JP6625509B2 - Cleaning robot - Google Patents

Description

  The present invention relates to a cleaning robot that runs on a floor by itself.

  A conventional cleaning robot is disclosed in Patent Document 1. In this cleaning robot, a suction unit is opened on a bottom surface, and a main body housing containing an electric blower and a dust collecting unit runs on a floor surface to perform cleaning. At this time, in order to clean the lower part of the table or the like, the main body housing is formed to be thin and low. The main body housing is provided with a drive wheel and a front wheel protruding from the bottom surface. The front wheel is disposed forward of the driving wheel in the traveling direction during cleaning, and an inlet is disposed between the front wheel and the driving wheel.

  An intake port is opened on the lower surface of the front part of the main body housing, and an exhaust port is opened on the peripheral surface of the rear part. A dust suction unit having an electric blower and a dust collection unit is disposed in the main body housing behind the drive wheels. The electric blower generates a suction airflow sucked from the suction port, and the dust collecting portion collects dust contained in the suction airflow. A battery for supplying electric power to each unit such as an electric blower and driving wheels is provided in the main body housing.

  In the cleaning robot having the above configuration, when the cleaning operation is started, the driving wheels and the electric blower are driven. The main body housing runs on the floor in a desired cleaning area by the rotation of the drive wheel and the front wheel. By driving the electric blower, an airflow including dust on the floor surface is sucked from the suction port. Dust included in the airflow is collected by the dust collection unit, and the airflow from which the dust has been removed passes through the electric blower and is exhausted outside the main body housing. As a result, the cleaning area is cleaned, and the dust accumulated on the dust collecting section is discarded after removing the dust collecting section.

JP-A-2000-202792 (pages 4 to 7, FIG. 1)

  However, according to the above-described conventional cleaning robot, there is a problem in that dust on the floor surface is blocked by the front wheel disposed in front of the suction port in the cleaning direction and the dust collection ability is reduced. Further, fibrous dust such as hair and lint is entangled with the front wheel, so that the front wheel does not rotate normally and the front wheel cannot get over the step on the floor. As a result, there is a problem that the main body housing stops and a running abnormality occurs, and the entire cleaning area cannot be cleaned.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a cleaning robot capable of improving dust collection performance and preventing a running abnormality.

A self-propelled cleaning robot according to one embodiment of the present invention includes a suction port provided on a bottom surface of a housing so as to suck dust and air, and a dust collection container for collecting dust sucked from the suction port. Then, while collecting the dust sucked from the suction port, a dust collection unit that allows the airflow to pass, a blowing unit that discharges the airflow that has passed through the dust collection unit after suctioning the dust, and the dust that is discharged from the blowing unit An exhaust port having an inclined surface for exhausting the airflow and directing the exhausted airflow obliquely upward, and provided on the upper surface of the housing so as to be openable and closable so that the dust collection container can be taken in and out of the upper surface of the housing. A lid portion, wherein the exhaust port is provided on an upper surface of the housing along an outer edge of the lid portion, and the air that has passed through the air blower section passes through the exhaust port without passing through the back surface of the lid portion. It is characterized by being exhausted.

In the self-propelled cleaning robot according to one aspect of the present invention, in the above aspect, the dust collection container has a shape that is narrowed from an upper portion to a bottom portion, and an outlet that guides an airflow to the blower is provided. The opening formed in the surface that is inclined from the top to the bottom and that is connected to the blower that is in close contact with the outflow port through the packing is configured to be inclined from the top to the bottom. You can also.

  According to the present invention, the suction port is arranged between the front wheel and the drive wheel, and the self-propelled flat floor surface separates the front wheel from the floor surface so that the drive wheel and the rear wheel contact the ground. Thus, dust on the floor is not blocked by the front wheels, and the dust collecting ability of the cleaning robot can be improved. Further, since the fibrous dust is not entangled with the front wheel, it is possible to prevent a running abnormality of the main body housing.

