JP6539504B2 - Self-propelled dust collection robot - Google Patents

Description

  The present invention relates to a self-propelled dust collection robot that cleans a floor surface while self-running.

  2. Description of the Related Art A self-propelled dust collection robot is known which cleans by collecting dust on a floor surface in a built-in dust box while rotationally driving wheels by a built-in motor and self-running. For example, as disclosed in Patent Document 1, this self-propelled dust collection robot accommodates a dust box in which a lower dust collection chamber and an upper dust collection chamber are formed in series behind a rotating brush that is rotationally driven. A filter and a fan are provided on the downstream side of the upper dust collection chamber, and relatively large dust among dust collected by the rotating brush is stored in the lower dust collection chamber, while relatively fine dust is sucked by the fan It is configured to be stored in the upper dust collection chamber.

European Patent Application Publication 1980188

  Such a self-propelled dust collection robot may not be able to suction even if there is a margin in the upper dust collection chamber when the amount of dust stored in the lower dust collection chamber increases.

  Therefore, the present invention is provided with two dust collection chambers for separately storing dust, and suction can be performed and cleaning can be continued even if the storage amount of dust in one dust collection chamber increases. It is an object of the present invention to provide a self-propelled dust collection robot.

In order to achieve the above object, the invention according to claim 1 comprises a main body, an upper dust collection chamber and a lower dust collection chamber provided in the main body and separated vertically, and an upper dust collection chamber and a lower dust collection chamber. A brush disposed in the brush storage chamber formed in front of the side dust collection chamber and rotatably driven, an upper path communicating with the brush storage chamber and connected to the upper dust collection chamber, and a lower side in communication with the brush storage chamber A lower path connected to the dust collection chamber, and a suction fan communicating with the upper dust collection chamber via a filter, and the upper dust collection chamber and the lower dust collection chamber are opposed to the main body The upper suction port on the upper dust collection chamber side connected to the upper path in the storage state of the main body, and the lower suction port on the lower dust collection chamber side connected to the lower path while forming the dust collecting box with, especially that the upper dust collecting chamber and removable from the dust collection box alone It is an.
The invention according to claim 2 is characterized in that, in the configuration according to claim 1, the connection position between the lower dust collection chamber and the lower passage is made higher than the bottom surface of the lower dust collection chamber. .
The invention according to claim 3 is that, in the configuration according to claim 1 or 2, the opening area of the communication portion between the lower path and the brush accommodating chamber is larger than the opening area of the communication portion between the upper path and the brush accommodating chamber It is characterized by the fact that
The invention according to claim 4 is characterized in that, in the configuration according to claims 1 to 3, the partition portion between the upper dust collection chamber and the lower dust collection chamber is inclined downward toward the rear. .
The invention according to claim 5 is characterized in that, in the configuration according to any one of claims 1 to 4, a suction fan is disposed at the rear of the dust collection box.
In the invention according to claim 6, in the configuration according to any one of claims 1 to 5, the dust collection box includes a lower box main body in which a lower dust collection chamber and a lower suction port are formed, and an upper surface of the box main body. And a lid provided with a filter, and a tray provided between the box body and the lid to form an upper dust collection chamber and provided with an upper suction port.
The invention according to claim 7 is characterized in that, in the configuration according to claim 6, the lower side of the filter in the lid is inclined downward from the edge on the upper suction port side in a direction away from the upper suction port, A guard plate is provided to partition the suction port side lower part.

According to the first aspect of the present invention, the upper dust collection chamber and the upper dust collection chamber are made independent from each other by making the upper dust collection chamber and the upper dust passage and the lower dust collection chamber and the lower dust passage independent of each other. Even if the storage amount of either one of the dust increases, the dust can be collected as it is, and continuous cleaning can be performed.
According to the invention of claim 2, in addition to the effect of claim 1, the connection position between the lower dust collection chamber and the lower passage is made higher than the bottom surface of the lower dust collection chamber, Dust stored in the lower dust collection chamber is less likely to leak and leak.
According to the third aspect of the invention, in addition to the effect of the first or second aspect, the opening area of the communication portion between the lower path and the brush accommodating chamber is set to the opening area of the communicating portion between the upper path and the brush accommodating chamber By making the area larger, it is possible to effectively collect large dust with a brush.
According to the fourth aspect of the invention, in addition to the effect of any one of the first to third aspects, the upper dust collection is achieved by the downward inclination of the partition portion between the upper dust collection chamber and the lower dust collection chamber. There is no accumulation of dust near the entrance to the room, which does not impede the flow of air. Conversely, dust that is scraped up by the brush and collected from the lower path into the lower dust collection chamber is stored exclusively at the front portion of the lower dust collection chamber, and therefore there is no problem even if the rear portion is shallow.

