JP6880742B2 - ホイール駆動装置、および、ホイール駆動装置を有する掃除ロボット - Google Patents
ホイール駆動装置、および、ホイール駆動装置を有する掃除ロボット Download PDFInfo
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- JP6880742B2 JP6880742B2 JP2017000482A JP2017000482A JP6880742B2 JP 6880742 B2 JP6880742 B2 JP 6880742B2 JP 2017000482 A JP2017000482 A JP 2017000482A JP 2017000482 A JP2017000482 A JP 2017000482A JP 6880742 B2 JP6880742 B2 JP 6880742B2
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- 238000004140 cleaning Methods 0.000 title claims description 112
- 230000005540 biological transmission Effects 0.000 claims description 52
- 230000007246 mechanism Effects 0.000 claims description 32
- 239000004744 fabric Substances 0.000 claims description 2
- 238000013016 damping Methods 0.000 description 10
- 239000000428 dust Substances 0.000 description 6
- 239000000047 product Substances 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 238000000605 extraction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000012356 Product development Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0405—Driving means for the brushes or agitators
- A47L9/0411—Driving means for the brushes or agitators driven by electric motor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0427—Gearing or transmission means therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0427—Gearing or transmission means therefor
- A47L9/0433—Toothed gearings
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0427—Gearing or transmission means therefor
- A47L9/0433—Toothed gearings
- A47L9/0438—Toothed gearings with gears having orbital motion, e.g. planetary gearing
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2847—Surface treating elements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/28—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or type of power take-off
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K25/06—Auxiliary drives from the transmission power take-off
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
- F16C1/02—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing for conveying rotary movements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
- F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H1/222—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with non-parallel axes
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K2025/005—Auxiliary drives driven by electric motors forming part of the propulsion unit
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02034—Gearboxes combined or connected with electric machines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Description
図1Aおよび図1Bは、本発明の例示的な第1実施形態において、一対のホイール駆動装置100の一方を示す立体図であり、それぞれ異なる角度から見た際の斜視図である。一対のホイール駆動装置100は、掃除ロボットの走行ユニットに利用できる。本実施形態のホイール駆動装置100は、主にモータ10およびギアセットによって構成されるとともに、一つのモータ10を利用してホイール40および掃除ロボットの掃除ヘッドを同時に駆動することができる。