1 is a perspective view showing a cleaning robot according to an embodiment of the present invention. FIG. 2 is a side sectional view showing the cleaning robot according to the embodiment of the present invention. The bottom view showing the cleaning robot of the embodiment of the present invention. FIG. 2 is a side cross-sectional view illustrating a state where a dust collecting unit is removed from the cleaning robot according to the embodiment of the present invention. FIG. 2 is a perspective view showing a motor unit of the cleaning robot according to the embodiment of the present invention. The front view which shows the motor unit of the cleaning robot of embodiment of this invention. The top view which shows the motor unit of the cleaning robot of embodiment of this invention. The side view which shows the motor unit of the cleaning robot of embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view illustrating a cleaning robot according to an embodiment. The cleaning robot 1 has a main body housing 2 having a circular shape in a plan view, which is driven by driving a driving wheel 29 (both shown in FIG. 2) by a battery 14. A lid 3 that opens and closes when the dust collection unit 30 (see FIG. 2) is taken in and out is provided on the upper surface of the main body housing 2.

  2 and 3 show a side sectional view and a bottom view of the cleaning robot 1. A pair of drive wheels 29 protruding from the bottom surface and rotating on a horizontal rotation shaft 29a is disposed on the main body housing 2. The rotation shaft 29 a of the drive wheel 29 is disposed on the center line C of the main body housing 2. When both wheels of the drive wheel 29 rotate in the same direction, the main body housing 2 moves forward and backward, and when they rotate in the opposite direction, the main body housing 2 rotates around the center line C.

  A suction port 6 is provided on a lower surface of a front portion of the main body housing 2 which is located forward in the traveling direction when performing cleaning. The suction port 6 is formed so as to face the floor surface F by the open surface of the concave portion 8 formed in the bottom surface of the main body housing 2. A rotating brush 9 that rotates with a horizontal rotating shaft is disposed in the concave portion 8, and a side brush 10 that rotates with a vertical rotating shaft is disposed on both sides of the concave portion 8.

  A roller-shaped front wheel 27 is provided in front of the recess 8. Thus, the suction port 6 is disposed between the front wheel 27 and the drive wheel 29. A rear wheel 26 composed of a universal wheel is provided at the rear end of the main body 2. As will be described later, the weight of the main body housing 2 is distributed in the front-rear direction with respect to the drive wheel 29 disposed at the center, the front wheel 27 is separated from the floor surface F, and the rotating brush 9, the drive wheel 29 and the rear wheel 26 are separated from the floor. Cleaning is performed by touching the surface F. For this reason, dust and dirt ahead of the course can be guided to the inlet 6 without being blocked by the front wheel 27. The front wheel 27 is grounded on a step that appears on the course, so that the main body casing 2 can easily get over the step.

  A floor detection sensor 18 for detecting a floor F is provided in front of the front wheel 27. A similar floor surface detection sensor 19 is provided in front of both drive wheels 29. When a step such as a descending stair appears on the course, the drive wheel 29 is stopped by the detection of the floor detecting sensor 18. Further, when the floor surface detection sensor 18 malfunctions, the drive wheel 29 is stopped by the detection of the floor surface detection sensor 19.

  A charging terminal 4 for charging the battery 14 is provided at a rear end of the peripheral surface of the main body 2. The main body housing 2 travels by itself and returns to the charging stand 40 installed in the room, and the charging terminal 4 contacts the terminal portion 41 provided on the charging stand 40 to charge the battery 14. The charging stand 40 connected to the commercial power supply is usually installed along the indoor side wall S.