It is a perspective view from the upper direction of a self-propelled dust collection robot. It is a top view of a self-propelled dust collection robot. It is a bottom view of a self-propelled dust collection robot. It is a rear view of a self-propelled dust collection robot. It is a center longitudinal cross-sectional view of a self-propelled dust collection robot. It is a longitudinal cross-sectional view of a wheel part. It is a perspective view of a dust collection box (tray extraction state). It is a perspective view of a dust collection box (a tray and a filter taking-out state). It is a perspective view of a dust collection box (lid lock state). It is a front view of a dust collection box (lid lock state). It is a perspective view of a dust collection box (lid lid release state). It is a front view of a dust collection box (lid lid release state). It is a perspective view of a dust collection box (filter lock release state). It is a front view of a dust collection box (filter lock release state). It is a perspective view from the front of a self-propelled dust collection robot at the time of storing a dust collection box which is not in a lid lock state. It is a perspective view from the back of a self-propelled dust collection robot at the time of storing a dust collection box which is not in a lid lock state. It is a top view of the self-propelled dust collection robot which accommodated the dust collection box of a lid lock state (lid is omitted). It is a perspective view of the tray of a modification. It is a center longitudinal cross-sectional view of the self-propelled dust collection robot using the tray of a modification. It is a perspective view of a self-propelled dust collection robot which attached an interference pin. It is a perspective view of an interference pin. It is a center longitudinal cross-sectional view of the self-propelled dust collection robot which attached the interference pin. It is a perspective view of the self-propelled dust collection robot which made the lock member project. It is a top view of the self-propelled dust collection robot which made the lock member project. It is a rear view of the self-propelled dust collection robot which made the lock member project.

Hereinafter, embodiments of the present invention will be described based on the drawings.
1 is a perspective view from above showing an example of a self-propelled dust collecting robot, FIG. 2 is a plan view, FIG. 3 is a bottom view, FIG. 4 is a rear view, and FIG. 5 is a central longitudinal sectional view. A self-propelled dust collection robot (hereinafter simply referred to as "dust collection robot") 1 is a left and right battery 3 and a left and right battery 3 and a left and right battery 3, respectively. Motor 4, 4 (FIG. 6), a pair of left and right wheels 5, 5 as drive wheels that can be rotated forward and reverse independently by each motor 4, a fan unit 6 disposed between batteries 3, 3, A dust box 7 is provided, and lower portions of the wheels 5 and 5 are protruded downward from the bottom surface of the main body 2. Casters 8 and 8 are provided on the left and right, respectively, at the rear of the bottom of the main body 2. Between each motor 4 and the wheel 5, as shown in FIG. 6, a reduction gear mechanism 9 composed of a plurality of gears 10, 10,.

The main body 2 has a lower housing 11 mainly forming a bottom surface, and an upper housing 12 formed from the rear surface and the top surface to the side surface. A plurality of sensors 14, 14... For detecting a front obstacle in a noncontact manner on the front peripheral surface of the main body 2 are inward, and are retracted by contact with the obstacle to turn on a switch (not shown) A sensor cover 13 is attached.
A bottom cover 15 having a horizontally long rectangular suction port 16 is screwed to the lower housing 11 at the lower front side of the main body 2, and a brush storage chamber 17 extending laterally is above the suction port 16. As a result, the main brush 18 is accommodated in the brush accommodating chamber 17.
The main brush 18 is composed of a rotation shaft 19 in the left-right direction and a plurality of brushes 20, 20... Radially and helically planted on the outer periphery thereof, and the brush 20 protrudes downward from the suction port 16 There is. A main brush motor 21 is provided on the front upper side of the brush storage chamber 17, and a main belt is provided by a timing belt (not shown) stretched between the left end of the rotating shaft 19 and the output shaft of the main brush motor 21. 18 is rotatable in the direction of arrow A in FIG.

  Further, a pair of side brush motors 22 are attached downward to the lower housing 11 on the left and right of the suction port 16, and the side brushes 23 are respectively provided on the rotation shaft penetrated through the lower housing 11. . In this side brush 23, three circular brushes 25, 25 ··· are projected radially on the disk-like brush base 24 so that the rotating circular area T overlaps the suction port 16 in plan view and guides dust to the suction port 16. , Which respectively rotate in the direction of arrow B in FIG. The side brush 23 and the main brush 18 form a dust collecting portion. Reference numeral 26 in FIG. 5 denotes a controller provided between the left and right side brush motors 22. The controller 26 includes a support base 28 supported by a boss 27 provided upright on the lower housing 11 and a control circuit board 29 fixed on the support base 28.

