obstacles caused by the contact of the side brush 47 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 close to the wall without considering the damage of the side brush 47 and the side brush support device 31 and the like, and a good cleaning state can be secured.

  Further, as a result of various experiments, the protruding angle of the side brush 47 with respect to the traveling direction of the cleaning robot 1, that is, the third swing shaft 40 serving as the swing center with respect to the traveling direction and the side brush motor serving as the rotation center of the side brush 47. When the extending direction of the imaginary line connecting the rotating shaft 46a of the 46 is within 45 °, the third brushing shaft 40 is favorably centered corresponding to the force applied to the side brush 47 or the side brush bumper 48 from the outside in the width direction. It was confirmed to swing in the width direction.

  Further, the side brush 47 is lowered and brought into contact with the floor G by the extension of the first traction cable 52 and the second traction cable 55 by the cylinder motor 51, and the reaction force from the floor G accompanying the rotation of the side brush 47 causes the first Since the first swing member 36 and the second swing member 41 are biased outward in the width direction, an actuator such as a cylinder mechanism that swings the first swing member 36 and the second swing member 41 in the width direction is provided. This is unnecessary, and simplification of the configuration and operation control can be obtained. Furthermore, the first traction cable 52 and the second traction cable 55 are flexible, and can be easily routed, the installation location of the cylinder motor 51 can be easily selected, the installation space can be easily secured, and the degree of freedom in design is ensured. it can.

  In addition, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the meaning of invention. For example, although the tip of the second traction cable is connected to the side brush motor cover 45 in the above embodiment, it can be connected to the second swing member 41. In the above embodiment, the first traction cable 52 and the second traction cable 55 are pulled to the storage position by the cylinder motor 51 that is a single traction actuator, and are drawn out to the use position, thereby simplifying the structure and control. Separate lift traction actuators and retractable traction actuators can also be used. Moreover, although the side brush 47 was arrange | positioned at the left and right of the cleaning robot 1, respectively, it can also be arrange | positioned only at one of right and left. Further, the present invention can be widely applied to various types of side brushes such as a cleaning robot that omits the power brush, a cleaning robot that sprays cleaning liquid and cleans the floor surface with a cleaning brush to suck and collect dirty water.

It is a front view which shows the outline of the cleaning robot in this Embodiment. Similarly, it is a side view which shows the outline of a cleaning robot. Similarly, it is a top view which shows the outline of the cleaning robot in the use condition which the side brush protruded. Similarly, it is a bottom view which shows the outline of the cleaning robot which shows the use condition which the side brush protruded with a continuous line, and shows a stowed state with a virtual line. It is a top view which shows an example of the path | route which the cleaning robot drive | works a cleaning area | region. 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 top view which shows the outline | summary of a side brush support apparatus and a side brush. FIG. 9 is an enlarged view of a portion A in FIG. 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 B section enlarged view of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Cleaning robot 2 Robot main body 10 Traveling part 20 Cleaning part 31 Side brush support apparatus 32 1st rocking | fluctuation shaft 33 Elevating rocking | swiveling member (rocking member)
33a Base end 33b Tip 34 Stopper bolt (downward swing end regulating means)
35 Second swing shaft 36 First swing member (swing member)
39 First swing member swing end regulating means 40 Third swing shaft 41 Second swing member (swing member)
42 Second swing member swing end restricting means 45 Side brush motor cover 46 Side brush motor 47 Side brush 48 Side brush bumper 50 Side brush moving means 51 Cylinder motor (traction actuator)
52 First traction cable (lifting traction measures)
55 Second traction cable (traction action traction measure)

Claims (4)

It is supported on the lower surface of the robot body provided with a traveling unit via a side brush support device so as to protrude outward in the width direction and forward from the robot body, and is rotated to remove dust on the floor surface of the robot body. In a side brush support device of a cleaning robot provided with a cleaning unit having a side brush that sweeps inward in the width direction,
An elevating swinging member whose base end is supported by the lower surface of the robot body so as to be swingable in the vertical direction via the first swinging shaft and extends forward;
A first oscillating member whose base is connected to the ascending / descending oscillating member so as to be able to oscillate in the width direction via a second oscillating shaft, and extends forward;
First rocking member rocking end regulating means for regulating the widthwise outer and inner rocking ends of the first rocking member with respect to the lifting rocking member to a use position and a storage position, respectively.
A side brush which is driven to rotate by a side brush motor is attached to a distal end portion of which the base end portion is connected to the distal end of the first swinging member so as to be swingable in the width direction via a third swinging shaft. A second swing member that supports the side brush motor cover to be held;
A second rocking member rocking end restricting means for restricting the widthwise outer and inner rocking ends of the second rocking member relative to the first rocking member to a use position and a storage position, respectively;
Elevating / lowering towing line for suspending the first oscillating member from above and raising / lowering oscillating between the use position in which the first oscillating member is lowered by pulling out the elevating / retracting towing line and the retracted position to which the first oscillating member is pulled up A lifting traction actuator
A retracting operation retracting line having a tip connected to the side brush motor cover, and retracting the retracting operation retracting line to a use position to allow the second swinging member to swing, while pulling to the retracted position and the side brush motor cover A retractable traction actuator for holding the
The second swing member is allowed to swing when the retracting traction actuator is extended to the use position, and the first traction actuator is extended to the use position by the elevating traction actuator. The first swing member and the second swing member are urged outward in the width direction by the reaction force from the floor surface due to the rotation of the side brush that contacts the floor surface at the use position of the swing member, while for lifting and lowering. Lifting and lowering operation by the traction actuator Pulling the retracting rope to the retracted position and retracting operation by the retracting traction actuator Pulling the retracting rope to the retracted position means that the side brush is stored below the robot body while being lifted from the floor surface. A side brush support device for a cleaning robot. The side brush support device for a cleaning robot according to claim 1 , wherein the lifting traction actuator is a traction actuator having a retracting traction actuator. 3. The side brush support device for a cleaning robot according to claim 1, further comprising a side brush bumper made of an elastic member that covers a peripheral wall of the side brush motor cover. The side brush support device for a cleaning robot according to any one of claims 1 to 3 , wherein a tip of the retracting operation pulling rope is connected to a second swing member instead of a side brush motor cover.

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