  A dust collection unit 30 that collects dust is disposed in the main body housing 2. The dust collection unit 30 is disposed on a rotation shaft 29 a of the driving wheel 29 and is housed in a dust collection chamber 39 provided in the main body housing 2. The dust collection chamber 39 is formed of an isolation chamber having four sides and a bottom surface covered, and extends in the left-right direction so as to partition the inside of the main body housing 2. Each wall surface of the dust collection chamber 39 is closed except for a front wall extending in the longitudinal direction. A first intake passage 11 communicating with the recess 8 and a second intake passage 12 disposed above the recess 8 and communicating with a motor unit 20 described later are led out from the front wall of the dust collection chamber 39.

  As shown in FIG. 4, the dust collecting section 30 can be opened and closed by opening the lid 3 of the main body housing 2. An upper cover 32 having a filter 33 is attached to an upper surface of a cylindrical dust collection container 31 having a bottom. The upper cover 32 is locked to the dust collecting container 31 by a movable locking portion 32a, and the upper surface of the dust collecting container 31 is opened and closed by operating the locking portion 32a. Thereby, the dust accumulated in the dust container 31 can be discarded.

  An inflow passage 34 is formed on the peripheral surface of the dust collection container 31 and has an inflow port 34 a opened at the end thereof and communicates with the first intake passage 11. An inflow portion 34b is provided in the dust collection container 31 to guide the airflow downward by bending continuously to the inflow passage 34. An outflow passage 35 is formed on the peripheral surface of the upper cover 32 and has an outlet 35a opened at the end thereof and communicates with the second intake passage 12.

  A packing (not shown) that is in close contact with the front wall of the dust collection chamber 39 is provided around the inflow port 34a and the outflow port 35a. Thereby, the inside of the dust collection chamber 39 in which the dust collection unit 30 is stored is sealed. The opening surface of the inflow port 34a, the opening surface of the outflow port 35a, and the front wall of the dust collection chamber 39 are formed as inclined surfaces, so that the packing can be prevented from being deteriorated due to sliding when the dust collection unit 30 is taken in and out.

  A control board 15 is provided in an upper portion behind the dust collection chamber 39 in the main body housing 2. A detachable battery 14 is provided at a lower portion behind the dust collection chamber 39. Thus, the control board 15 and the battery 14 are disposed between the driving wheel 29 and the rear wheel 26. The control board 15 is provided with a control circuit for controlling each part of the cleaning robot 1. The battery 14 is charged from the charging stand 40 via the charging terminal 4, and supplies power to the control board 15, the driving wheel 29, the rotating brush 9, the side brush 10, the electric blower 22, and other components.

  A motor unit 20 is arranged at the front of the main body housing 2. 5, 6, 7, and 8 show a perspective view, a top view, a front view, and a side view of the motor unit 20, respectively. The motor unit 20 includes a resin molded housing 21 and an electric blower 22 housed in the housing 21. The electric blower 22 is formed by a turbo fan covered by a motor case 22a.

  In the motor case 22a of the electric blower 22, an intake port (not shown) is opened at one end in the axial direction, and exhaust ports (not shown) are opened at two places on the peripheral surface. An opening 23 is provided on the front surface of the housing 21 so as to face the air inlet of the motor case 22a. A first exhaust path 24a and a second exhaust path 24b are provided on both sides of the electric blower 22 of the housing 21 so as to communicate with respective exhaust ports of the motor case 22a. The first and second exhaust paths 24a and 24b communicate with an exhaust port 7 (see FIG. 2) provided on the upper surface of the main body housing 2.

  For this reason, the first and second exhaust passages 24a and 24b and the second intake passage 12 (see FIG. 2) form an air flow passage that connects the dust collection unit 30 and the exhaust port 7. Further, the first intake path 11 (see FIG. 2) forms an air flow path that connects the suction port 6 and the dust collection unit 30.

  Thereby, the air flow path including the electric blower 22 is arranged in front of the dust collection chamber 39 and arranged at the front part of the main body housing 2, and the air flow path can be shortened. Further, the control board 15 and the battery 14 are collectively arranged behind the dust collection chamber 39 and arranged at the rear part of the main body casing 2, so that wiring and the like can be reduced. Therefore, the size of the main body housing 2 can be reduced. Further, since the flow path of the airflow is separated from the control board 15, it is possible to reduce the adhesion of dust to the control board 15 when the airflow leaks, thereby reducing the failure of the control circuit.