  On the other hand, the housing portion 30 of the dust collection box 7 is recessed in the main body 2 behind the main brush 18 with the upper surface opened, and the lower housing 11 is vertically elevated from the brush housing chamber 17 An upper side path 31 and a lower side path 32 which are branched and connected to the accommodating portion 30 are formed. Among them, the upper path 31 extends from the upper side of the main brush 18 to the front wall 33 of the housing portion 30 and opens the rear end into the housing portion 30 and is connected to the upper suction port 70 provided in the dust collection box 7 . The lower path 32 extends from the rear side of the main brush 18 to the front wall 33 and has its rear end opened in the housing portion 30 and connected to the lower suction port 38 provided in the dust collection box 7. The opening area of the two dust collection paths 31 and 32 with respect to the brush storage chamber 17 is formed larger in the lower path 32 than in the upper path 31. Further, the lower passage 32 is inclined downward to the front, so that the position of the lower suction port 38 to which the lower passage 32 is connected is higher than the bottom surface of the box main body 34 described later. Here, the lower edge height of the lower suction port 38 is substantially equal to the height of the rotation shaft 19 of the main brush 18.

As shown also in FIG. 7, the dust collection box 7 has a plan view in which the apex on the rear side of the quadrangle is chamfered into a hexagonal shape, and closes the lower box main body 34 and the upper surface of the box main body 34 The lid 35 is connected by a hinge 36 at the rear end, and the tray 37 is detachably provided between the box body 34 and the lid 35.
The box main body 34 is a horizontally long, deep-bottomed box-like shape having an open upper surface, and a lower suction port 38 connected to the lower path 32 in the state of being set in the housing portion 30 in the front lower portion It is formed. A relief recess 39 downward is formed at the center in the left-right direction above the lower suction port 38, and an overhanging portion 40 having an L-shaped cross section projecting outward is provided circumferentially at the outer periphery of the upper end.

A pair of square pillar shaped lock portions 41A and 41B having a thickness that protrudes forward and downward with respect to the overhanging portion 40 are formed on the front surface of the overhanging portion 40 on the left and right of the relief recess 39 at intervals in the left-right direction. ing. Here, the lock portion 41A on the center side (inner side) is longer than the lock portion 41B on the outer side, but the right lock portion 41A is formed longer than the lock portion 41A on the same center side. Thus, the difference between the lock portion 41B and the adjacent lock portion 41B is large. As shown also in FIG. 8, notches 42 are formed in the left and right direction on the lower surfaces of the lock portions 41A and 41B.
On the other hand, on the bottom surface of the box main body 34, an upper protrusion 43 is formed which extends radially from each vertex of the central square. The upper protrusion 43 is engaged with the lower protrusion 44 of the same shape protruding from the bottom surface of the housing portion 30 of the lower housing 11 to position the box main body 34.

The lid 35 has a horizontally long exhaust cylinder 46 projecting from the rear surface, and an upper lid 45 provided with a pair of left and right lock plates 47, 47 as locking members on the front surface, and a lower lid 48 fitted to the lower surface of the upper lid 45; It consists of a filter 49 held between the upper cover 45 and the lower cover 48. The upper cover 45 has a recess 50 recessed rearward at the center of the front, and has a thin box shape having an upper handle 51 at the front end of the recess 50 with the opening facing downward, and a slightly smaller inner wall 52 is formed inside The exhaust cylinder 46 penetrates the upper lid 45 from the rear surface of the inner wall 52 and protrudes rearward.
On the left and right sides of the recess 50 on the front surface of the upper lid 45, strip-shaped guide portions 53, 53 projecting forward are formed in the left-right direction, and the lock plates 47, 47 are formed along the guide portions 53, 53. It can slide to the left and right. A notch 54 is formed near the lower end center of the left guide portion 53.

  The lock plate 47 is in the form of a horizontally-long square in a front view, and a fitting groove 55 fitted to the guide portion 53 is formed in the left and right direction on the back surface. At the rear end of the lower surface of the fitting groove 55, as shown in FIG. 11, a folded back piece 56 which rises upward and is engaged with the rear surface of the guide portion 53 is formed over the entire length in the left-right direction. Preventing the departure of The lock plate 47 protrudes downward more than the lower end of the upper cover 45 when attached to the guide portion 53, and a pair of left and right locking pieces 57A and 57B protruding rearward are formed at the lower end edge thereof. It is done. At the rear end of each locking piece 57A, 57B, a locking claw 58 engageable with the notch 42 formed in the lock portion 41A, 41B of the box main body 34 is formed over the entire length in the left-right direction.

In the lower lid 48, an inner rib 59 fitted from the inside to the opening of the upper lid 45 is erected on the upper surface of a plate having the same shape as the lower surface of the upper lid 45. A hexagonal opening 60 corresponding to the inner wall 52 is formed. On the inner periphery of the opening 60, a step 61, which is lower than the inner rib 59 and to which the lower end of the inner wall 52 approaches, is formed over the entire periphery. On the lower front side of the step portion 61, a guard plate 62 which is inclined downward toward the rear and which divides the front lower side of the opening 60 is continuously provided.
Further, on the left side of the lower lid 48 and on the front side of the inner rib 59, a protrusion 63 fitted in a notch 54 provided in the guide portion 53 of the upper lid 45 is protruded forward.