図7A、7Bは、本発明の第1実施形態において、一対のホイール駆動装置100の変形例を示す立体図である。図7A、7Bと、図1A、1Bとの差異は、モータ70の違いと、入力ギア72および伝達ギア74の差異にある。ここで、モータ70は、例えば、ブラシレスモータである。本実施形態において、伝達ギア74は、三つのギア74a、74b、74cにより構成されている。上述した差異の他、ホイール駆動装置200の全体的な作動および特性は、基本的に上述した図1A、1Bに示す構造と同じであり、ここでの説明は省略する。また、同じく、上述したように、走行ユニットの一対のホイール駆動装置200は、両者ともに図7Aの構造(方向および位置の相反のみ)を採用することもできるし、一方が図7Aのホイール駆動装置を採用し、他方は図7Bのホイール駆動装置を採用することもできる。
図8Aは、本発明の第2実施形態を示す。第2実施形態は、上述したホイール駆動装置を使用する掃除ロボット300の様々な配置における変化を描いた説明例である。ここでは幾つかを例として挙げるが、実際には要求に基づいてより多くの変化が可能である。
10、70 モータ
10a シャフト
12、72 入力ギア
14、74 伝達ギア
14a ウォームホイール
14b ギア
18 最終ギア
18a 軸
20 取り出しギア
22 ワンウェイクラッチ
30、326 動力伝達機構
40 ホイール
60 カバーハウジング
62 ダンピング調整機構
70 モータ
74a、74b、74c ギア
300 掃除ロボット
310 ハウジング
310a カバー
310b ベース
310c 側壁
320 走行ユニット
320a、320b ホイール駆動装置
322、324 掃除ヘッド
A モジュール
B 第一モジュール
C 第二モジュール
Claims (12)
- シャフトを回転させるモータと、
前記シャフトに固定される入力ギアと、
前記入力ギアと噛み合い、前記モータの動力を伝達する少なくとも一つの伝達ギアと、
前記伝達ギアと噛み合い、軸を経由してホイールと接続し、前記伝達ギアから前記ホイールへ動力を伝達する最終ギアと、
を有し、
前記最終ギアまたは前記伝達ギアと噛み合う取り出しギアと、
前記取り出しギアと接続し、前記取り出しギアから掃除ヘッドへ動力を伝達する動力伝達機構と、
を有し、
前記動力伝達機構は、可撓性を有する部材によって構成される、ホイール駆動装置。 - 前記モータと、前記入力ギアと、前記伝達ギアと、前記最終ギアと、前記取り出しギアと、が一体化され単一モジュールとして構成される、請求項1に記載のホイール駆動装置。
- 前記モータと、前記入力ギアと、前記伝達ギアと、前記最終ギアと、が一体化され第一モジュールとして構成され、
前記取り出しギアは、第二モジュールとして構成される、請求項1に記載のホイール駆動装置。 - 前記動力伝達機構と、前記取り出しギアとの間に設置されるワンウェイクラッチをさらに含む、請求項1から3のいずれかに記載のホイール駆動装置。
- 前記動力伝達機構は、フレキシブルシャフトまたはタイミングベルトである、請求項4に記載のホイール駆動装置。
- ベースと、カバーと、前記ベースと前記カバーとを囲う側壁と、を含むハウジングと、
前記ハウジング内で前記ベース上に設置される走行ユニットと、
を含み、
前記走行ユニットは、少なくとも一対のホイール駆動装置を含み、
前記一対のホイール駆動装置の少なくとも一方は、請求項1 から請求項5のいずれかに記載されたホイール駆動装置である掃除ロボット。 - 前記掃除ヘッドは、サイドブラシ、円形ブラシ、または布巾付き掃除ヘッドである、請求項6に記載の掃除ロボット。
- 前記掃除ヘッドは、前記ハウジング外で前記ベース上に設置される、請求項6または7に記載の掃除ロボット。
- 前記掃除ヘッドは、前記側壁上に設置される、請求項6または7に記載の掃除ロボット。
- 前記掃除ヘッドは、前記側壁と垂直に設置される、請求項9に記載の掃除ロボット。
- 前記掃除ヘッドは、前記側壁に対して所定角度に傾斜されて設置される、請求項9に記載の掃除ロボット。
- 前記掃除ヘッドと接続する前記動力伝達機構は、前記ベースまたは前記側壁を更に貫通する、請求項6から11のいずれかに記載の掃除ロボット。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW105102298A TWI582322B (zh) | 2016-01-26 | 2016-01-26 | 車輪驅動裝置及使用該裝置的掃除機器人 |
TW105102298 | 2016-01-26 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017131638A JP2017131638A (ja) | 2017-08-03 |
JP6880742B2 true JP6880742B2 (ja) | 2021-06-02 |
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Application Number | Title | Priority Date | Filing Date |
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JP2017000482A Active JP6880742B2 (ja) | 2016-01-26 | 2017-01-05 | ホイール駆動装置、および、ホイール駆動装置を有する掃除ロボット |
Country Status (4)
Country | Link |
---|---|
US (1) | US10548445B2 (ja) |
EP (1) | EP3199082B1 (ja) |
JP (1) | JP6880742B2 (ja) |
TW (1) | TWI582322B (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109307058B (zh) * | 2017-07-26 | 2021-09-24 | 日本电产株式会社 | 齿轮单元、减速装置以及清洁机器人 |
CN107630425A (zh) * | 2017-10-23 | 2018-01-26 | 惠州市恒盛市政工程有限公司 | 用于市政美化街道的清扫装置及其清扫车 |
JP7060425B2 (ja) * | 2018-03-26 | 2022-04-26 | 三菱電機株式会社 | 吸込口体および電気掃除機 |
DE102018206939A1 (de) * | 2018-05-04 | 2019-11-07 | BSH Hausgeräte GmbH | Reinigungsroboter mit Seitenbürste |
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