  In addition, since the heavy electric blower 22 and the battery 14 are dispersedly disposed around the rotation axis 29a of the driving wheel 29, the weight is balanced in the front-rear direction with respect to the rotation axis 29a passing through the center line C of the main body casing 2. Weight is distributed. At this time, since the weight of the electric blower 22 is large, a better weight balance can be achieved by disposing the control board 15 and the battery 14 behind the rotation shaft 29 a of the driving wheel 29.

  An ion generator 28 having a pair of electrodes 28a is arranged in the first exhaust path 24a. A voltage having an AC waveform or an impulse waveform is applied to the electrode 28a, and ions generated by corona discharge of the electrode 28a are discharged to the first exhaust path 24a.

  A positive voltage is applied to one electrode 28a, and hydrogen ions generated by corona discharge combine with moisture in the air to generate positive ions mainly composed of H + (H2O) m. A negative voltage is applied to the other electrode 28a, and oxygen ions generated by corona discharge combine with moisture in the air to generate negative ions mainly composed of O2- (H2O) n. Here, m and n are arbitrary natural numbers. H + (H2O) m and O2- (H2O) n aggregate around the surface of airborne bacteria and odor components and surround them.

  Then, as shown in the formulas (1) to (3), the active species [.OH] (hydroxyl radical) and H2O2 (hydrogen peroxide) are aggregated and generated on the surface of a microorganism or the like due to collision to cause floating bacteria or the like. Destroys odor components. Here, m 'and n' are arbitrary natural numbers. Therefore, by generating plus ions and minus ions and sending them out of the exhaust port 7 (see FIG. 2), it is possible to remove bacteria and odor in the room.

H + (H2O) m + O2- (H2O) n → OH + 1 / 2O2 + (m + n) H2O (1)
H + (H2O) m + H + (H2O) m '+ O2- (H2O) n + O2- (H2O) n'
→ 2OH + O2 + (m + m '+ n + n') H2O (2)
H + (H2O) m + H + (H2O) m '+ O2- (H2O) n + O2- (H2O) n'
→ H2O2 + O2 + (m + m '+ n + n') H2O (3)
In addition, a return port 25 having an open front surface is provided below the first exhaust path 24a. The return port 25 is covered at its upper part by a protruding portion 25a protruding from the front surface of the housing 21, and has an opening surface formed into a curved surface along the wall surface of the concave portion 8 (see FIG. 2). Thereby, the return port 25 faces the inside of the recess 8 through a hole (not shown) provided on the wall surface of the recess 8, and a part of the airflow containing ions flowing through the first exhaust passage 24 a is guided to the intake side. .

  In the cleaning robot 1 having the above configuration, when a cleaning operation is instructed, the electric blower 22, the ion generator 28, the driving wheels 29, the rotating brush 9, and the side brush 10 are driven. As a result, the main body housing 2 runs on a predetermined cleaning area by the rotating brush 9, the driving wheel 29, and the rear wheel 26 being in contact with the flat floor surface F.

  The dust and dirt on the floor surface F pass below the front wheel 27 as the main body housing 2 advances, and are sucked through the suction port 6. At this time, dust on the floor F is swept up by the rotation of the rotating brush 9 and is guided into the recess 8. In addition, the dust on the side of the suction port 6 is guided to the suction port 6 by the rotation of the side brush 10.

  The airflow sucked from the suction port 6 flows backward through the first intake path 11 as shown by the arrow A1, and flows into the dust collecting section 30 via the inflow port 34a. The airflow that has flowed into the dust collection unit 30 is collected by the filter 33, and flows out of the dust collection unit 30 through the outlet 35a. Thereby, dust and dirt are collected and accumulated in the dust collection container 31. The airflow flowing out of the dust collection unit 30 flows forward through the second intake path 12 as shown by an arrow A2, and flows into the electric blower 22 of the motor unit 20 through the opening 23.