The filter 49 has a flat box shape that fits inside the stepped portion 61 of the lower lid 48 to close the opening 60, and accommodates the folded paper filter 65 in a holding frame 64 having an opening at the top and bottom. On the outer periphery of the holding frame 64, a flange 66 engaged with the step 61 from above is provided. On the left side of the front flange 66, an extension piece 68 is formed which fits into a recess 67 provided on the upper surface left side of the lower lid 48 inside the inner rib 59.
The tray 37 is a shallow bottom plate that fits into the opening of the box main body 34, and is engaged with the upper end at the inside of the overhanging portion 40 of the box main body 34 and locked to the upper end of the box main body 34 A flange 69 is provided over the entire circumference. At the center of the front surface, a horizontally long rectangular cylindrical upper suction port 70 is slightly protruded downward. The upper suction port 70 has a shape that can fit into the relief recess 39 of the box main body 34 on the outside of the tray 37, and is formed to be larger in lateral width on the inside of the tray 37 than on the outside. A lower handle 71 is provided upright on the upper surface of the upper suction port 70 inside the tray 37. The lower handle 71 is engaged with the upper handle 51 of the upper lid 45 from the lower side and integrated with the lid 35 closed to form a handle 72 serving as a handle of the dust collection box 7 itself.

Therefore, the tray 37 is fitted to the box main body 34 with the locking flange 69 locked on the upper surface, the filter 49 is fitted to the opening 60 of the lower lid 48, and the extension piece 68 is fitted to the recess 67 The upper lid 45 is closed in a state in which it is fitted in the same direction. Then, as shown in FIG. 5 and FIGS. 9 and 10, the upper suction port 70 of the tray 37 is fitted in the relief recess 39 of the box main body 34, and the projection 63 of the lower lid 48 is fitted in the notch 54 of the upper lid 45. In addition, the tray 37 is sandwiched between the box body 34 and the lower lid 48, and the filter 49 is closed in such a manner as to be sandwiched between the lower lid 45 and the upper lid 45. In this state, in the dust collection box 7, the upper dust collection chamber S1 is formed on the upper side of the tray 37, and the lower dust collection chamber S2 is formed on the lower side of the tray 37 in a separated state.
Here, the lock plates 47, 47 open and close the dust collection box 7 by changing the positions of the locking pieces 57A, 57B at the lower end with respect to the lock portions 41A, 41B of the box main body 34 by sliding in the left and right direction. The aspect of can be selected.

That is, as shown in FIGS. 9 and 10, in the first slide position of the lock plate 47 in which the locking pieces 57A and 57B are located below the locking portions 41A and 41B, respectively, the locking pieces 57A and 57B are lock portions 41A. , 41B from the lower side, the opening of the lid 35 is locked (locked position). At this time, the lock plates 47 do not protrude outward from the left and right side surfaces of the upper cover 45, respectively.
Next, as shown in FIGS. 11 and 12, at the second slide position of the lock plate 47 in which the locking pieces 57A and 57B separate from the lower side of the lock portions 41A and 41B, respectively, the upper lid 45 with the lock plate 47 interposed therebetween. And the box body 34 are released. However, since the locking piece 57A of the left lock plate 47 is located below the projection 63 of the lower lid 48, the lower lid 48 is still coupled to the upper lid 45 (first unlocked position). Therefore, as shown in FIG. 7, since the lid 35 released from the lock can be rotated upward to expose the tray 37, the tray 37 can be taken in and out.

Then, as shown in FIGS. 13 and 14, when only the left lock plate 47 is slid from the second slide position to the third slide position where the locking piece 57A separates from the lower side of the projection 63 to the outer side, locking is performed. The connection between the upper cover 45 and the lower cover 48 via the plate 47 is released (second unlocking position). Therefore, as shown in FIG. 8, only the upper cover 45 can be rotated upward alone, so that it is possible to replace the filter 49 whose lock has been released.
On the front surface of the upper cover 45, symbols 45a (first slide position), 45b (second slide position), 45c (third slide position) indicating the slide position of the lock plate 47 are displayed. An arrow 47a is displayed at the upper center of the front surface, and each slide position can be selected by aligning the arrow 47a with each of the symbols 45a to 45c.

As shown in FIGS. 15 and 16, the upper housing 12 is provided with a lid 73 for opening and closing the upper portion of the storage unit 30 and for taking in and out the dust collection box 7. The lid 73 couples a pair of arms 74 and 74 protruding to the left and right of the lower surface of the front end portion into and out of the main body 2, and lifts the rear end of the lid 73 to make the arms 74 and 74. The lid 73 can be flipped up substantially vertically to open the housing portion 30. If the rear end is pushed down, the lid 73 can be laid down to close the housing portion 30. A locking piece 75 projects downward at the center of the lower surface of the rear end of the lid 73, and the upper housing 12 has a locking hole 76 into which the locking piece 75 is inserted and locked at the closed position of the lid 73. It is formed.
Therefore, the dust collection box 7 can be accommodated from above in a posture in which the lock plate 47, 47 side is directed forward, in the accommodation portion 30 in which the lid 73 is flipped up and opened.