  The airflow that has passed through the electric blower 22 flows through the first exhaust path 24a and the second exhaust path 24b, and the airflow that flows through the first exhaust path 24a contains ions. Then, an air flow containing ions is exhausted obliquely upward and rearward from an exhaust port 7 provided on the upper surface of the main body casing 2 as shown by an arrow A3. Thereby, while cleaning the interior of the room, ions contained in the exhaust of the self-propelled main body casing 2 are distributed throughout the room, and bacteria elimination and deodorization of the room are performed. At this time, since the air is exhausted upward from the exhaust port 7, dust can be prevented from being lifted up on the floor F and the indoor cleanliness can be improved.

  Part of the airflow flowing through the first exhaust path 24a is guided to the recess 8 through the return port 25 as shown by an arrow A4. For this reason, ions are contained in the airflow guided from the suction port 6 to the first intake path 11. Thereby, the dust collection container 31 of the dust collection part 30 and the filter 33 can be sterilized and deodorized.

  Further, when the main housing 2 reaches the periphery of the cleaning area or collides with an obstacle on the course, the driving wheels 29 are stopped. Then, both wheels of the drive wheel 29 are rotated in opposite directions, and the main housing 2 is rotated around the center line C to change the direction. Thereby, the main body housing 2 can be made to self-propelled over the entire cleaning area and can be made to self-propelled while avoiding obstacles. Note that the main body housing 2 may be moved backward by reversing both wheels of the drive wheel 29 with respect to the forward movement.

  When the cleaning is completed, the main body housing 2 runs and returns to the charging stand 40. As a result, the charging terminal 4 comes into contact with the terminal portion 41 and the battery 14 is charged.

  Also, depending on the setting, the electric blower 22 and the ion generator 28 can be driven during or after the charging of the battery 14 in the return state of the main body housing 2. As a result, an air flow containing ions is sent upward and rearward from the exhaust port 7. Since the charging terminal 4 is provided at the rear end of the main body casing 2, the air current containing ions flows in the direction of the charging stand 40 and rises along the side wall S. The airflow circulates along the indoor ceiling wall and opposing side walls. Therefore, the ions are distributed throughout the room, and the bactericidal effect and the deodorizing effect can be improved.

  According to the present embodiment, the suction port 6 is arranged between the front wheel 27 and the drive wheel 29, and the front wheel 27 separates from the floor F when driving on the flat floor F by itself, and the drive wheel 29 and the rear wheel 26 Is grounded. Accordingly, dust on the floor F is not blocked by the front wheels 27, and the dust collecting ability of the cleaning robot 1 can be improved. Further, since the fibrous dust is not entangled with the front wheel 27, it is possible to prevent a running abnormality of the main body housing 2.

  Further, the rotating shaft 29a of the driving wheel 29 may be arranged so as to be shifted from the center line C of the main body casing 2, but it is more desirable to arrange the rotating shaft 29a on the center line C as in the present embodiment. Thereby, both the driving wheels 29 can be rotated in the opposite direction, and the direction of the main body housing 2 can be easily changed at the same position. At this time, when the main body case 2 is formed in a circular shape in plan view as in the present embodiment, it is possible to prevent collision between the main body case 2 and an obstacle when changing the direction.

  In addition, since the rotating brush 9 is grounded when performing cleaning, the main body 2 in which the front wheel 27 is separated from the floor surface F can be stably grounded by the rotating brush 9, the driving wheel 29 and the rear wheel 26.

  Further, since the battery 14 and the control board 15 are arranged between the drive wheel 29 and the rear wheel 26, the main body 2 in which the front wheel 27 is separated from the floor F is moved by the weight of the battery 14 and the control board 15 to the drive wheel 29. And the grounding can be stably performed by the rear wheel 26.

<Appendix>
  In order to achieve the above object, the present invention provides a main body housing having a suction opening facing a floor surface opened at a bottom surface, and a pair of drive wheels having a horizontal rotation axis and self-propelling the main body housing, A front wheel disposed forward of the driving direction in the cleaning direction with respect to the driving wheel; and a rear wheel disposed rearward of the driving direction in the cleaning direction with respect to the driving wheel, the front wheel and the driving wheel; And the front wheels are separated from the floor surface and the drive wheels and the rear wheels are grounded when the vehicle runs on a flat floor surface by itself.

  According to this configuration, the front wheels are separated from the flat floor surface, the drive wheels and the rear wheels are in contact with the ground, and the pair of drive wheels
The main body housing runs in the cleaning area by driving the wheels. Dust and debris on the floor pass below the front wheel as the main body housing advances, and are sucked through the suction port. The airflow containing dust and the like is exhausted after the dust and the like are removed in the main body housing. When a step appears on the course of the main body casing, the front wheels touch the step, and the main casing moves over the step by the rotation of the drive wheels.

  According to the present invention, in the cleaning robot configured as described above, the rotation axis is disposed on a center line of the main body housing. According to this configuration, when both of the driving wheels rotate in the opposite direction, the main body housing rotates around the vertical center line.

  According to the present invention, in the cleaning robot having the above-described configuration, a rotary brush is provided at the suction port, and the rotary brush is grounded when performing cleaning. According to this configuration, the rotating brush, the driving wheel, and the rear wheel are grounded, and the main body housing is self-propelled, and the dust on the floor is scraped up by the rotation of the rotating brush and guided to the suction port.

  According to the present invention, in the cleaning robot configured as described above, a battery that supplies power to each unit and a control board that controls each unit are arranged between the driving wheel and the rear wheel. According to this configuration, the main body housing from which the front wheels are separated from the floor surface is stably grounded by the weight of the battery and the control board.

  ADVANTAGE OF THE INVENTION According to this invention, it can utilize for the cleaning robot self-propelled on a floor surface.

DESCRIPTION OF SYMBOLS 1 Cleaning robot 2 Main body housing 3 Lid 4 Charging terminal 6 Suction port 7 Exhaust port 8 Concave part 9 Rotary brush 10 Side brush 11 First intake path 12 Second intake path 14 Battery 15 Control boards 18, 19 Floor surface detection sensor 20 Motor unit 21 Housing 22 Electric blower 23 Opening 24a First exhaust path 24b Second exhaust path 25 Return port 28 Ion generator 29 Drive wheel 30 Dust collector 31 Dust container 32 Upper cover 33 Filter 34 Inflow path 35 Outflow path 40 Charge stand 41 Terminal

Claims (2)

An inlet provided on the bottom surface of the housing to suck in dust and air,
A dust collection unit that has a dust collection container that collects dust sucked from the suction port, collects dust sucked from the suction port, and allows an airflow to pass through,
A blower that discharges after inhaling the airflow that has passed through the dust collector,
An exhaust port having an inclined surface for exhausting the airflow discharged from the blower unit and directing the exhausted airflow obliquely upward ,
A lid portion that is provided to be openable and closable on the upper surface of the housing, and that allows the dust collection container to be able to be taken in and out from the upper surface of the housing,
The exhaust port is provided on an upper surface of the housing along an outer edge of the lid , and air that has passed through the blower is exhausted from the exhaust port without passing through a back surface of the lid. Self-propelled cleaning robot. The dust collection container has a shape that is narrowed from the top to the bottom, and an outlet that guides an airflow to the blower is formed on a surface that is inclined from the top to the bottom,
2. The self-propelled cleaning robot according to claim 1 , wherein an opening of a path connected to the blower, which is in close contact with the outlet, through packing is inclined from an upper part to a lower part. 3.

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