  At this time, if the lock plate 47 of the dust collection box 7 is at a position other than the first slide position, it protrudes outward from the lid 35 as described above, and as shown in FIGS. If it is going to put in 30, the lock plate 47 interferes with the upper housing 12 and can not be accommodated. On the other hand, when the lock plate 47 is in the first slide position, as shown in FIG. Therefore, the lid 35 is not accommodated in the unlocked state by the lock plate 47.

Then, in the state where the dust collection box 7 is housed in the housing portion 30, as shown in FIG. 5, the lower suction port 38 of the box main body 34 is connected to the lower path 32 and the upper suction port 70 of the tray 37 is It is connected to the upper path 31. Further, the exhaust cylinder 46 of the upper cover 45 is connected to an opening 78 formed in the rear wall 77 of the housing portion 30. A sealing material 79 is provided around the opening 78 to seal between the exhaust cylinder 46 and the like.
The fan unit 6 is accommodated in the main body 2 behind the rear wall 77, and the intake port 81 provided on the upper front of the casing 80 is brought into contact with the rear wall 77 at the position of the opening 78 to It is in communication with A fan motor 82 with the rotary shaft 83 facing upward and a suction fan 84 attached to the rotary shaft 83 are provided at a lower portion in the casing 80, and the air drawn from the suction port 81 by the rotation of the suction fan 84 is provided. , And can be discharged from the inner exhaust ports 85 provided in the lower part of the casing 80. Outside exhaust ports 86, 86,... Are formed outside the inside exhaust port 85 and on the rear surface of the upper housing 12.

  And mounting parts 87, 87 of batteries 3 and 3 are formed in the shape of a notch on the right and left of fan unit 6 at the back of upper housing 12. As shown in FIG. The mounting portions 87 are disposed symmetrically with respect to a center line of the main body 2 in the front-rear direction. The battery 3 mounted on the mounting portion 87 is an 18V lithium ion battery used as a power source of the power tool, and the mounting portion 87 has the same structure as the mounting portion provided on the power tool. That is, at the deepest end of the mounting portion 87, a pair of guide rails (not shown) fitted from the outside is formed upward on the rails provided at the coupling portion of the battery 3, and positive and negative terminal plates are provided between the guide rails. The terminal block is installed upward. Therefore, by inserting the battery 3 from above into the mounting portion 87, the rail is fitted and coupled to the guide rail, and the terminal block is electrically connected to the connection terminal provided in the battery coupling portion. Ru. As described above, since the power tool battery 3 is used as a power source, it is not necessary to prepare different batteries for each model, so that versatility can be obtained and cost and management do not occur.

Here, the mounting portions 87, 87 are formed in such a manner that the deepest surface to which the battery 3 is coupled is inclined from the front and rear direction along the tangential direction of the main body portion 2, and in the mounted state of the batteries 3, 3 It is set to face the center of the part 2. Since the battery 3 is inclined and mounted radially as described above, the battery 3 can be disposed at the outermost position along the outer shape of the main body 2 and a waste space does not occur outside the battery 3.
Furthermore, since the battery 3 is disposed in a well-balanced manner on the left and right with respect to the center line in the front-rear direction of the main body 2, even if there are two batteries 3, no deviation in the center of gravity occurs. In particular, since the casters 8 and 8 are positioned directly below the batteries 3 and 3 mounted, stability during traveling is also good, and straightness does not deteriorate even if one battery 3 is not mounted.

Behind the lid 73, the upper housing 12 is provided with an operation unit 88 provided with a power button 89, a remaining amount display unit 90 of the battery 3, an operation mode selection button 91, and the like. Below the operation unit 88, a switch substrate 92 (FIG. 5) provided with a switch that is turned on / off by the operation of the operation unit 88 is provided.
In addition, a lens 93 for display is provided on the upper housing 12 in front of the lid 73, and an LED substrate 94 provided with an LED that emits light according to the operation mode is provided below the lens 93. The switch substrate 92 and the LED substrate 94 are connected to the control circuit board 29 of the controller 26 by lead wires (not shown).

  In the dust collecting robot 1 configured as described above, when the battery 3 is mounted on the mounting portion 87 and set on the floor surface, the brush 20 of the main brush 18 and the brush 25 of the side brush 23 are each floor Abuts the surface. Here, when the power button 89 of the operation unit 88 is pressed to select the operation mode, the motors 4, 4 are driven to rotate the wheels 5, 5, and travel on the floor according to the set program. At the same time, the main brush motor 21 and the side brush motor 22 are driven to rotate the main brush 18 and the side brush 23, respectively, and the fan motor 82 is also driven to rotate the suction fan 84. Therefore, the dust on the floor surface is scooped up by the rotating main brush 18 and sucked from the suction port 16 by the suction force of the suction fan 84 and sent to the rear dust collection box 7. At the same time, dust on the outside is also moved toward the main brush 18 by the side brushes 23 and 23.

  At this time, large dust is stored in the lower dust collection chamber S2 in the box main body 34 from the lower suction port 38 of the dust collection box 7 through the lower path 32. Since the lower suction port 38 is higher than the bottom surface of the box main body 34 which is the bottom surface of the lower dust collection chamber S2, the dust stored in the lower dust collection chamber S2 is less likely to backflow from the lower suction port 38 . On the other hand, small dust is introduced into the tray 37 from the upper suction port 70 through the upper path 31 by the air sucked from the suction port 16 and discharged from the exhaust stack 46 to the fan unit 6 through the filter 49. , And are captured by the paper filter 65 of the filter 49 and stored in the upper dust collection chamber S1 in the tray 37. Since the guard plate 62 is provided on the lower front side of the filter 49, air does not pass centering on the front side of the paper filter 65, and it wraps around to the center side of the paper filter 65, thereby causing dust It becomes difficult to clog.

  The batteries 3 and 3 here are used as a power source one by one in order, and the remaining capacity of the battery 3 is displayed by the remaining amount display units 90 and 90 provided in the operation unit 88. Therefore, when the remaining capacity of one battery 3 is exhausted first, the battery 3 can be removed from the mounting portion 87 and charged by an external charger. In this case, although it is possible to drive with only the other battery 3, as described above, since the casters 8, 8 are provided symmetrically, even if the center of gravity of the main body 2 is biased by one battery 3, Stable traveling is possible by the left and right casters 8, 8.

When the dust stored in the dust collection box 7 is discarded, the dust collection box 7 can be taken out via the handle 72 if the lid 73 is flipped up to expose the housing portion 30. Since the handle 72 protrudes to the outside of the dust collection box 7, it can be taken out cleanly without being contaminated with dust and the like.
After removal, the lock plates 47 and 47 are slid to the second slide position, whereby the lock between the box body 34 and the lid 35 is released. Thus, as shown in FIG. 7, the tray 37 can be removed and the dust on the tray 37 can be discarded, and the dust can also be discarded from the box main body 34 whose upper surface is open. On the other hand, when cleaning the filter 49 or replacing the paper filter 65, the lock between the upper cover 45 and the lower cover 48 is released by sliding the left lock plate 47 to the third slide position. Therefore, as shown in FIG. 8, only the upper cover 45 can be opened, the filter 49 can be taken out, and cleaning can be performed. When the disposal of dust and the like is completed, the box body 34 and the lid 35 are locked again if the lock plates 47, 47 are returned to the first slide position with the lid 35 closed.

  Thus, according to the dust collection robot 1 of the above embodiment, the main body 2, the upper dust collection chamber S1 and the lower dust collection chamber S2 provided in the main body 2 and separated vertically, and the upper dust collection chamber A main brush 18 disposed in a brush storage chamber 17 formed in front of S1 and the lower dust collection chamber S2 and rotationally driven, and an upper path 31 communicating with the brush storage chamber 17 and connected to the upper dust collection chamber S1 And a lower passage 32 connected to the lower dust collection chamber S2 in communication with the brush storage chamber 17 and a suction fan 84 connected to the upper dust collection chamber S1 via the filter 49. Even if the storage amount of dust in any one of the upper dust collection chamber S1 and the lower dust collection chamber S2 increases, the dust can be collected as it is, and continuous cleaning can be performed.

In particular, here, since the connection position (lower suction port 38) between the lower dust collection chamber S2 and the lower passage 32 is made higher than the bottom surface of the lower dust collection chamber S2, the lower dust collection chamber S2 is The possibility that the stored dust flows back and leaks from the lower suction port 38 is reduced.
In addition, by making the opening area of the communication portion between the lower path 32 and the brush housing chamber 17 larger than the opening area of the communication portion between the upper path 31 and the brush housing chamber 17, large dust is collected by the main brush 18. Effectively.

  In the above embodiment, the tray 37 of the dust collection box 7 is shaped like a bowl whose bottom is horizontal, but as shown in FIGS. 18 and 19, it is also possible to use a tray 37A whose bottom is inclined downward to the rear. In this case, the upper dust collection chamber S1 becomes deeper as it goes to the rear, and the lower dust collection chamber S2 becomes shallow as it goes to the rear. In this way, if the bottom portion which is the partition portion between the upper dust collection chamber S1 and the lower dust collection chamber S2 is inclined downward, the dust collected from the upper passage 31 to the upper dust collection chamber S1 is behind the upper dust collection chamber S1 The dust is not stored near the inlet from the upper suction port 70 to the upper dust collection chamber S1, and the air flow is not impeded. Conversely, dust collected by the main brush 18 and collected from the lower passage 32 into the lower dust collection chamber S2 is stored exclusively in the front portion of the lower dust collection chamber S2, so even if the rear portion is shallow There is no problem. The tray 37 and the tray 37A may be selected according to the use environment of the dust collection robot 1.

On the other hand, according to the dust collection robot 1 of the above embodiment, the main body 2 having the wheels 5, the dust collection part (the main brush 18 and the side brush 23) provided in the main body 2, and the main part 2 And a dust collection box 7 having a lid 35 at the upper part and storing dust collected in the dust collection unit, and the dust collection box 7 is separated into upper and lower parts and the suction ports 38 and 70 are separately provided. In the upper dust collection chamber S1 having the above and the lower dust collection chamber S2, the tray 37 (37A) forming the upper dust collection chamber S1 can be detached from the dust collection box 7 alone, Even if the dust collection box 7 is provided with two dust collection chambers S1 and S2 for separately storing dust, the dust can be easily discarded. In particular, here, the tray 37 (which forms the upper dust collection chamber S1 37A) by providing the lower handle 71 B. 37 A can be easily put in and out.
Further, the lower handle 71 is exposed to the outside of the dust collection box 7 in a state where the tray 37 (37A) is incorporated into the dust collection box 7 and can be used also as the handle 72 of the dust collection box 7 itself. Is rational and leads to cost reduction.

Furthermore, it is possible to slide to the lock position where the opening operation of the lid 35 is locked in the assembled state of the tray 37 (37A) and the unlocking position where the opening operation of the lid 35 is allowed and the tray 37 (37A) is removable. Lock plates 47, 47 are provided, and the lock plates 47, 47 project from the dust collection box 7 in the unlocked position to restrict storage in the main body portion 2 so that There is no misuse to accommodate the box 7 and the risk of dust leakage is eliminated.
In addition, the unlock position is defined as two positions, a first unlock position where the filter 49 can not be removed from the lid 35 side and a second unlock position where the filter 49 can be removed from the lid 35 side. Because the left lock plate 47 can be slid stepwise from the lock position to the first unlock position and the second unlock position, the slide operation of the lock plate 47 to each slide position can be easily performed. Become.

The upper suction port 70 of the tray 37 (37A) has a smaller opening area than the lower suction port 38 of the box main body 34 forming the lower dust collection chamber S2. Even if 31 and 32 are connected, suction of dust to the tray 37 (37A) side can be performed efficiently.
Further, by providing the filter 49 above the tray 37 (37A), the dust can be reliably stored in the tray 37 (37A).

In the above embodiment, in the dust collection box, the lock plate on the left is made to slide from the lock position to the two unlock positions, but three slide positions are set on the lock plate on the right with the right and left reversed. You may set three slide positions for both right and left. The arrangement of the lock plate and the hinge can also be reversed.
In addition, it is not necessary to make the lock member project in the unlock position, and if the lid can be opened and closed independently so that only one lock member can be provided at the center of the dust collection box or the slide structure It is also possible to use a latch structure instead.

  On the other hand, a clearance approach preventing means can be provided so that the dust collection robot 1 does not enter into a narrow clearance such as the lower part of the carriage which does not require cleaning. As this clearance approach prevention means, for example, as shown in FIG. 20, it is conceivable to provide an interference pin 95 at the front end of the upper surface of the sensor cover 13. The interference pin 95 is a shaft having a threaded portion 96 at its lower end and a cylindrical upper end as shown in FIG. 21 and a screw hole portion provided on the upper surface of the sensor cover 13 as shown in FIG. By being screwed in 97, it is integrally provided in the state which protruded from the sensor cover 13 upwards. The height including the interference pin 95 is set to be higher than the height of the gap where the entry is desired to be avoided.

Therefore, when the dust collection robot 1 reaches the gap where the entry is desired to be avoided, the sensor pin 13 reacts by the interference pin 95 higher than the gap coming into contact with the carriage etc. forming the gap. It will change and it can prevent the approach to the crevice concerned. In particular, since the interference pin 95 is removable, it can be removed if the gap entry preventing function is unnecessary, and the function can be selected. In addition, by adjusting the screwing amount of the interference pin 95, it is possible to adjust the protruding height according to the gap.
This interference pin may be provided at a plurality of places instead of one place, and it is possible to prevent entry of a gap if the projection position from the sensor cover and the insertion position can be selected by a so-called push-push mechanism etc. Selection of functions is possible. The projection height can be adjusted not only by screws but also by expanding and contracting the interference pin itself as a telescope structure.
Furthermore, the means for preventing entry into a gap is not limited to the pin shape, and the plate-like body can be attached and detached, or the plate-like body can be suitably folded by a hinge on the upper surface of the sensor cover.

Moreover, the theft prevention means of the dust collection robot 1 can also be provided. As this antitheft means, for example, battery lock means for preventing removal of the battery 3 can be considered. This is because even if the dust collection robot 1 is stolen, it can not be charged even if its capacity is lost if the battery can not be removed, and subsequent use can not be performed, which leads to loss of the willingness to steal.
As the battery lock means, for example, as shown in FIGS. 23 to 25, the lock body 98 can be projected on the upper side of the battery 3 in each mounting portion 87 and the upper portion of the mounting portion 87 from the main body portion 2 The lock body 98 is positioned above the battery 3 to prevent its removal by the input of a specific key operation at the operation unit 88, and the lock body 98 is retracted from the top of the battery 3 It is conceivable to move it to a retracted position that enables its removal. Therefore, if the lock body 98 is moved to the protruding position of FIG. 21 or the like by key operation after use of the dust collection robot 1, the battery 3 can not be removed, leading to theft prevention of the dust collection robot 1.

The movement of the lock body 98 may be performed by using a dedicated key or by inputting a password using a ten key or the like. Further, the lock body is not limited to a plate shape, and can be formed into a pin or hook shape which protrudes into and retracts from the mounting portion.
And even if it is a dust collection robot with a built-in battery, this antitheft means can also be achieved by making it impossible to operate unless a specific key operation on the operation unit is inputted, for example.

In addition, in the dust collection robot, the number of batteries is not limited to two, and three or more batteries can be used if they can be disposed in a balanced manner on the left and right. The present invention is also applicable to a self-propelled dust collection robot of the type in which the traveling direction is reversed, that is, the battery and the caster are at the front of the main body and the suction port is at the rear of the main body. is there.
Also, the form of the battery and the mounting structure to the mounting portion may be inserted not from the top but from the rear, or the engaging portions such as guide rails may be provided not on the radially inner surface but on the radially outer surface It can be suitably changed, such as being provided on the inner surface along the direction. Furthermore, instead of engagement between the rails and the guide rails, the terminals may be in contact with each other by simple insertion.

  On the other hand, the number of castors is not limited to two, and three or more can also be used, and it is not necessary to fit within the outer shape of the battery in plan view as in the above embodiment. It can also be arranged so that a part or all of it protrudes from. The side brush can also be omitted.

  1, 1 A · · · Self-propelled dust collection robot, · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · fan unit, 7 · · · · · · · · lower Side housing 12, upper housing 13, sensor cover 16, suction port 17, brush housing 18, main brush 23, side brush 26, controller 30, housing 30 , 31 · · upper path, 32 · · lower path, 34 · · box body, 35 · · lid, 37, 37A · · tray, 38 · · lower suction port, 41A, 41B · · · lock portion 45 · · · Upper lid, 47 lock plate, 48 lower lid, 49 filter, 57A, 57B locking piece, 70 upper suction port, 72 handle 73 lid, 84 suction Fan, 87 · · · mounting unit, 88 · · · operation unit, S1 · · upper collection Room, S2 ·· lower dust collecting chamber.

Claims (7)

Body part,
An upper dust collection chamber and a lower dust collection chamber provided in the main body and separated vertically;
A brush disposed in a brush storage chamber formed in front of the upper dust collection chamber and the lower dust collection chamber and rotationally driven;
An upper path communicating with the brush storage chamber and connected to the upper dust collection chamber;
A lower passage in communication with the brush storage chamber and connected to the lower dust collection chamber;
A suction fan communicating with the upper dust collection chamber via a filter;
Contains
The upper dust collecting chamber and the lower dust collecting chamber are provided so as to be able to be inserted into and removed from the main body, and the upper dust collecting chamber is connected to the upper dust path in the storage state to the main body. While forming in a dust collection box provided with a suction port and a lower suction port on the side of the lower dust collection chamber connected to the lower path, respectively
A self-propelled dust collection robot characterized in that the upper dust collection chamber is independently removable from the dust collection box .   The self-propelled dust collection robot according to claim 1, wherein a connection position between the lower dust collection chamber and the lower passage is higher than a bottom surface of the lower dust collection chamber.   The opening area of the communication portion between the lower path and the brush storage chamber is larger than the opening area of the communication portion between the upper path and the brush storage chamber. Self-propelled dust collection robot.   The self-propelled dust collection robot according to any one of claims 1 to 3, wherein a partition portion between the upper dust collection chamber and the lower dust collection chamber is inclined downward toward the rear.   The self-propelled dust collection robot according to any one of claims 1 to 4, wherein the suction fan is disposed at the rear of the dust collection box.   The dust collection box includes a lower box main body in which the lower dust collection chamber and the lower suction port are formed, a lid provided with a filter to close the upper surface of the box main body, the box main body and the lid The self-propelled dust collection robot according to any one of claims 1 to 5, further comprising a tray provided between the upper dust collection chamber to form the upper dust collection chamber and having the upper suction port.   On the lower side of the filter in the lid, there is provided a guard plate which inclines downward from the end edge on the upper suction port side in a direction away from the upper suction port and divides the upper suction port side of the filter downward. The self-propelled dust collection robot according to claim 6, characterized in that

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